The universe is singing a song
[soundcloud url="http://livers-wordpress.stor.sinaapp.com/uploads/2012/05/The-universe-is-singing-a-song.wma"]
何为底层，汇编？
这太片面了，对操作系统而言底层应该是R0层,直接对磁盘扇区进行读写删改。一般应用程序工作在R3层，应用程序与底层的交互就是通过驱动。（但是也不一定，也有些许程序是R3调用R0的，但是受限制较多。）许多杀软或内核程序为了得到更高的控制权就要采用驱动。当然同样的也可以通过驱动达到隐藏或者监控的目的（如高级rootkit）。
大学里一般没有有关驱动的课程，可能原因是资料相对较少，需要的基础知识较多。
工欲善其事，必先利其器。
以Windows Driver Kit（之前名为DDK，driver development kit） 为例
可以去官网下载最新的wdk 7.1.0 我用的6001 的版本。https://connect.microsoft.com (这里用msn帐号登录)
2种选择：1 自带Build Environment 2 VC集成开发环境。
Build Environment 方式
cd 命令进入需编译的目录，输入build →done
VC 编译环境 要修改写配置，
vc编译器本身不带有wdk中的一些库，cl和link要加入些选项。
主要是3步：
step 1 修改工程属性。Project ->Setting->C/C++中的Project Options内容替换成
/nologo /Gz /MLd /W3 /WX /Z7 /Od /D WIN32=100 /D _X86_=1 /D WINVER=0×500 /D DBG=1 /Fo”MyDriver_Check/” /Fd”MyDriver_Check/” /FD /c
step 2 修改Link选项卡.Project ->Setting->Link
将原来的Project Options内容替换成
wdm.lib /nologo /base:”0×10000″ /stack:0×400000,0×1000 /entry:”DriverEntry” /subsystem:console /incremental:no /pdb:”MyDriver_Check/HelloWDM.pdb” /debug /machine:I386 /nodefaultlib /out:”MyDriver_Check/HelloWDM.sys” /pdbtype:sept /subsystem:native /driver /SECTION:INIT,D /RELEASE /IGNORE:4078
step 3 修改VC的lib目录和include目录.
(wdk 安装路径E:\WINDDK\6001.18002)
设置Include路径：
E:\WINDDK\6001.18002\INC
E:\WINDDK\6001.18002\INC\CRT
E:\WINDDK\6001.18002\INC\DDK
E:\WINDDK\6001.18002\INC\API （可根据情况增减）
设置LIB路径：
E:\WINDDK\6001.18002\LIB
E:\WINDDK\6001.18002\LIB\CRT\I386
E:\WINDDK\6001.18002\LIB\WNET\I386
设置Executable Files：
E:\WINDDK\6001.18002\bin\x86\x86
详见百度，谷歌。
驱动程序很容易出现BSOD,所以推荐在虚拟机里调试。也就是所谓的双机调试.(很遗憾这种方式又是老外最先发明的)
这里需要用到windbg，用过OD的人应该比较容易上手。
也是几个步骤：
1.主机安装windbg.目标内容中加入 -b -k com:pipe,port=\\.\pipe\com_2,resets=0
我这里com_1被占用使用com_2
2.虚拟机里win2003的系统，c:\boot.ini
追加multi(0)disk(0)rdisk(0)partition(1)\WINDOWS=”Windows Server 2003, Enterprise” /noexecute=optout /fastdetect /debug /debugport=com2 /baudrate=115200
3.VMvare配置
打开虚拟设置，增加一个“Serial Port” 下一步，”Output to named piped”.
完成。
说下驱动程序的格式：
后缀.sys,入口函数为DriverEntry，设备对象，回调函数。先大体记住。
选择调试模式进入
输入g
出现
Debuggee is running…
让Windows继续运行。
调试自己的驱动程序：
可以用SRVINSTW.EXE 安装驱动，也可以生成inf文件右键安装
net start engine(engine为我的服务名)
windbg 就会停到断点
驱动的编写推荐张帆的windows 驱动开发技术详解和楚狂人的寒江独钓。
调试内核之后再写。
学习网站：
https://connect.microsoft.com
驱动开发网
debugman
pediy
下面给个驱动的rootkit 隐藏文件，驱网上曾经的精华帖：hide.rar
使用方法：
1、将hide.exe复制到系统目录
2、运行cmd
3、hide -h 查看帮助
hide -i 安装驱动
hide -u 卸载驱动
hide -f -a filename 添加一个隐藏文件(你的后门程序)
当然用rootkitunlocker是查不出来的.
另一个是我修改的对txt和f4v格式视频透明加解密的驱动。
用的minifilter的构架。engine.rar
https://connect.microsoft.com
bbs.driverdevelop.com
原创作品：转载注明作者 及出处
有问题或者建议：QQ124839584或者blog:http://livers,sinaapp.com
很多人一直注重于攻，而轻视于防。
攻在于创新，防在于全面。
用计算机的术语来说，攻是个单线程任务，你单核cpu频率越高，则效果愈好。防则是个多线程任务，你cpu核心越多，则效果俞佳。
上面是前言，下面说webshell的查杀
其实和pc一样，如安卓的恶意捆绑木马 和linux的恶意镜像源。一样的道路，web也要过一遍，pc端杀毒也是几个阶段。
从最初的专杀到特征码查杀再到基于行为的查杀（启发式查杀），再到最近炒得火热的云查杀。
说句题外话：所谓的云查杀更像是基于网络的特征码查杀。
同理：服务器上的webshell查杀也需要走特征码的路线，在现在硬件水平高于网络通信带宽的情况下，特征码还是非常必要的，
接下来的就是讲webshell的特征码问题。
依据pc端病毒特征码的原理：根据执行文件如PE文件，从各个段提出多个特征码进行多对一的映射定位（这个主要是为了防止类此myccl之类的过免杀），这种提取的方式有很多种，大部分高效的做法还是经验丰富的病毒分析师凭经验定位特征码。
如PC端病毒特征码类似，但又不尽相同，pc端的病毒是以执行文件存在的，提取特征码只是在机器码-反汇编代码的基础上进行定位的。而webshell是以源码的形式进行定位。机器码是最底层的语言，定的很死，比如我们od中常用的int3 就是0cch一一对应，不会再变。而webshell使用高级脚本语言，高级语言的写法是存在多样性，如php中的各种字符串操作函数，这无疑增加了定位特征码的难度。
其实，现实是这样的对于大马的查杀是相对容易的，无论php，asp,.net的大马，他们中调用的一些函数是普通脚本代码不会用到，所以可以以这些特殊函数为正则匹配规则，进行匹配。（大部分的服务器安全软件也是这样做的）当然这样做的结果，会出现误杀的情况，因此要借用多重特征码进行匹配。一些做免杀的朋友，可能就笑了，这太好过了，直接做下字符串拆分，然后在连接，或者写个加解密，再或者加混淆代码轻松就过了。
这样理论上是对的，但是实际中忽略了电脑硬件的能力，对于2^32的运算一般配置的电脑也不会超过10秒，对于各种字符串加解密我们可以对与加解密运算的字符进行匹配，然后查杀设计要加入语义分析，如果学过编译原理的应该熟悉，对匹配到的字符串加减操作进行还原进行最终的匹配。
对于一句话木马的查杀则比较麻烦，因为变异的一句话木马有些是用的web应用程序正常调用的函数，再加上些变形，查杀是比较棘手，这种查杀则需要进行大量的样本收集，对其进行特征码提取。
特征码的提取可采用统计学中的采样方法，取一定数量的样本（包括正常样本和网马样本），对其进行异样提取，再对各类样本进行同样提取，再通过出现概率在进行添加。最终生成特征码样本。
这样基本对已知存在的一句话木马匹配到。
对于特征码的匹配算法尚在测试中。
欢迎提供更多的webshell样本.
刚开始接触流媒体，以前对视频的格式什么的都非常不懂。
开始安装了非常牛逼的fms，当然牛逼也是相对的。
一路next下去，安装完成了，调试demo也非常顺利，局域网内访问可以观看视频。
貌似剩下来的工作就是调试播放器，研究下as。
问题出来了，fms服务端的应用怎么开发，看了看难度很大。
无奈转型跑向red5,毕竟开源嘛，
fuck,竟然全是java
貌似已经很久没写Java程序了，JDK都卸了
那就先按教程装装看。
神奇的事情发生了，完全一模一样的安装方式，竟然我出了问题。
当我还在纠结是否是jdk版本 和环境变量的时候，发现其他人xp上是可以成功的。
检查的各种错误，还是没修复。
只好卸载重装测试
上面步骤重复了10次以上。
奇迹发生了，竟然自己好了。
异样操作一点都没有。
这就是IT最苦比的地方：永远会有一些诡异的事情发生。
可能有些人用过修改HOST的方法，后来渐渐失效了。
每次见到youku的黑屏幕，都闹心的很。
ok.
去掉之。
方法一：在播放flash的时候
右键全局设置，站点本地存取，找到static.youku.com选择要求我提供权限。
这样每次看视频的时候，就不会再有广告，但是你要点下拒绝。
方法二：
在C盘搜索 static.youku.com
一般是在C:\Users\zhulijun\AppData\Roaming\InstallShield\Macromedia\Flash Player\#SharedObjects\MF2E29WQ\目录下，MF2E29WQ是八位随机数
然后删除static.youku.com文件夹，新建一个txt,重命名为static.youku.com (.com是后缀)
最后重要的一步要把这个文件的属性调为只读。
结束。
图片插入有问题，故只有文字
土豆的下次做，土豆和优酷不一样，要通过refer。
笺言：
但凡事物是以平衡为基础，若一方打破必如癌细胞一样迅速扩撒，整体失衡，最终全面溃败。
现实生活中，中国已经逐步失去相互建立的信任，无论处于何种阶级。以下抽丝剥茧的方法验证，
陌生人之间，即使建立信任双方都不会受到任何损失，而建立信任的可能性也几乎是零。最表象的原因
即使双方对于对方的言语都存在这消极性思维，交谈之中刻意用欺骗之类去匹配对方。而这种普遍事件产生的更
深层源自双方内心存在的“防护罩”，防护罩从个人角度来看是每个人的“自保”暗示。
自保暗示可追溯到生物生存的根性，但这是建立在不同种族之间。而人们之间涌现的这种自保暗示则很大程度上
是由于认知失衡，对陌生人不会产生的认同感。以史为例，明初郑和抵达他国，则相互贸易，互补交流。而之
后，葡萄牙，西班牙之流以信任为手段各种巧取豪夺。此后，则通货需各种条文规约。
以文明古国迅速沦为一个信任缺失的国度，深入探索的话，人们价值观尤为关键，众所周知，中国是一个讲究集体价值观念的国家。而所谓从小被灌输的国家观念更是起到了推波助澜的作用。首先，爱国和爱国家是两个不同的概念，国的界限是原著居民和外地居民，同族与外族之界，国家是历朝历代的掌权机构。
古人无所谓的洗脑之术，故看的更加透彻，民族英雄为戚继光，文天祥之类。纵观历史，朝代更替，新朝代总以正义压倒旧朝。爱国家并非正义举。
个人价值被极度贬低的环境，人们对个人的信任更是变的困难。
于是会有个人以集体利益为助力获取其他人的信任的建立。而这种信任往往以物质为基础，最终以单独一方极度暴利为终。
敏锐的人们觉察之时，信任缺失如癌细胞扩散开来。
人们无信任依托，几乎无真理来衡量事物的正反。
信任就逐渐流失了。
当下，经历多番事件，更是体会到信任缺失的可怕。任何口头上的承诺都是苍白无力的。
无论是金融还是安全，无论学生还是白领，即便相同的层次之间也需要各种利益的诱惑或者条件的制约。
达成一件事，往往要耗费大量的精力和财力在信任的建立上。
信任缺失的国度已病入膏肓，
疾不可为也。
原创作品 转载需署名出处。
VB MASM32 VC BCB 易语言 Delphi
VB破解
1、VBExplorer查找按钮事件
2、有提示框则bp rtcMsgBox
3、通过bp __vbaStrCmp/__vbaStrComp/__vbaVarTstEq
bp __vbaStrCmp
bp __vbaStrComp
4、万能断点法(816C24法)
注册验证程序可以用这个断点下断，一般离程序访问注册表很近：
bp __vbaStrToAnsi
5.F12堆栈调用
总结：
VB程序破解的关键跳转，一般与其它语言的不同,没有JPM XXXXXXX
一般以 JE/JNE XXXXXXXXX 跳转记录一般不会很远(虽然是短距离跳转，但是关键就在这里，可以设置大量的信息) 。如果发现False/True 可能是关键点
VB:
XXXXXXX JE/JNE XXXXX
设置信息
设置信息
Delphi BC++ 易语言 VC++ 汇编:
XXXXXXX JE/JNE XXXXX
设置信息
设置信息
XXXXXXX JMP XXXXX
设置信息
设置信息
VC++ 汇编(有的 一段，一段的)：
XXXXXXX JE/JNE XXXXX
设置信息
设置信息
retn
push xx
设置信息
设置信息
retn
push xx
设置信息
设置信息
retn
易语言
易语言破解思路:
1. 信息框法 bp MessageBoxA(断对话框)
2.字符串法
查看易语言文本信息:
bp GetProcessHeap F9运行4次，取消断点 执行ALT+F9 用户代码 F8单步走
或者在区段为”.data”/”.ecode”下断，运行
3.窗口标题法 bp SetWindowTextA
4.F12堆栈调用
0040C0CB=易语言.0040C0CB (ASCII “shaonanshaonvluntan”)
DELPHI破解:
1、DEDE、PE Explorer ResScope作为强有力的辅助工具找按妞事件
2、Point-H法
3、bp GetDlgItem/GetDlgItemTextA(断输入框)
4、bp MessageBoxA(W)(断对话框)—Ctrl+N
5、字符串法—插件/搜索所有参考文本
6、如果程序界面标题有[未注册/注册/VIP版/标准版/钻石版] 之类字样的
可以通过查找FormCreate/FormShow—-DEDE，找到关键标志位!
来判断程序怎么样的判断是否注册或者用户类型
7. 窗口标题法 bp SetWindowTextA
8.F12堆栈调用
注册表:
bpx RegCreateKeyExA 对于Delphi程序程序来说，用这个断点比较合适
bp RegCreateKeyExA 对于加了壳的程序
注册码：Rc1-420+用户名(不能为整数,)+C00L
C+破解
C类
Point-H法
bp GetDlgItem(断按下按钮)
bp MessageBoxA(断对话框)
字符串法
F12堆栈调用
窗口标题法 bp SetWindowTextA
★★C+程序专用断点★★
bp lstrcmpA (KERNEL32.lstrcmpA) 比较用法
bp _mbscmp //比较
C类程序的经典断点:
bp GetWindowTextA(断按下按钮) //也是适用于其它语言
bp GetWindowTextLengthA(断按下按钮) //也是适用于其它语言
bp GetDlgItem(断按下按钮) //也是适用于其它语言
bp GetDlgItemTextA
ds:[004021C8]=77C01881 (msvcrt._mbscmp)
BC++破解
1、DEDE、PE Explorer作为强有力的辅助工具找按妞事件
2、Point-H法
3、bp GetDlgItem/GetDlgItemTextA(断输入框)
4、bp MessageBoxA(W)(断对话框)—Ctrl+N
5、字符串法—插件/搜索所有参考文本
6、如果程序界面标题有[未注册/注册/VIP版/标准版/钻石版] 之类字样的
可以通过查找FormCreate/FormShow—-DEDE，找到关键标志位!
来判断程序怎么样的判断是否注册或者用户类型
7.窗口标题法 bp SetWindowTextA
8.F12堆栈调用
bpx RegCreateKeyExA 对于Delphi程序程序来说，用这个断点比较合适
bp RegCreateKeyExA 对于加了壳的程序
MASM32 / TASM32破解
入口点 :
004011C7 6A 00 push 0
004011C9 E8 5E070000 call 0040192C
004011CE A3 70614000 mov dword ptr ds:[406170],eax
004011D3 6A 00 push 0
004011D5 68 EE114000 push MASM32.004011EE
004011DA 6A 00 push 0
004011DC 68 C8000000 push 0C8
Point-H法
bp GetDlgItem(断按下按钮)
bp MessageBoxA(断对话框)
字符串法
F12堆栈调用
窗口标题法 bp SetWindowTextA
amazing html5
查看效果
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<html>
<head>
<meta charset="utf-8">
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<td class="box2d empty" style="width:8px;"> </td>
<td class="box2d" onClick="location.href = 'https://plus.google.com/?hl=en&tab=wX';"><span>+You</span></td>
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<a href="http://google.com/intl/en/ads/" class="box2d">Advertising Programs</a>
<span class="box2d">|</span>
<a href="http://google.com/services/" class="box2d">Business Solutions</a>
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<a href="http://google.com/intl/en/about.html" class="box2d">About Google</a>
<span class="box2d">|</span>
<a href="http://google.com/intl/en/privacy.html" class="box2d">Privacy</a>
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{this.col1.x=1.0;this.col2.x=0.0;this.col1.y=0.0;this.col2.y=1.0;},SetZero:function()
{this.col1.x=0.0;this.col2.x=0.0;this.col1.y=0.0;this.col2.y=0.0;},Invert:function(out)
{var a=this.col1.x;var b=this.col2.x;var c=this.col1.y;var d=this.col2.y;var det=a*d-b*c;det=1.0/det;out.col1.x=det*d;out.col2.x=-det*b;out.col1.y=-det*c;out.col2.y=det*a;return out;},Solve:function(out,bX,bY)
{var a11=this.col1.x;var a12=this.col2.x;var a21=this.col1.y;var a22=this.col2.y;var det=a11*a22-a12*a21;det=1.0/det;out.x=det*(a22*bX-a12*bY);out.y=det*(a11*bY-a21*bX);return out;},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(x)
{return isFinite(x);};b2Math.b2Dot=function(a,b)
{return a.x*b.x+a.y*b.y;};b2Math.b2CrossVV=function(a,b)
{return a.x*b.y-a.y*b.x;};b2Math.b2CrossVF=function(a,s)
{var v=new b2Vec2(s*a.y,-s*a.x);return v;};b2Math.b2CrossFV=function(s,a)
{var v=new b2Vec2(-s*a.y,s*a.x);return v;};b2Math.b2MulMV=function(A,v)
{var u=new b2Vec2(A.col1.x*v.x+A.col2.x*v.y,A.col1.y*v.x+A.col2.y*v.y);return u;};b2Math.b2MulTMV=function(A,v)
{var u=new b2Vec2(b2Math.b2Dot(v,A.col1),b2Math.b2Dot(v,A.col2));return u;};b2Math.AddVV=function(a,b)
{var v=new b2Vec2(a.x+b.x,a.y+b.y);return v;};b2Math.SubtractVV=function(a,b)
{var v=new b2Vec2(a.x-b.x,a.y-b.y);return v;};b2Math.MulFV=function(s,a)
{var v=new b2Vec2(s*a.x,s*a.y);return v;};b2Math.AddMM=function(A,B)
{var C=new b2Mat22(0,b2Math.AddVV(A.col1,B.col1),b2Math.AddVV(A.col2,B.col2));return C;};b2Math.b2MulMM=function(A,B)
{var C=new b2Mat22(0,b2Math.b2MulMV(A,B.col1),b2Math.b2MulMV(A,B.col2));return C;};b2Math.b2MulTMM=function(A,B)
{var c1=new b2Vec2(b2Math.b2Dot(A.col1,B.col1),b2Math.b2Dot(A.col2,B.col1));var c2=new b2Vec2(b2Math.b2Dot(A.col1,B.col2),b2Math.b2Dot(A.col2,B.col2));var C=new b2Mat22(0,c1,c2);return C;};b2Math.b2Abs=function(a)
{return a>0.0?a:-a;};b2Math.b2AbsV=function(a)
{var b=new b2Vec2(b2Math.b2Abs(a.x),b2Math.b2Abs(a.y));return b;};b2Math.b2AbsM=function(A)
{var B=new b2Mat22(0,b2Math.b2AbsV(A.col1),b2Math.b2AbsV(A.col2));return B;};b2Math.b2Min=function(a,b)
{return a<b?a:b;};b2Math.b2MinV=function(a,b)
{var c=new b2Vec2(b2Math.b2Min(a.x,b.x),b2Math.b2Min(a.y,b.y));return c;};b2Math.b2Max=function(a,b)
{return a>b?a:b;};b2Math.b2MaxV=function(a,b)
{var c=new b2Vec2(b2Math.b2Max(a.x,b.x),b2Math.b2Max(a.y,b.y));return c;};b2Math.b2Clamp=function(a,low,high)
{return b2Math.b2Max(low,b2Math.b2Min(a,high));};b2Math.b2ClampV=function(a,low,high)
{return b2Math.b2MaxV(low,b2Math.b2MinV(a,high));};b2Math.b2Swap=function(a,b)
{var tmp=a[0];a[0]=b[0];b[0]=tmp;};b2Math.b2Random=function()
{return Math.random()*2-1;};b2Math.b2NextPowerOfTwo=function(x)
{x|=(x>>1)&0x7FFFFFFF;x|=(x>>2)&0x3FFFFFFF;x|=(x>>4)&0x0FFFFFFF;x|=(x>>8)&0x00FFFFFF;x|=(x>>16)&0x0000FFFF;return x+1;};b2Math.b2IsPowerOfTwo=function(x)
{var result=x>0&&(x&(x-1))==0;return result;};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 dX=this.maxVertex.x;var dY=this.maxVertex.y;dX=this.maxVertex.x;dY=this.maxVertex.y;dX-=this.minVertex.x;dY-=this.minVertex.y;var valid=dX>=0.0&&dY>=0.0;valid=valid&&this.minVertex.IsValid()&&this.maxVertex.IsValid();return valid;},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(b){var tempValue=this.value;var tempProxyId=this.proxyId;var tempStabbingCount=this.stabbingCount;this.value=b.value;this.proxyId=b.proxyId;this.stabbingCount=b.stabbingCount;b.value=tempValue;b.proxyId=tempProxyId;b.stabbingCount=tempStabbingCount;},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=0x0001;b2Pair.e_pairRemoved=0x0002;b2Pair.e_pairFinal=0x0004;
var b2PairCallback=Class.create();b2PairCallback.prototype={PairAdded:function(proxyUserData1,proxyUserData2){return null},PairRemoved:function(proxyUserData1,proxyUserData2,pairUserData){},initialize:function(){}};
var b2BufferedPair=Class.create();b2BufferedPair.prototype={proxyId1:0,proxyId2:0,initialize:function(){}}
var b2PairManager=Class.create();b2PairManager.prototype={initialize:function(){var i=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(i=0;i<b2Pair.b2_tableCapacity;++i)
{this.m_hashTable[i]=b2Pair.b2_nullPair;}
this.m_pairs=new Array(b2Settings.b2_maxPairs);for(i=0;i<b2Settings.b2_maxPairs;++i)
{this.m_pairs[i]=new b2Pair();}
this.m_pairBuffer=new Array(b2Settings.b2_maxPairs);for(i=0;i<b2Settings.b2_maxPairs;++i)
{this.m_pairBuffer[i]=new b2BufferedPair();}
for(i=0;i<b2Settings.b2_maxPairs;++i)
{this.m_pairs[i].proxyId1=b2Pair.b2_nullProxy;this.m_pairs[i].proxyId2=b2Pair.b2_nullProxy;this.m_pairs[i].userData=null;this.m_pairs[i].status=0;this.m_pairs[i].next=(i+1);}
this.m_pairs[b2Settings.b2_maxPairs-1].next=b2Pair.b2_nullPair;this.m_pairCount=0;},Initialize:function(broadPhase,callback){this.m_broadPhase=broadPhase;this.m_callback=callback;},AddBufferedPair:function(proxyId1,proxyId2){var pair=this.AddPair(proxyId1,proxyId2);if(pair.IsBuffered()==false)
{pair.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=pair.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=pair.proxyId2;++this.m_pairBufferCount;}
pair.ClearRemoved();if(b2BroadPhase.s_validate)
{this.ValidateBuffer();}},RemoveBufferedPair:function(proxyId1,proxyId2){var pair=this.Find(proxyId1,proxyId2);if(pair==null)
{return;}
if(pair.IsBuffered()==false)
{pair.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=pair.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=pair.proxyId2;++this.m_pairBufferCount;}
pair.SetRemoved();if(b2BroadPhase.s_validate)
{this.ValidateBuffer();}},Commit:function(){var i=0;var removeCount=0;var proxies=this.m_broadPhase.m_proxyPool;for(i=0;i<this.m_pairBufferCount;++i)
{var pair=this.Find(this.m_pairBuffer[i].proxyId1,this.m_pairBuffer[i].proxyId2);pair.ClearBuffered();var proxy1=proxies[pair.proxyId1];var proxy2=proxies[pair.proxyId2];if(pair.IsRemoved())
{if(pair.IsFinal()==true)
{this.m_callback.PairRemoved(proxy1.userData,proxy2.userData,pair.userData);}
this.m_pairBuffer[removeCount].proxyId1=pair.proxyId1;this.m_pairBuffer[removeCount].proxyId2=pair.proxyId2;++removeCount;}
else
{if(pair.IsFinal()==false)
{pair.userData=this.m_callback.PairAdded(proxy1.userData,proxy2.userData);pair.SetFinal();}}}
for(i=0;i<removeCount;++i)
{this.RemovePair(this.m_pairBuffer[i].proxyId1,this.m_pairBuffer[i].proxyId2);}
this.m_pairBufferCount=0;if(b2BroadPhase.s_validate)
{this.ValidateTable();}},AddPair:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}
var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;var pair=pair=this.FindHash(proxyId1,proxyId2,hash);if(pair!=null)
{return pair;}
var pIndex=this.m_freePair;pair=this.m_pairs[pIndex];this.m_freePair=pair.next;pair.proxyId1=proxyId1;pair.proxyId2=proxyId2;pair.status=0;pair.userData=null;pair.next=this.m_hashTable[hash];this.m_hashTable[hash]=pIndex;++this.m_pairCount;return pair;},RemovePair:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}
var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;var node=this.m_hashTable[hash];var pNode=null;while(node!=b2Pair.b2_nullPair)
{if(b2PairManager.Equals(this.m_pairs[node],proxyId1,proxyId2))
{var index=node;if(pNode){pNode.next=this.m_pairs[node].next;}
else{this.m_hashTable[hash]=this.m_pairs[node].next;}
var pair=this.m_pairs[index];var userData=pair.userData;pair.next=this.m_freePair;pair.proxyId1=b2Pair.b2_nullProxy;pair.proxyId2=b2Pair.b2_nullProxy;pair.userData=null;pair.status=0;this.m_freePair=index;--this.m_pairCount;return userData;}
else
{pNode=this.m_pairs[node];node=pNode.next;}}
return null;},Find:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}
var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;return this.FindHash(proxyId1,proxyId2,hash);},FindHash:function(proxyId1,proxyId2,hash){var index=this.m_hashTable[hash];while(index!=b2Pair.b2_nullPair&&b2PairManager.Equals(this.m_pairs[index],proxyId1,proxyId2)==false)
{index=this.m_pairs[index].next;}
if(index==b2Pair.b2_nullPair)
{return null;}
return this.m_pairs[index];},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(proxyId1,proxyId2)
{var key=((proxyId2<<16)&0xffff0000)|proxyId1;key=~key+((key<<15)&0xFFFF8000);key=key^((key>>12)&0x000fffff);key=key+((key<<2)&0xFFFFFFFC);key=key^((key>>4)&0x0fffffff);key=key*2057;key=key^((key>>16)&0x0000ffff);return key;};b2PairManager.Equals=function(pair,proxyId1,proxyId2)
{return(pair.proxyId1==proxyId1&&pair.proxyId2==proxyId2);};b2PairManager.EqualsPair=function(pair1,pair2)
{return pair1.proxyId1==pair2.proxyId1&&pair1.proxyId2==pair2.proxyId2;};
var b2BroadPhase=Class.create();b2BroadPhase.prototype={initialize:function(worldAABB,callback){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 i=0;this.m_pairManager.Initialize(this,callback);this.m_worldAABB=worldAABB;this.m_proxyCount=0;for(i=0;i<b2Settings.b2_maxProxies;i++){this.m_queryResults[i]=0;}
this.m_bounds=new Array(2);for(i=0;i<2;i++){this.m_bounds[i]=new Array(2*b2Settings.b2_maxProxies);for(var j=0;j<2*b2Settings.b2_maxProxies;j++){this.m_bounds[i][j]=new b2Bound();}}
var dX=worldAABB.maxVertex.x;var dY=worldAABB.maxVertex.y;dX-=worldAABB.minVertex.x;dY-=worldAABB.minVertex.y;this.m_quantizationFactor.x=b2Settings.USHRT_MAX/dX;this.m_quantizationFactor.y=b2Settings.USHRT_MAX/dY;var tProxy;for(i=0;i<b2Settings.b2_maxProxies-1;++i)
{tProxy=new b2Proxy();this.m_proxyPool[i]=tProxy;tProxy.SetNext(i+1);tProxy.timeStamp=0;tProxy.overlapCount=b2BroadPhase.b2_invalid;tProxy.userData=null;}
tProxy=new b2Proxy();this.m_proxyPool[b2Settings.b2_maxProxies-1]=tProxy;tProxy.SetNext(b2Pair.b2_nullProxy);tProxy.timeStamp=0;tProxy.overlapCount=b2BroadPhase.b2_invalid;tProxy.userData=null;this.m_freeProxy=0;this.m_timeStamp=1;this.m_queryResultCount=0;},InRange:function(aabb){var dX;var dY;var d2X;var d2Y;dX=aabb.minVertex.x;dY=aabb.minVertex.y;dX-=this.m_worldAABB.maxVertex.x;dY-=this.m_worldAABB.maxVertex.y;d2X=this.m_worldAABB.minVertex.x;d2Y=this.m_worldAABB.minVertex.y;d2X-=aabb.maxVertex.x;d2Y-=aabb.maxVertex.y;dX=b2Math.b2Max(dX,d2X);dY=b2Math.b2Max(dY,d2Y);return b2Math.b2Max(dX,dY)<0.0;},GetProxy:function(proxyId){if(proxyId==b2Pair.b2_nullProxy||this.m_proxyPool[proxyId].IsValid()==false)
{return null;}
return this.m_proxyPool[proxyId];},CreateProxy:function(aabb,userData){var index=0;var proxy;var proxyId=this.m_freeProxy;proxy=this.m_proxyPool[proxyId];this.m_freeProxy=proxy.GetNext();proxy.overlapCount=0;proxy.userData=userData;var boundCount=2*this.m_proxyCount;var lowerValues=new Array();var upperValues=new Array();this.ComputeBounds(lowerValues,upperValues,aabb);for(var axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];var lowerIndex=0;var upperIndex=0;var lowerIndexOut=[lowerIndex];var upperIndexOut=[upperIndex];this.Query(lowerIndexOut,upperIndexOut,lowerValues[axis],upperValues[axis],bounds,boundCount,axis);lowerIndex=lowerIndexOut[0];upperIndex=upperIndexOut[0];var tArr=new Array();var j=0;var tEnd=boundCount-upperIndex
var tBound1;var tBound2;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[upperIndex+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tEnd=tArr.length;var tIndex=upperIndex+2;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]
tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tArr=new Array();tEnd=upperIndex-lowerIndex;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[lowerIndex+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tEnd=tArr.length;tIndex=lowerIndex+1;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]
tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
++upperIndex;bounds[lowerIndex].value=lowerValues[axis];bounds[lowerIndex].proxyId=proxyId;bounds[upperIndex].value=upperValues[axis];bounds[upperIndex].proxyId=proxyId;bounds[lowerIndex].stabbingCount=lowerIndex==0?0:bounds[lowerIndex-1].stabbingCount;bounds[upperIndex].stabbingCount=bounds[upperIndex-1].stabbingCount;for(index=lowerIndex;index<upperIndex;++index)
{bounds[index].stabbingCount++;}
for(index=lowerIndex;index<boundCount+2;++index)
{var proxy2=this.m_proxyPool[bounds[index].proxyId];if(bounds[index].IsLower())
{proxy2.lowerBounds[axis]=index;}
else
{proxy2.upperBounds[axis]=index;}}}
++this.m_proxyCount;for(var i=0;i<this.m_queryResultCount;++i)
{this.m_pairManager.AddBufferedPair(proxyId,this.m_queryResults[i]);}
this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();return proxyId;},DestroyProxy:function(proxyId){var proxy=this.m_proxyPool[proxyId];var boundCount=2*this.m_proxyCount;for(var axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];var lowerIndex=proxy.lowerBounds[axis];var upperIndex=proxy.upperBounds[axis];var lowerValue=bounds[lowerIndex].value;var upperValue=bounds[upperIndex].value;var tArr=new Array();var j=0;var tEnd=upperIndex-lowerIndex-1;var tBound1;var tBound2;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[lowerIndex+1+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tEnd=tArr.length;var tIndex=lowerIndex;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]
tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tArr=new Array();tEnd=boundCount-upperIndex-1;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[upperIndex+1+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tEnd=tArr.length;tIndex=upperIndex-1;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]
tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}
tEnd=boundCount-2;for(var index=lowerIndex;index<tEnd;++index)
{var proxy2=this.m_proxyPool[bounds[index].proxyId];if(bounds[index].IsLower())
{proxy2.lowerBounds[axis]=index;}
else
{proxy2.upperBounds[axis]=index;}}
tEnd=upperIndex-1;for(var index2=lowerIndex;index2<tEnd;++index2)
{bounds[index2].stabbingCount--;}
this.Query([0],[0],lowerValue,upperValue,bounds,boundCount-2,axis);}
for(var i=0;i<this.m_queryResultCount;++i)
{this.m_pairManager.RemoveBufferedPair(proxyId,this.m_queryResults[i]);}
this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();proxy.userData=null;proxy.overlapCount=b2BroadPhase.b2_invalid;proxy.lowerBounds[0]=b2BroadPhase.b2_invalid;proxy.lowerBounds[1]=b2BroadPhase.b2_invalid;proxy.upperBounds[0]=b2BroadPhase.b2_invalid;proxy.upperBounds[1]=b2BroadPhase.b2_invalid;proxy.SetNext(this.m_freeProxy);this.m_freeProxy=proxyId;--this.m_proxyCount;},MoveProxy:function(proxyId,aabb){var axis=0;var index=0;var bound;var prevBound
var nextBound
var nextProxyId=0;var nextProxy;if(proxyId==b2Pair.b2_nullProxy||b2Settings.b2_maxProxies<=proxyId)
{return;}
if(aabb.IsValid()==false)
{return;}
var boundCount=2*this.m_proxyCount;var proxy=this.m_proxyPool[proxyId];var newValues=new b2BoundValues();this.ComputeBounds(newValues.lowerValues,newValues.upperValues,aabb);var oldValues=new b2BoundValues();for(axis=0;axis<2;++axis)
{oldValues.lowerValues[axis]=this.m_bounds[axis][proxy.lowerBounds[axis]].value;oldValues.upperValues[axis]=this.m_bounds[axis][proxy.upperBounds[axis]].value;}
for(axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];var lowerIndex=proxy.lowerBounds[axis];var upperIndex=proxy.upperBounds[axis];var lowerValue=newValues.lowerValues[axis];var upperValue=newValues.upperValues[axis];var deltaLower=lowerValue-bounds[lowerIndex].value;var deltaUpper=upperValue-bounds[upperIndex].value;bounds[lowerIndex].value=lowerValue;bounds[upperIndex].value=upperValue;if(deltaLower<0)
{index=lowerIndex;while(index>0&&lowerValue<bounds[index-1].value)
{bound=bounds[index];prevBound=bounds[index-1];var prevProxyId=prevBound.proxyId;var prevProxy=this.m_proxyPool[prevBound.proxyId];prevBound.stabbingCount++;if(prevBound.IsUpper()==true)
{if(this.TestOverlap(newValues,prevProxy))
{this.m_pairManager.AddBufferedPair(proxyId,prevProxyId);}
prevProxy.upperBounds[axis]++;bound.stabbingCount++;}
else
{prevProxy.lowerBounds[axis]++;bound.stabbingCount--;}
proxy.lowerBounds[axis]--;bound.Swap(prevBound);--index;}}
if(deltaUpper>0)
{index=upperIndex;while(index<boundCount-1&&bounds[index+1].value<=upperValue)
{bound=bounds[index];nextBound=bounds[index+1];nextProxyId=nextBound.proxyId;nextProxy=this.m_proxyPool[nextProxyId];nextBound.stabbingCount++;if(nextBound.IsLower()==true)
{if(this.TestOverlap(newValues,nextProxy))
{this.m_pairManager.AddBufferedPair(proxyId,nextProxyId);}
nextProxy.lowerBounds[axis]--;bound.stabbingCount++;}
else
{nextProxy.upperBounds[axis]--;bound.stabbingCount--;}
proxy.upperBounds[axis]++;bound.Swap(nextBound);index++;}}
if(deltaLower>0)
{index=lowerIndex;while(index<boundCount-1&&bounds[index+1].value<=lowerValue)
{bound=bounds[index];nextBound=bounds[index+1];nextProxyId=nextBound.proxyId;nextProxy=this.m_proxyPool[nextProxyId];nextBound.stabbingCount--;if(nextBound.IsUpper())
{if(this.TestOverlap(oldValues,nextProxy))
{this.m_pairManager.RemoveBufferedPair(proxyId,nextProxyId);}
nextProxy.upperBounds[axis]--;bound.stabbingCount--;}
else
{nextProxy.lowerBounds[axis]--;bound.stabbingCount++;}
proxy.lowerBounds[axis]++;bound.Swap(nextBound);index++;}}
if(deltaUpper<0)
{index=upperIndex;while(index>0&&upperValue<bounds[index-1].value)
{bound=bounds[index];prevBound=bounds[index-1];prevProxyId=prevBound.proxyId;prevProxy=this.m_proxyPool[prevProxyId];prevBound.stabbingCount--;if(prevBound.IsLower()==true)
{if(this.TestOverlap(oldValues,prevProxy))
{this.m_pairManager.RemoveBufferedPair(proxyId,prevProxyId);}
prevProxy.lowerBounds[axis]++;bound.stabbingCount--;}
else
{prevProxy.upperBounds[axis]++;bound.stabbingCount++;}
proxy.upperBounds[axis]--;bound.Swap(prevBound);index--;}}}},Commit:function(){this.m_pairManager.Commit();},QueryAABB:function(aabb,userData,maxCount){var lowerValues=new Array();var upperValues=new Array();this.ComputeBounds(lowerValues,upperValues,aabb);var lowerIndex=0;var upperIndex=0;var lowerIndexOut=[lowerIndex];var upperIndexOut=[upperIndex];this.Query(lowerIndexOut,upperIndexOut,lowerValues[0],upperValues[0],this.m_bounds[0],2*this.m_proxyCount,0);this.Query(lowerIndexOut,upperIndexOut,lowerValues[1],upperValues[1],this.m_bounds[1],2*this.m_proxyCount,1);var count=0;for(var i=0;i<this.m_queryResultCount&&count<maxCount;++i,++count)
{var proxy=this.m_proxyPool[this.m_queryResults[i]];userData[i]=proxy.userData;}
this.m_queryResultCount=0;this.IncrementTimeStamp();return count;},Validate:function(){var pair;var proxy1;var proxy2;var overlap;for(var axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];var boundCount=2*this.m_proxyCount;var stabbingCount=0;for(var i=0;i<boundCount;++i)
{var bound=bounds[i];if(bound.IsLower()==true)
{stabbingCount++;}
else
{stabbingCount--;}}}},ComputeBounds:function(lowerValues,upperValues,aabb)
{var minVertexX=aabb.minVertex.x;var minVertexY=aabb.minVertex.y;minVertexX=b2Math.b2Min(minVertexX,this.m_worldAABB.maxVertex.x);minVertexY=b2Math.b2Min(minVertexY,this.m_worldAABB.maxVertex.y);minVertexX=b2Math.b2Max(minVertexX,this.m_worldAABB.minVertex.x);minVertexY=b2Math.b2Max(minVertexY,this.m_worldAABB.minVertex.y);var maxVertexX=aabb.maxVertex.x;var maxVertexY=aabb.maxVertex.y;maxVertexX=b2Math.b2Min(maxVertexX,this.m_worldAABB.maxVertex.x);maxVertexY=b2Math.b2Min(maxVertexY,this.m_worldAABB.maxVertex.y);maxVertexX=b2Math.b2Max(maxVertexX,this.m_worldAABB.minVertex.x);maxVertexY=b2Math.b2Max(maxVertexY,this.m_worldAABB.minVertex.y);lowerValues[0]=(this.m_quantizationFactor.x*(minVertexX-this.m_worldAABB.minVertex.x))&(b2Settings.USHRT_MAX-1);upperValues[0]=((this.m_quantizationFactor.x*(maxVertexX-this.m_worldAABB.minVertex.x))&0x0000ffff)|1;lowerValues[1]=(this.m_quantizationFactor.y*(minVertexY-this.m_worldAABB.minVertex.y))&(b2Settings.USHRT_MAX-1);upperValues[1]=((this.m_quantizationFactor.y*(maxVertexY-this.m_worldAABB.minVertex.y))&0x0000ffff)|1;},TestOverlapValidate:function(p1,p2){for(var axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];if(bounds[p1.lowerBounds[axis]].value>bounds[p2.upperBounds[axis]].value)
return false;if(bounds[p1.upperBounds[axis]].value<bounds[p2.lowerBounds[axis]].value)
return false;}
return true;},TestOverlap:function(b,p)
{for(var axis=0;axis<2;++axis)
{var bounds=this.m_bounds[axis];if(b.lowerValues[axis]>bounds[p.upperBounds[axis]].value)
return false;if(b.upperValues[axis]<bounds[p.lowerBounds[axis]].value)
return false;}
return true;},Query:function(lowerQueryOut,upperQueryOut,lowerValue,upperValue,bounds,boundCount,axis){var lowerQuery=b2BroadPhase.BinarySearch(bounds,boundCount,lowerValue);var upperQuery=b2BroadPhase.BinarySearch(bounds,boundCount,upperValue);for(var j=lowerQuery;j<upperQuery;++j)
{if(bounds[j].IsLower())
{this.IncrementOverlapCount(bounds[j].proxyId);}}
if(lowerQuery>0)
{var i=lowerQuery-1;var s=bounds[i].stabbingCount;while(s)
{if(bounds[i].IsLower())
{var proxy=this.m_proxyPool[bounds[i].proxyId];if(lowerQuery<=proxy.upperBounds[axis])
{this.IncrementOverlapCount(bounds[i].proxyId);--s;}}
--i;}}
lowerQueryOut[0]=lowerQuery;upperQueryOut[0]=upperQuery;},IncrementOverlapCount:function(proxyId){var proxy=this.m_proxyPool[proxyId];if(proxy.timeStamp<this.m_timeStamp)
{proxy.timeStamp=this.m_timeStamp;proxy.overlapCount=1;}
else
{proxy.overlapCount=2;this.m_queryResults[this.m_queryResultCount]=proxyId;++this.m_queryResultCount;}},IncrementTimeStamp:function(){if(this.m_timeStamp==b2Settings.USHRT_MAX)
{for(var i=0;i<b2Settings.b2_maxProxies;++i)
{this.m_proxyPool[i].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(bounds,count,value)
{var low=0;var high=count-1;while(low<=high)
{var mid=Math.floor((low+high)/2);if(bounds[mid].value>value)
{high=mid-1;}
else if(bounds[mid].value<value)
{low=mid+1;}
else
{return(mid);}}
return(low);};
var b2Collision=Class.create();b2Collision.prototype={initialize:function(){}}
b2Collision.b2_nullFeature=0x000000ff;b2Collision.ClipSegmentToLine=function(vOut,vIn,normal,offset)
{var numOut=0;var vIn0=vIn[0].v;var vIn1=vIn[1].v;var distance0=b2Math.b2Dot(normal,vIn[0].v)-offset;var distance1=b2Math.b2Dot(normal,vIn[1].v)-offset;if(distance0<=0.0)vOut[numOut++]=vIn[0];if(distance1<=0.0)vOut[numOut++]=vIn[1];if(distance0*distance1<0.0)
{var interp=distance0/(distance0-distance1);var tVec=vOut[numOut].v;tVec.x=vIn0.x+interp*(vIn1.x-vIn0.x);tVec.y=vIn0.y+interp*(vIn1.y-vIn0.y);if(distance0>0.0)
{vOut[numOut].id=vIn[0].id;}
else
{vOut[numOut].id=vIn[1].id;}
++numOut;}
return numOut;};b2Collision.EdgeSeparation=function(poly1,edge1,poly2)
{var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var normalX=poly1.m_normals[edge1].x;var normalY=poly1.m_normals[edge1].y;var tX=normalX;var tMat=poly1.m_R;normalX=tMat.col1.x*tX+tMat.col2.x*normalY;normalY=tMat.col1.y*tX+tMat.col2.y*normalY;var normalLocal2X=normalX;var normalLocal2Y=normalY;tMat=poly2.m_R;tX=normalLocal2X*tMat.col1.x+normalLocal2Y*tMat.col1.y;normalLocal2Y=normalLocal2X*tMat.col2.x+normalLocal2Y*tMat.col2.y;normalLocal2X=tX;var vertexIndex2=0;var minDot=Number.MAX_VALUE;for(var i=0;i<count2;++i)
{var tVec=vert2s[i];var dot=tVec.x*normalLocal2X+tVec.y*normalLocal2Y;if(dot<minDot)
{minDot=dot;vertexIndex2=i;}}
tMat=poly1.m_R;var v1X=poly1.m_position.x+(tMat.col1.x*vert1s[edge1].x+tMat.col2.x*vert1s[edge1].y)
var v1Y=poly1.m_position.y+(tMat.col1.y*vert1s[edge1].x+tMat.col2.y*vert1s[edge1].y)
tMat=poly2.m_R;var v2X=poly2.m_position.x+(tMat.col1.x*vert2s[vertexIndex2].x+tMat.col2.x*vert2s[vertexIndex2].y)
var v2Y=poly2.m_position.y+(tMat.col1.y*vert2s[vertexIndex2].x+tMat.col2.y*vert2s[vertexIndex2].y)
v2X-=v1X;v2Y-=v1Y;var separation=v2X*normalX+v2Y*normalY;return separation;};b2Collision.FindMaxSeparation=function(edgeIndex,poly1,poly2,conservative)
{var count1=poly1.m_vertexCount;var dX=poly2.m_position.x-poly1.m_position.x;var dY=poly2.m_position.y-poly1.m_position.y;var dLocal1X=(dX*poly1.m_R.col1.x+dY*poly1.m_R.col1.y);var dLocal1Y=(dX*poly1.m_R.col2.x+dY*poly1.m_R.col2.y);var edge=0;var maxDot=-Number.MAX_VALUE;for(var i=0;i<count1;++i)
{var dot=(poly1.m_normals[i].x*dLocal1X+poly1.m_normals[i].y*dLocal1Y);if(dot>maxDot)
{maxDot=dot;edge=i;}}
var s=b2Collision.EdgeSeparation(poly1,edge,poly2);if(s>0.0&&conservative==false)
{return s;}
var prevEdge=edge-1>=0?edge-1:count1-1;var sPrev=b2Collision.EdgeSeparation(poly1,prevEdge,poly2);if(sPrev>0.0&&conservative==false)
{return sPrev;}
var nextEdge=edge+1<count1?edge+1:0;var sNext=b2Collision.EdgeSeparation(poly1,nextEdge,poly2);if(sNext>0.0&&conservative==false)
{return sNext;}
var bestEdge=0;var bestSeparation;var increment=0;if(sPrev>s&&sPrev>sNext)
{increment=-1;bestEdge=prevEdge;bestSeparation=sPrev;}
else if(sNext>s)
{increment=1;bestEdge=nextEdge;bestSeparation=sNext;}
else
{edgeIndex[0]=edge;return s;}
while(true)
{if(increment==-1)
edge=bestEdge-1>=0?bestEdge-1:count1-1;else
edge=bestEdge+1<count1?bestEdge+1:0;s=b2Collision.EdgeSeparation(poly1,edge,poly2);if(s>0.0&&conservative==false)
{return s;}
if(s>bestSeparation)
{bestEdge=edge;bestSeparation=s;}
else
{break;}}
edgeIndex[0]=bestEdge;return bestSeparation;};b2Collision.FindIncidentEdge=function(c,poly1,edge1,poly2)
{var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var vertex11=edge1;var vertex12=edge1+1==count1?0:edge1+1;var tVec=vert1s[vertex12];var normal1Local1X=tVec.x;var normal1Local1Y=tVec.y;tVec=vert1s[vertex11];normal1Local1X-=tVec.x;normal1Local1Y-=tVec.y;var tX=normal1Local1X;normal1Local1X=normal1Local1Y;normal1Local1Y=-tX;var invLength=1.0/Math.sqrt(normal1Local1X*normal1Local1X+normal1Local1Y*normal1Local1Y);normal1Local1X*=invLength;normal1Local1Y*=invLength;var normal1X=normal1Local1X;var normal1Y=normal1Local1Y;tX=normal1X;var tMat=poly1.m_R;normal1X=tMat.col1.x*tX+tMat.col2.x*normal1Y;normal1Y=tMat.col1.y*tX+tMat.col2.y*normal1Y;var normal1Local2X=normal1X;var normal1Local2Y=normal1Y;tMat=poly2.m_R;tX=normal1Local2X*tMat.col1.x+normal1Local2Y*tMat.col1.y;normal1Local2Y=normal1Local2X*tMat.col2.x+normal1Local2Y*tMat.col2.y;normal1Local2X=tX;var vertex21=0;var vertex22=0;var minDot=Number.MAX_VALUE;for(var i=0;i<count2;++i)
{var i1=i;var i2=i+1<count2?i+1:0;tVec=vert2s[i2];var normal2Local2X=tVec.x;var normal2Local2Y=tVec.y;tVec=vert2s[i1];normal2Local2X-=tVec.x;normal2Local2Y-=tVec.y;tX=normal2Local2X;normal2Local2X=normal2Local2Y;normal2Local2Y=-tX;invLength=1.0/Math.sqrt(normal2Local2X*normal2Local2X+normal2Local2Y*normal2Local2Y);normal2Local2X*=invLength;normal2Local2Y*=invLength;var dot=normal2Local2X*normal1Local2X+normal2Local2Y*normal1Local2Y;if(dot<minDot)
{minDot=dot;vertex21=i1;vertex22=i2;}}
var tClip;tClip=c[0];tVec=tClip.v;tVec.SetV(vert2s[vertex21]);tVec.MulM(poly2.m_R);tVec.Add(poly2.m_position);tClip.id.features.referenceFace=edge1;tClip.id.features.incidentEdge=vertex21;tClip.id.features.incidentVertex=vertex21;tClip=c[1];tVec=tClip.v;tVec.SetV(vert2s[vertex22]);tVec.MulM(poly2.m_R);tVec.Add(poly2.m_position);tClip.id.features.referenceFace=edge1;tClip.id.features.incidentEdge=vertex21;tClip.id.features.incidentVertex=vertex22;};b2Collision.b2CollidePolyTempVec=new b2Vec2();b2Collision.b2CollidePoly=function(manifold,polyA,polyB,conservative)
{manifold.pointCount=0;var edgeA=0;var edgeAOut=[edgeA];var separationA=b2Collision.FindMaxSeparation(edgeAOut,polyA,polyB,conservative);edgeA=edgeAOut[0];if(separationA>0.0&&conservative==false)
return;var edgeB=0;var edgeBOut=[edgeB];var separationB=b2Collision.FindMaxSeparation(edgeBOut,polyB,polyA,conservative);edgeB=edgeBOut[0];if(separationB>0.0&&conservative==false)
return;var poly1;var poly2;var edge1=0;var flip=0;var k_relativeTol=0.98;var k_absoluteTol=0.001;if(separationB>k_relativeTol*separationA+k_absoluteTol)
{poly1=polyB;poly2=polyA;edge1=edgeB;flip=1;}
else
{poly1=polyA;poly2=polyB;edge1=edgeA;flip=0;}
var incidentEdge=[new ClipVertex(),new ClipVertex()];b2Collision.FindIncidentEdge(incidentEdge,poly1,edge1,poly2);var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var v11=vert1s[edge1];var v12=edge1+1<count1?vert1s[edge1+1]:vert1s[0];var dvX=v12.x-v11.x;var dvY=v12.y-v11.y;var sideNormalX=v12.x-v11.x;var sideNormalY=v12.y-v11.y;var tX=sideNormalX;var tMat=poly1.m_R;sideNormalX=tMat.col1.x*tX+tMat.col2.x*sideNormalY;sideNormalY=tMat.col1.y*tX+tMat.col2.y*sideNormalY;var invLength=1.0/Math.sqrt(sideNormalX*sideNormalX+sideNormalY*sideNormalY);sideNormalX*=invLength;sideNormalY*=invLength;var frontNormalX=sideNormalX;var frontNormalY=sideNormalY;tX=frontNormalX;frontNormalX=frontNormalY;frontNormalY=-tX;var v11X=v11.x;var v11Y=v11.y;tX=v11X;tMat=poly1.m_R;v11X=tMat.col1.x*tX+tMat.col2.x*v11Y;v11Y=tMat.col1.y*tX+tMat.col2.y*v11Y;v11X+=poly1.m_position.x;v11Y+=poly1.m_position.y;var v12X=v12.x;var v12Y=v12.y;tX=v12X;tMat=poly1.m_R;v12X=tMat.col1.x*tX+tMat.col2.x*v12Y;v12Y=tMat.col1.y*tX+tMat.col2.y*v12Y;v12X+=poly1.m_position.x;v12Y+=poly1.m_position.y;var frontOffset=frontNormalX*v11X+frontNormalY*v11Y;var sideOffset1=-(sideNormalX*v11X+sideNormalY*v11Y);var sideOffset2=sideNormalX*v12X+sideNormalY*v12Y;var clipPoints1=[new ClipVertex(),new ClipVertex()];var clipPoints2=[new ClipVertex(),new ClipVertex()];var np=0;b2Collision.b2CollidePolyTempVec.Set(-sideNormalX,-sideNormalY);np=b2Collision.ClipSegmentToLine(clipPoints1,incidentEdge,b2Collision.b2CollidePolyTempVec,sideOffset1);if(np<2)
return;b2Collision.b2CollidePolyTempVec.Set(sideNormalX,sideNormalY);np=b2Collision.ClipSegmentToLine(clipPoints2,clipPoints1,b2Collision.b2CollidePolyTempVec,sideOffset2);if(np<2)
return;if(flip){manifold.normal.Set(-frontNormalX,-frontNormalY);}
else{manifold.normal.Set(frontNormalX,frontNormalY);}
var pointCount=0;for(var i=0;i<b2Settings.b2_maxManifoldPoints;++i)
{var tVec=clipPoints2[i].v;var separation=(frontNormalX*tVec.x+frontNormalY*tVec.y)-frontOffset;if(separation<=0.0||conservative==true)
{var cp=manifold.points[pointCount];cp.separation=separation;cp.position.SetV(clipPoints2[i].v);cp.id.Set(clipPoints2[i].id);cp.id.features.flip=flip;++pointCount;}}
manifold.pointCount=pointCount;};b2Collision.b2CollideCircle=function(manifold,circle1,circle2,conservative)
{manifold.pointCount=0;var dX=circle2.m_position.x-circle1.m_position.x;var dY=circle2.m_position.y-circle1.m_position.y;var distSqr=dX*dX+dY*dY;var radiusSum=circle1.m_radius+circle2.m_radius;if(distSqr>radiusSum*radiusSum&&conservative==false)
{return;}
var separation;if(distSqr<Number.MIN_VALUE)
{separation=-radiusSum;manifold.normal.Set(0.0,1.0);}
else
{var dist=Math.sqrt(distSqr);separation=dist-radiusSum;var a=1.0/dist;manifold.normal.x=a*dX;manifold.normal.y=a*dY;}
manifold.pointCount=1;var tPoint=manifold.points[0];tPoint.id.set_key(0);tPoint.separation=separation;tPoint.position.x=circle2.m_position.x-(circle2.m_radius*manifold.normal.x);tPoint.position.y=circle2.m_position.y-(circle2.m_radius*manifold.normal.y);};b2Collision.b2CollidePolyAndCircle=function(manifold,poly,circle,conservative)
{manifold.pointCount=0;var tPoint;var dX;var dY;var xLocalX=circle.m_position.x-poly.m_position.x;var xLocalY=circle.m_position.y-poly.m_position.y;var tMat=poly.m_R;var tX=xLocalX*tMat.col1.x+xLocalY*tMat.col1.y;xLocalY=xLocalX*tMat.col2.x+xLocalY*tMat.col2.y;xLocalX=tX;var dist;var normalIndex=0;var separation=-Number.MAX_VALUE;var radius=circle.m_radius;for(var i=0;i<poly.m_vertexCount;++i)
{var s=poly.m_normals[i].x*(xLocalX-poly.m_vertices[i].x)+poly.m_normals[i].y*(xLocalY-poly.m_vertices[i].y);if(s>radius)
{return;}
if(s>separation)
{separation=s;normalIndex=i;}}
if(separation<Number.MIN_VALUE)
{manifold.pointCount=1;var tVec=poly.m_normals[normalIndex];manifold.normal.x=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;manifold.normal.y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tPoint=manifold.points[0];tPoint.id.features.incidentEdge=normalIndex;tPoint.id.features.incidentVertex=b2Collision.b2_nullFeature;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=separation-radius;return;}
var vertIndex1=normalIndex;var vertIndex2=vertIndex1+1<poly.m_vertexCount?vertIndex1+1:0;var eX=poly.m_vertices[vertIndex2].x-poly.m_vertices[vertIndex1].x;var eY=poly.m_vertices[vertIndex2].y-poly.m_vertices[vertIndex1].y;var length=Math.sqrt(eX*eX+eY*eY);eX/=length;eY/=length;if(length<Number.MIN_VALUE)
{dX=xLocalX-poly.m_vertices[vertIndex1].x;dY=xLocalY-poly.m_vertices[vertIndex1].y;dist=Math.sqrt(dX*dX+dY*dY);dX/=dist;dY/=dist;if(dist>radius)
{return;}
manifold.pointCount=1;manifold.normal.Set(tMat.col1.x*dX+tMat.col2.x*dY,tMat.col1.y*dX+tMat.col2.y*dY);tPoint=manifold.points[0];tPoint.id.features.incidentEdge=b2Collision.b2_nullFeature;tPoint.id.features.incidentVertex=vertIndex1;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=dist-radius;return;}
var u=(xLocalX-poly.m_vertices[vertIndex1].x)*eX+(xLocalY-poly.m_vertices[vertIndex1].y)*eY;tPoint=manifold.points[0];tPoint.id.features.incidentEdge=b2Collision.b2_nullFeature;tPoint.id.features.incidentVertex=b2Collision.b2_nullFeature;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;var pX,pY;if(u<=0.0)
{pX=poly.m_vertices[vertIndex1].x;pY=poly.m_vertices[vertIndex1].y;tPoint.id.features.incidentVertex=vertIndex1;}
else if(u>=length)
{pX=poly.m_vertices[vertIndex2].x;pY=poly.m_vertices[vertIndex2].y;tPoint.id.features.incidentVertex=vertIndex2;}
else
{pX=eX*u+poly.m_vertices[vertIndex1].x;pY=eY*u+poly.m_vertices[vertIndex1].y;tPoint.id.features.incidentEdge=vertIndex1;}
dX=xLocalX-pX;dY=xLocalY-pY;dist=Math.sqrt(dX*dX+dY*dY);dX/=dist;dY/=dist;if(dist>radius)
{return;}
manifold.pointCount=1;manifold.normal.Set(tMat.col1.x*dX+tMat.col2.x*dY,tMat.col1.y*dX+tMat.col2.y*dY);tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=dist-radius;};b2Collision.b2TestOverlap=function(a,b)
{var t1=b.minVertex;var t2=a.maxVertex;var d1X=t1.x-t2.x;var d1Y=t1.y-t2.y;t1=a.minVertex;t2=b.maxVertex;var d2X=t1.x-t2.x;var d2Y=t1.y-t2.y;if(d1X>0.0||d1Y>0.0)
return false;if(d2X>0.0||d2Y>0.0)
return false;return true;};
var Features=Class.create();Features.prototype={set_referenceFace:function(value){this._referenceFace=value;this._m_id._key=(this._m_id._key&0xffffff00)|(this._referenceFace&0x000000ff)},get_referenceFace:function(){return this._referenceFace;},_referenceFace:0,set_incidentEdge:function(value){this._incidentEdge=value;this._m_id._key=(this._m_id._key&0xffff00ff)|((this._incidentEdge<<8)&0x0000ff00)},get_incidentEdge:function(){return this._incidentEdge;},_incidentEdge:0,set_incidentVertex:function(value){this._incidentVertex=value;this._m_id._key=(this._m_id._key&0xff00ffff)|((this._incidentVertex<<16)&0x00ff0000)},get_incidentVertex:function(){return this._incidentVertex;},_incidentVertex:0,set_flip:function(value){this._flip=value;this._m_id._key=(this._m_id._key&0x00ffffff)|((this._flip<<24)&0xff000000)},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(id){this.set_key(id._key);},Copy:function(){var id=new b2ContactID();id.set_key(this._key);return id;},get_key:function(){return this._key;},set_key:function(value){this._key=value;this.features._referenceFace=this._key&0x000000ff;this.features._incidentEdge=((this._key&0x0000ff00)>>8)&0x000000ff;this.features._incidentVertex=((this._key&0x00ff0000)>>16)&0x000000ff;this.features._flip=((this._key&0xff000000)>>24)&0x000000ff;},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(p1Out,p2Out,p1s,p2s,points)
{var rX=-points[1].x;var rY=-points[1].y;var dX=points[0].x-points[1].x;var dY=points[0].y-points[1].y;var length=Math.sqrt(dX*dX+dY*dY);dX/=length;dY/=length;var lambda=rX*dX+rY*dY;if(lambda<=0.0||length<Number.MIN_VALUE)
{p1Out.SetV(p1s[1]);p2Out.SetV(p2s[1]);p1s[0].SetV(p1s[1]);p2s[0].SetV(p2s[1]);points[0].SetV(points[1]);return 1;}
lambda/=length;p1Out.x=p1s[1].x+lambda*(p1s[0].x-p1s[1].x);p1Out.y=p1s[1].y+lambda*(p1s[0].y-p1s[1].y);p2Out.x=p2s[1].x+lambda*(p2s[0].x-p2s[1].x);p2Out.y=p2s[1].y+lambda*(p2s[0].y-p2s[1].y);return 2;};b2Distance.ProcessThree=function(p1Out,p2Out,p1s,p2s,points)
{var aX=points[0].x;var aY=points[0].y;var bX=points[1].x;var bY=points[1].y;var cX=points[2].x;var cY=points[2].y;var abX=bX-aX;var abY=bY-aY;var acX=cX-aX;var acY=cY-aY;var bcX=cX-bX;var bcY=cY-bY;var sn=-(aX*abX+aY*abY);var sd=(bX*abX+bY*abY);var tn=-(aX*acX+aY*acY);var td=(cX*acX+cY*acY);var un=-(bX*bcX+bY*bcY);var ud=(cX*bcX+cY*bcY);if(td<=0.0&&ud<=0.0)
{p1Out.SetV(p1s[2]);p2Out.SetV(p2s[2]);p1s[0].SetV(p1s[2]);p2s[0].SetV(p2s[2]);points[0].SetV(points[2]);return 1;}
var n=abX*acY-abY*acX;var vc=n*(aX*bY-aY*bX);var va=n*(bX*cY-bY*cX);if(va<=0.0&&un>=0.0&&ud>=0.0)
{var lambda=un/(un+ud);p1Out.x=p1s[1].x+lambda*(p1s[2].x-p1s[1].x);p1Out.y=p1s[1].y+lambda*(p1s[2].y-p1s[1].y);p2Out.x=p2s[1].x+lambda*(p2s[2].x-p2s[1].x);p2Out.y=p2s[1].y+lambda*(p2s[2].y-p2s[1].y);p1s[0].SetV(p1s[2]);p2s[0].SetV(p2s[2]);points[0].SetV(points[2]);return 2;}
var vb=n*(cX*aY-cY*aX);if(vb<=0.0&&tn>=0.0&&td>=0.0)
{var lambda=tn/(tn+td);p1Out.x=p1s[0].x+lambda*(p1s[2].x-p1s[0].x);p1Out.y=p1s[0].y+lambda*(p1s[2].y-p1s[0].y);p2Out.x=p2s[0].x+lambda*(p2s[2].x-p2s[0].x);p2Out.y=p2s[0].y+lambda*(p2s[2].y-p2s[0].y);p1s[1].SetV(p1s[2]);p2s[1].SetV(p2s[2]);points[1].SetV(points[2]);return 2;}
var denom=va+vb+vc;denom=1.0/denom;var u=va*denom;var v=vb*denom;var w=1.0-u-v;p1Out.x=u*p1s[0].x+v*p1s[1].x+w*p1s[2].x;p1Out.y=u*p1s[0].y+v*p1s[1].y+w*p1s[2].y;p2Out.x=u*p2s[0].x+v*p2s[1].x+w*p2s[2].x;p2Out.y=u*p2s[0].y+v*p2s[1].y+w*p2s[2].y;return 3;};b2Distance.InPoinsts=function(w,points,pointCount)
{for(var i=0;i<pointCount;++i)
{if(w.x==points[i].x&&w.y==points[i].y)
{return true;}}
return false;};b2Distance.Distance=function(p1Out,p2Out,shape1,shape2)
{var p1s=new Array(3);var p2s=new Array(3);var points=new Array(3);var pointCount=0;p1Out.SetV(shape1.m_position);p2Out.SetV(shape2.m_position);var vSqr=0.0;var maxIterations=20;for(var iter=0;iter<maxIterations;++iter)
{var vX=p2Out.x-p1Out.x;var vY=p2Out.y-p1Out.y;var w1=shape1.Support(vX,vY);var w2=shape2.Support(-vX,-vY);vSqr=(vX*vX+vY*vY);var wX=w2.x-w1.x;var wY=w2.y-w1.y;var vw=(vX*wX+vY*wY);if(vSqr-b2Dot(vX*wX+vY*wY)<=0.01*vSqr)
{if(pointCount==0)
{p1Out.SetV(w1);p2Out.SetV(w2);}
b2Distance.g_GJK_Iterations=iter;return Math.sqrt(vSqr);}
switch(pointCount)
{case 0:p1s[0].SetV(w1);p2s[0].SetV(w2);points[0]=w;p1Out.SetV(p1s[0]);p2Out.SetV(p2s[0]);++pointCount;break;case 1:p1s[1].SetV(w1);p2s[1].SetV(w2);points[1].x=wX;points[1].y=wY;pointCount=b2Distance.ProcessTwo(p1Out,p2Out,p1s,p2s,points);break;case 2:p1s[2].SetV(w1);p2s[2].SetV(w2);points[2].x=wX;points[2].y=wY;pointCount=b2Distance.ProcessThree(p1Out,p2Out,p1s,p2s,points);break;}
if(pointCount==3)
{b2Distance.g_GJK_Iterations=iter;return 0.0;}
var maxSqr=-Number.MAX_VALUE;for(var i=0;i<pointCount;++i)
{maxSqr=b2Math.b2Max(maxSqr,(points[i].x*points[i].x+points[i].y*points[i].y));}
if(pointCount==3||vSqr<=100.0*Number.MIN_VALUE*maxSqr)
{b2Distance.g_GJK_Iterations=iter;return Math.sqrt(vSqr);}}
b2Distance.g_GJK_Iterations=maxIterations;return Math.sqrt(vSqr);};b2Distance.g_GJK_Iterations=0;
var b2Manifold=Class.create();b2Manifold.prototype={initialize:function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var i=0;i<b2Settings.b2_maxManifoldPoints;i++){this.points[i]=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(next){this.lowerBounds[0]=next;},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(p){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(broadPhase){},GetNext:function(){return this.m_next;},initialize:function(def,body){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.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(position1,R1,position2,R2){},QuickSync:function(position,R){},Support:function(dX,dY,out){},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(def,body,center){switch(def.type)
{case b2Shape.e_circleShape:{return new b2CircleShape(def,body,center);}
case b2Shape.e_boxShape:case b2Shape.e_polyShape:{return new b2PolyShape(def,body,center);}}
return null;};b2Shape.Destroy=function(shape)
{if(shape.m_proxyId!=b2Pair.b2_nullProxy)
shape.m_body.m_world.m_broadPhase.DestroyProxy(shape.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(massData,vs,count,rho)
{var center=new b2Vec2();center.SetZero();var area=0.0;var I=0.0;var pRef=new b2Vec2(0.0,0.0);var inv3=1.0/3.0;for(var i=0;i<count;++i)
{var p1=pRef;var p2=vs[i];var p3=i+1<count?vs[i+1]:vs[0];var e1=b2Math.SubtractVV(p2,p1);var e2=b2Math.SubtractVV(p3,p1);var D=b2Math.b2CrossVV(e1,e2);var triangleArea=0.5*D;area+=triangleArea;var tVec=new b2Vec2();tVec.SetV(p1);tVec.Add(p2);tVec.Add(p3);tVec.Multiply(inv3*triangleArea);center.Add(tVec);var px=p1.x;var py=p1.y;var ex1=e1.x;var ey1=e1.y;var ex2=e2.x;var ey2=e2.y;var intx2=inv3*(0.25*(ex1*ex1+ex2*ex1+ex2*ex2)+(px*ex1+px*ex2))+0.5*px*px;var inty2=inv3*(0.25*(ey1*ey1+ey2*ey1+ey2*ey2)+(py*ey1+py*ey2))+0.5*py*py;I+=D*(intx2+inty2);}
massData.mass=rho*area;center.Multiply(1.0/area);massData.center=center;I=rho*(I-area*b2Math.b2Dot(center,center));massData.I=I;};b2Shape.PolyCentroid=function(vs,count,out)
{var cX=0.0;var cY=0.0;var area=0.0;var pRefX=0.0;var pRefY=0.0;var inv3=1.0/3.0;for(var i=0;i<count;++i)
{var p1X=pRefX;var p1Y=pRefY;var p2X=vs[i].x;var p2Y=vs[i].y;var p3X=i+1<count?vs[i+1].x:vs[0].x;var p3Y=i+1<count?vs[i+1].y:vs[0].y;var e1X=p2X-p1X;var e1Y=p2Y-p1Y;var e2X=p3X-p1X;var e2Y=p3Y-p1Y;var D=(e1X*e2Y-e1Y*e2X);var triangleArea=0.5*D;area+=triangleArea;cX+=triangleArea*inv3*(p1X+p2X+p3X);cY+=triangleArea*inv3*(p1Y+p2Y+p3Y);}
cX*=1.0/area;cY*=1.0/area;out.Set(cX,cY);};
var b2ShapeDef=Class.create();b2ShapeDef.prototype={initialize:function()
{this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;},ComputeMass:function(massData)
{massData.center=new b2Vec2(0.0,0.0)
if(this.density==0.0)
{massData.mass=0.0;massData.center.Set(0.0,0.0);massData.I=0.0;};switch(this.type)
{case b2Shape.e_circleShape:{var circle=this;massData.mass=this.density*b2Settings.b2_pi*circle.radius*circle.radius;massData.center.Set(0.0,0.0);massData.I=0.5*(massData.mass)*circle.radius*circle.radius;}
break;case b2Shape.e_boxShape:{var box=this;massData.mass=4.0*this.density*box.extents.x*box.extents.y;massData.center.Set(0.0,0.0);massData.I=massData.mass/3.0*b2Math.b2Dot(box.extents,box.extents);}
break;case b2Shape.e_polyShape:{var poly=this;b2Shape.PolyMass(massData,poly.vertices,poly.vertexCount,this.density);}
break;default:massData.mass=0.0;massData.center.Set(0.0,0.0);massData.I=0.0;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(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.type=b2Shape.e_boxShape;this.extents=new b2Vec2(1.0,1.0);},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(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.type=b2Shape.e_circleShape;this.radius=1.0;},radius:null});var b2CircleShape=Class.create();Object.extend(b2CircleShape.prototype,b2Shape.prototype);Object.extend(b2CircleShape.prototype,{TestPoint:function(p){var d=new b2Vec2();d.SetV(p);d.Subtract(this.m_position);return b2Math.b2Dot(d,d)<=this.m_radius*this.m_radius;},initialize:function(def,body,localCenter){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;this.m_localPosition=new b2Vec2();var circle=def;this.m_localPosition.Set(def.localPosition.x-localCenter.x,def.localPosition.y-localCenter.y);this.m_type=b2Shape.e_circleShape;this.m_radius=circle.radius;this.m_R.SetM(this.m_body.m_R);var rX=this.m_R.col1.x*this.m_localPosition.x+this.m_R.col2.x*this.m_localPosition.y;var rY=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+rX;this.m_position.y=this.m_body.m_position.y+rY;this.m_maxRadius=Math.sqrt(rX*rX+rY*rY)+this.m_radius;var aabb=new b2AABB();aabb.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);aabb.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))
{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}
else
{this.m_proxyId=b2Pair.b2_nullProxy;}
if(this.m_proxyId==b2Pair.b2_nullProxy)
{this.m_body.Freeze();}},Synchronize:function(position1,R1,position2,R2){this.m_R.SetM(R2);this.m_position.x=(R2.col1.x*this.m_localPosition.x+R2.col2.x*this.m_localPosition.y)+position2.x;this.m_position.y=(R2.col1.y*this.m_localPosition.x+R2.col2.y*this.m_localPosition.y)+position2.y;if(this.m_proxyId==b2Pair.b2_nullProxy)
{return;}
var p1X=position1.x+(R1.col1.x*this.m_localPosition.x+R1.col2.x*this.m_localPosition.y);var p1Y=position1.y+(R1.col1.y*this.m_localPosition.x+R1.col2.y*this.m_localPosition.y);var lowerX=Math.min(p1X,this.m_position.x);var lowerY=Math.min(p1Y,this.m_position.y);var upperX=Math.max(p1X,this.m_position.x);var upperY=Math.max(p1Y,this.m_position.y);var aabb=new b2AABB();aabb.minVertex.Set(lowerX-this.m_radius,lowerY-this.m_radius);aabb.maxVertex.Set(upperX+this.m_radius,upperY+this.m_radius);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))
{broadPhase.MoveProxy(this.m_proxyId,aabb);}
else
{this.m_body.Freeze();}},QuickSync:function(position,R){this.m_R.SetM(R);this.m_position.x=(R.col1.x*this.m_localPosition.x+R.col2.x*this.m_localPosition.y)+position.x;this.m_position.y=(R.col1.y*this.m_localPosition.x+R.col2.y*this.m_localPosition.y)+position.y;},ResetProxy:function(broadPhase)
{if(this.m_proxyId==b2Pair.b2_nullProxy)
{return;}
var proxy=broadPhase.GetProxy(this.m_proxyId);broadPhase.DestroyProxy(this.m_proxyId);proxy=null;var aabb=new b2AABB();aabb.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);aabb.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);if(broadPhase.InRange(aabb))
{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}
else
{this.m_proxyId=b2Pair.b2_nullProxy;}
if(this.m_proxyId==b2Pair.b2_nullProxy)
{this.m_body.Freeze();}},Support:function(dX,dY,out)
{var len=Math.sqrt(dX*dX+dY*dY);dX/=len;dY/=len;out.Set(this.m_position.x+this.m_radius*dX,this.m_position.y+this.m_radius*dY);},m_localPosition:new b2Vec2(),m_radius:null});
var b2MassData=Class.create();b2MassData.prototype={mass:0.0,center:new b2Vec2(0,0),I:0.0,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(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.vertices=new Array(b2Settings.b2_maxPolyVertices);this.type=b2Shape.e_polyShape;this.vertexCount=0;for(var i=0;i<b2Settings.b2_maxPolyVertices;i++){this.vertices[i]=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(p){var pLocal=new b2Vec2();pLocal.SetV(p);pLocal.Subtract(this.m_position);pLocal.MulTM(this.m_R);for(var i=0;i<this.m_vertexCount;++i)
{var tVec=new b2Vec2();tVec.SetV(pLocal);tVec.Subtract(this.m_vertices[i]);var dot=b2Math.b2Dot(this.m_normals[i],tVec);if(dot>0.0)
{return false;}}
return true;},initialize:function(def,body,newOrigin){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;this.syncAABB=new b2AABB();this.syncMat=new b2Mat22();this.m_localCentroid=new b2Vec2();this.m_localOBB=new b2OBB();var i=0;var hX;var hY;var tVec;var aabb=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 localR=new b2Mat22(def.localRotation);if(def.type==b2Shape.e_boxShape)
{this.m_localCentroid.x=def.localPosition.x-newOrigin.x;this.m_localCentroid.y=def.localPosition.y-newOrigin.y;var box=def;this.m_vertexCount=4;hX=box.extents.x;hY=box.extents.y;var hcX=Math.max(0.0,hX-2.0*b2Settings.b2_linearSlop);var hcY=Math.max(0.0,hY-2.0*b2Settings.b2_linearSlop);tVec=this.m_vertices[0]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*hY;tVec.y=localR.col1.y*hX+localR.col2.y*hY;tVec=this.m_vertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*hY;tVec.y=localR.col1.y*-hX+localR.col2.y*hY;tVec=this.m_vertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*-hY;tVec.y=localR.col1.y*-hX+localR.col2.y*-hY;tVec=this.m_vertices[3]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*-hY;tVec.y=localR.col1.y*hX+localR.col2.y*-hY;tVec=this.m_coreVertices[0]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*-hcY;tVec=this.m_coreVertices[3]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*-hcY;}
else
{var poly=def;this.m_vertexCount=poly.vertexCount;b2Shape.PolyCentroid(poly.vertices,poly.vertexCount,b2PolyShape.tempVec);var centroidX=b2PolyShape.tempVec.x;var centroidY=b2PolyShape.tempVec.y;this.m_localCentroid.x=def.localPosition.x+(localR.col1.x*centroidX+localR.col2.x*centroidY)-newOrigin.x;this.m_localCentroid.y=def.localPosition.y+(localR.col1.y*centroidX+localR.col2.y*centroidY)-newOrigin.y;for(i=0;i<this.m_vertexCount;++i)
{this.m_vertices[i]=new b2Vec2();this.m_coreVertices[i]=new b2Vec2();hX=poly.vertices[i].x-centroidX;hY=poly.vertices[i].y-centroidY;this.m_vertices[i].x=localR.col1.x*hX+localR.col2.x*hY;this.m_vertices[i].y=localR.col1.y*hX+localR.col2.y*hY;var uX=this.m_vertices[i].x;var uY=this.m_vertices[i].y;var length=Math.sqrt(uX*uX+uY*uY);if(length>Number.MIN_VALUE)
{uX*=1.0/length;uY*=1.0/length;}
this.m_coreVertices[i].x=this.m_vertices[i].x-2.0*b2Settings.b2_linearSlop*uX;this.m_coreVertices[i].y=this.m_vertices[i].y-2.0*b2Settings.b2_linearSlop*uY;}}
var minVertexX=Number.MAX_VALUE;var minVertexY=Number.MAX_VALUE;var maxVertexX=-Number.MAX_VALUE;var maxVertexY=-Number.MAX_VALUE;this.m_maxRadius=0.0;for(i=0;i<this.m_vertexCount;++i)
{var v=this.m_vertices[i];minVertexX=Math.min(minVertexX,v.x);minVertexY=Math.min(minVertexY,v.y);maxVertexX=Math.max(maxVertexX,v.x);maxVertexY=Math.max(maxVertexY,v.y);this.m_maxRadius=Math.max(this.m_maxRadius,v.Length());}
this.m_localOBB.R.SetIdentity();this.m_localOBB.center.Set((minVertexX+maxVertexX)*0.5,(minVertexY+maxVertexY)*0.5);this.m_localOBB.extents.Set((maxVertexX-minVertexX)*0.5,(maxVertexY-minVertexY)*0.5);var i1=0;var i2=0;for(i=0;i<this.m_vertexCount;++i)
{this.m_normals[i]=new b2Vec2();i1=i;i2=i+1<this.m_vertexCount?i+1:0;this.m_normals[i].x=this.m_vertices[i2].y-this.m_vertices[i1].y;this.m_normals[i].y=-(this.m_vertices[i2].x-this.m_vertices[i1].x);this.m_normals[i].Normalize();}
for(i=0;i<this.m_vertexCount;++i)
{i1=i;i2=i+1<this.m_vertexCount?i+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()
hX=b2PolyShape.tAbsR.col1.x*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.x*this.m_localOBB.extents.y;hY=b2PolyShape.tAbsR.col1.y*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.y*this.m_localOBB.extents.y;var positionX=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 positionY=this.m_position.y+(this.m_R.col1.y*this.m_localOBB.center.x+this.m_R.col2.y*this.m_localOBB.center.y);aabb.minVertex.x=positionX-hX;aabb.minVertex.y=positionY-hY;aabb.maxVertex.x=positionX+hX;aabb.maxVertex.y=positionY+hY;var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))
{this.m_proxyId=broadPhase.CreateProxy(aabb,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(position1,R1,position2,R2){this.m_R.SetM(R2);this.m_position.x=this.m_body.m_position.x+(R2.col1.x*this.m_localCentroid.x+R2.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(R2.col1.y*this.m_localCentroid.x+R2.col2.y*this.m_localCentroid.y);if(this.m_proxyId==b2Pair.b2_nullProxy)
{return;}
var hX;var hY;var v1=R1.col1;var v2=R1.col2;var v3=this.m_localOBB.R.col1;var v4=this.m_localOBB.R.col2;this.syncMat.col1.x=v1.x*v3.x+v2.x*v3.y;this.syncMat.col1.y=v1.y*v3.x+v2.y*v3.y;this.syncMat.col2.x=v1.x*v4.x+v2.x*v4.y;this.syncMat.col2.y=v1.y*v4.x+v2.y*v4.y;this.syncMat.Abs();hX=this.m_localCentroid.x+this.m_localOBB.center.x;hY=this.m_localCentroid.y+this.m_localOBB.center.y;var centerX=position1.x+(R1.col1.x*hX+R1.col2.x*hY);var centerY=position1.y+(R1.col1.y*hX+R1.col2.y*hY);hX=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;hY=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=centerX-hX;this.syncAABB.minVertex.y=centerY-hY;this.syncAABB.maxVertex.x=centerX+hX;this.syncAABB.maxVertex.y=centerY+hY;v1=R2.col1;v2=R2.col2;v3=this.m_localOBB.R.col1;v4=this.m_localOBB.R.col2;this.syncMat.col1.x=v1.x*v3.x+v2.x*v3.y;this.syncMat.col1.y=v1.y*v3.x+v2.y*v3.y;this.syncMat.col2.x=v1.x*v4.x+v2.x*v4.y;this.syncMat.col2.y=v1.y*v4.x+v2.y*v4.y;this.syncMat.Abs();hX=this.m_localCentroid.x+this.m_localOBB.center.x;hY=this.m_localCentroid.y+this.m_localOBB.center.y;centerX=position2.x+(R2.col1.x*hX+R2.col2.x*hY);centerY=position2.y+(R2.col1.y*hX+R2.col2.y*hY);hX=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;hY=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,centerX-hX);this.syncAABB.minVertex.y=Math.min(this.syncAABB.minVertex.y,centerY-hY);this.syncAABB.maxVertex.x=Math.max(this.syncAABB.maxVertex.x,centerX+hX);this.syncAABB.maxVertex.y=Math.max(this.syncAABB.maxVertex.y,centerY+hY);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(this.syncAABB))
{broadPhase.MoveProxy(this.m_proxyId,this.syncAABB);}
else
{this.m_body.Freeze();}},QuickSync:function(position,R){this.m_R.SetM(R);this.m_position.x=position.x+(R.col1.x*this.m_localCentroid.x+R.col2.x*this.m_localCentroid.y);this.m_position.y=position.y+(R.col1.y*this.m_localCentroid.x+R.col2.y*this.m_localCentroid.y);},ResetProxy:function(broadPhase){if(this.m_proxyId==b2Pair.b2_nullProxy)
{return;}
var proxy=broadPhase.GetProxy(this.m_proxyId);broadPhase.DestroyProxy(this.m_proxyId);proxy=null;var R=b2Math.b2MulMM(this.m_R,this.m_localOBB.R);var absR=b2Math.b2AbsM(R);var h=b2Math.b2MulMV(absR,this.m_localOBB.extents);var position=b2Math.b2MulMV(this.m_R,this.m_localOBB.center);position.Add(this.m_position);var aabb=new b2AABB();aabb.minVertex.SetV(position);aabb.minVertex.Subtract(h);aabb.maxVertex.SetV(position);aabb.maxVertex.Add(h);if(broadPhase.InRange(aabb))
{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}
else
{this.m_proxyId=b2Pair.b2_nullProxy;}
if(this.m_proxyId==b2Pair.b2_nullProxy)
{this.m_body.Freeze();}},Support:function(dX,dY,out)
{var dLocalX=(dX*this.m_R.col1.x+dY*this.m_R.col1.y);var dLocalY=(dX*this.m_R.col2.x+dY*this.m_R.col2.y);var bestIndex=0;var bestValue=(this.m_coreVertices[0].x*dLocalX+this.m_coreVertices[0].y*dLocalY);for(var i=1;i<this.m_vertexCount;++i)
{var value=(this.m_coreVertices[i].x*dLocalX+this.m_coreVertices[i].y*dLocalY);if(value>bestValue)
{bestIndex=i;bestValue=value;}}
out.Set(this.m_position.x+(this.m_R.col1.x*this.m_coreVertices[bestIndex].x+this.m_R.col2.x*this.m_coreVertices[bestIndex].y),this.m_position.y+(this.m_R.col1.y*this.m_coreVertices[bestIndex].x+this.m_R.col2.y*this.m_coreVertices[bestIndex].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(position,rotation){if(this.IsFrozen())
{return;}
this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position=b2Math.AddVV(position,b2Math.b2MulMV(this.m_R,this.m_center));this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next)
{s.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(position,rotation){if(this.IsFrozen())
{return;}
this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position.SetV(position);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next)
{s.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(v){this.m_linearVelocity.SetV(v);},GetLinearVelocity:function(){return this.m_linearVelocity;},SetAngularVelocity:function(w){this.m_angularVelocity=w;},GetAngularVelocity:function(){return this.m_angularVelocity;},ApplyForce:function(force,point)
{if(this.IsSleeping()==false)
{this.m_force.Add(force);this.m_torque+=b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),force);}},ApplyTorque:function(torque)
{if(this.IsSleeping()==false)
{this.m_torque+=torque;}},ApplyImpulse:function(impulse,point)
{if(this.IsSleeping()==false)
{this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass,impulse));this.m_angularVelocity+=(this.m_invI*b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),impulse));}},GetMass:function(){return this.m_mass;},GetInertia:function(){return this.m_I;},GetWorldPoint:function(localPoint){return b2Math.AddVV(this.m_position,b2Math.b2MulMV(this.m_R,localPoint));},GetWorldVector:function(localVector){return b2Math.b2MulMV(this.m_R,localVector);},GetLocalPoint:function(worldPoint){return b2Math.b2MulTMV(this.m_R,b2Math.SubtractVV(worldPoint,this.m_position));},GetLocalVector:function(worldVector){return b2Math.b2MulTMV(this.m_R,worldVector);},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(flag)
{if(flag)
{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=0.0;},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(bd,world){this.sMat0=new b2Mat22();this.m_position=new b2Vec2();this.m_R=new b2Mat22(0);this.m_position0=new b2Vec2();var i=0;var sd;var massData;this.m_flags=0;this.m_position.SetV(bd.position);this.m_rotation=bd.rotation;this.m_R.Set(this.m_rotation);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;this.m_world=world;this.m_linearDamping=b2Math.b2Clamp(1.0-bd.linearDamping,0.0,1.0);this.m_angularDamping=b2Math.b2Clamp(1.0-bd.angularDamping,0.0,1.0);this.m_force=new b2Vec2(0.0,0.0);this.m_torque=0.0;this.m_mass=0.0;var massDatas=new Array(b2Settings.b2_maxShapesPerBody);for(i=0;i<b2Settings.b2_maxShapesPerBody;i++){massDatas[i]=new b2MassData();}
this.m_shapeCount=0;this.m_center=new b2Vec2(0.0,0.0);for(i=0;i<b2Settings.b2_maxShapesPerBody;++i)
{sd=bd.shapes[i];if(sd==null)break;massData=massDatas[i];sd.ComputeMass(massData);this.m_mass+=massData.mass;this.m_center.x+=massData.mass*(sd.localPosition.x+massData.center.x);this.m_center.y+=massData.mass*(sd.localPosition.y+massData.center.y);++this.m_shapeCount;}
if(this.m_mass>0.0)
{this.m_center.Multiply(1.0/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=0.0;for(i=0;i<this.m_shapeCount;++i)
{sd=bd.shapes[i];massData=massDatas[i];this.m_I+=massData.I;var r=b2Math.SubtractVV(b2Math.AddVV(sd.localPosition,massData.center),this.m_center);this.m_I+=massData.mass*b2Math.b2Dot(r,r);}
if(this.m_mass>0.0)
{this.m_invMass=1.0/this.m_mass;}
else
{this.m_invMass=0.0;}
if(this.m_I>0.0&&bd.preventRotation==false)
{this.m_invI=1.0/this.m_I;}
else
{this.m_I=0.0;this.m_invI=0.0;}
this.m_linearVelocity=b2Math.AddVV(bd.linearVelocity,b2Math.b2CrossFV(bd.angularVelocity,this.m_center));this.m_angularVelocity=bd.angularVelocity;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_shapeList=null;for(i=0;i<this.m_shapeCount;++i)
{sd=bd.shapes[i];var shape=b2Shape.Create(sd,this,this.m_center);shape.m_next=this.m_shapeList;this.m_shapeList=shape;}
this.m_sleepTime=0.0;if(bd.allowSleep)
{this.m_flags|=b2Body.e_allowSleepFlag;}
if(bd.isSleeping)
{this.m_flags|=b2Body.e_sleepFlag;}
if((this.m_flags&b2Body.e_sleepFlag)||this.m_invMass==0.0)
{this.m_linearVelocity.Set(0.0,0.0);this.m_angularVelocity=0.0;}
this.m_userData=bd.userData;},Destroy:function(){var s=this.m_shapeList;while(s)
{var s0=s;s=s.m_next;b2Shape.Destroy(s0);}},sMat0:new b2Mat22(),SynchronizeShapes:function(){this.sMat0.Set(this.m_rotation0);for(var s=this.m_shapeList;s!=null;s=s.m_next)
{s.Synchronize(this.m_position0,this.sMat0,this.m_position,this.m_R);}},QuickSyncShapes:function(){for(var s=this.m_shapeList;s!=null;s=s.m_next)
{s.QuickSync(this.m_position,this.m_R);}},IsConnected:function(other){for(var jn=this.m_jointList;jn!=null;jn=jn.next)
{if(jn.other==other)
return jn.joint.m_collideConnected==false;}
return false;},Freeze:function(){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0.0;for(var s=this.m_shapeList;s!=null;s=s.m_next)
{s.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=0x0001;b2Body.e_frozenFlag=0x0002;b2Body.e_islandFlag=0x0004;b2Body.e_sleepFlag=0x0008;b2Body.e_allowSleepFlag=0x0010;b2Body.e_destroyFlag=0x0020;
var b2BodyDef=Class.create();b2BodyDef.prototype={initialize:function()
{this.shapes=new Array();this.userData=null;for(var i=0;i<b2Settings.b2_maxShapesPerBody;i++){this.shapes[i]=null;}
this.position=new b2Vec2(0.0,0.0);this.rotation=0.0;this.linearVelocity=new b2Vec2(0.0,0.0);this.angularVelocity=0.0;this.linearDamping=0.0;this.angularDamping=0.0;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(shape)
{for(var i=0;i<b2Settings.b2_maxShapesPerBody;++i)
{if(this.shapes[i]==null)
{this.shapes[i]=shape;break;}}}};
var b2CollisionFilter=Class.create();b2CollisionFilter.prototype={ShouldCollide:function(shape1,shape2){if(shape1.m_groupIndex==shape2.m_groupIndex&&shape1.m_groupIndex!=0)
{return shape1.m_groupIndex>0;}
var collide=(shape1.m_maskBits&shape2.m_categoryBits)!=0&&(shape1.m_categoryBits&shape2.m_maskBits)!=0;return collide;},initialize:function(){}};b2CollisionFilter.b2_defaultFilter=new b2CollisionFilter;
var b2Island=Class.create();b2Island.prototype={initialize:function(bodyCapacity,contactCapacity,jointCapacity,allocator)
{var i=0;this.m_bodyCapacity=bodyCapacity;this.m_contactCapacity=contactCapacity;this.m_jointCapacity=jointCapacity;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodies=new Array(bodyCapacity);for(i=0;i<bodyCapacity;i++)
this.m_bodies[i]=null;this.m_contacts=new Array(contactCapacity);for(i=0;i<contactCapacity;i++)
this.m_contacts[i]=null;this.m_joints=new Array(jointCapacity);for(i=0;i<jointCapacity;i++)
this.m_joints[i]=null;this.m_allocator=allocator;},Clear:function()
{this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;},Solve:function(step,gravity)
{var i=0;var b;for(i=0;i<this.m_bodyCount;++i)
{b=this.m_bodies[i];if(b.m_invMass==0.0)
continue;b.m_linearVelocity.Add(b2Math.MulFV(step.dt,b2Math.AddVV(gravity,b2Math.MulFV(b.m_invMass,b.m_force))));b.m_angularVelocity+=step.dt*b.m_invI*b.m_torque;b.m_linearVelocity.Multiply(b.m_linearDamping);b.m_angularVelocity*=b.m_angularDamping;b.m_position0.SetV(b.m_position);b.m_rotation0=b.m_rotation;}
var contactSolver=new b2ContactSolver(this.m_contacts,this.m_contactCount,this.m_allocator);contactSolver.PreSolve();for(i=0;i<this.m_jointCount;++i)
{this.m_joints[i].PrepareVelocitySolver();}
for(i=0;i<step.iterations;++i)
{contactSolver.SolveVelocityConstraints();for(var j=0;j<this.m_jointCount;++j)
{this.m_joints[j].SolveVelocityConstraints(step);}}
for(i=0;i<this.m_bodyCount;++i)
{b=this.m_bodies[i];if(b.m_invMass==0.0)
continue;b.m_position.x+=step.dt*b.m_linearVelocity.x;b.m_position.y+=step.dt*b.m_linearVelocity.y;b.m_rotation+=step.dt*b.m_angularVelocity;b.m_R.Set(b.m_rotation);}
for(i=0;i<this.m_jointCount;++i)
{this.m_joints[i].PreparePositionSolver();}
if(b2World.s_enablePositionCorrection)
{for(b2Island.m_positionIterationCount=0;b2Island.m_positionIterationCount<step.iterations;++b2Island.m_positionIterationCount)
{var contactsOkay=contactSolver.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);var jointsOkay=true;for(i=0;i<this.m_jointCount;++i)
{var jointOkay=this.m_joints[i].SolvePositionConstraints();jointsOkay=jointsOkay&&jointOkay;}
if(contactsOkay&&jointsOkay)
{break;}}}
contactSolver.PostSolve();for(i=0;i<this.m_bodyCount;++i)
{b=this.m_bodies[i];if(b.m_invMass==0.0)
continue;b.m_R.Set(b.m_rotation);b.SynchronizeShapes();b.m_force.Set(0.0,0.0);b.m_torque=0.0;}},UpdateSleep:function(dt)
{var i=0;var b;var minSleepTime=Number.MAX_VALUE;var linTolSqr=b2Settings.b2_linearSleepTolerance*b2Settings.b2_linearSleepTolerance;var angTolSqr=b2Settings.b2_angularSleepTolerance*b2Settings.b2_angularSleepTolerance;for(i=0;i<this.m_bodyCount;++i)
{b=this.m_bodies[i];if(b.m_invMass==0.0)
{continue;}
if((b.m_flags&b2Body.e_allowSleepFlag)==0)
{b.m_sleepTime=0.0;minSleepTime=0.0;}
if((b.m_flags&b2Body.e_allowSleepFlag)==0||b.m_angularVelocity*b.m_angularVelocity>angTolSqr||b2Math.b2Dot(b.m_linearVelocity,b.m_linearVelocity)>linTolSqr)
{b.m_sleepTime=0.0;minSleepTime=0.0;}
else
{b.m_sleepTime+=dt;minSleepTime=b2Math.b2Min(minSleepTime,b.m_sleepTime);}}
if(minSleepTime>=b2Settings.b2_timeToSleep)
{for(i=0;i<this.m_bodyCount;++i)
{b=this.m_bodies[i];b.m_flags|=b2Body.e_sleepFlag;}}},AddBody:function(body)
{this.m_bodies[this.m_bodyCount++]=body;},AddContact:function(contact)
{this.m_contacts[this.m_contactCount++]=contact;},AddJoint:function(joint)
{this.m_joints[this.m_jointCount++]=joint;},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(s1,s2)
{this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}
this.m_shape1=s1;this.m_shape2=s2;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=0x0001;b2Contact.e_destroyFlag=0x0002;b2Contact.AddType=function(createFcn,destroyFcn,type1,type2)
{b2Contact.s_registers[type1][type2].createFcn=createFcn;b2Contact.s_registers[type1][type2].destroyFcn=destroyFcn;b2Contact.s_registers[type1][type2].primary=true;if(type1!=type2)
{b2Contact.s_registers[type2][type1].createFcn=createFcn;b2Contact.s_registers[type2][type1].destroyFcn=destroyFcn;b2Contact.s_registers[type2][type1].primary=false;}};b2Contact.InitializeRegisters=function(){b2Contact.s_registers=new Array(b2Shape.e_shapeTypeCount);for(var i=0;i<b2Shape.e_shapeTypeCount;i++){b2Contact.s_registers[i]=new Array(b2Shape.e_shapeTypeCount);for(var j=0;j<b2Shape.e_shapeTypeCount;j++){b2Contact.s_registers[i][j]=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(shape1,shape2,allocator){if(b2Contact.s_initialized==false)
{b2Contact.InitializeRegisters();b2Contact.s_initialized=true;}
var type1=shape1.m_type;var type2=shape2.m_type;var createFcn=b2Contact.s_registers[type1][type2].createFcn;if(createFcn)
{if(b2Contact.s_registers[type1][type2].primary)
{return createFcn(shape1,shape2,allocator);}
else
{var c=createFcn(shape2,shape1,allocator);for(var i=0;i<c.GetManifoldCount();++i)
{var m=c.GetManifolds()[i];m.normal=m.normal.Negative();}
return c;}}
else
{return null;}};b2Contact.Destroy=function(contact,allocator){if(contact.GetManifoldCount()>0)
{contact.m_shape1.m_body.WakeUp();contact.m_shape2.m_body.WakeUp();}
var type1=contact.m_shape1.m_type;var type2=contact.m_shape2.m_type;var destroyFcn=b2Contact.s_registers[type1][type2].destroyFcn;destroyFcn(contact,allocator);};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 i=0;i<b2Settings.b2_maxManifoldPoints;i++){this.points[i]=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(contacts,contactCount,allocator){this.m_constraints=new Array();this.m_allocator=allocator;var i=0;var tVec;var tMat;this.m_constraintCount=0;for(i=0;i<contactCount;++i)
{this.m_constraintCount+=contacts[i].GetManifoldCount();}
for(i=0;i<this.m_constraintCount;i++){this.m_constraints[i]=new b2ContactConstraint();}
var count=0;for(i=0;i<contactCount;++i)
{var contact=contacts[i];var b1=contact.m_shape1.m_body;var b2=contact.m_shape2.m_body;var manifoldCount=contact.GetManifoldCount();var manifolds=contact.GetManifolds();var friction=contact.m_friction;var restitution=contact.m_restitution;var v1X=b1.m_linearVelocity.x;var v1Y=b1.m_linearVelocity.y;var v2X=b2.m_linearVelocity.x;var v2Y=b2.m_linearVelocity.y;var w1=b1.m_angularVelocity;var w2=b2.m_angularVelocity;for(var j=0;j<manifoldCount;++j)
{var manifold=manifolds[j];var normalX=manifold.normal.x;var normalY=manifold.normal.y;var c=this.m_constraints[count];c.body1=b1;c.body2=b2;c.manifold=manifold;c.normal.x=normalX;c.normal.y=normalY;c.pointCount=manifold.pointCount;c.friction=friction;c.restitution=restitution;for(var k=0;k<c.pointCount;++k)
{var cp=manifold.points[k];var ccp=c.points[k];ccp.normalImpulse=cp.normalImpulse;ccp.tangentImpulse=cp.tangentImpulse;ccp.separation=cp.separation;var r1X=cp.position.x-b1.m_position.x;var r1Y=cp.position.y-b1.m_position.y;var r2X=cp.position.x-b2.m_position.x;var r2Y=cp.position.y-b2.m_position.y;tVec=ccp.localAnchor1;tMat=b1.m_R;tVec.x=r1X*tMat.col1.x+r1Y*tMat.col1.y;tVec.y=r1X*tMat.col2.x+r1Y*tMat.col2.y;tVec=ccp.localAnchor2;tMat=b2.m_R;tVec.x=r2X*tMat.col1.x+r2Y*tMat.col1.y;tVec.y=r2X*tMat.col2.x+r2Y*tMat.col2.y;var r1Sqr=r1X*r1X+r1Y*r1Y;var r2Sqr=r2X*r2X+r2Y*r2Y;var rn1=r1X*normalX+r1Y*normalY;var rn2=r2X*normalX+r2Y*normalY;var kNormal=b1.m_invMass+b2.m_invMass;kNormal+=b1.m_invI*(r1Sqr-rn1*rn1)+b2.m_invI*(r2Sqr-rn2*rn2);ccp.normalMass=1.0/kNormal;var tangentX=normalY
var tangentY=-normalX;var rt1=r1X*tangentX+r1Y*tangentY;var rt2=r2X*tangentX+r2Y*tangentY;var kTangent=b1.m_invMass+b2.m_invMass;kTangent+=b1.m_invI*(r1Sqr-rt1*rt1)+b2.m_invI*(r2Sqr-rt2*rt2);ccp.tangentMass=1.0/kTangent;ccp.velocityBias=0.0;if(ccp.separation>0.0)
{ccp.velocityBias=-60.0*ccp.separation;}
var tX=v2X+(-w2*r2Y)-v1X-(-w1*r1Y);var tY=v2Y+(w2*r2X)-v1Y-(w1*r1X);var vRel=c.normal.x*tX+c.normal.y*tY;if(vRel<-b2Settings.b2_velocityThreshold)
{ccp.velocityBias+=-c.restitution*vRel;}}
++count;}}},PreSolve:function(){var tVec;var tVec2;var tMat;for(var i=0;i<this.m_constraintCount;++i)
{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var j=0;var tCount=0;if(b2World.s_enableWarmStarting)
{tCount=c.pointCount;for(j=0;j<tCount;++j)
{var ccp=c.points[j];var PX=ccp.normalImpulse*normalX+ccp.tangentImpulse*tangentX;var PY=ccp.normalImpulse*normalY+ccp.tangentImpulse*tangentY;tMat=b1.m_R;tVec=ccp.localAnchor1;var r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;var r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b2.m_R;tVec=ccp.localAnchor2;var r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;var r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;b1.m_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b1.m_linearVelocity.x-=invMass1*PX;b1.m_linearVelocity.y-=invMass1*PY;b2.m_angularVelocity+=invI2*(r2X*PY-r2Y*PX);b2.m_linearVelocity.x+=invMass2*PX;b2.m_linearVelocity.y+=invMass2*PY;ccp.positionImpulse=0.0;}}
else{tCount=c.pointCount;for(j=0;j<tCount;++j)
{var ccp2=c.points[j];ccp2.normalImpulse=0.0;ccp2.tangentImpulse=0.0;ccp2.positionImpulse=0.0;}}}},SolveVelocityConstraints:function(){var j=0;var ccp;var r1X;var r1Y;var r2X;var r2Y;var dvX;var dvY;var lambda;var newImpulse;var PX;var PY;var tMat;var tVec;for(var i=0;i<this.m_constraintCount;++i)
{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var b1_angularVelocity=b1.m_angularVelocity;var b1_linearVelocity=b1.m_linearVelocity;var b2_angularVelocity=b2.m_angularVelocity;var b2_linearVelocity=b2.m_linearVelocity;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var tCount=c.pointCount;for(j=0;j<tCount;++j)
{ccp=c.points[j];tMat=b1.m_R;tVec=ccp.localAnchor1;r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y
r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y
tMat=b2.m_R;tVec=ccp.localAnchor2;r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y
r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y
dvX=b2_linearVelocity.x+(-b2_angularVelocity*r2Y)-b1_linearVelocity.x-(-b1_angularVelocity*r1Y);dvY=b2_linearVelocity.y+(b2_angularVelocity*r2X)-b1_linearVelocity.y-(b1_angularVelocity*r1X);var vn=dvX*normalX+dvY*normalY;lambda=-ccp.normalMass*(vn-ccp.velocityBias);newImpulse=b2Math.b2Max(ccp.normalImpulse+lambda,0.0);lambda=newImpulse-ccp.normalImpulse;PX=lambda*normalX;PY=lambda*normalY;b1_linearVelocity.x-=invMass1*PX;b1_linearVelocity.y-=invMass1*PY;b1_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b2_linearVelocity.x+=invMass2*PX;b2_linearVelocity.y+=invMass2*PY;b2_angularVelocity+=invI2*(r2X*PY-r2Y*PX);ccp.normalImpulse=newImpulse;dvX=b2_linearVelocity.x+(-b2_angularVelocity*r2Y)-b1_linearVelocity.x-(-b1_angularVelocity*r1Y);dvY=b2_linearVelocity.y+(b2_angularVelocity*r2X)-b1_linearVelocity.y-(b1_angularVelocity*r1X);var vt=dvX*tangentX+dvY*tangentY;lambda=ccp.tangentMass*(-vt);var maxFriction=c.friction*ccp.normalImpulse;newImpulse=b2Math.b2Clamp(ccp.tangentImpulse+lambda,-maxFriction,maxFriction);lambda=newImpulse-ccp.tangentImpulse;PX=lambda*tangentX;PY=lambda*tangentY;b1_linearVelocity.x-=invMass1*PX;b1_linearVelocity.y-=invMass1*PY;b1_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b2_linearVelocity.x+=invMass2*PX;b2_linearVelocity.y+=invMass2*PY;b2_angularVelocity+=invI2*(r2X*PY-r2Y*PX);ccp.tangentImpulse=newImpulse;}
b1.m_angularVelocity=b1_angularVelocity;b2.m_angularVelocity=b2_angularVelocity;}},SolvePositionConstraints:function(beta){var minSeparation=0.0;var tMat;var tVec;for(var i=0;i<this.m_constraintCount;++i)
{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var b1_position=b1.m_position;var b1_rotation=b1.m_rotation;var b2_position=b2.m_position;var b2_rotation=b2.m_rotation;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var tCount=c.pointCount;for(var j=0;j<tCount;++j)
{var ccp=c.points[j];tMat=b1.m_R;tVec=ccp.localAnchor1;var r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y
var r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y
tMat=b2.m_R;tVec=ccp.localAnchor2;var r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y
var r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y
var p1X=b1_position.x+r1X;var p1Y=b1_position.y+r1Y;var p2X=b2_position.x+r2X;var p2Y=b2_position.y+r2Y;var dpX=p2X-p1X;var dpY=p2Y-p1Y;var separation=(dpX*normalX+dpY*normalY)+ccp.separation;minSeparation=b2Math.b2Min(minSeparation,separation);var C=beta*b2Math.b2Clamp(separation+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);var dImpulse=-ccp.normalMass*C;var impulse0=ccp.positionImpulse;ccp.positionImpulse=b2Math.b2Max(impulse0+dImpulse,0.0);dImpulse=ccp.positionImpulse-impulse0;var impulseX=dImpulse*normalX;var impulseY=dImpulse*normalY;b1_position.x-=invMass1*impulseX;b1_position.y-=invMass1*impulseY;b1_rotation-=invI1*(r1X*impulseY-r1Y*impulseX);b1.m_R.Set(b1_rotation);b2_position.x+=invMass2*impulseX;b2_position.y+=invMass2*impulseY;b2_rotation+=invI2*(r2X*impulseY-r2Y*impulseX);b2.m_R.Set(b2_rotation);}
b1.m_rotation=b1_rotation;b2.m_rotation=b2_rotation;}
return minSeparation>=-b2Settings.b2_linearSlop;},PostSolve:function(){for(var i=0;i<this.m_constraintCount;++i)
{var c=this.m_constraints[i];var m=c.manifold;for(var j=0;j<c.pointCount;++j)
{var mPoint=m.points[j];var cPoint=c.points[j];mPoint.normalImpulse=cPoint.normalImpulse;mPoint.tangentImpulse=cPoint.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(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}
this.m_shape1=s1;this.m_shape2=s2;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=0.0;this.m_manifold[0].points[0].tangentImpulse=0.0;},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(shape1,shape2,allocator){return new b2CircleContact(shape1,shape2);};b2CircleContact.Destroy=function(contact,allocator){};
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(shape1,shape2){var body1=shape1.GetBody();var body2=shape2.GetBody();var v1X=body1.m_position.x-body1.m_position0.x;var v1Y=body1.m_position.y-body1.m_position0.y;var omega1=body1.m_rotation-body1.m_rotation0;var v2X=body2.m_position.x-body2.m_position0.x;var v2Y=body2.m_position.y-body2.m_position0.y;var omega2=body2.m_rotation-body2.m_rotation0;var r1=shape1.GetMaxRadius();var r2=shape2.GetMaxRadius();var p1StartX=body1.m_position0.x;var p1StartY=body1.m_position0.y;var a1Start=body1.m_rotation0;var p2StartX=body2.m_position0.x;var p2StartY=body2.m_position0.y;var a2Start=body2.m_rotation0;var p1X=p1StartX;var p1Y=p1StartY;var a1=a1Start;var p2X=p2StartX;var p2Y=p2StartY;var a2=a2Start;b2Conservative.R1.Set(a1);b2Conservative.R2.Set(a2);shape1.QuickSync(p1,b2Conservative.R1);shape2.QuickSync(p2,b2Conservative.R2);var s1=0.0;var maxIterations=10;var dX;var dY;var invRelativeVelocity=0.0;var hit=true;for(var iter=0;iter<maxIterations;++iter)
{var distance=b2Distance.Distance(b2Conservative.x1,b2Conservative.x2,shape1,shape2);if(distance<b2Settings.b2_linearSlop)
{if(iter==0)
{hit=false;}
else
{hit=true;}
break;}
if(iter==0)
{dX=b2Conservative.x2.x-b2Conservative.x1.x;dY=b2Conservative.x2.y-b2Conservative.x1.y;var dLen=Math.sqrt(dX*dX+dY*dY);var relativeVelocity=(dX*(v1X-v2X)+dY*(v1Y-v2Y))+Math.abs(omega1)*r1+Math.abs(omega2)*r2;if(Math.abs(relativeVelocity)<Number.MIN_VALUE)
{hit=false;break;}
invRelativeVelocity=1.0/relativeVelocity;}
var ds=distance*invRelativeVelocity;var s2=s1+ds;if(s2<0.0||1.0<s2)
{hit=false;break;}
if(s2<(1.0+100.0*Number.MIN_VALUE)*s1)
{hit=true;break;}
s1=s2;p1X=p1StartX+s1*v1.x;p1Y=p1StartY+s1*v1.y;a1=a1Start+s1*omega1;p2X=p2StartX+s1*v2.x;p2Y=p2StartY+s1*v2.y;a2=a2Start+s1*omega2;b2Conservative.R1.Set(a1);b2Conservative.R2.Set(a2);shape1.QuickSync(p1,b2Conservative.R1);shape2.QuickSync(p2,b2Conservative.R2);}
if(hit)
{dX=b2Conservative.x2.x-b2Conservative.x1.x;dY=b2Conservative.x2.y-b2Conservative.x1.y;var length=Math.sqrt(dX*dX+dY*dY);if(length>FLT_EPSILON)
{d*=b2_linearSlop/length;}
if(body1.IsStatic())
{body1.m_position.x=p1X;body1.m_position.y=p1Y;}
else
{body1.m_position.x=p1X-dX;body1.m_position.y=p1Y-dY;}
body1.m_rotation=a1;body1.m_R.Set(a1);body1.QuickSyncShapes();if(body2.IsStatic())
{body2.m_position.x=p2X;body2.m_position.y=p2Y;}
else
{body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;}
body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;body2.m_rotation=a2;body2.m_R.Set(a2);body2.QuickSyncShapes();return true;}
shape1.QuickSync(body1.m_position,body1.m_R);shape2.QuickSync(body2.m_position,body2.m_R);return false;};
var b2NullContact=Class.create();Object.extend(b2NullContact.prototype,b2Contact.prototype);Object.extend(b2NullContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}
this.m_shape1=s1;this.m_shape2=s2;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(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}
this.m_shape1=s1;this.m_shape2=s2;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=0.0;this.m_manifold[0].points[0].tangentImpulse=0.0;},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(shape1,shape2,allocator){return new b2PolyAndCircleContact(shape1,shape2);};b2PolyAndCircleContact.Destroy=function(contact,allocator){};
var b2PolyContact=Class.create();Object.extend(b2PolyContact.prototype,b2Contact.prototype);Object.extend(b2PolyContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}
this.m_shape1=s1;this.m_shape2=s2;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 tMani=this.m_manifold[0];var tPoints=this.m0.points;for(var k=0;k<tMani.pointCount;k++){var tPoint=tPoints[k];var tPoint0=tMani.points[k];tPoint.normalImpulse=tPoint0.normalImpulse;tPoint.tangentImpulse=tPoint0.tangentImpulse;tPoint.id=tPoint0.id.Copy();}
this.m0.pointCount=tMani.pointCount;b2Collision.b2CollidePoly(tMani,this.m_shape1,this.m_shape2,false);if(tMani.pointCount>0)
{var match=[false,false];for(var i=0;i<tMani.pointCount;++i)
{var cp=tMani.points[i];cp.normalImpulse=0.0;cp.tangentImpulse=0.0;var idKey=cp.id.key;for(var j=0;j<this.m0.pointCount;++j)
{if(match[j]==true)
continue;var cp0=this.m0.points[j];var id0=cp0.id;if(id0.key==idKey)
{match[j]=true;cp.normalImpulse=cp0.normalImpulse;cp.tangentImpulse=cp0.tangentImpulse;break;}}}
this.m_manifoldCount=1;}
else
{this.m_manifoldCount=0;}},GetManifolds:function()
{return this.m_manifold;},m_manifold:[new b2Manifold()]});b2PolyContact.Create=function(shape1,shape2,allocator){return new b2PolyContact(shape1,shape2);};b2PolyContact.Destroy=function(contact,allocator){};
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(proxyUserData1,proxyUserData2){var shape1=proxyUserData1;var shape2=proxyUserData2;var body1=shape1.m_body;var body2=shape2.m_body;if(body1.IsStatic()&&body2.IsStatic())
{return this.m_nullContact;}
if(shape1.m_body==shape2.m_body)
{return this.m_nullContact;}
if(body2.IsConnected(body1))
{return this.m_nullContact;}
if(this.m_world.m_filter!=null&&this.m_world.m_filter.ShouldCollide(shape1,shape2)==false)
{return this.m_nullContact;}
if(body2.m_invMass==0.0)
{var tempShape=shape1;shape1=shape2;shape2=tempShape;var tempBody=body1;body1=body2;body2=tempBody;}
var contact=b2Contact.Create(shape1,shape2,this.m_world.m_blockAllocator);if(contact==null)
{return this.m_nullContact;}
else
{contact.m_prev=null;contact.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null)
{this.m_world.m_contactList.m_prev=contact;}
this.m_world.m_contactList=contact;this.m_world.m_contactCount++;}
return contact;},PairRemoved:function(proxyUserData1,proxyUserData2,pairUserData){if(pairUserData==null)
{return;}
var c=pairUserData;if(c!=this.m_nullContact)
{if(this.m_destroyImmediate==true)
{this.DestroyContact(c);c=null;}
else
{c.m_flags|=b2Contact.e_destroyFlag;}}},DestroyContact:function(c)
{if(c.m_prev)
{c.m_prev.m_next=c.m_next;}
if(c.m_next)
{c.m_next.m_prev=c.m_prev;}
if(c==this.m_world.m_contactList)
{this.m_world.m_contactList=c.m_next;}
if(c.GetManifoldCount()>0)
{var body1=c.m_shape1.m_body;var body2=c.m_shape2.m_body;var node1=c.m_node1;var node2=c.m_node2;body1.WakeUp();body2.WakeUp();if(node1.prev)
{node1.prev.next=node1.next;}
if(node1.next)
{node1.next.prev=node1.prev;}
if(node1==body1.m_contactList)
{body1.m_contactList=node1.next;}
node1.prev=null;node1.next=null;if(node2.prev)
{node2.prev.next=node2.next;}
if(node2.next)
{node2.next.prev=node2.prev;}
if(node2==body2.m_contactList)
{body2.m_contactList=node2.next;}
node2.prev=null;node2.next=null;}
b2Contact.Destroy(c,this.m_world.m_blockAllocator);--this.m_world.m_contactCount;},CleanContactList:function()
{var c=this.m_world.m_contactList;while(c!=null)
{var c0=c;c=c.m_next;if(c0.m_flags&b2Contact.e_destroyFlag)
{this.DestroyContact(c0);c0=null;}}},Collide:function()
{var body1;var body2;var node1;var node2;for(var c=this.m_world.m_contactList;c!=null;c=c.m_next)
{if(c.m_shape1.m_body.IsSleeping()&&c.m_shape2.m_body.IsSleeping())
{continue;}
var oldCount=c.GetManifoldCount();c.Evaluate();var newCount=c.GetManifoldCount();if(oldCount==0&&newCount>0)
{body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;node1.contact=c;node1.other=body2;node1.prev=null;node1.next=body1.m_contactList;if(node1.next!=null)
{node1.next.prev=c.m_node1;}
body1.m_contactList=c.m_node1;node2.contact=c;node2.other=body1;node2.prev=null;node2.next=body2.m_contactList;if(node2.next!=null)
{node2.next.prev=node2;}
body2.m_contactList=node2;}
else if(oldCount>0&&newCount==0)
{body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;if(node1.prev)
{node1.prev.next=node1.next;}
if(node1.next)
{node1.next.prev=node1.prev;}
if(node1==body1.m_contactList)
{body1.m_contactList=node1.next;}
node1.prev=null;node1.next=null;if(node2.prev)
{node2.prev.next=node2.next;}
if(node2.next)
{node2.next.prev=node2.prev;}
if(node2==body2.m_contactList)
{body2.m_contactList=node2.next;}
node2.prev=null;node2.next=null;}}},m_world:null,m_nullContact:new b2NullContact(),m_destroyImmediate:null});
var b2World=Class.create();b2World.prototype={initialize:function(worldAABB,gravity,doSleep){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=doSleep;this.m_gravity=gravity;this.m_contactManager.m_world=this;this.m_broadPhase=new b2BroadPhase(worldAABB,this.m_contactManager);var bd=new b2BodyDef();this.m_groundBody=this.CreateBody(bd);},SetListener:function(listener){this.m_listener=listener;},SetFilter:function(filter){this.m_filter=filter;},CreateBody:function(def){var b=new b2Body(def,this);b.m_prev=null;b.m_next=this.m_bodyList;if(this.m_bodyList)
{this.m_bodyList.m_prev=b;}
this.m_bodyList=b;++this.m_bodyCount;return b;},DestroyBody:function(b)
{if(b.m_flags&b2Body.e_destroyFlag)
{return;}
if(b.m_prev)
{b.m_prev.m_next=b.m_next;}
if(b.m_next)
{b.m_next.m_prev=b.m_prev;}
if(b==this.m_bodyList)
{this.m_bodyList=b.m_next;}
b.m_flags|=b2Body.e_destroyFlag;--this.m_bodyCount;b.m_prev=null;b.m_next=this.m_bodyDestroyList;this.m_bodyDestroyList=b;},CleanBodyList:function()
{this.m_contactManager.m_destroyImmediate=true;var b=this.m_bodyDestroyList;while(b)
{var b0=b;b=b.m_next;var jn=b0.m_jointList;while(jn)
{var jn0=jn;jn=jn.next;if(this.m_listener)
{this.m_listener.NotifyJointDestroyed(jn0.joint);}
this.DestroyJoint(jn0.joint);}
b0.Destroy();}
this.m_bodyDestroyList=null;this.m_contactManager.m_destroyImmediate=false;},CreateJoint:function(def){var j=b2Joint.Create(def,this.m_blockAllocator);j.m_prev=null;j.m_next=this.m_jointList;if(this.m_jointList)
{this.m_jointList.m_prev=j;}
this.m_jointList=j;++this.m_jointCount;j.m_node1.joint=j;j.m_node1.other=j.m_body2;j.m_node1.prev=null;j.m_node1.next=j.m_body1.m_jointList;if(j.m_body1.m_jointList)j.m_body1.m_jointList.prev=j.m_node1;j.m_body1.m_jointList=j.m_node1;j.m_node2.joint=j;j.m_node2.other=j.m_body1;j.m_node2.prev=null;j.m_node2.next=j.m_body2.m_jointList;if(j.m_body2.m_jointList)j.m_body2.m_jointList.prev=j.m_node2;j.m_body2.m_jointList=j.m_node2;if(def.collideConnected==false)
{var b=def.body1.m_shapeCount<def.body2.m_shapeCount?def.body1:def.body2;for(var s=b.m_shapeList;s;s=s.m_next)
{s.ResetProxy(this.m_broadPhase);}}
return j;},DestroyJoint:function(j)
{var collideConnected=j.m_collideConnected;if(j.m_prev)
{j.m_prev.m_next=j.m_next;}
if(j.m_next)
{j.m_next.m_prev=j.m_prev;}
if(j==this.m_jointList)
{this.m_jointList=j.m_next;}
var body1=j.m_body1;var body2=j.m_body2;body1.WakeUp();body2.WakeUp();if(j.m_node1.prev)
{j.m_node1.prev.next=j.m_node1.next;}
if(j.m_node1.next)
{j.m_node1.next.prev=j.m_node1.prev;}
if(j.m_node1==body1.m_jointList)
{body1.m_jointList=j.m_node1.next;}
j.m_node1.prev=null;j.m_node1.next=null;if(j.m_node2.prev)
{j.m_node2.prev.next=j.m_node2.next;}
if(j.m_node2.next)
{j.m_node2.next.prev=j.m_node2.prev;}
if(j.m_node2==body2.m_jointList)
{body2.m_jointList=j.m_node2.next;}
j.m_node2.prev=null;j.m_node2.next=null;b2Joint.Destroy(j,this.m_blockAllocator);--this.m_jointCount;if(collideConnected==false)
{var b=body1.m_shapeCount<body2.m_shapeCount?body1:body2;for(var s=b.m_shapeList;s;s=s.m_next)
{s.ResetProxy(this.m_broadPhase);}}},GetGroundBody:function(){return this.m_groundBody;},step:new b2TimeStep(),Step:function(dt,iterations){var b;var other;this.step.dt=dt;this.step.iterations=iterations;if(dt>0.0)
{this.step.inv_dt=1.0/dt;}
else
{this.step.inv_dt=0.0;}
this.m_positionIterationCount=0;this.m_contactManager.CleanContactList();this.CleanBodyList();this.m_contactManager.Collide();var island=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator);for(b=this.m_bodyList;b!=null;b=b.m_next)
{b.m_flags&=~b2Body.e_islandFlag;}
for(var c=this.m_contactList;c!=null;c=c.m_next)
{c.m_flags&=~b2Contact.e_islandFlag;}
for(var j=this.m_jointList;j!=null;j=j.m_next)
{j.m_islandFlag=false;}
var stackSize=this.m_bodyCount;var stack=new Array(this.m_bodyCount);for(var k=0;k<this.m_bodyCount;k++)
stack[k]=null;for(var seed=this.m_bodyList;seed!=null;seed=seed.m_next)
{if(seed.m_flags&(b2Body.e_staticFlag|b2Body.e_islandFlag|b2Body.e_sleepFlag|b2Body.e_frozenFlag))
{continue;}
island.Clear();var stackCount=0;stack[stackCount++]=seed;seed.m_flags|=b2Body.e_islandFlag;;while(stackCount>0)
{b=stack[--stackCount];island.AddBody(b);b.m_flags&=~b2Body.e_sleepFlag;if(b.m_flags&b2Body.e_staticFlag)
{continue;}
for(var cn=b.m_contactList;cn!=null;cn=cn.next)
{if(cn.contact.m_flags&b2Contact.e_islandFlag)
{continue;}
island.AddContact(cn.contact);cn.contact.m_flags|=b2Contact.e_islandFlag;other=cn.other;if(other.m_flags&b2Body.e_islandFlag)
{continue;}
stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;}
for(var jn=b.m_jointList;jn!=null;jn=jn.next)
{if(jn.joint.m_islandFlag==true)
{continue;}
island.AddJoint(jn.joint);jn.joint.m_islandFlag=true;other=jn.other;if(other.m_flags&b2Body.e_islandFlag)
{continue;}
stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;}}
island.Solve(this.step,this.m_gravity);this.m_positionIterationCount=b2Math.b2Max(this.m_positionIterationCount,b2Island.m_positionIterationCount);if(this.m_allowSleep)
{island.UpdateSleep(dt);}
for(var i=0;i<island.m_bodyCount;++i)
{b=island.m_bodies[i];if(b.m_flags&b2Body.e_staticFlag)
{b.m_flags&=~b2Body.e_islandFlag;}
if(b.IsFrozen()&&this.m_listener)
{var response=this.m_listener.NotifyBoundaryViolated(b);if(response==b2WorldListener.b2_destroyBody)
{this.DestroyBody(b);b=null;island.m_bodies[i]=null;}}}}
this.m_broadPhase.Commit();},Query:function(aabb,shapes,maxCount){var results=new Array();var count=this.m_broadPhase.QueryAABB(aabb,results,maxCount);for(var i=0;i<count;++i)
{shapes[i]=results[i];}
return count;},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(joint){},NotifyBoundaryViolated:function(body)
{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(invTimeStep){return null},GetReactionTorque:function(invTimeStep){return 0.0},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(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;},PrepareVelocitySolver:function(){},SolveVelocityConstraints:function(step){},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(def,allocator){var joint=null;switch(def.type)
{case b2Joint.e_distanceJoint:{joint=new b2DistanceJoint(def);}
break;case b2Joint.e_mouseJoint:{joint=new b2MouseJoint(def);}
break;case b2Joint.e_prismaticJoint:{joint=new b2PrismaticJoint(def);}
break;case b2Joint.e_revoluteJoint:{joint=new b2RevoluteJoint(def);}
break;case b2Joint.e_pulleyJoint:{joint=new b2PulleyJoint(def);}
break;case b2Joint.e_gearJoint:{joint=new b2GearJoint(def);}
break;default:break;}
return joint;};b2Joint.Destroy=function(joint,allocator){};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(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_u=new b2Vec2();var tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=def.anchorPoint1.x-this.m_body1.m_position.x;tY=def.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint2.x-this.m_body2.m_position.x;tY=def.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;tX=def.anchorPoint2.x-def.anchorPoint1.x;tY=def.anchorPoint2.y-def.anchorPoint1.y;this.m_length=Math.sqrt(tX*tX+tY*tY);this.m_impulse=0.0;},PrepareVelocitySolver:function(){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;this.m_u.x=this.m_body2.m_position.x+r2X-this.m_body1.m_position.x-r1X;this.m_u.y=this.m_body2.m_position.y+r2Y-this.m_body1.m_position.y-r1Y;var length=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);if(length>b2Settings.b2_linearSlop)
{this.m_u.Multiply(1.0/length);}
else
{this.m_u.SetZero();}
var cr1u=(r1X*this.m_u.y-r1Y*this.m_u.x);var cr2u=(r2X*this.m_u.y-r2Y*this.m_u.x);this.m_mass=this.m_body1.m_invMass+this.m_body1.m_invI*cr1u*cr1u+this.m_body2.m_invMass+this.m_body2.m_invI*cr2u*cr2u;this.m_mass=1.0/this.m_mass;if(b2World.s_enableWarmStarting)
{var PX=this.m_impulse*this.m_u.x;var PY=this.m_impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);}
else
{this.m_impulse=0.0;}},SolveVelocityConstraints:function(step){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var v1X=this.m_body1.m_linearVelocity.x+(-this.m_body1.m_angularVelocity*r1Y);var v1Y=this.m_body1.m_linearVelocity.y+(this.m_body1.m_angularVelocity*r1X);var v2X=this.m_body2.m_linearVelocity.x+(-this.m_body2.m_angularVelocity*r2Y);var v2Y=this.m_body2.m_linearVelocity.y+(this.m_body2.m_angularVelocity*r2X);var Cdot=(this.m_u.x*(v2X-v1X)+this.m_u.y*(v2Y-v1Y));var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);},SolvePositionConstraints:function(){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var dX=this.m_body2.m_position.x+r2X-this.m_body1.m_position.x-r1X;var dY=this.m_body2.m_position.y+r2Y-this.m_body1.m_position.y-r1Y;var length=Math.sqrt(dX*dX+dY*dY);dX/=length;dY/=length;var C=length-this.m_length;C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var impulse=-this.m_mass*C;this.m_u.Set(dX,dY);var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_position.x-=this.m_body1.m_invMass*PX;this.m_body1.m_position.y-=this.m_body1.m_invMass*PY;this.m_body1.m_rotation-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_position.x+=this.m_body2.m_invMass*PX;this.m_body2.m_position.y+=this.m_body2.m_invMass*PY;this.m_body2.m_rotation+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);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(C)<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(invTimeStep)
{var F=new b2Vec2();F.SetV(this.m_u);F.Multiply(this.m_impulse*invTimeStep);return F;},GetReactionTorque:function(invTimeStep)
{return 0.0;},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=0.0;this.linear2.SetZero();this.angular2=0.0;},Set:function(x1,a1,x2,a2){this.linear1.SetV(x1);this.angular1=a1;this.linear2.SetV(x2);this.angular2=a2;},Compute:function(x1,a1,x2,a2){return(this.linear1.x*x1.x+this.linear1.y*x1.y)+this.angular1*a1+(this.linear2.x*x2.x+this.linear2.y*x2.y)+this.angular2*a2;},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 tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y));},GetReactionForce:function(invTimeStep){return new b2Vec2();},GetReactionTorque:function(invTimeStep){return 0.0;},GetRatio:function(){return this.m_ratio;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.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 coordinate1;var coordinate2;this.m_ground1=def.joint1.m_body1;this.m_body1=def.joint1.m_body2;if(def.joint1.m_type==b2Joint.e_revoluteJoint)
{this.m_revolute1=def.joint1;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);coordinate1=this.m_revolute1.GetJointAngle();}
else
{this.m_prismatic1=def.joint1;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);coordinate1=this.m_prismatic1.GetJointTranslation();}
this.m_ground2=def.joint2.m_body1;this.m_body2=def.joint2.m_body2;if(def.joint2.m_type==b2Joint.e_revoluteJoint)
{this.m_revolute2=def.joint2;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);coordinate2=this.m_revolute2.GetJointAngle();}
else
{this.m_prismatic2=def.joint2;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);coordinate2=this.m_prismatic2.GetJointTranslation();}
this.m_ratio=def.ratio;this.m_constant=coordinate1+this.m_ratio*coordinate2;this.m_impulse=0.0;},PrepareVelocitySolver:function(){var g1=this.m_ground1;var g2=this.m_ground2;var b1=this.m_body1;var b2=this.m_body2;var ugX;var ugY;var rX;var rY;var tMat;var tVec;var crug;var K=0.0;this.m_J.SetZero();if(this.m_revolute1)
{this.m_J.angular1=-1.0;K+=b1.m_invI;}
else
{tMat=g1.m_R;tVec=this.m_prismatic1.m_localXAxis1;ugX=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;ugY=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b1.m_R;rX=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;rY=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;crug=rX*ugY-rY*ugX;this.m_J.linear1.Set(-ugX,-ugY);this.m_J.angular1=-crug;K+=b1.m_invMass+b1.m_invI*crug*crug;}
if(this.m_revolute2)
{this.m_J.angular2=-this.m_ratio;K+=this.m_ratio*this.m_ratio*b2.m_invI;}
else
{tMat=g2.m_R;tVec=this.m_prismatic2.m_localXAxis1;ugX=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;ugY=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b2.m_R;rX=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;rY=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;crug=rX*ugY-rY*ugX;this.m_J.linear2.Set(-this.m_ratio*ugX,-this.m_ratio*ugY);this.m_J.angular2=-this.m_ratio*crug;K+=this.m_ratio*this.m_ratio*(b2.m_invMass+b2.m_invI*crug*crug);}
this.m_mass=1.0/K;b1.m_linearVelocity.x+=b1.m_invMass*this.m_impulse*this.m_J.linear1.x;b1.m_linearVelocity.y+=b1.m_invMass*this.m_impulse*this.m_J.linear1.y;b1.m_angularVelocity+=b1.m_invI*this.m_impulse*this.m_J.angular1;b2.m_linearVelocity.x+=b2.m_invMass*this.m_impulse*this.m_J.linear2.x;b2.m_linearVelocity.y+=b2.m_invMass*this.m_impulse*this.m_J.linear2.y;b2.m_angularVelocity+=b2.m_invI*this.m_impulse*this.m_J.angular2;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var Cdot=this.m_J.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;b1.m_linearVelocity.x+=b1.m_invMass*impulse*this.m_J.linear1.x;b1.m_linearVelocity.y+=b1.m_invMass*impulse*this.m_J.linear1.y;b1.m_angularVelocity+=b1.m_invI*impulse*this.m_J.angular1;b2.m_linearVelocity.x+=b2.m_invMass*impulse*this.m_J.linear2.x;b2.m_linearVelocity.y+=b2.m_invMass*impulse*this.m_J.linear2.y;b2.m_angularVelocity+=b2.m_invI*impulse*this.m_J.angular2;},SolvePositionConstraints:function(){var linearError=0.0;var b1=this.m_body1;var b2=this.m_body2;var coordinate1;var coordinate2;if(this.m_revolute1)
{coordinate1=this.m_revolute1.GetJointAngle();}
else
{coordinate1=this.m_prismatic1.GetJointTranslation();}
if(this.m_revolute2)
{coordinate2=this.m_revolute2.GetJointAngle();}
else
{coordinate2=this.m_prismatic2.GetJointTranslation();}
var C=this.m_constant-(coordinate1+this.m_ratio*coordinate2);var impulse=-this.m_mass*C;b1.m_position.x+=b1.m_invMass*impulse*this.m_J.linear1.x;b1.m_position.y+=b1.m_invMass*impulse*this.m_J.linear1.y;b1.m_rotation+=b1.m_invI*impulse*this.m_J.angular1;b2.m_position.x+=b2.m_invMass*impulse*this.m_J.linear2.x;b2.m_position.y+=b2.m_invMass*impulse*this.m_J.linear2.y;b2.m_rotation+=b2.m_invI*impulse*this.m_J.angular2;b1.m_R.Set(b1.m_rotation);b2.m_R.Set(b2.m_rotation);return linearError<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=1.0;},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 tVec=b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor);tVec.Add(this.m_body2.m_position);return tVec;},GetReactionForce:function(invTimeStep)
{var F=new b2Vec2();F.SetV(this.m_impulse);F.Multiply(invTimeStep);return F;},GetReactionTorque:function(invTimeStep)
{return 0.0;},SetTarget:function(target){this.m_body2.WakeUp();this.m_target=target;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.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(def.target);var tX=this.m_target.x-this.m_body2.m_position.x;var tY=this.m_target.y-this.m_body2.m_position.y;this.m_localAnchor.x=(tX*this.m_body2.m_R.col1.x+tY*this.m_body2.m_R.col1.y);this.m_localAnchor.y=(tX*this.m_body2.m_R.col2.x+tY*this.m_body2.m_R.col2.y);this.m_maxForce=def.maxForce;this.m_impulse.SetZero();var mass=this.m_body2.m_mass;var omega=2.0*b2Settings.b2_pi*def.frequencyHz;var d=2.0*mass*def.dampingRatio*omega;var k=mass*omega*omega;this.m_gamma=1.0/(d+def.timeStep*k);this.m_beta=def.timeStep*k/(d+def.timeStep*k);},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),PrepareVelocitySolver:function(){var b=this.m_body2;var tMat;tMat=b.m_R;var rX=tMat.col1.x*this.m_localAnchor.x+tMat.col2.x*this.m_localAnchor.y;var rY=tMat.col1.y*this.m_localAnchor.x+tMat.col2.y*this.m_localAnchor.y;var invMass=b.m_invMass;var invI=b.m_invI;this.K1.col1.x=invMass;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass;this.K2.col1.x=invI*rY*rY;this.K2.col2.x=-invI*rX*rY;this.K2.col1.y=-invI*rX*rY;this.K2.col2.y=invI*rX*rX;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=b.m_position.x+rX-this.m_target.x;this.m_C.y=b.m_position.y+rY-this.m_target.y;b.m_angularVelocity*=0.98;var PX=this.m_impulse.x;var PY=this.m_impulse.y;b.m_linearVelocity.x+=invMass*PX;b.m_linearVelocity.y+=invMass*PY;b.m_angularVelocity+=invI*(rX*PY-rY*PX);},SolveVelocityConstraints:function(step){var body=this.m_body2;var tMat;tMat=body.m_R;var rX=tMat.col1.x*this.m_localAnchor.x+tMat.col2.x*this.m_localAnchor.y;var rY=tMat.col1.y*this.m_localAnchor.x+tMat.col2.y*this.m_localAnchor.y;var CdotX=body.m_linearVelocity.x+(-body.m_angularVelocity*rY);var CdotY=body.m_linearVelocity.y+(body.m_angularVelocity*rX);tMat=this.m_ptpMass;var tX=CdotX+(this.m_beta*step.inv_dt)*this.m_C.x+this.m_gamma*this.m_impulse.x;var tY=CdotY+(this.m_beta*step.inv_dt)*this.m_C.y+this.m_gamma*this.m_impulse.y;var impulseX=-(tMat.col1.x*tX+tMat.col2.x*tY);var impulseY=-(tMat.col1.y*tX+tMat.col2.y*tY);var oldImpulseX=this.m_impulse.x;var oldImpulseY=this.m_impulse.y;this.m_impulse.x+=impulseX;this.m_impulse.y+=impulseY;var length=this.m_impulse.Length();if(length>step.dt*this.m_maxForce)
{this.m_impulse.Multiply(step.dt*this.m_maxForce/length);}
impulseX=this.m_impulse.x-oldImpulseX;impulseY=this.m_impulse.y-oldImpulseY;body.m_linearVelocity.x+=body.m_invMass*impulseX;body.m_linearVelocity.y+=body.m_invMass*impulseY;body.m_angularVelocity+=body.m_invI*(rX*impulseY-rY*impulseX);},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=0.0;this.frequencyHz=5.0;this.dampingRatio=0.7;this.timeStep=1.0/60.0;},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 b1=this.m_body1;var tVec=new b2Vec2();tVec.SetV(this.m_localAnchor1);tVec.MulM(b1.m_R);tVec.Add(b1.m_position);return tVec;},GetAnchor2:function(){var b2=this.m_body2;var tVec=new b2Vec2();tVec.SetV(this.m_localAnchor2);tVec.MulM(b2.m_R);tVec.Add(b2.m_position);return tVec;},GetJointTranslation:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var translation=ax1X*dX+ax1Y*dY;return translation;},GetJointSpeed:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var v1=b1.m_linearVelocity;var v2=b2.m_linearVelocity;var w1=b1.m_angularVelocity;var w2=b2.m_angularVelocity;var speed=(dX*(-w1*ax1Y)+dY*(w1*ax1X))+(ax1X*(((v2.x+(-w2*r2Y))-v1.x)-(-w1*r1Y))+ax1Y*(((v2.y+(w2*r2X))-v1.y)-(w1*r1X)));return speed;},GetMotorForce:function(invTimeStep){return invTimeStep*this.m_motorImpulse;},SetMotorSpeed:function(speed)
{this.m_motorSpeed=speed;},SetMotorForce:function(force)
{this.m_maxMotorForce=force;},GetReactionForce:function(invTimeStep)
{var tImp=invTimeStep*this.m_limitImpulse;var tMat;tMat=this.m_body1.m_R;var ax1X=tImp*(tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y);var ax1Y=tImp*(tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y);var ay1X=tImp*(tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y);var ay1Y=tImp*(tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y);return new b2Vec2(ax1X+ay1X,ax1Y+ay1Y);},GetReactionTorque:function(invTimeStep)
{return invTimeStep*this.m_angularImpulse;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.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 tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=(def.anchorPoint.x-this.m_body1.m_position.x);tY=(def.anchorPoint.y-this.m_body1.m_position.y);this.m_localAnchor1.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.col2.y));tMat=this.m_body2.m_R;tX=(def.anchorPoint.x-this.m_body2.m_position.x);tY=(def.anchorPoint.y-this.m_body2.m_position.y);this.m_localAnchor2.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.col2.y));tMat=this.m_body1.m_R;tX=def.axis.x;tY=def.axis.y;this.m_localXAxis1.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.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=0.0;this.m_linearImpulse=0.0;this.m_angularMass=0.0;this.m_angularImpulse=0.0;this.m_motorJacobian.SetZero();this.m_motorMass=0.0;this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;this.m_limitPositionImpulse=0.0;this.m_lowerTranslation=def.lowerTranslation;this.m_upperTranslation=def.upperTranslation;this.m_maxMotorForce=def.motorForce;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;},PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;tMat=b1.m_R;var ay1X=tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y;var ay1Y=tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y;var eX=b2.m_position.x+r2X-b1.m_position.x;var eY=b2.m_position.y+r2Y-b1.m_position.y;this.m_linearJacobian.linear1.x=-ay1X;this.m_linearJacobian.linear1.y=-ay1Y;this.m_linearJacobian.linear2.x=ay1X;this.m_linearJacobian.linear2.y=ay1Y;this.m_linearJacobian.angular1=-(eX*ay1Y-eY*ay1X);this.m_linearJacobian.angular2=r2X*ay1Y-r2Y*ay1X;this.m_linearMass=invMass1+invI1*this.m_linearJacobian.angular1*this.m_linearJacobian.angular1+
invMass2+invI2*this.m_linearJacobian.angular2*this.m_linearJacobian.angular2;this.m_linearMass=1.0/this.m_linearMass;this.m_angularMass=1.0/(invI1+invI2);if(this.m_enableLimit||this.m_enableMotor)
{tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;this.m_motorJacobian.linear1.x=-ax1X;this.m_motorJacobian.linear1.y=-ax1Y;this.m_motorJacobian.linear2.x=ax1X;this.m_motorJacobian.linear2.y=ax1Y;this.m_motorJacobian.angular1=-(eX*ax1Y-eY*ax1X);this.m_motorJacobian.angular2=r2X*ax1Y-r2Y*ax1X;this.m_motorMass=invMass1+invI1*this.m_motorJacobian.angular1*this.m_motorJacobian.angular1+
invMass2+invI2*this.m_motorJacobian.angular2*this.m_motorJacobian.angular2;this.m_motorMass=1.0/this.m_motorMass;if(this.m_enableLimit)
{var dX=eX-r1X;var dY=eY-r1Y;var jointTranslation=ax1X*dX+ax1Y*dY;if(b2Math.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2.0*b2Settings.b2_linearSlop)
{this.m_limitState=b2Joint.e_equalLimits;}
else if(jointTranslation<=this.m_lowerTranslation)
{if(this.m_limitState!=b2Joint.e_atLowerLimit)
{this.m_limitImpulse=0.0;}
this.m_limitState=b2Joint.e_atLowerLimit;}
else if(jointTranslation>=this.m_upperTranslation)
{if(this.m_limitState!=b2Joint.e_atUpperLimit)
{this.m_limitImpulse=0.0;}
this.m_limitState=b2Joint.e_atUpperLimit;}
else
{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0.0;}}}
if(this.m_enableMotor==false)
{this.m_motorImpulse=0.0;}
if(this.m_enableLimit==false)
{this.m_limitImpulse=0.0;}
if(b2World.s_enableWarmStarting)
{var P1X=this.m_linearImpulse*this.m_linearJacobian.linear1.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.x;var P1Y=this.m_linearImpulse*this.m_linearJacobian.linear1.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.y;var P2X=this.m_linearImpulse*this.m_linearJacobian.linear2.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.x;var P2Y=this.m_linearImpulse*this.m_linearJacobian.linear2.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.y;var L1=this.m_linearImpulse*this.m_linearJacobian.angular1-this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular1;var L2=this.m_linearImpulse*this.m_linearJacobian.angular2+this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular2;b1.m_linearVelocity.x+=invMass1*P1X;b1.m_linearVelocity.y+=invMass1*P1Y;b1.m_angularVelocity+=invI1*L1;b2.m_linearVelocity.x+=invMass2*P2X;b2.m_linearVelocity.y+=invMass2*P2Y;b2.m_angularVelocity+=invI2*L2;}
else
{this.m_linearImpulse=0.0;this.m_angularImpulse=0.0;this.m_limitImpulse=0.0;this.m_motorImpulse=0.0;}
this.m_limitPositionImpulse=0.0;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;var oldLimitImpulse;var linearCdot=this.m_linearJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var linearImpulse=-this.m_linearMass*linearCdot;this.m_linearImpulse+=linearImpulse;b1.m_linearVelocity.x+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.y;b1.m_angularVelocity+=invI1*linearImpulse*this.m_linearJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.y;b2.m_angularVelocity+=invI2*linearImpulse*this.m_linearJacobian.angular2;var angularCdot=b2.m_angularVelocity-b1.m_angularVelocity;var angularImpulse=-this.m_angularMass*angularCdot;this.m_angularImpulse+=angularImpulse;b1.m_angularVelocity-=invI1*angularImpulse;b2.m_angularVelocity+=invI2*angularImpulse;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits)
{var motorCdot=this.m_motorJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity)-this.m_motorSpeed;var motorImpulse=-this.m_motorMass*motorCdot;var oldMotorImpulse=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+motorImpulse,-step.dt*this.m_maxMotorForce,step.dt*this.m_maxMotorForce);motorImpulse=this.m_motorImpulse-oldMotorImpulse;b1.m_linearVelocity.x+=(invMass1*motorImpulse)*this.m_motorJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*motorImpulse)*this.m_motorJacobian.linear1.y;b1.m_angularVelocity+=invI1*motorImpulse*this.m_motorJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*motorImpulse)*this.m_motorJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*motorImpulse)*this.m_motorJacobian.linear2.y;b2.m_angularVelocity+=invI2*motorImpulse*this.m_motorJacobian.angular2;}
if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)
{var limitCdot=this.m_motorJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var limitImpulse=-this.m_motorMass*limitCdot;if(this.m_limitState==b2Joint.e_equalLimits)
{this.m_limitImpulse+=limitImpulse;}
else if(this.m_limitState==b2Joint.e_atLowerLimit)
{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}
else if(this.m_limitState==b2Joint.e_atUpperLimit)
{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}
b1.m_linearVelocity.x+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.y;b1.m_angularVelocity+=invI1*limitImpulse*this.m_motorJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.y;b2.m_angularVelocity+=invI2*limitImpulse*this.m_motorJacobian.angular2;}},SolvePositionConstraints:function(){var limitC;var oldLimitImpulse;var b1=this.m_body1;var b2=this.m_body2;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ay1X=tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y;var ay1Y=tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y;var linearC=ay1X*dX+ay1Y*dY;linearC=b2Math.b2Clamp(linearC,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var linearImpulse=-this.m_linearMass*linearC;b1.m_position.x+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.x;b1.m_position.y+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.y;b1.m_rotation+=invI1*linearImpulse*this.m_linearJacobian.angular1;b2.m_position.x+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.x;b2.m_position.y+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.y;b2.m_rotation+=invI2*linearImpulse*this.m_linearJacobian.angular2;var positionError=b2Math.b2Abs(linearC);var angularC=b2.m_rotation-b1.m_rotation-this.m_initialAngle;angularC=b2Math.b2Clamp(angularC,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);var angularImpulse=-this.m_angularMass*angularC;b1.m_rotation-=b1.m_invI*angularImpulse;b1.m_R.Set(b1.m_rotation);b2.m_rotation+=b2.m_invI*angularImpulse;b2.m_R.Set(b2.m_rotation);var angularError=b2Math.b2Abs(angularC);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)
{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;dX=p2X-p1X;dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var translation=(ax1X*dX+ax1Y*dY);var limitImpulse=0.0;if(this.m_limitState==b2Joint.e_equalLimits)
{limitC=b2Math.b2Clamp(translation,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);limitImpulse=-this.m_motorMass*limitC;positionError=b2Math.b2Max(positionError,b2Math.b2Abs(angularC));}
else if(this.m_limitState==b2Joint.e_atLowerLimit)
{limitC=translation-this.m_lowerTranslation;positionError=b2Math.b2Max(positionError,-limitC);limitC=b2Math.b2Clamp(limitC+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}
else if(this.m_limitState==b2Joint.e_atUpperLimit)
{limitC=translation-this.m_upperTranslation;positionError=b2Math.b2Max(positionError,limitC);limitC=b2Math.b2Clamp(limitC-b2Settings.b2_linearSlop,0.0,b2Settings.b2_maxLinearCorrection);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}
b1.m_position.x+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.x;b1.m_position.y+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.y;b1.m_rotation+=invI1*limitImpulse*this.m_motorJacobian.angular1;b1.m_R.Set(b1.m_rotation);b2.m_position.x+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.x;b2.m_position.y+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.y;b2.m_rotation+=invI2*limitImpulse*this.m_motorJacobian.angular2;b2.m_R.Set(b2.m_rotation);}
return positionError<=b2Settings.b2_linearSlop&&angularError<=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(0.0,0.0);this.axis=new b2Vec2(0.0,0.0);this.lowerTranslation=0.0;this.upperTranslation=0.0;this.motorForce=0.0;this.motorSpeed=0.0;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 tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.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(invTimeStep){return new b2Vec2();},GetReactionTorque:function(invTimeStep){return 0.0;},GetLength1:function(){var tMat;tMat=this.m_body1.m_R;var pX=this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y);var pY=this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y);var dX=pX-(this.m_ground.m_position.x+this.m_groundAnchor1.x);var dY=pY-(this.m_ground.m_position.y+this.m_groundAnchor1.y);return Math.sqrt(dX*dX+dY*dY);},GetLength2:function(){var tMat;tMat=this.m_body2.m_R;var pX=this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y);var pY=this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y);var dX=pX-(this.m_ground.m_position.x+this.m_groundAnchor2.x);var dY=pY-(this.m_ground.m_position.y+this.m_groundAnchor2.y);return Math.sqrt(dX*dX+dY*dY);},GetRatio:function(){return this.m_ratio;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.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 tMat;var tX;var tY;this.m_ground=this.m_body1.m_world.m_groundBody;this.m_groundAnchor1.x=def.groundPoint1.x-this.m_ground.m_position.x;this.m_groundAnchor1.y=def.groundPoint1.y-this.m_ground.m_position.y;this.m_groundAnchor2.x=def.groundPoint2.x-this.m_ground.m_position.x;this.m_groundAnchor2.y=def.groundPoint2.y-this.m_ground.m_position.y;tMat=this.m_body1.m_R;tX=def.anchorPoint1.x-this.m_body1.m_position.x;tY=def.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint2.x-this.m_body2.m_position.x;tY=def.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;this.m_ratio=def.ratio;tX=def.groundPoint1.x-def.anchorPoint1.x;tY=def.groundPoint1.y-def.anchorPoint1.y;var d1Len=Math.sqrt(tX*tX+tY*tY);tX=def.groundPoint2.x-def.anchorPoint2.x;tY=def.groundPoint2.y-def.anchorPoint2.y;var d2Len=Math.sqrt(tX*tX+tY*tY);var length1=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,d1Len);var length2=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,d2Len);this.m_constant=length1+this.m_ratio*length2;this.m_maxLength1=b2Math.b2Clamp(def.maxLength1,length1,this.m_constant-this.m_ratio*b2PulleyJoint.b2_minPulleyLength);this.m_maxLength2=b2Math.b2Clamp(def.maxLength2,length2,(this.m_constant-b2PulleyJoint.b2_minPulleyLength)/this.m_ratio);this.m_pulleyImpulse=0.0;this.m_limitImpulse1=0.0;this.m_limitImpulse2=0.0;},PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var s1X=this.m_ground.m_position.x+this.m_groundAnchor1.x;var s1Y=this.m_ground.m_position.y+this.m_groundAnchor1.y;var s2X=this.m_ground.m_position.x+this.m_groundAnchor2.x;var s2Y=this.m_ground.m_position.y+this.m_groundAnchor2.y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);this.m_u2.Set(p2X-s2X,p2Y-s2Y);var length1=this.m_u1.Length();var length2=this.m_u2.Length();if(length1>b2Settings.b2_linearSlop)
{this.m_u1.Multiply(1.0/length1);}
else
{this.m_u1.SetZero();}
if(length2>b2Settings.b2_linearSlop)
{this.m_u2.Multiply(1.0/length2);}
else
{this.m_u2.SetZero();}
if(length1<this.m_maxLength1)
{this.m_limitState1=b2Joint.e_inactiveLimit;this.m_limitImpulse1=0.0;}
else
{this.m_limitState1=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse1=0.0;}
if(length2<this.m_maxLength2)
{this.m_limitState2=b2Joint.e_inactiveLimit;this.m_limitImpulse2=0.0;}
else
{this.m_limitState2=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse2=0.0;}
var cr1u1=r1X*this.m_u1.y-r1Y*this.m_u1.x;var cr2u2=r2X*this.m_u2.y-r2Y*this.m_u2.x;this.m_limitMass1=b1.m_invMass+b1.m_invI*cr1u1*cr1u1;this.m_limitMass2=b2.m_invMass+b2.m_invI*cr2u2*cr2u2;this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2;this.m_limitMass1=1.0/this.m_limitMass1;this.m_limitMass2=1.0/this.m_limitMass2;this.m_pulleyMass=1.0/this.m_pulleyMass;var P1X=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.x;var P1Y=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.y;var P2X=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.x;var P2Y=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var v1X;var v1Y;var v2X;var v2Y;var P1X;var P1Y;var P2X;var P2Y;var Cdot;var impulse;var oldLimitImpulse;v1X=b1.m_linearVelocity.x+(-b1.m_angularVelocity*r1Y);v1Y=b1.m_linearVelocity.y+(b1.m_angularVelocity*r1X);v2X=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y);v2Y=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X);Cdot=-(this.m_u1.x*v1X+this.m_u1.y*v1Y)-this.m_ratio*(this.m_u2.x*v2X+this.m_u2.y*v2Y);impulse=-this.m_pulleyMass*Cdot;this.m_pulleyImpulse+=impulse;P1X=-impulse*this.m_u1.x;P1Y=-impulse*this.m_u1.y;P2X=-this.m_ratio*impulse*this.m_u2.x;P2Y=-this.m_ratio*impulse*this.m_u2.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);if(this.m_limitState1==b2Joint.e_atUpperLimit)
{v1X=b1.m_linearVelocity.x+(-b1.m_angularVelocity*r1Y);v1Y=b1.m_linearVelocity.y+(b1.m_angularVelocity*r1X);Cdot=-(this.m_u1.x*v1X+this.m_u1.y*v1Y);impulse=-this.m_limitMass1*Cdot;oldLimitImpulse=this.m_limitImpulse1;this.m_limitImpulse1=b2Math.b2Max(0.0,this.m_limitImpulse1+impulse);impulse=this.m_limitImpulse1-oldLimitImpulse;P1X=-impulse*this.m_u1.x;P1Y=-impulse*this.m_u1.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);}
if(this.m_limitState2==b2Joint.e_atUpperLimit)
{v2X=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y);v2Y=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X);Cdot=-(this.m_u2.x*v2X+this.m_u2.y*v2Y);impulse=-this.m_limitMass2*Cdot;oldLimitImpulse=this.m_limitImpulse2;this.m_limitImpulse2=b2Math.b2Max(0.0,this.m_limitImpulse2+impulse);impulse=this.m_limitImpulse2-oldLimitImpulse;P2X=-impulse*this.m_u2.x;P2Y=-impulse*this.m_u2.y;b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);}},SolvePositionConstraints:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;var s1X=this.m_ground.m_position.x+this.m_groundAnchor1.x;var s1Y=this.m_ground.m_position.y+this.m_groundAnchor1.y;var s2X=this.m_ground.m_position.x+this.m_groundAnchor2.x;var s2Y=this.m_ground.m_position.y+this.m_groundAnchor2.y;var r1X;var r1Y;var r2X;var r2Y;var p1X;var p1Y;var p2X;var p2Y;var length1;var length2;var C;var impulse;var oldLimitPositionImpulse;var linearError=0.0;{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);this.m_u2.Set(p2X-s2X,p2Y-s2Y);length1=this.m_u1.Length();length2=this.m_u2.Length();if(length1>b2Settings.b2_linearSlop)
{this.m_u1.Multiply(1.0/length1);}
else
{this.m_u1.SetZero();}
if(length2>b2Settings.b2_linearSlop)
{this.m_u2.Multiply(1.0/length2);}
else
{this.m_u2.SetZero();}
C=this.m_constant-length1-this.m_ratio*length2;linearError=b2Math.b2Max(linearError,Math.abs(C));C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);impulse=-this.m_pulleyMass*C;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;p2X=-this.m_ratio*impulse*this.m_u2.x;p2Y=-this.m_ratio*impulse*this.m_u2.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b1.m_R.Set(b1.m_rotation);b2.m_R.Set(b2.m_rotation);}
if(this.m_limitState1==b2Joint.e_atUpperLimit)
{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);length1=this.m_u1.Length();if(length1>b2Settings.b2_linearSlop)
{this.m_u1.x*=1.0/length1;this.m_u1.y*=1.0/length1;}
else
{this.m_u1.SetZero();}
C=this.m_maxLength1-length1;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass1*C;oldLimitPositionImpulse=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0.0,this.m_limitPositionImpulse1+impulse);impulse=this.m_limitPositionImpulse1-oldLimitPositionImpulse;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b1.m_R.Set(b1.m_rotation);}
if(this.m_limitState2==b2Joint.e_atUpperLimit)
{tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;this.m_u2.Set(p2X-s2X,p2Y-s2Y);length2=this.m_u2.Length();if(length2>b2Settings.b2_linearSlop)
{this.m_u2.x*=1.0/length2;this.m_u2.y*=1.0/length2;}
else
{this.m_u2.SetZero();}
C=this.m_maxLength2-length2;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass2*C;oldLimitPositionImpulse=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0.0,this.m_limitPositionImpulse2+impulse);impulse=this.m_limitPositionImpulse2-oldLimitPositionImpulse;p2X=-impulse*this.m_u2.x;p2Y=-impulse*this.m_u2.y;b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b2.m_R.Set(b2.m_rotation);}
return linearError<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(-1.0,1.0);this.groundPoint2.Set(1.0,1.0);this.anchorPoint1.Set(-1.0,0.0);this.anchorPoint2.Set(1.0,0.0);this.maxLength1=0.5*b2PulleyJoint.b2_minPulleyLength;this.maxLength2=0.5*b2PulleyJoint.b2_minPulleyLength;this.ratio=1.0;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 tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.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(invTimeStep){return invTimeStep*this.m_motorImpulse;},SetMotorSpeed:function(speed)
{this.m_motorSpeed=speed;},SetMotorTorque:function(torque)
{this.m_maxMotorTorque=torque;},GetReactionForce:function(invTimeStep)
{var tVec=this.m_ptpImpulse.Copy();tVec.Multiply(invTimeStep);return tVec;},GetReactionTorque:function(invTimeStep)
{return invTimeStep*this.m_limitImpulse;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.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 tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=def.anchorPoint.x-this.m_body1.m_position.x;tY=def.anchorPoint.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint.x-this.m_body2.m_position.x;tY=def.anchorPoint.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;this.m_intialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_ptpImpulse.Set(0.0,0.0);this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;this.m_limitPositionImpulse=0.0;this.m_lowerAngle=def.lowerAngle;this.m_upperAngle=def.upperAngle;this.m_maxMotorTorque=def.motorTorque;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),K3:new b2Mat22(),PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;this.K1.col1.x=invMass1+invMass2;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass1+invMass2;this.K2.col1.x=invI1*r1Y*r1Y;this.K2.col2.x=-invI1*r1X*r1Y;this.K2.col1.y=-invI1*r1X*r1Y;this.K2.col2.y=invI1*r1X*r1X;this.K3.col1.x=invI2*r2Y*r2Y;this.K3.col2.x=-invI2*r2X*r2Y;this.K3.col1.y=-invI2*r2X*r2Y;this.K3.col2.y=invI2*r2X*r2X;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Invert(this.m_ptpMass);this.m_motorMass=1.0/(invI1+invI2);if(this.m_enableMotor==false)
{this.m_motorImpulse=0.0;}
if(this.m_enableLimit)
{var jointAngle=b2.m_rotation-b1.m_rotation-this.m_intialAngle;if(b2Math.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2.0*b2Settings.b2_angularSlop)
{this.m_limitState=b2Joint.e_equalLimits;}
else if(jointAngle<=this.m_lowerAngle)
{if(this.m_limitState!=b2Joint.e_atLowerLimit)
{this.m_limitImpulse=0.0;}
this.m_limitState=b2Joint.e_atLowerLimit;}
else if(jointAngle>=this.m_upperAngle)
{if(this.m_limitState!=b2Joint.e_atUpperLimit)
{this.m_limitImpulse=0.0;}
this.m_limitState=b2Joint.e_atUpperLimit;}
else
{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0.0;}}
else
{this.m_limitImpulse=0.0;}
if(b2World.s_enableWarmStarting)
{b1.m_linearVelocity.x-=invMass1*this.m_ptpImpulse.x;b1.m_linearVelocity.y-=invMass1*this.m_ptpImpulse.y;b1.m_angularVelocity-=invI1*((r1X*this.m_ptpImpulse.y-r1Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);b2.m_linearVelocity.x+=invMass2*this.m_ptpImpulse.x;b2.m_linearVelocity.y+=invMass2*this.m_ptpImpulse.y;b2.m_angularVelocity+=invI2*((r2X*this.m_ptpImpulse.y-r2Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);}
else{this.m_ptpImpulse.SetZero();this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;}
this.m_limitPositionImpulse=0.0;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var oldLimitImpulse;var ptpCdotX=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y)-b1.m_linearVelocity.x-(-b1.m_angularVelocity*r1Y);var ptpCdotY=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X)-b1.m_linearVelocity.y-(b1.m_angularVelocity*r1X);var ptpImpulseX=-(this.m_ptpMass.col1.x*ptpCdotX+this.m_ptpMass.col2.x*ptpCdotY);var ptpImpulseY=-(this.m_ptpMass.col1.y*ptpCdotX+this.m_ptpMass.col2.y*ptpCdotY);this.m_ptpImpulse.x+=ptpImpulseX;this.m_ptpImpulse.y+=ptpImpulseY;b1.m_linearVelocity.x-=b1.m_invMass*ptpImpulseX;b1.m_linearVelocity.y-=b1.m_invMass*ptpImpulseY;b1.m_angularVelocity-=b1.m_invI*(r1X*ptpImpulseY-r1Y*ptpImpulseX);b2.m_linearVelocity.x+=b2.m_invMass*ptpImpulseX;b2.m_linearVelocity.y+=b2.m_invMass*ptpImpulseY;b2.m_angularVelocity+=b2.m_invI*(r2X*ptpImpulseY-r2Y*ptpImpulseX);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits)
{var motorCdot=b2.m_angularVelocity-b1.m_angularVelocity-this.m_motorSpeed;var motorImpulse=-this.m_motorMass*motorCdot;var oldMotorImpulse=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+motorImpulse,-step.dt*this.m_maxMotorTorque,step.dt*this.m_maxMotorTorque);motorImpulse=this.m_motorImpulse-oldMotorImpulse;b1.m_angularVelocity-=b1.m_invI*motorImpulse;b2.m_angularVelocity+=b2.m_invI*motorImpulse;}
if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)
{var limitCdot=b2.m_angularVelocity-b1.m_angularVelocity;var limitImpulse=-this.m_motorMass*limitCdot;if(this.m_limitState==b2Joint.e_equalLimits)
{this.m_limitImpulse+=limitImpulse;}
else if(this.m_limitState==b2Joint.e_atLowerLimit)
{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}
else if(this.m_limitState==b2Joint.e_atUpperLimit)
{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}
b1.m_angularVelocity-=b1.m_invI*limitImpulse;b2.m_angularVelocity+=b2.m_invI*limitImpulse;}},SolvePositionConstraints:function(){var oldLimitImpulse;var limitC;var b1=this.m_body1;var b2=this.m_body2;var positionError=0.0;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var ptpCX=p2X-p1X;var ptpCY=p2Y-p1Y;positionError=Math.sqrt(ptpCX*ptpCX+ptpCY*ptpCY);var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;this.K1.col1.x=invMass1+invMass2;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass1+invMass2;this.K2.col1.x=invI1*r1Y*r1Y;this.K2.col2.x=-invI1*r1X*r1Y;this.K2.col1.y=-invI1*r1X*r1Y;this.K2.col2.y=invI1*r1X*r1X;this.K3.col1.x=invI2*r2Y*r2Y;this.K3.col2.x=-invI2*r2X*r2Y;this.K3.col1.y=-invI2*r2X*r2Y;this.K3.col2.y=invI2*r2X*r2X;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-ptpCX,-ptpCY);var impulseX=b2RevoluteJoint.tImpulse.x;var impulseY=b2RevoluteJoint.tImpulse.y;b1.m_position.x-=b1.m_invMass*impulseX;b1.m_position.y-=b1.m_invMass*impulseY;b1.m_rotation-=b1.m_invI*(r1X*impulseY-r1Y*impulseX);b1.m_R.Set(b1.m_rotation);b2.m_position.x+=b2.m_invMass*impulseX;b2.m_position.y+=b2.m_invMass*impulseY;b2.m_rotation+=b2.m_invI*(r2X*impulseY-r2Y*impulseX);b2.m_R.Set(b2.m_rotation);var angularError=0.0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)
{var angle=b2.m_rotation-b1.m_rotation-this.m_intialAngle;var limitImpulse=0.0;if(this.m_limitState==b2Joint.e_equalLimits)
{limitC=b2Math.b2Clamp(angle,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;angularError=b2Math.b2Abs(limitC);}
else if(this.m_limitState==b2Joint.e_atLowerLimit)
{limitC=angle-this.m_lowerAngle;angularError=b2Math.b2Max(0.0,-limitC);limitC=b2Math.b2Clamp(limitC+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0.0);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}
else if(this.m_limitState==b2Joint.e_atUpperLimit)
{limitC=angle-this.m_upperAngle;angularError=b2Math.b2Max(0.0,limitC);limitC=b2Math.b2Clamp(limitC-b2Settings.b2_angularSlop,0.0,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}
b1.m_rotation-=b1.m_invI*limitImpulse;b1.m_R.Set(b1.m_rotation);b2.m_rotation+=b2.m_invI*limitImpulse;b2.m_R.Set(b2.m_rotation);}
return positionError<=b2Settings.b2_linearSlop&&angularError<=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(0.0,0.0);this.lowerAngle=0.0;this.upperAngle=0.0;this.motorTorque=0.0;this.motorSpeed=0.0;this.enableLimit=false;this.enableMotor=false;},anchorPoint:null,lowerAngle:null,upperAngle:null,motorTorque:null,motorSpeed:null,enableLimit:null,enableMotor:null});
</script>
<script>
var delta = [ 0, 0 ];
var stage = [ window.screenX, window.screenY, window.innerWidth, window.innerHeight ];
getBrowserDimensions();
var isRunning = false;
var isMouseDown = false;
var worldAABB;
var world;
var iterations = 1;
var timeStep = 1 / 25;
var walls = [];
var wall_thickness = 200;
var wallsSetted = false;
var mouseJoint;
var mouse = { x: 0, y: 0 };
var mouseOnClick = [];
var elements = [];
var bodies = [];
var properties = [];
var query, page = 0;
var gWebSearch, gImageSearch;
var imFeelingLuckyMode = false;
var resultBodies = [];
var gravity = { x: 0, y: 1 };
init();
if ( location.search != "" ) {
var params = location.search.substr(1).split("&")
for (var i = 0; i < params.length; i++) {
var param = params[i].split("=");
if (param[0] == "q") {
document.getElementById('q').value = param[1];
run();
break;
}
}
}
function init() {
gWebSearch = new google.search.WebSearch();
gWebSearch.setResultSetSize( google.search.Search.SMALL_RESULTSET );
gWebSearch.setSearchCompleteCallback( null, onWebSearch );
gImageSearch = new google.search.ImageSearch();
gImageSearch.setResultSetSize( google.search.Search.SMALL_RESULTSET );
gImageSearch.setSearchCompleteCallback( null, onImageSearch );
document.addEventListener( 'mousedown', onDocumentMouseDown, false );
document.addEventListener( 'mouseup', onDocumentMouseUp, false );
document.addEventListener( 'mousemove', onDocumentMouseMove, false );
document.addEventListener( 'keyup', onDocumentKeyUp, false );
document.addEventListener( 'touchstart', onDocumentTouchStart, false );
document.addEventListener( 'touchmove', onDocumentTouchMove, false );
document.addEventListener( 'touchend', onDocumentTouchEnd, false );
window.addEventListener( 'deviceorientation', onWindowDeviceOrientation, false );
worldAABB = new b2AABB();
worldAABB.minVertex.Set( - 200, - 200 );
worldAABB.maxVertex.Set( window.innerWidth + 200, window.innerHeight + 200 );
world = new b2World( worldAABB, new b2Vec2( 0, 0 ), true );
setWalls();
elements = getElementsByClass("box2d");
for ( var i = 0; i < elements.length; i ++ ) {
properties[i] = getElementProperties( elements[i] );
}
for ( var i = 0; i < elements.length; i ++ ) {
var element = elements[ i ];
element.style.position = 'absolute';
element.style.left = properties[i][0] + 'px';
element.style.top = properties[i][1] + 'px';
element.style.width = properties[i][2] + 'px';
element.addEventListener( 'mousedown', onElementMouseDown, false );
element.addEventListener( 'mouseup', onElementMouseUp, false );
element.addEventListener( 'click', onElementClick, false );
bodies[i] = createBox( world, properties[i][0] + (properties[i][2] >> 1), properties[i][1] + (properties[i][3] >> 1), properties[i][2] / 2, properties[i][3] / 2, false );
while ( element.offsetParent ) {
element = element.offsetParent;
element.style.position = 'static';
}
}
}
function run() {
isRunning = true;
setInterval( loop, 25 );
}
function onDocumentMouseDown( event ) {
isMouseDown = true;
}
function onDocumentMouseUp( event ) {
isMouseDown = false;
}
function onDocumentMouseMove( event ) {
if ( !isRunning ) run();
mouse.x = event.clientX;
mouse.y = event.clientY;
}
function onDocumentKeyUp( event ) {
if ( event.keyCode == 13 ) search();
}
function onDocumentTouchStart( event ) {
if ( event.touches.length == 1 ) {
if ( !isRunning ) {
run();
}
mouse.x = event.touches[0].pageX;
mouse.y = event.touches[0].pageY;
isMouseDown = true;
}
}
function onDocumentTouchMove( event ) {
if ( event.touches.length == 1 ) {
event.preventDefault();
mouse.x = event.touches[0].pageX;
mouse.y = event.touches[0].pageY;
}
}
function onDocumentTouchEnd( event ) {
if ( event.touches.length == 0 ) {
isMouseDown = false;
}
}
function onWindowDeviceOrientation( event ) {
if ( event.beta ) {
gravity.x = Math.sin( event.gamma * Math.PI / 180 );
gravity.y = Math.sin( ( Math.PI / 4 ) + event.beta * Math.PI / 180 );
}
}
function onElementMouseDown( event ) {
event.preventDefault();
mouseOnClick[0] = event.clientX;
mouseOnClick[1] = event.clientY;
}
function onElementMouseUp( event ) {
event.preventDefault();
}
function onElementClick( event ) {
var range = 5;
if ( mouseOnClick[0] > event.clientX + range || mouseOnClick[0] < event.clientX - range &&
mouseOnClick[1] > event.clientY + range || mouseOnClick[1] < event.clientY - range ) {
event.preventDefault();
}
if ( event.target == document.getElementById( 'btnG' ) ) search();
if ( event.target == document.getElementById( 'btnI' ) ) imFeelingLucky();
if ( event.target == document.getElementById( 'q' ) ) document.getElementById('q').focus();
}
function search() {
if ( !isRunning ) {
run();
}
if ( query == document.getElementById('q').value ) {
page ++;
gWebSearch.gotoPage( page );
gImageSearch.gotoPage( page );
} else {
page = 0;
query = document.getElementById('q').value;
gWebSearch.execute( query );
gImageSearch.execute( query );
}
return false;
}
function imFeelingLucky() {
imFeelingLuckyMode = true;
gWebSearch.execute( document.getElementById('q').value );
return false;
}
function onWebSearch() {
if ( imFeelingLuckyMode ) {
location.href = gWebSearch.results[0].unescapedUrl;
return;
}
for ( var i = 0; i < gWebSearch.results.length; i ++ ) {
addWeb( gWebSearch.results[i] );
}
}
function onImageSearch() {
for ( var i = 0; i < gImageSearch.results.length; i ++ ) {
addImage( gImageSearch.results[i] );
}
}
function addWeb( data ) {
var element = document.createElement('div');
element.innerHTML = '<div class="result"><div class="title"><a href="' + data.unescapedUrl + '" target="_blank">' + data.title + '</a></div><div class="url">' + data.visibleUrl + '</div><div class="content">' + data.content + '</div>';
document.body.appendChild( element );
properties.push( [ Math.random() * ( window.innerWidth / 2 ), - 200, 546, element.offsetHeight ] );
var i = properties.length - 1;
element.style.position = 'absolute';
element.style.left = 0 + 'px';
element.style.top = - 100 + 'px';
element.style.backgroundColor = '#ffffff';
element.addEventListener( 'mousedown', onElementMouseDown, false );
element.addEventListener( 'mouseup', onElementMouseUp, false );
element.addEventListener( 'click', onElementClick, false );
elements[i] = element;
resultBodies.push( bodies[i] = createBox( world, properties[i][0] + ( properties[i][2] >> 1 ), properties[i][1] + ( properties[i][3] >> 1 ), properties[i][2] / 2, properties[i][3] / 2, false, element ) );
}
function addImage( data ) {
var element = document.createElement( 'img' );
element.style.display = 'none';
element.style.cursor = 'pointer';
element.addEventListener( 'load', function () {
properties.push( [ Math.random() * ( window.innerWidth / 2 ), - 200, element.width, element.height ] );
var i = properties.length - 1;
element.style.display = 'block';
element.style.position = 'absolute';
element.style.left = 0 + 'px';
element.style.top = - 200 + 'px';
element.style.backgroundColor = '#ffffff';
element.addEventListener( 'mousedown', onElementMouseDown, false );
element.addEventListener( 'mouseup', onElementMouseUp, false );
element.addEventListener( 'click', onElementClick, false );
element.addEventListener( 'click', function ( event ) {
var range = 5;
if ( mouseOnClick[0] < event.clientX + range && mouseOnClick[0] > event.clientX - range &&
mouseOnClick[1] < event.clientY + range && mouseOnClick[1] > event.clientY - range ) {
window.open( data.unescapedUrl );
}
}, false );
elements[i] = element;
resultBodies.push( bodies[i] = createBox( world, properties[i][0] + ( properties[i][2] >> 1 ), properties[i][1] + ( properties[i][3] >> 1 ), properties[i][2] / 2, properties[i][3] / 2, false, element ) );
}, false );
element.src = data.tbUrl;
document.body.appendChild( element );
}
function loop() {
if (getBrowserDimensions())
setWalls();
delta[0] += (0 - delta[0]) * .5;
delta[1] += (0 - delta[1]) * .5;
world.m_gravity.x = gravity.x * 350 + delta[0];
world.m_gravity.y = gravity.y * 350 + delta[1];
mouseDrag();
world.Step(timeStep, iterations);
for ( i = 0; i < elements.length; i++ ) {
var body = bodies[i];
var element = elements[i];
element.style.left = (body.m_position0.x - (properties[i][2] >> 1)) + 'px';
element.style.top = (body.m_position0.y - (properties[i][3] >> 1)) + 'px';
var style = 'rotate(' + (body.m_rotation0 * 57.2957795) + 'deg)';
element.style.transform = style;
element.style.WebkitTransform = style + ' translateZ(0)';
element.style.MozTransform = style;
element.style.OTransform = style;
element.style.msTransform = style;
}
}
function createBox(world, x, y, width, height, fixed, element) {
if (typeof(fixed) == 'undefined')
fixed = true;
var boxSd = new b2BoxDef();
if (!fixed)
boxSd.density = 1.0;
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)
}
function mouseDrag() {
if (isMouseDown && !mouseJoint) {
var body = getBodyAtMouse();
if (body) {
var md = new b2MouseJointDef();
md.body1 = world.m_groundBody;
md.body2 = body;
md.target.Set(mouse.x, mouse.y);
md.maxForce = 30000.0 * body.m_mass;
md.timeStep = timeStep;
mouseJoint = world.CreateJoint(md);
body.WakeUp();
}
}
if (!isMouseDown) {
if (mouseJoint) {
world.DestroyJoint(mouseJoint);
mouseJoint = null;
}
}
if (mouseJoint) {
var p2 = new b2Vec2(mouse.x, mouse.y);
mouseJoint.SetTarget(p2);
}
}
function getBodyAtMouse() {
var mousePVec = new b2Vec2();
mousePVec.Set(mouse.x, mouse.y);
var aabb = new b2AABB();
aabb.minVertex.Set(mouse.x - 1, mouse.y - 1);
aabb.maxVertex.Set(mouse.x + 1, mouse.y + 1);
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) ) {
body = shapes[i].m_body;
break;
}
}
}
return body;
}
function setWalls() {
if (wallsSetted) {
world.DestroyBody(walls[0]);
world.DestroyBody(walls[1]);
world.DestroyBody(walls[2]);
world.DestroyBody(walls[3]);
walls[0] = null;
walls[1] = null;
walls[2] = null;
walls[3] = null;
}
walls[0] = createBox(world, stage[2] / 2, - wall_thickness, stage[2], wall_thickness);
walls[1] = createBox(world, stage[2] / 2, stage[3] + wall_thickness, stage[2], wall_thickness);
walls[2] = createBox(world, - wall_thickness, stage[3] / 2, wall_thickness, stage[3]);
walls[3] = createBox(world, stage[2] + wall_thickness, stage[3] / 2, wall_thickness, stage[3]);
wallsSetted = true;
}
function getElementsByClass( searchClass ) {
var classElements = [];
var els = document.getElementsByTagName('*');
var elsLen = els.length
for (i = 0, j = 0; i < elsLen; i++) {
var classes = els[i].className.split(' ');
for (k = 0; k < classes.length; k++)
if ( classes[k] == searchClass )
classElements[j++] = els[i];
}
return classElements;
}
function getElementProperties( 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, y, width, height ];
}
function getBrowserDimensions() {
var changed = false;
if ( stage[0] != window.screenX ) {
delta[0] = (window.screenX - stage[0]) * 50;
stage[0] = window.screenX;
changed = true;
}
if ( stage[1] != window.screenY ) {
delta[1] = (window.screenY - stage[1]) * 50;
stage[1] = window.screenY;
changed = true;
}
if ( stage[2] != window.innerWidth ) {
stage[2] = window.innerWidth;
changed = true;
}
if ( stage[3] != window.innerHeight ) {
stage[3] = window.innerHeight;
changed = true;
}
return changed;
}
</script>
</body>
</html> |
