From d910497e909528fbf6f006bb53406bc1a72217c4 Mon Sep 17 00:00:00 2001
From: wassname <wassname@users.noreply.github.com>
Date: Sat, 1 Dec 2018 16:16:46 +0800
Subject: [PATCH] tidy

---
 js/walker.js         |     4 -
 vendor/jsbox2d.js    | 11582 ++++++++++++++++++++++++++++++++++++++++-
 vendor/neurojs-v2.js |  4908 -----------------
 3 files changed, 11581 insertions(+), 4913 deletions(-)
 delete mode 100644 vendor/neurojs-v2.js

diff --git a/js/walker.js b/js/walker.js
index 8386ae9..48864b4 100644
--- a/js/walker.js
+++ b/js/walker.js
@@ -677,7 +677,3 @@ var agent = new DDPGAgent(env, {
 });
 agent.train(true);
 
-// setInterval(() => {
-//   walker.step()
-//   console.log(walker.getState())
-// }, 100)
diff --git a/vendor/jsbox2d.js b/vendor/jsbox2d.js
index 54061f8..e6aa5ad 100644
--- a/vendor/jsbox2d.js
+++ b/vendor/jsbox2d.js
@@ -1,2 +1,11582 @@
 /** https://github.com/kripken/box2d.js v2.3.1 */
-(function(){Function.prototype._extend=function(parent){this.prototype.parent=parent;for(var x in parent.prototype){if(!this.prototype[x]){this.prototype[x]=parent.prototype[x]}}};Function.prototype._implement=function(parent){return this._extend(parent)};var b2Profiler=(function(){if(typeof(performance)==="undefined"){window.performance={now:function(){return +new Date()}}}function profileStruct(name,parent){this.name=name;this.parent=parent;this.children={};this.startTime=0;this.elapsedTime=0;this.totalTime=0;this.running=false;this.childrenCount=0}profileStruct.prototype={start:function(){this.startTime=performance.now();this.running=true},stop:function(reset){if(!this.running){return}this.running=false;this.elapsedTime+=performance.now()-this.startTime;if(reset){this.start()}for(var x in this.children){this.children[x].stop()}},reset:function(dontRun){if(!dontRun){this.running=true;this.totalTime+=this.elapsedTime;this.start()}this.elapsedTime=0;for(var x in this.children){this.children[x].reset(true)}}};var profiles=[];var root=new profileStruct("root");function create(name,parent){if(!profiles){throw new Error("late profile creation not allowed")}var s=new profileStruct(name,parent||"root");profiles.push(s);return s}function destroy(profile){profile.childrenCount--;delete profile.children[profile.name]}function recursiveParentCheck(node,profile){if(node.name===profile.parent){return node}for(var x in node.children){var n;if(n=recursiveParentCheck(node.children[x],profile)){return n}}return null}function init(){while(profiles.length){var p=profiles.pop();if(!(p.parentNode=recursiveParentCheck(root,p))){profiles.unshift(p)}else{p.parentNode.children[p.name]=p;p.parentNode.childrenCount++}}profiles=null}function resetAll(){root.reset(true)}return{create:create,destroy:destroy,init:init,reset:resetAll,profileRoot:root}}());"use strict";var b2_maxFloat=Number.MAX_VALUE;var b2_epsilon=2.220446049250313e-16;var b2_pi=Math.PI;var b2_maxManifoldPoints=2;var b2_maxPolygonVertices=8;var b2_aabbExtension=0.1;var b2_aabbMultiplier=2;var b2_linearSlop=0.005;var b2_angularSlop=(2/180*b2_pi);var b2_polygonRadius=(2*b2_linearSlop);var b2_maxSubSteps=8;var b2_maxTOIContacts=32;var b2_velocityThreshold=1;var b2_maxLinearCorrection=0.2;var b2_maxAngularCorrection=(8/180*b2_pi);var b2_maxTranslation=2;var b2_maxTranslationSquared=(b2_maxTranslation*b2_maxTranslation);var b2_maxRotation=(0.5*b2_pi);var b2_maxRotationSquared=(b2_maxRotation*b2_maxRotation);var b2_baumgarte=0.2;var b2_toiBaugarte=0.75;var b2_timeToSleep=0.5;var b2_linearSleepTolerance=0.01;var b2_angularSleepTolerance=(2/180*b2_pi);function b2Version(ma,mi,re){this.major=ma;this.minor=mi;this.revision=re}b2Version.prototype={toString:function(){return this.major+"."+this.minor+"."+this.revision}};var b2_version=new b2Version(2,3,1);"use strict";function b2IsValid(x){return isFinite(x)&&!isNaN(x)}var sqrtf=Math.sqrt;var atan2f=Math.atan2;var sinf=Math.sin;var cosf=Math.cos;var floorf=Math.floor;var ceilf=Math.ceil;var b2Sqrt=sqrtf;var b2Atan2=atan2f;function b2InvSqrt(x){return 1/sqrtf(x)}function b2Vec2(x,y){if(typeof(x)!=="undefined"){this.x=x;this.y=y}else{this.x=this.y=0}}b2Vec2.prototype={Clone:function(){return new b2Vec2(this.x,this.y)},SetZero:function(){this.x=0;this.y=0;return this},Set:function(x_,y_){this.x=x_;this.y=y_;return this},Assign:function(l){this.x=l.x;this.y=l.y;return this},Negate:function(){var v=new b2Vec2();v.Set(-this.x,-this.y);return v},get_i:function(i){switch(i){case 0:return this.x;case 1:return this.y}},set_i:function(i,v){switch(i){case 0:return this.x=v;case 1:return this.y=v}},Add:function(v){this.x+=v.x;this.y+=v.y;return this},Subtract:function(v){this.x-=v.x;this.y-=v.y;return this},Multiply:function(a){this.x*=a;this.y*=a;return this},Length:function(){return b2Sqrt(this.x*this.x+this.y*this.y)},LengthSquared:function(){return this.x*this.x+this.y*this.y},Normalize:function(){var length=this.Length();if(length<b2_epsilon){return 0}var invLength=1/length;this.x*=invLength;this.y*=invLength;return length},IsValid:function(){return b2IsValid(this.x)&&b2IsValid(this.y)},Skew:function(){return new b2Vec2(-this.y,this.x)},_serialize:function(out){var obj=out||[];obj[0]=this.x;obj[1]=this.y;return obj},_deserialize:function(data){this.x=data[0];this.y=data[1]}};b2Vec2.Add=function(a,b){return new b2Vec2(a.x+b.x,a.y+b.y)};b2Vec2.Subtract=function(a,b){return new b2Vec2(a.x-b.x,a.y-b.y)};b2Vec2.Equals=function(a,b){return a.x==b.x&&a.y==b.y};b2Vec2.Multiply=function(s,a){return new b2Vec2(s*a.x,s*a.y)};b2Vec2.Negate=function(a){return new b2Vec2(-a.x,-a.y)};function b2Vec3(x,y,z){if(typeof(x)!=="undefined"){this.x=x;this.y=y;this.z=z}}b2Vec3.prototype={Clone:function(){return new b2Vec3(this.x,this.y,this.z)},SetZero:function(){this.x=0;this.y=0;this.z=0},Set:function(x_,y_,z_){this.x=x_;this.y=y_;this.z=z_},Negate:function(){var v=new b2Vec3();v.Set(-this.x,-this.y,-this.z);return v},Add:function(v){this.x+=v.x;this.y+=v.y;this.z+=v.z},Subtract:function(v){this.x-=v.x;this.y-=v.y;this.z-=v.z},Multiply:function(s){this.x*=s;this.y*=s;this.z*=s},x:0,y:0,z:0};b2Vec3.Multiply=function(s,a){return new b2Vec3(s*a.x,s*a.y,s*a.z)};b2Vec3.Add=function(a,b){return new b2Vec3(a.x+b.x,a.y+b.y,a.z+b.z)};b2Vec3.Subtract=function(a,b){return new b2Vec3(a.x-b.x,a.y-b.y,a.z-b.z)};function b2Mat22(c1,c2){this.ex=c1?c1.Clone():new b2Vec2();this.ey=c2?c2.Clone():new b2Vec2()}b2Mat22.prototype={Set:function(c1,c2){this.ex.Assign(c1);this.ey.Assign(c2)},Assign:function(mat){this.ex.Assign(mat.ex);this.ey.Assign(mat.ey)},SetIdentity:function(){this.ex.x=1;this.ey.x=0;this.ex.y=0;this.ey.y=1},SetZero:function(){this.ex.x=0;this.ey.x=0;this.ex.y=0;this.ey.y=0},GetInverse:function(){var a=this.ex.x,b=this.ey.x,c=this.ex.y,d=this.ey.y;var B=new b2Mat22();var det=a*d-b*c;if(det!=0){det=1/det}B.ex.x=det*d;B.ey.x=-det*b;B.ex.y=-det*c;B.ey.y=det*a;return B},Solve:function(b){var a11=this.ex.x,a12=this.ey.x,a21=this.ex.y,a22=this.ey.y;var det=a11*a22-a12*a21;if(det!=0){det=1/det}var x=new b2Vec2();x.x=det*(a22*b.x-a12*b.y);x.y=det*(a11*b.y-a21*b.x);return x}};b2Mat22.Add=function(A,B){return new b2Mat22(b2Vec2.Add(A.ex,B.ex),b2Vec2.Add(A.ey,B.ey))};function b2Mat33(c1,c2,c3){this.ex=c1?c1.Clone():new b2Vec3();this.ey=c2?c2.Clone():new b2Vec3();this.ez=c3?c3.Clone():new b2Vec3()}b2Mat33.prototype={SetZero:function(){this.ex.SetZero();this.ey.SetZero();this.ez.SetZero()},Solve33:function(b){var det=b2Dot_v3_v3(this.ex,b2Cross_v3_v3(this.ey,this.ez));if(det!=0){det=1/det}var x=new b2Vec3();x.x=det*b2Dot_v3_v3(b,b2Cross_v3_v3(this.ey,this.ez));x.y=det*b2Dot_v3_v3(this.ex,b2Cross_v3_v3(b,this.ez));x.z=det*b2Dot_v3_v3(this.ex,b2Cross_v3_v3(this.ey,b));return x},Solve22:function(b){var a11=this.ex.x,a12=this.ey.x,a21=this.ex.y,a22=this.ey.y;var det=a11*a22-a12*a21;if(det!=0){det=1/det}var x=new b2Vec2();x.x=det*(a22*b.x-a12*b.y);x.y=det*(a11*b.y-a21*b.x);return x},GetInverse22:function(M){var a=this.ex.x,b=this.ey.x,c=this.ex.y,d=this.ey.y;var det=a*d-b*c;if(det!=0){det=1/det}M.ex.x=det*d;M.ey.x=-det*b;M.ex.z=0;M.ex.y=-det*c;M.ey.y=det*a;M.ey.z=0;M.ez.x=0;M.ez.y=0;M.ez.z=0},GetSymInverse33:function(M){var det=b2Dot_v3_v3(this.ex,b2Cross_v3_v3(this.ey,this.ez));if(det!=0){det=1/det}var a11=this.ex.x,a12=this.ey.x,a13=this.ez.x;var a22=this.ey.y,a23=this.ez.y;var a33=this.ez.z;M.ex.x=det*(a22*a33-a23*a23);M.ex.y=det*(a13*a23-a12*a33);M.ex.z=det*(a12*a23-a13*a22);M.ey.x=M.ex.y;M.ey.y=det*(a11*a33-a13*a13);M.ey.z=det*(a13*a12-a11*a23);M.ez.x=M.ex.z;M.ez.y=M.ey.z;M.ez.z=det*(a11*a22-a12*a12)}};function b2Rot(angle,c){if(typeof(c)!=="undefined"){this.s=angle;this.c=c}else{if(typeof(angle)!=="undefined"){this.Set(angle)}}}b2Rot.prototype={Clone:function(){return new b2Rot(this.s,this.c)},Assign:function(l){this.s=l.s;this.c=l.c},Set:function(x){this.s=sinf(x);this.c=cosf(x)},SetIdentity:function(){this.s=0;this.c=1},GetAngle:function(){return b2Atan2(this.s,this.c)},GetXAxis:function(){return new b2Vec2(this.c,this.s)},GetYAxis:function(){return new b2Vec2(-this.s,this.c)},s:0,c:1};function b2Transform(position,rotation){this.p=new b2Vec2();this.q=new b2Rot();if(position){this.p.Assign(position);this.q.Assign(rotation)}}b2Transform.prototype={Clone:function(){var xf=new b2Transform(this.p,this.q);return xf},Assign:function(xf){this.p.Assign(xf.p);this.q.Assign(xf.q)},SetIdentity:function(){this.p.SetZero();this.q.SetIdentity()},Set:function(position,angle){this.p.Assign(position);this.q.Set(angle)}};function b2Sweep(){this.localCenter=new b2Vec2();this.c0=new b2Vec2();this.c=new b2Vec2()}b2Sweep.prototype={Assign:function(sweep){this.localCenter.Assign(sweep.localCenter);this.c0.Assign(sweep.c0);this.c.Assign(sweep.c);this.a=sweep.a;this.a0=sweep.a0;this.alpha0=sweep.alpha0},Clone:function(){var sweep=new b2Sweep();sweep.localCenter.Assign(this.localCenter);sweep.c0.Assign(this.c0);sweep.c.Assign(this.c);sweep.a=this.a;sweep.a0=this.a0;sweep.alpha0=this.alpha0;return sweep},GetTransform:function(xf,beta){xf.p.x=((1-beta)*this.c0.x)+(beta*this.c.x);xf.p.y=((1-beta)*this.c0.y)+(beta*this.c.y);var angle=(1-beta)*this.a0+beta*this.a;xf.q.Set(angle);xf.p.x-=xf.q.c*this.localCenter.x-xf.q.s*this.localCenter.y;xf.p.y-=xf.q.s*this.localCenter.x+xf.q.c*this.localCenter.y},Advance:function(alpha){var beta=(alpha-this.alpha0)/(1-this.alpha0);this.c0.Add(b2Vec2.Multiply(beta,b2Vec2.Subtract(this.c,this.c0)));this.a0+=beta*(this.a-this.a0);this.alpha0=alpha},Normalize:function(){var twoPi=2*b2_pi;var d=twoPi*floorf(this.a0/twoPi);this.a0-=d;this.a-=d},a0:0,a:0,alpha0:0};function b2Dot_v2_v2(a,b){return a.x*b.x+a.y*b.y}function b2Cross_v2_v2(a,b){return a.x*b.y-a.y*b.x}function b2Cross_v2_f(a,s){return new b2Vec2(s*a.y,-s*a.x)}function b2Cross_f_v2(s,a){return new b2Vec2(-s*a.y,s*a.x)}function b2Mul_m22_v2(A,v){return new b2Vec2(A.ex.x*v.x+A.ey.x*v.y,A.ex.y*v.x+A.ey.y*v.y)}function b2MulT_m22_v2(A,v){return new b2Vec2(b2Dot_v2_v2(v,A.ex),b2Dot_v2_v2(v,A.ey))}function b2Distance(a,b){var c=b2Vec2.Subtract(a,b);return c.Length()}function b2DistanceSquared(a,b){var c=b2Vec2.Subtract(a,b);return b2Dot_v2_v2(c,c)}function b2Dot_v3_v3(a,b){return a.x*b.x+a.y*b.y+a.z*b.z}function b2Cross_v3_v3(a,b){return new b2Vec3(a.y*b.z-a.z*b.y,a.z*b.x-a.x*b.z,a.x*b.y-a.y*b.x)}function b2Mul_m22_m22(A,B){return new b2Mat22(b2Mul_m22_v2(A,B.ex),b2Mul_m22_v2(A,B.ey))}function b2MulT_m22_m22(A,B){var c1=new b2Vec2(b2Dot_v2_v2(A.ex,B.ex),b2Dot_v2_v2(A.ey,B.ex));var c2=new b2Vec2(b2Dot_v2_v2(A.ex,B.ey),b2Dot_v2_v2(A.ey,B.ey));return new b2Mat22(c1,c2)}function b2Mul_m33_v3(A,v){return b2Vec3.Add(b2Vec3.Add(b2Vec3.Multiply(v.x,A.ex),b2Vec3.Multiply(v.y,A.ey)),b2Vec3.Multiply(v.z,A.ez))}function b2Mul22_m33_v2(A,v){return new b2Vec2(A.ex.x*v.x+A.ey.x*v.y,A.ex.y*v.x+A.ey.y*v.y)}function b2Mul_r_r(q,r){var qr=new b2Rot();qr.s=q.s*r.c+q.c*r.s;qr.c=q.c*r.c-q.s*r.s;return qr}function b2MulT_r_r(q,r){var qr=new b2Rot();qr.s=q.c*r.s-q.s*r.c;qr.c=q.c*r.c+q.s*r.s;return qr}function b2Mul_r_v2(q,v){return new b2Vec2(q.c*v.x-q.s*v.y,q.s*v.x+q.c*v.y)}function b2MulT_r_v2(q,v){return new b2Vec2(q.c*v.x+q.s*v.y,-q.s*v.x+q.c*v.y)}function b2Mul_t_v2(T,v){return new b2Vec2((T.q.c*v.x-T.q.s*v.y)+T.p.x,(T.q.s*v.x+T.q.c*v.y)+T.p.y)}function b2MulT_t_v2(T,v){var px=v.x-T.p.x;var py=v.y-T.p.y;var x=(T.q.c*px+T.q.s*py);var y=(-T.q.s*px+T.q.c*py);return new b2Vec2(x,y)}function b2Mul_t_t(A,B){var C=new b2Transform();C.q=b2Mul_r_r(A.q,B.q);C.p=b2Vec2.Add(b2Mul_r_v2(A.q,B.p),A.p);return C}function b2MulT_t_t(A,B){var C=new b2Transform();C.q=b2MulT_r_r(A.q,B.q);var tvx=B.p.x-A.p.x;var tvy=B.p.y-A.p.y;C.p.x=A.q.c*tvx+A.q.s*tvy;C.p.y=-A.q.s*tvx+A.q.c*tvy;return C}var b2Abs=Math.abs;function b2Abs_v2(a){return new b2Vec2(b2Abs(a.x),b2Abs(a.y))}function b2Abs_m22(A){return new b2Mat22(b2Abs_v2(A.ex),b2Abs_v2(A.ey))}var b2Min=Math.min;function b2Min_v2(a,b){return new b2Vec2(b2Min(a.x,b.x),b2Min(a.y,b.y))}var b2Max=Math.max;function b2Max_v2(a,b){return new b2Vec2(b2Max(a.x,b.x),b2Max(a.y,b.y))}function b2Clamp(a,low,high){return b2Max(low,b2Min(a,high))}function b2Clamp_v2(a,low,high){return b2Max_v2(low,b2Min_v2(a,high))}function b2NextPowerOfTwo(x){x|=(x>>1);x|=(x>>2);x|=(x>>4);x|=(x>>8);x|=(x>>16);return x+1}function b2IsPowerOfTwo(x){var result=x>0&&(x&(x-1))==0;return result}var RAND_LIMIT=32767;function b2RandomFloat(lo,hi){var r=Math.random();if(typeof(lo)!=="undefined"){r=(hi-lo)*r+lo}else{r=2*r-1}return r}"use strict";function b2Color(r,g,b){this.r=r||0;this.g=g||0;this.b=b||0}b2Color.prototype={Set:function(r,g,b){this.r=r;this.g=g;this.b=b}};function b2Draw(){}b2Draw.prototype={SetFlags:function(flags){this.m_drawFlags=flags},GetFlags:function(){return this.m_drawFlags},AppendFlags:function(flags){this.m_drawFlags|=flags},ClearFlags:function(flags){this.m_drawFlags&=~flags},ToggleFlags:function(flags){this.m_drawFlags^=flags},DrawPolygon:function(vertices,vertexCount,color){},DrawSolidPolygon:function(vertices,vertexCount,color){},DrawCircle:function(center,radius,color){},DrawSolidCircle:function(center,radius,axis,color){},DrawSegment:function(p1,p2,color){},DrawTransform:function(xf){},m_drawFlags:0};b2Draw.e_shapeBit=1;b2Draw.e_jointBit=2;b2Draw.e_aabbBit=4;b2Draw.e_centerOfMassBit=8;b2Draw.e_contactPoints=16;b2Draw.e_contactNormals=32;b2Draw.e_contactImpulses=64;b2Draw.e_frictionImpulses=128;b2Draw.e_statistics=256;b2Draw.e_profile=512;b2Draw.e_pairBit=1024;"use strict";if(typeof(performance)==="undefined"){window.performance={now:function(){return +new Date()}}}function b2Timer(){this.Reset()}b2Timer.prototype={Reset:function(){this.m_start=performance.now()},GetMilliseconds:function(){return performance.now()-this.m_start}};"use strict";function b2MassData(){this.mass=0;this.center=new b2Vec2();this.I=0}function b2Shape(){this.m_type=0;this.m_radius=0}b2Shape.prototype={Clone:function(){},GetType:function(){return this.m_type},GetChildCount:function(){},TestPoint:function(xf,p){},RayCast:function(output,input,transform,childIndex){},ComputeAABB:function(aabb,xf,childIndex){},ComputeMass:function(massData,density){},_serialize:function(out){var obj=out||{};obj.m_type=this.m_type;obj.m_radius=this.m_radius;return obj},_deserialize:function(data){this.m_radius=data.m_radius}};b2Shape.e_circle=0;b2Shape.e_edge=1;b2Shape.e_polygon=2;b2Shape.e_chain=3;b2Shape.e_typeCount=4;"use strict";function b2CircleShape(){this.parent.call(this);this.m_type=b2Shape.e_circle;this.m_radius=0;this.m_p=new b2Vec2();Object.seal(this)}b2CircleShape.prototype={Clone:function(){var shape=new b2CircleShape();shape.m_radius=this.m_radius;shape.m_p=this.m_p.Clone();return shape},GetChildCount:function(){return 1},TestPoint:function(transform,p){var center=b2Vec2.Add(transform.p,b2Mul_r_v2(transform.q,this.m_p));var d=b2Vec2.Subtract(p,center);return b2Dot_v2_v2(d,d)<=this.m_radius*this.m_radius},RayCast:function(output,input,transform,childIndex){var position=b2Vec2.Add(transform.p,b2Mul_r_v2(transform.q,this.m_p));var s=b2Vec2.Subtract(input.p1,position);var b=b2Dot_v2_v2(s,s)-this.m_radius*this.m_radius;var r=b2Vec2.Subtract(input.p2,input.p1);var c=b2Dot_v2_v2(s,r);var rr=b2Dot_v2_v2(r,r);var sigma=c*c-rr*b;if(sigma<0||rr<b2_epsilon){return false}var a=-(c+b2Sqrt(sigma));if(0<=a&&a<=input.maxFraction*rr){a/=rr;output.fraction=a;output.normal=b2Vec2.Add(s,b2Vec2.Multiply(a,r));output.normal.Normalize();return true}return false},ComputeAABB:function(aabb,transform,childIndex){var px=transform.p.x+(transform.q.c*this.m_p.x-transform.q.s*this.m_p.y);var py=transform.p.y+(transform.q.s*this.m_p.x+transform.q.c*this.m_p.y);aabb.lowerBound.x=px-this.m_radius;aabb.lowerBound.y=py-this.m_radius;aabb.upperBound.x=px+this.m_radius;aabb.upperBound.y=py+this.m_radius},ComputeMass:function(massData,density){massData.mass=density*b2_pi*this.m_radius*this.m_radius;massData.center=this.m_p;massData.I=massData.mass*(0.5*this.m_radius*this.m_radius+b2Dot_v2_v2(this.m_p,this.m_p))},GetSupport:function(d){return 0},GetSupportVertex:function(d){return this.m_p},GetVertexCount:function(){return 1},GetVertex:function(index){return this.m_p},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.m_p=this.m_p._serialize();return obj},_deserialize:function(data){this.parent.prototype._deserialize.call(this,data);this.m_p._deserialize(data.m_p)}};b2CircleShape._extend(b2Shape);"use strict";function b2EdgeShape(){this.parent.call(this);this.m_type=b2Shape.e_edge;this.m_radius=b2_polygonRadius;this.m_vertex0=new b2Vec2();this.m_vertex1=new b2Vec2();this.m_vertex2=new b2Vec2();this.m_vertex3=new b2Vec2();this.m_hasVertex0=false;this.m_hasVertex3=false;Object.seal(this)}b2EdgeShape.prototype={Set:function(v1,v2){this.m_vertex1.Assign(v1);this.m_vertex2.Assign(v2);this.m_hasVertex0=false;this.m_hasVertex3=false},Clone:function(){var shape=new b2EdgeShape();shape.m_vertex0=this.m_vertex0.Clone();shape.m_vertex1=this.m_vertex1.Clone();shape.m_vertex2=this.m_vertex2.Clone();shape.m_vertex3=this.m_vertex3.Clone();shape.m_hasVertex0=this.m_hasVertex0;shape.m_hasVertex3=this.m_hasVertex3;return shape},GetChildCount:function(){return 1},TestPoint:function(transform,p){return false},RayCast:function(output,input,xf,childIndex){var p1=b2MulT_r_v2(xf.q,b2Vec2.Subtract(input.p1,xf.p));var p2=b2MulT_r_v2(xf.q,b2Vec2.Subtract(input.p2,xf.p));var d=b2Vec2.Subtract(p2,p1);var v1=this.m_vertex1;var v2=this.m_vertex2;var e=b2Vec2.Subtract(v2,v1);var normal=new b2Vec2(e.y,-e.x);normal.Normalize();var numerator=b2Dot_v2_v2(normal,b2Vec2.Subtract(v1,p1));var denominator=b2Dot_v2_v2(normal,d);if(denominator==0){return false}var t=numerator/denominator;if(t<0||input.maxFraction<t){return false}var q=b2Vec2.Add(p1,b2Vec2.Multiply(t,d));var r=b2Vec2.Subtract(v2,v1);var rr=b2Dot_v2_v2(r,r);if(rr==0){return false}var s=b2Dot_v2_v2(b2Vec2.Subtract(q,v1),r)/rr;if(s<0||1<s){return false}output.fraction=t;if(numerator>0){output.normal=b2Mul_r_v2(xf.q,normal).Negate()}else{output.normal=b2Mul_r_v2(xf.q,normal)}return true},ComputeAABB:function(aabb,xf,childIndex){var v1x=(xf.q.c*this.m_vertex1.x-xf.q.s*this.m_vertex1.y)+xf.p.x;var v1y=(xf.q.s*this.m_vertex1.x+xf.q.c*this.m_vertex1.y)+xf.p.y;var v2x=(xf.q.c*this.m_vertex2.x-xf.q.s*this.m_vertex2.y)+xf.p.x;var v2y=(xf.q.s*this.m_vertex2.x+xf.q.c*this.m_vertex2.y)+xf.p.y;var lowerx=b2Min(v1x,v2x);var lowery=b2Min(v1y,v2y);var upperx=b2Max(v1x,v2x);var uppery=b2Max(v1y,v2y);aabb.lowerBound.x=lowerx-this.m_radius;aabb.lowerBound.y=lowery-this.m_radius;aabb.upperBound.x=upperx+this.m_radius;aabb.upperBound.y=uppery+this.m_radius},ComputeMass:function(massData,density){massData.mass=0;massData.center=b2Vec2.Multiply(0.5,b2Vec2.Add(this.m_vertex1,this.m_vertex2));massData.I=0},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.m_vertex1=this.m_vertex1._serialize();obj.m_vertex2=this.m_vertex2._serialize();obj.m_hasVertex0=this.m_hasVertex0;if(this.m_hasVertex0){obj.m_vertex0=this.m_vertex0._serialize()}obj.m_hasVertex3=this.m_hasVertex3;if(this.m_hasVertex3){obj.m_vertex3=this.m_vertex3._serialize()}return obj},_deserialize:function(data){this.parent.prototype._deserialize.call(this,data);this.m_vertex1._deserialize(data.m_vertex1);this.m_vertex2._deserialize(data.m_vertex2);this.m_hasVertex0=data.m_hasVertex0;if(this.m_hasVertex0){this.m_vertex0._deserialize(data.m_vertex0)}this.m_hasVertex3=data.m_hasVertex3;if(this.m_hasVertex3){this.m_vertex3._deserialize(data.m_vertex3)}}};b2EdgeShape._extend(b2Shape);"use strict";function b2ChainShape(){this.parent.call(this);this.m_type=b2Shape.e_chain;this.m_radius=b2_polygonRadius;this.m_vertices=null;this.m_count=0;this.m_prevVertex=new b2Vec2();this.m_nextVertex=new b2Vec2();this.m_hasPrevVertex=false;this.m_hasNextVertex=false;Object.seal(this)}b2ChainShape.prototype={CreateLoop:function(vertices,count){for(var i=1;i<count;++i){var v1=vertices[i-1];var v2=vertices[i]}this.m_count=count+1;this.m_vertices=new Array(this.m_count);for(var i=0;i<count;++i){this.m_vertices[i]=vertices[i].Clone()}this.m_vertices[count]=this.m_vertices[0].Clone();this.m_prevVertex.Assign(this.m_vertices[this.m_count-2]);this.m_nextVertex.Assign(this.m_vertices[1]);this.m_hasPrevVertex=true;this.m_hasNextVertex=true},CreateChain:function(vertices,count){for(var i=1;i<count;++i){var v1=vertices[i-1];var v2=vertices[i]}this.m_count=count;this.m_vertices=new Array(count);for(var i=0;i<count;++i){this.m_vertices[i]=vertices[i].Clone()}this.m_hasPrevVertex=false;this.m_hasNextVertex=false;this.m_prevVertex.SetZero();this.m_nextVertex.SetZero()},SetPrevVertex:function(prevVertex){this.m_prevVertex.Assign(prevVertex);this.m_hasPrevVertex=true},SetNextVertex:function(nextVertex){this.m_nextVertex.Assign(nextVertex);this.m_hasNextVertex=true},Clone:function(){var shape=new b2ChainShape();shape.m_count=this.m_count;shape.m_vertices=new Array(this.m_count);for(var i=0;i<this.m_count;++i){shape.m_vertices[i]=this.m_vertices[i].Clone()}shape.m_prevVertex=this.m_prevVertex.Clone();shape.m_nextVertex=this.m_nextVertex.Clone();shape.m_hasPrevVertex=this.m_hasPrevVertex;shape.m_hasNextVertex=this.m_hasNextVertex;return shape},GetChildCount:function(){return this.m_count-1},GetChildEdge:function(edge,index){edge.m_type=b2Shape.e_edge;edge.m_radius=this.m_radius;edge.m_vertex1=this.m_vertices[index+0];edge.m_vertex2=this.m_vertices[index+1];if(index>0){edge.m_vertex0=this.m_vertices[index-1];edge.m_hasVertex0=true}else{edge.m_vertex0=this.m_prevVertex;edge.m_hasVertex0=this.m_hasPrevVertex}if(index<this.m_count-2){edge.m_vertex3=this.m_vertices[index+2];edge.m_hasVertex3=true}else{edge.m_vertex3=this.m_nextVertex;edge.m_hasVertex3=this.m_hasNextVertex}},TestPoint:function(transform,p){return false},RayCast:function(output,input,xf,childIndex){var edgeShape=new b2EdgeShape();var i1=childIndex;var i2=childIndex+1;if(i2==this.m_count){i2=0}edgeShape.m_vertex1=this.m_vertices[i1].Clone();edgeShape.m_vertex2=this.m_vertices[i2].Clone();return edgeShape.RayCast(output,input,xf,0)},ComputeAABB:function(aabb,xf,childIndex){var i1=childIndex;var i2=childIndex+1;if(i2==this.m_count){i2=0}var v1x=(xf.q.c*this.m_vertices[i1].x-xf.q.s*this.m_vertices[i1].y)+xf.p.x;var v1y=(xf.q.s*this.m_vertices[i1].x+xf.q.c*this.m_vertices[i1].y)+xf.p.y;var v2x=(xf.q.c*this.m_vertices[i2].x-xf.q.s*this.m_vertices[i2].y)+xf.p.x;var v2y=(xf.q.s*this.m_vertices[i2].x+xf.q.c*this.m_vertices[i2].y)+xf.p.y;aabb.lowerBound.x=b2Min(v1x,v2x);aabb.lowerBound.y=b2Min(v1y,v2y);aabb.upperBound.x=b2Max(v1x,v2x);aabb.upperBound.y=b2Max(v1y,v2y)},ComputeMass:function(massData,density){massData.mass=0;massData.center.SetZero();massData.I=0},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.m_count=this.m_count;obj.m_vertices=[];for(var i=0;i<this.m_count;++i){obj.m_vertices.push(this.m_vertices[i]._serialize())}obj.m_hasPrevVertex=this.m_hasPrevVertex;if(this.m_hasPrevVertex){obj.m_prevVertex=this.m_prevVertex._serialize()}obj.m_hasNextVertex=this.m_hasNextVertex;if(this.m_hasNextVertex){obj.m_nextVertex=this.m_nextVertex._serialize()}return obj},_deserialize:function(data){this.parent.prototype._deserialize.call(this,data);this.m_count=data.m_count;this.m_vertices=[];for(var i=0;i<this.m_count;++i){this.m_vertices[i]=new b2Vec2();this.m_vertices[i]._deserialize(data.m_vertices[i])}this.m_hasPrevVertex=data.m_hasPrevVertex;if(this.m_hasPrevVertex){this.m_prevVertex._deserialize(data.m_prevVertex)}this.m_hasNextVertex=data.m_hasNextVertex;if(this.m_hasNextVertex){this.m_nextVertex._deserialize(data.m_nextVertex)}}};b2ChainShape._extend(b2Shape);"use strict";function b2PolygonShape(){this.parent.call(this);this.m_type=b2Shape.e_polygon;this.m_radius=b2_polygonRadius;this.m_count=0;this.m_centroid=new b2Vec2();this.m_vertices=new Array(b2_maxPolygonVertices);this.m_normals=new Array(b2_maxPolygonVertices);Object.seal(this)}b2PolygonShape.prototype={Clone:function(){var shape=new b2PolygonShape();shape.m_count=this.m_count;shape.m_centroid=this.m_centroid.Clone();for(var i=0;i<this.m_count;++i){shape.m_vertices[i]=this.m_vertices[i].Clone();shape.m_normals[i]=this.m_normals[i].Clone()}return shape},GetChildCount:function(){return 1},Set:function(vertices,count){if(count<3){this.SetAsBox(1,1);return}var n=b2Min(count,b2_maxPolygonVertices);var ps=new Array(b2_maxPolygonVertices);var tempCount=0;for(var i=0;i<n;++i){var v=vertices[i];var unique=true;for(var j=0;j<tempCount;++j){if(b2DistanceSquared(v,ps[j])<0.5*b2_linearSlop){unique=false;break}}if(unique){ps[tempCount++]=v.Clone()}}n=tempCount;if(n<3){this.SetAsBox(1,1);return}var i0=0;var x0=ps[0].x;for(i=1;i<n;++i){var x=ps[i].x;if(x>x0||(x==x0&&ps[i].y<ps[i0].y)){i0=i;x0=x}}var hull=new Array(b2_maxPolygonVertices);var m=0;var ih=i0;for(;;){hull[m]=ih;var ie=0;for(j=1;j<n;++j){if(ie==ih){ie=j;continue}var r=b2Vec2.Subtract(ps[ie],ps[hull[m]]);var v=b2Vec2.Subtract(ps[j],ps[hull[m]]);var c=b2Cross_v2_v2(r,v);if(c<0){ie=j}if(c==0&&v.LengthSquared()>r.LengthSquared()){ie=j}}++m;ih=ie;if(ie==i0){break}}this.m_count=m;for(i=0;i<m;++i){this.m_vertices[i]=ps[hull[i]].Clone()}for(i=0;i<m;++i){var i1=i;var i2=i+1<m?i+1:0;var edge=b2Vec2.Subtract(this.m_vertices[i2],this.m_vertices[i1]);this.m_normals[i]=b2Cross_v2_f(edge,1).Clone();this.m_normals[i].Normalize()}this.m_centroid=b2PolygonShape.ComputeCentroid(this.m_vertices,m)},SetAsBox:function(hx,hy,center,angle){this.m_count=4;this.m_vertices[0]=new b2Vec2(-hx,-hy);this.m_vertices[1]=new b2Vec2(hx,-hy);this.m_vertices[2]=new b2Vec2(hx,hy);this.m_vertices[3]=new b2Vec2(-hx,hy);this.m_normals[0]=new b2Vec2(0,-1);this.m_normals[1]=new b2Vec2(1,0);this.m_normals[2]=new b2Vec2(0,1);this.m_normals[3]=new b2Vec2(-1,0);if(!center){return}this.m_centroid.Assign(center);var xf=new b2Transform();xf.p=center;xf.q.Set(angle);for(var i=0;i<this.m_count;++i){this.m_vertices[i].Assign(b2Mul_t_v2(xf,this.m_vertices[i]));this.m_normals[i].Assign(b2Mul_r_v2(xf.q,this.m_normals[i]))}},TestPoint:function(xf,p){var pLocal=b2MulT_r_v2(xf.q,b2Vec2.Subtract(p,xf.p));for(var i=0;i<this.m_count;++i){var dot=b2Dot_v2_v2(this.m_normals[i],b2Vec2.Subtract(pLocal,this.m_vertices[i]));if(dot>0){return false}}return true},RayCast:function(output,input,xf,childIndex){var p1=b2MulT_r_v2(xf.q,b2Vec2.Subtract(input.p1,xf.p));var p2=b2MulT_r_v2(xf.q,b2Vec2.Subtract(input.p2,xf.p));var d=b2Vec2.Subtract(p2,p1);var lower=0,upper=input.maxFraction;var index=-1;for(var i=0;i<this.m_count;++i){var numerator=b2Dot_v2_v2(this.m_normals[i],b2Vec2.Subtract(this.m_vertices[i],p1));var denominator=b2Dot_v2_v2(this.m_normals[i],d);if(denominator==0){if(numerator<0){return false}}else{if(denominator<0&&numerator<lower*denominator){lower=numerator/denominator;index=i}else{if(denominator>0&&numerator<upper*denominator){upper=numerator/denominator}}}if(upper<lower){return false}}if(index>=0){output.fraction=lower;output.normal=b2Mul_r_v2(xf.q,this.m_normals[index]);return true}return false},ComputeAABB:function(aabb,xf,childIndex){var lowerx=(xf.q.c*this.m_vertices[0].x-xf.q.s*this.m_vertices[0].y)+xf.p.x;var lowery=(xf.q.s*this.m_vertices[0].x+xf.q.c*this.m_vertices[0].y)+xf.p.y;var upperx=lowerx;var uppery=lowery;for(var i=1;i<this.m_count;++i){var vx=(xf.q.c*this.m_vertices[i].x-xf.q.s*this.m_vertices[i].y)+xf.p.x;var vy=(xf.q.s*this.m_vertices[i].x+xf.q.c*this.m_vertices[i].y)+xf.p.y;lowerx=b2Min(lowerx,vx);lowery=b2Min(lowery,vy);upperx=b2Max(upperx,vx);uppery=b2Max(uppery,vy)}aabb.lowerBound.x=lowerx-this.m_radius;aabb.lowerBound.y=lowery-this.m_radius;aabb.upperBound.x=upperx+this.m_radius;aabb.upperBound.y=uppery+this.m_radius},ComputeMass:function(massData,density){var center=new b2Vec2(0,0);var area=0;var I=0;var s=new b2Vec2(0,0);for(var i=0;i<this.m_count;++i){s.Add(this.m_vertices[i])}s.Multiply(1/this.m_count);var k_inv3=1/3;for(var i=0;i<this.m_count;++i){var e1=b2Vec2.Subtract(this.m_vertices[i],s);var e2=i+1<this.m_count?b2Vec2.Subtract(this.m_vertices[i+1],s):b2Vec2.Subtract(this.m_vertices[0],s);var D=b2Cross_v2_v2(e1,e2);var triangleArea=0.5*D;area+=triangleArea;center.Add(b2Vec2.Multiply(triangleArea*k_inv3,b2Vec2.Add(e1,e2)));var ex1=e1.x,ey1=e1.y;var ex2=e2.x,ey2=e2.y;var intx2=ex1*ex1+ex2*ex1+ex2*ex2;var inty2=ey1*ey1+ey2*ey1+ey2*ey2;I+=(0.25*k_inv3*D)*(intx2+inty2)}massData.mass=density*area;center.Multiply(1/area);massData.center=b2Vec2.Add(center,s);massData.I=density*I;massData.I+=massData.mass*(b2Dot_v2_v2(massData.center,massData.center)-b2Dot_v2_v2(center,center))},GetVertexCount:function(){return this.m_count},GetVertex:function(index){return this.m_vertices[index]},Validate:function(){for(var i=0;i<this.m_count;++i){var i1=i;var i2=i<this.m_count-1?i1+1:0;var p=this.m_vertices[i1];var e=b2Vec2.Subtract(this.m_vertices[i2],p);for(var j=0;j<this.m_count;++j){if(j==i1||j==i2){continue}var v=b2Vec2.Subtract(this.m_vertices[j],p);var c=b2Cross_v2_v2(e,v);if(c<0){return false}}}return true},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.m_count=this.m_count;obj.m_centroid=this.m_centroid._serialize();obj.m_vertices=[];obj.m_normals=[];for(var i=0;i<this.m_count;++i){obj.m_vertices.push(this.m_vertices[i]._serialize());obj.m_normals.push(this.m_normals[i]._serialize())}return obj},_deserialize:function(data){this.parent.prototype._deserialize.call(this,data);this.m_count=data.m_count;this.m_centroid._deserialize(data.m_centroid);this.m_vertices=[];this.m_normals=[];for(var i=0;i<this.m_count;++i){this.m_vertices[i]=new b2Vec2();this.m_vertices[i]._deserialize(data.m_vertices[i]);this.m_normals[i]=new b2Vec2();this.m_normals[i]._deserialize(data.m_normals[i])}}};b2PolygonShape.ComputeCentroid=function(vs,count){var c=new b2Vec2();var area=0;var pRef=new b2Vec2(0,0);var inv3=1/3;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=b2Vec2.Subtract(p2,p1);var e2=b2Vec2.Subtract(p3,p1);var D=b2Cross_v2_v2(e1,e2);var triangleArea=0.5*D;area+=triangleArea;c.Add(b2Vec2.Multiply(triangleArea,b2Vec2.Multiply(inv3,b2Vec2.Add(b2Vec2.Add(p1,p2),p3))))}c.Multiply(1/area);return c};b2PolygonShape._extend(b2Shape);"use strict";function b2Pair(){this.proxyIdA=0;this.proxyIdB=0}function b2PairLessThan(pair1,pair2){if(pair1.proxyIdA==pair2.proxyIdA){return pair1.proxyIdB-pair2.proxyIdB}return pair1.proxyIdA-pair2.proxyIdA}function b2BroadPhase(){this.m_tree=new b2DynamicTree();this.m_queryProxyId=0;this.m_proxyCount=0;this.m_pairCount=0;this.m_pairBuffer=[];this.m_moveCount=0;this.m_moveBuffer=[]}b2BroadPhase.prototype={CreateProxy:function(aabb,userData){var proxyId=this.m_tree.CreateProxy(aabb,userData);++this.m_proxyCount;this.BufferMove(proxyId);return proxyId},DestroyProxy:function(proxyId){this.UnBufferMove(proxyId);--this.m_proxyCount;this.m_tree.DestroyProxy(proxyId)},MoveProxy:function(proxyId,aabb,displacement){var buffer=this.m_tree.MoveProxy(proxyId,aabb,displacement);if(buffer){this.BufferMove(proxyId)}},TouchProxy:function(proxyId){this.BufferMove(proxyId)},GetFatAABB:function(proxyId){return this.m_tree.GetFatAABB(proxyId)},GetUserData:function(proxyId){return this.m_tree.GetUserData(proxyId)},TestOverlap:function(proxyIdA,proxyIdB){var aabbA=this.m_tree.GetFatAABB(proxyIdA);var aabbB=this.m_tree.GetFatAABB(proxyIdB);return b2TestOverlap(aabbA,aabbB)},GetProxyCount:function(){return this.m_proxyCount},UpdatePairs:function(callback){this.m_pairCount=0;this.m_pairBuffer.length=0;for(var i=0;i<this.m_moveCount;++i){this.m_queryProxyId=this.m_moveBuffer[i];if(this.m_queryProxyId==b2BroadPhase.e_nullProxy){continue}var fatAABB=this.m_tree.GetFatAABB(this.m_queryProxyId);this.m_tree.Query(this,fatAABB)}this.m_moveCount=0;this.m_pairBuffer.sort(b2PairLessThan);var i=0;while(i<this.m_pairCount){var primaryPair=this.m_pairBuffer[i];var userDataA=this.m_tree.GetUserData(primaryPair.proxyIdA);var userDataB=this.m_tree.GetUserData(primaryPair.proxyIdB);callback.AddPair(userDataA,userDataB);++i;while(i<this.m_pairCount){var pair=this.m_pairBuffer[i];if(pair.proxyIdA!=primaryPair.proxyIdA||pair.proxyIdB!=primaryPair.proxyIdB){break}++i}}},Query:function(callback,aabb){this.m_tree.Query(callback,aabb)},RayCast:function(callback,input){this.m_tree.RayCast(callback,input)},GetTreeHeight:function(){return this.m_tree.GetHeight()},GetTreeBalance:function(){return this.m_tree.GetMaxBalance()},GetTreeQuality:function(){return this.m_tree.GetAreaRatio()},ShiftOrigin:function(newOrigin){this.m_tree.ShiftOrigin(newOrigin)},BufferMove:function(proxyId){this.m_moveBuffer[this.m_moveCount]=proxyId;++this.m_moveCount},UnBufferMove:function(proxyId){for(var i=0;i<this.m_moveCount;++i){if(this.m_moveBuffer[i]==proxyId){this.m_moveBuffer[i]=b2BroadPhase.e_nullProxy}}},QueryCallback:function(proxyId){if(proxyId==this.m_queryProxyId){return true}this.m_pairBuffer[this.m_pairCount]=new b2Pair();this.m_pairBuffer[this.m_pairCount].proxyIdA=b2Min(proxyId,this.m_queryProxyId);this.m_pairBuffer[this.m_pairCount].proxyIdB=b2Max(proxyId,this.m_queryProxyId);++this.m_pairCount;return true}};b2BroadPhase.e_nullProxy=-1;"use strict";function b2DistanceProxy(){this.m_vertices=null;this.m_count=0;this.m_radius=0}b2DistanceProxy.prototype={Assign:function(l){this.m_vertices=l.m_vertices;this.m_count=l.m_count;this.m_radius=l.m_radius},Set:function(shape,index){switch(shape.GetType()){case b2Shape.e_circle:var circle=shape;this.m_vertices=[circle.m_p];this.m_count=1;this.m_radius=circle.m_radius;break;case b2Shape.e_polygon:var polygon=shape;this.m_vertices=polygon.m_vertices;this.m_count=polygon.m_count;this.m_radius=polygon.m_radius;break;case b2Shape.e_chain:var chain=shape;this.m_vertices=[chain.m_vertices[index]];if(index+1<chain.m_count){this.m_vertices[1]=chain.m_vertices[index+1]}else{this.m_vertices[1]=chain.m_vertices[0]}this.m_count=2;this.m_radius=chain.m_radius;break;case b2Shape.e_edge:var edge=shape;this.m_vertices=[edge.m_vertex1,edge.m_vertex2];this.m_count=2;this.m_radius=edge.m_radius;break}},GetSupport:function(dx,dy){var bestIndex=0;var bestValue=this.m_vertices[0].x*dx+this.m_vertices[0].y*dy;for(var i=1;i<this.m_count;++i){var value=this.m_vertices[i].x*dx+this.m_vertices[i].y*dy;if(value>bestValue){bestIndex=i;bestValue=value}}return bestIndex},GetSupportVertex:function(dx,dy){return this.m_vertices[this.GetSupport(dx,dy)]},GetVertexCount:function(){return this.m_count},GetVertex:function(index){return this.m_vertices[index]}};function b2SimplexCache(){this.metric=0;this.count=0;this.indexA=[0,0,0];this.indexB=[0,0,0]}function b2DistanceInput(){this.proxyA=new b2DistanceProxy();this.proxyB=new b2DistanceProxy();this.transformA=new b2Transform();this.transformB=new b2Transform();this.useRadii=false}function b2DistanceOutput(){this.pointA=new b2Vec2();this.pointB=new b2Vec2();this.distance=0;this.iterations=0}function b2SimplexVertex(){this.wA=new b2Vec2();this.wB=new b2Vec2();this.w=new b2Vec2();this.a=0;this.indexA=0;this.indexB=0}b2SimplexVertex.prototype={Assign:function(l){this.wA.x=l.wA.x;this.wA.y=l.wA.y;this.wB.x=l.wB.x;this.wB.y=l.wB.y;this.w.x=l.w.x;this.w.y=l.w.y;this.a=l.a;this.indexA=l.indexA;this.indexB=l.indexB}};function b2Simplex(){this.m_v=[new b2SimplexVertex(),new b2SimplexVertex(),new b2SimplexVertex()];this.m_count=0}b2Simplex.prototype={ReadCache:function(cache,proxyA,transformA,proxyB,transformB){this.m_count=cache.count;var vertices=this.m_v;for(var i=0;i<this.m_count;++i){var v=vertices[i];v.indexA=cache.indexA[i];v.indexB=cache.indexB[i];var wALocal=proxyA.GetVertex(v.indexA);var wBLocal=proxyB.GetVertex(v.indexB);v.wA.x=(transformA.q.c*wALocal.x-transformA.q.s*wALocal.y)+transformA.p.x;v.wA.y=(transformA.q.s*wALocal.x+transformA.q.c*wALocal.y)+transformA.p.y;v.wB.x=(transformB.q.c*wBLocal.x-transformB.q.s*wBLocal.y)+transformB.p.x;v.wB.y=(transformB.q.s*wBLocal.x+transformB.q.c*wBLocal.y)+transformB.p.y;v.w.x=v.wB.x-v.wA.x;v.w.y=v.wB.y-v.wA.y;v.a=0}if(this.m_count>1){var metric1=cache.metric;var metric2=this.GetMetric();if(metric2<0.5*metric1||2*metric1<metric2||metric2<b2_epsilon){this.m_count=0}}if(this.m_count==0){var v=vertices[0];v.indexA=0;v.indexB=0;var wALocal=proxyA.GetVertex(0);var wBLocal=proxyB.GetVertex(0);v.wA.x=(transformA.q.c*wALocal.x-transformA.q.s*wALocal.y)+transformA.p.x;v.wA.y=(transformA.q.s*wALocal.x+transformA.q.c*wALocal.y)+transformA.p.y;v.wB.x=(transformB.q.c*wBLocal.x-transformB.q.s*wBLocal.y)+transformB.p.x;v.wB.y=(transformB.q.s*wBLocal.x+transformB.q.c*wBLocal.y)+transformB.p.y;v.w.x=v.wB.x-v.wA.x;v.w.y=v.wB.y-v.wA.y;v.a=1;this.m_count=1}},WriteCache:function(cache){cache.metric=this.GetMetric();cache.count=this.m_count;var vertices=this.m_v;for(var i=0;i<this.m_count;++i){cache.indexA[i]=vertices[i].indexA;cache.indexB[i]=vertices[i].indexB}},GetSearchDirection:function(p){switch(this.m_count){case 1:p.x=-this.m_v[0].w.x;p.y=-this.m_v[0].w.y;break;case 2:var e12x=this.m_v[1].w.x-this.m_v[0].w.x;var e12y=this.m_v[1].w.y-this.m_v[0].w.y;var sgn=e12x*-this.m_v[0].w.y-e12y*-this.m_v[0].w.x;if(sgn>0){p.x=-1*e12y;p.y=1*e12x}else{p.x=1*e12y;p.y=-1*e12x}break}},GetClosestPoint:function(p){switch(this.m_count){case 1:p.x=this.m_v[0].w.x;p.y=this.m_v[0].w.y;break;case 2:p.x=(this.m_v[0].a*this.m_v[0].w.x)+(this.m_v[1].a*this.m_v[1].w.x);p.y=(this.m_v[0].a*this.m_v[0].w.y)+(this.m_v[1].a*this.m_v[1].w.y);break;case 3:p.x=p.y=0;break}},GetWitnessPoints:function(pA,pB){switch(this.m_count){case 1:pA.x=this.m_v[0].wA.x;pA.y=this.m_v[0].wA.y;pB.x=this.m_v[0].wB.x;pB.y=this.m_v[0].wB.y;break;case 2:pA.x=(this.m_v[0].a*this.m_v[0].wA.x)+(this.m_v[1].a*this.m_v[1].wA.x);pA.y=(this.m_v[0].a*this.m_v[0].wA.y)+(this.m_v[1].a*this.m_v[1].wA.y);pB.x=(this.m_v[0].a*this.m_v[0].wB.x)+(this.m_v[1].a*this.m_v[1].wB.x);pB.y=(this.m_v[0].a*this.m_v[0].wB.y)+(this.m_v[1].a*this.m_v[1].wB.y);break;case 3:pA.x=(this.m_v[0].a,this.m_v[0].wA.x)+(this.m_v[1].a,this.m_v[1].wA.x)+(this.m_v[2].a,this.m_v[2].wA.x);pA.y=(this.m_v[0].a,this.m_v[0].wA.y)+(this.m_v[1].a,this.m_v[1].wA.y)+(this.m_v[2].a,this.m_v[2].wA.y);pB.x=pA.x;pB.y=pA.y;break}},GetMetric:function(){switch(this.m_count){case 1:return 0;case 2:return b2Distance(this.m_v[0].w,this.m_v[1].w);case 3:return(this.m_v[1].w.x-this.m_v[0].w.x)*(this.m_v[2].w.y-this.m_v[0].w.y)-(this.m_v[1].w.y-this.m_v[0].w.y)*(this.m_v[2].w.x-this.m_v[0].w.x)}},Solve2:function(){var w1=this.m_v[0].w;var w2=this.m_v[1].w;var e12x=w2.x-w1.x;var e12y=w2.y-w1.y;var d12_2=-(w1.x*e12x+w1.y*e12y);if(d12_2<=0){this.m_v[0].a=1;this.m_count=1;return}var d12_1=w2.x*e12x+w2.y*e12y;if(d12_1<=0){this.m_v[1].a=1;this.m_count=1;this.m_v[0].Assign(this.m_v[1]);return}var inv_d12=1/(d12_1+d12_2);this.m_v[0].a=d12_1*inv_d12;this.m_v[1].a=d12_2*inv_d12;this.m_count=2},Solve3:function(){var w1=this.m_v[0].w;var w2=this.m_v[1].w;var w3=this.m_v[2].w;var e12x=w2.x-w1.x;var e12y=w2.y-w1.y;var w1e12=w1.x*e12x+w1.y*e12y;var w2e12=w2.x*e12x+w2.y*e12y;var d12_1=w2e12;var d12_2=-w1e12;var e13x=w3.x-w1.x;var e13y=w3.y-w1.y;var w1e13=w1.x*e13x+w1.y*e13y;var w3e13=w3.x*e13x+w3.y*e13y;var d13_1=w3e13;var d13_2=-w1e13;var e23x=w3.x-w2.x;var e23y=w3.y-w2.y;var w2e23=w2.x*e23x+w2.y*e23y;var w3e23=w3.x*e23x+w3.y*e23y;var d23_1=w3e23;var d23_2=-w2e23;var n123=e12x*e13y-e12y*e13x;var d123_1=n123*(w2.x*w3.y-w2.y*w3.x);var d123_2=n123*(w3.x*w1.y-w3.y*w1.x);var d123_3=n123*(w1.x*w2.y-w1.y*w2.x);if(d12_2<=0&&d13_2<=0){this.m_v[0].a=1;this.m_count=1;return}if(d12_1>0&&d12_2>0&&d123_3<=0){var inv_d12=1/(d12_1+d12_2);this.m_v[0].a=d12_1*inv_d12;this.m_v[1].a=d12_2*inv_d12;this.m_count=2;return}if(d13_1>0&&d13_2>0&&d123_2<=0){var inv_d13=1/(d13_1+d13_2);this.m_v[0].a=d13_1*inv_d13;this.m_v[2].a=d13_2*inv_d13;this.m_count=2;this.m_v[1].Assign(this.m_v[2]);return}if(d12_1<=0&&d23_2<=0){this.m_v[1].a=1;this.m_count=1;this.m_v[0].Assign(this.m_v[1]);return}if(d13_1<=0&&d23_1<=0){this.m_v[2].a=1;this.m_count=1;this.m_v[0].Assign(this.m_v[2]);return}if(d23_1>0&&d23_2>0&&d123_1<=0){var inv_d23=1/(d23_1+d23_2);this.m_v[1].a=d23_1*inv_d23;this.m_v[2].a=d23_2*inv_d23;this.m_count=2;this.m_v[0].Assign(this.m_v[2]);return}var inv_d123=1/(d123_1+d123_2+d123_3);this.m_v[0].a=d123_1*inv_d123;this.m_v[1].a=d123_2*inv_d123;this.m_v[2].a=d123_3*inv_d123;this.m_count=3}};var _b2Distance_simplex=new b2Simplex();var _b2Distance_normal=new b2Vec2();var _b2Distance_p=new b2Vec2();function b2DistanceFunc(output,cache,input){++b2DistanceFunc.b2_gjkCalls;var proxyA=input.proxyA;var proxyB=input.proxyB;var transformA=input.transformA;var transformB=input.transformB;_b2Distance_simplex.ReadCache(cache,proxyA,transformA,proxyB,transformB);var vertices=_b2Distance_simplex.m_v;var k_maxIters=20;var saveA=[0,0,0],saveB=[0,0,0];var saveCount=0;var distanceSqr1=b2_maxFloat;var distanceSqr2=distanceSqr1;var iter=0;while(iter<k_maxIters){saveCount=_b2Distance_simplex.m_count;for(var i=0;i<saveCount;++i){saveA[i]=vertices[i].indexA;saveB[i]=vertices[i].indexB}switch(_b2Distance_simplex.m_count){case 1:break;case 2:_b2Distance_simplex.Solve2();break;case 3:_b2Distance_simplex.Solve3();break}if(_b2Distance_simplex.m_count==3){break}_b2Distance_simplex.GetClosestPoint(_b2Distance_p);distanceSqr2=_b2Distance_p.LengthSquared();if(distanceSqr2>=distanceSqr1){}distanceSqr1=distanceSqr2;_b2Distance_simplex.GetSearchDirection(_b2Distance_p);if(_b2Distance_p.LengthSquared()<b2_epsilon*b2_epsilon){break}var vertex=vertices[_b2Distance_simplex.m_count];vertex.indexA=proxyA.GetSupport(transformA.q.c*-_b2Distance_p.x+transformA.q.s*-_b2Distance_p.y,-transformA.q.s*-_b2Distance_p.x+transformA.q.c*-_b2Distance_p.y);var pva=proxyA.GetVertex(vertex.indexA);vertex.wA.x=(transformA.q.c*pva.x-transformA.q.s*pva.y)+transformA.p.x;vertex.wA.y=(transformA.q.s*pva.x+transformA.q.c*pva.y)+transformA.p.y;vertex.indexB=proxyB.GetSupport(transformB.q.c*_b2Distance_p.x+transformB.q.s*_b2Distance_p.y,-transformB.q.s*_b2Distance_p.x+transformB.q.c*_b2Distance_p.y);var pvb=proxyB.GetVertex(vertex.indexB);vertex.wB.x=(transformB.q.c*pvb.x-transformB.q.s*pvb.y)+transformB.p.x;vertex.wB.y=(transformB.q.s*pvb.x+transformB.q.c*pvb.y)+transformB.p.y;vertex.w.x=vertex.wB.x-vertex.wA.x;vertex.w.y=vertex.wB.y-vertex.wA.y;++iter;++b2DistanceFunc.b2_gjkIters;var duplicate=false;for(var i=0;i<saveCount;++i){if(vertex.indexA==saveA[i]&&vertex.indexB==saveB[i]){duplicate=true;break}}if(duplicate){break}++_b2Distance_simplex.m_count}b2DistanceFunc.b2_gjkMaxIters=b2Max(b2DistanceFunc.b2_gjkMaxIters,iter);_b2Distance_simplex.GetWitnessPoints(output.pointA,output.pointB);output.distance=b2Distance(output.pointA,output.pointB);output.iterations=iter;_b2Distance_simplex.WriteCache(cache);if(input.useRadii){var rA=proxyA.m_radius;var rB=proxyB.m_radius;if(output.distance>rA+rB&&output.distance>b2_epsilon){output.distance-=rA+rB;_b2Distance_normal.x=output.pointB.x-output.pointA.x;_b2Distance_normal.y=output.pointB.y-output.pointA.y;_b2Distance_normal.Normalize();output.pointA.x+=(rA*_b2Distance_normal.x);output.pointA.y+=(rA*_b2Distance_normal.y);output.pointB.x-=(rB*_b2Distance_normal.x);output.pointB.y-=(rB*_b2Distance_normal.y)}else{var px=(0.5*(output.pointA.x+output.pointB.x));var py=(0.5*(output.pointA.y+output.pointB.y));output.pointA.x=px;output.pointA.y=py;output.pointB.x=px;output.pointB.y=py;output.distance=0}}}b2DistanceFunc.b2_gjkCalls=0;b2DistanceFunc.b2_gjkIters=0;b2DistanceFunc.b2_gjkMaxIters=0;"use strict";var b2_nullFeature=255;function b2ContactID(){}b2ContactID.prototype={indexA:0,indexB:0,typeA:0,typeB:0,Reset:function(){this.indexA=this.indexB=this.typeA=this.typeB=0},Get:function(){return this.indexA|(this.indexB<<8)|(this.typeA<<16)|(this.typeB<<24)},Assign:function(k){this.indexA=k.indexA;this.indexB=k.indexB;this.typeA=k.typeA;this.typeB=k.typeB}};b2ContactID.e_vertex=0;b2ContactID.e_face=1;function b2ManifoldPoint(){this.localPoint=new b2Vec2();this.normalImpulse=0;this.tangentImpulse=0;this.id=new b2ContactID()}b2ManifoldPoint.prototype={Clone:function(){var point=new b2ManifoldPoint();point.localPoint.x=this.localPoint.x;point.localPoint.y=this.localPoint.y;point.normalImpulse=this.normalImpulse;point.tangentImpulse=this.tangentImpulse;point.id.Assign(this.id);return point}};function b2Manifold(){this.points=new Array(b2_maxManifoldPoints);this.localNormal=new b2Vec2();this.localPoint=new b2Vec2();this.type=0;this.pointCount=0}b2Manifold.prototype={Clone:function(){var manifold=new b2Manifold();manifold.pointCount=this.pointCount;manifold.type=this.type;manifold.localPoint.x=this.localPoint.x;manifold.localPoint.y=this.localPoint.y;manifold.localNormal.x=this.localNormal.x;manifold.localNormal.y=this.localNormal.y;for(var i=0;i<this.pointCount;++i){manifold.points[i]=this.points[i].Clone()}return manifold},Assign:function(manifold){this.pointCount=manifold.pointCount;this.type=manifold.type;this.localPoint.x=manifold.localPoint.x;this.localPoint.y=manifold.localPoint.y;this.localNormal.x=manifold.localNormal.x;this.localNormal.y=manifold.localNormal.y;for(var i=0;i<this.pointCount;++i){this.points[i]=manifold.points[i].Clone()}}};b2Manifold.e_circles=0;b2Manifold.e_faceA=1;b2Manifold.e_faceB=2;b2Manifold.b2_nullState=0;b2Manifold.b2_addState=1;b2Manifold.b2_persistState=2;b2Manifold.b2_removeState=3;function b2WorldManifold(){this.normal=new b2Vec2();this.points=new Array(b2_maxManifoldPoints);this.separations=new Array(b2_maxManifoldPoints)}b2WorldManifold.prototype={Initialize:function(manifold,xfA,radiusA,xfB,radiusB){if(manifold.pointCount==0){return}switch(manifold.type){case b2Manifold.e_circles:this.normal.x=1;this.normal.y=0;var pointAx=(xfA.q.c*manifold.localPoint.x-xfA.q.s*manifold.localPoint.y)+xfA.p.x;var pointAy=(xfA.q.s*manifold.localPoint.x+xfA.q.c*manifold.localPoint.y)+xfA.p.y;var pointBx=(xfB.q.c*manifold.points[0].localPoint.x-xfB.q.s*manifold.points[0].localPoint.y)+xfB.p.x;var pointBy=(xfB.q.s*manifold.points[0].localPoint.x+xfB.q.c*manifold.points[0].localPoint.y)+xfB.p.y;var cx=pointAx-pointBx;var cy=pointAy-pointBy;if((cx*cx+cy*cy)>b2_epsilon*b2_epsilon){this.normal.x=pointBx-pointAx;this.normal.y=pointBy-pointAy;this.normal.Normalize()}var cAx=pointAx+(radiusA*this.normal.x);var cAy=pointAy+(radiusA*this.normal.y);var cBx=pointBx-(radiusB*this.normal.x);var cBy=pointBy-(radiusB*this.normal.y);this.points[0]=new b2Vec2(0.5*(cAx+cBx),0.5*(cAy+cBy));this.separations[0]=(cBx-cAx)*this.normal.x+(cBy-cAy)*this.normal.y;break;case b2Manifold.e_faceA:this.normal.x=xfA.q.c*manifold.localNormal.x-xfA.q.s*manifold.localNormal.y;this.normal.y=xfA.q.s*manifold.localNormal.x+xfA.q.c*manifold.localNormal.y;var planePointx=(xfA.q.c*manifold.localPoint.x-xfA.q.s*manifold.localPoint.y)+xfA.p.x;var planePointy=(xfA.q.s*manifold.localPoint.x+xfA.q.c*manifold.localPoint.y)+xfA.p.y;for(var i=0;i<manifold.pointCount;++i){var clipPointx=(xfB.q.c*manifold.points[i].localPoint.x-xfB.q.s*manifold.points[i].localPoint.y)+xfB.p.x;var clipPointy=(xfB.q.s*manifold.points[i].localPoint.x+xfB.q.c*manifold.points[i].localPoint.y)+xfB.p.y;var d=(clipPointx-planePointx)*this.normal.x+(clipPointy-planePointy)*this.normal.y;var cAx=clipPointx+((radiusA-d)*this.normal.x);var cAy=clipPointy+((radiusA-d)*this.normal.y);var cBx=(clipPointx-(radiusB*this.normal.x));var cBy=(clipPointy-(radiusB*this.normal.y));this.points[i]=new b2Vec2(0.5*(cAx+cBx),0.5*(cAy+cBy));this.separations[i]=(cBx-cAx)*this.normal.x+(cBy-cAy)*this.normal.y}break;case b2Manifold.e_faceB:this.normal.x=xfB.q.c*manifold.localNormal.x-xfB.q.s*manifold.localNormal.y;this.normal.y=xfB.q.s*manifold.localNormal.x+xfB.q.c*manifold.localNormal.y;var planePointx=(xfB.q.c*manifold.localPoint.x-xfB.q.s*manifold.localPoint.y)+xfB.p.x;var planePointy=(xfB.q.s*manifold.localPoint.x+xfB.q.c*manifold.localPoint.y)+xfB.p.y;for(var i=0;i<manifold.pointCount;++i){var clipPointx=(xfA.q.c*manifold.points[i].localPoint.x-xfA.q.s*manifold.points[i].localPoint.y)+xfA.p.x;var clipPointy=(xfA.q.s*manifold.points[i].localPoint.x+xfA.q.c*manifold.points[i].localPoint.y)+xfA.p.y;var d=(clipPointx-planePointx)*this.normal.x+(clipPointy-planePointy)*this.normal.y;var cBx=clipPointx+((radiusB-d)*this.normal.x);var cBy=clipPointy+((radiusB-d)*this.normal.y);var cAx=(clipPointx-(radiusA*this.normal.x));var cAy=(clipPointy-(radiusA*this.normal.y));this.points[i]=new b2Vec2(0.5*(cAx+cBx),0.5*(cAy+cBy));this.separations[i]=(cAx-cBx)*this.normal.x+(cAy-cBy)*this.normal.y}this.normal.x=-this.normal.x;this.normal.y=-this.normal.y;break}}};function b2GetPointStates(state1,state2,manifold1,manifold2){for(var i=0;i<b2_maxManifoldPoints;++i){state1[i]=b2Manifold.b2_nullState;state2[i]=b2Manifold.b2_nullState}for(var i=0;i<manifold1.pointCount;++i){var id=manifold1.points[i].id;state1[i]=b2Manifold.b2_removeState;for(var j=0;j<manifold2.pointCount;++j){if(manifold2.points[j].id.Get()==id.Get()){state1[i]=b2Manifold.b2_persistState;break}}}for(var i=0;i<manifold2.pointCount;++i){var id=manifold2.points[i].id;state2[i]=b2Manifold.b2_addState;for(var j=0;j<manifold1.pointCount;++j){if(manifold1.points[j].id.Get()==id.Get()){state2[i]=b2Manifold.b2_persistState;break}}}}function b2ClipVertex(){this.v=new b2Vec2();this.id=new b2ContactID()}function b2RayCastInput(){this.p1=new b2Vec2(),this.p2=new b2Vec2();this.maxFraction=0}function b2RayCastOutput(){this.normal=new b2Vec2();this.fraction=0}function b2AABB(){this.lowerBound=new b2Vec2();this.upperBound=new b2Vec2()}b2AABB.prototype={Assign:function(other){this.lowerBound.x=other.lowerBound.x;this.lowerBound.y=other.lowerBound.y;this.upperBound.x=other.upperBound.x;this.upperBound.y=other.upperBound.y},Clone:function(){var clone=new b2AABB();clone.lowerBound.x=this.lowerBound.x;clone.lowerBound.y=this.lowerBound.y;clone.lowerBound.x=this.lowerBound.x;clone.lowerBound.y=this.lowerBound.y;return clone},IsValid:function(){return(this.upperBound.x-this.lowerBound.x)>=0&&(this.upperBound.y-this.lowerBound.y)>=0&&this.lowerBound.IsValid()&&this.upperBound.IsValid()},GetCenter:function(){return new b2Vec2(0.5*(this.lowerBound.x+this.upperBound.x),0.5*(this.lowerBound.y+this.upperBound.y))},GetExtents:function(){return new b2Vec2(0.5*(this.upperBound.x-this.lowerBound.x),0.5*(this.upperBound.y-this.lowerBound.y))},GetPerimeter:function(){return 2*((this.upperBound.x-this.lowerBound.x)+(this.upperBound.y-this.lowerBound.y))},Combine:function(aabb1,aabb2){if(aabb2){this.lowerBound.x=b2Min(aabb1.lowerBound.x,aabb2.lowerBound.x);this.lowerBound.y=b2Min(aabb1.lowerBound.y,aabb2.lowerBound.y);this.upperBound.x=b2Max(aabb1.upperBound.x,aabb2.upperBound.x);this.upperBound.y=b2Max(aabb1.upperBound.y,aabb2.upperBound.y)}else{this.lowerBound.x=b2Min(this.lowerBound.x,aabb1.lowerBound.x);this.lowerBound.y=b2Min(this.lowerBound.y,aabb1.lowerBound.y);this.upperBound.x=b2Max(this.upperBound.x,aabb1.upperBound.x);this.upperBound.y=b2Max(this.upperBound.y,aabb1.upperBound.y)}},Contains:function(aabb){return this.lowerBound.x<=aabb.lowerBound.x&&this.lowerBound.y<=aabb.lowerBound.y&&aabb.upperBound.x<=this.upperBound.x&&aabb.upperBound.y<=this.upperBound.y},RayCast:function(output,input){var tmin=-b2_maxFloat;var tmax=b2_maxFloat;var p=input.p1;var d=b2Vec2.Subtract(input.p2,input.p1);var absD=b2Abs_v2(d);var normal=new b2Vec2();for(var i=0;i<2;++i){if(absD.get_i(i)<b2_epsilon){if(p.get_i(i)<this.lowerBound.get_i(i)||this.upperBound.get_i(i)<p.get_i(i)){return false}}else{var inv_d=1/d.get_i(i);var t1=(this.lowerBound.get_i(i)-p.get_i(i))*inv_d;var t2=(this.upperBound.get_i(i)-p.get_i(i))*inv_d;var s=-1;if(t1>t2){var temp=t2;t2=t1;t1=temp;s=1}if(t1>tmin){normal.x=normal.y=0;normal.set_i(i,s);tmin=t1}tmax=b2Min(tmax,t2);if(tmin>tmax){return false}}}if(tmin<0||input.maxFraction<tmin){return false}output.fraction=tmin;output.normal.x=normal.x;output.normal.y=normal.y;return true}};function b2CollideCircles(manifold,circleA,xfA,circleB,xfB){manifold.pointCount=0;var pA=b2Mul_t_v2(xfA,circleA.m_p);var pB=b2Mul_t_v2(xfB,circleB.m_p);var dx=pB.x-pA.x;var dy=pB.y-pA.y;var distSqr=dx*dx+dy*dy;var rA=circleA.m_radius,rB=circleB.m_radius;var radius=rA+rB;if(distSqr>radius*radius){return}manifold.type=b2Manifold.e_circles;manifold.localPoint.x=circleA.m_p.x;manifold.localPoint.y=circleA.m_p.y;manifold.localNormal.x=manifold.localNormal.y=0;manifold.pointCount=1;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;manifold.points[0].id.Reset()}function b2CollidePolygonAndCircle(manifold,polygonA,xfA,circleB,xfB){manifold.pointCount=0;var c=b2Mul_t_v2(xfB,circleB.m_p);var cLocal=b2MulT_t_v2(xfA,c);var normalIndex=0;var separation=-b2_maxFloat;var radius=polygonA.m_radius+circleB.m_radius;var vertexCount=polygonA.m_count;var vertices=polygonA.m_vertices;var normals=polygonA.m_normals;for(var i=0;i<vertexCount;++i){var s=normals[i].x*(cLocal.x-vertices[i].x)+normals[i].y*(cLocal.y-vertices[i].y);if(s>radius){return}if(s>separation){separation=s;normalIndex=i}}var vertIndex1=normalIndex;var vertIndex2=vertIndex1+1<vertexCount?vertIndex1+1:0;var v1=vertices[vertIndex1];var v2=vertices[vertIndex2];if(separation<b2_epsilon){manifold.pointCount=1;manifold.type=b2Manifold.e_faceA;manifold.localNormal.x=normals[normalIndex].x;manifold.localNormal.y=normals[normalIndex].y;manifold.localPoint.x=0.5*(v1.x+v2.x);manifold.localPoint.y=0.5*(v1.y+v2.y);manifold.points[0]=new b2ManifoldPoint();manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;manifold.points[0].id.Reset();return}var u1=(cLocal.x-v1.x)*(v2.x-v1.x)+(cLocal.y-v1.y)*(v2.y-v1.y);var u2=(cLocal.x-v2.x)*(v1.x-v2.x)+(cLocal.y-v2.y)*(v1.y-v2.y);if(u1<=0){if(b2DistanceSquared(cLocal,v1)>radius*radius){return}manifold.pointCount=1;manifold.type=b2Manifold.e_faceA;manifold.localNormal.x=cLocal.x-v1.x;manifold.localNormal.y=cLocal.y-v1.y;manifold.localNormal.Normalize();manifold.localPoint.x=v1.x;manifold.localPoint.y=v1.y;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;manifold.points[0].id.Reset()}else{if(u2<=0){if(b2DistanceSquared(cLocal,v2)>radius*radius){return}manifold.pointCount=1;manifold.type=b2Manifold.e_faceA;manifold.localNormal.x=cLocal.x-v2.x;manifold.localNormal.y=cLocal.y-v2.y;manifold.localNormal.Normalize();manifold.localPoint.x=v2.x;manifold.localPoint.y=v2.y;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;manifold.points[0].id.Reset()}else{var faceCenterx=0.5*(v1.x+v2.x);var faceCentery=0.5*(v1.y+v2.y);var separation=(cLocal.x-faceCenterx)*normals[vertIndex1].x+(cLocal.y-faceCentery)*normals[vertIndex1].y;if(separation>radius){return}manifold.pointCount=1;manifold.type=b2Manifold.e_faceA;manifold.localNormal.x=normals[vertIndex1].x;manifold.localNormal.y=normals[vertIndex1].y;manifold.localPoint.x=faceCenterx;manifold.localPoint.y=faceCentery;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;manifold.points[0].id.Reset()}}}function b2FindMaxSeparation(edgeIndex,poly1,xf1,poly2,xf2){var count1=poly1.m_count;var count2=poly2.m_count;var n1s=poly1.m_normals;var v1s=poly1.m_vertices;var v2s=poly2.m_vertices;var xf=b2MulT_t_t(xf2,xf1);var bestIndex=0;var maxSeparation=-b2_maxFloat;for(var i=0;i<count1;++i){var nx=xf.q.c*n1s[i].x-xf.q.s*n1s[i].y;var ny=xf.q.s*n1s[i].x+xf.q.c*n1s[i].y;var v1x=(xf.q.c*v1s[i].x-xf.q.s*v1s[i].y)+xf.p.x;var v1y=(xf.q.s*v1s[i].x+xf.q.c*v1s[i].y)+xf.p.y;var si=b2_maxFloat;for(var j=0;j<count2;++j){var sij=nx*(v2s[j].x-v1x)+ny*(v2s[j].y-v1y);if(sij<si){si=sij}}if(si>maxSeparation){maxSeparation=si;bestIndex=i}}edgeIndex[0]=bestIndex;return maxSeparation}function b2FindIncidentEdge(c,poly1,xf1,edge1,poly2,xf2){var normals1=poly1.m_normals;var count2=poly2.m_count;var vertices2=poly2.m_vertices;var normals2=poly2.m_normals;var t1x=xf1.q.c*normals1[edge1].x-xf1.q.s*normals1[edge1].y;var t1y=xf1.q.s*normals1[edge1].x+xf1.q.c*normals1[edge1].y;var normal1x=xf2.q.c*t1x+xf2.q.s*t1y;var normal1y=-xf2.q.s*t1x+xf2.q.c*t1y;var index=0;var minDot=b2_maxFloat;for(var i=0;i<count2;++i){var dot=normal1x*normals2[i].x+normal1y*normals2[i].y;if(dot<minDot){minDot=dot;index=i}}var i1=index;var i2=i1+1<count2?i1+1:0;c[0].v.x=(xf2.q.c*vertices2[i1].x-xf2.q.s*vertices2[i1].y)+xf2.p.x;c[0].v.y=(xf2.q.s*vertices2[i1].x+xf2.q.c*vertices2[i1].y)+xf2.p.y;c[0].id.indexA=edge1;c[0].id.indexB=i1;c[0].id.typeA=b2ContactID.e_face;c[0].id.typeB=b2ContactID.e_vertex;c[1].v.x=(xf2.q.c*vertices2[i2].x-xf2.q.s*vertices2[i2].y)+xf2.p.x;c[1].v.y=(xf2.q.s*vertices2[i2].x+xf2.q.c*vertices2[i2].y)+xf2.p.y;c[1].id.indexA=edge1;c[1].id.indexB=i2;c[1].id.typeA=b2ContactID.e_face;c[1].id.typeB=b2ContactID.e_vertex}function b2CollidePolygons(manifold,polyA,xfA,polyB,xfB){manifold.pointCount=0;var totalRadius=polyA.m_radius+polyB.m_radius;var edgeA=[0];var separationA=b2FindMaxSeparation(edgeA,polyA,xfA,polyB,xfB);if(separationA>totalRadius){return}var edgeB=[0];var separationB=b2FindMaxSeparation(edgeB,polyB,xfB,polyA,xfA);if(separationB>totalRadius){return}var poly1;var poly2;var xf1,xf2;var edge1=0;var flip=0;var k_tol=0.1*b2_linearSlop;if(separationB>separationA+k_tol){poly1=polyB;poly2=polyA;xf1=xfB;xf2=xfA;edge1=edgeB[0];manifold.type=b2Manifold.e_faceB;flip=1}else{poly1=polyA;poly2=polyB;xf1=xfA;xf2=xfB;edge1=edgeA[0];manifold.type=b2Manifold.e_faceA;flip=0}b2FindIncidentEdge(b2CollidePolygons._local_incidentEdges,poly1,xf1,edge1,poly2,xf2);var count1=poly1.m_count;var vertices1=poly1.m_vertices;var iv1=edge1;var iv2=edge1+1<count1?edge1+1:0;var v11=vertices1[iv1];var v12=vertices1[iv2];b2CollidePolygons._localTangent.x=v12.x-v11.x;b2CollidePolygons._localTangent.y=v12.y-v11.y;b2CollidePolygons._localTangent.Normalize();var localNormalx=1*b2CollidePolygons._localTangent.y;var localNormaly=-1*b2CollidePolygons._localTangent.x;var planePointx=0.5*(v11.x+v12.x);var planePointy=0.5*(v11.y+v12.y);var tangentx=xf1.q.c*b2CollidePolygons._localTangent.x-xf1.q.s*b2CollidePolygons._localTangent.y;var tangenty=xf1.q.s*b2CollidePolygons._localTangent.x+xf1.q.c*b2CollidePolygons._localTangent.y;var normalx=1*tangenty;var normaly=-1*tangentx;v11=b2Mul_t_v2(xf1,v11);v12=b2Mul_t_v2(xf1,v12);var frontOffset=normalx*v11.x+normaly*v11.y;var sideOffset1=-(tangentx*v11.x+tangenty*v11.y)+totalRadius;var sideOffset2=(tangentx*v12.x+tangenty*v12.y)+totalRadius;var clipPoints1=new Array(2);var clipPoints2=new Array(2);var np;np=b2ClipSegmentToLine(clipPoints1,b2CollidePolygons._local_incidentEdges,-tangentx,-tangenty,sideOffset1,iv1);if(np<2){return}np=b2ClipSegmentToLine(clipPoints2,clipPoints1,tangentx,tangenty,sideOffset2,iv2);if(np<2){return}manifold.localNormal.x=localNormalx;manifold.localNormal.y=localNormaly;manifold.localPoint.x=planePointx;manifold.localPoint.y=planePointy;var pointCount=0;for(var i=0;i<b2_maxManifoldPoints;++i){var separation=(normalx*clipPoints2[i].v.x+normaly*clipPoints2[i].v.y)-frontOffset;if(separation<=totalRadius){var cp=manifold.points[pointCount]=new b2ManifoldPoint();cp.localPoint.Assign(b2MulT_t_v2(xf2,clipPoints2[i].v));cp.id.Assign(clipPoints2[i].id);if(flip){var cf=new b2ContactID();cf.Assign(cp.id);cp.id.indexA=cf.indexB;cp.id.indexB=cf.indexA;cp.id.typeA=cf.typeB;cp.id.typeB=cf.typeA}++pointCount}}manifold.pointCount=pointCount}b2CollidePolygons._localTangent=new b2Vec2();b2CollidePolygons._local_incidentEdges=[new b2ClipVertex(),new b2ClipVertex()];function b2CollideEdgeAndCircle(manifold,edgeA,xfA,circleB,xfB){manifold.pointCount=0;var Q=b2MulT_t_v2(xfA,b2Mul_t_v2(xfB,circleB.m_p));var A=edgeA.m_vertex1,B=edgeA.m_vertex2;var ex=B.x-A.x;var ey=B.y-A.y;var u=ex*(B.x-Q.x)+ey*(B.y-Q.y);var v=ex*(Q.x-A.x)+ey*(Q.y-A.y);var radius=edgeA.m_radius+circleB.m_radius;var cf=new b2ContactID();cf.indexB=0;cf.typeB=b2ContactID.e_vertex;if(v<=0){var P=A;var dx=Q.x-P.x;var dy=Q.y-P.y;var dd=dx*dx+dy*dy;if(dd>radius*radius){return}if(edgeA.m_hasVertex0){var A1=edgeA.m_vertex0;var B1=A;var e1x=B1.x-A1.x;var e1y=B1.y-A1.y;var u1=e1x*(B1.x-Q.x)+e1y*(B1.y-Q.y);if(u1>0){return}}cf.indexA=0;cf.typeA=b2ContactID.e_vertex;manifold.pointCount=1;manifold.type=b2Manifold.e_circles;manifold.localNormal.x=manifold.localNormal.y=0;manifold.localPoint.x=P.x;manifold.localPoint.y=P.y;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].id.Assign(cf);manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;return}if(u<=0){var P=B;var dx=Q.x-P.x;var dy=Q.y-P.y;var dd=dx*dx+dy*dy;if(dd>radius*radius){return}if(edgeA.m_hasVertex3){var B2=edgeA.m_vertex3;var A2=B;var e2x=B2.x-A2.x;var e2y=B2.y-A2.y;var v2=e2x*(Q.x-A2.x)+e2y*(Q.y-A2.y);if(v2>0){return}}cf.indexA=1;cf.typeA=b2ContactID.e_vertex;manifold.pointCount=1;manifold.type=b2Manifold.e_circles;manifold.localNormal.x=manifold.localNormal.y=0;manifold.localPoint.x=P.x;manifold.localPoint.y=P.y;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].id.Assign(cf);manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y;return}var den=ex*ex+ey*ey;var Px=(1/den)*((u*A.x)+(v*B.x));var Py=(1/den)*((u*A.y)+(v*B.y));var dx=Q.x-Px;var dy=Q.y-Py;var dd=dx*dx+dy*dy;if(dd>radius*radius){return}var nx=-ey;var ny=ex;if(nx*(Q.x-A.x)+ny*(Q.y-A.y)<0){nx=-nx;ny=-ny}cf.indexA=0;cf.typeA=b2ContactID.e_face;manifold.pointCount=1;manifold.type=b2Manifold.e_faceA;manifold.localNormal.x=nx;manifold.localNormal.y=ny;manifold.localNormal.Normalize();manifold.localPoint.x=A.x;manifold.localPoint.y=A.y;manifold.points[0]=new b2ManifoldPoint();manifold.points[0].id.Assign(cf);manifold.points[0].localPoint.x=circleB.m_p.x;manifold.points[0].localPoint.y=circleB.m_p.y}function b2EPAxis(){this.type=0;this.index=0;this.separation=0}b2EPAxis.e_unknown=0;b2EPAxis.e_edgeA=1;b2EPAxis.e_edgeB=2;function b2TempPolygon(){this.vertices=new Array(b2_maxPolygonVertices);this.normals=new Array(b2_maxPolygonVertices);this.count=0}function b2ReferenceFace(){this.i1=0,this.i2=0;this.v1=new b2Vec2(),this.v2=new b2Vec2();this.normal=new b2Vec2();this.sideNormal1=new b2Vec2();this.sideOffset1=0;this.sideNormal2=new b2Vec2();this.sideOffset2=0}function b2EPCollider(){this.m_polygonB=new b2TempPolygon();this.m_xf=new b2Transform();this.m_centroidB=new b2Vec2();this.m_v0=new b2Vec2(),this.m_v1=new b2Vec2(),this.m_v2=new b2Vec2(),this.m_v3=new b2Vec2();this.m_normal0=new b2Vec2(),this.m_normal1=new b2Vec2(),this.m_normal2=new b2Vec2();this.m_normal=new b2Vec2();this.m_type1=0,this.m_type2=0;this.m_lowerLimit=new b2Vec2(),this.m_upperLimit=new b2Vec2();this.m_radius=0;this.m_front=false}b2EPCollider._temp_edge=new b2Vec2();b2EPCollider._temp_edge0=new b2Vec2();b2EPCollider._temp_edge2=new b2Vec2();b2EPCollider.prototype={Collide:function(manifold,edgeA,xfA,polygonB,xfB){this.m_xf.Assign(b2MulT_t_t(xfA,xfB));this.m_centroidB.x=(this.m_xf.q.c*polygonB.m_centroid.x-this.m_xf.q.s*polygonB.m_centroid.y)+this.m_xf.p.x;this.m_centroidB.y=(this.m_xf.q.s*polygonB.m_centroid.x+this.m_xf.q.c*polygonB.m_centroid.y)+this.m_xf.p.y;this.m_v0.x=edgeA.m_vertex0.x;this.m_v0.y=edgeA.m_vertex0.y;this.m_v1.x=edgeA.m_vertex1.x;this.m_v1.y=edgeA.m_vertex1.y;this.m_v2.x=edgeA.m_vertex2.x;this.m_v2.y=edgeA.m_vertex2.y;this.m_v3.x=edgeA.m_vertex3.x;this.m_v3.y=edgeA.m_vertex3.y;var hasVertex0=edgeA.m_hasVertex0;var hasVertex3=edgeA.m_hasVertex3;b2EPCollider._temp_edge.x=this.m_v2.x-this.m_v1.x;b2EPCollider._temp_edge.y=this.m_v2.y-this.m_v1.y;b2EPCollider._temp_edge.Normalize();this.m_normal1.x=b2EPCollider._temp_edge.y;this.m_normal1.y=-b2EPCollider._temp_edge.x;var offset1=this.m_normal1.x*(this.m_centroidB.x-this.m_v1.x)+this.m_normal1.y*(this.m_centroidB.y-this.m_v1.y);var offset0=0,offset2=0;var convex1=false,convex2=false;if(hasVertex0){b2EPCollider._temp_edge0.x=this.m_v1.x-this.m_v0.x;b2EPCollider._temp_edge0.y=this.m_v1.y-this.m_v0.y;b2EPCollider._temp_edge0.Normalize();this.m_normal0.x=b2EPCollider._temp_edge0.y;this.m_normal0.y=-b2EPCollider._temp_edge0.x;convex1=(b2EPCollider._temp_edge0.x*b2EPCollider._temp_edge.y-b2EPCollider._temp_edge0.y*b2EPCollider._temp_edge.x)>=0;offset0=this.m_normal0.x*(this.m_centroidB.x-this.m_v0.x)+this.m_normal0.y*(this.m_centroidB.y-this.m_v0.y)}if(hasVertex3){b2EPCollider._temp_edge2.x=this.m_v3.x-this.m_v2.x;b2EPCollider._temp_edge2.y=this.m_v3.y-this.m_v2.y;b2EPCollider._temp_edge2.Normalize();this.m_normal2.x=b2EPCollider._temp_edge2.y;this.m_normal2.y=-b2EPCollider._temp_edge2.x;convex2=(b2EPCollider._temp_edge.x*b2EPCollider._temp_edge2.y-b2EPCollider._temp_edge.y*b2EPCollider._temp_edge2.x)>0;offset2=this.m_normal2.x*(this.m_centroidB.x-this.m_v2.x)+this.m_normal2.y*(this.m_centroidB.y-this.m_v2.y)}if(hasVertex0&&hasVertex3){if(convex1&&convex2){this.m_front=offset0>=0||offset1>=0||offset2>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal0.x;this.m_lowerLimit.y=this.m_normal0.y;this.m_upperLimit.x=this.m_normal2.x;this.m_upperLimit.y=this.m_normal2.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}}else{if(convex1){this.m_front=offset0>=0||(offset1>=0&&offset2>=0);if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal0.x;this.m_lowerLimit.y=this.m_normal0.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal2.x;this.m_lowerLimit.y=-this.m_normal2.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}}else{if(convex2){this.m_front=offset2>=0||(offset0>=0&&offset1>=0);if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=this.m_normal2.x;this.m_upperLimit.y=this.m_normal2.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=-this.m_normal0.x;this.m_upperLimit.y=-this.m_normal0.y}}else{this.m_front=offset0>=0&&offset1>=0&&offset2>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal2.x;this.m_lowerLimit.y=-this.m_normal2.y;this.m_upperLimit.x=-this.m_normal0.x;this.m_upperLimit.y=-this.m_normal0.y}}}}}else{if(hasVertex0){if(convex1){this.m_front=offset0>=0||offset1>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal0.x;this.m_lowerLimit.y=this.m_normal0.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}}else{this.m_front=offset0>=0&&offset1>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=-this.m_normal0.x;this.m_upperLimit.y=-this.m_normal0.y}}}else{if(hasVertex3){if(convex2){this.m_front=offset1>=0||offset2>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=this.m_normal2.x;this.m_upperLimit.y=this.m_normal2.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}}else{this.m_front=offset1>=0&&offset2>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal2.x;this.m_lowerLimit.y=-this.m_normal2.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}}}else{this.m_front=offset1>=0;if(this.m_front){this.m_normal.x=this.m_normal1.x;this.m_normal.y=this.m_normal1.y;this.m_lowerLimit.x=-this.m_normal1.x;this.m_lowerLimit.y=-this.m_normal1.y;this.m_upperLimit.x=-this.m_normal1.x;this.m_upperLimit.y=-this.m_normal1.y}else{this.m_normal.x=-this.m_normal1.x;this.m_normal.y=-this.m_normal1.y;this.m_lowerLimit.x=this.m_normal1.x;this.m_lowerLimit.y=this.m_normal1.y;this.m_upperLimit.x=this.m_normal1.x;this.m_upperLimit.y=this.m_normal1.y}}}}this.m_polygonB.count=polygonB.m_count;for(var i=0;i<polygonB.m_count;++i){this.m_polygonB.vertices[i]=b2Mul_t_v2(this.m_xf,polygonB.m_vertices[i]);this.m_polygonB.normals[i]=b2Mul_r_v2(this.m_xf.q,polygonB.m_normals[i])}this.m_radius=2*b2_polygonRadius;manifold.pointCount=0;var edgeAxis=this.ComputeEdgeSeparation();if(edgeAxis.type==b2EPAxis.e_unknown){return}if(edgeAxis.separation>this.m_radius){return}var polygonAxis=this.ComputePolygonSeparation();if(polygonAxis.type!=b2EPAxis.e_unknown&&polygonAxis.separation>this.m_radius){return}var k_relativeTol=0.98;var k_absoluteTol=0.001;var primaryAxis=new b2EPAxis();if(polygonAxis.type==b2EPAxis.e_unknown){primaryAxis=edgeAxis}else{if(polygonAxis.separation>k_relativeTol*edgeAxis.separation+k_absoluteTol){primaryAxis=polygonAxis}else{primaryAxis=edgeAxis}}var ie=new Array(2);var rf=new b2ReferenceFace();if(primaryAxis.type==b2EPAxis.e_edgeA){manifold.type=b2Manifold.e_faceA;var bestIndex=0;var bestValue=this.m_normal.x*this.m_polygonB.normals[0].x+this.m_normal.y*this.m_polygonB.normals[0].y;for(var i=1;i<this.m_polygonB.count;++i){var value=this.m_normal.x*this.m_polygonB.normals[i].x+this.m_normal.y*this.m_polygonB.normals[i].y;if(value<bestValue){bestValue=value;bestIndex=i}}var i1=bestIndex;var i2=i1+1<this.m_polygonB.count?i1+1:0;ie[0]=new b2ClipVertex();ie[0].v.x=this.m_polygonB.vertices[i1].x;ie[0].v.y=this.m_polygonB.vertices[i1].y;ie[0].id.indexA=0;ie[0].id.indexB=i1;ie[0].id.typeA=b2ContactID.e_face;ie[0].id.typeB=b2ContactID.e_vertex;ie[1]=new b2ClipVertex();ie[1].v.x=this.m_polygonB.vertices[i2].x;ie[1].v.y=this.m_polygonB.vertices[i2].y;ie[1].id.indexA=0;ie[1].id.indexB=i2;ie[1].id.typeA=b2ContactID.e_face;ie[1].id.typeB=b2ContactID.e_vertex;if(this.m_front){rf.i1=0;rf.i2=1;rf.v1.x=this.m_v1.x;rf.v1.y=this.m_v1.y;rf.v2.x=this.m_v2.x;rf.v2.y=this.m_v2.y;rf.normal.x=this.m_normal1.x;rf.normal.y=this.m_normal1.y}else{rf.i1=1;rf.i2=0;rf.v1.x=this.m_v2.x;rf.v1.y=this.m_v2.y;rf.v2.x=this.m_v1.x;rf.v2.y=this.m_v1.y;rf.normal.x=-this.m_normal1.x;rf.normal.y=-this.m_normal1.y}}else{manifold.type=b2Manifold.e_faceB;ie[0]=new b2ClipVertex();ie[0].v=this.m_v1;ie[0].id.indexA=0;ie[0].id.indexB=primaryAxis.index;ie[0].id.typeA=b2ContactID.e_vertex;ie[0].id.typeB=b2ContactID.e_face;ie[1]=new b2ClipVertex();ie[1].v=this.m_v2;ie[1].id.indexA=0;ie[1].id.indexB=primaryAxis.index;ie[1].id.typeA=b2ContactID.e_vertex;ie[1].id.typeB=b2ContactID.e_face;rf.i1=primaryAxis.index;rf.i2=rf.i1+1<this.m_polygonB.count?rf.i1+1:0;rf.v1.x=this.m_polygonB.vertices[rf.i1].x;rf.v1.y=this.m_polygonB.vertices[rf.i1].y;rf.v2.x=this.m_polygonB.vertices[rf.i2].x;rf.v2.y=this.m_polygonB.vertices[rf.i2].y;rf.normal.x=this.m_polygonB.normals[rf.i1].x;rf.normal.y=this.m_polygonB.normals[rf.i1].y}rf.sideNormal1.x=rf.normal.y;rf.sideNormal1.y=-rf.normal.x;rf.sideNormal2.x=-rf.sideNormal1.x;rf.sideNormal2.y=-rf.sideNormal1.y;rf.sideOffset1=rf.sideNormal1.x*rf.v1.x+rf.sideNormal1.y*rf.v1.y;rf.sideOffset2=rf.sideNormal2.x*rf.v2.x+rf.sideNormal2.y*rf.v2.y;var clipPoints1=new Array(2);var clipPoints2=new Array(2);var np;np=b2ClipSegmentToLine(clipPoints1,ie,rf.sideNormal1.x,rf.sideNormal1.y,rf.sideOffset1,rf.i1);if(np<b2_maxManifoldPoints){return}np=b2ClipSegmentToLine(clipPoints2,clipPoints1,rf.sideNormal2.x,rf.sideNormal2.y,rf.sideOffset2,rf.i2);if(np<b2_maxManifoldPoints){return}if(primaryAxis.type==b2EPAxis.e_edgeA){manifold.localNormal.x=rf.normal.x;manifold.localNormal.y=rf.normal.y;manifold.localPoint.x=rf.v1.x;manifold.localPoint.y=rf.v1.y}else{manifold.localNormal.x=polygonB.m_normals[rf.i1].x;manifold.localNormal.y=polygonB.m_normals[rf.i1].y;manifold.localPoint.x=polygonB.m_vertices[rf.i1].x;manifold.localPoint.y=polygonB.m_vertices[rf.i1].y}var pointCount=0;for(var i=0;i<b2_maxManifoldPoints;++i){var separation=rf.normal.x*(clipPoints2[i].v.x-rf.v1.x)+rf.normal.y*(clipPoints2[i].v.y-rf.v1.y);if(separation<=this.m_radius){var cp=manifold.points[pointCount]=new b2ManifoldPoint();if(primaryAxis.type==b2EPAxis.e_edgeA){cp.localPoint.Assign(b2MulT_t_v2(this.m_xf,clipPoints2[i].v));cp.id.Assign(clipPoints2[i].id)}else{cp.localPoint.x=clipPoints2[i].v.x;cp.localPoint.y=clipPoints2[i].v.y;cp.id.typeA=clipPoints2[i].id.typeB;cp.id.typeB=clipPoints2[i].id.typeA;cp.id.indexA=clipPoints2[i].id.indexB;cp.id.indexB=clipPoints2[i].id.indexA}++pointCount}}manifold.pointCount=pointCount},ComputeEdgeSeparation:function(){var axis=new b2EPAxis();axis.type=b2EPAxis.e_edgeA;axis.index=this.m_front?0:1;axis.separation=Number.MAX_VALUE;for(var i=0;i<this.m_polygonB.count;++i){var s=this.m_normal.x*(this.m_polygonB.vertices[i].x-this.m_v1.x)+this.m_normal.y*(this.m_polygonB.vertices[i].y-this.m_v1.y);if(s<axis.separation){axis.separation=s}}return axis},ComputePolygonSeparation:function(){var axis=new b2EPAxis();axis.type=b2EPAxis.e_unknown;axis.index=-1;axis.separation=-Number.MAX_VALUE;var perpx=-this.m_normal.y;var perpy=this.m_normal.x;for(var i=0;i<this.m_polygonB.count;++i){var nx=-this.m_polygonB.normals[i].x;var ny=-this.m_polygonB.normals[i].y;var s1=nx*(this.m_polygonB.vertices[i].x-this.m_v1.x)+ny*(this.m_polygonB.vertices[i].y-this.m_v1.y);var s2=nx*(this.m_polygonB.vertices[i].x-this.m_v2.x)+ny*(this.m_polygonB.vertices[i].y-this.m_v2.y);var s=b2Min(s1,s2);if(s>this.m_radius){axis.type=b2EPAxis.e_edgeB;axis.index=i;axis.separation=s;return axis}if(nx*perpx+ny*perpy>=0){if((nx-this.m_upperLimit.x)*this.m_normal.x+(ny-this.m_upperLimit.y)*this.m_normal.y<-b2_angularSlop){continue}}else{if((nx-this.m_lowerLimit.x)*this.m_normal.x+(ny-this.m_lowerLimit.y)*this.m_normal.y<-b2_angularSlop){continue}}if(s>axis.separation){axis.type=b2EPAxis.e_edgeB;axis.index=i;axis.separation=s}}return axis}};b2EPCollider.e_isolated=0;b2EPCollider.e_concave=1;b2EPCollider.e_convex=2;function b2CollideEdgeAndPolygon(manifold,edgeA,xfA,polygonB,xfB){b2CollideEdgeAndPolygon.collider.Collide(manifold,edgeA,xfA,polygonB,xfB)}b2CollideEdgeAndPolygon.collider=new b2EPCollider();function b2ClipSegmentToLine(vOut,vIn,normalx,normaly,offset,vertexIndexA){var numOut=0;var distance0=(normalx*vIn[0].v.x+normaly*vIn[0].v.y)-offset;var distance1=(normalx*vIn[1].v.x+normaly*vIn[1].v.y)-offset;if(distance0<=0){vOut[numOut++]=vIn[0]}if(distance1<=0){vOut[numOut++]=vIn[1]}if(distance0*distance1<0){var interp=distance0/(distance0-distance1);vOut[numOut]=new b2ClipVertex();vOut[numOut].v.x=vIn[0].v.x+(interp*(vIn[1].v.x-vIn[0].v.x));vOut[numOut].v.y=vIn[0].v.y+(interp*(vIn[1].v.y-vIn[0].v.y));vOut[numOut].id.indexA=vertexIndexA;vOut[numOut].id.indexB=vIn[0].id.indexB;vOut[numOut].id.typeA=b2ContactID.e_vertex;vOut[numOut].id.typeB=b2ContactID.e_face;++numOut}return numOut}function b2TestShapeOverlap(shapeA,indexA,shapeB,indexB,xfA,xfB){b2TestShapeOverlap.input.proxyA.Set(shapeA,indexA);b2TestShapeOverlap.input.proxyB.Set(shapeB,indexB);b2TestShapeOverlap.input.transformA=xfA;b2TestShapeOverlap.input.transformB=xfB;b2TestShapeOverlap.input.useRadii=true;b2TestShapeOverlap.cache.count=0;b2DistanceFunc(b2TestShapeOverlap.output,b2TestShapeOverlap.cache,b2TestShapeOverlap.input);return b2TestShapeOverlap.output.distance<10*b2_epsilon}b2TestShapeOverlap.input=new b2DistanceInput();b2TestShapeOverlap.cache=new b2SimplexCache();b2TestShapeOverlap.output=new b2DistanceOutput();function b2TestOverlap(a,b){return !((b.lowerBound.x-a.upperBound.x)>0||(b.lowerBound.y-a.upperBound.y)>0||(a.lowerBound.x-b.upperBound.x)>0||(a.lowerBound.y-b.upperBound.y)>0)}"use strict";var b2_nullNode=-1;function b2TreeNode(){this.aabb=new b2AABB();this.userData=null;this.parent=0;this.child1=this.child2=this.height=0}b2TreeNode.prototype={IsLeaf:function(){return this.child1==b2_nullNode}};function b2DynamicTree(){this.m_root=b2_nullNode;this.m_nodeCapacity=16;this.m_nodeCount=0;this.m_nodes=new Array(this.m_nodeCapacity);for(var i=0;i<this.m_nodeCapacity-1;++i){this.m_nodes[i]=new b2TreeNode();this.m_nodes[i].parent=i+1;this.m_nodes[i].height=-1}this.m_nodes[this.m_nodeCapacity-1]=new b2TreeNode();this.m_nodes[this.m_nodeCapacity-1].parent=b2_nullNode;this.m_nodes[this.m_nodeCapacity-1].height=-1;this.m_freeList=0;this.m_path=0;this.m_insertionCount=0}b2DynamicTree.aabbExtensionFattener=new b2Vec2(b2_aabbExtension,b2_aabbExtension);b2DynamicTree.prototype={CreateProxy:function(aabb,userData){var proxyId=this.AllocateNode();this.m_nodes[proxyId].aabb.lowerBound.Assign(b2Vec2.Subtract(aabb.lowerBound,b2DynamicTree.aabbExtensionFattener));this.m_nodes[proxyId].aabb.upperBound.Assign(b2Vec2.Add(aabb.upperBound,b2DynamicTree.aabbExtensionFattener));this.m_nodes[proxyId].userData=userData;this.m_nodes[proxyId].height=0;this.InsertLeaf(proxyId);return proxyId},DestroyProxy:function(proxyId){this.RemoveLeaf(proxyId);this.FreeNode(proxyId)},MoveProxy:function(proxyId,aabb,displacement){if(this.m_nodes[proxyId].aabb.Contains(aabb)){return false}this.RemoveLeaf(proxyId);this.m_nodes[proxyId].aabb.Assign(aabb);this.m_nodes[proxyId].aabb.lowerBound.Subtract(b2DynamicTree.aabbExtensionFattener);this.m_nodes[proxyId].aabb.upperBound.Add(b2DynamicTree.aabbExtensionFattener);var d=b2Vec2.Multiply(b2_aabbMultiplier,displacement);if(d.x<0){this.m_nodes[proxyId].aabb.lowerBound.x+=d.x}else{this.m_nodes[proxyId].aabb.upperBound.x+=d.x}if(d.y<0){this.m_nodes[proxyId].aabb.lowerBound.y+=d.y}else{this.m_nodes[proxyId].aabb.upperBound.y+=d.y}this.InsertLeaf(proxyId);return true},GetUserData:function(proxyId){return this.m_nodes[proxyId].userData},GetFatAABB:function(proxyId){return this.m_nodes[proxyId].aabb},Query:function(callback,aabb){var stack=[];stack.push(this.m_root);while(stack.length>0){var nodeId=stack.pop();if(nodeId==b2_nullNode){continue}var node=this.m_nodes[nodeId];if(b2TestOverlap(node.aabb,aabb)){if(node.IsLeaf()){var proceed=callback.QueryCallback(nodeId);if(proceed==false){return}}else{stack.push(node.child1);stack.push(node.child2)}}}},RayCast:function(callback,input){var p1=input.p1;var p2=input.p2;var r=b2Vec2.Subtract(p2,p1);r.Normalize();var v=b2Cross_f_v2(1,r);var abs_v=b2Abs_v2(v);var maxFraction=input.maxFraction;var segmentAABB=new b2AABB();var t=b2Vec2.Add(p1,b2Vec2.Multiply(maxFraction,b2Vec2.Subtract(p2,p1)));segmentAABB.lowerBound.Assign(b2Min_v2(p1,t));segmentAABB.upperBound.Assign(b2Max_v2(p1,t));var stack=[];stack.push(this.m_root);while(stack.length>0){var nodeId=stack.pop();if(nodeId==b2_nullNode){continue}var node=this.m_nodes[nodeId];if(b2TestOverlap(node.aabb,segmentAABB)==false){continue}var c=node.aabb.GetCenter();var h=node.aabb.GetExtents();var separation=b2Abs(b2Dot_v2_v2(v,b2Vec2.Subtract(p1,c)))-b2Dot_v2_v2(abs_v,h);if(separation>0){continue}if(node.IsLeaf()){var subInput=new b2RayCastInput();subInput.p1.Assign(input.p1);subInput.p2.Assign(input.p2);subInput.maxFraction=maxFraction;var value=callback.RayCastCallback(subInput,nodeId);if(value==0){return}if(value>0){maxFraction=value;var t=b2Vec2.Add(p1,b2Vec2.Multiply(maxFraction,b2Vec2.Subtract(p2,p1)));segmentAABB.lowerBound.Assign(b2Min_v2(p1,t));segmentAABB.upperBound.Assign(b2Max_v2(p1,t))}}else{stack.push(node.child1);stack.push(node.child2)}}},Validate:function(){this.ValidateStructure(this.m_root);this.ValidateMetrics(this.m_root);var freeCount=0;var freeIndex=this.m_freeList;while(freeIndex!=b2_nullNode){freeIndex=this.m_nodes[freeIndex].parent;++freeCount}},GetHeight:function(){if(this.m_root==b2_nullNode){return 0}return this.m_nodes[this.m_root].height},GetMaxBalance:function(){var maxBalance=0;for(var i=0;i<this.m_nodeCapacity;++i){var node=this.m_nodes[i];if(node.height<=1){continue}var child1=node.child1;var child2=node.child2;var balance=b2Abs(this.m_nodes[child2].height-this.m_nodes[child1].height);maxBalance=b2Max(maxBalance,balance)}return maxBalance},GetAreaRatio:function(){if(this.m_root==b2_nullNode){return 0}var root=this.m_nodes[this.m_root];var rootArea=root.aabb.GetPerimeter();var totalArea=0;for(var i=0;i<this.m_nodeCapacity;++i){var node=this.m_nodes[i];if(node.height<0){continue}totalArea+=node.aabb.GetPerimeter()}return totalArea/rootArea},RebuildBottomUp:function(){var nodes=new Array(this.m_nodeCount);var count=0;for(var i=0;i<this.m_nodeCapacity;++i){if(this.m_nodes[i].height<0){continue}if(this.m_nodes[i].IsLeaf()){this.m_nodes[i].parent=b2_nullNode;nodes[count]=i;++count}else{this.FreeNode(i)}}while(count>1){var minCost=b2_maxFloat;var iMin=-1,jMin=-1;for(i=0;i<count;++i){var aabbi=this.m_nodes[nodes[i]].aabb;for(var j=i+1;j<count;++j){var aabbj=this.m_nodes[nodes[j]].aabb;var b=new b2AABB();b.Combine(aabbi,aabbj);var cost=b.GetPerimeter();if(cost<minCost){iMin=i;jMin=j;minCost=cost}}}var index1=nodes[iMin];var index2=nodes[jMin];var child1=this.m_nodes[index1];var child2=this.m_nodes[index2];var parentIndex=this.AllocateNode();var parent=this.m_nodes[parentIndex];parent.child1=index1;parent.child2=index2;parent.height=1+b2Max(child1.height,child2.height);parent.aabb.Combine(child1.aabb,child2.aabb);parent.parent=b2_nullNode;child1.parent=parentIndex;child2.parent=parentIndex;nodes[jMin]=nodes[count-1];nodes[iMin]=parentIndex;--count}this.m_root=nodes[0];this.Validate()},ShiftOrigin:function(newOrigin){for(var i=0;i<this.m_nodeCapacity;++i){this.m_nodes[i].aabb.lowerBound.Subtract(newOrigin);this.m_nodes[i].aabb.upperBound.Subtract(newOrigin)}},AllocateNode:function(){if(this.m_freeList==b2_nullNode){var oldNodes=this.m_nodes;this.m_nodeCapacity*=2;this.m_nodes=oldNodes.concat(new Array(this.m_nodeCapacity-this.m_nodeCount));for(var i=this.m_nodeCount;i<this.m_nodeCapacity-1;++i){this.m_nodes[i]=new b2TreeNode();this.m_nodes[i].parent=i+1;this.m_nodes[i].height=-1}this.m_nodes[this.m_nodeCapacity-1]=new b2TreeNode();this.m_nodes[this.m_nodeCapacity-1].parent=b2_nullNode;this.m_nodes[this.m_nodeCapacity-1].height=-1;this.m_freeList=this.m_nodeCount}var nodeId=this.m_freeList;this.m_freeList=this.m_nodes[nodeId].parent;this.m_nodes[nodeId].parent=b2_nullNode;this.m_nodes[nodeId].child1=b2_nullNode;this.m_nodes[nodeId].child2=b2_nullNode;this.m_nodes[nodeId].height=0;this.m_nodes[nodeId].userData=null;++this.m_nodeCount;return nodeId},FreeNode:function(nodeId){this.m_nodes[nodeId].parent=this.m_freeList;this.m_nodes[nodeId].height=-1;this.m_freeList=nodeId;--this.m_nodeCount},InsertLeaf:function(leaf){++this.m_insertionCount;if(this.m_root==b2_nullNode){this.m_root=leaf;this.m_nodes[this.m_root].parent=b2_nullNode;return}var leafAABB=this.m_nodes[leaf].aabb;var index=this.m_root;while(this.m_nodes[index].IsLeaf()==false){var child1=this.m_nodes[index].child1;var child2=this.m_nodes[index].child2;var area=this.m_nodes[index].aabb.GetPerimeter();var combinedAABB=new b2AABB();combinedAABB.Combine(this.m_nodes[index].aabb,leafAABB);var combinedArea=combinedAABB.GetPerimeter();var cost=2*combinedArea;var inheritanceCost=2*(combinedArea-area);var cost1;var aabb;if(this.m_nodes[child1].IsLeaf()){aabb=new b2AABB();aabb.Combine(leafAABB,this.m_nodes[child1].aabb);cost1=aabb.GetPerimeter()+inheritanceCost}else{aabb=new b2AABB();aabb.Combine(leafAABB,this.m_nodes[child1].aabb);var oldArea=this.m_nodes[child1].aabb.GetPerimeter();var newArea=aabb.GetPerimeter();cost1=(newArea-oldArea)+inheritanceCost}var cost2;if(this.m_nodes[child2].IsLeaf()){aabb=new b2AABB();aabb.Combine(leafAABB,this.m_nodes[child2].aabb);cost2=aabb.GetPerimeter()+inheritanceCost}else{aabb=new b2AABB();aabb.Combine(leafAABB,this.m_nodes[child2].aabb);var oldArea=this.m_nodes[child2].aabb.GetPerimeter();var newArea=aabb.GetPerimeter();cost2=newArea-oldArea+inheritanceCost}if(cost<cost1&&cost<cost2){break}if(cost1<cost2){index=child1}else{index=child2}}var sibling=index;var oldParent=this.m_nodes[sibling].parent;var newParent=this.AllocateNode();this.m_nodes[newParent].parent=oldParent;this.m_nodes[newParent].userData=null;this.m_nodes[newParent].aabb.Combine(leafAABB,this.m_nodes[sibling].aabb);this.m_nodes[newParent].height=this.m_nodes[sibling].height+1;if(oldParent!=b2_nullNode){if(this.m_nodes[oldParent].child1==sibling){this.m_nodes[oldParent].child1=newParent}else{this.m_nodes[oldParent].child2=newParent}this.m_nodes[newParent].child1=sibling;this.m_nodes[newParent].child2=leaf;this.m_nodes[sibling].parent=newParent;this.m_nodes[leaf].parent=newParent}else{this.m_nodes[newParent].child1=sibling;this.m_nodes[newParent].child2=leaf;this.m_nodes[sibling].parent=newParent;this.m_nodes[leaf].parent=newParent;this.m_root=newParent}index=this.m_nodes[leaf].parent;while(index!=b2_nullNode){index=this.Balance(index);var child1=this.m_nodes[index].child1;var child2=this.m_nodes[index].child2;this.m_nodes[index].height=1+b2Max(this.m_nodes[child1].height,this.m_nodes[child2].height);this.m_nodes[index].aabb.Combine(this.m_nodes[child1].aabb,this.m_nodes[child2].aabb);index=this.m_nodes[index].parent}},RemoveLeaf:function(leaf){if(leaf==this.m_root){this.m_root=b2_nullNode;return}var parent=this.m_nodes[leaf].parent;var grandParent=this.m_nodes[parent].parent;var sibling;if(this.m_nodes[parent].child1==leaf){sibling=this.m_nodes[parent].child2}else{sibling=this.m_nodes[parent].child1}if(grandParent!=b2_nullNode){if(this.m_nodes[grandParent].child1==parent){this.m_nodes[grandParent].child1=sibling}else{this.m_nodes[grandParent].child2=sibling}this.m_nodes[sibling].parent=grandParent;this.FreeNode(parent);var index=grandParent;while(index!=b2_nullNode){index=this.Balance(index);var child1=this.m_nodes[index].child1;var child2=this.m_nodes[index].child2;this.m_nodes[index].aabb.Combine(this.m_nodes[child1].aabb,this.m_nodes[child2].aabb);this.m_nodes[index].height=1+b2Max(this.m_nodes[child1].height,this.m_nodes[child2].height);index=this.m_nodes[index].parent}}else{this.m_root=sibling;this.m_nodes[sibling].parent=b2_nullNode;this.FreeNode(parent)}},Balance:function(iA){var A=this.m_nodes[iA];if(A.IsLeaf()||A.height<2){return iA}var iB=A.child1;var iC=A.child2;var B=this.m_nodes[iB];var C=this.m_nodes[iC];var balance=C.height-B.height;if(balance>1){var iF=C.child1;var iG=C.child2;var F=this.m_nodes[iF];var G=this.m_nodes[iG];C.child1=iA;C.parent=A.parent;A.parent=iC;if(C.parent!=b2_nullNode){if(this.m_nodes[C.parent].child1==iA){this.m_nodes[C.parent].child1=iC}else{this.m_nodes[C.parent].child2=iC}}else{this.m_root=iC}if(F.height>G.height){C.child2=iF;A.child2=iG;G.parent=iA;A.aabb.Combine(B.aabb,G.aabb);C.aabb.Combine(A.aabb,F.aabb);A.height=1+b2Max(B.height,G.height);C.height=1+b2Max(A.height,F.height)}else{C.child2=iG;A.child2=iF;F.parent=iA;A.aabb.Combine(B.aabb,F.aabb);C.aabb.Combine(A.aabb,G.aabb);A.height=1+b2Max(B.height,F.height);C.height=1+b2Max(A.height,G.height)}return iC}if(balance<-1){var iD=B.child1;var iE=B.child2;var D=this.m_nodes[iD];var E=this.m_nodes[iE];B.child1=iA;B.parent=A.parent;A.parent=iB;if(B.parent!=b2_nullNode){if(this.m_nodes[B.parent].child1==iA){this.m_nodes[B.parent].child1=iB}else{this.m_nodes[B.parent].child2=iB}}else{this.m_root=iB}if(D.height>E.height){B.child2=iD;A.child1=iE;E.parent=iA;A.aabb.Combine(C.aabb,E.aabb);B.aabb.Combine(A.aabb,D.aabb);A.height=1+b2Max(C.height,E.height);B.height=1+b2Max(A.height,D.height)}else{B.child2=iE;A.child1=iD;D.parent=iA;A.aabb.Combine(C.aabb,D.aabb);B.aabb.Combine(A.aabb,E.aabb);A.height=1+b2Max(C.height,D.height);B.height=1+b2Max(A.height,E.height)}return iB}return iA},ComputeHeight:function(nodeId){if(typeof(nodeId)==="undefined"){nodeId=this.m_root}var node=this.m_nodes[nodeId];if(node.IsLeaf()){return 0}var height1=this.ComputeHeight(node.child1);var height2=this.ComputeHeight(node.child2);return 1+b2Max(height1,height2)},ValidateStructure:function(index){if(index==b2_nullNode){return}var node=this.m_nodes[index];var child1=node.child1;var child2=node.child2;if(node.IsLeaf()){return}this.ValidateStructure(child1);this.ValidateStructure(child2)},ValidateMetrics:function(index){if(index==b2_nullNode){return}var node=this.m_nodes[index];var child1=node.child1;var child2=node.child2;if(node.IsLeaf()){return}var height1=this.m_nodes[child1].height;var height2=this.m_nodes[child2].height;var height;height=1+b2Max(height1,height2);var aabb=new b2AABB();aabb.Combine(this.m_nodes[child1].aabb,this.m_nodes[child2].aabb);this.ValidateMetrics(child1);this.ValidateMetrics(child2)}};"use strict";function b2TOIInput(){this.proxyA=new b2DistanceProxy();this.proxyB=new b2DistanceProxy();this.sweepA=new b2Sweep();this.sweepB=new b2Sweep();this.tMax=0}function b2TOIOutput(){this.state=0;this.t=0}b2TOIOutput.e_unknown=0;b2TOIOutput.e_failed=1;b2TOIOutput.e_overlapped=2;b2TOIOutput.e_touching=3;b2TOIOutput.e_separated=4;function b2SeparationFunction(){this.m_proxyA=null;this.m_proxyB=null;this.m_sweepA=null;this.m_sweepB=null;this.m_type=0;this.m_localPoint=new b2Vec2();this.m_axis=new b2Vec2()}var _local_xfA=new b2Transform();var _local_xfB=new b2Transform();b2SeparationFunction.prototype={Initialize:function(cache,proxyA,sweepA,proxyB,sweepB,t1){this.m_proxyA=proxyA;this.m_proxyB=proxyB;var count=cache.count;this.m_sweepA=sweepA;this.m_sweepB=sweepB;this.m_sweepA.GetTransform(_local_xfA,t1);this.m_sweepB.GetTransform(_local_xfB,t1);if(count==1){this.m_type=b2SeparationFunction.e_points;var localPointA=this.m_proxyA.GetVertex(cache.indexA[0]);var localPointB=this.m_proxyB.GetVertex(cache.indexB[0]);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;this.m_axis.x=pointBx-pointAx;this.m_axis.y=pointBy-pointAy;var s=this.m_axis.Normalize();return s}else{if(cache.indexA[0]==cache.indexA[1]){this.m_type=b2SeparationFunction.e_faceB;var localPointB1=proxyB.GetVertex(cache.indexB[0]);var localPointB2=proxyB.GetVertex(cache.indexB[1]);this.m_axis.x=1*(localPointB2.y-localPointB1.y);this.m_axis.y=-1*(localPointB2.x-localPointB1.x);this.m_axis.Normalize();var normalx=_local_xfB.q.c*this.m_axis.x-_local_xfB.q.s*this.m_axis.y;var normaly=_local_xfB.q.s*this.m_axis.x+_local_xfB.q.c*this.m_axis.y;this.m_localPoint.x=0.5*(localPointB1.x+localPointB2.x);this.m_localPoint.y=0.5*(localPointB1.y+localPointB2.y);var pointBx=(_local_xfB.q.c*this.m_localPoint.x-_local_xfB.q.s*this.m_localPoint.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*this.m_localPoint.x+_local_xfB.q.c*this.m_localPoint.y)+_local_xfB.p.y;var localPointA=proxyA.GetVertex(cache.indexA[0]);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;var s=(pointAx-pointBx)*normalx+(pointAy-pointBy)*normaly;if(s<0){this.m_axis.x=-this.m_axis.x;this.m_axis.y=-this.m_axis.y;s=-s}return s}else{this.m_type=b2SeparationFunction.e_faceA;var localPointA1=this.m_proxyA.GetVertex(cache.indexA[0]);var localPointA2=this.m_proxyA.GetVertex(cache.indexA[1]);this.m_axis.x=1*(localPointA2.y-localPointA1.y);this.m_axis.y=-1*(localPointA2.x-localPointA1.x);this.m_axis.Normalize();var normalx=_local_xfA.q.c*this.m_axis.x-_local_xfA.q.s*this.m_axis.y;var normaly=_local_xfA.q.s*this.m_axis.x+_local_xfA.q.c*this.m_axis.y;this.m_localPoint.x=0.5*(localPointA1.x+localPointA2.x);this.m_localPoint.y=0.5*(localPointA1.y+localPointA2.y);var pointAx=(_local_xfA.q.c*this.m_localPoint.x-_local_xfA.q.s*this.m_localPoint.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*this.m_localPoint.x+_local_xfA.q.c*this.m_localPoint.y)+_local_xfA.p.y;var localPointB=this.m_proxyB.GetVertex(cache.indexB[0]);var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;var s=(pointBx-pointAx)*normalx+(pointBy-pointAy)*normaly;if(s<0){this.m_axis.x=-this.m_axis.x;this.m_axis.y=-this.m_axis.y;s=-s}return s}}},FindMinSeparation:function(indices,t){this.m_sweepA.GetTransform(_local_xfA,t);this.m_sweepB.GetTransform(_local_xfB,t);switch(this.m_type){case b2SeparationFunction.e_points:var axisAx=_local_xfA.q.c*this.m_axis.x+_local_xfA.q.s*this.m_axis.y;var axisAy=-_local_xfA.q.s*this.m_axis.x+_local_xfA.q.c*this.m_axis.y;var axisBx=_local_xfB.q.c*-this.m_axis.x+_local_xfB.q.s*-this.m_axis.y;var axisBy=-_local_xfB.q.s*-this.m_axis.x+_local_xfB.q.c*-this.m_axis.y;indices[0]=this.m_proxyA.GetSupport(axisAx,axisAy);indices[1]=this.m_proxyB.GetSupport(axisBx,axisBy);var localPointA=this.m_proxyA.GetVertex(indices[0]);var localPointB=this.m_proxyB.GetVertex(indices[1]);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;return(pointBx-pointAx)*this.m_axis.x+(pointBy-pointAy)*this.m_axis.y;case b2SeparationFunction.e_faceA:var normalx=_local_xfA.q.c*this.m_axis.x-_local_xfA.q.s*this.m_axis.y;var normaly=_local_xfA.q.s*this.m_axis.x+_local_xfA.q.c*this.m_axis.y;var pointAx=(_local_xfA.q.c*this.m_localPoint.x-_local_xfA.q.s*this.m_localPoint.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*this.m_localPoint.x+_local_xfA.q.c*this.m_localPoint.y)+_local_xfA.p.y;var axisBx=_local_xfB.q.c*-normalx+_local_xfB.q.s*-normaly;var axisBy=-_local_xfB.q.s*-normalx+_local_xfB.q.c*-normaly;indices[0]=-1;indices[1]=this.m_proxyB.GetSupport(axisBx,axisBy);var localPointB=this.m_proxyB.GetVertex(indices[1]);var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;return(pointBx-pointAx)*normalx+(pointBy-pointAy)*normaly;case b2SeparationFunction.e_faceB:var normalx=_local_xfB.q.c*this.m_axis.x-_local_xfB.q.s*this.m_axis.y;var normaly=_local_xfB.q.s*this.m_axis.x+_local_xfB.q.c*this.m_axis.y;var pointBx=(_local_xfB.q.c*this.m_localPoint.x-_local_xfB.q.s*this.m_localPoint.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*this.m_localPoint.x+_local_xfB.q.c*this.m_localPoint.y)+_local_xfB.p.y;var axisAx=_local_xfA.q.c*-normalx+_local_xfA.q.s*-normaly;var axisBy=-_local_xfA.q.s*-normalx+_local_xfA.q.c*-normaly;indices[1]=-1;indices[0]=this.m_proxyA.GetSupport(axisAx,axisBy);var localPointA=this.m_proxyA.GetVertex(indices[0]);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;return(pointAx-pointBx)*normalx+(pointAy-pointBy)*normaly}},Evaluate:function(indexA,indexB,t){this.m_sweepA.GetTransform(_local_xfA,t);this.m_sweepB.GetTransform(_local_xfB,t);switch(this.m_type){case b2SeparationFunction.e_points:var localPointA=this.m_proxyA.GetVertex(indexA);var localPointB=this.m_proxyB.GetVertex(indexB);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;var separation=(pointBx-pointAx)*this.m_axis.x+(pointBy-pointAy)*this.m_axis.y;return separation;case b2SeparationFunction.e_faceA:var normalx=_local_xfA.q.c*this.m_axis.x-_local_xfA.q.s*this.m_axis.y;var normaly=_local_xfA.q.s*this.m_axis.x+_local_xfA.q.c*this.m_axis.y;var pointAx=(_local_xfA.q.c*this.m_localPoint.x-_local_xfA.q.s*this.m_localPoint.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*this.m_localPoint.x+_local_xfA.q.c*this.m_localPoint.y)+_local_xfA.p.y;var localPointB=this.m_proxyB.GetVertex(indexB);var pointBx=(_local_xfB.q.c*localPointB.x-_local_xfB.q.s*localPointB.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*localPointB.x+_local_xfB.q.c*localPointB.y)+_local_xfB.p.y;var separation=(pointBx-pointAx)*normalx+(pointBy-pointAy)*normaly;return separation;case b2SeparationFunction.e_faceB:var normalx=_local_xfB.q.c*this.m_axis.x-_local_xfB.q.s*this.m_axis.y;var normaly=_local_xfB.q.s*this.m_axis.x+_local_xfB.q.c*this.m_axis.y;var pointBx=(_local_xfB.q.c*this.m_localPoint.x-_local_xfB.q.s*this.m_localPoint.y)+_local_xfB.p.x;var pointBy=(_local_xfB.q.s*this.m_localPoint.x+_local_xfB.q.c*this.m_localPoint.y)+_local_xfB.p.y;var localPointA=this.m_proxyA.GetVertex(indexA);var pointAx=(_local_xfA.q.c*localPointA.x-_local_xfA.q.s*localPointA.y)+_local_xfA.p.x;var pointAy=(_local_xfA.q.s*localPointA.x+_local_xfA.q.c*localPointA.y)+_local_xfA.p.y;var separation=(pointAx-pointBx)*normalx+(pointAy-pointBy)*normaly;return separation}}};b2SeparationFunction.e_points=0;b2SeparationFunction.e_faceA=1;b2SeparationFunction.e_faceB=2;var profile_toi=b2Profiler.create("toi","solveTOI");function b2TimeOfImpact(output,input){profile_toi.start();++b2TimeOfImpact.b2_toiCalls;output.state=b2TOIOutput.e_unknown;output.t=input.tMax;var proxyA=input.proxyA;var proxyB=input.proxyB;b2TimeOfImpact._temp_sweepA.Assign(input.sweepA);b2TimeOfImpact._temp_sweepB.Assign(input.sweepB);b2TimeOfImpact._temp_sweepA.Normalize();b2TimeOfImpact._temp_sweepB.Normalize();var tMax=input.tMax;var totalRadius=proxyA.m_radius+proxyB.m_radius;var target=b2Max(b2_linearSlop,totalRadius-3*b2_linearSlop);var tolerance=0.25*b2_linearSlop;var t1=0;var k_maxIterations=20;var iter=0;var cache=new b2SimplexCache();cache.count=0;var distanceInput=new b2DistanceInput();distanceInput.proxyA.Assign(input.proxyA);distanceInput.proxyB.Assign(input.proxyB);distanceInput.useRadii=false;for(;;){b2TimeOfImpact._temp_sweepA.GetTransform(distanceInput.transformA,t1);b2TimeOfImpact._temp_sweepB.GetTransform(distanceInput.transformB,t1);var distanceOutput=new b2DistanceOutput();b2DistanceFunc(distanceOutput,cache,distanceInput);if(distanceOutput.distance<=0){output.state=b2TOIOutput.e_overlapped;output.t=0;break}if(distanceOutput.distance<target+tolerance){output.state=b2TOIOutput.e_touching;output.t=t1;break}var fcn=new b2SeparationFunction();fcn.Initialize(cache,proxyA,b2TimeOfImpact._temp_sweepA,proxyB,b2TimeOfImpact._temp_sweepB,t1);var done=false;var t2=tMax;var pushBackIter=0;for(;;){var indices=[];var s2=fcn.FindMinSeparation(indices,t2);if(s2>target+tolerance){output.state=b2TOIOutput.e_separated;output.t=tMax;done=true;break}if(s2>target-tolerance){t1=t2;break}var s1=fcn.Evaluate(indices[0],indices[1],t1);if(s1<target-tolerance){output.state=b2TOIOutput.e_failed;output.t=t1;done=true;break}if(s1<=target+tolerance){output.state=b2TOIOutput.e_touching;output.t=t1;done=true;break}var rootIterCount=0;var a1=t1,a2=t2;for(;;){var t;if(rootIterCount&1){t=a1+(target-s1)*(a2-a1)/(s2-s1)}else{t=0.5*(a1+a2)}++rootIterCount;++b2TimeOfImpact.b2_toiRootIters;var s=fcn.Evaluate(indices[0],indices[1],t);if(b2Abs(s-target)<tolerance){t2=t;break}if(s>target){a1=t;s1=s}else{a2=t;s2=s}if(rootIterCount==50){break}}b2TimeOfImpact.b2_toiMaxRootIters=b2Max(b2TimeOfImpact.b2_toiMaxRootIters,rootIterCount);++pushBackIter;if(pushBackIter==b2_maxPolygonVertices){break}}++iter;++b2TimeOfImpact.b2_toiIters;if(done){break}if(iter==k_maxIterations){output.state=b2TOIOutput.e_failed;output.t=t1;break}}b2TimeOfImpact.b2_toiMaxIters=b2Max(b2TimeOfImpact.b2_toiMaxIters,iter);profile_toi.stop();b2TimeOfImpact.b2_toiMaxTime=b2Max(b2TimeOfImpact.b2_toiMaxTime,profile_toi.elapsedTime);b2TimeOfImpact.b2_toiTime+=profile_toi.elapsedTime}b2TimeOfImpact._temp_sweepA=new b2Sweep();b2TimeOfImpact._temp_sweepB=new b2Sweep();b2TimeOfImpact.b2_toiTime=0;b2TimeOfImpact.b2_toiMaxTime=0;b2TimeOfImpact.b2_toiCalls=0;b2TimeOfImpact.b2_toiIters=0;b2TimeOfImpact.b2_toiMaxIters=0;b2TimeOfImpact.b2_toiRootIters=0;b2TimeOfImpact.b2_toiMaxRootIters=0;"use strict";function b2BodyDef(){this.type=b2Body.b2_staticBody;this.position=new b2Vec2(0,0);this.angle=0;this.linearVelocity=new b2Vec2(0,0);this.angularVelocity=0;this.linearDamping=0;this.angularDamping=0;this.allowSleep=true;this.awake=true;this.fixedRotation=false;this.bullet=false;this.active=true;this.userData=null;this.gravityScale=1;Object.seal(this)}b2BodyDef.prototype={_deserialize:function(data){this.type=data.type;this.position._deserialize(data.position);this.angle=data.angle;this.linearVelocity._deserialize(data.linearVelocity);this.angularVelocity=data.angularVelocity;this.linearDamping=data.linearDamping;this.angularDamping=data.angularDamping;this.allowSleep=data.allowSleep;this.awake=data.awake;this.fixedRotation=data.fixedRotation;this.bullet=data.bullet;this.active=data.active;this.gravityScale=data.gravityScale}};function b2Body(bd,world){this.m_islandIndex=0;this.m_flags=0;if(bd.bullet){this.m_flags|=b2Body.e_bulletFlag}if(bd.fixedRotation){this.m_flags|=b2Body.e_fixedRotationFlag}if(bd.allowSleep){this.m_flags|=b2Body.e_autoSleepFlag}if(bd.awake){this.m_flags|=b2Body.e_awakeFlag}if(bd.active){this.m_flags|=b2Body.e_activeFlag}this.m_world=world;this.m_xf=new b2Transform();this.m_xf.p.Assign(bd.position);this.m_xf.q.Set(bd.angle);this.m_sweep=new b2Sweep();this.m_sweep.localCenter.SetZero();this.m_sweep.c0.Assign(this.m_xf.p);this.m_sweep.c.Assign(this.m_xf.p);this.m_sweep.a0=bd.angle;this.m_sweep.a=bd.angle;this.m_sweep.alpha0=0;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_linearVelocity=bd.linearVelocity.Clone();this.m_angularVelocity=bd.angularVelocity;this.m_linearDamping=bd.linearDamping;this.m_angularDamping=bd.angularDamping;this.m_gravityScale=bd.gravityScale;this.m_force=new b2Vec2();this.m_torque=0;this.m_sleepTime=0;this.m_type=bd.type;if(this.m_type==b2Body.b2_dynamicBody){this.m_mass=1;this.m_invMass=1}else{this.m_mass=0;this.m_invMass=0}this.m_I=0;this.m_invI=0;this.m_userData=bd.userData;this.m_fixtureList=null;this.m_fixtureCount=0}b2Body.b2_staticBody=0;b2Body.b2_kinematicBody=1;b2Body.b2_dynamicBody=2;b2Body.e_islandFlag=1;b2Body.e_awakeFlag=2;b2Body.e_autoSleepFlag=4;b2Body.e_bulletFlag=8;b2Body.e_fixedRotationFlag=16;b2Body.e_activeFlag=32;b2Body.e_toiFlag=64;b2Body.m_local_oldCenter=new b2Vec2();b2Body.m_local_xf1=new b2Transform();b2Body.prototype={CreateFixture:function(def,density){if(typeof(density)!=="undefined"){var ndef=new b2FixtureDef();ndef.shape=def;ndef.density=density;return this.CreateFixture(ndef)}if(this.m_world.IsLocked()==true){return null}var fixture=new b2Fixture();fixture.Create(this,def);if(this.m_flags&b2Body.e_activeFlag){var broadPhase=this.m_world.m_contactManager.m_broadPhase;fixture.CreateProxies(broadPhase,this.m_xf)}fixture.m_next=this.m_fixtureList;this.m_fixtureList=fixture;++this.m_fixtureCount;fixture.m_body=this;if(fixture.m_density>0){this.ResetMassData()}this.m_world.m_flags|=b2World.e_newFixture;return fixture},DestroyFixture:function(fixture){if(this.m_world.IsLocked()==true){return}var node=this.m_fixtureList;var found=false;while(node!=null){if(node==fixture){this.m_fixtureList=node=fixture.m_next;found=true;break}node=node.m_next}var edge=this.m_contactList;while(edge){var c=edge.contact;edge=edge.next;var fixtureA=c.GetFixtureA();var fixtureB=c.GetFixtureB();if(fixture==fixtureA||fixture==fixtureB){this.m_world.m_contactManager.Destroy(c)}}if(this.m_flags&b2Body.e_activeFlag){var broadPhase=this.m_world.m_contactManager.m_broadPhase;fixture.DestroyProxies(broadPhase)}fixture.Destroy();fixture.m_body=null;fixture.m_next=null;--this.m_fixtureCount;this.ResetMassData()},SetTransform:function(position,angle){if(this.m_world.IsLocked()==true){return}this.m_xf.q.Set(angle);this.m_xf.p.Assign(position);this.m_sweep.c.Assign(b2Mul_t_v2(this.m_xf,this.m_sweep.localCenter));this.m_sweep.a=angle;this.m_sweep.c0.Assign(this.m_sweep.c);this.m_sweep.a0=angle;var broadPhase=this.m_world.m_contactManager.m_broadPhase;for(var f=this.m_fixtureList;f;f=f.m_next){f.Synchronize(broadPhase,this.m_xf,this.m_xf)}},GetTransform:function(){return this.m_xf},GetPosition:function(){return this.m_xf.p},GetAngle:function(){return this.m_sweep.a},GetWorldCenter:function(){return this.m_sweep.c},GetLocalCenter:function(){return this.m_sweep.localCenter},SetLinearVelocity:function(v){if(this.m_type==b2Body.b2_staticBody){return}if(b2Dot_v2_v2(v,v)>0){this.SetAwake(true)}this.m_linearVelocity=v},GetLinearVelocity:function(){return this.m_linearVelocity},SetAngularVelocity:function(w){if(this.m_type==b2Body.b2_staticBody){return}if(w*w>0){this.SetAwake(true)}this.m_angularVelocity=w},GetAngularVelocity:function(){return this.m_angularVelocity},ApplyForce:function(force,point,wake){if(this.m_type!=b2Body.b2_dynamicBody){return}if(wake&&(this.m_flags&b2Body.e_awakeFlag)==0){this.SetAwake(true)}if(this.m_flags&b2Body.e_awakeFlag){this.m_force.Add(force);this.m_torque+=b2Cross_v2_v2(b2Vec2.Subtract(point,this.m_sweep.c),force)}},ApplyForceToCenter:function(force,wake){if(this.m_type!=b2Body.b2_dynamicBody){return}if(wake&&(this.m_flags&b2Body.e_awakeFlag)==0){this.SetAwake(true)}if(this.m_flags&b2Body.e_awakeFlag){this.m_force.Add(force)}},ApplyTorque:function(torque,wake){if(this.m_type!=b2Body.b2_dynamicBody){return}if(wake&&(this.m_flags&b2Body.e_awakeFlag)==0){this.SetAwake(true)}if(this.m_flags&b2Body.e_awakeFlag){this.m_torque+=torque}},ApplyLinearImpulse:function(impulse,point,wake){if(this.m_type!=b2Body.b2_dynamicBody){return}if(wake&&(this.m_flags&b2Body.e_awakeFlag)==0){this.SetAwake(true)}if(this.m_flags&b2Body.e_awakeFlag){this.m_linearVelocity.Add(b2Vec2.Multiply(this.m_invMass,impulse));this.m_angularVelocity+=this.m_invI*b2Cross_v2_v2(b2Vec2.Subtract(point,this.m_sweep.c),impulse)}},ApplyAngularImpulse:function(impulse,wake){if(this.m_type!=b2Body.b2_dynamicBody){return}if(wake&&(this.m_flags&b2Body.e_awakeFlag)==0){this.SetAwake(true)}if(this.m_flags&b2Body.e_awakeFlag){this.m_angularVelocity+=this.m_invI*impulse}},GetMass:function(){return this.m_mass},GetInertia:function(){return this.m_I+this.m_mass*b2Dot_v2_v2(this.m_sweep.localCenter,this.m_sweep.localCenter)},GetMassData:function(data){data.mass=this.m_mass;data.I=this.m_I+this.m_mass*b2Dot_v2_v2(this.m_sweep.localCenter,this.m_sweep.localCenter);data.center=this.m_sweep.localCenter},SetMassData:function(massData){if(this.m_world.IsLocked()==true){return}if(this.m_type!=b2Body.b2_dynamicBody){return}this.m_invMass=0;this.m_I=0;this.m_invI=0;this.m_mass=massData.mass;if(this.m_mass<=0){this.m_mass=1}this.m_invMass=1/this.m_mass;if(massData.I>0&&(this.m_flags&b2Body.e_fixedRotationFlag)==0){this.m_I=massData.I-this.m_mass*b2Dot_v2_v2(massData.center,massData.center);this.m_invI=1/this.m_I}b2Body.m_local_oldCenter.Assign(this.m_sweep.c);this.m_sweep.localCenter.Assign(massData.center);this.m_sweep.c0.Assign(b2Mul_t_v2(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.Assign(this.m_sweep.c0);this.m_linearVelocity.Add(b2Cross_f_v2(this.m_angularVelocity,b2Vec2.Subtract(this.m_sweep.c,b2Body.m_local_oldCenter)))},ResetMassData:function(){this.m_mass=0;this.m_invMass=0;this.m_I=0;this.m_invI=0;this.m_sweep.localCenter.SetZero();if(this.m_type==b2Body.b2_staticBody||this.m_type==b2Body.b2_kinematicBody){this.m_sweep.c0.Assign(this.m_xf.p);this.m_sweep.c.Assign(this.m_xf.p);this.m_sweep.a0=this.m_sweep.a;return}var localCenter=new b2Vec2(0,0);for(var f=this.m_fixtureList;f;f=f.m_next){if(f.m_density==0){continue}var massData=new b2MassData();f.GetMassData(massData);this.m_mass+=massData.mass;localCenter.Add(b2Vec2.Multiply(massData.mass,massData.center));this.m_I+=massData.I}if(this.m_mass>0){this.m_invMass=1/this.m_mass;localCenter.Multiply(this.m_invMass)}else{this.m_mass=1;this.m_invMass=1}if(this.m_I>0&&(this.m_flags&b2Body.e_fixedRotationFlag)==0){this.m_I-=this.m_mass*b2Dot_v2_v2(localCenter,localCenter);this.m_invI=1/this.m_I}else{this.m_I=0;this.m_invI=0}b2Body.m_local_oldCenter.Assign(this.m_sweep.c);this.m_sweep.localCenter.Assign(localCenter);this.m_sweep.c0.Assign(b2Mul_t_v2(this.m_xf,this.m_sweep.localCenter));this.m_sweep.c.Assign(this.m_sweep.c0);this.m_linearVelocity.Add(b2Cross_f_v2(this.m_angularVelocity,b2Vec2.Subtract(this.m_sweep.c,b2Body.m_local_oldCenter)))},GetWorldPoint:function(localPoint){return b2Mul_t_v2(this.m_xf,localPoint)},GetWorldVector:function(localVector){return b2Mul_r_v2(this.m_xf.q,localVector)},GetLocalPoint:function(worldPoint){return b2MulT_t_v2(this.m_xf,worldPoint)},GetLocalVector:function(worldVector){return b2MulT_r_v2(this.m_xf.q,worldVector)},GetLinearVelocityFromWorldPoint:function(worldPoint){return b2Vec2.Add(this.m_linearVelocity,b2Cross_f_v2(this.m_angularVelocity,b2Vec2.Subtract(worldPoint,this.m_sweep.c)))},GetLinearVelocityFromLocalPoint:function(localPoint){return this.GetLinearVelocityFromWorldPoint(this.GetWorldPoint(localPoint))},GetLinearDamping:function(){return this.m_linearDamping},SetLinearDamping:function(linearDamping){this.m_linearDamping=linearDamping},GetAngularDamping:function(){return this.m_angularDamping},SetAngularDamping:function(angularDamping){this.m_angularDamping=angularDamping},GetGravityScale:function(){return this.m_gravityScale},SetGravityScale:function(scale){this.m_gravityScale=scale},SetType:function(type){if(this.m_world.IsLocked()==true){return}if(this.m_type==type){return}this.m_type=type;this.ResetMassData();if(this.m_type==b2Body.b2_staticBody){this.m_linearVelocity.SetZero();this.m_angularVelocity=0;this.m_sweep.a0=this.m_sweep.a;this.m_sweep.c0.Assign(this.m_sweep.c);this.SynchronizeFixtures()}this.SetAwake(true);this.m_force.SetZero();this.m_torque=0;var ce=this.m_contactList;while(ce){var ce0=ce;ce=ce.next;this.m_world.m_contactManager.Destroy(ce0.contact)}this.m_contactList=null;var broadPhase=this.m_world.m_contactManager.m_broadPhase;for(var f=this.m_fixtureList;f;f=f.m_next){var proxyCount=f.m_proxyCount;for(var i=0;i<proxyCount;++i){broadPhase.TouchProxy(f.m_proxies[i].proxyId)}}},GetType:function(){return this.m_type},SetBullet:function(flag){if(flag){this.m_flags|=b2Body.e_bulletFlag}else{this.m_flags&=~b2Body.e_bulletFlag}},IsBullet:function(){return(this.m_flags&b2Body.e_bulletFlag)==b2Body.e_bulletFlag},SetSleepingAllowed:function(flag){if(flag){this.m_flags|=b2Body.e_autoSleepFlag}else{this.m_flags&=~b2Body.e_autoSleepFlag;this.SetAwake(true)}},IsSleepingAllowed:function(){return(this.m_flags&b2Body.e_autoSleepFlag)==b2Body.e_autoSleepFlag},SetAwake:function(flag){if(flag){if((this.m_flags&b2Body.e_awakeFlag)==0){this.m_flags|=b2Body.e_awakeFlag;this.m_sleepTime=0}}else{this.m_flags&=~b2Body.e_awakeFlag;this.m_sleepTime=0;this.m_linearVelocity.SetZero();this.m_angularVelocity=0;this.m_force.SetZero();this.m_torque=0}},IsAwake:function(){return(this.m_flags&b2Body.e_awakeFlag)==b2Body.e_awakeFlag},SetActive:function(flag){if(flag==this.IsActive()){return}if(flag){this.m_flags|=b2Body.e_activeFlag;var broadPhase=this.m_world.m_contactManager.m_broadPhase;for(var f=this.m_fixtureList;f;f=f.m_next){f.CreateProxies(broadPhase,this.m_xf)}}else{this.m_flags&=~b2Body.e_activeFlag;var broadPhase=this.m_world.m_contactManager.m_broadPhase;for(var f=this.m_fixtureList;f;f=f.m_next){f.DestroyProxies(broadPhase)}var ce=this.m_contactList;while(ce){var ce0=ce;ce=ce.next;this.m_world.m_contactManager.Destroy(ce0.contact)}this.m_contactList=null}},IsActive:function(){return(this.m_flags&b2Body.e_activeFlag)==b2Body.e_activeFlag},SetFixedRotation:function(flag){var status=(this.m_flags&b2Body.e_fixedRotationFlag)==b2Body.e_fixedRotationFlag;if(status==flag){return}if(flag){this.m_flags|=b2Body.e_fixedRotationFlag}else{this.m_flags&=~b2Body.e_fixedRotationFlag}this.m_angularVelocity=0;this.ResetMassData()},IsFixedRotation:function(){return(this.m_flags&b2Body.e_fixedRotationFlag)==b2Body.e_fixedRotationFlag},GetFixtureList:function(){return this.m_fixtureList},GetJointList:function(){return this.m_jointList},GetContactList:function(){return this.m_contactList},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},SetUserData:function(data){this.m_userData=data},GetWorld:function(){return this.m_world},SynchronizeFixtures:function(){b2Body.m_local_xf1.q.Set(this.m_sweep.a0);b2Body.m_local_xf1.p.Assign(b2Vec2.Subtract(this.m_sweep.c0,b2Mul_r_v2(b2Body.m_local_xf1.q,this.m_sweep.localCenter)));var broadPhase=this.m_world.m_contactManager.m_broadPhase;for(var f=this.m_fixtureList;f;f=f.m_next){f.Synchronize(broadPhase,b2Body.m_local_xf1,this.m_xf)}},SynchronizeTransform:function(){this.m_xf.q.Set(this.m_sweep.a);this.m_xf.p.Assign(b2Vec2.Subtract(this.m_sweep.c,b2Mul_r_v2(this.m_xf.q,this.m_sweep.localCenter)))},ShouldCollide:function(other){if(this.m_type!=b2Body.b2_dynamicBody&&other.m_type!=b2Body.b2_dynamicBody){return false}for(var jn=this.m_jointList;jn;jn=jn.next){if(jn.other==other){if(jn.joint.m_collideConnected==false){return false}}}return true},Advance:function(alpha){this.m_sweep.Advance(alpha);this.m_sweep.c.Assign(this.m_sweep.c0);this.m_sweep.a=this.m_sweep.a0;this.m_xf.q.Set(this.m_sweep.a);this.m_xf.p.Assign(b2Vec2.Subtract(this.m_sweep.c,b2Mul_r_v2(this.m_xf.q,this.m_sweep.localCenter)))},_serialize:function(out){var obj=out||{};obj.fixtures=null;obj.type=this.m_type;obj.position=this.GetPosition()._serialize();obj.angle=this.GetAngle();obj.linearVelocity=this.GetLinearVelocity()._serialize();obj.angularVelocity=this.GetAngularVelocity();obj.linearDamping=this.GetLinearDamping();obj.angularDamping=this.GetAngularDamping();obj.allowSleep=this.IsSleepingAllowed();obj.awake=this.IsAwake();obj.fixedRotation=this.IsFixedRotation();obj.bullet=this.IsBullet();obj.active=this.IsActive();obj.gravityScale=this.GetGravityScale();return obj}};"use strict";function b2Filter(){this.categoryBits=1;this.maskBits=65535;this.groupIndex=0}b2Filter.prototype={Clone:function(){var filter=new b2Filter();filter.categoryBits=this.categoryBits;filter.maskBits=this.maskBits;filter.groupIndex=this.groupIndex;return filter},Assign:function(filter){this.categoryBits=filter.categoryBits;this.maskBits=filter.maskBits;this.groupIndex=filter.groupIndex},_serialize:function(out){var obj=out||{};obj.categoryBits=this.categoryBits;obj.maskBits=this.maskBits;obj.groupIndex=this.groupIndex;return obj},_deserialize:function(data){this.categoryBits=data.categoryBits;this.maskBits=data.maskBits;this.groupIndex=data.groupIndex}};function b2FixtureDef(){this.shape=null;this.userData=null;this.friction=0.2;this.restitution=0;this.density=0;this.isSensor=false;this.filter=new b2Filter();Object.seal(this)}b2FixtureDef.prototype={_deserialize:function(data){this.friction=data.friction;this.restitution=data.restitution;this.density=data.density;this.isSensor=data.isSensor;this.filter._deserialize(data.filter)}};function b2FixtureProxy(){this.aabb=new b2AABB();this.fixture=null;this.childIndex=0;this.proxyId=0}function b2Fixture(){this.m_userData=null;this.m_body=null;this.m_next=null;this.m_proxies=null;this.m_proxyCount=0;this.m_shape=null;this.m_density=0;this.m_filter=new b2Filter();this.m_isSensor=false;this.m_friction=0;this.m_restitution=0}b2Fixture.prototype={GetType:function(){return this.m_shape.GetType()},GetShape:function(){return this.m_shape},SetSensor:function(sensor){if(sensor!=this.m_isSensor){this.m_body.SetAwake(true);this.m_isSensor=sensor}},IsSensor:function(){return this.m_isSensor},SetFilterData:function(filter){this.m_filter=filter;this.Refilter()},GetFilterData:function(){return this.m_filter},Refilter:function(){if(this.m_body==null){return}var edge=this.m_body.GetContactList();while(edge){var contact=edge.contact;var fixtureA=contact.GetFixtureA();var fixtureB=contact.GetFixtureB();if(fixtureA==this||fixtureB==this){contact.FlagForFiltering()}edge=edge.next}var world=this.m_body.GetWorld();if(world==null){return}var broadPhase=world.m_contactManager.m_broadPhase;for(var i=0;i<this.m_proxyCount;++i){broadPhase.TouchProxy(this.m_proxies[i].proxyId)}},GetBody:function(){return this.m_body},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},SetUserData:function(data){this.m_userData=data},TestPoint:function(p){return this.m_shape.TestPoint(this.m_body.GetTransform(),p)},RayCast:function(output,input,childIndex){return this.m_shape.RayCast(output,input,this.m_body.GetTransform(),childIndex)},GetMassData:function(massData){this.m_shape.ComputeMass(massData,this.m_density)},SetDensity:function(density){this.m_density=density},GetDensity:function(){return this.m_density},GetFriction:function(){return this.m_friction},SetFriction:function(friction){this.m_friction=friction},GetRestitution:function(){return this.m_restitution},SetRestitution:function(restitution){this.m_restitution=restitution},GetAABB:function(childIndex){return this.m_proxies[childIndex].aabb},Create:function(body,def){this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_next=null;this.m_filter.Assign(def.filter);this.m_isSensor=def.isSensor;this.m_shape=def.shape.Clone();var childCount=this.m_shape.GetChildCount();this.m_proxies=new Array(childCount);for(var i=0;i<childCount;++i){this.m_proxies[i]=new b2FixtureProxy();this.m_proxies[i].fixture=null;this.m_proxies[i].proxyId=b2BroadPhase.e_nullProxy}this.m_proxyCount=0;this.m_density=def.density},Destroy:function(){this.m_proxies=null;this.m_shape=null},CreateProxies:function(broadPhase,xf){this.m_proxyCount=this.m_shape.GetChildCount();for(var i=0;i<this.m_proxyCount;++i){var proxy=this.m_proxies[i];this.m_shape.ComputeAABB(proxy.aabb,xf,i);proxy.proxyId=broadPhase.CreateProxy(proxy.aabb,proxy);proxy.fixture=this;proxy.childIndex=i}},DestroyProxies:function(broadPhase){for(var i=0;i<this.m_proxyCount;++i){var proxy=this.m_proxies[i];broadPhase.DestroyProxy(proxy.proxyId);proxy.proxyId=b2BroadPhase.e_nullProxy}this.m_proxyCount=0},Synchronize:function(broadPhase,transform1,transform2){if(this.m_proxyCount==0){return}for(var i=0;i<this.m_proxyCount;++i){var proxy=this.m_proxies[i];var aabb1=new b2AABB(),aabb2=new b2AABB();this.m_shape.ComputeAABB(aabb1,transform1,proxy.childIndex);this.m_shape.ComputeAABB(aabb2,transform2,proxy.childIndex);proxy.aabb.Combine(aabb1,aabb2);var displacement=b2Vec2.Subtract(transform2.p,transform1.p);broadPhase.MoveProxy(proxy.proxyId,proxy.aabb,displacement)}},_serialize:function(out){var obj=out||{};obj.shape=null;obj.friction=this.m_friction;obj.restitution=this.m_restitution;obj.density=this.m_density;obj.isSensor=this.m_isSensor;obj.filter=this.m_filter._serialize();return obj}};"use strict";function b2DestructionListener(){}b2DestructionListener.prototype={SayGoodbyeJoint:function(joint){},SayGoodbyeFixture:function(fixture){}};function b2ContactFilter(){}b2ContactFilter.prototype={ShouldCollide:function(fixtureA,fixtureB){var filterA=fixtureA.GetFilterData();var filterB=fixtureB.GetFilterData();if(filterA.groupIndex==filterB.groupIndex&&filterA.groupIndex!=0){return filterA.groupIndex>0}var collide=(filterA.maskBits&filterB.categoryBits)!=0&&(filterA.categoryBits&filterB.maskBits)!=0;return collide}};function b2ContactImpulse(){this.normalImpulses=new Array(b2_maxManifoldPoints);this.tangentImpulses=new Array(b2_maxManifoldPoints);this.count=0}function b2ContactListener(){}b2ContactListener.prototype={BeginContact:function(contact){},EndContact:function(contact){},PreSolve:function(contact,oldManifold){},PostSolve:function(contact,impulse){}};function b2QueryCallback(){}b2QueryCallback.prototype={ReportFixture:function(fixture){}};function b2RayCastCallback(){}b2RayCastCallback.prototype={ReportFixture:function(fixture,point,normal,fraction){}};"use strict";function b2TimeStep(){this.dt=0;this.inv_dt=0;this.dtRatio=0;this.velocityIterations=0;this.positionIterations=0;this.warmStarting=false}function b2Position(){this.c=new b2Vec2();this.a=0}function b2Velocity(){this.v=new b2Vec2();this.w=0}function b2SolverData(){this.step=new b2TimeStep();this.positions=null;this.velocities=null}"use strict";var profile_world_step=b2Profiler.create("step");var profile_world_collide=b2Profiler.create("collide","step");var profile_world_solve=b2Profiler.create("solve","step");var profile_world_solveTOI=b2Profiler.create("solveTOI","step");var profile_world_broadphase=b2Profiler.create("broadphase","step");function b2World(gravity){this.m_contactManager=new b2ContactManager();this.m_destructionListener=null;this.g_debugDraw=null;this.m_bodyList=null;this.m_jointList=null;this.m_bodyCount=0;this.m_jointCount=0;this.m_warmStarting=true;this.m_continuousPhysics=true;this.m_subStepping=false;this.m_stepComplete=true;this.m_allowSleep=true;this.m_gravity=gravity;this.m_flags=b2World.e_clearForces;this.m_inv_dt0=0;this.p_step=new b2TimeStep();this.p_island=new b2Island()}function b2WorldQueryWrapper(){this.broadPhase=null;this.callback=null}b2WorldQueryWrapper.prototype={QueryCallback:function(proxyId){var proxy=this.broadPhase.GetUserData(proxyId);return this.callback.ReportFixture(proxy.fixture)}};function b2WorldRayCastWrapper(){this.broadPhase=null;this.callback=null}b2WorldRayCastWrapper.prototype={RayCastCallback:function(input,proxyId){var userData=this.broadPhase.GetUserData(proxyId);var proxy=userData;var fixture=proxy.fixture;var index=proxy.childIndex;var output=new b2RayCastOutput();var hit=fixture.RayCast(output,input,index);if(hit){var fraction=output.fraction;var point=b2Vec2.Add(b2Vec2.Multiply((1-fraction),input.p1),b2Vec2.Multiply(fraction,input.p2));return this.callback.ReportFixture(fixture,point,output.normal,fraction)}return input.maxFraction}};b2World.m_local_sweep_backupA=new b2Sweep();b2World.m_local_sweep_backupB=new b2Sweep();b2World.m_local_sweep_backupC=new b2Sweep();b2World.prototype={Destroy:function(){var b=this.m_bodyList;while(b){var bNext=b.m_next;var f=b.m_fixtureList;while(f){var fNext=f.m_next;f.m_proxyCount=0;f.Destroy();f=fNext}b=bNext}},SetDestructionListener:function(listener){this.m_destructionListener=listener},SetContactFilter:function(filter){this.m_contactManager.m_contactFilter=filter},SetContactListener:function(listener){this.m_contactManager.m_contactListener=listener},SetDebugDraw:function(debugDraw){this.g_debugDraw=debugDraw},CreateBody:function(def){if(this.IsLocked()){return null}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(this.IsLocked()){return}var je=b.m_jointList;while(je){var je0=je;je=je.next;if(this.m_destructionListener){this.m_destructionListener.SayGoodbyeJoint(je0.joint)}this.DestroyJoint(je0.joint);b.m_jointList=je}b.m_jointList=null;var ce=b.m_contactList;while(ce){var ce0=ce;ce=ce.next;this.m_contactManager.Destroy(ce0.contact)}b.m_contactList=null;var f=b.m_fixtureList;while(f){var f0=f;f=f.m_next;if(this.m_destructionListener){this.m_destructionListener.SayGoodbyeFixture(f0)}f0.DestroyProxies(this.m_contactManager.m_broadPhase);f0.Destroy();b.m_fixtureList=f;b.m_fixtureCount-=1}b.m_fixtureList=null;b.m_fixtureCount=0;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_destroyed=true;--this.m_bodyCount},CreateJoint:function(def){if(this.IsLocked()){return null}var j=b2Joint.Create(def);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_edgeA.joint=j;j.m_edgeA.other=j.m_bodyB;j.m_edgeA.prev=null;j.m_edgeA.next=j.m_bodyA.m_jointList;if(j.m_bodyA.m_jointList){j.m_bodyA.m_jointList.prev=j.m_edgeA}j.m_bodyA.m_jointList=j.m_edgeA;j.m_edgeB.joint=j;j.m_edgeB.other=j.m_bodyA;j.m_edgeB.prev=null;j.m_edgeB.next=j.m_bodyB.m_jointList;if(j.m_bodyB.m_jointList){j.m_bodyB.m_jointList.prev=j.m_edgeB}j.m_bodyB.m_jointList=j.m_edgeB;var bodyA=def.bodyA;var bodyB=def.bodyB;if(def.collideConnected==false){var edge=bodyB.GetContactList();while(edge){if(edge.other==bodyA){edge.contact.FlagForFiltering()}edge=edge.next}}return j},DestroyJoint:function(j){if(this.IsLocked()){return}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 bodyA=j.m_bodyA;var bodyB=j.m_bodyB;bodyA.SetAwake(true);bodyB.SetAwake(true);if(j.m_edgeA.prev){j.m_edgeA.prev.next=j.m_edgeA.next}if(j.m_edgeA.next){j.m_edgeA.next.prev=j.m_edgeA.prev}if(j.m_edgeA==bodyA.m_jointList){bodyA.m_jointList=j.m_edgeA.next}j.m_edgeA.prev=null;j.m_edgeA.next=null;if(j.m_edgeB.prev){j.m_edgeB.prev.next=j.m_edgeB.next}if(j.m_edgeB.next){j.m_edgeB.next.prev=j.m_edgeB.prev}if(j.m_edgeB==bodyB.m_jointList){bodyB.m_jointList=j.m_edgeB.next}j.m_edgeB.prev=null;j.m_edgeB.next=null;b2Joint.Destroy(j);--this.m_jointCount;if(collideConnected==false){var edge=bodyB.GetContactList();while(edge){if(edge.other==bodyA){edge.contact.FlagForFiltering()}edge=edge.next}}},Step:function(dt,velocityIterations,positionIterations){profile_world_step.start();if(this.m_flags&b2World.e_newFixture){this.m_contactManager.FindNewContacts();this.m_flags&=~b2World.e_newFixture}this.m_flags|=b2World.e_locked;this.p_step.dt=dt;this.p_step.velocityIterations=velocityIterations;this.p_step.positionIterations=positionIterations;if(dt>0){this.p_step.inv_dt=1/dt}else{this.p_step.inv_dt=0}this.p_step.dtRatio=this.m_inv_dt0*dt;this.p_step.warmStarting=this.m_warmStarting;profile_world_collide.start();this.m_contactManager.Collide();profile_world_collide.stop();if(this.m_stepComplete&&this.p_step.dt>0){profile_world_solve.start();this.Solve(this.p_step);profile_world_solve.stop()}if(this.m_continuousPhysics&&this.p_step.dt>0){profile_world_solveTOI.start();this.SolveTOI(this.p_step);profile_world_solveTOI.stop()}if(this.p_step.dt>0){this.m_inv_dt0=this.p_step.inv_dt}if(this.m_flags&b2World.e_clearForces){this.ClearForces()}this.m_flags&=~b2World.e_locked;profile_world_step.stop()},ClearForces:function(){for(var body=this.m_bodyList;body;body=body.GetNext()){body.m_force.x=body.m_force.y=0;body.m_torque=0}},DrawDebugData:function(){if(this.g_debugDraw==null){return}var flags=this.g_debugDraw.GetFlags();if(flags&b2Draw.e_shapeBit){for(var b=this.m_bodyList;b;b=b.GetNext()){var xf=b.GetTransform();for(var f=b.GetFixtureList();f;f=f.GetNext()){if(b.IsActive()==false){this.DrawShape(f,xf,new b2Color(0.5,0.5,0.3))}else{if(b.GetType()==b2Body.b2_staticBody){this.DrawShape(f,xf,new b2Color(0.5,0.9,0.5))}else{if(b.GetType()==b2Body.b2_kinematicBody){this.DrawShape(f,xf,new b2Color(0.5,0.5,0.9))}else{if(b.IsAwake()==false){this.DrawShape(f,xf,new b2Color(0.6,0.6,0.6))}else{this.DrawShape(f,xf,new b2Color(0.9,0.7,0.7))}}}}}}}if(flags&b2Draw.e_jointBit){for(var j=this.m_jointList;j;j=j.GetNext()){this.DrawJoint(j)}}if(flags&b2Draw.e_pairBit){var color=new b2Color(0.3,0.9,0.9);for(var c=this.m_contactManager.m_contactList;c;c=c.GetNext()){var fixtureA=c.GetFixtureA();var fixtureB=c.GetFixtureB();var cA=fixtureA.GetAABB(c.GetChildIndexA()).GetCenter();var cB=fixtureB.GetAABB(c.GetChildIndexB()).GetCenter();this.g_debugDraw.DrawSegment(cA,cB,color)}}if(flags&b2Draw.e_aabbBit){var color=new b2Color(0.9,0.3,0.9);var bp=this.m_contactManager.m_broadPhase;for(var b=this.m_bodyList;b;b=b.GetNext()){if(b.IsActive()==false){continue}for(var f=b.GetFixtureList();f;f=f.GetNext()){for(var i=0;i<f.m_proxyCount;++i){var proxy=f.m_proxies[i];var aabb=bp.GetFatAABB(proxy.proxyId);var vs=[];vs[0]=new b2Vec2(aabb.lowerBound.x,aabb.lowerBound.y);vs[1]=new b2Vec2(aabb.upperBound.x,aabb.lowerBound.y);vs[2]=new b2Vec2(aabb.upperBound.x,aabb.upperBound.y);vs[3]=new b2Vec2(aabb.lowerBound.x,aabb.upperBound.y);this.g_debugDraw.DrawPolygon(vs,4,color)}}}}if(flags&b2Draw.e_centerOfMassBit){for(var b=this.m_bodyList;b;b=b.GetNext()){var xf=b.GetTransform().Clone();xf.p=b.GetWorldCenter();this.g_debugDraw.DrawTransform(xf)}}},QueryAABB:function(callback,aabb){var wrapper=new b2WorldQueryWrapper();wrapper.broadPhase=this.m_contactManager.m_broadPhase;wrapper.callback=callback;this.m_contactManager.m_broadPhase.Query(wrapper,aabb)},RayCast:function(callback,point1,point2){var wrapper=new b2WorldRayCastWrapper();wrapper.broadPhase=this.m_contactManager.m_broadPhase;wrapper.callback=callback;var input=new b2RayCastInput();input.maxFraction=1;input.p1=point1;input.p2=point2;this.m_contactManager.m_broadPhase.RayCast(wrapper,input)},GetBodyList:function(){return this.m_bodyList},GetJointList:function(){return this.m_jointList},GetContactList:function(){return this.m_contactManager.m_contactList},SetAllowSleeping:function(flag){if(flag==this.m_allowSleep){return}this.m_allowSleep=flag;if(this.m_allowSleep==false){for(var b=this.m_bodyList;b;b=b.m_next){b.SetAwake(true)}}},GetAllowSleeping:function(){return this.m_allowSleep},SetWarmStarting:function(flag){this.m_warmStarting=flag},GetWarmStarting:function(){return this.m_warmStarting},SetContinuousPhysics:function(flag){this.m_continuousPhysics=flag},GetContinuousPhysics:function(){return this.m_continuousPhysics},SetSubStepping:function(flag){this.m_subStepping=flag},GetSubStepping:function(){return this.m_subStepping},GetProxyCount:function(){return this.m_contactManager.m_broadPhase.GetProxyCount()},GetBodyCount:function(){return this.m_bodyCount},GetJointCount:function(){return this.m_jointCount},GetContactCount:function(){return this.m_contactManager.m_contactCount},GetTreeHeight:function(){return this.m_contactManager.m_broadPhase.GetTreeHeight()},GetTreeBalance:function(){return this.m_contactManager.m_broadPhase.GetTreeBalance()},GetTreeQuality:function(){return this.m_contactManager.m_broadPhase.GetTreeQuality()},SetGravity:function(gravity){this.m_gravity=gravity},GetGravity:function(){return this.m_gravity},IsLocked:function(){return(this.m_flags&b2World.e_locked)==b2World.e_locked},SetAutoClearForces:function(flag){if(flag){this.m_flags|=b2World.e_clearForces}else{this.m_flags&=~b2World.e_clearForces}},GetAutoClearForces:function(){return(this.m_flags&b2World.e_clearForces)==b2World.e_clearForces},ShiftOrigin:function(newOrigin){if((this.m_flags&b2World.e_locked)==b2World.e_locked){return}for(var b=this.m_bodyList;b;b=b.m_next){b.m_xf.p.Subtract(newOrigin);b.m_sweep.c0.Subtract(newOrigin);b.m_sweep.c.Subtract(newOrigin)}for(var j=this.m_jointList;j;j=j.m_next){j.ShiftOrigin(newOrigin)}this.m_contactManager.m_broadPhase.ShiftOrigin(newOrigin)},GetContactManager:function(){return this.m_contactManager},Solve:function(step){this.p_island.Initialize(this.m_bodyCount,this.m_contactManager.m_contactCount,this.m_jointCount,this.m_contactManager.m_contactListener);for(var b=this.m_bodyList;b;b=b.m_next){b.m_flags&=~b2Body.e_islandFlag}for(var c=this.m_contactManager.m_contactList;c;c=c.m_next){c.m_flags&=~b2Contact.e_islandFlag}for(var j=this.m_jointList;j;j=j.m_next){j.m_islandFlag=false}var stackSize=this.m_bodyCount;var stack=new Array(stackSize);for(var seed=this.m_bodyList;seed;seed=seed.m_next){if(seed.m_flags&b2Body.e_islandFlag){continue}if(seed.IsAwake()==false||seed.IsActive()==false){continue}if(seed.GetType()==b2Body.b2_staticBody){continue}this.p_island.Clear();var stackCount=0;stack[stackCount++]=seed;seed.m_flags|=b2Body.e_islandFlag;while(stackCount>0){var b=stack[--stackCount];this.p_island.AddBody(b);b.SetAwake(true);if(b.GetType()==b2Body.b2_staticBody){continue}for(var ce=b.m_contactList;ce;ce=ce.next){var contact=ce.contact;if(contact.m_flags&b2Contact.e_islandFlag){continue}if(contact.IsEnabled()==false||contact.IsTouching()==false){continue}var sensorA=contact.m_fixtureA.m_isSensor;var sensorB=contact.m_fixtureB.m_isSensor;if(sensorA||sensorB){continue}this.p_island.AddContact(contact);contact.m_flags|=b2Contact.e_islandFlag;var other=ce.other;if(other.m_flags&b2Body.e_islandFlag){continue}stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag}for(var je=b.m_jointList;je;je=je.next){if(je.joint.m_islandFlag==true){continue}var other=je.other;if(other.IsActive()==false){continue}this.p_island.AddJoint(je.joint);je.joint.m_islandFlag=true;if(other.m_flags&b2Body.e_islandFlag){continue}stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag}}this.p_island.Solve(step,this.m_gravity,this.m_allowSleep);for(var i=0;i<this.p_island.m_bodyCount;++i){var b=this.p_island.m_bodies[i];if(b.GetType()==b2Body.b2_staticBody){b.m_flags&=~b2Body.e_islandFlag}}}profile_world_broadphase.start();for(var b=this.m_bodyList;b;b=b.GetNext()){if((b.m_flags&b2Body.e_islandFlag)==0){continue}if(b.GetType()==b2Body.b2_staticBody){continue}b.SynchronizeFixtures()}this.m_contactManager.FindNewContacts();profile_world_broadphase.stop()},SolveTOI:function(step){this.p_island.Initialize(2*b2_maxTOIContacts,b2_maxTOIContacts,0,this.m_contactManager.m_contactListener);if(this.m_stepComplete){for(var b=this.m_bodyList;b;b=b.m_next){b.m_flags&=~b2Body.e_islandFlag;b.m_sweep.alpha0=0}for(var c=this.m_contactManager.m_contactList;c;c=c.m_next){c.m_flags&=~(b2Contact.e_toiFlag|b2Contact.e_islandFlag);c.m_toiCount=0;c.m_toi=1}}for(;;){var minContact=null;var minAlpha=1;for(var c=this.m_contactManager.m_contactList;c;c=c.m_next){if(c.IsEnabled()==false){continue}if(c.m_toiCount>b2_maxSubSteps){continue}var alpha=1;if(c.m_flags&b2Contact.e_toiFlag){alpha=c.m_toi}else{var fA=c.GetFixtureA();var fB=c.GetFixtureB();if(fA.IsSensor()||fB.IsSensor()){continue}var bA=fA.GetBody();var bB=fB.GetBody();var typeA=bA.m_type;var typeB=bB.m_type;var activeA=bA.IsAwake()&&typeA!=b2Body.b2_staticBody;var activeB=bB.IsAwake()&&typeB!=b2Body.b2_staticBody;if(activeA==false&&activeB==false){continue}var collideA=bA.IsBullet()||typeA!=b2Body.b2_dynamicBody;var collideB=bB.IsBullet()||typeB!=b2Body.b2_dynamicBody;if(collideA==false&&collideB==false){continue}var alpha0=bA.m_sweep.alpha0;if(bA.m_sweep.alpha0<bB.m_sweep.alpha0){alpha0=bB.m_sweep.alpha0;bA.m_sweep.Advance(alpha0)}else{if(bB.m_sweep.alpha0<bA.m_sweep.alpha0){alpha0=bA.m_sweep.alpha0;bB.m_sweep.Advance(alpha0)}}var indexA=c.GetChildIndexA();var indexB=c.GetChildIndexB();var input=new b2TOIInput();input.proxyA.Set(fA.GetShape(),indexA);input.proxyB.Set(fB.GetShape(),indexB);input.sweepA.Assign(bA.m_sweep);input.sweepB.Assign(bB.m_sweep);input.tMax=1;var output=new b2TOIOutput();b2TimeOfImpact(output,input);var beta=output.t;if(output.state==b2TOIOutput.e_touching){alpha=b2Min(alpha0+(1-alpha0)*beta,1)}else{alpha=1}c.m_toi=alpha;c.m_flags|=b2Contact.e_toiFlag}if(alpha<minAlpha){minContact=c;minAlpha=alpha}}if(minContact==null||1-10*b2_epsilon<minAlpha){this.m_stepComplete=true;break}var fA=minContact.GetFixtureA();var fB=minContact.GetFixtureB();var bA=fA.GetBody();var bB=fB.GetBody();b2World.m_local_sweep_backupA.Assign(bA.m_sweep);b2World.m_local_sweep_backupB.Assign(bB.m_sweep);bA.Advance(minAlpha);bB.Advance(minAlpha);minContact.Update(this.m_contactManager.m_contactListener);minContact.m_flags&=~b2Contact.e_toiFlag;++minContact.m_toiCount;if(minContact.IsEnabled()==false||minContact.IsTouching()==false){minContact.SetEnabled(false);bA.m_sweep.Assign(b2World.m_local_sweep_backupA);bB.m_sweep.Assign(b2World.m_local_sweep_backupB);bA.SynchronizeTransform();bB.SynchronizeTransform();continue}bA.SetAwake(true);bB.SetAwake(true);this.p_island.Clear();this.p_island.AddBody(bA);this.p_island.AddBody(bB);this.p_island.AddContact(minContact);bA.m_flags|=b2Body.e_islandFlag;bB.m_flags|=b2Body.e_islandFlag;minContact.m_flags|=b2Contact.e_islandFlag;var bodies=[bA,bB];for(var i=0;i<2;++i){var body=bodies[i];if(body.m_type==b2Body.b2_dynamicBody){for(var ce=body.m_contactList;ce;ce=ce.next){if(this.p_island.m_bodyCount==this.p_island.m_bodyCapacity){break}if(this.p_island.m_contactCount==this.p_island.m_contactCapacity){break}var contact=ce.contact;if(contact.m_flags&b2Contact.e_islandFlag){continue}var other=ce.other;if(other.m_type==b2Body.b2_dynamicBody&&body.IsBullet()==false&&other.IsBullet()==false){continue}var sensorA=contact.m_fixtureA.m_isSensor;var sensorB=contact.m_fixtureB.m_isSensor;if(sensorA||sensorB){continue}b2World.m_local_sweep_backupC.Assign(other.m_sweep);if((other.m_flags&b2Body.e_islandFlag)==0){other.Advance(minAlpha)}contact.Update(this.m_contactManager.m_contactListener);if(contact.IsEnabled()==false){other.m_sweep.Assign(b2World.m_local_sweep_backupC);other.SynchronizeTransform();continue}if(contact.IsTouching()==false){other.m_sweep.Assign(b2World.m_local_sweep_backupC);other.SynchronizeTransform();continue}contact.m_flags|=b2Contact.e_islandFlag;this.p_island.AddContact(contact);if(other.m_flags&b2Body.e_islandFlag){continue}other.m_flags|=b2Body.e_islandFlag;if(other.m_type!=b2Body.b2_staticBody){other.SetAwake(true)}this.p_island.AddBody(other)}}}var subStep=new b2TimeStep();subStep.dt=(1-minAlpha)*step.dt;subStep.inv_dt=1/subStep.dt;subStep.dtRatio=1;subStep.positionIterations=20;subStep.velocityIterations=step.velocityIterations;subStep.warmStarting=false;this.p_island.SolveTOI(subStep,bA.m_islandIndex,bB.m_islandIndex);for(var i=0;i<this.p_island.m_bodyCount;++i){var body=this.p_island.m_bodies[i];body.m_flags&=~b2Body.e_islandFlag;if(body.m_type!=b2Body.b2_dynamicBody){continue}body.SynchronizeFixtures();for(var ce=body.m_contactList;ce;ce=ce.next){ce.contact.m_flags&=~(b2Contact.e_toiFlag|b2Contact.e_islandFlag)}}this.m_contactManager.FindNewContacts();if(this.m_subStepping){this.m_stepComplete=false;break}}},DrawJoint:function(joint){var bodyA=joint.GetBodyA();var bodyB=joint.GetBodyB();var xf1=bodyA.GetTransform();var xf2=bodyB.GetTransform();var x1=xf1.p;var x2=xf2.p;var p1=joint.GetAnchorA();var p2=joint.GetAnchorB();var color=new b2Color(0.5,0.8,0.8);switch(joint.GetType()){case b2Joint.e_distanceJoint:this.g_debugDraw.DrawSegment(p1,p2,color);break;case b2Joint.e_pulleyJoint:var pulley=joint;var s1=pulley.GetGroundAnchorA();var s2=pulley.GetGroundAnchorB();this.g_debugDraw.DrawSegment(s1,p1,color);this.g_debugDraw.DrawSegment(s2,p2,color);this.g_debugDraw.DrawSegment(s1,s2,color);break;case b2Joint.e_mouseJoint:break;case b2Joint.e_motorJoint:this.g_debugDraw.DrawPoint(joint.GetLinearOffset(),5,color);default:this.g_debugDraw.DrawSegment(x1,p1,color);this.g_debugDraw.DrawSegment(p1,p2,color);this.g_debugDraw.DrawSegment(x2,p2,color)}},DrawShape:function(fixture,xf,color){switch(fixture.GetType()){case b2Shape.e_circle:var circle=fixture.GetShape();var center=b2Mul_t_v2(xf,circle.m_p);var radius=circle.m_radius;var axis=b2Mul_r_v2(xf.q,new b2Vec2(1,0));this.g_debugDraw.DrawSolidCircle(center,radius,axis,color);break;case b2Shape.e_edge:var edge=fixture.GetShape();var v1=b2Mul_t_v2(xf,edge.m_vertex1);var v2=b2Mul_t_v2(xf,edge.m_vertex2);this.g_debugDraw.DrawSegment(v1,v2,color);break;case b2Shape.e_chain:var chain=fixture.GetShape();var count=chain.m_count;var vertices=chain.m_vertices;var v1=b2Mul_t_v2(xf,vertices[0]);for(var i=1;i<count;++i){var v2=b2Mul_t_v2(xf,vertices[i]);this.g_debugDraw.DrawSegment(v1,v2,color);v1=v2}break;case b2Shape.e_polygon:var poly=fixture.GetShape();var vertexCount=poly.m_count;var vertices=new Array(b2_maxPolygonVertices);for(var i=0;i<vertexCount;++i){vertices[i]=b2Mul_t_v2(xf,poly.m_vertices[i])}this.g_debugDraw.DrawSolidPolygon(vertices,vertexCount,color);break;default:break}}};b2World.e_newFixture=1;b2World.e_locked=2;b2World.e_clearForces=4;"use strict";function b2MixFriction(friction1,friction2){return b2Sqrt(friction1*friction2)}function b2MixRestitution(restitution1,restitution2){return restitution1>restitution2?restitution1:restitution2}function b2ContactRegister(){this.fcn=null;this.primary=false}function b2ContactEdge(){this.other=null;this.contact=null;this.prev=null;this.next=null}function b2Contact(){this.m_nodeA=new b2ContactEdge();this.m_nodeB=new b2ContactEdge();this.m_manifold=new b2Manifold()}b2Contact.m_local_tempManifold=new b2Manifold();b2Contact.prototype={Create:function(fA,indexA,fB,indexB){this.m_toi=0;this.m_flags=b2Contact.e_enabledFlag;this.m_fixtureA=fA||null;this.m_fixtureB=fB||null;this.m_indexA=indexA||0;this.m_indexB=indexB||0;this.m_manifold.pointCount=0;this.m_prev=null;this.m_next=null;this.m_nodeA.contact=null;this.m_nodeA.prev=null;this.m_nodeA.next=null;this.m_nodeA.other=null;this.m_nodeB.contact=null;this.m_nodeB.prev=null;this.m_nodeB.next=null;this.m_nodeB.other=null;this.m_toiCount=0;if(fA){this.m_friction=b2MixFriction(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction);this.m_restitution=b2MixRestitution(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)}else{this.m_friction=0;this.m_restitution=0}this.m_tangentSpeed=0},GetManifold:function(){return this.m_manifold},GetWorldManifold:function(worldManifold){var bodyA=this.m_fixtureA.GetBody();var bodyB=this.m_fixtureB.GetBody();var shapeA=this.m_fixtureA.GetShape();var shapeB=this.m_fixtureB.GetShape();worldManifold.Initialize(this.m_manifold,bodyA.GetTransform(),shapeA.m_radius,bodyB.GetTransform(),shapeB.m_radius)},IsTouching:function(){return(this.m_flags&b2Contact.e_touchingFlag)==b2Contact.e_touchingFlag},SetEnabled:function(flag){if(flag){this.m_flags|=b2Contact.e_enabledFlag}else{this.m_flags&=~b2Contact.e_enabledFlag}},IsEnabled:function(){return(this.m_flags&b2Contact.e_enabledFlag)==b2Contact.e_enabledFlag},GetNext:function(){return this.m_next},GetFixtureA:function(){return this.m_fixtureA},GetChildIndexA:function(){return this.m_indexA},GetFixtureB:function(){return this.m_fixtureB},GetChildIndexB:function(){return this.m_indexB},SetFriction:function(friction){this.m_friction=friction},GetFriction:function(){return this.m_friction},ResetFriction:function(){this.m_friction=b2MixFriction(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction)},SetRestitution:function(restitution){this.m_restitution=restitution},GetRestitution:function(){return this.m_restitution},ResetRestitution:function(){this.m_restitution=b2MixRestitution(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)},SetTangentSpeed:function(speed){this.m_tangentSpeed=speed},GetTangentSpeed:function(){return this.m_tangentSpeed},Evaluate:function(manifold,xfA,xfB){},FlagForFiltering:function(){this.m_flags|=b2Contact.e_filterFlag},m_oldManifold:null,Update:function(listener){b2Contact.m_local_tempManifold.Assign(this.m_manifold);this.m_flags|=b2Contact.e_enabledFlag;var touching=false;var wasTouching=(this.m_flags&b2Contact.e_touchingFlag)==b2Contact.e_touchingFlag;var sensorA=this.m_fixtureA.IsSensor();var sensorB=this.m_fixtureB.IsSensor();var sensor=sensorA||sensorB;var bodyA=this.m_fixtureA.GetBody();var bodyB=this.m_fixtureB.GetBody();var xfA=bodyA.GetTransform();var xfB=bodyB.GetTransform();if(sensor){var shapeA=this.m_fixtureA.GetShape();var shapeB=this.m_fixtureB.GetShape();touching=b2TestShapeOverlap(shapeA,this.m_indexA,shapeB,this.m_indexB,xfA,xfB);this.m_manifold.pointCount=0}else{this.Evaluate(this.m_manifold,xfA,xfB);touching=this.m_manifold.pointCount>0;for(var i=0;i<this.m_manifold.pointCount;++i){var mp2=this.m_manifold.points[i];mp2.normalImpulse=0;mp2.tangentImpulse=0;var id2=mp2.id;for(var j=0;j<b2Contact.m_local_tempManifold.pointCount;++j){var mp1=b2Contact.m_local_tempManifold.points[j];if(mp1.id.Get()==id2.Get()){mp2.normalImpulse=mp1.normalImpulse;mp2.tangentImpulse=mp1.tangentImpulse;break}}}if(touching!=wasTouching){bodyA.SetAwake(true);bodyB.SetAwake(true)}}if(touching){this.m_flags|=b2Contact.e_touchingFlag}else{this.m_flags&=~b2Contact.e_touchingFlag}if(wasTouching==false&&touching==true&&listener){listener.BeginContact(this)}if(wasTouching==true&&touching==false&&listener){listener.EndContact(this)}if(sensor==false&&touching&&listener){listener.PreSolve(this,b2Contact.m_local_tempManifold)}}};b2Contact.e_islandFlag=1;b2Contact.e_touchingFlag=2;b2Contact.e_enabledFlag=4;b2Contact.e_filterFlag=8;b2Contact.e_bulletHitFlag=16;b2Contact.e_toiFlag=32;function b2CircleContact(){this.parent.call(this)}b2CircleContact.prototype={Evaluate:function(manifold,xfA,xfB){b2CollideCircles(manifold,this.m_fixtureA.GetShape(),xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,unused1,fixtureB,unused2){this.parent.prototype.Create.call(this,fixtureA,0,fixtureB,0)}};b2CircleContact._extend(b2Contact);var _local_temp_edgeShape=new b2EdgeShape();function b2ChainAndCircleContact(){this.parent.call(this)}b2ChainAndCircleContact.prototype={Evaluate:function(manifold,xfA,xfB){var chain=this.m_fixtureA.GetShape();chain.GetChildEdge(_local_temp_edgeShape,this.m_indexA);b2CollideEdgeAndCircle(manifold,_local_temp_edgeShape,xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,indexA,fixtureB,indexB)}};b2ChainAndCircleContact._extend(b2Contact);function b2ChainAndPolygonContact(){this.parent.call(this)}b2ChainAndPolygonContact.prototype={Evaluate:function(manifold,xfA,xfB){var chain=this.m_fixtureA.GetShape();chain.GetChildEdge(_local_temp_edgeShape,this.m_indexA);b2CollideEdgeAndPolygon(manifold,_local_temp_edgeShape,xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,indexA,fixtureB,indexB)}};b2ChainAndPolygonContact.Create=function(fixtureA,indexA,fixtureB,indexB){return new b2ChainAndPolygonContact(fixtureA,indexA,fixtureB,indexB)};b2ChainAndPolygonContact._extend(b2Contact);function b2EdgeAndCircleContact(){this.parent.call(this)}b2EdgeAndCircleContact.prototype={Evaluate:function(manifold,xfA,xfB){b2CollideEdgeAndCircle(manifold,this.m_fixtureA.GetShape(),xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,0,fixtureB,0)}};b2EdgeAndCircleContact.Create=function(fixtureA,indexA,fixtureB,indexB){return new b2EdgeAndCircleContact(fixtureA,fixtureB)};b2EdgeAndCircleContact._extend(b2Contact);function b2EdgeAndPolygonContact(){this.parent.call(this)}b2EdgeAndPolygonContact.prototype={Evaluate:function(manifold,xfA,xfB){b2CollideEdgeAndPolygon(manifold,this.m_fixtureA.GetShape(),xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,0,fixtureB,0)}};b2EdgeAndPolygonContact.Create=function(fixtureA,indexA,fixtureB,indexB){return new b2EdgeAndPolygonContact(fixtureA,fixtureB)};b2EdgeAndPolygonContact._extend(b2Contact);function b2PolygonAndCircleContact(){this.parent.call(this)}b2PolygonAndCircleContact.prototype={Evaluate:function(manifold,xfA,xfB){b2CollidePolygonAndCircle(manifold,this.m_fixtureA.GetShape(),xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,0,fixtureB,0)}};b2PolygonAndCircleContact.Create=function(fixtureA,indexA,fixtureB,indexB){return new b2PolygonAndCircleContact(fixtureA,fixtureB)};b2PolygonAndCircleContact._extend(b2Contact);function b2PolygonContact(){this.parent.call(this)}b2PolygonContact.prototype={Evaluate:function(manifold,xfA,xfB){b2CollidePolygons(manifold,this.m_fixtureA.GetShape(),xfA,this.m_fixtureB.GetShape(),xfB)},Create:function(fixtureA,indexA,fixtureB,indexB){this.parent.prototype.Create.call(this,fixtureA,0,fixtureB,0)}};b2PolygonContact.Create=function(fixtureA,indexA,fixtureB,indexB){return new b2PolygonContact(fixtureA,fixtureB)};b2PolygonContact._extend(b2Contact);b2Contact.AddType=function(fcn,type1,type2){if(!b2Contact.s_registers[type1]){b2Contact.s_registers[type1]=[]}b2Contact.s_registers[type1][type2]=new b2ContactRegister();b2Contact.s_registers[type1][type2].fcn=fcn;b2Contact.s_registers[type1][type2].primary=true;if(type1!=type2){if(!b2Contact.s_registers[type2]){b2Contact.s_registers[type2]=[]}b2Contact.s_registers[type2][type1]=new b2ContactRegister();b2Contact.s_registers[type2][type1].fcn=fcn;b2Contact.s_registers[type2][type1].primary=false}fcn.garbage=[];fcn.alloc=2};b2Contact.InitializeRegisters=function(){b2Contact.AddType(b2CircleContact,b2Shape.e_circle,b2Shape.e_circle);b2Contact.AddType(b2PolygonAndCircleContact,b2Shape.e_polygon,b2Shape.e_circle);b2Contact.AddType(b2PolygonContact,b2Shape.e_polygon,b2Shape.e_polygon);b2Contact.AddType(b2EdgeAndCircleContact,b2Shape.e_edge,b2Shape.e_circle);b2Contact.AddType(b2EdgeAndPolygonContact,b2Shape.e_edge,b2Shape.e_polygon);b2Contact.AddType(b2ChainAndCircleContact,b2Shape.e_chain,b2Shape.e_circle);b2Contact.AddType(b2ChainAndPolygonContact,b2Shape.e_chain,b2Shape.e_polygon)};b2Contact.RetrieveGarbage=function(fcn){var contact;if(contact=fcn.garbage.pop()){return contact}for(var i=0;i<fcn.alloc-1;++i){fcn.garbage.push(new fcn())}fcn.alloc+=32;return new fcn()};b2Contact.Create=function(fixtureA,indexA,fixtureB,indexB){if(b2Contact.s_initialized==false){b2Contact.InitializeRegisters();b2Contact.s_initialized=true}var type1=fixtureA.GetType();var type2=fixtureB.GetType();var fcn=b2Contact.s_registers[type1][type2].fcn;if(fcn){var contact=b2Contact.RetrieveGarbage(fcn);if(b2Contact.s_registers[type1][type2].primary){contact.Create(fixtureA,indexA,fixtureB,indexB)}else{contact.Create(fixtureB,indexB,fixtureA,indexA)}return contact}return null};b2Contact.Destroy=function(contact){var fixtureA=contact.m_fixtureA;var fixtureB=contact.m_fixtureB;if(contact.m_manifold.pointCount>0&&fixtureA.IsSensor()==false&&fixtureB.IsSensor()==false){fixtureA.GetBody().SetAwake(true);fixtureB.GetBody().SetAwake(true)}var typeA=fixtureA.GetType();var typeB=fixtureB.GetType();b2Contact.s_registers[typeA][typeB].fcn.garbage.push(contact)};b2Contact.s_registers=[];b2Contact.s_initialized=false;"use strict";var b2_defaultFilter=new b2ContactFilter();var b2_defaultListener=new b2ContactListener();function b2ContactManager(){this.m_broadPhase=new b2BroadPhase();this.m_contactList=null;this.m_contactCount=0;this.m_contactFilter=b2_defaultFilter;this.m_contactListener=b2_defaultListener}b2ContactManager.prototype={AddPair:function(proxyUserDataA,proxyUserDataB){var proxyA=proxyUserDataA;var proxyB=proxyUserDataB;var fixtureA=proxyA.fixture;var fixtureB=proxyB.fixture;var indexA=proxyA.childIndex;var indexB=proxyB.childIndex;var bodyA=fixtureA.GetBody();var bodyB=fixtureB.GetBody();if(bodyA==bodyB){return}var edge=bodyB.GetContactList();while(edge){if(edge.other==bodyA){var fA=edge.contact.GetFixtureA();var fB=edge.contact.GetFixtureB();var iA=edge.contact.GetChildIndexA();var iB=edge.contact.GetChildIndexB();if(fA==fixtureA&&fB==fixtureB&&iA==indexA&&iB==indexB){return}if(fA==fixtureB&&fB==fixtureA&&iA==indexB&&iB==indexA){return}}edge=edge.next}if(bodyB.ShouldCollide(bodyA)==false){return}if(this.m_contactFilter&&this.m_contactFilter.ShouldCollide(fixtureA,fixtureB)==false){return}var c=b2Contact.Create(fixtureA,indexA,fixtureB,indexB);if(c==null){return}fixtureA=c.GetFixtureA();fixtureB=c.GetFixtureB();indexA=c.GetChildIndexA();indexB=c.GetChildIndexB();bodyA=fixtureA.GetBody();bodyB=fixtureB.GetBody();c.m_prev=null;c.m_next=this.m_contactList;if(this.m_contactList!=null){this.m_contactList.m_prev=c}this.m_contactList=c;c.m_nodeA.contact=c;c.m_nodeA.other=bodyB;c.m_nodeA.prev=null;c.m_nodeA.next=bodyA.m_contactList;if(bodyA.m_contactList!=null){bodyA.m_contactList.prev=c.m_nodeA}bodyA.m_contactList=c.m_nodeA;c.m_nodeB.contact=c;c.m_nodeB.other=bodyA;c.m_nodeB.prev=null;c.m_nodeB.next=bodyB.m_contactList;if(bodyB.m_contactList!=null){bodyB.m_contactList.prev=c.m_nodeB}bodyB.m_contactList=c.m_nodeB;if(fixtureA.IsSensor()==false&&fixtureB.IsSensor()==false){bodyA.SetAwake(true);bodyB.SetAwake(true)}++this.m_contactCount},FindNewContacts:function(){this.m_broadPhase.UpdatePairs(this)},Destroy:function(c){var fixtureA=c.GetFixtureA();var fixtureB=c.GetFixtureB();var bodyA=fixtureA.GetBody();var bodyB=fixtureB.GetBody();if(this.m_contactListener&&c.IsTouching()){this.m_contactListener.EndContact(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_contactList){this.m_contactList=c.m_next}if(c.m_nodeA.prev){c.m_nodeA.prev.next=c.m_nodeA.next}if(c.m_nodeA.next){c.m_nodeA.next.prev=c.m_nodeA.prev}if(c.m_nodeA==bodyA.m_contactList){bodyA.m_contactList=c.m_nodeA.next}if(c.m_nodeB.prev){c.m_nodeB.prev.next=c.m_nodeB.next}if(c.m_nodeB.next){c.m_nodeB.next.prev=c.m_nodeB.prev}if(c.m_nodeB==bodyB.m_contactList){bodyB.m_contactList=c.m_nodeB.next}b2Contact.Destroy(c);--this.m_contactCount},Collide:function(){var c=this.m_contactList;while(c){var fixtureA=c.GetFixtureA();var fixtureB=c.GetFixtureB();var indexA=c.GetChildIndexA();var indexB=c.GetChildIndexB();var bodyA=fixtureA.GetBody();var bodyB=fixtureB.GetBody();if(c.m_flags&b2Contact.e_filterFlag){if(bodyB.ShouldCollide(bodyA)==false){var cNuke=c;c=cNuke.GetNext();this.Destroy(cNuke);continue}if(this.m_contactFilter&&this.m_contactFilter.ShouldCollide(fixtureA,fixtureB)==false){var cNuke=c;c=cNuke.GetNext();this.Destroy(cNuke);continue}c.m_flags&=~b2Contact.e_filterFlag}var activeA=bodyA.IsAwake()&&bodyA.m_type!=b2Body.b2_staticBody;var activeB=bodyB.IsAwake()&&bodyB.m_type!=b2Body.b2_staticBody;if(activeA==false&&activeB==false){c=c.GetNext();continue}var proxyIdA=fixtureA.m_proxies[indexA].proxyId;var proxyIdB=fixtureB.m_proxies[indexB].proxyId;var overlap=this.m_broadPhase.TestOverlap(proxyIdA,proxyIdB);if(overlap==false){var cNuke=c;c=cNuke.GetNext();this.Destroy(cNuke);continue}c.Update(this.m_contactListener);c=c.GetNext()}}};function b2VelocityConstraintPoint(){this.rA=new b2Vec2();this.rB=new b2Vec2();this.normalImpulse=0;this.tangentImpulse=0;this.normalMass=0;this.tangentMass=0;this.velocityBias=0}function b2ContactPositionConstraint(){this.localPoints=new Array(b2_maxManifoldPoints);this.localNormal=new b2Vec2();this.localPoint=new b2Vec2();this.indexA=0;this.indexB=0;this.invMassA=0,this.invMassB=0;this.localCenterA=new b2Vec2(),this.localCenterB=new b2Vec2();this.invIA=0,this.invIB=0;this.type=0;this.radiusA=0,this.radiusB=0;this.pointCount=0}function b2ContactVelocityConstraint(){this.points=new Array(b2_maxManifoldPoints);for(var i=0;i<this.points.length;++i){this.points[i]=new b2VelocityConstraintPoint()}this.normal=new b2Vec2();this.normalMass=new b2Mat22();this.K=new b2Mat22();this.indexA=0;this.indexB=0;this.invMassA=0,this.invMassB=0;this.invIA=0,this.invIB=0;this.friction=0;this.restitution=0;this.tangentSpeed=0;this.pointCount=0;this.contactIndex=0}function b2PositionSolverManifold(){this.normal=new b2Vec2();this.point=new b2Vec2();this.separation=0}b2PositionSolverManifold.prototype={Initialize:function(pc,xfA,xfB,index){switch(pc.type){case b2Manifold.e_circles:var pointAx=(xfA.q.c*pc.localPoint.x-xfA.q.s*pc.localPoint.y)+xfA.p.x;var pointAy=(xfA.q.s*pc.localPoint.x+xfA.q.c*pc.localPoint.y)+xfA.p.y;var pointBx=(xfB.q.c*pc.localPoints[0].x-xfB.q.s*pc.localPoints[0].y)+xfB.p.x;var pointBy=(xfB.q.s*pc.localPoints[0].x+xfB.q.c*pc.localPoints[0].y)+xfB.p.y;this.point.x=0.5*(pointAx+pointBx);this.point.y=0.5*(pointAy+pointBy);this.normal.x=pointBx-pointAx;this.normal.y=pointBy-pointAy;var tempnx=this.normal.x;var tempny=this.normal.y;this.normal.Normalize();this.separation=(tempnx*this.normal.x+tempny*this.normal.y)-pc.radiusA-pc.radiusB;break;case b2Manifold.e_faceA:this.normal.x=xfA.q.c*pc.localNormal.x-xfA.q.s*pc.localNormal.y;this.normal.y=xfA.q.s*pc.localNormal.x+xfA.q.c*pc.localNormal.y;var planePointx=(xfA.q.c*pc.localPoint.x-xfA.q.s*pc.localPoint.y)+xfA.p.x;var planePointy=(xfA.q.s*pc.localPoint.x+xfA.q.c*pc.localPoint.y)+xfA.p.y;var clipPointx=(xfB.q.c*pc.localPoints[index].x-xfB.q.s*pc.localPoints[index].y)+xfB.p.x;var clipPointy=(xfB.q.s*pc.localPoints[index].x+xfB.q.c*pc.localPoints[index].y)+xfB.p.y;this.separation=((clipPointx-planePointx)*this.normal.x+(clipPointy-planePointy)*this.normal.y)-pc.radiusA-pc.radiusB;this.point.x=clipPointx;this.point.y=clipPointy;break;case b2Manifold.e_faceB:this.normal.x=xfB.q.c*pc.localNormal.x-xfB.q.s*pc.localNormal.y;this.normal.y=xfB.q.s*pc.localNormal.x+xfB.q.c*pc.localNormal.y;var planePointx=(xfB.q.c*pc.localPoint.x-xfB.q.s*pc.localPoint.y)+xfB.p.x;var planePointy=(xfB.q.s*pc.localPoint.x+xfB.q.c*pc.localPoint.y)+xfB.p.y;var clipPointx=(xfA.q.c*pc.localPoints[index].x-xfA.q.s*pc.localPoints[index].y)+xfA.p.x;var clipPointy=(xfA.q.s*pc.localPoints[index].x+xfA.q.c*pc.localPoints[index].y)+xfA.p.y;this.separation=((clipPointx-planePointx)*this.normal.x+(clipPointy-planePointy)*this.normal.y)-pc.radiusA-pc.radiusB;this.point.x=clipPointx;this.point.y=clipPointy;this.normal.x=-this.normal.x;this.normal.y=-this.normal.y;break}}};function b2ContactSolverDef(){this.step=new b2TimeStep();this.contacts=null;this.count=0;this.positions=null;this.velocities=null}function b2ContactSolver(){this.m_positionConstraints=[];this.m_velocityConstraints=[]}b2ContactSolver.cs_xfA=new b2Transform();b2ContactSolver.cs_xfB=new b2Transform();b2ContactSolver.temp_solver_manifold=new b2PositionSolverManifold();b2ContactSolver.prototype={Init:function(def){this.m_step=def.step;this.m_count=def.count;this.m_positionConstraints.length=this.m_count;this.m_velocityConstraints.length=this.m_count;this.m_positions=def.positions;this.m_velocities=def.velocities;this.m_contacts=def.contacts;for(var i=0;i<this.m_count;++i){var contact=this.m_contacts[i];var fixtureA=contact.m_fixtureA;var fixtureB=contact.m_fixtureB;var shapeA=fixtureA.GetShape();var shapeB=fixtureB.GetShape();var radiusA=shapeA.m_radius;var radiusB=shapeB.m_radius;var bodyA=fixtureA.GetBody();var bodyB=fixtureB.GetBody();var manifold=contact.GetManifold();var pointCount=manifold.pointCount;var vc=this.m_velocityConstraints[i]||new b2ContactVelocityConstraint();vc.friction=contact.m_friction;vc.restitution=contact.m_restitution;vc.tangentSpeed=contact.m_tangentSpeed;vc.indexA=bodyA.m_islandIndex;vc.indexB=bodyB.m_islandIndex;vc.invMassA=bodyA.m_invMass;vc.invMassB=bodyB.m_invMass;vc.invIA=bodyA.m_invI;vc.invIB=bodyB.m_invI;vc.contactIndex=i;vc.pointCount=pointCount;vc.K.SetZero();vc.normalMass.SetZero();this.m_velocityConstraints[i]=vc;var pc=this.m_positionConstraints[i]||new b2ContactPositionConstraint();pc.indexA=bodyA.m_islandIndex;pc.indexB=bodyB.m_islandIndex;pc.invMassA=bodyA.m_invMass;pc.invMassB=bodyB.m_invMass;pc.localCenterA.x=bodyA.m_sweep.localCenter.x;pc.localCenterA.y=bodyA.m_sweep.localCenter.y;pc.localCenterB.x=bodyB.m_sweep.localCenter.x;pc.localCenterB.y=bodyB.m_sweep.localCenter.y;pc.invIA=bodyA.m_invI;pc.invIB=bodyB.m_invI;pc.localNormal.x=manifold.localNormal.x;pc.localNormal.y=manifold.localNormal.y;pc.localPoint.x=manifold.localPoint.x;pc.localPoint.y=manifold.localPoint.y;pc.pointCount=pointCount;pc.radiusA=radiusA;pc.radiusB=radiusB;pc.type=manifold.type;this.m_positionConstraints[i]=pc;for(var j=0;j<pointCount;++j){var cp=manifold.points[j];var vcp=vc.points[j];if(this.m_step.warmStarting){vcp.normalImpulse=this.m_step.dtRatio*cp.normalImpulse;vcp.tangentImpulse=this.m_step.dtRatio*cp.tangentImpulse}else{vcp.normalImpulse=0;vcp.tangentImpulse=0}vcp.rA.SetZero();vcp.rB.SetZero();vcp.normalMass=0;vcp.tangentMass=0;vcp.velocityBias=0;pc.localPoints[j]=cp.localPoint}}},InitializeVelocityConstraints:function(){for(var i=0;i<this.m_count;++i){var vc=this.m_velocityConstraints[i];var pc=this.m_positionConstraints[i];var radiusA=pc.radiusA;var radiusB=pc.radiusB;var manifold=this.m_contacts[vc.contactIndex].GetManifold();var indexA=vc.indexA;var indexB=vc.indexB;var mA=vc.invMassA;var mB=vc.invMassB;var iA=vc.invIA;var iB=vc.invIB;var localCenterA=pc.localCenterA;var localCenterB=pc.localCenterB;var cA=this.m_positions[indexA].c;var aA=this.m_positions[indexA].a;var vA=this.m_velocities[indexA].v;var wA=this.m_velocities[indexA].w;var cB=this.m_positions[indexB].c;var aB=this.m_positions[indexB].a;var vB=this.m_velocities[indexB].v;var wB=this.m_velocities[indexB].w;b2ContactSolver.cs_xfA.q.Set(aA);b2ContactSolver.cs_xfB.q.Set(aB);b2ContactSolver.cs_xfA.p.x=cA.x-(b2ContactSolver.cs_xfA.q.c*localCenterA.x-b2ContactSolver.cs_xfA.q.s*localCenterA.y);b2ContactSolver.cs_xfA.p.y=cA.y-(b2ContactSolver.cs_xfA.q.s*localCenterA.x+b2ContactSolver.cs_xfA.q.c*localCenterA.y);b2ContactSolver.cs_xfB.p.x=cB.x-(b2ContactSolver.cs_xfB.q.c*localCenterB.x-b2ContactSolver.cs_xfB.q.s*localCenterB.y);b2ContactSolver.cs_xfB.p.y=cB.y-(b2ContactSolver.cs_xfB.q.s*localCenterB.x+b2ContactSolver.cs_xfB.q.c*localCenterB.y);var worldManifold=new b2WorldManifold();worldManifold.Initialize(manifold,b2ContactSolver.cs_xfA,radiusA,b2ContactSolver.cs_xfB,radiusB);vc.normal.x=worldManifold.normal.x;vc.normal.y=worldManifold.normal.y;var pointCount=vc.pointCount;for(var j=0;j<pointCount;++j){var vcp=vc.points[j];vcp.rA.x=worldManifold.points[j].x-cA.x;vcp.rA.y=worldManifold.points[j].y-cA.y;vcp.rB.x=worldManifold.points[j].x-cB.x;vcp.rB.y=worldManifold.points[j].y-cB.y;var rnA=vcp.rA.x*vc.normal.y-vcp.rA.y*vc.normal.x;var rnB=vcp.rB.x*vc.normal.y-vcp.rB.y*vc.normal.x;var kNormal=mA+mB+iA*rnA*rnA+iB*rnB*rnB;vcp.normalMass=kNormal>0?1/kNormal:0;var tangentx=1*vc.normal.y;var tangenty=-1*vc.normal.x;var rtA=vcp.rA.x*tangenty-vcp.rA.y*tangentx;var rtB=vcp.rB.x*tangenty-vcp.rB.y*tangentx;var kTangent=mA+mB+iA*rtA*rtA+iB*rtB*rtB;vcp.tangentMass=kTangent>0?1/kTangent:0;vcp.velocityBias=0;var vRel=vc.normal.x*(((vB.x+(-wB*vcp.rB.y))-vA.x)-(-wA*vcp.rA.y))+vc.normal.y*(((vB.y+(wB*vcp.rB.x))-vA.y)-(wA*vcp.rA.x));if(vRel<-b2_velocityThreshold){vcp.velocityBias=-vc.restitution*vRel}}if(vc.pointCount==2){var vcp1=vc.points[0];var vcp2=vc.points[1];var rn1A=vcp1.rA.x*vc.normal.y-vcp1.rA.y*vc.normal.x;var rn1B=vcp1.rB.x*vc.normal.y-vcp1.rB.y*vc.normal.x;var rn2A=vcp2.rA.x*vc.normal.y-vcp2.rA.y*vc.normal.x;var rn2B=vcp2.rB.x*vc.normal.y-vcp2.rB.y*vc.normal.x;var k11=mA+mB+iA*rn1A*rn1A+iB*rn1B*rn1B;var k22=mA+mB+iA*rn2A*rn2A+iB*rn2B*rn2B;var k12=mA+mB+iA*rn1A*rn2A+iB*rn1B*rn2B;var k_maxConditionNumber=1000;if(k11*k11<k_maxConditionNumber*(k11*k22-k12*k12)){vc.K.ex.x=k11;vc.K.ex.y=k12;vc.K.ey.x=k12;vc.K.ey.y=k22;vc.normalMass.Assign(vc.K.GetInverse())}else{vc.pointCount=1}}}},WarmStart:function(){for(var i=0;i<this.m_count;++i){var vc=this.m_velocityConstraints[i];var indexA=vc.indexA;var indexB=vc.indexB;var mA=vc.invMassA;var iA=vc.invIA;var mB=vc.invMassB;var iB=vc.invIB;var pointCount=vc.pointCount;var vA=this.m_velocities[indexA].v;var wA=this.m_velocities[indexA].w;var vB=this.m_velocities[indexB].v;var wB=this.m_velocities[indexB].w;var normal=vc.normal;var tangentx=1*normal.y;var tangenty=-1*normal.x;for(var j=0;j<pointCount;++j){var vcp=vc.points[j];var Px=(vcp.normalImpulse*normal.x)+(vcp.tangentImpulse*tangentx);var Py=(vcp.normalImpulse*normal.y)+(vcp.tangentImpulse*tangenty);wA-=iA*(vcp.rA.x*Py-vcp.rA.y*Px);vA.x-=mA*Px;vA.y-=mA*Py;wB+=iB*(vcp.rB.x*Py-vcp.rB.y*Px);vB.x+=mB*Px;vB.y+=mB*Py}this.m_velocities[indexA].w=wA;this.m_velocities[indexB].w=wB}},SolveVelocityConstraints:function(){for(var i=0;i<this.m_count;++i){var vc=this.m_velocityConstraints[i];var indexA=vc.indexA;var indexB=vc.indexB;var mA=vc.invMassA;var iA=vc.invIA;var mB=vc.invMassB;var iB=vc.invIB;var pointCount=vc.pointCount;var vA=this.m_velocities[indexA].v;var wA=this.m_velocities[indexA].w;var vB=this.m_velocities[indexB].v;var wB=this.m_velocities[indexB].w;var normal=vc.normal;var tangentx=1*normal.y;var tangenty=-1*normal.x;var friction=vc.friction;for(var j=0;j<pointCount;++j){var vcp=vc.points[j];var dvx=vB.x+(-wB*vcp.rB.y)-vA.x-(-wA*vcp.rA.y);var dvy=vB.y+(wB*vcp.rB.x)-vA.y-(wA*vcp.rA.x);var vt=(dvx*tangentx+dvy*tangenty)-vc.tangentSpeed;var lambda=vcp.tangentMass*(-vt);var maxFriction=friction*vcp.normalImpulse;var newImpulse=b2Clamp(vcp.tangentImpulse+lambda,-maxFriction,maxFriction);lambda=newImpulse-vcp.tangentImpulse;vcp.tangentImpulse=newImpulse;var Px=lambda*tangentx;var Py=lambda*tangenty;vA.x-=mA*Px;vA.y-=mA*Py;wA-=iA*(vcp.rA.x*Py-vcp.rA.y*Px);vB.x+=mB*Px;vB.y+=mB*Py;wB+=iB*(vcp.rB.x*Py-vcp.rB.y*Px)}if(vc.pointCount==1){vcp=vc.points[0];dvx=vB.x+(-wB*vcp.rB.y)-vA.x-(-wA*vcp.rA.y);dvy=vB.y+(wB*vcp.rB.x)-vA.y-(wA*vcp.rA.x);var vn=dvx*normal.x+dvy*normal.y;var lambda=-vcp.normalMass*(vn-vcp.velocityBias);var newImpulse=b2Max(vcp.normalImpulse+lambda,0);lambda=newImpulse-vcp.normalImpulse;vcp.normalImpulse=newImpulse;Px=lambda*normal.x;Py=lambda*normal.y;vA.x-=mA*Px;vA.y-=mA*Py;wA-=iA*(vcp.rA.x*Py-vcp.rA.y*Px);vB.x+=mB*Px;vB.y+=mB*Py;wB+=iB*(vcp.rB.x*Py-vcp.rB.y*Px)}else{var cp1=vc.points[0];var cp2=vc.points[1];var ax=cp1.normalImpulse;var ay=cp2.normalImpulse;var dv1x=vB.x+(-wB*cp1.rB.y)-vA.x-(-wA*cp1.rA.y);var dv1y=vB.y+(wB*cp1.rB.x)-vA.y-(wA*cp1.rA.x);var dv2x=vB.x+(-wB*cp2.rB.y)-vA.x-(-wA*cp2.rA.y);var dv2y=vB.y+(wB*cp2.rB.x)-vA.y-(wA*cp2.rA.x);var vn1=dv1x*normal.x+dv1y*normal.y;var vn2=dv2x*normal.x+dv2y*normal.y;var bx=vn1-cp1.velocityBias;var by=vn2-cp2.velocityBias;bx-=vc.K.ex.x*ax+vc.K.ey.x*ay;by-=vc.K.ex.y*ax+vc.K.ey.y*ay;for(;;){var xx=-(vc.normalMass.ex.x*bx+vc.normalMass.ey.x*by);var xy=-(vc.normalMass.ex.y*bx+vc.normalMass.ey.y*by);if(xx>=0&&xy>=0){var dx=xx-ax;var dy=xy-ay;var P1x=dx*normal.x;var P1y=dx*normal.y;var P2x=dy*normal.x;var P2y=dy*normal.y;vA.x-=mA*(P1x+P2x);vA.y-=mA*(P1y+P2y);wA-=iA*((cp1.rA.x*P1y-cp1.rA.y*P1x)+(cp2.rA.x*P2y-cp2.rA.y*P2x));vB.x+=mB*(P1x+P2x);vB.y+=mB*(P1y+P2y);wB+=iB*((cp1.rB.x*P1y-cp1.rB.y*P1x)+(cp2.rB.x*P2y-cp2.rB.y*P2x));cp1.normalImpulse=xx;cp2.normalImpulse=xy;break}xx=-cp1.normalMass*bx;xy=0;vn1=0;vn2=vc.K.ex.y*xx+by;if(xx>=0&&vn2>=0){dx=xx-ax;dy=xy-ay;P1x=dx*normal.x;P1y=dx*normal.y;P2x=dy*normal.x;P2y=dy*normal.y;vA.x-=mA*(P1x+P2x);vA.y-=mA*(P1y+P2y);wA-=iA*((cp1.rA.x*P1y-cp1.rA.y*P1x)+(cp2.rA.x*P2y-cp2.rA.y*P2x));vB.x+=mB*(P1x+P2x);vB.y+=mB*(P1y+P2y);wB+=iB*((cp1.rB.x*P1y-cp1.rB.y*P1x)+(cp2.rB.x*P2y-cp2.rB.y*P2x));cp1.normalImpulse=xx;cp2.normalImpulse=xy;break}xx=0;xy=-cp2.normalMass*by;vn1=vc.K.ey.x*xy+bx;vn2=0;if(xy>=0&&vn1>=0){dx=xx-ax;dy=xy-ay;P1x=dx*normal.x;P1y=dx*normal.y;P2x=dy*normal.x;P2y=dy*normal.y;vA.x-=mA*(P1x+P2x);vA.y-=mA*(P1y+P2y);wA-=iA*((cp1.rA.x*P1y-cp1.rA.y*P1x)+(cp2.rA.x*P2y-cp2.rA.y*P2x));vB.x+=mB*(P1x+P2x);vB.y+=mB*(P1y+P2y);wB+=iB*((cp1.rB.x*P1y-cp1.rB.y*P1x)+(cp2.rB.x*P2y-cp2.rB.y*P2x));cp1.normalImpulse=xx;cp2.normalImpulse=xy;break}xx=0;xy=0;vn1=bx;vn2=by;if(vn1>=0&&vn2>=0){dx=xx-ax;dy=xy-ay;P1x=dx*normal.x;P1y=dx*normal.y;P2x=dy*normal.x;P2y=dy*normal.y;vA.x-=mA*(P1x+P2x);vA.y-=mA*(P1y+P2y);wA-=iA*((cp1.rA.x*P1y-cp1.rA.y*P1x)+(cp2.rA.x*P2y-cp2.rA.y*P2x));vB.x+=mB*(P1x+P2x);vB.y+=mB*(P1y+P2y);wB+=iB*((cp1.rB.x*P1y-cp1.rB.y*P1x)+(cp2.rB.x*P2y-cp2.rB.y*P2x));cp1.normalImpulse=xx;cp2.normalImpulse=xy;break}break}}this.m_velocities[indexA].w=wA;this.m_velocities[indexB].w=wB}},StoreImpulses:function(){for(var i=0;i<this.m_count;++i){var vc=this.m_velocityConstraints[i];var manifold=this.m_contacts[vc.contactIndex].GetManifold();for(var j=0;j<vc.pointCount;++j){manifold.points[j].normalImpulse=vc.points[j].normalImpulse;manifold.points[j].tangentImpulse=vc.points[j].tangentImpulse}}},SolvePositionConstraints:function(){var minSeparation=0;for(var i=0;i<this.m_count;++i){var pc=this.m_positionConstraints[i];var indexA=pc.indexA;var indexB=pc.indexB;var localCenterA=pc.localCenterA;var mA=pc.invMassA;var iA=pc.invIA;var localCenterB=pc.localCenterB;var mB=pc.invMassB;var iB=pc.invIB;var pointCount=pc.pointCount;var cA=this.m_positions[indexA].c;var aA=this.m_positions[indexA].a;var cB=this.m_positions[indexB].c;var aB=this.m_positions[indexB].a;for(var j=0;j<pointCount;++j){b2ContactSolver.cs_xfA.q.Set(aA);b2ContactSolver.cs_xfB.q.Set(aB);b2ContactSolver.cs_xfA.p.x=cA.x-(b2ContactSolver.cs_xfA.q.c*localCenterA.x-b2ContactSolver.cs_xfA.q.s*localCenterA.y);b2ContactSolver.cs_xfA.p.y=cA.y-(b2ContactSolver.cs_xfA.q.s*localCenterA.x+b2ContactSolver.cs_xfA.q.c*localCenterA.y);b2ContactSolver.cs_xfB.p.x=cB.x-(b2ContactSolver.cs_xfB.q.c*localCenterB.x-b2ContactSolver.cs_xfB.q.s*localCenterB.y);b2ContactSolver.cs_xfB.p.y=cB.y-(b2ContactSolver.cs_xfB.q.s*localCenterB.x+b2ContactSolver.cs_xfB.q.c*localCenterB.y);b2ContactSolver.temp_solver_manifold.Initialize(pc,b2ContactSolver.cs_xfA,b2ContactSolver.cs_xfB,j);var normal=b2ContactSolver.temp_solver_manifold.normal;var point=b2ContactSolver.temp_solver_manifold.point;var separation=b2ContactSolver.temp_solver_manifold.separation;var rAx=point.x-cA.x;var rAy=point.y-cA.y;var rBx=point.x-cB.x;var rBy=point.y-cB.y;minSeparation=b2Min(minSeparation,separation);var C=b2Clamp(b2_baumgarte*(separation+b2_linearSlop),-b2_maxLinearCorrection,0);var rnA=rAx*normal.y-rAy*normal.x;var rnB=rBx*normal.y-rBy*normal.x;var K=mA+mB+iA*rnA*rnA+iB*rnB*rnB;var impulse=K>0?-C/K:0;var Px=impulse*normal.x;var Py=impulse*normal.y;cA.x-=mA*Px;cA.y-=mA*Py;aA-=iA*(rAx*Py-rAy*Px);cB.x+=mB*Px;cB.y+=mB*Py;aB+=iB*(rBx*Py-rBy*Px)}this.m_positions[indexA].a=aA;this.m_positions[indexB].a=aB}return minSeparation>=-3*b2_linearSlop},SolveTOIPositionConstraints:function(toiIndexA,toiIndexB){var minSeparation=0;for(var i=0;i<this.m_count;++i){var pc=this.m_positionConstraints[i];var indexA=pc.indexA;var indexB=pc.indexB;var localCenterA=pc.localCenterA;var localCenterB=pc.localCenterB;var pointCount=pc.pointCount;var mA=0;var iA=0;if(indexA==toiIndexA||indexA==toiIndexB){mA=pc.invMassA;iA=pc.invIA}var mB=0;var iB=0;if(indexB==toiIndexA||indexB==toiIndexB){mB=pc.invMassB;iB=pc.invIB}var cA=this.m_positions[indexA].c;var aA=this.m_positions[indexA].a;var cB=this.m_positions[indexB].c;var aB=this.m_positions[indexB].a;for(var j=0;j<pointCount;++j){b2ContactSolver.cs_xfA.q.Set(aA);b2ContactSolver.cs_xfB.q.Set(aB);b2ContactSolver.cs_xfA.p.Assign(b2Vec2.Subtract(cA,b2Mul_r_v2(b2ContactSolver.cs_xfA.q,localCenterA)));b2ContactSolver.cs_xfB.p.Assign(b2Vec2.Subtract(cB,b2Mul_r_v2(b2ContactSolver.cs_xfB.q,localCenterB)));b2ContactSolver.temp_solver_manifold.Initialize(pc,b2ContactSolver.cs_xfA,b2ContactSolver.cs_xfB,j);var normal=b2ContactSolver.temp_solver_manifold.normal;var point=b2ContactSolver.temp_solver_manifold.point;var separation=b2ContactSolver.temp_solver_manifold.separation;var rA=b2Vec2.Subtract(point,cA);var rB=b2Vec2.Subtract(point,cB);minSeparation=b2Min(minSeparation,separation);var C=b2Clamp(b2_toiBaugarte*(separation+b2_linearSlop),-b2_maxLinearCorrection,0);var rnA=b2Cross_v2_v2(rA,normal);var rnB=b2Cross_v2_v2(rB,normal);var K=mA+mB+iA*rnA*rnA+iB*rnB*rnB;var impulse=K>0?-C/K:0;var P=b2Vec2.Multiply(impulse,normal);cA.Subtract(b2Vec2.Multiply(mA,P));aA-=iA*b2Cross_v2_v2(rA,P);cB.Add(b2Vec2.Multiply(mB,P));aB+=iB*b2Cross_v2_v2(rB,P)}this.m_positions[indexA].a=aA;this.m_positions[indexB].a=aB}return minSeparation>=-1.5*b2_linearSlop}};"use strict";function b2Island(){this.m_bodies=[];this.m_contacts=[];this.m_joints=[];this.m_velocities=[];this.m_positions=[]}var profile_solve_init=b2Profiler.create("solve initialization","solve");var profile_solve_init_warmStarting=b2Profiler.create("warm starting","solve initialization");var profile_solve_velocity=b2Profiler.create("solve velocities","solve");var profile_solve_position=b2Profiler.create("solve positions","solve");b2Island._solverData=new b2SolverData();b2Island._solverDef=new b2ContactSolverDef();b2Island._solver=new b2ContactSolver();b2Island.prototype={Clear:function(){this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0},Initialize:function(bodyCapacity,contactCapacity,jointCapacity,listener){this.m_listener=listener;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.length=bodyCapacity;this.m_contacts.length=contactCapacity;this.m_joints.length=jointCapacity;this.m_velocities.length=bodyCapacity;this.m_positions.length=bodyCapacity},Solve:function(step,gravity,allowSleep){profile_solve_init.start();var h=step.dt;for(var i=0;i<this.m_bodyCount;++i){var b=this.m_bodies[i];this.m_positions[i].c.Assign(b.m_sweep.c);var a=b.m_sweep.a;this.m_velocities[i].v.Assign(b.m_linearVelocity);var w=b.m_angularVelocity;b.m_sweep.c0.Assign(b.m_sweep.c);b.m_sweep.a0=b.m_sweep.a;if(b.m_type==b2Body.b2_dynamicBody){this.m_velocities[i].v.x+=h*((b.m_gravityScale*gravity.x)+(b.m_invMass*b.m_force.x));this.m_velocities[i].v.y+=h*((b.m_gravityScale*gravity.y)+(b.m_invMass*b.m_force.y));w+=h*b.m_invI*b.m_torque;this.m_velocities[i].v.x*=1/(1+h*b.m_linearDamping);this.m_velocities[i].v.y*=1/(1+h*b.m_linearDamping);w*=1/(1+h*b.m_angularDamping)}this.m_positions[i].a=a;this.m_velocities[i].w=w}b2Island._solverData.step=step;b2Island._solverData.positions=this.m_positions;b2Island._solverData.velocities=this.m_velocities;b2Island._solverDef.step=step;b2Island._solverDef.contacts=this.m_contacts;b2Island._solverDef.count=this.m_contactCount;b2Island._solverDef.positions=this.m_positions;b2Island._solverDef.velocities=this.m_velocities;b2Island._solverDef.allocator=this.m_allocator;b2Island._solver.Init(b2Island._solverDef);b2Island._solver.InitializeVelocityConstraints();if(step.warmStarting){profile_solve_init_warmStarting.start();b2Island._solver.WarmStart();profile_solve_init_warmStarting.stop()}for(var i=0;i<this.m_jointCount;++i){this.m_joints[i].InitVelocityConstraints(b2Island._solverData)}profile_solve_init.stop();profile_solve_velocity.start();for(var i=0;i<step.velocityIterations;++i){for(var j=0;j<this.m_jointCount;++j){this.m_joints[j].SolveVelocityConstraints(b2Island._solverData)}b2Island._solver.SolveVelocityConstraints()}b2Island._solver.StoreImpulses();profile_solve_velocity.stop();profile_solve_position.start();for(var i=0;i<this.m_bodyCount;++i){var c=this.m_positions[i].c;var a=this.m_positions[i].a;var v=this.m_velocities[i].v;var w=this.m_velocities[i].w;var translationx=h*v.x;var translationy=h*v.y;var translationl=translationx*translationx+translationy*translationy;if(translationl>b2_maxTranslationSquared){var ratio=b2_maxTranslation/b2Sqrt(translationl);v.x*=ratio;v.y*=ratio}var rotation=h*w;if(rotation*rotation>b2_maxRotationSquared){var ratio=b2_maxRotation/b2Abs(rotation);w*=ratio}c.x+=h*v.x;c.y+=h*v.y;a+=h*w;this.m_positions[i].a=a;this.m_velocities[i].w=w}var positionSolved=false;for(var i=0;i<step.positionIterations;++i){var contactsOkay=b2Island._solver.SolvePositionConstraints();var jointsOkay=true;for(var j=0;j<this.m_jointCount;++j){var jointOkay=this.m_joints[j].SolvePositionConstraints(b2Island._solverData);jointsOkay=jointsOkay&&jointOkay}if(contactsOkay&&jointsOkay){positionSolved=true;break}}for(var i=0;i<this.m_bodyCount;++i){var body=this.m_bodies[i];body.m_sweep.c.Assign(this.m_positions[i].c);body.m_sweep.a=this.m_positions[i].a;body.m_linearVelocity.Assign(this.m_velocities[i].v);body.m_angularVelocity=this.m_velocities[i].w;body.SynchronizeTransform()}profile_solve_position.stop();this.Report(b2Island._solver.m_velocityConstraints);if(allowSleep){var minSleepTime=b2_maxFloat;var linTolSqr=b2_linearSleepTolerance*b2_linearSleepTolerance;var angTolSqr=b2_angularSleepTolerance*b2_angularSleepTolerance;for(var i=0;i<this.m_bodyCount;++i){var b=this.m_bodies[i];if(b.GetType()==b2Body.b2_staticBody){continue}if((b.m_flags&b2Body.e_autoSleepFlag)==0||b.m_angularVelocity*b.m_angularVelocity>angTolSqr||b2Dot_v2_v2(b.m_linearVelocity,b.m_linearVelocity)>linTolSqr){b.m_sleepTime=0;minSleepTime=0}else{b.m_sleepTime+=h;minSleepTime=b2Min(minSleepTime,b.m_sleepTime)}}if(minSleepTime>=b2_timeToSleep&&positionSolved){for(var i=0;i<this.m_bodyCount;++i){var b=this.m_bodies[i];b.SetAwake(false)}}}},SolveTOI:function(subStep,toiIndexA,toiIndexB){for(var i=0;i<this.m_bodyCount;++i){var b=this.m_bodies[i];this.m_positions[i].c.Assign(b.m_sweep.c);this.m_positions[i].a=b.m_sweep.a;this.m_velocities[i].v.Assign(b.m_linearVelocity);this.m_velocities[i].w=b.m_angularVelocity}b2Island._solverDef.contacts=this.m_contacts;b2Island._solverDef.count=this.m_contactCount;b2Island._solverDef.step=subStep;b2Island._solverDef.positions=this.m_positions;b2Island._solverDef.velocities=this.m_velocities;b2Island._solver.Init(b2Island._solverDef);for(var i=0;i<subStep.positionIterations;++i){var contactsOkay=b2Island._solver.SolveTOIPositionConstraints(toiIndexA,toiIndexB);if(contactsOkay){break}}this.m_bodies[toiIndexA].m_sweep.c0.Assign(this.m_positions[toiIndexA].c);this.m_bodies[toiIndexA].m_sweep.a0=this.m_positions[toiIndexA].a;this.m_bodies[toiIndexB].m_sweep.c0.Assign(this.m_positions[toiIndexB].c);this.m_bodies[toiIndexB].m_sweep.a0=this.m_positions[toiIndexB].a;b2Island._solver.InitializeVelocityConstraints();for(var i=0;i<subStep.velocityIterations;++i){b2Island._solver.SolveVelocityConstraints()}var h=subStep.dt;for(var i=0;i<this.m_bodyCount;++i){var c=this.m_positions[i].c;var a=this.m_positions[i].a;var v=this.m_velocities[i].v;var w=this.m_velocities[i].w;var translation=b2Vec2.Multiply(h,v);if(b2Dot_v2_v2(translation,translation)>b2_maxTranslationSquared){var ratio=b2_maxTranslation/translation.Length();v.Multiply(ratio)}var rotation=h*w;if(rotation*rotation>b2_maxRotationSquared){var ratio=b2_maxRotation/b2Abs(rotation);w*=ratio}c.Add(b2Vec2.Multiply(h,v));a+=h*w;this.m_positions[i].a=a;this.m_velocities[i].w=w;var body=this.m_bodies[i];body.m_sweep.c.Assign(c);body.m_sweep.a=a;body.m_linearVelocity.Assign(v);body.m_angularVelocity=w;body.SynchronizeTransform()}this.Report(b2Island._solver.m_velocityConstraints)},AddBody:function(body){body.m_islandIndex=this.m_bodyCount;this.m_bodies[this.m_bodyCount]=body;if(!this.m_positions[this.m_bodyCount]){this.m_positions[this.m_bodyCount]=new b2Position();this.m_velocities[this.m_bodyCount]=new b2Velocity()}++this.m_bodyCount},AddContact:function(contact){this.m_contacts[this.m_contactCount++]=contact},AddJoint:function(joint){this.m_joints[this.m_jointCount++]=joint},Report:function(constraints){if(this.m_listener==null){return}for(var i=0;i<this.m_contactCount;++i){var c=this.m_contacts[i];var vc=constraints[i];var impulse=new b2ContactImpulse();impulse.count=vc.pointCount;for(var j=0;j<vc.pointCount;++j){impulse.normalImpulses[j]=vc.points[j].normalImpulse;impulse.tangentImpulses[j]=vc.points[j].tangentImpulse}this.m_listener.PostSolve(c,impulse)}}};function b2Jacobian(){this.linear=new b2Vec2();this.angularA=0;this.angularB=0}function b2JointEdge(){this.other=null;this.joint=null;this.prev=null;this.next=null}function b2JointDef(){this.type=b2Joint.e_unknownJoint;this.userData=null;this.bodyA=null;this.bodyB=null;this.collideConnected=false}b2JointDef.prototype={_deserialize:function(data,bodies,joints){this.bodyA=bodies[data.bodyA];this.bodyB=bodies[data.bodyB];this.collideConnected=data.collideConnected}};function b2Joint(def){this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_bodyA=def.bodyA;this.m_bodyB=def.bodyB;this.m_index=0;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_edgeA=new b2JointEdge();this.m_edgeA.joint=null;this.m_edgeA.other=null;this.m_edgeA.prev=null;this.m_edgeA.next=null;this.m_edgeB=new b2JointEdge();this.m_edgeB.joint=null;this.m_edgeB.other=null;this.m_edgeB.prev=null;this.m_edgeB.next=null}b2Joint.prototype={GetType:function(){return this.m_type},GetBodyA:function(){return this.m_bodyA},GetBodyB:function(){return this.m_bodyB},GetAnchorA:function(){},GetAnchorB:function(){},GetReactionForce:function(inv_dt){},GetReactionTorque:function(inv_dt){},GetNext:function(){return this.m_next},GetUserData:function(){return this.m_userData},SetUserData:function(data){this.m_userData=data},IsActive:function(){return this.m_bodyA.IsActive()&&this.m_bodyB.IsActive()},GetCollideConnected:function(){return this.m_collideConnected},ShiftOrigin:function(newOrigin){},InitVelocityConstraints:function(data){},SolveVelocityConstraints:function(data){},SolvePositionConstraints:function(data){},_serialize:function(out){var obj=out||{};obj.bodyA=null;obj.bodyB=null;obj.type=this.m_type;obj.collideConnected=this.m_collideConnected;return obj}};b2Joint.e_inactiveLimit=0;b2Joint.e_atLowerLimit=1;b2Joint.e_atUpperLimit=2;b2Joint.e_equalLimits=3;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_wheelJoint=7;b2Joint.e_weldJoint=8;b2Joint.e_frictionJoint=9;b2Joint.e_ropeJoint=10;b2Joint.e_motorJoint=11;b2Joint.Create=function(def){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;case b2Joint.e_wheelJoint:joint=new b2WheelJoint(def);break;case b2Joint.e_weldJoint:joint=new b2WeldJoint(def);break;case b2Joint.e_frictionJoint:joint=new b2FrictionJoint(def);break;case b2Joint.e_ropeJoint:joint=new b2RopeJoint(def);break;case b2Joint.e_motorJoint:joint=new b2MotorJoint(def);break}return joint};b2Joint.Destroy=function(joint){};function b2RevoluteJointDef(){this.parent.call(this);this.type=b2Joint.e_revoluteJoint;this.localAnchorA=new b2Vec2();this.localAnchorB=new b2Vec2();this.referenceAngle=0;this.lowerAngle=0;this.upperAngle=0;this.maxMotorTorque=0;this.motorSpeed=0;this.enableLimit=false;this.enableMotor=false;Object.seal(this)}b2RevoluteJointDef.prototype={Initialize:function(bA,bB,anchor){this.bodyA=bA;this.bodyB=bB;this.localAnchorA=this.bodyA.GetLocalPoint(anchor);this.localAnchorB=this.bodyB.GetLocalPoint(anchor);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.referenceAngle=data.referenceAngle;this.lowerAngle=data.lowerAngle;this.upperAngle=data.upperAngle;this.maxMotorTorque=data.maxMotorTorque;this.motorSpeed=data.motorSpeed;this.enableLimit=data.enableLimit;this.enableMotor=data.enableMotor}};b2RevoluteJointDef._extend(b2JointDef);function b2RevoluteJoint(def){this.parent.call(this,def);this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_referenceAngle=def.referenceAngle;this.m_impulse=new b2Vec3();this.m_motorImpulse=0;this.m_lowerAngle=def.lowerAngle;this.m_upperAngle=def.upperAngle;this.m_maxMotorTorque=def.maxMotorTorque;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;this.m_limitState=b2Joint.e_inactiveLimit;this.m_indexA=0;this.m_indexB=0;this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_mass=new b2Mat33();this.m_motorMass=0}b2RevoluteJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},GetReferenceAngle:function(){return this.m_referenceAngle},GetJointAngle:function(){var bA=this.m_bodyA;var bB=this.m_bodyB;return bB.m_sweep.a-bA.m_sweep.a-this.m_referenceAngle},GetJointSpeed:function(){var bA=this.m_bodyA;var bB=this.m_bodyB;return bB.m_angularVelocity-bA.m_angularVelocity},IsLimitEnabled:function(){return this.m_enableLimit},EnableLimit:function(flag){if(flag!=this.m_enableLimit){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableLimit=flag;this.m_impulse.z=0}},GetLowerLimit:function(){return this.m_lowerAngle},GetUpperLimit:function(){return this.m_upperAngle},SetLimits:function(lower,upper){if(lower!=this.m_lowerAngle||upper!=this.m_upperAngle){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_impulse.z=0;this.m_lowerAngle=lower;this.m_upperAngle=upper}},IsMotorEnabled:function(){return this.m_enableMotor},EnableMotor:function(flag){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=flag},SetMotorSpeed:function(speed){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=speed},GetMotorSpeed:function(){return this.m_motorSpeed},SetMaxMotorTorque:function(torque){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorTorque=torque},GetMaxMotorTorque:function(){return this.m_maxMotorTorque},GetReactionForce:function(inv_dt){var P=new b2Vec2(this.m_impulse.x,this.m_impulse.y);return b2Vec2.Multiply(inv_dt,P)},GetReactionTorque:function(inv_dt){return inv_dt*this.m_impulse.z},GetMotorTorque:function(inv_dt){return inv_dt*this.m_motorImpulse},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA=this.m_bodyA.m_sweep.localCenter;this.m_localCenterB=this.m_bodyB.m_sweep.localCenter;this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));this.m_rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var fixedRotation=(iA+iB==0);this.m_mass.ex.x=mA+mB+this.m_rA.y*this.m_rA.y*iA+this.m_rB.y*this.m_rB.y*iB;this.m_mass.ey.x=-this.m_rA.y*this.m_rA.x*iA-this.m_rB.y*this.m_rB.x*iB;this.m_mass.ez.x=-this.m_rA.y*iA-this.m_rB.y*iB;this.m_mass.ex.y=this.m_mass.ey.x;this.m_mass.ey.y=mA+mB+this.m_rA.x*this.m_rA.x*iA+this.m_rB.x*this.m_rB.x*iB;this.m_mass.ez.y=this.m_rA.x*iA+this.m_rB.x*iB;this.m_mass.ex.z=this.m_mass.ez.x;this.m_mass.ey.z=this.m_mass.ez.y;this.m_mass.ez.z=iA+iB;this.m_motorMass=iA+iB;if(this.m_motorMass>0){this.m_motorMass=1/this.m_motorMass}if(this.m_enableMotor==false||fixedRotation){this.m_motorImpulse=0}if(this.m_enableLimit&&fixedRotation==false){var jointAngle=aB-aA-this.m_referenceAngle;if(b2Abs(this.m_upperAngle-this.m_lowerAngle)<2*b2_angularSlop){this.m_limitState=b2Joint.e_equalLimits}else{if(jointAngle<=this.m_lowerAngle){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_impulse.z=0}this.m_limitState=b2Joint.e_atLowerLimit}else{if(jointAngle>=this.m_upperAngle){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_impulse.z=0}this.m_limitState=b2Joint.e_atUpperLimit}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_impulse.z=0}}}}else{this.m_limitState=b2Joint.e_inactiveLimit}if(data.step.warmStarting){this.m_impulse.Multiply(data.step.dtRatio);this.m_motorImpulse*=data.step.dtRatio;var P=new b2Vec2(this.m_impulse.x,this.m_impulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+this.m_motorImpulse+this.m_impulse.z);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+this.m_motorImpulse+this.m_impulse.z)}else{this.m_impulse.SetZero();this.m_motorImpulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var fixedRotation=(iA+iB==0);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits&&fixedRotation==false){var Cdot=wB-wA-this.m_motorSpeed;var impulse=-this.m_motorMass*Cdot;var oldImpulse=this.m_motorImpulse;var maxImpulse=data.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=b2Clamp(this.m_motorImpulse+impulse,-maxImpulse,maxImpulse);impulse=this.m_motorImpulse-oldImpulse;wA-=iA*impulse;wB+=iB*impulse}if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit&&fixedRotation==false){var Cdot1=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB)),vA),b2Cross_f_v2(wA,this.m_rA));var Cdot2=wB-wA;var Cdot=new b2Vec3(Cdot1.x,Cdot1.y,Cdot2);var impulse=this.m_mass.Solve33(Cdot).Negate();if(this.m_limitState==b2Joint.e_equalLimits){this.m_impulse.Add(impulse)}else{if(this.m_limitState==b2Joint.e_atLowerLimit){var newImpulse=this.m_impulse.z+impulse.z;if(newImpulse<0){var rhs=b2Vec2.Add(Cdot1.Negate(),b2Vec2.Multiply(this.m_impulse.z,new b2Vec2(this.m_mass.ez.x,this.m_mass.ez.y)));var reduced=this.m_mass.Solve22(rhs);impulse.x=reduced.x;impulse.y=reduced.y;impulse.z=-this.m_impulse.z;this.m_impulse.x+=reduced.x;this.m_impulse.y+=reduced.y;this.m_impulse.z=0}else{this.m_impulse.Add(impulse)}}else{if(this.m_limitState==b2Joint.e_atUpperLimit){var newImpulse=this.m_impulse.z+impulse.z;if(newImpulse>0){var rhs=b2Vec2.Add(Cdot1.Negate(),b2Vec2.Multiply(this.m_impulse.z,new b2Vec2(this.m_mass.ez.x,this.m_mass.ez.y)));var reduced=this.m_mass.Solve22(rhs);impulse.x=reduced.x;impulse.y=reduced.y;impulse.z=-this.m_impulse.z;this.m_impulse.x+=reduced.x;this.m_impulse.y+=reduced.y;this.m_impulse.z=0}else{this.m_impulse.Add(impulse)}}}}var P=new b2Vec2(impulse.x,impulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+impulse.z);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+impulse.z)}else{var Cdot=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB)),vA),b2Cross_f_v2(wA,this.m_rA));var impulse=this.m_mass.Solve22(Cdot.Negate());this.m_impulse.x+=impulse.x;this.m_impulse.y+=impulse.y;vA.Subtract(b2Vec2.Multiply(mA,impulse));wA-=iA*b2Cross_v2_v2(this.m_rA,impulse);vB.Add(b2Vec2.Multiply(mB,impulse));wB+=iB*b2Cross_v2_v2(this.m_rB,impulse)}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var angularError=0;var positionError=0;var fixedRotation=(this.m_invIA+this.m_invIB==0);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit&&fixedRotation==false){var angle=aB-aA-this.m_referenceAngle;var limitImpulse=0;if(this.m_limitState==b2Joint.e_equalLimits){var C=b2Clamp(angle-this.m_lowerAngle,-b2_maxAngularCorrection,b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*C;angularError=b2Abs(C)}else{if(this.m_limitState==b2Joint.e_atLowerLimit){var C=angle-this.m_lowerAngle;angularError=-C;C=b2Clamp(C+b2_angularSlop,-b2_maxAngularCorrection,0);limitImpulse=-this.m_motorMass*C}else{if(this.m_limitState==b2Joint.e_atUpperLimit){var C=angle-this.m_upperAngle;angularError=C;C=b2Clamp(C-b2_angularSlop,0,b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*C}}}aA-=this.m_invIA*limitImpulse;aB+=this.m_invIB*limitImpulse}qA.Set(aA);qB.Set(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var C=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);positionError=C.Length();var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var K=new b2Mat22();K.ex.x=mA+mB+iA*rA.y*rA.y+iB*rB.y*rB.y;K.ex.y=-iA*rA.x*rA.y-iB*rB.x*rB.y;K.ey.x=K.ex.y;K.ey.y=mA+mB+iA*rA.x*rA.x+iB*rB.x*rB.x;var impulse=K.Solve(C).Negate();cA.Subtract(b2Vec2.Multiply(mA,impulse));aA-=iA*b2Cross_v2_v2(rA,impulse);cB.Add(b2Vec2.Multiply(mB,impulse));aB+=iB*b2Cross_v2_v2(rB,impulse);data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return positionError<=b2_linearSlop&&angularError<=b2_angularSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.referenceAngle=this.m_referenceAngle;obj.lowerAngle=this.m_lowerAngle;obj.upperAngle=this.m_upperAngle;obj.maxMotorTorque=this.m_maxMotorTorque;obj.motorSpeed=this.m_motorSpeed;obj.enableLimit=this.m_enableLimit;obj.enableMotor=this.m_enableMotor;return obj}};b2RevoluteJoint._extend(b2Joint);function b2MouseJointDef(){this.parent.call(this);this.type=b2Joint.e_mouseJoint;this.target=new b2Vec2(0,0);this.maxForce=0;this.frequencyHz=5;this.dampingRatio=0.7;Object.seal(this)}b2MouseJointDef._extend(b2JointDef);function b2MouseJoint(def){this.parent.call(this,def);this.m_targetA=def.target.Clone();this.m_localAnchorB=b2MulT_t_v2(this.m_bodyB.GetTransform(),this.m_targetA);this.m_maxForce=def.maxForce;this.m_impulse=new b2Vec2();this.m_frequencyHz=def.frequencyHz;this.m_dampingRatio=def.dampingRatio;this.m_beta=0;this.m_gamma=0;this.m_indexA=0;this.m_indexB=0;this.m_rB=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassB=0;this.m_invIB=0;this.m_mass=new b2Mat22();this.m_C=new b2Vec2()}b2MouseJoint.prototype={GetAnchorA:function(){return this.m_targetA},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){return b2Vec2.Multiply(inv_dt,this.m_impulse)},GetReactionTorque:function(inv_dt){return inv_dt*0},SetTarget:function(target){if(this.m_bodyB.IsAwake()==false){this.m_bodyB.SetAwake(true)}this.m_targetA.Assign(target)},GetTarget:function(){return this.m_targetA},SetMaxForce:function(force){this.m_maxForce=force},GetMaxForce:function(){return this.m_maxForce},SetFrequency:function(hz){this.m_frequencyHz=hz},GetFrequency:function(){return this.m_frequencyHz},SetDampingRatio:function(ratio){this.m_dampingRatio=ratio},GetDampingRatio:function(){return this.m_dampingRatio},ShiftOrigin:function(newOrigin){this.m_targetA.Subtract(newOrigin)},InitVelocityConstraints:function(data){this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIB=this.m_bodyB.m_invI;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qB=new b2Rot(aB);var mass=this.m_bodyB.GetMass();var omega=2*b2_pi*this.m_frequencyHz;var d=2*mass*this.m_dampingRatio*omega;var k=mass*(omega*omega);var h=data.step.dt;this.m_gamma=h*(d+h*k);if(this.m_gamma!=0){this.m_gamma=1/this.m_gamma}this.m_beta=h*k*this.m_gamma;this.m_rB.Assign(b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB)));var K=new b2Mat22();K.ex.x=this.m_invMassB+this.m_invIB*this.m_rB.y*this.m_rB.y+this.m_gamma;K.ex.y=-this.m_invIB*this.m_rB.x*this.m_rB.y;K.ey.x=K.ex.y;K.ey.y=this.m_invMassB+this.m_invIB*this.m_rB.x*this.m_rB.x+this.m_gamma;this.m_mass.Assign(K.GetInverse());this.m_C.Assign(b2Vec2.Subtract(b2Vec2.Add(cB,this.m_rB),this.m_targetA));this.m_C.Multiply(this.m_beta);wB*=0.98;if(data.step.warmStarting){this.m_impulse.Multiply(data.step.dtRatio);vB.Add(b2Vec2.Multiply(this.m_invMassB,this.m_impulse));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,this.m_impulse)}else{this.m_impulse.SetZero()}data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var Cdot=b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB));var impulse=b2Mul_m22_v2(this.m_mass,(b2Vec2.Add(b2Vec2.Add(Cdot,this.m_C),b2Vec2.Multiply(this.m_gamma,this.m_impulse))).Negate());var oldImpulse=this.m_impulse.Clone();this.m_impulse.Add(impulse);var maxImpulse=data.step.dt*this.m_maxForce;if(this.m_impulse.LengthSquared()>maxImpulse*maxImpulse){this.m_impulse.Multiply(maxImpulse/this.m_impulse.Length())}impulse.Assign(b2Vec2.Subtract(this.m_impulse,oldImpulse));vB.Add(b2Vec2.Multiply(this.m_invMassB,impulse));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,impulse);data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){return true}};b2MouseJoint._extend(b2Joint);function b2DistanceJointDef(){this.parent.call(this);this.type=b2Joint.e_distanceJoint;this.localAnchorA=new b2Vec2(0,0);this.localAnchorB=new b2Vec2(0,0);this.length=1;this.frequencyHz=0;this.dampingRatio=0;Object.seal(this)}b2DistanceJointDef.prototype={Initialize:function(b1,b2,anchor1,anchor2){this.bodyA=b1;this.bodyB=b2;this.localAnchorA=this.bodyA.GetLocalPoint(anchor1);this.localAnchorB=this.bodyB.GetLocalPoint(anchor2);var d=b2Vec2.Subtract(anchor2,anchor1);this.length=d.Length()},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.length=data.length;this.frequencyHz=data.frequencyHz;this.dampingRatio=data.dampingRatio}};b2DistanceJointDef._extend(b2JointDef);function b2DistanceJoint(def){this.parent.call(this,def);this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_length=def.length;this.m_frequencyHz=def.frequencyHz;this.m_dampingRatio=def.dampingRatio;this.m_impulse=0;this.m_gamma=0;this.m_bias=0;this.m_indexA=0;this.m_indexB=0;this.m_u=new b2Vec2();this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_mass=0}b2DistanceJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){var F=b2Vec2.Multiply((inv_dt*this.m_impulse),this.m_u);return F},GetReactionTorque:function(inv_dt){return 0},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},SetLength:function(length){this.m_length=length},GetLength:function(){return this.m_length},SetFrequency:function(hz){this.m_frequencyHz=hz},GetFrequency:function(){return this.m_frequencyHz},SetDampingRatio:function(ratio){this.m_dampingRatio=ratio},GetDampingRatio:function(){return this.m_dampingRatio},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));this.m_rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));this.m_u=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,this.m_rB),cA),this.m_rA);var length=this.m_u.Length();if(length>b2_linearSlop){this.m_u.Multiply(1/length)}else{this.m_u.Set(0,0)}var crAu=b2Cross_v2_v2(this.m_rA,this.m_u);var crBu=b2Cross_v2_v2(this.m_rB,this.m_u);var invMass=this.m_invMassA+this.m_invIA*crAu*crAu+this.m_invMassB+this.m_invIB*crBu*crBu;this.m_mass=invMass!=0?1/invMass:0;if(this.m_frequencyHz>0){var C=length-this.m_length;var omega=2*b2_pi*this.m_frequencyHz;var d=2*this.m_mass*this.m_dampingRatio*omega;var k=this.m_mass*omega*omega;var h=data.step.dt;this.m_gamma=h*(d+h*k);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_bias=C*h*k*this.m_gamma;invMass+=this.m_gamma;this.m_mass=invMass!=0?1/invMass:0}else{this.m_gamma=0;this.m_bias=0}if(data.step.warmStarting){this.m_impulse*=data.step.dtRatio;var P=b2Vec2.Multiply(this.m_impulse,this.m_u);vA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));wA-=this.m_invIA*b2Cross_v2_v2(this.m_rA,P);vB.Add(b2Vec2.Multiply(this.m_invMassB,P));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,P)}else{this.m_impulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var vpA=b2Vec2.Add(vA,b2Cross_f_v2(wA,this.m_rA));var vpB=b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB));var Cdot=b2Dot_v2_v2(this.m_u,b2Vec2.Subtract(vpB,vpA));var impulse=-this.m_mass*(Cdot+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=impulse;var P=b2Vec2.Multiply(impulse,this.m_u);vA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));wA-=this.m_invIA*b2Cross_v2_v2(this.m_rA,P);vB.Add(b2Vec2.Multiply(this.m_invMassB,P));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,P);data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){if(this.m_frequencyHz>0){return true}var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var u=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);var length=u.Normalize();var C=length-this.m_length;C=b2Clamp(C,-b2_maxLinearCorrection,b2_maxLinearCorrection);var impulse=-this.m_mass*C;var P=b2Vec2.Multiply(impulse,u);cA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));aA-=this.m_invIA*b2Cross_v2_v2(rA,P);cB.Add(b2Vec2.Multiply(this.m_invMassB,P));aB+=this.m_invIB*b2Cross_v2_v2(rB,P);data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return b2Abs(C)<b2_linearSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.length=this.m_length;obj.frequencyHz=this.m_frequencyHz;obj.dampingRatio=this.m_dampingRatio;return obj}};b2DistanceJoint._extend(b2Joint);function b2PrismaticJointDef(){this.parent.call(this);this.type=b2Joint.e_prismaticJoint;this.localAnchorA=new b2Vec2();this.localAnchorB=new b2Vec2();this.localAxisA=new b2Vec2(1,0);this.referenceAngle=0;this.enableLimit=false;this.lowerTranslation=0;this.upperTranslation=0;this.enableMotor=false;this.maxMotorForce=0;this.motorSpeed=0;Object.seal(this)}b2PrismaticJointDef.prototype={Initialize:function(bA,bB,anchor,axis){this.bodyA=bA;this.bodyB=bB;this.localAnchorA=this.bodyA.GetLocalPoint(anchor);this.localAnchorB=this.bodyB.GetLocalPoint(anchor);this.localAxisA=this.bodyA.GetLocalVector(axis);this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.localAxisA._deserialize(data.localAxisA);this.referenceAngle=data.referenceAngle;this.enableLimit=data.enableLimit;this.lowerTranslation=data.lowerTranslation;this.upperTranslation=data.upperTranslation;this.enableMotor=data.enableMotor;this.maxMotorForce=data.maxMotorForce;this.motorSpeed=data.motorSpeed}};b2PrismaticJointDef._extend(b2JointDef);function b2PrismaticJoint(def){this.parent.call(this,def);this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_localXAxisA=def.localAxisA.Clone();this.m_localXAxisA.Normalize();this.m_localYAxisA=b2Cross_f_v2(1,this.m_localXAxisA);this.m_referenceAngle=def.referenceAngle;this.m_impulse=new b2Vec3();this.m_motorMass=0;this.m_motorImpulse=0;this.m_lowerTranslation=def.lowerTranslation;this.m_upperTranslation=def.upperTranslation;this.m_maxMotorForce=def.maxMotorForce;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;this.m_limitState=b2Joint.e_inactiveLimit;this.m_axis=new b2Vec2();this.m_perp=new b2Vec2();this.m_indexA=0;this.m_indexB=0;this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_s1=0,this.m_s2=0;this.m_a1=0,this.m_a2=0;this.m_K=new b2Mat33();this.m_motorMass=0}b2PrismaticJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){return b2Vec2.Multiply(inv_dt,b2Vec2.Add(b2Vec2.Multiply(this.m_impulse.x,this.m_perp),b2Vec2.Multiply((this.m_motorImpulse+this.m_impulse.z),this.m_axis)))},GetReactionTorque:function(inv_dt){return inv_dt*this.m_impulse.y},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},GetLocalAxisA:function(){return this.m_localXAxisA},GetReferenceAngle:function(){return this.m_referenceAngle},GetJointTranslation:function(){var pA=this.m_bodyA.GetWorldPoint(this.m_localAnchorA);var pB=this.m_bodyB.GetWorldPoint(this.m_localAnchorB);var d=b2Vec2.Subtract(pB,pA);var axis=this.m_bodyA.GetWorldVector(this.m_localXAxisA);var translation=b2Dot_v2_v2(d,axis);return translation},GetJointSpeed:function(){var bA=this.m_bodyA;var bB=this.m_bodyB;var rA=b2Mul_r_v2(bA.m_xf.q,b2Vec2.Subtract(this.m_localAnchorA,bA.m_sweep.localCenter));var rB=b2Mul_r_v2(bB.m_xf.q,b2Vec2.Subtract(this.m_localAnchorB,bB.m_sweep.localCenter));var p1=b2Vec2.Add(bA.m_sweep.c,rA);var p2=b2Vec2.Add(bB.m_sweep.c,rB);var d=b2Vec2.Subtract(p2,p1);var axis=b2Mul_r_v2(bA.m_xf.q,this.m_localXAxisA);var vA=bA.m_linearVelocity;var vB=bB.m_linearVelocity;var wA=bA.m_angularVelocity;var wB=bB.m_angularVelocity;var speed=b2Dot_v2_v2(d,b2Cross_f_v2(wA,axis))+b2Dot_v2_v2(axis,b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,rB)),vA),b2Cross_f_v2(wA,rA)));return speed},IsLimitEnabled:function(){return this.m_enableLimit},EnableLimit:function(flag){if(flag!=this.m_enableLimit){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableLimit=flag;this.m_impulse.z=0}},GetLowerLimit:function(){return this.m_lowerTranslation},GetUpperLimit:function(){return this.m_upperTranslation},SetLimits:function(lower,upper){if(lower!=this.m_lowerTranslation||upper!=this.m_upperTranslation){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_lowerTranslation=lower;this.m_upperTranslation=upper;this.m_impulse.z=0}},IsMotorEnabled:function(){return this.m_enableMotor},EnableMotor:function(flag){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=flag},SetMotorSpeed:function(speed){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=speed},GetMotorSpeed:function(){return this.m_motorSpeed},SetMaxMotorForce:function(force){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorForce=force},GetMaxMotorForce:function(){return this.m_maxMotorForce},GetMotorForce:function(inv_dt){return inv_dt*this.m_motorImpulse},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA=this.m_bodyA.m_sweep.localCenter;this.m_localCenterB=this.m_bodyB.m_sweep.localCenter;this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var d=b2Vec2.Add(b2Vec2.Subtract(cB,cA),b2Vec2.Subtract(rB,rA));var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;this.m_axis=b2Mul_r_v2(qA,this.m_localXAxisA);this.m_a1=b2Cross_v2_v2(b2Vec2.Add(d,rA),this.m_axis);this.m_a2=b2Cross_v2_v2(rB,this.m_axis);this.m_motorMass=mA+mB+iA*this.m_a1*this.m_a1+iB*this.m_a2*this.m_a2;if(this.m_motorMass>0){this.m_motorMass=1/this.m_motorMass}this.m_perp=b2Mul_r_v2(qA,this.m_localYAxisA);this.m_s1=b2Cross_v2_v2(b2Vec2.Add(d,rA),this.m_perp);this.m_s2=b2Cross_v2_v2(rB,this.m_perp);var k11=mA+mB+iA*this.m_s1*this.m_s1+iB*this.m_s2*this.m_s2;var k12=iA*this.m_s1+iB*this.m_s2;var k13=iA*this.m_s1*this.m_a1+iB*this.m_s2*this.m_a2;var k22=iA+iB;if(k22==0){k22=1}var k23=iA*this.m_a1+iB*this.m_a2;var k33=mA+mB+iA*this.m_a1*this.m_a1+iB*this.m_a2*this.m_a2;this.m_K.ex.Set(k11,k12,k13);this.m_K.ey.Set(k12,k22,k23);this.m_K.ez.Set(k13,k23,k33);if(this.m_enableLimit){var jointTranslation=b2Dot_v2_v2(this.m_axis,d);if(b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*b2_linearSlop){this.m_limitState=b2Joint.e_equalLimits}else{if(jointTranslation<=this.m_lowerTranslation){if(this.m_limitState!=b2Joint.e_atLowerLimit){this.m_limitState=b2Joint.e_atLowerLimit;this.m_impulse.z=0}}else{if(jointTranslation>=this.m_upperTranslation){if(this.m_limitState!=b2Joint.e_atUpperLimit){this.m_limitState=b2Joint.e_atUpperLimit;this.m_impulse.z=0}}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_impulse.z=0}}}}else{this.m_limitState=b2Joint.e_inactiveLimit;this.m_impulse.z=0}if(this.m_enableMotor==false){this.m_motorImpulse=0}if(data.step.warmStarting){this.m_impulse.Multiply(data.step.dtRatio);this.m_motorImpulse*=data.step.dtRatio;var P=b2Vec2.Add(b2Vec2.Multiply(this.m_impulse.x,this.m_perp),b2Vec2.Multiply((this.m_motorImpulse+this.m_impulse.z),this.m_axis));var LA=this.m_impulse.x*this.m_s1+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a1;var LB=this.m_impulse.x*this.m_s2+this.m_impulse.y+(this.m_motorImpulse+this.m_impulse.z)*this.m_a2;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB}else{this.m_impulse.SetZero();this.m_motorImpulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits){var Cdot=b2Dot_v2_v2(this.m_axis,b2Vec2.Subtract(vB,vA))+this.m_a2*wB-this.m_a1*wA;var impulse=this.m_motorMass*(this.m_motorSpeed-Cdot);var oldImpulse=this.m_motorImpulse;var maxImpulse=data.step.dt*this.m_maxMotorForce;this.m_motorImpulse=b2Clamp(this.m_motorImpulse+impulse,-maxImpulse,maxImpulse);impulse=this.m_motorImpulse-oldImpulse;var P=b2Vec2.Multiply(impulse,this.m_axis);var LA=impulse*this.m_a1;var LB=impulse*this.m_a2;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB}var Cdot1=new b2Vec2();Cdot1.x=b2Dot_v2_v2(this.m_perp,b2Vec2.Subtract(vB,vA))+this.m_s2*wB-this.m_s1*wA;Cdot1.y=wB-wA;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit){var Cdot2;Cdot2=b2Dot_v2_v2(this.m_axis,b2Vec2.Subtract(vB,vA))+this.m_a2*wB-this.m_a1*wA;var Cdot=new b2Vec3(Cdot1.x,Cdot1.y,Cdot2);var f1=this.m_impulse.Clone();var df=this.m_K.Solve33(Cdot.Negate());this.m_impulse.Add(df);if(this.m_limitState==b2Joint.e_atLowerLimit){this.m_impulse.z=b2Max(this.m_impulse.z,0)}else{if(this.m_limitState==b2Joint.e_atUpperLimit){this.m_impulse.z=b2Min(this.m_impulse.z,0)}}var b=b2Vec2.Subtract(Cdot1.Negate(),b2Vec2.Multiply((this.m_impulse.z-f1.z),new b2Vec2(this.m_K.ez.x,this.m_K.ez.y)));var f2r=b2Vec2.Add(this.m_K.Solve22(b),new b2Vec2(f1.x,f1.y));this.m_impulse.x=f2r.x;this.m_impulse.y=f2r.y;df=b2Vec3.Subtract(this.m_impulse,f1);var P=b2Vec2.Add(b2Vec2.Multiply(df.x,this.m_perp),b2Vec2.Multiply(df.z,this.m_axis));var LA=df.x*this.m_s1+df.y+df.z*this.m_a1;var LB=df.x*this.m_s2+df.y+df.z*this.m_a2;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB}else{var df=this.m_K.Solve22(Cdot1.Negate());this.m_impulse.x+=df.x;this.m_impulse.y+=df.y;var P=b2Vec2.Multiply(df.x,this.m_perp);var LA=df.x*this.m_s1+df.y;var LB=df.x*this.m_s2+df.y;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var d=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);var axis=b2Mul_r_v2(qA,this.m_localXAxisA);var a1=b2Cross_v2_v2(b2Vec2.Add(d,rA),axis);var a2=b2Cross_v2_v2(rB,axis);var perp=b2Mul_r_v2(qA,this.m_localYAxisA);var s1=b2Cross_v2_v2(b2Vec2.Add(d,rA),perp);var s2=b2Cross_v2_v2(rB,perp);var impulse=new b2Vec3();var C1=new b2Vec2();C1.x=b2Dot_v2_v2(perp,d);C1.y=aB-aA-this.m_referenceAngle;var linearError=b2Abs(C1.x);var angularError=b2Abs(C1.y);var active=false;var C2=0;if(this.m_enableLimit){var translation=b2Dot_v2_v2(axis,d);if(b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2*b2_linearSlop){C2=b2Clamp(translation,-b2_maxLinearCorrection,b2_maxLinearCorrection);linearError=b2Max(linearError,b2Abs(translation));active=true}else{if(translation<=this.m_lowerTranslation){C2=b2Clamp(translation-this.m_lowerTranslation+b2_linearSlop,-b2_maxLinearCorrection,0);linearError=b2Max(linearError,this.m_lowerTranslation-translation);active=true}else{if(translation>=this.m_upperTranslation){C2=b2Clamp(translation-this.m_upperTranslation-b2_linearSlop,0,b2_maxLinearCorrection);linearError=b2Max(linearError,translation-this.m_upperTranslation);active=true}}}}if(active){var k11=mA+mB+iA*s1*s1+iB*s2*s2;var k12=iA*s1+iB*s2;var k13=iA*s1*a1+iB*s2*a2;var k22=iA+iB;if(k22==0){k22=1}var k23=iA*a1+iB*a2;var k33=mA+mB+iA*a1*a1+iB*a2*a2;var K=new b2Mat33();K.ex.Set(k11,k12,k13);K.ey.Set(k12,k22,k23);K.ez.Set(k13,k23,k33);var C=new b2Vec3();C.x=C1.x;C.y=C1.y;C.z=C2;impulse=K.Solve33(C.Negate())}else{var k11=mA+mB+iA*s1*s1+iB*s2*s2;var k12=iA*s1+iB*s2;var k22=iA+iB;if(k22==0){k22=1}var K=new b2Mat22();K.ex.Set(k11,k12);K.ey.Set(k12,k22);var impulse1=K.Solve(C1.Negate());impulse.x=impulse1.x;impulse.y=impulse1.y;impulse.z=0}var P=b2Vec2.Add(b2Vec2.Multiply(impulse.x,perp),b2Vec2.Multiply(impulse.z,axis));var LA=impulse.x*s1+impulse.y+impulse.z*a1;var LB=impulse.x*s2+impulse.y+impulse.z*a2;cA.Subtract(b2Vec2.Multiply(mA,P));aA-=iA*LA;cB.Add(b2Vec2.Multiply(mB,P));aB+=iB*LB;data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return linearError<=b2_linearSlop&&angularError<=b2_angularSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.localAxisA=this.m_localXAxisA._serialize();obj.referenceAngle=this.m_referenceAngle;obj.enableLimit=this.m_enableLimit;obj.lowerTranslation=this.m_lowerTranslation;obj.upperTranslation=this.m_upperTranslation;obj.enableMotor=this.m_enableMotor;obj.maxMotorForce=this.m_maxMotorForce;obj.motorSpeed=this.m_motorSpeed;return obj}};b2PrismaticJoint._extend(b2Joint);function b2FrictionJointDef(){this.parent.call(this);this.type=b2Joint.e_frictionJoint;this.localAnchorA=new b2Vec2();this.localAnchorB=new b2Vec2();this.maxForce=0;this.maxTorque=0;Object.seal(this)}b2FrictionJointDef.prototype={Initialize:function(bA,bB,anchor){this.bodyA=bA;this.bodyB=bB;this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor))},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.maxForce=data.maxForce;this.maxTorque=data.maxTorque}};b2FrictionJointDef._extend(b2JointDef);function b2FrictionJoint(def){this.parent.call(this,def);this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_linearImpulse=new b2Vec2();this.m_angularImpulse=0;this.m_maxForce=def.maxForce;this.m_maxTorque=def.maxTorque;this.m_indexA=0;this.m_indexB=0;this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_linearMass=new b2Mat22();this.m_angularMass=0}b2FrictionJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){return b2Vec2.Multiply(inv_dt,this.m_linearImpulse)},GetReactionTorque:function(inv_dt){return inv_dt*this.m_angularImpulse},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},SetMaxForce:function(force){this.m_maxForce=force},GetMaxForce:function(){return this.m_maxForce},SetMaxTorque:function(torque){this.m_maxTorque=torque},GetMaxTorque:function(){return this.m_maxTorque},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));this.m_rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var K=new b2Mat22();K.ex.x=mA+mB+iA*this.m_rA.y*this.m_rA.y+iB*this.m_rB.y*this.m_rB.y;K.ex.y=-iA*this.m_rA.x*this.m_rA.y-iB*this.m_rB.x*this.m_rB.y;K.ey.x=K.ex.y;K.ey.y=mA+mB+iA*this.m_rA.x*this.m_rA.x+iB*this.m_rB.x*this.m_rB.x;this.m_linearMass=K.GetInverse();this.m_angularMass=iA+iB;if(this.m_angularMass>0){this.m_angularMass=1/this.m_angularMass}if(data.step.warmStarting){this.m_linearImpulse.Multiply(data.step.dtRatio);this.m_angularImpulse*=data.step.dtRatio;var P=new b2Vec2(this.m_linearImpulse.x,this.m_linearImpulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+this.m_angularImpulse);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+this.m_angularImpulse)}else{this.m_linearImpulse.SetZero();this.m_angularImpulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var h=data.step.dt;var Cdot=wB-wA;var impulse=-this.m_angularMass*Cdot;var oldImpulse=this.m_angularImpulse;var maxImpulse=h*this.m_maxTorque;this.m_angularImpulse=b2Clamp(this.m_angularImpulse+impulse,-maxImpulse,maxImpulse);impulse=this.m_angularImpulse-oldImpulse;wA-=iA*impulse;wB+=iB*impulse;var Cdot=b2Vec2.Add(vB,b2Vec2.Subtract(b2Cross_f_v2(wB,this.m_rB),b2Vec2.Subtract(vA,b2Cross_f_v2(wA,this.m_rA))));var impulse=b2Mul_m22_v2(this.m_linearMass,Cdot).Negate();var oldImpulse=this.m_linearImpulse.Clone();this.m_linearImpulse.Add(impulse);var maxImpulse=h*this.m_maxForce;if(this.m_linearImpulse.LengthSquared()>maxImpulse*maxImpulse){this.m_linearImpulse.Normalize();this.m_linearImpulse.Multiply(maxImpulse)}impulse=b2Vec2.Subtract(this.m_linearImpulse,oldImpulse);vA.Subtract(b2Vec2.Multiply(mA,impulse));wA-=iA*b2Cross_v2_v2(this.m_rA,impulse);vB.Add(b2Vec2.Multiply(mB,impulse));wB+=iB*b2Cross_v2_v2(this.m_rB,impulse);data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){return true},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.maxForce=this.m_maxForce;obj.maxTorque=this.m_maxTorque;return obj}};b2FrictionJoint._extend(b2Joint);function b2WeldJointDef(){this.parent.call(this);this.type=b2Joint.e_weldJoint;this.localAnchorA=new b2Vec2(0,0);this.localAnchorB=new b2Vec2(0,0);this.referenceAngle=0;this.frequencyHz=0;this.dampingRatio=0;Object.seal(this)}b2WeldJointDef.prototype={Initialize:function(bA,bB,anchor){this.bodyA=bA;this.bodyB=bB;this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor));this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.referenceAngle=data.referenceAngle;this.frequencyHz=data.frequencyHz;this.dampingRatio=data.dampingRatio}};b2WeldJointDef._extend(b2JointDef);function b2WeldJoint(def){this.parent.call(this,def);this.m_bias=0;this.m_gamma=0;this.m_indexA=0;this.m_indexB=0;this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_mass=new b2Mat33();this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_referenceAngle=def.referenceAngle;this.m_frequencyHz=def.frequencyHz;this.m_dampingRatio=def.dampingRatio;this.m_impulse=new b2Vec3()}b2WeldJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){var P=new b2Vec2(this.m_impulse.x,this.m_impulse.y);return b2Vec2.Multiply(inv_dt,P)},GetReactionTorque:function(inv_dt){return inv_dt*this.m_impulse.z},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},GetReferenceAngle:function(){return this.m_referenceAngle},SetFrequency:function(hz){this.m_frequencyHz=hz},GetFrequency:function(){return this.m_frequencyHz},SetDampingRatio:function(ratio){this.m_dampingRatio=ratio},GetDampingRatio:function(){return this.m_dampingRatio},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA.Assign(b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA)));this.m_rB.Assign(b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB)));var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var K=new b2Mat33();K.ex.x=mA+mB+this.m_rA.y*this.m_rA.y*iA+this.m_rB.y*this.m_rB.y*iB;K.ey.x=-this.m_rA.y*this.m_rA.x*iA-this.m_rB.y*this.m_rB.x*iB;K.ez.x=-this.m_rA.y*iA-this.m_rB.y*iB;K.ex.y=K.ey.x;K.ey.y=mA+mB+this.m_rA.x*this.m_rA.x*iA+this.m_rB.x*this.m_rB.x*iB;K.ez.y=this.m_rA.x*iA+this.m_rB.x*iB;K.ex.z=K.ez.x;K.ey.z=K.ez.y;K.ez.z=iA+iB;if(this.m_frequencyHz>0){K.GetInverse22(this.m_mass);var invM=iA+iB;var m=invM>0?1/invM:0;var C=aB-aA-this.m_referenceAngle;var omega=2*b2_pi*this.m_frequencyHz;var d=2*m*this.m_dampingRatio*omega;var k=m*omega*omega;var h=data.step.dt;this.m_gamma=h*(d+h*k);this.m_gamma=this.m_gamma!=0?1/this.m_gamma:0;this.m_bias=C*h*k*this.m_gamma;invM+=this.m_gamma;this.m_mass.ez.z=invM!=0?1/invM:0}else{K.GetSymInverse33(this.m_mass);this.m_gamma=0;this.m_bias=0}if(data.step.warmStarting){this.m_impulse.Multiply(data.step.dtRatio);var P=new b2Vec2(this.m_impulse.x,this.m_impulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+this.m_impulse.z);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+this.m_impulse.z)}else{this.m_impulse.SetZero()}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;if(this.m_frequencyHz>0){var Cdot2=wB-wA;var impulse2=-this.m_mass.ez.z*(Cdot2+this.m_bias+this.m_gamma*this.m_impulse.z);this.m_impulse.z+=impulse2;wA-=iA*impulse2;wB+=iB*impulse2;var Cdot1=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB)),vA),b2Cross_f_v2(wA,this.m_rA));var impulse1=b2Mul22_m33_v2(this.m_mass,Cdot1).Negate();this.m_impulse.x+=impulse1.x;this.m_impulse.y+=impulse1.y;var P=impulse1.Clone();vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*b2Cross_v2_v2(this.m_rA,P);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*b2Cross_v2_v2(this.m_rB,P)}else{var Cdot1=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB)),vA),b2Cross_f_v2(wA,this.m_rA));var Cdot2=wB-wA;var Cdot=new b2Vec3(Cdot1.x,Cdot1.y,Cdot2);var impulse=b2Mul_m33_v3(this.m_mass,Cdot).Negate();this.m_impulse.Add(impulse);var P=new b2Vec2(impulse.x,impulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+impulse.z);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+impulse.z)}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var positionError,angularError;var K=new b2Mat33();K.ex.x=mA+mB+rA.y*rA.y*iA+rB.y*rB.y*iB;K.ey.x=-rA.y*rA.x*iA-rB.y*rB.x*iB;K.ez.x=-rA.y*iA-rB.y*iB;K.ex.y=K.ey.x;K.ey.y=mA+mB+rA.x*rA.x*iA+rB.x*rB.x*iB;K.ez.y=rA.x*iA+rB.x*iB;K.ex.z=K.ez.x;K.ey.z=K.ez.y;K.ez.z=iA+iB;if(this.m_frequencyHz>0){var C1=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);positionError=C1.Length();angularError=0;var P=K.Solve22(C1).Negate();cA.Subtract(b2Vec2.Multiply(mA,P));aA-=iA*b2Cross_v2_v2(rA,P);cB.Add(b2Vec2.Multiply(mB,P));aB+=iB*b2Cross_v2_v2(rB,P)}else{var C1=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);var C2=aB-aA-this.m_referenceAngle;positionError=C1.Length();angularError=b2Abs(C2);var C=new b2Vec3(C1.x,C1.y,C2);var impulse=K.Solve33(C).Negate();var P=new b2Vec2(impulse.x,impulse.y);cA.Subtract(b2Vec2.Multiply(mA,P));aA-=iA*(b2Cross_v2_v2(rA,P)+impulse.z);cB.Add(b2Vec2.Multiply(mB,P));aB+=iB*(b2Cross_v2_v2(rB,P)+impulse.z)}data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return positionError<=b2_linearSlop&&angularError<=b2_angularSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.referenceAngle=this.m_referenceAngle;obj.frequencyHz=this.m_frequencyHz;obj.dampingRatio=this.m_dampingRatio;return obj}};b2WeldJoint._extend(b2Joint);function b2WheelJointDef(){this.parent.call(this);this.type=b2Joint.e_wheelJoint;this.localAnchorA=new b2Vec2();this.localAnchorB=new b2Vec2();this.localAxisA=new b2Vec2(1,0);this.enableMotor=false;this.maxMotorTorque=0;this.motorSpeed=0;this.frequencyHz=2;this.dampingRatio=0.7;Object.seal(this)}b2WheelJointDef.prototype={Initialize:function(bA,bB,anchor,axis){this.bodyA=bA;this.bodyB=bB;this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor));this.localAxisA.Assign(this.bodyA.GetLocalVector(axis))},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.localAxisA._deserialize(data.localAxisA);this.enableMotor=data.enableMotor;this.maxMotorTorque=data.maxMotorTorque;this.motorSpeed=data.motorSpeed;this.frequencyHz=data.frequencyHz;this.dampingRatio=data.dampingRatio}};b2WheelJointDef._extend(b2JointDef);function b2WheelJoint(def){this.parent.call(this,def);this.m_indexA=0;this.m_indexB=0;this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_localXAxisA=def.localAxisA.Clone();this.m_localYAxisA=b2Cross_f_v2(1,this.m_localXAxisA);this.m_mass=0;this.m_impulse=0;this.m_motorMass=0;this.m_motorImpulse=0;this.m_springMass=0;this.m_springImpulse=0;this.m_maxMotorTorque=def.maxMotorTorque;this.m_motorSpeed=def.motorSpeed;this.m_enableMotor=def.enableMotor;this.m_frequencyHz=def.frequencyHz;this.m_dampingRatio=def.dampingRatio;this.m_bias=0;this.m_gamma=0;this.m_ax=new b2Vec2();this.m_ay=new b2Vec2();this.m_sAx=this.m_sBx=0;this.m_sAy=this.m_sBy=0}b2WheelJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){return b2Vec2.Multiply(inv_dt,b2Vec2.Add(b2Vec2.Multiply(this.m_impulse,this.m_ay),b2Vec2.Multiply(this.m_springImpulse,this.m_ax)))},GetReactionTorque:function(inv_dt){return inv_dt*this.m_motorImpulse},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},GetLocalAxisA:function(){return this.m_localXAxisA},GetJointTranslation:function(){var bA=this.m_bodyA;var bB=this.m_bodyB;var pA=bA.GetWorldPoint(this.m_localAnchorA);var pB=bB.GetWorldPoint(this.m_localAnchorB);var d=b2Vec2.Subtract(pB,pA);var axis=bA.GetWorldVector(this.m_localXAxisA);var translation=b2Dot_v2_v2(d,axis);return translation},GetJointSpeed:function(){var wA=this.m_bodyA.m_angularVelocity;var wB=this.m_bodyB.m_angularVelocity;return wB-wA},IsMotorEnabled:function(){return this.m_enableMotor},EnableMotor:function(flag){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_enableMotor=flag},SetMotorSpeed:function(speed){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_motorSpeed=speed},GetMotorSpeed:function(){return this.m_motorSpeed},SetMaxMotorTorque:function(torque){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_maxMotorTorque=torque},GetMaxMotorTorque:function(){return this.m_maxMotorTorque},GetMotorTorque:function(inv_dt){return inv_dt*this.m_motorImpulse},SetSpringFrequencyHz:function(hz){this.m_frequencyHz=hz},GetSpringFrequencyHz:function(){return this.m_frequencyHz},SetSpringDampingRatio:function(ratio){this.m_dampingRatio=ratio},GetSpringDampingRatio:function(){return this.m_dampingRatio},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var d=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);this.m_ay.Assign(b2Mul_r_v2(qA,this.m_localYAxisA));this.m_sAy=b2Cross_v2_v2(b2Vec2.Add(d,rA),this.m_ay);this.m_sBy=b2Cross_v2_v2(rB,this.m_ay);this.m_mass=mA+mB+iA*this.m_sAy*this.m_sAy+iB*this.m_sBy*this.m_sBy;if(this.m_mass>0){this.m_mass=1/this.m_mass}this.m_springMass=0;this.m_bias=0;this.m_gamma=0;if(this.m_frequencyHz>0){this.m_ax.Assign(b2Mul_r_v2(qA,this.m_localXAxisA));this.m_sAx=b2Cross_v2_v2(b2Vec2.Add(d,rA),this.m_ax);this.m_sBx=b2Cross_v2_v2(rB,this.m_ax);var invMass=mA+mB+iA*this.m_sAx*this.m_sAx+iB*this.m_sBx*this.m_sBx;if(invMass>0){this.m_springMass=1/invMass;var C=b2Dot_v2_v2(d,this.m_ax);var omega=2*b2_pi*this.m_frequencyHz;var d=2*this.m_springMass*this.m_dampingRatio*omega;var k=this.m_springMass*omega*omega;var h=data.step.dt;this.m_gamma=h*(d+h*k);if(this.m_gamma>0){this.m_gamma=1/this.m_gamma}this.m_bias=C*h*k*this.m_gamma;this.m_springMass=invMass+this.m_gamma;if(this.m_springMass>0){this.m_springMass=1/this.m_springMass}}}else{this.m_springImpulse=0}if(this.m_enableMotor){this.m_motorMass=iA+iB;if(this.m_motorMass>0){this.m_motorMass=1/this.m_motorMass}}else{this.m_motorMass=0;this.m_motorImpulse=0}if(data.step.warmStarting){this.m_impulse*=data.step.dtRatio;this.m_springImpulse*=data.step.dtRatio;this.m_motorImpulse*=data.step.dtRatio;var P=b2Vec2.Add(b2Vec2.Multiply(this.m_impulse,this.m_ay),b2Vec2.Multiply(this.m_springImpulse,this.m_ax));var LA=this.m_impulse*this.m_sAy+this.m_springImpulse*this.m_sAx+this.m_motorImpulse;var LB=this.m_impulse*this.m_sBy+this.m_springImpulse*this.m_sBx+this.m_motorImpulse;vA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));wA-=this.m_invIA*LA;vB.Add(b2Vec2.Multiply(this.m_invMassB,P));wB+=this.m_invIB*LB}else{this.m_impulse=0;this.m_springImpulse=0;this.m_motorImpulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var Cdot=b2Dot_v2_v2(this.m_ax,b2Vec2.Subtract(vB,vA))+this.m_sBx*wB-this.m_sAx*wA;var impulse=-this.m_springMass*(Cdot+this.m_bias+this.m_gamma*this.m_springImpulse);this.m_springImpulse+=impulse;var P=b2Vec2.Multiply(impulse,this.m_ax);var LA=impulse*this.m_sAx;var LB=impulse*this.m_sBx;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB;var Cdot=wB-wA-this.m_motorSpeed;var impulse=-this.m_motorMass*Cdot;var oldImpulse=this.m_motorImpulse;var maxImpulse=data.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=b2Clamp(this.m_motorImpulse+impulse,-maxImpulse,maxImpulse);impulse=this.m_motorImpulse-oldImpulse;wA-=iA*impulse;wB+=iB*impulse;var Cdot=b2Dot_v2_v2(this.m_ay,b2Vec2.Subtract(vB,vA))+this.m_sBy*wB-this.m_sAy*wA;var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;var P=b2Vec2.Multiply(impulse,this.m_ay);var LA=impulse*this.m_sAy;var LB=impulse*this.m_sBy;vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*LA;vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*LB;data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var d=b2Vec2.Add(b2Vec2.Subtract(cB,cA),b2Vec2.Subtract(rB,rA));var ay=b2Mul_r_v2(qA,this.m_localYAxisA);var sAy=b2Cross_v2_v2(b2Vec2.Add(d,rA),ay);var sBy=b2Cross_v2_v2(rB,ay);var C=b2Dot_v2_v2(d,ay);var k=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_sAy*this.m_sAy+this.m_invIB*this.m_sBy*this.m_sBy;var impulse;if(k!=0){impulse=-C/k}else{impulse=0}var P=b2Vec2.Multiply(impulse,ay);var LA=impulse*sAy;var LB=impulse*sBy;cA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));aA-=this.m_invIA*LA;cB.Add(b2Vec2.Multiply(this.m_invMassB,P));aB+=this.m_invIB*LB;data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return b2Abs(C)<=b2_linearSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.localAxisA=this.m_localAxisA._serialize();obj.enableMotor=this.m_enableMotor;obj.maxMotorTorque=this.m_maxMotorTorque;obj.motorSpeed=this.m_motorSpeed;obj.frequencyHz=this.m_frequencyHz;obj.dampingRatio=this.m_dampingRatio;return obj}};b2WheelJoint._extend(b2Joint);function b2GearJointDef(){this.parent.call(this);this.type=b2Joint.e_gearJoint;this.joint1=null;this.joint2=null;this.ratio=1;Object.seal(this)}b2GearJointDef.prototype={_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.joint1=data.joint1;this.joint2=data.joint2;this.ratio=data.ratio}};b2GearJointDef._extend(b2JointDef);function b2GearJoint(def){this.parent.call(this,def);this.m_joint1=def.joint1;this.m_joint2=def.joint2;this.m_typeA=this.m_joint1.GetType();this.m_typeB=this.m_joint2.GetType();var coordinateA,coordinateB;this.m_bodyC=this.m_joint1.GetBodyA();this.m_bodyA=this.m_joint1.GetBodyB();var xfA=this.m_bodyA.m_xf;var aA=this.m_bodyA.m_sweep.a;var xfC=this.m_bodyC.m_xf;var aC=this.m_bodyC.m_sweep.a;this.m_localAnchorA=new b2Vec2();this.m_localAnchorB=new b2Vec2();this.m_localAnchorC=new b2Vec2();this.m_localAnchorD=new b2Vec2();this.m_localAxisC=new b2Vec2();this.m_localAxisD=new b2Vec2();if(this.m_typeA==b2Joint.e_revoluteJoint){var revolute=def.joint1;this.m_localAnchorC.Assign(revolute.m_localAnchorA);this.m_localAnchorA.Assign(revolute.m_localAnchorB);this.m_referenceAngleA=revolute.m_referenceAngle;this.m_localAxisC.SetZero();coordinateA=aA-aC-this.m_referenceAngleA}else{var prismatic=def.joint1;this.m_localAnchorC.Assign(prismatic.m_localAnchorA);this.m_localAnchorA.Assign(prismatic.m_localAnchorB);this.m_referenceAngleA=prismatic.m_referenceAngle;this.m_localAxisC.Assign(prismatic.m_localXAxisA);var pC=this.m_localAnchorC;var pA=b2MulT_r_v2(xfC.q,b2Vec2.Add(b2Mul_r_v2(xfA.q,this.m_localAnchorA),b2Vec2.Subtract(xfA.p,xfC.p)));coordinateA=b2Dot_v2_v2(b2Vec2.Subtract(pA,pC),this.m_localAxisC)}this.m_bodyD=this.m_joint2.GetBodyA();this.m_bodyB=this.m_joint2.GetBodyB();var xfB=this.m_bodyB.m_xf;var aB=this.m_bodyB.m_sweep.a;var xfD=this.m_bodyD.m_xf;var aD=this.m_bodyD.m_sweep.a;if(this.m_typeB==b2Joint.e_revoluteJoint){var revolute=def.joint2;this.m_localAnchorD.Assign(revolute.m_localAnchorA);this.m_localAnchorB.Assign(revolute.m_localAnchorB);this.m_referenceAngleB=revolute.m_referenceAngle;this.m_localAxisD.SetZero();coordinateB=aB-aD-this.m_referenceAngleB}else{var prismatic=def.joint2;this.m_localAnchorD.Assign(prismatic.m_localAnchorA);this.m_localAnchorB.Assign(prismatic.m_localAnchorB);this.m_referenceAngleB=prismatic.m_referenceAngle;this.m_localAxisD.Assign(prismatic.m_localXAxisA);var pD=this.m_localAnchorD;var pB=b2MulT_r_v2(xfD.q,b2Vec2.Add(b2Mul_r_v2(xfB.q,this.m_localAnchorB),b2Vec2.Subtract(xfB.p,xfD.p)));coordinateB=b2Dot_v2_v2(b2Vec2.Subtract(pB,pD),this.m_localAxisD)}this.m_ratio=def.ratio;this.m_constant=coordinateA+this.m_ratio*coordinateB;this.m_impulse=0;this.m_indexA=this.m_indexB=this.m_indexC=this.m_indexD=0;this.m_lcA=new b2Vec2();this.m_lcB=new b2Vec2();this.m_lcC=new b2Vec2();this.m_lcD=new b2Vec2();this.m_mA=this.m_mB=this.m_mC=this.m_mD=0;this.m_iA=this.m_iB=this.m_iC=this.m_iD=0;this.m_JvAC=new b2Vec2(),this.m_JvBD=new b2Vec2();this.m_JwA=this.m_JwB=this.m_JwC=this.m_JwD=0;this.m_mass=0}b2GearJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){var P=b2Vec2.Multiply(this.m_impulse,this.m_JvAC);return b2Vec2.Multiply(inv_dt,P)},GetReactionTorque:function(inv_dt){var L=this.m_impulse*this.m_JwA;return inv_dt*L},GetJoint1:function(){return this.m_joint1},GetJoint2:function(){return this.m_joint2},SetRatio:function(ratio){this.m_ratio=ratio},GetRatio:function(){return this.m_ratio},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_indexC=this.m_bodyC.m_islandIndex;this.m_indexD=this.m_bodyD.m_islandIndex;this.m_lcA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_lcB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_lcC.Assign(this.m_bodyC.m_sweep.localCenter);this.m_lcD.Assign(this.m_bodyD.m_sweep.localCenter);this.m_mA=this.m_bodyA.m_invMass;this.m_mB=this.m_bodyB.m_invMass;this.m_mC=this.m_bodyC.m_invMass;this.m_mD=this.m_bodyD.m_invMass;this.m_iA=this.m_bodyA.m_invI;this.m_iB=this.m_bodyB.m_invI;this.m_iC=this.m_bodyC.m_invI;this.m_iD=this.m_bodyD.m_invI;var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var aC=data.positions[this.m_indexC].a;var vC=data.velocities[this.m_indexC].v.Clone();var wC=data.velocities[this.m_indexC].w;var aD=data.positions[this.m_indexD].a;var vD=data.velocities[this.m_indexD].v.Clone();var wD=data.velocities[this.m_indexD].w;var qA=new b2Rot(aA),qB=new b2Rot(aB),qC=new b2Rot(aC),qD=new b2Rot(aD);this.m_mass=0;if(this.m_typeA==b2Joint.e_revoluteJoint){this.m_JvAC.SetZero();this.m_JwA=1;this.m_JwC=1;this.m_mass+=this.m_iA+this.m_iC}else{var u=b2Mul_r_v2(qC,this.m_localAxisC);var rC=b2Mul_r_v2(qC,b2Vec2.Subtract(this.m_localAnchorC,this.m_lcC));var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_lcA));this.m_JvAC.Assign(u);this.m_JwC=b2Cross_v2_v2(rC,u);this.m_JwA=b2Cross_v2_v2(rA,u);this.m_mass+=this.m_mC+this.m_mA+this.m_iC*this.m_JwC*this.m_JwC+this.m_iA*this.m_JwA*this.m_JwA}if(this.m_typeB==b2Joint.e_revoluteJoint){this.m_JvBD.SetZero();this.m_JwB=this.m_ratio;this.m_JwD=this.m_ratio;this.m_mass+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD)}else{var u=b2Mul_r_v2(qD,this.m_localAxisD);var rD=b2Mul_r_v2(qD,b2Vec2.Subtract(this.m_localAnchorD,this.m_lcD));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_lcB));this.m_JvBD.Assign(b2Vec2.Multiply(this.m_ratio,u));this.m_JwD=this.m_ratio*b2Cross_v2_v2(rD,u);this.m_JwB=this.m_ratio*b2Cross_v2_v2(rB,u);this.m_mass+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*this.m_JwD*this.m_JwD+this.m_iB*this.m_JwB*this.m_JwB}this.m_mass=this.m_mass>0?1/this.m_mass:0;if(data.step.warmStarting){vA.Add(b2Vec2.Multiply((this.m_mA*this.m_impulse),this.m_JvAC));wA+=this.m_iA*this.m_impulse*this.m_JwA;vB.Add(b2Vec2.Multiply((this.m_mB*this.m_impulse),this.m_JvBD));wB+=this.m_iB*this.m_impulse*this.m_JwB;vC.Subtract(b2Vec2.Multiply((this.m_mC*this.m_impulse),this.m_JvAC));wC-=this.m_iC*this.m_impulse*this.m_JwC;vD.Subtract(b2Vec2.Multiply((this.m_mD*this.m_impulse),this.m_JvBD));wD-=this.m_iD*this.m_impulse*this.m_JwD}else{this.m_impulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB;data.velocities[this.m_indexC].v.Assign(vC);data.velocities[this.m_indexC].w=wC;data.velocities[this.m_indexD].v.Assign(vD);data.velocities[this.m_indexD].w=wD},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var vC=data.velocities[this.m_indexC].v.Clone();var wC=data.velocities[this.m_indexC].w;var vD=data.velocities[this.m_indexD].v.Clone();var wD=data.velocities[this.m_indexD].w;var Cdot=b2Dot_v2_v2(this.m_JvAC,b2Vec2.Subtract(vA,vC))+b2Dot_v2_v2(this.m_JvBD,b2Vec2.Subtract(vB,vD));Cdot+=(this.m_JwA*wA-this.m_JwC*wC)+(this.m_JwB*wB-this.m_JwD*wD);var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;vA.Add(b2Vec2.Multiply((this.m_mA*impulse),this.m_JvAC));wA+=this.m_iA*impulse*this.m_JwA;vB.Add(b2Vec2.Multiply((this.m_mB*impulse),this.m_JvBD));wB+=this.m_iB*impulse*this.m_JwB;vC.Subtract(b2Vec2.Multiply((this.m_mC*impulse),this.m_JvAC));wC-=this.m_iC*impulse*this.m_JwC;vD.Subtract(b2Vec2.Multiply((this.m_mD*impulse),this.m_JvBD));wD-=this.m_iD*impulse*this.m_JwD;data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB;data.velocities[this.m_indexC].v.Assign(vC);data.velocities[this.m_indexC].w=wC;data.velocities[this.m_indexD].v.Assign(vD);data.velocities[this.m_indexD].w=wD},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var cC=data.positions[this.m_indexC].c.Clone();var aC=data.positions[this.m_indexC].a;var cD=data.positions[this.m_indexD].c.Clone();var aD=data.positions[this.m_indexD].a;var qA=new b2Rot(aA),qB=new b2Rot(aB),qC=new b2Rot(aC),qD=new b2Rot(aD);var linearError=0;var coordinateA,coordinateB;var JvAC=new b2Vec2(),JvBD=new b2Vec2();var JwA,JwB,JwC,JwD;var mass=0;if(this.m_typeA==b2Joint.e_revoluteJoint){JvAC.SetZero();JwA=1;JwC=1;mass+=this.m_iA+this.m_iC;coordinateA=aA-aC-this.m_referenceAngleA}else{var u=b2Mul_r_v2(qC,this.m_localAxisC);var rC=b2Mul_r_v2(qC,b2Vec2.Subtract(this.m_localAnchorC,this.m_lcC));var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_lcA));JvAC.Assign(u);JwC=b2Cross_v2_v2(rC,u);JwA=b2Cross_v2_v2(rA,u);mass+=this.m_mC+this.m_mA+this.m_iC*JwC*JwC+this.m_iA*JwA*JwA;var pC=b2Vec2.Subtract(this.m_localAnchorC,this.m_lcC);var pA=b2MulT_r_v2(qC,b2Vec2.Add(rA,b2Vec2.Subtract(cA,cC)));coordinateA=b2Dot_v2_v2(b2Vec2.Subtract(pA,pC),this.m_localAxisC)}if(this.m_typeB==b2Joint.e_revoluteJoint){JvBD.SetZero();JwB=this.m_ratio;JwD=this.m_ratio;mass+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD);coordinateB=aB-aD-this.m_referenceAngleB}else{var u=b2Mul_r_v2(qD,this.m_localAxisD);var rD=b2Mul_r_v2(qD,b2Vec2.Subtract(this.m_localAnchorD,this.m_lcD));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_lcB));JvBD.Assign(b2Vec2.Multiply(this.m_ratio,u));JwD=this.m_ratio*b2Cross_v2_v2(rD,u);JwB=this.m_ratio*b2Cross_v2_v2(rB,u);mass+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*JwD*JwD+this.m_iB*JwB*JwB;var pD=b2Vec2.Subtract(this.m_localAnchorD,this.m_lcD);var pB=b2MulT_r_v2(qD,b2Vec2.Add(rB,b2Vec2.Subtract(cB,cD)));coordinateB=b2Dot_v2_v2(b2Vec2.Subtract(pB,pD),this.m_localAxisD)}var C=(coordinateA+this.m_ratio*coordinateB)-this.m_constant;var impulse=0;if(mass>0){impulse=-C/mass}cA.Add(b2Vec2.Multiply(this.m_mA,b2Vec2.Multiply(impulse,JvAC)));aA+=this.m_iA*impulse*JwA;cB.Add(b2Vec2.Multiply(this.m_mB,b2Vec2.Multiply(impulse,JvBD)));aB+=this.m_iB*impulse*JwB;cC.Subtract(b2Vec2.Multiply(this.m_mC,b2Vec2.Multiply(impulse,JvAC)));aC-=this.m_iC*impulse*JwC;cD.Subtract(b2Vec2.Multiply(this.m_mD,b2Vec2.Multiply(impulse,JvBD)));aD-=this.m_iD*impulse*JwD;data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;data.positions[this.m_indexC].c.Assign(cC);data.positions[this.m_indexC].a=aC;data.positions[this.m_indexD].c.Assign(cD);data.positions[this.m_indexD].a=aD;return linearError<b2_linearSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.joint1=this.m_joint1.__temp_joint_id;obj.joint2=this.m_joint2.__temp_joint_id;obj.ratio=this.m_ratio;return obj}};b2GearJoint._extend(b2Joint);function b2MotorJointDef(){this.parent.call(this);this.type=b2Joint.e_motorJoint;this.linearOffset=new b2Vec2();this.angularOffset=0;this.maxForce=1;this.maxTorque=1;this.correctionFactor=0.3;Object.seal(this)}b2MotorJointDef.prototype={Initialize:function(bA,bB){this.bodyA=bA;this.bodyB=bB;var xB=this.bodyB.GetPosition();this.linearOffset.Assign(this.bodyA.GetLocalPoint(xB));var angleA=this.bodyA.GetAngle();var angleB=this.bodyB.GetAngle();this.angularOffset=angleB-angleA},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.linearOffset._deserialize(data.linearOffset);this.angularOffset=data.angularOffset;this.maxForce=data.maxForce;this.maxTorque=data.maxTorque;this.correctionFactor=data.correctionFactor}};b2MotorJointDef._extend(b2JointDef);function b2MotorJoint(def){this.parent.call(this,def);this.m_linearOffset=def.linearOffset.Clone();this.m_angularOffset=def.angularOffset;this.m_linearImpulse=new b2Vec2();this.m_angularImpulse=0;this.m_maxForce=def.maxForce;this.m_maxTorque=def.maxTorque;this.m_correctionFactor=def.correctionFactor;this.m_indexA=0;this.m_indexB=0;this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_linearError=new b2Vec2();this.m_angularError=0;this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_linearMass=new b2Mat22();this.m_angularMass=0}b2MotorJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetPosition()},GetAnchorB:function(){return this.m_bodyB.GetPosition()},GetReactionForce:function(inv_dt){return b2Vec2.Multiply(inv_dt,this.m_linearImpulse)},GetReactionTorque:function(inv_dt){return inv_dt*this.m_angularImpulse},SetLinearOffset:function(linearOffset){if(linearOffset.x!=this.m_linearOffset.x||linearOffset.y!=this.m_linearOffset.y){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_linearOffset.Assign(linearOffset)}},GetLinearOffset:function(){return this.m_linearOffset},SetAngularOffset:function(angularOffset){if(angularOffset!=this.m_angularOffset){this.m_bodyA.SetAwake(true);this.m_bodyB.SetAwake(true);this.m_angularOffset=angularOffset}},GetAngularOffset:function(){return this.m_angularOffset},SetMaxForce:function(force){this.m_maxForce=force},GetMaxForce:function(){return this.m_maxForce},SetMaxTorque:function(torque){this.m_maxTorque=torque},GetMaxTorque:function(){return this.m_maxTorque},SetCorrectionFactor:function(factor){this.m_correctionFactor=factor},GetCorrectionFactor:function(){return this.m_correctionFactor},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA.Assign(b2Mul_r_v2(qA,this.m_localCenterA.Negate()));this.m_rB.Assign(b2Mul_r_v2(qB,this.m_localCenterB.Negate()));var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var K=new b2Mat22();K.ex.x=mA+mB+iA*this.m_rA.y*this.m_rA.y+iB*this.m_rB.y*this.m_rB.y;K.ex.y=-iA*this.m_rA.x*this.m_rA.y-iB*this.m_rB.x*this.m_rB.y;K.ey.x=K.ex.y;K.ey.y=mA+mB+iA*this.m_rA.x*this.m_rA.x+iB*this.m_rB.x*this.m_rB.x;this.m_linearMass.Assign(K.GetInverse());this.m_angularMass=iA+iB;if(this.m_angularMass>0){this.m_angularMass=1/this.m_angularMass}this.m_linearError.Assign(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,this.m_rB),cA),this.m_rA),b2Mul_r_v2(qA,this.m_linearOffset)));this.m_angularError=aB-aA-this.m_angularOffset;if(data.step.warmStarting){this.m_linearImpulse.Multiply(data.step.dtRatio);this.m_angularImpulse*=data.step.dtRatio;var P=new b2Vec2(this.m_linearImpulse.x,this.m_linearImpulse.y);vA.Subtract(b2Vec2.Multiply(mA,P));wA-=iA*(b2Cross_v2_v2(this.m_rA,P)+this.m_angularImpulse);vB.Add(b2Vec2.Multiply(mB,P));wB+=iB*(b2Cross_v2_v2(this.m_rB,P)+this.m_angularImpulse)}else{this.m_linearImpulse.SetZero();this.m_angularImpulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var mA=this.m_invMassA,mB=this.m_invMassB;var iA=this.m_invIA,iB=this.m_invIB;var h=data.step.dt;var inv_h=data.step.inv_dt;var Cdot=wB-wA+inv_h*this.m_correctionFactor*this.m_angularError;var impulse=-this.m_angularMass*Cdot;var oldImpulse=this.m_angularImpulse;var maxImpulse=h*this.m_maxTorque;this.m_angularImpulse=b2Clamp(this.m_angularImpulse+impulse,-maxImpulse,maxImpulse);impulse=this.m_angularImpulse-oldImpulse;wA-=iA*impulse;wB+=iB*impulse;var Cdot=b2Vec2.Add(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB)),vA),b2Cross_f_v2(wA,this.m_rA)),b2Vec2.Multiply(inv_h,b2Vec2.Multiply(this.m_correctionFactor,this.m_linearError)));var impulse=b2Mul_m22_v2(this.m_linearMass,Cdot).Negate();var oldImpulse=this.m_linearImpulse;this.m_linearImpulse.Add(impulse);var maxImpulse=h*this.m_maxForce;if(this.m_linearImpulse.LengthSquared()>maxImpulse*maxImpulse){this.m_linearImpulse.Normalize();this.m_linearImpulse.Multiply(maxImpulse)}impulse.Assign(b2Vec2.Subtract(this.m_linearImpulse,oldImpulse));vA.Subtract(b2Vec2.Multiply(mA,impulse));wA-=iA*b2Cross_v2_v2(this.m_rA,impulse);vB.Add(b2Vec2.Multiply(mB,impulse));wB+=iB*b2Cross_v2_v2(this.m_rB,impulse);data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){return true},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.linearOffset=this.m_linearOffset._serialize();obj.angularOffset=this.m_angularOffset;obj.maxForce=this.m_maxForce;obj.maxTorque=this.m_maxTorque;obj.correctionFactor=this.m_correctionFactor;return obj}};b2MotorJoint._extend(b2Joint);var b2_minPulleyLength=2;function b2PulleyJointDef(){this.parent.call(this);this.type=b2Joint.e_pulleyJoint;this.groundAnchorA=new b2Vec2(-1,1);this.groundAnchorB=new b2Vec2(1,1);this.localAnchorA=new b2Vec2(-1,0);this.localAnchorB=new b2Vec2(1,0);this.lengthA=0;this.lengthB=0;this.ratio=1;this.collideConnected=true;Object.seal(this)}b2PulleyJointDef.prototype={Initialize:function(bA,bB,groundA,groundB,anchorA,anchorB,r){this.bodyA=bA;this.bodyB=bB;this.groundAnchorA.Assign(groundA);this.groundAnchorB.Assign(groundB);this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchorA));this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchorB));var dA=b2Vec2.Subtract(anchorA,groundA);this.lengthA=dA.Length();var dB=b2Vec2.Subtract(anchorB,groundB);this.lengthB=dB.Length();this.ratio=r},_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.groundAnchorA._deserialize(data.groundAnchorA);this.groundAnchorB._deserialize(data.groundAnchorB);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.lengthA=data.lengthA;this.lengthB=data.lengthB;this.ratio=data.ratio}};b2PulleyJointDef._extend(b2JointDef);function b2PulleyJoint(def){this.parent.call(this,def);this.m_indexA=0;this.m_indexB=0;this.m_uA=new b2Vec2();this.m_uB=new b2Vec2();this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0;this.m_mass=0;this.m_groundAnchorA=def.groundAnchorA.Clone();this.m_groundAnchorB=def.groundAnchorB.Clone();this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_lengthA=def.lengthA;this.m_lengthB=def.lengthB;this.m_ratio=def.ratio;this.m_constant=def.lengthA+this.m_ratio*def.lengthB;this.m_impulse=0}b2PulleyJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){var P=b2Vec2.Multiply(this.m_impulse,this.m_uB);return b2Vec2.Multiply(inv_dt,P)},GetReactionTorque:function(inv_dt){return 0},GetGroundAnchorA:function(){return this.m_groundAnchorA},GetGroundAnchorB:function(){return this.m_groundAnchorB},GetLengthA:function(){return this.m_lengthA},GetLengthB:function(){return this.m_lengthB},GetRatio:function(){return this.m_ratio},GetCurrentLengthA:function(){var p=this.m_bodyA.GetWorldPoint(this.m_localAnchorA);var s=this.m_groundAnchorA;var d=b2Vec2.Subtract(p,s);return d.Length()},GetCurrentLengthB:function(){var p=this.m_bodyB.GetWorldPoint(this.m_localAnchorB);var s=this.m_groundAnchorB;var d=b2Vec2.Subtract(p,s);return d.Length()},ShiftOrigin:function(newOrigin){this.m_groundAnchorA.Subtract(newOrigin);this.m_groundAnchorB.Subtract(newOrigin)},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA.Assign(b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA)));this.m_rB.Assign(b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB)));this.m_uA.Assign(b2Vec2.Add(cA,b2Vec2.Subtract(this.m_rA,this.m_groundAnchorA)));this.m_uB.Assign(b2Vec2.Add(cB,b2Vec2.Subtract(this.m_rB,this.m_groundAnchorB)));var lengthA=this.m_uA.Length();var lengthB=this.m_uB.Length();if(lengthA>10*b2_linearSlop){this.m_uA.Multiply(1/lengthA)}else{this.m_uA.SetZero()}if(lengthB>10*b2_linearSlop){this.m_uB.Multiply(1/lengthB)}else{this.m_uB.SetZero()}var ruA=b2Cross_v2_v2(this.m_rA,this.m_uA);var ruB=b2Cross_v2_v2(this.m_rB,this.m_uB);var mA=this.m_invMassA+this.m_invIA*ruA*ruA;var mB=this.m_invMassB+this.m_invIB*ruB*ruB;this.m_mass=mA+this.m_ratio*this.m_ratio*mB;if(this.m_mass>0){this.m_mass=1/this.m_mass}if(data.step.warmStarting){this.m_impulse*=data.step.dtRatio;var PA=b2Vec2.Multiply(-(this.m_impulse),this.m_uA);var PB=b2Vec2.Multiply((-this.m_ratio*this.m_impulse),this.m_uB);vA.Add(b2Vec2.Multiply(this.m_invMassA,PA));wA+=this.m_invIA*b2Cross_v2_v2(this.m_rA,PA);vB.Add(b2Vec2.Multiply(this.m_invMassB,PB));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,PB)}else{this.m_impulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var vpA=b2Vec2.Add(vA,b2Cross_f_v2(wA,this.m_rA));var vpB=b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB));var Cdot=-b2Dot_v2_v2(this.m_uA,vpA)-this.m_ratio*b2Dot_v2_v2(this.m_uB,vpB);var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;var PA=b2Vec2.Multiply(-impulse,this.m_uA);var PB=b2Vec2.Multiply(-this.m_ratio,b2Vec2.Multiply(impulse,this.m_uB));vA.Add(b2Vec2.Multiply(this.m_invMassA,PA));wA+=this.m_invIA*b2Cross_v2_v2(this.m_rA,PA);vB.Add(b2Vec2.Multiply(this.m_invMassB,PB));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,PB);data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var uA=b2Vec2.Add(cA,b2Vec2.Subtract(rA,this.m_groundAnchorA));var uB=b2Vec2.Add(cB,b2Vec2.Subtract(rB,this.m_groundAnchorB));var lengthA=uA.Length();var lengthB=uB.Length();if(lengthA>10*b2_linearSlop){uA.Multiply(1/lengthA)}else{uA.SetZero()}if(lengthB>10*b2_linearSlop){uB.Multiply(1/lengthB)}else{uB.SetZero()}var ruA=b2Cross_v2_v2(rA,uA);var ruB=b2Cross_v2_v2(rB,uB);var mA=this.m_invMassA+this.m_invIA*ruA*ruA;var mB=this.m_invMassB+this.m_invIB*ruB*ruB;var mass=mA+this.m_ratio*this.m_ratio*mB;if(mass>0){mass=1/mass}var C=this.m_constant-lengthA-this.m_ratio*lengthB;var linearError=b2Abs(C);var impulse=-mass*C;var PA=b2Vec2.Multiply(-impulse,uA);var PB=b2Vec2.Multiply(-this.m_ratio,b2Vec2.Multiply(impulse,uB));cA.Add(b2Vec2.Multiply(this.m_invMassA,PA));aA+=this.m_invIA*b2Cross_v2_v2(rA,PA);cB.Add(b2Vec2.Multiply(this.m_invMassB,PB));aB+=this.m_invIB*b2Cross_v2_v2(rB,PB);data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return linearError<b2_linearSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.groundAnchorA=this.m_groundAnchorA._serialize();obj.groundAnchorB=this.m_groundAnchorB._serialize();obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.lengthA=this.m_lengthA;obj.lengthB=this.m_lengthB;obj.ratio=this.m_ratio;return obj}};b2PulleyJoint._extend(b2Joint);function b2RopeJointDef(){this.parent.call(this);this.type=b2Joint.e_ropeJoint;this.localAnchorA=new b2Vec2(-1,0);this.localAnchorB=new b2Vec2(1,0);this.maxLength=0;Object.seal(this)}b2RopeJointDef.prototype={_deserialize:function(data,bodies,joints){this.parent.prototype._deserialize.call(this,data,bodies,joints);this.localAnchorA._deserialize(data.localAnchorA);this.localAnchorB._deserialize(data.localAnchorB);this.maxLength=data.maxLength}};b2RopeJointDef._extend(b2JointDef);function b2RopeJoint(def){this.parent.call(this,def);this.m_localAnchorA=def.localAnchorA.Clone();this.m_localAnchorB=def.localAnchorB.Clone();this.m_maxLength=def.maxLength;this.m_mass=0;this.m_impulse=0;this.m_state=b2Joint.e_inactiveLimit;this.m_length=0;this.m_indexA=0;this.m_indexB=0;this.m_u=new b2Vec2();this.m_rA=new b2Vec2();this.m_rB=new b2Vec2();this.m_localCenterA=new b2Vec2();this.m_localCenterB=new b2Vec2();this.m_invMassA=0;this.m_invMassB=0;this.m_invIA=0;this.m_invIB=0}b2RopeJoint.prototype={GetAnchorA:function(){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)},GetAnchorB:function(){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)},GetReactionForce:function(inv_dt){var F=b2Vec2.Multiply((inv_dt*this.m_impulse),this.m_u);return F},GetReactionTorque:function(inv_dt){return 0},GetLocalAnchorA:function(){return this.m_localAnchorA},GetLocalAnchorB:function(){return this.m_localAnchorB},SetMaxLength:function(length){this.m_maxLength=length},GetMaxLength:function(){return this.m_maxLength},GetLimitState:function(){return this.m_state},InitVelocityConstraints:function(data){this.m_indexA=this.m_bodyA.m_islandIndex;this.m_indexB=this.m_bodyB.m_islandIndex;this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);this.m_invMassA=this.m_bodyA.m_invMass;this.m_invMassB=this.m_bodyB.m_invMass;this.m_invIA=this.m_bodyA.m_invI;this.m_invIB=this.m_bodyB.m_invI;var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var qA=new b2Rot(aA),qB=new b2Rot(aB);this.m_rA.Assign(b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA)));this.m_rB.Assign(b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB)));this.m_u.Assign(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,this.m_rB),cA),this.m_rA));this.m_length=this.m_u.Length();var C=this.m_length-this.m_maxLength;if(C>0){this.m_state=b2Joint.e_atUpperLimit}else{this.m_state=b2Joint.e_inactiveLimit}if(this.m_length>b2_linearSlop){this.m_u.Multiply(1/this.m_length)}else{this.m_u.SetZero();this.m_mass=0;this.m_impulse=0;return}var crA=b2Cross_v2_v2(this.m_rA,this.m_u);var crB=b2Cross_v2_v2(this.m_rB,this.m_u);var invMass=this.m_invMassA+this.m_invIA*crA*crA+this.m_invMassB+this.m_invIB*crB*crB;this.m_mass=invMass!=0?1/invMass:0;if(data.step.warmStarting){this.m_impulse*=data.step.dtRatio;var P=b2Vec2.Multiply(this.m_impulse,this.m_u);vA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));wA-=this.m_invIA*b2Cross_v2_v2(this.m_rA,P);vB.Add(b2Vec2.Multiply(this.m_invMassB,P));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,P)}else{this.m_impulse=0}data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolveVelocityConstraints:function(data){var vA=data.velocities[this.m_indexA].v.Clone();var wA=data.velocities[this.m_indexA].w;var vB=data.velocities[this.m_indexB].v.Clone();var wB=data.velocities[this.m_indexB].w;var vpA=b2Vec2.Add(vA,b2Cross_f_v2(wA,this.m_rA));var vpB=b2Vec2.Add(vB,b2Cross_f_v2(wB,this.m_rB));var C=this.m_length-this.m_maxLength;var Cdot=b2Dot_v2_v2(this.m_u,b2Vec2.Subtract(vpB,vpA));if(C<0){Cdot+=data.step.inv_dt*C}var impulse=-this.m_mass*Cdot;var oldImpulse=this.m_impulse;this.m_impulse=b2Min(0,this.m_impulse+impulse);impulse=this.m_impulse-oldImpulse;var P=b2Vec2.Multiply(impulse,this.m_u);vA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));wA-=this.m_invIA*b2Cross_v2_v2(this.m_rA,P);vB.Add(b2Vec2.Multiply(this.m_invMassB,P));wB+=this.m_invIB*b2Cross_v2_v2(this.m_rB,P);data.velocities[this.m_indexA].v.Assign(vA);data.velocities[this.m_indexA].w=wA;data.velocities[this.m_indexB].v.Assign(vB);data.velocities[this.m_indexB].w=wB},SolvePositionConstraints:function(data){var cA=data.positions[this.m_indexA].c.Clone();var aA=data.positions[this.m_indexA].a;var cB=data.positions[this.m_indexB].c.Clone();var aB=data.positions[this.m_indexB].a;var qA=new b2Rot(aA),qB=new b2Rot(aB);var rA=b2Mul_r_v2(qA,b2Vec2.Subtract(this.m_localAnchorA,this.m_localCenterA));var rB=b2Mul_r_v2(qB,b2Vec2.Subtract(this.m_localAnchorB,this.m_localCenterB));var u=b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB,rB),cA),rA);var length=u.Normalize();var C=length-this.m_maxLength;C=b2Clamp(C,0,b2_maxLinearCorrection);var impulse=-this.m_mass*C;var P=b2Vec2.Multiply(impulse,u);cA.Subtract(b2Vec2.Multiply(this.m_invMassA,P));aA-=this.m_invIA*b2Cross_v2_v2(rA,P);cB.Add(b2Vec2.Multiply(this.m_invMassB,P));aB+=this.m_invIB*b2Cross_v2_v2(rB,P);data.positions[this.m_indexA].c.Assign(cA);data.positions[this.m_indexA].a=aA;data.positions[this.m_indexB].c.Assign(cB);data.positions[this.m_indexB].a=aB;return length-this.m_maxLength<b2_linearSlop},_serialize:function(out){var obj=out||{};this.parent.prototype._serialize.call(this,obj);obj.localAnchorA=this.m_localAnchorA._serialize();obj.localAnchorB=this.m_localAnchorB._serialize();obj.maxLength=this.m_maxLength;return obj}};b2RopeJoint._extend(b2Joint);var expf=Math.exp;function b2RopeDef(){this.vertices=null;this.count=0;this.masses=null;this.gravity=new b2Vec2();this.damping=0.1;this.k2=0.9;this.k3=0.1}function b2Rope(){this.m_count=0;this.m_ps=null;this.m_p0s=null;this.m_vs=null;this.m_ims=null;this.m_Ls=null;this.m_as=null;this.m_damping=0;this.m_gravity=new b2Vec2();this.m_k2=1;this.m_k3=0.1}b2Rope.prototype={Initialize:function(def){this.m_count=def.count;this.m_ps=new Array(this.m_count);this.m_p0s=new Array(this.m_count);this.m_vs=new Array(this.m_count);this.m_ims=new Array(this.m_count);for(var i=0;i<this.m_count;++i){this.m_ps[i]=def.vertices[i].Clone();this.m_p0s[i]=def.vertices[i].Clone();this.m_vs[i]=new b2Vec2();var m=def.masses[i];if(m>0){this.m_ims[i]=1/m}else{this.m_ims[i]=0}}var count2=this.m_count-1;var count3=this.m_count-2;this.m_Ls=new Array(count2);this.m_as=new Array(count3);for(var i=0;i<count2;++i){var p1=this.m_ps[i];var p2=this.m_ps[i+1];this.m_Ls[i]=b2Distance(p1,p2)}for(var i=0;i<count3;++i){var p1=this.m_ps[i];var p2=this.m_ps[i+1];var p3=this.m_ps[i+2];var d1=b2Vec2.Subtract(p2,p1);var d2=b2Vec2.Subtract(p3,p2);var a=b2Cross_v2_v2(d1,d2);var b=b2Dot_v2_v2(d1,d2);this.m_as[i]=b2Atan2(a,b)}this.m_gravity=def.gravity.Clone();this.m_damping=def.damping;this.m_k2=def.k2;this.m_k3=def.k3},Step:function(h,iterations){if(h==0){return}var d=expf(-h*this.m_damping);for(var i=0;i<this.m_count;++i){this.m_p0s[i].Assign(this.m_ps[i]);if(this.m_ims[i]>0){this.m_vs[i].Add(b2Vec2.Multiply(h,this.m_gravity))}this.m_vs[i].Multiply(d);this.m_ps[i].Add(b2Vec2.Multiply(h,this.m_vs[i]))}for(var i=0;i<iterations;++i){this.SolveC2();this.SolveC3();this.SolveC2()}var inv_h=1/h;for(var i=0;i<this.m_count;++i){this.m_vs[i]=b2Vec2.Multiply(inv_h,b2Vec2.Subtract(this.m_ps[i],this.m_p0s[i]))}},GetVertexCount:function(){return this.m_count},GetVertices:function(){return this.m_ps},Draw:function(draw){var c=new b2Color(0.4,0.5,0.7);for(var i=0;i<this.m_count-1;++i){draw.DrawSegment(this.m_ps[i],this.m_ps[i+1],c)}},SetAngle:function(angle){var count3=this.m_count-2;for(var i=0;i<count3;++i){this.m_as[i]=angle}},SolveC2:function(){var count2=this.m_count-1;for(var i=0;i<count2;++i){var p1=this.m_ps[i];var p2=this.m_ps[i+1];var d=b2Vec2.Subtract(p2,p1);var L=d.Normalize();var im1=this.m_ims[i];var im2=this.m_ims[i+1];if(im1+im2==0){continue}var s1=im1/(im1+im2);var s2=im2/(im1+im2);p1.Subtract(b2Vec2.Multiply(this.m_k2*s1*(this.m_Ls[i]-L),d));p2.Add(b2Vec2.Multiply(this.m_k2*s2*(this.m_Ls[i]-L),d))}},SolveC3:function(){var count3=this.m_count-2;for(var i=0;i<count3;++i){var p1=this.m_ps[i];var p2=this.m_ps[i+1];var p3=this.m_ps[i+2];var m1=this.m_ims[i];var m2=this.m_ims[i+1];var m3=this.m_ims[i+2];var d1=b2Vec2.Subtract(p2,p1);var d2=b2Vec2.Subtract(p3,p2);var L1sqr=d1.LengthSquared();var L2sqr=d2.LengthSquared();if(L1sqr*L2sqr==0){continue}var a=b2Cross_v2_v2(d1,d2);var b=b2Dot_v2_v2(d1,d2);var angle=b2Atan2(a,b);var Jd1=b2Vec2.Multiply((-1/L1sqr),d1.Skew());var Jd2=b2Vec2.Multiply((1/L2sqr),d2.Skew());var J1=b2Vec2.Negate(Jd1);var J2=b2Vec2.Subtract(Jd1,Jd2);var J3=Jd2;var mass=m1*b2Dot_v2_v2(J1,J1)+m2*b2Dot_v2_v2(J2,J2)+m3*b2Dot_v2_v2(J3,J3);if(mass==0){continue}mass=1/mass;var C=angle-this.m_as[i];while(C>b2_pi){angle-=2*b2_pi;C=angle-this.m_as[i]}while(C<-b2_pi){angle+=2*b2_pi;C=angle-this.m_as[i]}var impulse=-this.m_k3*mass*C;p1.Add(b2Vec2.Multiply((m1*impulse),J1));p2.Add(b2Vec2.Multiply((m2*impulse),J2));p3.Add(b2Vec2.Multiply((m3*impulse),J3))}}};var b2JsonSerializer={serialize:function(world){var shapes=[];var i;var serialized;var b;var f;var shape;for(b=world.GetBodyList();b;b=b.GetNext()){for(f=b.GetFixtureList();f;f=f.GetNext()){shape=f.GetShape();f.__temp_shape_id=shapes.length;shapes.push(shape._serialize())}}var fixtures=[];for(b=world.GetBodyList();b;b=b.GetNext()){b.__temp_fixture_ids=[];for(f=b.GetFixtureList();f;f=f.GetNext()){serialized=f._serialize();serialized.shape=f.__temp_shape_id;delete f.__temp_shape_id;b.__temp_fixture_ids.push(fixtures.length);fixtures.push(serialized)}}var bodies=[];for(b=world.GetBodyList();b;b=b.GetNext()){serialized=b._serialize();serialized.fixtures=[];for(i=0;i<b.__temp_fixture_ids.length;++i){serialized.fixtures.push(b.__temp_fixture_ids[i])}delete b.__temp_fixture_ids;b.__temp_body_id=bodies.length;bodies.push(serialized)}var joints=[];var j;for(j=world.GetJointList(),i=0;j;j=j.GetNext(),++i){j.__temp_joint_id=i}for(j=world.GetJointList();j;j=j.GetNext()){if(j.GetType()===b2Joint.e_mouseJoint){continue}serialized=j._serialize();serialized.bodyA=j.GetBodyA().__temp_body_id;serialized.bodyB=j.GetBodyB().__temp_body_id;joints.push(serialized)}for(j=world.GetJointList();j;j=j.GetNext()){delete j.__temp_joint_id}for(b=world.GetBodyList();b;b=b.GetNext()){delete b.__temp_body_id}return{shapes:shapes,fixtures:fixtures,bodies:bodies,joints:joints}},deserialize:function(serialized,world,clear){var deserialized=JSON.parse(serialized);if(clear){for(var b=world.GetBodyList();b;){var next=b.GetNext();world.DestroyBody(b);b=next}for(var j=world.GetJointList();j;){var next=j.GetNext();world.DestroyJoint(j);j=next}}var shapes=[];for(var i=0;i<deserialized.shapes.length;++i){var shapeData=deserialized.shapes[i];var shape;switch(shapeData.m_type){case b2Shape.e_circle:shape=new b2CircleShape();break;case b2Shape.e_edge:shape=new b2EdgeShape();break;case b2Shape.e_chain:shape=new b2ChainShape();break;case b2Shape.e_polygon:shape=new b2PolygonShape();break}shape._deserialize(shapeData);shapes.push(shape)}var fixtures=[];for(i=0;i<deserialized.fixtures.length;++i){var fixtureData=deserialized.fixtures[i];var fixture=new b2FixtureDef();fixture._deserialize(fixtureData);fixture.shape=shapes[fixtureData.shape];fixtures.push(fixture)}var bodies=[];for(i=0;i<deserialized.bodies.length;++i){var bodyData=deserialized.bodies[i];var def=new b2BodyDef();def._deserialize(bodyData);var body=world.CreateBody(def);for(var x=0;x<bodyData.fixtures.length;++x){body.CreateFixture(fixtures[bodyData.fixtures[x]])}bodies.push(body)}var joints=[];var gears=[];for(i=0;i<deserialized.joints.length;++i){var jointData=deserialized.joints[i];var jointDef;switch(jointData.type){case b2Joint.e_revoluteJoint:jointDef=new b2RevoluteJointDef();break;case b2Joint.e_prismaticJoint:jointDef=new b2PrismaticJointDef();break;case b2Joint.e_distanceJoint:jointDef=new b2DistanceJointDef();break;case b2Joint.e_pulleyJoint:jointDef=new b2PulleyJointDef();break;case b2Joint.e_gearJoint:jointDef=new b2GearJointDef();break;case b2Joint.e_wheelJoint:jointDef=new b2WheelJointDef();break;case b2Joint.e_weldJoint:jointDef=new b2WeldJointDef();break;case b2Joint.e_frictionJoint:jointDef=new b2FrictionJointDef();break;case b2Joint.e_ropeJoint:jointDef=new b2RopeJointDef();break;case b2Joint.e_motorJoint:jointDef=new b2MotorJointDef();break;default:throw new Error("unknown joint")}jointDef._deserialize(jointData,bodies);if(jointData.type===b2Joint.e_gearJoint){gears.push([jointDef,joints.length]);joints.push(null)}else{var joint=world.CreateJoint(jointDef);joints.push(joint)}}for(i=0;i<gears.length;++i){gears[i][0].joint1=joints[gears[i][0].joint1];gears[i][0].joint2=joints[gears[i][0].joint2];joint=world.CreateJoint(gears[i][0]);joints[gears[i][1]]=joint}}};var b2RUBELoader=(function(){function parseVector(obj){return new b2Vec2(obj?(obj.x||0):0,obj?(obj.y||0):0)}function parseVectorArray(obj){var vals=new Array(obj.x.length);for(var i=0;i<vals.length;++i){vals[i]=new b2Vec2(obj.x[i],obj.y[i])}return vals}function parseProperty(obj,instance){var name=obj.name;var val;if(typeof(obj["int"])!=="undefined"){val=obj["int"]}else{if(typeof(obj["float"])!=="undefined"){val=obj["float"]}else{if(typeof(obj.string)!=="undefined"){val=obj.string}else{if(typeof(obj.bool)!=="undefined"){val=obj.bool}else{if(typeof(obj.vec2)!=="undefined"){val=parseVector(obj.vec2)}else{throw new Error("unknown property type")}}}}}if(instance.hasOwnProperty(name)){throw new Error("custom property possibly overwriting an existing one")}instance[name]=val}function parseFixture(obj,body){var def=new b2FixtureDef();def.density=obj.density||0;def.filter.categoryBits=typeof(obj["filter-categoryBits"])==="undefined"?1:obj["filter-categoryBits"];def.filter.maskBits=typeof(obj["filter-maskBits"])==="undefined"?65535:obj["filter-maskBits"];def.filter.groupIndex=typeof(obj["filter-groupIndex"])==="undefined"?0:obj["filter-groupIndex"];def.friction=obj.friction||0;def.restitution=obj.restitution||0;def.isSensor=obj.sensor||0;var shape;if(typeof(obj.circle)!=="undefined"){shape=new b2CircleShape();shape.m_p=parseVector(obj.circle.center);shape.m_radius=obj.circle.radius||0}else{if(typeof(obj.polygon)!=="undefined"){var vertices=parseVectorArray(obj.polygon.vertices);shape=new b2PolygonShape();shape.Set(vertices,vertices.length)}else{if(typeof(obj.chain)!=="undefined"){var vertices=parseVectorArray(obj.chain.vertices);shape=new b2ChainShape();shape.m_count=vertices.length;shape.m_vertices=vertices;if(shape.m_hasNextVertex=obj.chain.hasNextVertex){shape.m_nextVertex=parseVector(obj.chain.nextVertex)}if(shape.m_hasPrevVertex=obj.chain.hasPrevVertex){shape.m_prevVertex=parseVector(obj.chain.prevVertex)}}else{throw new Error("unknown shape type")}}}def.shape=shape;var fixture=body.CreateFixture(def);fixture.name=obj.name;if(obj.customProperties){for(var i=0;i<obj.customProperties.length;++i){parseProperty(obj,fixture)}}}function parseBody(obj,world){var def=new b2BodyDef();def.type=obj.type||b2Body.b2_staticBody;def.angle=obj.angle||0;def.angularDamping=obj.angularDamping||0;def.angularVelocity=obj.angularVelocity||0;def.awake=obj.awake||false;def.bullet=obj.bullet||false;def.fixedRotation=obj.fixedRotation||false;def.linearDamping=obj.linearDamping||false;def.linearVelocity=parseVector(obj.linearVelocity);def.gravityScale=typeof(obj.gravityScale)!=="undefined"?obj.gravityScale:1;var md=new b2MassData();md.mass=obj["massData-mass"]||0;md.center=parseVector(obj["massData-center"]);md.I=obj["massData-I"]||0;def.position=parseVector(obj.position);var body=world.CreateBody(def);body.name=obj.name;body.SetMassData(md);if(obj.fixture){for(var i=0;i<obj.fixture.length;++i){parseFixture(obj.fixture[i],body)}}if(obj.customProperties){for(i=0;i<obj.customProperties.length;++i){parseProperty(obj,body)}}return body}var jointsList={revolute:b2RevoluteJointDef,distance:b2DistanceJointDef,prismatic:b2PrismaticJointDef,wheel:b2WheelJointDef,rope:b2RopeJointDef,motor:b2MotorJointDef,weld:b2WeldJointDef,friction:b2FrictionJointDef};function parseJoint(obj,world,bodies){if(!jointsList[obj.type]){throw new Error("unknown joint type")}var jd=new jointsList[obj.type]();switch(jd.type){case b2Joint.e_revoluteJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.enableLimit=obj.enableLimit||false;jd.enableMotor=obj.enableMotor||false;jd.lowerAngle=obj.lowerLimit||0;jd.maxMotorTorque=obj.maxMotorTorque||0;jd.motorSpeed=obj.motorSpeed||0;jd.referenceAngle=obj.refAngle||0;jd.upperAngle=obj.upperLimit||0;break;case b2Joint.e_distanceJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.dampingRatio=obj.dampingRatio||0;jd.frequencyHz=obj.frequency||0;jd.length=obj.length||0;break;case b2Joint.e_prismaticJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.enableLimit=obj.enableLimit||false;jd.enableMotor=obj.enableMotor||false;jd.localAxisA=parseVector(obj.localAxisA);jd.lowerTranslation=obj.lowerLimit||0;jd.maxMotorForce=obj.maxMotorForce||0;jd.motorSpeed=obj.motorSpeed||0;jd.referenceAngle=obj.refAngle||0;jd.upperTranslation=obj.upperLimit||0;break;case b2Joint.e_wheelJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.enableMotor=obj.enableMotor||false;jd.localAxisA=parseVector(obj.localAxisA);jd.maxMotorTorque=obj.maxMotorTorque||0;jd.motorSpeed=obj.motorSpeed||0;jd.dampingRatio=obj.springDampingRatio||0;jd.frequencyHz=obj.springFrequency||0;break;case b2Joint.e_ropeJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.maxLength=obj.maxLength||0;break;case b2Joint.e_motorJoint:jd.linearOffset=parseVector(obj.anchorA);jd.angularOffset=obj.refAngle||0;jd.maxForce=obj.maxForce||0;jd.maxTorque=obj.maxTorque||0;jd.correctionFactor=obj.correctionFactor||0;break;case b2Joint.e_weldJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.referenceAngle=obj.refAngle||0;jd.dampingRatio=obj.dampingRatio||0;jd.frequencyHz=obj.frequencyHz||0;break;case b2Joint.e_frictionJoint:jd.localAnchorA=parseVector(obj.anchorA);jd.localAnchorB=parseVector(obj.anchorB);jd.maxForce=obj.maxForce||0;jd.maxTorque=obj.maxTorque||0;break;default:throw new Error("wat?")}jd.bodyA=bodies[obj.bodyA||0];jd.bodyB=bodies[obj.bodyB||0];jd.collideConnected=obj.collideConnected||false;var joint=world.CreateJoint(jd);joint.name=obj.name;if(obj.customProperties){for(var i=0;i<obj.customProperties.length;++i){parseProperty(obj,joint)}}return joint}function b2RubeParameters(){this.world=null;this.positionIterations=0;this.velocityIterations=0;this.stepsPerSecond=0;this.fixtures={};this.bodies={};this.joints={};Object.seal(this)}function parseWorld(obj,world){var params=new b2RubeParameters();params.world=world=world||new b2World(new b2Vec2(0,0));params.positionIterations=obj.positionIterations||0;params.velocityIterations=obj.velocityIterations||0;params.stepsPerSecond=obj.stepsPerSecond||0;if(obj.gravity){world.SetGravity(parseVector(obj.gravity))}world.SetAllowSleeping(obj.allowSleep||false);world.SetAutoClearForces(obj.autoClearForces||false);world.SetWarmStarting(obj.warmStarting||false);world.SetContinuousPhysics(obj.continuousPhysics||false);world.SetSubStepping(obj.subStepping||false);var bodies=[];var bl=obj.body;if(bl){for(var i=0;i<bl.length;++i){var body=parseBody(bl[i],world);bodies.push(body);for(var f=body.GetFixtureList();f;f=f.GetNext()){if(!params.fixtures[f.name]){params.fixtures[f.name]=[]}params.fixtures[f.name].push(f)}if(!params.bodies[body.name]){params.bodies[body.name]=[]}params.bodies[body.name].push(body)}}var joints=[];var jl=obj.joint;if(jl){for(i=0;i<jl.length;++i){var joint=parseJoint(jl[i],world,bodies);joints.push(joint);if(!params.joints[joint.name]){params.joints[joint.name]=[]}params.joints[joint.name].push(joint)}}return params}return{parseWorld:parseWorld}})();var mappings=[{trimmed:"version",name:"b2_version",def:b2_version},{trimmed:"Vec2",name:"b2Vec2",def:b2Vec2},{trimmed:"Vec3",name:"b2Vec3",def:b2Vec3},{trimmed:"Mat22",name:"b2Mat22",def:b2Mat22},{trimmed:"Mat33",name:"b2Mat33",def:b2Mat33},{trimmed:"Rot",name:"b2Rot",def:b2Rot},{trimmed:"Transform",name:"b2Transform",def:b2Transform},{trimmed:"Sweep",name:"b2Sweep",def:b2Sweep},{trimmed:"Dot_v2_v2",name:"b2Dot_v2_v2",def:b2Dot_v2_v2},{trimmed:"Cross_v2_v2",name:"b2Cross_v2_v2",def:b2Cross_v2_v2},{trimmed:"Cross_v2_f",name:"b2Cross_v2_f",def:b2Cross_v2_f},{trimmed:"Cross_f_v2",name:"b2Cross_f_v2",def:b2Cross_f_v2},{trimmed:"Mul_m22_v2",name:"b2Mul_m22_v2",def:b2Mul_m22_v2},{trimmed:"MulT_m22_v2",name:"b2MulT_m22_v2",def:b2MulT_m22_v2},{trimmed:"Distance",name:"b2Distance",def:b2Distance},{trimmed:"DistanceSquared",name:"b2DistanceSquared",def:b2DistanceSquared},{trimmed:"Dot_v3_v3",name:"b2Dot_v3_v3",def:b2Dot_v3_v3},{trimmed:"Cross_v3_v3",name:"b2Cross_v3_v3",def:b2Cross_v3_v3},{trimmed:"Mul_m22_m22",name:"b2Mul_m22_m22",def:b2Mul_m22_m22},{trimmed:"MulT_m22_m22",name:"b2MulT_m22_m22",def:b2MulT_m22_m22},{trimmed:"Mul_m33_v3",name:"b2Mul_m33_v3",def:b2Mul_m33_v3},{trimmed:"Mul22_m33_v2",name:"b2Mul22_m33_v2",def:b2Mul22_m33_v2},{trimmed:"Mul_r_r",name:"b2Mul_r_r",def:b2Mul_r_r},{trimmed:"MulT_r_r",name:"b2MulT_r_r",def:b2MulT_r_r},{trimmed:"Mul_r_v2",name:"b2Mul_r_v2",def:b2Mul_r_v2},{trimmed:"MulT_r_v2",name:"b2MulT_r_v2",def:b2MulT_r_v2},{trimmed:"Mul_t_v2",name:"b2Mul_t_v2",def:b2Mul_t_v2},{trimmed:"Min_v2",name:"b2Min_v2",def:b2Min_v2},{trimmed:"Max_v2",name:"b2Max_v2",def:b2Max_v2},{trimmed:"Clamp",name:"b2Clamp",def:b2Clamp},{trimmed:"MulT_t_v2",name:"b2MulT_t_v2",def:b2MulT_t_v2},{trimmed:"Mul_t_t",name:"b2Mul_t_t",def:b2Mul_t_t},{trimmed:"MulT_t_t",name:"b2MulT_t_t",def:b2MulT_t_t},{trimmed:"Clamp_v2",name:"b2Clamp_v2",def:b2Clamp_v2},{trimmed:"NextPowerOfTwo",name:"b2NextPowerOfTwo",def:b2NextPowerOfTwo},{trimmed:"Abs_v2",name:"b2Abs_v2",def:b2Abs_v2},{trimmed:"Abs_m22",name:"b2Abs_m22",def:b2Abs_m22},{trimmed:"IsPowerOfTwo",name:"b2IsPowerOfTwo",def:b2IsPowerOfTwo},{trimmed:"RandomFloat",name:"b2RandomFloat",def:b2RandomFloat},{trimmed:"Timer",name:"b2Timer",def:b2Timer},{trimmed:"Color",name:"b2Color",def:b2Color},{trimmed:"Draw",name:"b2Draw",def:b2Draw},{trimmed:"ContactID",name:"b2ContactID",def:b2ContactID},{trimmed:"ManifoldPoint",name:"b2ManifoldPoint",def:b2ManifoldPoint},{trimmed:"Manifold",name:"b2Manifold",def:b2Manifold},{trimmed:"WorldManifold",name:"b2WorldManifold",def:b2WorldManifold},{trimmed:"GetPointStates",name:"b2GetPointStates",def:b2GetPointStates},{trimmed:"ClipVertex",name:"b2ClipVertex",def:b2ClipVertex},{trimmed:"RayCastInput",name:"b2RayCastInput",def:b2RayCastInput},{trimmed:"RayCastOutput",name:"b2RayCastOutput",def:b2RayCastOutput},{trimmed:"AABB",name:"b2AABB",def:b2AABB},{trimmed:"CollideCircles",name:"b2CollideCircles",def:b2CollideCircles},{trimmed:"CollidePolygonAndCircle",name:"b2CollidePolygonAndCircle",def:b2CollidePolygonAndCircle},{trimmed:"FindMaxSeparation",name:"b2FindMaxSeparation",def:b2FindMaxSeparation},{trimmed:"FindIncidentEdge",name:"b2FindIncidentEdge",def:b2FindIncidentEdge},{trimmed:"CollidePolygons",name:"b2CollidePolygons",def:b2CollidePolygons},{trimmed:"CollideEdgeAndCircle",name:"b2CollideEdgeAndCircle",def:b2CollideEdgeAndCircle},{trimmed:"EPAxis",name:"b2EPAxis",def:b2EPAxis},{trimmed:"TempPolygon",name:"b2TempPolygon",def:b2TempPolygon},{trimmed:"ReferenceFace",name:"b2ReferenceFace",def:b2ReferenceFace},{trimmed:"EPCollider",name:"b2EPCollider",def:b2EPCollider},{trimmed:"CollideEdgeAndPolygon",name:"b2CollideEdgeAndPolygon",def:b2CollideEdgeAndPolygon},{trimmed:"ClipSegmentToLine",name:"b2ClipSegmentToLine",def:b2ClipSegmentToLine},{trimmed:"TestShapeOverlap",name:"b2TestShapeOverlap",def:b2TestShapeOverlap},{trimmed:"TestOverlap",name:"b2TestOverlap",def:b2TestOverlap},{trimmed:"Shape",name:"b2Shape",def:b2Shape},{trimmed:"CircleShape",name:"b2CircleShape",def:b2CircleShape},{trimmed:"EdgeShape",name:"b2EdgeShape",def:b2EdgeShape},{trimmed:"ChainShape",name:"b2ChainShape",def:b2ChainShape},{trimmed:"PolygonShape",name:"b2PolygonShape",def:b2PolygonShape},{trimmed:"Pair",name:"b2Pair",def:b2Pair},{trimmed:"PairLessThan",name:"b2PairLessThan",def:b2PairLessThan},{trimmed:"BroadPhase",name:"b2BroadPhase",def:b2BroadPhase},{trimmed:"DistanceProxy",name:"b2DistanceProxy",def:b2DistanceProxy},{trimmed:"SimplexCache",name:"b2SimplexCache",def:b2SimplexCache},{trimmed:"DistanceInput",name:"b2DistanceInput",def:b2DistanceInput},{trimmed:"DistanceOutput",name:"b2DistanceOutput",def:b2DistanceOutput},{trimmed:"SimplexVertex",name:"b2SimplexVertex",def:b2SimplexVertex},{trimmed:"Simplex",name:"b2Simplex",def:b2Simplex},{trimmed:"DistanceFunc",name:"b2DistanceFunc",def:b2DistanceFunc},{trimmed:"TreeNode",name:"b2TreeNode",def:b2TreeNode},{trimmed:"DynamicTree",name:"b2DynamicTree",def:b2DynamicTree},{trimmed:"TOIInput",name:"b2TOIInput",def:b2TOIInput},{trimmed:"TOIOutput",name:"b2TOIOutput",def:b2TOIOutput},{trimmed:"SeparationFunction",name:"b2SeparationFunction",def:b2SeparationFunction},{trimmed:"TimeOfImpact",name:"b2TimeOfImpact",def:b2TimeOfImpact},{trimmed:"BodyDef",name:"b2BodyDef",def:b2BodyDef},{trimmed:"Body",name:"b2Body",def:b2Body},{trimmed:"Filter",name:"b2Filter",def:b2Filter},{trimmed:"FixtureDef",name:"b2FixtureDef",def:b2FixtureDef},{trimmed:"Fixture",name:"b2Fixture",def:b2Fixture},{trimmed:"DestructionListener",name:"b2DestructionListener",def:b2DestructionListener},{trimmed:"ContactFilter",name:"b2ContactFilter",def:b2ContactFilter},{trimmed:"ContactImpulse",name:"b2ContactImpulse",def:b2ContactImpulse},{trimmed:"ContactListener",name:"b2ContactListener",def:b2ContactListener},{trimmed:"QueryCallback",name:"b2QueryCallback",def:b2QueryCallback},{trimmed:"RayCastCallback",name:"b2RayCastCallback",def:b2RayCastCallback},{trimmed:"TimeStep",name:"b2TimeStep",def:b2TimeStep},{trimmed:"Position",name:"b2Position",def:b2Position},{trimmed:"Velocity",name:"b2Velocity",def:b2Velocity},{trimmed:"SolverData",name:"b2SolverData",def:b2SolverData},{trimmed:"World",name:"b2World",def:b2World},{trimmed:"MixFriction",name:"b2MixFriction",def:b2MixFriction},{trimmed:"MixRestitution",name:"b2MixRestitution",def:b2MixRestitution},{trimmed:"ContactRegister",name:"b2ContactRegister",def:b2ContactRegister},{trimmed:"ContactEdge",name:"b2ContactEdge",def:b2ContactEdge},{trimmed:"Contact",name:"b2Contact",def:b2Contact},{trimmed:"CircleContact",name:"b2CircleContact",def:b2CircleContact},{trimmed:"PolygonContact",name:"b2PolygonContact",def:b2PolygonContact},{trimmed:"ChainAndCircleContact",name:"b2ChainAndCircleContact",def:b2ChainAndCircleContact},{trimmed:"ChainAndPolygonContact",name:"b2ChainAndPolygonContact",def:b2ChainAndPolygonContact},{trimmed:"EdgeAndCircleContact",name:"b2EdgeAndCircleContact",def:b2EdgeAndCircleContact},{trimmed:"EdgeAndPolygonContact",name:"b2EdgeAndPolygonContact",def:b2EdgeAndPolygonContact},{trimmed:"PolygonAndCircleContact",name:"b2PolygonAndCircleContact",def:b2PolygonAndCircleContact},{trimmed:"defaultFilter",name:"b2_defaultFilter",def:b2_defaultFilter},{trimmed:"defaultListener",name:"b2_defaultListener",def:b2_defaultListener},{trimmed:"ContactManager",name:"b2ContactManager",def:b2ContactManager},{trimmed:"VelocityConstraintPoint",name:"b2VelocityConstraintPoint",def:b2VelocityConstraintPoint},{trimmed:"ContactPositionConstraint",name:"b2ContactPositionConstraint",def:b2ContactPositionConstraint},{trimmed:"ContactVelocityConstraint",name:"b2ContactVelocityConstraint",def:b2ContactVelocityConstraint},{trimmed:"PositionSolverManifold",name:"b2PositionSolverManifold",def:b2PositionSolverManifold},{trimmed:"ContactSolverDef",name:"b2ContactSolverDef",def:b2ContactSolverDef},{trimmed:"ContactSolver",name:"b2ContactSolver",def:b2ContactSolver},{trimmed:"Island",name:"b2Island",def:b2Island},{trimmed:"Jacobian",name:"b2Jacobian",def:b2Jacobian},{trimmed:"JointEdge",name:"b2JointEdge",def:b2JointEdge},{trimmed:"JointDef",name:"b2JointDef",def:b2JointDef},{trimmed:"Joint",name:"b2Joint",def:b2Joint},{trimmed:"RevoluteJointDef",name:"b2RevoluteJointDef",def:b2RevoluteJointDef},{trimmed:"RevoluteJoint",name:"b2RevoluteJoint",def:b2RevoluteJoint},{trimmed:"MouseJointDef",name:"b2MouseJointDef",def:b2MouseJointDef},{trimmed:"MouseJoint",name:"b2MouseJoint",def:b2MouseJoint},{trimmed:"DistanceJointDef",name:"b2DistanceJointDef",def:b2DistanceJointDef},{trimmed:"DistanceJoint",name:"b2DistanceJoint",def:b2DistanceJoint},{trimmed:"PrismaticJointDef",name:"b2PrismaticJointDef",def:b2PrismaticJointDef},{trimmed:"PrismaticJoint",name:"b2PrismaticJoint",def:b2PrismaticJoint},{trimmed:"FrictionJointDef",name:"b2FrictionJointDef",def:b2FrictionJointDef},{trimmed:"FrictionJoint",name:"b2FrictionJoint",def:b2FrictionJoint},{trimmed:"WeldJointDef",name:"b2WeldJointDef",def:b2WeldJointDef},{trimmed:"WeldJoint",name:"b2WeldJoint",def:b2WeldJoint},{trimmed:"WheelJointDef",name:"b2WheelJointDef",def:b2WheelJointDef},{trimmed:"WheelJoint",name:"b2WheelJoint",def:b2WheelJoint},{trimmed:"GearJointDef",name:"b2GearJointDef",def:b2GearJointDef},{trimmed:"GearJoint",name:"b2GearJoint",def:b2GearJoint},{trimmed:"MotorJointDef",name:"b2MotorJointDef",def:b2MotorJointDef},{trimmed:"MotorJoint",name:"b2MotorJoint",def:b2MotorJoint},{trimmed:"PulleyJointDef",name:"b2PulleyJointDef",def:b2PulleyJointDef},{trimmed:"PulleyJoint",name:"b2PulleyJoint",def:b2PulleyJoint},{trimmed:"RopeJointDef",name:"b2RopeJointDef",def:b2RopeJointDef},{trimmed:"RopeJoint",name:"b2RopeJoint",def:b2RopeJoint},{trimmed:"RopeDef",name:"b2RopeDef",def:b2RopeDef},{trimmed:"Rope",name:"b2Rope",def:b2Rope},{trimmed:"maxManifoldPoints",name:"b2_maxManifoldPoints",def:b2_maxManifoldPoints},{trimmed:"maxPolygonVertices",name:"b2_maxPolygonVertices",def:b2_maxPolygonVertices},{trimmed:"aabbExtension",name:"b2_aabbExtension",def:b2_aabbExtension},{trimmed:"aabbMultiplier",name:"b2_aabbMultiplier",def:b2_aabbMultiplier},{trimmed:"linearSlop",name:"b2_linearSlop",def:b2_linearSlop},{trimmed:"angularSlop",name:"b2_angularSlop",def:b2_angularSlop},{trimmed:"polygonRadius",name:"b2_polygonRadius",def:b2_polygonRadius},{trimmed:"maxSubSteps",name:"b2_maxSubSteps",def:b2_maxSubSteps},{trimmed:"maxTOIContacts",name:"b2_maxTOIContacts",def:b2_maxTOIContacts},{trimmed:"velocityThreshold",name:"b2_velocityThreshold",def:b2_velocityThreshold},{trimmed:"maxLinearCorrection",name:"b2_maxLinearCorrection",def:b2_maxLinearCorrection},{trimmed:"maxAngularCorrection",name:"b2_maxAngularCorrection",def:b2_maxAngularCorrection},{trimmed:"maxTranslation",name:"b2_maxTranslation",def:b2_maxTranslation},{trimmed:"maxTranslationSquared",name:"b2_maxTranslationSquared",def:b2_maxTranslationSquared},{trimmed:"maxRotation",name:"b2_maxRotation",def:b2_maxRotation},{trimmed:"maxRotationSquared",name:"b2_maxRotationSquared",def:b2_maxRotationSquared},{trimmed:"baumgarte",name:"b2_baumgarte",def:b2_baumgarte},{trimmed:"toiBaugarte",name:"b2_toiBaugarte",def:b2_toiBaugarte},{trimmed:"timeToSleep",name:"b2_timeToSleep",def:b2_timeToSleep},{trimmed:"linearSleepTolerance",name:"b2_linearSleepTolerance",def:b2_linearSleepTolerance},{trimmed:"angularSleepTolerance",name:"b2_angularSleepTolerance",def:b2_angularSleepTolerance},{trimmed:"epsilon",name:"b2_epsilon",def:b2_epsilon},{trimmed:"JsonSerializer",name:"b2JsonSerializer",def:b2JsonSerializer},{trimmed:"RUBELoader",name:"b2RUBELoader",def:b2RUBELoader},{trimmed:"Profiler",name:"b2Profiler",def:b2Profiler}];if(typeof(b2_compatibility)!=="undefined"&&typeof(window)!=="undefined"){for(var i=0;i<mappings.length;++i){window[mappings[i].name]=mappings[i].def}}else{var b2={};for(var i=0;i<mappings.length;++i){b2[mappings[i].trimmed]=mappings[i].def}if(typeof(module)!=="undefined"){module.exports=b2}else{window.b2=b2}}})();
+(function () {
+    var performance = {
+        now: function () {
+            return +new Date()
+        }
+    }
+    Function.prototype._extend = function (parent) {
+        this.prototype.parent = parent;
+        for (var x in parent.prototype) {
+            if (!this.prototype[x]) {
+                this.prototype[x] = parent.prototype[x]
+            }
+        }
+    };
+    Function.prototype._implement = function (parent) {
+        return this._extend(parent)
+    };
+    var b2Profiler = (function () {
+
+        function profileStruct(name, parent) {
+            this.name = name;
+            this.parent = parent;
+            this.children = {};
+            this.startTime = 0;
+            this.elapsedTime = 0;
+            this.totalTime = 0;
+            this.running = false;
+            this.childrenCount = 0
+        }
+        profileStruct.prototype = {
+            start: function () {
+                this.startTime = performance.now();
+                this.running = true
+            },
+            stop: function (reset) {
+                if (!this.running) {
+                    return
+                }
+                this.running = false;
+                this.elapsedTime += performance.now() - this.startTime;
+                if (reset) {
+                    this.start()
+                }
+                for (var x in this.children) {
+                    this.children[x].stop()
+                }
+            },
+            reset: function (dontRun) {
+                if (!dontRun) {
+                    this.running = true;
+                    this.totalTime += this.elapsedTime;
+                    this.start()
+                }
+                this.elapsedTime = 0;
+                for (var x in this.children) {
+                    this.children[x].reset(true)
+                }
+            }
+        };
+        var profiles = [];
+        var root = new profileStruct("root");
+
+        function create(name, parent) {
+            if (!profiles) {
+                throw new Error("late profile creation not allowed")
+            }
+            var s = new profileStruct(name, parent || "root");
+            profiles.push(s);
+            return s
+        }
+
+        function destroy(profile) {
+            profile.childrenCount--;
+            delete profile.children[profile.name]
+        }
+
+        function recursiveParentCheck(node, profile) {
+            if (node.name === profile.parent) {
+                return node
+            }
+            for (var x in node.children) {
+                var n;
+                if (n = recursiveParentCheck(node.children[x], profile)) {
+                    return n
+                }
+            }
+            return null
+        }
+
+        function init() {
+            while (profiles.length) {
+                var p = profiles.pop();
+                if (!(p.parentNode = recursiveParentCheck(root, p))) {
+                    profiles.unshift(p)
+                } else {
+                    p.parentNode.children[p.name] = p;
+                    p.parentNode.childrenCount++
+                }
+            }
+            profiles = null
+        }
+
+        function resetAll() {
+            root.reset(true)
+        }
+        return {
+            create: create,
+            destroy: destroy,
+            init: init,
+            reset: resetAll,
+            profileRoot: root
+        }
+    }());
+    "use strict";
+    var b2_maxFloat = Number.MAX_VALUE;
+    var b2_epsilon = 2.220446049250313e-16;
+    var b2_pi = Math.PI;
+    var b2_maxManifoldPoints = 2;
+    var b2_maxPolygonVertices = 8;
+    var b2_aabbExtension = 0.1;
+    var b2_aabbMultiplier = 2;
+    var b2_linearSlop = 0.005;
+    var b2_angularSlop = (2 / 180 * b2_pi);
+    var b2_polygonRadius = (2 * b2_linearSlop);
+    var b2_maxSubSteps = 8;
+    var b2_maxTOIContacts = 32;
+    var b2_velocityThreshold = 1;
+    var b2_maxLinearCorrection = 0.2;
+    var b2_maxAngularCorrection = (8 / 180 * b2_pi);
+    var b2_maxTranslation = 2;
+    var b2_maxTranslationSquared = (b2_maxTranslation * b2_maxTranslation);
+    var b2_maxRotation = (0.5 * b2_pi);
+    var b2_maxRotationSquared = (b2_maxRotation * b2_maxRotation);
+    var b2_baumgarte = 0.2;
+    var b2_toiBaugarte = 0.75;
+    var b2_timeToSleep = 0.5;
+    var b2_linearSleepTolerance = 0.01;
+    var b2_angularSleepTolerance = (2 / 180 * b2_pi);
+
+    function b2Version(ma, mi, re) {
+        this.major = ma;
+        this.minor = mi;
+        this.revision = re
+    }
+    b2Version.prototype = {
+        toString: function () {
+            return this.major + "." + this.minor + "." + this.revision
+        }
+    };
+    var b2_version = new b2Version(2, 3, 1);
+    "use strict";
+
+    function b2IsValid(x) {
+        return isFinite(x) && !isNaN(x)
+    }
+    var sqrtf = Math.sqrt;
+    var atan2f = Math.atan2;
+    var sinf = Math.sin;
+    var cosf = Math.cos;
+    var floorf = Math.floor;
+    var ceilf = Math.ceil;
+    var b2Sqrt = sqrtf;
+    var b2Atan2 = atan2f;
+
+    function b2InvSqrt(x) {
+        return 1 / sqrtf(x)
+    }
+
+    function b2Vec2(x, y) {
+        if (typeof (x) !== "undefined") {
+            this.x = x;
+            this.y = y
+        } else {
+            this.x = this.y = 0
+        }
+    }
+    b2Vec2.prototype = {
+        Clone: function () {
+            return new b2Vec2(this.x, this.y)
+        },
+        SetZero: function () {
+            this.x = 0;
+            this.y = 0;
+            return this
+        },
+        Set: function (x_, y_) {
+            this.x = x_;
+            this.y = y_;
+            return this
+        },
+        Assign: function (l) {
+            this.x = l.x;
+            this.y = l.y;
+            return this
+        },
+        Negate: function () {
+            var v = new b2Vec2();
+            v.Set(-this.x, -this.y);
+            return v
+        },
+        get_i: function (i) {
+            switch (i) {
+                case 0:
+                    return this.x;
+                case 1:
+                    return this.y
+            }
+        },
+        set_i: function (i, v) {
+            switch (i) {
+                case 0:
+                    return this.x = v;
+                case 1:
+                    return this.y = v
+            }
+        },
+        Add: function (v) {
+            this.x += v.x;
+            this.y += v.y;
+            return this
+        },
+        Subtract: function (v) {
+            this.x -= v.x;
+            this.y -= v.y;
+            return this
+        },
+        Multiply: function (a) {
+            this.x *= a;
+            this.y *= a;
+            return this
+        },
+        Length: function () {
+            return b2Sqrt(this.x * this.x + this.y * this.y)
+        },
+        LengthSquared: function () {
+            return this.x * this.x + this.y * this.y
+        },
+        Normalize: function () {
+            var length = this.Length();
+            if (length < b2_epsilon) {
+                return 0
+            }
+            var invLength = 1 / length;
+            this.x *= invLength;
+            this.y *= invLength;
+            return length
+        },
+        IsValid: function () {
+            return b2IsValid(this.x) && b2IsValid(this.y)
+        },
+        Skew: function () {
+            return new b2Vec2(-this.y, this.x)
+        },
+        _serialize: function (out) {
+            var obj = out || [];
+            obj[0] = this.x;
+            obj[1] = this.y;
+            return obj
+        },
+        _deserialize: function (data) {
+            this.x = data[0];
+            this.y = data[1]
+        }
+    };
+    b2Vec2.Add = function (a, b) {
+        return new b2Vec2(a.x + b.x, a.y + b.y)
+    };
+    b2Vec2.Subtract = function (a, b) {
+        return new b2Vec2(a.x - b.x, a.y - b.y)
+    };
+    b2Vec2.Equals = function (a, b) {
+        return a.x == b.x && a.y == b.y
+    };
+    b2Vec2.Multiply = function (s, a) {
+        return new b2Vec2(s * a.x, s * a.y)
+    };
+    b2Vec2.Negate = function (a) {
+        return new b2Vec2(-a.x, -a.y)
+    };
+
+    function b2Vec3(x, y, z) {
+        if (typeof (x) !== "undefined") {
+            this.x = x;
+            this.y = y;
+            this.z = z
+        }
+    }
+    b2Vec3.prototype = {
+        Clone: function () {
+            return new b2Vec3(this.x, this.y, this.z)
+        },
+        SetZero: function () {
+            this.x = 0;
+            this.y = 0;
+            this.z = 0
+        },
+        Set: function (x_, y_, z_) {
+            this.x = x_;
+            this.y = y_;
+            this.z = z_
+        },
+        Negate: function () {
+            var v = new b2Vec3();
+            v.Set(-this.x, -this.y, -this.z);
+            return v
+        },
+        Add: function (v) {
+            this.x += v.x;
+            this.y += v.y;
+            this.z += v.z
+        },
+        Subtract: function (v) {
+            this.x -= v.x;
+            this.y -= v.y;
+            this.z -= v.z
+        },
+        Multiply: function (s) {
+            this.x *= s;
+            this.y *= s;
+            this.z *= s
+        },
+        x: 0,
+        y: 0,
+        z: 0
+    };
+    b2Vec3.Multiply = function (s, a) {
+        return new b2Vec3(s * a.x, s * a.y, s * a.z)
+    };
+    b2Vec3.Add = function (a, b) {
+        return new b2Vec3(a.x + b.x, a.y + b.y, a.z + b.z)
+    };
+    b2Vec3.Subtract = function (a, b) {
+        return new b2Vec3(a.x - b.x, a.y - b.y, a.z - b.z)
+    };
+
+    function b2Mat22(c1, c2) {
+        this.ex = c1 ? c1.Clone() : new b2Vec2();
+        this.ey = c2 ? c2.Clone() : new b2Vec2()
+    }
+    b2Mat22.prototype = {
+        Set: function (c1, c2) {
+            this.ex.Assign(c1);
+            this.ey.Assign(c2)
+        },
+        Assign: function (mat) {
+            this.ex.Assign(mat.ex);
+            this.ey.Assign(mat.ey)
+        },
+        SetIdentity: function () {
+            this.ex.x = 1;
+            this.ey.x = 0;
+            this.ex.y = 0;
+            this.ey.y = 1
+        },
+        SetZero: function () {
+            this.ex.x = 0;
+            this.ey.x = 0;
+            this.ex.y = 0;
+            this.ey.y = 0
+        },
+        GetInverse: function () {
+            var a = this.ex.x,
+                b = this.ey.x,
+                c = this.ex.y,
+                d = this.ey.y;
+            var B = new b2Mat22();
+            var det = a * d - b * c;
+            if (det != 0) {
+                det = 1 / det
+            }
+            B.ex.x = det * d;
+            B.ey.x = -det * b;
+            B.ex.y = -det * c;
+            B.ey.y = det * a;
+            return B
+        },
+        Solve: function (b) {
+            var a11 = this.ex.x,
+                a12 = this.ey.x,
+                a21 = this.ex.y,
+                a22 = this.ey.y;
+            var det = a11 * a22 - a12 * a21;
+            if (det != 0) {
+                det = 1 / det
+            }
+            var x = new b2Vec2();
+            x.x = det * (a22 * b.x - a12 * b.y);
+            x.y = det * (a11 * b.y - a21 * b.x);
+            return x
+        }
+    };
+    b2Mat22.Add = function (A, B) {
+        return new b2Mat22(b2Vec2.Add(A.ex, B.ex), b2Vec2.Add(A.ey, B.ey))
+    };
+
+    function b2Mat33(c1, c2, c3) {
+        this.ex = c1 ? c1.Clone() : new b2Vec3();
+        this.ey = c2 ? c2.Clone() : new b2Vec3();
+        this.ez = c3 ? c3.Clone() : new b2Vec3()
+    }
+    b2Mat33.prototype = {
+        SetZero: function () {
+            this.ex.SetZero();
+            this.ey.SetZero();
+            this.ez.SetZero()
+        },
+        Solve33: function (b) {
+            var det = b2Dot_v3_v3(this.ex, b2Cross_v3_v3(this.ey, this.ez));
+            if (det != 0) {
+                det = 1 / det
+            }
+            var x = new b2Vec3();
+            x.x = det * b2Dot_v3_v3(b, b2Cross_v3_v3(this.ey, this.ez));
+            x.y = det * b2Dot_v3_v3(this.ex, b2Cross_v3_v3(b, this.ez));
+            x.z = det * b2Dot_v3_v3(this.ex, b2Cross_v3_v3(this.ey, b));
+            return x
+        },
+        Solve22: function (b) {
+            var a11 = this.ex.x,
+                a12 = this.ey.x,
+                a21 = this.ex.y,
+                a22 = this.ey.y;
+            var det = a11 * a22 - a12 * a21;
+            if (det != 0) {
+                det = 1 / det
+            }
+            var x = new b2Vec2();
+            x.x = det * (a22 * b.x - a12 * b.y);
+            x.y = det * (a11 * b.y - a21 * b.x);
+            return x
+        },
+        GetInverse22: function (M) {
+            var a = this.ex.x,
+                b = this.ey.x,
+                c = this.ex.y,
+                d = this.ey.y;
+            var det = a * d - b * c;
+            if (det != 0) {
+                det = 1 / det
+            }
+            M.ex.x = det * d;
+            M.ey.x = -det * b;
+            M.ex.z = 0;
+            M.ex.y = -det * c;
+            M.ey.y = det * a;
+            M.ey.z = 0;
+            M.ez.x = 0;
+            M.ez.y = 0;
+            M.ez.z = 0
+        },
+        GetSymInverse33: function (M) {
+            var det = b2Dot_v3_v3(this.ex, b2Cross_v3_v3(this.ey, this.ez));
+            if (det != 0) {
+                det = 1 / det
+            }
+            var a11 = this.ex.x,
+                a12 = this.ey.x,
+                a13 = this.ez.x;
+            var a22 = this.ey.y,
+                a23 = this.ez.y;
+            var a33 = this.ez.z;
+            M.ex.x = det * (a22 * a33 - a23 * a23);
+            M.ex.y = det * (a13 * a23 - a12 * a33);
+            M.ex.z = det * (a12 * a23 - a13 * a22);
+            M.ey.x = M.ex.y;
+            M.ey.y = det * (a11 * a33 - a13 * a13);
+            M.ey.z = det * (a13 * a12 - a11 * a23);
+            M.ez.x = M.ex.z;
+            M.ez.y = M.ey.z;
+            M.ez.z = det * (a11 * a22 - a12 * a12)
+        }
+    };
+
+    function b2Rot(angle, c) {
+        if (typeof (c) !== "undefined") {
+            this.s = angle;
+            this.c = c
+        } else {
+            if (typeof (angle) !== "undefined") {
+                this.Set(angle)
+            }
+        }
+    }
+    b2Rot.prototype = {
+        Clone: function () {
+            return new b2Rot(this.s, this.c)
+        },
+        Assign: function (l) {
+            this.s = l.s;
+            this.c = l.c
+        },
+        Set: function (x) {
+            this.s = sinf(x);
+            this.c = cosf(x)
+        },
+        SetIdentity: function () {
+            this.s = 0;
+            this.c = 1
+        },
+        GetAngle: function () {
+            return b2Atan2(this.s, this.c)
+        },
+        GetXAxis: function () {
+            return new b2Vec2(this.c, this.s)
+        },
+        GetYAxis: function () {
+            return new b2Vec2(-this.s, this.c)
+        },
+        s: 0,
+        c: 1
+    };
+
+    function b2Transform(position, rotation) {
+        this.p = new b2Vec2();
+        this.q = new b2Rot();
+        if (position) {
+            this.p.Assign(position);
+            this.q.Assign(rotation)
+        }
+    }
+    b2Transform.prototype = {
+        Clone: function () {
+            var xf = new b2Transform(this.p, this.q);
+            return xf
+        },
+        Assign: function (xf) {
+            this.p.Assign(xf.p);
+            this.q.Assign(xf.q)
+        },
+        SetIdentity: function () {
+            this.p.SetZero();
+            this.q.SetIdentity()
+        },
+        Set: function (position, angle) {
+            this.p.Assign(position);
+            this.q.Set(angle)
+        }
+    };
+
+    function b2Sweep() {
+        this.localCenter = new b2Vec2();
+        this.c0 = new b2Vec2();
+        this.c = new b2Vec2()
+    }
+    b2Sweep.prototype = {
+        Assign: function (sweep) {
+            this.localCenter.Assign(sweep.localCenter);
+            this.c0.Assign(sweep.c0);
+            this.c.Assign(sweep.c);
+            this.a = sweep.a;
+            this.a0 = sweep.a0;
+            this.alpha0 = sweep.alpha0
+        },
+        Clone: function () {
+            var sweep = new b2Sweep();
+            sweep.localCenter.Assign(this.localCenter);
+            sweep.c0.Assign(this.c0);
+            sweep.c.Assign(this.c);
+            sweep.a = this.a;
+            sweep.a0 = this.a0;
+            sweep.alpha0 = this.alpha0;
+            return sweep
+        },
+        GetTransform: function (xf, beta) {
+            xf.p.x = ((1 - beta) * this.c0.x) + (beta * this.c.x);
+            xf.p.y = ((1 - beta) * this.c0.y) + (beta * this.c.y);
+            var angle = (1 - beta) * this.a0 + beta * this.a;
+            xf.q.Set(angle);
+            xf.p.x -= xf.q.c * this.localCenter.x - xf.q.s * this.localCenter.y;
+            xf.p.y -= xf.q.s * this.localCenter.x + xf.q.c * this.localCenter.y
+        },
+        Advance: function (alpha) {
+            var beta = (alpha - this.alpha0) / (1 - this.alpha0);
+            this.c0.Add(b2Vec2.Multiply(beta, b2Vec2.Subtract(this.c, this.c0)));
+            this.a0 += beta * (this.a - this.a0);
+            this.alpha0 = alpha
+        },
+        Normalize: function () {
+            var twoPi = 2 * b2_pi;
+            var d = twoPi * floorf(this.a0 / twoPi);
+            this.a0 -= d;
+            this.a -= d
+        },
+        a0: 0,
+        a: 0,
+        alpha0: 0
+    };
+
+    function b2Dot_v2_v2(a, b) {
+        return a.x * b.x + a.y * b.y
+    }
+
+    function b2Cross_v2_v2(a, b) {
+        return a.x * b.y - a.y * b.x
+    }
+
+    function b2Cross_v2_f(a, s) {
+        return new b2Vec2(s * a.y, -s * a.x)
+    }
+
+    function b2Cross_f_v2(s, a) {
+        return new b2Vec2(-s * a.y, s * a.x)
+    }
+
+    function b2Mul_m22_v2(A, v) {
+        return new b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y)
+    }
+
+    function b2MulT_m22_v2(A, v) {
+        return new b2Vec2(b2Dot_v2_v2(v, A.ex), b2Dot_v2_v2(v, A.ey))
+    }
+
+    function b2Distance(a, b) {
+        var c = b2Vec2.Subtract(a, b);
+        return c.Length()
+    }
+
+    function b2DistanceSquared(a, b) {
+        var c = b2Vec2.Subtract(a, b);
+        return b2Dot_v2_v2(c, c)
+    }
+
+    function b2Dot_v3_v3(a, b) {
+        return a.x * b.x + a.y * b.y + a.z * b.z
+    }
+
+    function b2Cross_v3_v3(a, b) {
+        return new b2Vec3(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x)
+    }
+
+    function b2Mul_m22_m22(A, B) {
+        return new b2Mat22(b2Mul_m22_v2(A, B.ex), b2Mul_m22_v2(A, B.ey))
+    }
+
+    function b2MulT_m22_m22(A, B) {
+        var c1 = new b2Vec2(b2Dot_v2_v2(A.ex, B.ex), b2Dot_v2_v2(A.ey, B.ex));
+        var c2 = new b2Vec2(b2Dot_v2_v2(A.ex, B.ey), b2Dot_v2_v2(A.ey, B.ey));
+        return new b2Mat22(c1, c2)
+    }
+
+    function b2Mul_m33_v3(A, v) {
+        return b2Vec3.Add(b2Vec3.Add(b2Vec3.Multiply(v.x, A.ex), b2Vec3.Multiply(v.y, A.ey)), b2Vec3.Multiply(v.z, A.ez))
+    }
+
+    function b2Mul22_m33_v2(A, v) {
+        return new b2Vec2(A.ex.x * v.x + A.ey.x * v.y, A.ex.y * v.x + A.ey.y * v.y)
+    }
+
+    function b2Mul_r_r(q, r) {
+        var qr = new b2Rot();
+        qr.s = q.s * r.c + q.c * r.s;
+        qr.c = q.c * r.c - q.s * r.s;
+        return qr
+    }
+
+    function b2MulT_r_r(q, r) {
+        var qr = new b2Rot();
+        qr.s = q.c * r.s - q.s * r.c;
+        qr.c = q.c * r.c + q.s * r.s;
+        return qr
+    }
+
+    function b2Mul_r_v2(q, v) {
+        return new b2Vec2(q.c * v.x - q.s * v.y, q.s * v.x + q.c * v.y)
+    }
+
+    function b2MulT_r_v2(q, v) {
+        return new b2Vec2(q.c * v.x + q.s * v.y, -q.s * v.x + q.c * v.y)
+    }
+
+    function b2Mul_t_v2(T, v) {
+        return new b2Vec2((T.q.c * v.x - T.q.s * v.y) + T.p.x, (T.q.s * v.x + T.q.c * v.y) + T.p.y)
+    }
+
+    function b2MulT_t_v2(T, v) {
+        var px = v.x - T.p.x;
+        var py = v.y - T.p.y;
+        var x = (T.q.c * px + T.q.s * py);
+        var y = (-T.q.s * px + T.q.c * py);
+        return new b2Vec2(x, y)
+    }
+
+    function b2Mul_t_t(A, B) {
+        var C = new b2Transform();
+        C.q = b2Mul_r_r(A.q, B.q);
+        C.p = b2Vec2.Add(b2Mul_r_v2(A.q, B.p), A.p);
+        return C
+    }
+
+    function b2MulT_t_t(A, B) {
+        var C = new b2Transform();
+        C.q = b2MulT_r_r(A.q, B.q);
+        var tvx = B.p.x - A.p.x;
+        var tvy = B.p.y - A.p.y;
+        C.p.x = A.q.c * tvx + A.q.s * tvy;
+        C.p.y = -A.q.s * tvx + A.q.c * tvy;
+        return C
+    }
+    var b2Abs = Math.abs;
+
+    function b2Abs_v2(a) {
+        return new b2Vec2(b2Abs(a.x), b2Abs(a.y))
+    }
+
+    function b2Abs_m22(A) {
+        return new b2Mat22(b2Abs_v2(A.ex), b2Abs_v2(A.ey))
+    }
+    var b2Min = Math.min;
+
+    function b2Min_v2(a, b) {
+        return new b2Vec2(b2Min(a.x, b.x), b2Min(a.y, b.y))
+    }
+    var b2Max = Math.max;
+
+    function b2Max_v2(a, b) {
+        return new b2Vec2(b2Max(a.x, b.x), b2Max(a.y, b.y))
+    }
+
+    function b2Clamp(a, low, high) {
+        return b2Max(low, b2Min(a, high))
+    }
+
+    function b2Clamp_v2(a, low, high) {
+        return b2Max_v2(low, b2Min_v2(a, high))
+    }
+
+    function b2NextPowerOfTwo(x) {
+        x |= (x >> 1);
+        x |= (x >> 2);
+        x |= (x >> 4);
+        x |= (x >> 8);
+        x |= (x >> 16);
+        return x + 1
+    }
+
+    function b2IsPowerOfTwo(x) {
+        var result = x > 0 && (x & (x - 1)) == 0;
+        return result
+    }
+    var RAND_LIMIT = 32767;
+
+    function b2RandomFloat(lo, hi) {
+        var r = Math.random();
+        if (typeof (lo) !== "undefined") {
+            r = (hi - lo) * r + lo
+        } else {
+            r = 2 * r - 1
+        }
+        return r
+    }
+    "use strict";
+
+    function b2Color(r, g, b) {
+        this.r = r || 0;
+        this.g = g || 0;
+        this.b = b || 0
+    }
+    b2Color.prototype = {
+        Set: function (r, g, b) {
+            this.r = r;
+            this.g = g;
+            this.b = b
+        }
+    };
+
+    function b2Draw() {}
+    b2Draw.prototype = {
+        SetFlags: function (flags) {
+            this.m_drawFlags = flags
+        },
+        GetFlags: function () {
+            return this.m_drawFlags
+        },
+        AppendFlags: function (flags) {
+            this.m_drawFlags |= flags
+        },
+        ClearFlags: function (flags) {
+            this.m_drawFlags &= ~flags
+        },
+        ToggleFlags: function (flags) {
+            this.m_drawFlags ^= flags
+        },
+        DrawPolygon: function (vertices, vertexCount, color) {},
+        DrawSolidPolygon: function (vertices, vertexCount, color) {},
+        DrawCircle: function (center, radius, color) {},
+        DrawSolidCircle: function (center, radius, axis, color) {},
+        DrawSegment: function (p1, p2, color) {},
+        DrawTransform: function (xf) {},
+        m_drawFlags: 0
+    };
+    b2Draw.e_shapeBit = 1;
+    b2Draw.e_jointBit = 2;
+    b2Draw.e_aabbBit = 4;
+    b2Draw.e_centerOfMassBit = 8;
+    b2Draw.e_contactPoints = 16;
+    b2Draw.e_contactNormals = 32;
+    b2Draw.e_contactImpulses = 64;
+    b2Draw.e_frictionImpulses = 128;
+    b2Draw.e_statistics = 256;
+    b2Draw.e_profile = 512;
+    b2Draw.e_pairBit = 1024;
+
+    "use strict";
+    function b2Timer() {
+        this.Reset()
+    }
+    b2Timer.prototype = {
+        Reset: function () {
+            this.m_start = performance.now()
+        },
+        GetMilliseconds: function () {
+            return performance.now() - this.m_start
+        }
+    };
+    "use strict";
+
+    function b2MassData() {
+        this.mass = 0;
+        this.center = new b2Vec2();
+        this.I = 0
+    }
+
+    function b2Shape() {
+        this.m_type = 0;
+        this.m_radius = 0
+    }
+    b2Shape.prototype = {
+        Clone: function () {},
+        GetType: function () {
+            return this.m_type
+        },
+        GetChildCount: function () {},
+        TestPoint: function (xf, p) {},
+        RayCast: function (output, input, transform, childIndex) {},
+        ComputeAABB: function (aabb, xf, childIndex) {},
+        ComputeMass: function (massData, density) {},
+        _serialize: function (out) {
+            var obj = out || {};
+            obj.m_type = this.m_type;
+            obj.m_radius = this.m_radius;
+            return obj
+        },
+        _deserialize: function (data) {
+            this.m_radius = data.m_radius
+        }
+    };
+    b2Shape.e_circle = 0;
+    b2Shape.e_edge = 1;
+    b2Shape.e_polygon = 2;
+    b2Shape.e_chain = 3;
+    b2Shape.e_typeCount = 4;
+    "use strict";
+
+    function b2CircleShape() {
+        this.parent.call(this);
+        this.m_type = b2Shape.e_circle;
+        this.m_radius = 0;
+        this.m_p = new b2Vec2();
+        Object.seal(this)
+    }
+    b2CircleShape.prototype = {
+        Clone: function () {
+            var shape = new b2CircleShape();
+            shape.m_radius = this.m_radius;
+            shape.m_p = this.m_p.Clone();
+            return shape
+        },
+        GetChildCount: function () {
+            return 1
+        },
+        TestPoint: function (transform, p) {
+            var center = b2Vec2.Add(transform.p, b2Mul_r_v2(transform.q, this.m_p));
+            var d = b2Vec2.Subtract(p, center);
+            return b2Dot_v2_v2(d, d) <= this.m_radius * this.m_radius
+        },
+        RayCast: function (output, input, transform, childIndex) {
+            var position = b2Vec2.Add(transform.p, b2Mul_r_v2(transform.q, this.m_p));
+            var s = b2Vec2.Subtract(input.p1, position);
+            var b = b2Dot_v2_v2(s, s) - this.m_radius * this.m_radius;
+            var r = b2Vec2.Subtract(input.p2, input.p1);
+            var c = b2Dot_v2_v2(s, r);
+            var rr = b2Dot_v2_v2(r, r);
+            var sigma = c * c - rr * b;
+            if (sigma < 0 || rr < b2_epsilon) {
+                return false
+            }
+            var a = -(c + b2Sqrt(sigma));
+            if (0 <= a && a <= input.maxFraction * rr) {
+                a /= rr;
+                output.fraction = a;
+                output.normal = b2Vec2.Add(s, b2Vec2.Multiply(a, r));
+                output.normal.Normalize();
+                return true
+            }
+            return false
+        },
+        ComputeAABB: function (aabb, transform, childIndex) {
+            var px = transform.p.x + (transform.q.c * this.m_p.x - transform.q.s * this.m_p.y);
+            var py = transform.p.y + (transform.q.s * this.m_p.x + transform.q.c * this.m_p.y);
+            aabb.lowerBound.x = px - this.m_radius;
+            aabb.lowerBound.y = py - this.m_radius;
+            aabb.upperBound.x = px + this.m_radius;
+            aabb.upperBound.y = py + this.m_radius
+        },
+        ComputeMass: function (massData, density) {
+            massData.mass = density * b2_pi * this.m_radius * this.m_radius;
+            massData.center = this.m_p;
+            massData.I = massData.mass * (0.5 * this.m_radius * this.m_radius + b2Dot_v2_v2(this.m_p, this.m_p))
+        },
+        GetSupport: function (d) {
+            return 0
+        },
+        GetSupportVertex: function (d) {
+            return this.m_p
+        },
+        GetVertexCount: function () {
+            return 1
+        },
+        GetVertex: function (index) {
+            return this.m_p
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.m_p = this.m_p._serialize();
+            return obj
+        },
+        _deserialize: function (data) {
+            this.parent.prototype._deserialize.call(this, data);
+            this.m_p._deserialize(data.m_p)
+        }
+    };
+    b2CircleShape._extend(b2Shape);
+    "use strict";
+
+    function b2EdgeShape() {
+        this.parent.call(this);
+        this.m_type = b2Shape.e_edge;
+        this.m_radius = b2_polygonRadius;
+        this.m_vertex0 = new b2Vec2();
+        this.m_vertex1 = new b2Vec2();
+        this.m_vertex2 = new b2Vec2();
+        this.m_vertex3 = new b2Vec2();
+        this.m_hasVertex0 = false;
+        this.m_hasVertex3 = false;
+        Object.seal(this)
+    }
+    b2EdgeShape.prototype = {
+        Set: function (v1, v2) {
+            this.m_vertex1.Assign(v1);
+            this.m_vertex2.Assign(v2);
+            this.m_hasVertex0 = false;
+            this.m_hasVertex3 = false
+        },
+        Clone: function () {
+            var shape = new b2EdgeShape();
+            shape.m_vertex0 = this.m_vertex0.Clone();
+            shape.m_vertex1 = this.m_vertex1.Clone();
+            shape.m_vertex2 = this.m_vertex2.Clone();
+            shape.m_vertex3 = this.m_vertex3.Clone();
+            shape.m_hasVertex0 = this.m_hasVertex0;
+            shape.m_hasVertex3 = this.m_hasVertex3;
+            return shape
+        },
+        GetChildCount: function () {
+            return 1
+        },
+        TestPoint: function (transform, p) {
+            return false
+        },
+        RayCast: function (output, input, xf, childIndex) {
+            var p1 = b2MulT_r_v2(xf.q, b2Vec2.Subtract(input.p1, xf.p));
+            var p2 = b2MulT_r_v2(xf.q, b2Vec2.Subtract(input.p2, xf.p));
+            var d = b2Vec2.Subtract(p2, p1);
+            var v1 = this.m_vertex1;
+            var v2 = this.m_vertex2;
+            var e = b2Vec2.Subtract(v2, v1);
+            var normal = new b2Vec2(e.y, -e.x);
+            normal.Normalize();
+            var numerator = b2Dot_v2_v2(normal, b2Vec2.Subtract(v1, p1));
+            var denominator = b2Dot_v2_v2(normal, d);
+            if (denominator == 0) {
+                return false
+            }
+            var t = numerator / denominator;
+            if (t < 0 || input.maxFraction < t) {
+                return false
+            }
+            var q = b2Vec2.Add(p1, b2Vec2.Multiply(t, d));
+            var r = b2Vec2.Subtract(v2, v1);
+            var rr = b2Dot_v2_v2(r, r);
+            if (rr == 0) {
+                return false
+            }
+            var s = b2Dot_v2_v2(b2Vec2.Subtract(q, v1), r) / rr;
+            if (s < 0 || 1 < s) {
+                return false
+            }
+            output.fraction = t;
+            if (numerator > 0) {
+                output.normal = b2Mul_r_v2(xf.q, normal).Negate()
+            } else {
+                output.normal = b2Mul_r_v2(xf.q, normal)
+            }
+            return true
+        },
+        ComputeAABB: function (aabb, xf, childIndex) {
+            var v1x = (xf.q.c * this.m_vertex1.x - xf.q.s * this.m_vertex1.y) + xf.p.x;
+            var v1y = (xf.q.s * this.m_vertex1.x + xf.q.c * this.m_vertex1.y) + xf.p.y;
+            var v2x = (xf.q.c * this.m_vertex2.x - xf.q.s * this.m_vertex2.y) + xf.p.x;
+            var v2y = (xf.q.s * this.m_vertex2.x + xf.q.c * this.m_vertex2.y) + xf.p.y;
+            var lowerx = b2Min(v1x, v2x);
+            var lowery = b2Min(v1y, v2y);
+            var upperx = b2Max(v1x, v2x);
+            var uppery = b2Max(v1y, v2y);
+            aabb.lowerBound.x = lowerx - this.m_radius;
+            aabb.lowerBound.y = lowery - this.m_radius;
+            aabb.upperBound.x = upperx + this.m_radius;
+            aabb.upperBound.y = uppery + this.m_radius
+        },
+        ComputeMass: function (massData, density) {
+            massData.mass = 0;
+            massData.center = b2Vec2.Multiply(0.5, b2Vec2.Add(this.m_vertex1, this.m_vertex2));
+            massData.I = 0
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.m_vertex1 = this.m_vertex1._serialize();
+            obj.m_vertex2 = this.m_vertex2._serialize();
+            obj.m_hasVertex0 = this.m_hasVertex0;
+            if (this.m_hasVertex0) {
+                obj.m_vertex0 = this.m_vertex0._serialize()
+            }
+            obj.m_hasVertex3 = this.m_hasVertex3;
+            if (this.m_hasVertex3) {
+                obj.m_vertex3 = this.m_vertex3._serialize()
+            }
+            return obj
+        },
+        _deserialize: function (data) {
+            this.parent.prototype._deserialize.call(this, data);
+            this.m_vertex1._deserialize(data.m_vertex1);
+            this.m_vertex2._deserialize(data.m_vertex2);
+            this.m_hasVertex0 = data.m_hasVertex0;
+            if (this.m_hasVertex0) {
+                this.m_vertex0._deserialize(data.m_vertex0)
+            }
+            this.m_hasVertex3 = data.m_hasVertex3;
+            if (this.m_hasVertex3) {
+                this.m_vertex3._deserialize(data.m_vertex3)
+            }
+        }
+    };
+    b2EdgeShape._extend(b2Shape);
+    "use strict";
+
+    function b2ChainShape() {
+        this.parent.call(this);
+        this.m_type = b2Shape.e_chain;
+        this.m_radius = b2_polygonRadius;
+        this.m_vertices = null;
+        this.m_count = 0;
+        this.m_prevVertex = new b2Vec2();
+        this.m_nextVertex = new b2Vec2();
+        this.m_hasPrevVertex = false;
+        this.m_hasNextVertex = false;
+        Object.seal(this)
+    }
+    b2ChainShape.prototype = {
+        CreateLoop: function (vertices, count) {
+            for (var i = 1; i < count; ++i) {
+                var v1 = vertices[i - 1];
+                var v2 = vertices[i]
+            }
+            this.m_count = count + 1;
+            this.m_vertices = new Array(this.m_count);
+            for (var i = 0; i < count; ++i) {
+                this.m_vertices[i] = vertices[i].Clone()
+            }
+            this.m_vertices[count] = this.m_vertices[0].Clone();
+            this.m_prevVertex.Assign(this.m_vertices[this.m_count - 2]);
+            this.m_nextVertex.Assign(this.m_vertices[1]);
+            this.m_hasPrevVertex = true;
+            this.m_hasNextVertex = true
+        },
+        CreateChain: function (vertices, count) {
+            for (var i = 1; i < count; ++i) {
+                var v1 = vertices[i - 1];
+                var v2 = vertices[i]
+            }
+            this.m_count = count;
+            this.m_vertices = new Array(count);
+            for (var i = 0; i < count; ++i) {
+                this.m_vertices[i] = vertices[i].Clone()
+            }
+            this.m_hasPrevVertex = false;
+            this.m_hasNextVertex = false;
+            this.m_prevVertex.SetZero();
+            this.m_nextVertex.SetZero()
+        },
+        SetPrevVertex: function (prevVertex) {
+            this.m_prevVertex.Assign(prevVertex);
+            this.m_hasPrevVertex = true
+        },
+        SetNextVertex: function (nextVertex) {
+            this.m_nextVertex.Assign(nextVertex);
+            this.m_hasNextVertex = true
+        },
+        Clone: function () {
+            var shape = new b2ChainShape();
+            shape.m_count = this.m_count;
+            shape.m_vertices = new Array(this.m_count);
+            for (var i = 0; i < this.m_count; ++i) {
+                shape.m_vertices[i] = this.m_vertices[i].Clone()
+            }
+            shape.m_prevVertex = this.m_prevVertex.Clone();
+            shape.m_nextVertex = this.m_nextVertex.Clone();
+            shape.m_hasPrevVertex = this.m_hasPrevVertex;
+            shape.m_hasNextVertex = this.m_hasNextVertex;
+            return shape
+        },
+        GetChildCount: function () {
+            return this.m_count - 1
+        },
+        GetChildEdge: function (edge, index) {
+            edge.m_type = b2Shape.e_edge;
+            edge.m_radius = this.m_radius;
+            edge.m_vertex1 = this.m_vertices[index + 0];
+            edge.m_vertex2 = this.m_vertices[index + 1];
+            if (index > 0) {
+                edge.m_vertex0 = this.m_vertices[index - 1];
+                edge.m_hasVertex0 = true
+            } else {
+                edge.m_vertex0 = this.m_prevVertex;
+                edge.m_hasVertex0 = this.m_hasPrevVertex
+            }
+            if (index < this.m_count - 2) {
+                edge.m_vertex3 = this.m_vertices[index + 2];
+                edge.m_hasVertex3 = true
+            } else {
+                edge.m_vertex3 = this.m_nextVertex;
+                edge.m_hasVertex3 = this.m_hasNextVertex
+            }
+        },
+        TestPoint: function (transform, p) {
+            return false
+        },
+        RayCast: function (output, input, xf, childIndex) {
+            var edgeShape = new b2EdgeShape();
+            var i1 = childIndex;
+            var i2 = childIndex + 1;
+            if (i2 == this.m_count) {
+                i2 = 0
+            }
+            edgeShape.m_vertex1 = this.m_vertices[i1].Clone();
+            edgeShape.m_vertex2 = this.m_vertices[i2].Clone();
+            return edgeShape.RayCast(output, input, xf, 0)
+        },
+        ComputeAABB: function (aabb, xf, childIndex) {
+            var i1 = childIndex;
+            var i2 = childIndex + 1;
+            if (i2 == this.m_count) {
+                i2 = 0
+            }
+            var v1x = (xf.q.c * this.m_vertices[i1].x - xf.q.s * this.m_vertices[i1].y) + xf.p.x;
+            var v1y = (xf.q.s * this.m_vertices[i1].x + xf.q.c * this.m_vertices[i1].y) + xf.p.y;
+            var v2x = (xf.q.c * this.m_vertices[i2].x - xf.q.s * this.m_vertices[i2].y) + xf.p.x;
+            var v2y = (xf.q.s * this.m_vertices[i2].x + xf.q.c * this.m_vertices[i2].y) + xf.p.y;
+            aabb.lowerBound.x = b2Min(v1x, v2x);
+            aabb.lowerBound.y = b2Min(v1y, v2y);
+            aabb.upperBound.x = b2Max(v1x, v2x);
+            aabb.upperBound.y = b2Max(v1y, v2y)
+        },
+        ComputeMass: function (massData, density) {
+            massData.mass = 0;
+            massData.center.SetZero();
+            massData.I = 0
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.m_count = this.m_count;
+            obj.m_vertices = [];
+            for (var i = 0; i < this.m_count; ++i) {
+                obj.m_vertices.push(this.m_vertices[i]._serialize())
+            }
+            obj.m_hasPrevVertex = this.m_hasPrevVertex;
+            if (this.m_hasPrevVertex) {
+                obj.m_prevVertex = this.m_prevVertex._serialize()
+            }
+            obj.m_hasNextVertex = this.m_hasNextVertex;
+            if (this.m_hasNextVertex) {
+                obj.m_nextVertex = this.m_nextVertex._serialize()
+            }
+            return obj
+        },
+        _deserialize: function (data) {
+            this.parent.prototype._deserialize.call(this, data);
+            this.m_count = data.m_count;
+            this.m_vertices = [];
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_vertices[i] = new b2Vec2();
+                this.m_vertices[i]._deserialize(data.m_vertices[i])
+            }
+            this.m_hasPrevVertex = data.m_hasPrevVertex;
+            if (this.m_hasPrevVertex) {
+                this.m_prevVertex._deserialize(data.m_prevVertex)
+            }
+            this.m_hasNextVertex = data.m_hasNextVertex;
+            if (this.m_hasNextVertex) {
+                this.m_nextVertex._deserialize(data.m_nextVertex)
+            }
+        }
+    };
+    b2ChainShape._extend(b2Shape);
+    "use strict";
+
+    function b2PolygonShape() {
+        this.parent.call(this);
+        this.m_type = b2Shape.e_polygon;
+        this.m_radius = b2_polygonRadius;
+        this.m_count = 0;
+        this.m_centroid = new b2Vec2();
+        this.m_vertices = new Array(b2_maxPolygonVertices);
+        this.m_normals = new Array(b2_maxPolygonVertices);
+        Object.seal(this)
+    }
+    b2PolygonShape.prototype = {
+        Clone: function () {
+            var shape = new b2PolygonShape();
+            shape.m_count = this.m_count;
+            shape.m_centroid = this.m_centroid.Clone();
+            for (var i = 0; i < this.m_count; ++i) {
+                shape.m_vertices[i] = this.m_vertices[i].Clone();
+                shape.m_normals[i] = this.m_normals[i].Clone()
+            }
+            return shape
+        },
+        GetChildCount: function () {
+            return 1
+        },
+        Set: function (vertices, count) {
+            if (count < 3) {
+                this.SetAsBox(1, 1);
+                return
+            }
+            var n = b2Min(count, b2_maxPolygonVertices);
+            var ps = new Array(b2_maxPolygonVertices);
+            var tempCount = 0;
+            for (var i = 0; i < n; ++i) {
+                var v = vertices[i];
+                var unique = true;
+                for (var j = 0; j < tempCount; ++j) {
+                    if (b2DistanceSquared(v, ps[j]) < 0.5 * b2_linearSlop) {
+                        unique = false;
+                        break
+                    }
+                }
+                if (unique) {
+                    ps[tempCount++] = v.Clone()
+                }
+            }
+            n = tempCount;
+            if (n < 3) {
+                this.SetAsBox(1, 1);
+                return
+            }
+            var i0 = 0;
+            var x0 = ps[0].x;
+            for (i = 1; i < n; ++i) {
+                var x = ps[i].x;
+                if (x > x0 || (x == x0 && ps[i].y < ps[i0].y)) {
+                    i0 = i;
+                    x0 = x
+                }
+            }
+            var hull = new Array(b2_maxPolygonVertices);
+            var m = 0;
+            var ih = i0;
+            for (;;) {
+                hull[m] = ih;
+                var ie = 0;
+                for (j = 1; j < n; ++j) {
+                    if (ie == ih) {
+                        ie = j;
+                        continue
+                    }
+                    var r = b2Vec2.Subtract(ps[ie], ps[hull[m]]);
+                    var v = b2Vec2.Subtract(ps[j], ps[hull[m]]);
+                    var c = b2Cross_v2_v2(r, v);
+                    if (c < 0) {
+                        ie = j
+                    }
+                    if (c == 0 && v.LengthSquared() > r.LengthSquared()) {
+                        ie = j
+                    }
+                }++m;
+                ih = ie;
+                if (ie == i0) {
+                    break
+                }
+            }
+            this.m_count = m;
+            for (i = 0; i < m; ++i) {
+                this.m_vertices[i] = ps[hull[i]].Clone()
+            }
+            for (i = 0; i < m; ++i) {
+                var i1 = i;
+                var i2 = i + 1 < m ? i + 1 : 0;
+                var edge = b2Vec2.Subtract(this.m_vertices[i2], this.m_vertices[i1]);
+                this.m_normals[i] = b2Cross_v2_f(edge, 1).Clone();
+                this.m_normals[i].Normalize()
+            }
+            this.m_centroid = b2PolygonShape.ComputeCentroid(this.m_vertices, m)
+        },
+        SetAsBox: function (hx, hy, center, angle) {
+            this.m_count = 4;
+            this.m_vertices[0] = new b2Vec2(-hx, -hy);
+            this.m_vertices[1] = new b2Vec2(hx, -hy);
+            this.m_vertices[2] = new b2Vec2(hx, hy);
+            this.m_vertices[3] = new b2Vec2(-hx, hy);
+            this.m_normals[0] = new b2Vec2(0, -1);
+            this.m_normals[1] = new b2Vec2(1, 0);
+            this.m_normals[2] = new b2Vec2(0, 1);
+            this.m_normals[3] = new b2Vec2(-1, 0);
+            if (!center) {
+                return
+            }
+            this.m_centroid.Assign(center);
+            var xf = new b2Transform();
+            xf.p = center;
+            xf.q.Set(angle);
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_vertices[i].Assign(b2Mul_t_v2(xf, this.m_vertices[i]));
+                this.m_normals[i].Assign(b2Mul_r_v2(xf.q, this.m_normals[i]))
+            }
+        },
+        TestPoint: function (xf, p) {
+            var pLocal = b2MulT_r_v2(xf.q, b2Vec2.Subtract(p, xf.p));
+            for (var i = 0; i < this.m_count; ++i) {
+                var dot = b2Dot_v2_v2(this.m_normals[i], b2Vec2.Subtract(pLocal, this.m_vertices[i]));
+                if (dot > 0) {
+                    return false
+                }
+            }
+            return true
+        },
+        RayCast: function (output, input, xf, childIndex) {
+            var p1 = b2MulT_r_v2(xf.q, b2Vec2.Subtract(input.p1, xf.p));
+            var p2 = b2MulT_r_v2(xf.q, b2Vec2.Subtract(input.p2, xf.p));
+            var d = b2Vec2.Subtract(p2, p1);
+            var lower = 0,
+                upper = input.maxFraction;
+            var index = -1;
+            for (var i = 0; i < this.m_count; ++i) {
+                var numerator = b2Dot_v2_v2(this.m_normals[i], b2Vec2.Subtract(this.m_vertices[i], p1));
+                var denominator = b2Dot_v2_v2(this.m_normals[i], d);
+                if (denominator == 0) {
+                    if (numerator < 0) {
+                        return false
+                    }
+                } else {
+                    if (denominator < 0 && numerator < lower * denominator) {
+                        lower = numerator / denominator;
+                        index = i
+                    } else {
+                        if (denominator > 0 && numerator < upper * denominator) {
+                            upper = numerator / denominator
+                        }
+                    }
+                }
+                if (upper < lower) {
+                    return false
+                }
+            }
+            if (index >= 0) {
+                output.fraction = lower;
+                output.normal = b2Mul_r_v2(xf.q, this.m_normals[index]);
+                return true
+            }
+            return false
+        },
+        ComputeAABB: function (aabb, xf, childIndex) {
+            var lowerx = (xf.q.c * this.m_vertices[0].x - xf.q.s * this.m_vertices[0].y) + xf.p.x;
+            var lowery = (xf.q.s * this.m_vertices[0].x + xf.q.c * this.m_vertices[0].y) + xf.p.y;
+            var upperx = lowerx;
+            var uppery = lowery;
+            for (var i = 1; i < this.m_count; ++i) {
+                var vx = (xf.q.c * this.m_vertices[i].x - xf.q.s * this.m_vertices[i].y) + xf.p.x;
+                var vy = (xf.q.s * this.m_vertices[i].x + xf.q.c * this.m_vertices[i].y) + xf.p.y;
+                lowerx = b2Min(lowerx, vx);
+                lowery = b2Min(lowery, vy);
+                upperx = b2Max(upperx, vx);
+                uppery = b2Max(uppery, vy)
+            }
+            aabb.lowerBound.x = lowerx - this.m_radius;
+            aabb.lowerBound.y = lowery - this.m_radius;
+            aabb.upperBound.x = upperx + this.m_radius;
+            aabb.upperBound.y = uppery + this.m_radius
+        },
+        ComputeMass: function (massData, density) {
+            var center = new b2Vec2(0, 0);
+            var area = 0;
+            var I = 0;
+            var s = new b2Vec2(0, 0);
+            for (var i = 0; i < this.m_count; ++i) {
+                s.Add(this.m_vertices[i])
+            }
+            s.Multiply(1 / this.m_count);
+            var k_inv3 = 1 / 3;
+            for (var i = 0; i < this.m_count; ++i) {
+                var e1 = b2Vec2.Subtract(this.m_vertices[i], s);
+                var e2 = i + 1 < this.m_count ? b2Vec2.Subtract(this.m_vertices[i + 1], s) : b2Vec2.Subtract(this.m_vertices[0], s);
+                var D = b2Cross_v2_v2(e1, e2);
+                var triangleArea = 0.5 * D;
+                area += triangleArea;
+                center.Add(b2Vec2.Multiply(triangleArea * k_inv3, b2Vec2.Add(e1, e2)));
+                var ex1 = e1.x,
+                    ey1 = e1.y;
+                var ex2 = e2.x,
+                    ey2 = e2.y;
+                var intx2 = ex1 * ex1 + ex2 * ex1 + ex2 * ex2;
+                var inty2 = ey1 * ey1 + ey2 * ey1 + ey2 * ey2;
+                I += (0.25 * k_inv3 * D) * (intx2 + inty2)
+            }
+            massData.mass = density * area;
+            center.Multiply(1 / area);
+            massData.center = b2Vec2.Add(center, s);
+            massData.I = density * I;
+            massData.I += massData.mass * (b2Dot_v2_v2(massData.center, massData.center) - b2Dot_v2_v2(center, center))
+        },
+        GetVertexCount: function () {
+            return this.m_count
+        },
+        GetVertex: function (index) {
+            return this.m_vertices[index]
+        },
+        Validate: function () {
+            for (var i = 0; i < this.m_count; ++i) {
+                var i1 = i;
+                var i2 = i < this.m_count - 1 ? i1 + 1 : 0;
+                var p = this.m_vertices[i1];
+                var e = b2Vec2.Subtract(this.m_vertices[i2], p);
+                for (var j = 0; j < this.m_count; ++j) {
+                    if (j == i1 || j == i2) {
+                        continue
+                    }
+                    var v = b2Vec2.Subtract(this.m_vertices[j], p);
+                    var c = b2Cross_v2_v2(e, v);
+                    if (c < 0) {
+                        return false
+                    }
+                }
+            }
+            return true
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.m_count = this.m_count;
+            obj.m_centroid = this.m_centroid._serialize();
+            obj.m_vertices = [];
+            obj.m_normals = [];
+            for (var i = 0; i < this.m_count; ++i) {
+                obj.m_vertices.push(this.m_vertices[i]._serialize());
+                obj.m_normals.push(this.m_normals[i]._serialize())
+            }
+            return obj
+        },
+        _deserialize: function (data) {
+            this.parent.prototype._deserialize.call(this, data);
+            this.m_count = data.m_count;
+            this.m_centroid._deserialize(data.m_centroid);
+            this.m_vertices = [];
+            this.m_normals = [];
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_vertices[i] = new b2Vec2();
+                this.m_vertices[i]._deserialize(data.m_vertices[i]);
+                this.m_normals[i] = new b2Vec2();
+                this.m_normals[i]._deserialize(data.m_normals[i])
+            }
+        }
+    };
+    b2PolygonShape.ComputeCentroid = function (vs, count) {
+        var c = new b2Vec2();
+        var area = 0;
+        var pRef = new b2Vec2(0, 0);
+        var inv3 = 1 / 3;
+        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 = b2Vec2.Subtract(p2, p1);
+            var e2 = b2Vec2.Subtract(p3, p1);
+            var D = b2Cross_v2_v2(e1, e2);
+            var triangleArea = 0.5 * D;
+            area += triangleArea;
+            c.Add(b2Vec2.Multiply(triangleArea, b2Vec2.Multiply(inv3, b2Vec2.Add(b2Vec2.Add(p1, p2), p3))))
+        }
+        c.Multiply(1 / area);
+        return c
+    };
+    b2PolygonShape._extend(b2Shape);
+    "use strict";
+
+    function b2Pair() {
+        this.proxyIdA = 0;
+        this.proxyIdB = 0
+    }
+
+    function b2PairLessThan(pair1, pair2) {
+        if (pair1.proxyIdA == pair2.proxyIdA) {
+            return pair1.proxyIdB - pair2.proxyIdB
+        }
+        return pair1.proxyIdA - pair2.proxyIdA
+    }
+
+    function b2BroadPhase() {
+        this.m_tree = new b2DynamicTree();
+        this.m_queryProxyId = 0;
+        this.m_proxyCount = 0;
+        this.m_pairCount = 0;
+        this.m_pairBuffer = [];
+        this.m_moveCount = 0;
+        this.m_moveBuffer = []
+    }
+    b2BroadPhase.prototype = {
+        CreateProxy: function (aabb, userData) {
+            var proxyId = this.m_tree.CreateProxy(aabb, userData);
+            ++this.m_proxyCount;
+            this.BufferMove(proxyId);
+            return proxyId
+        },
+        DestroyProxy: function (proxyId) {
+            this.UnBufferMove(proxyId);
+            --this.m_proxyCount;
+            this.m_tree.DestroyProxy(proxyId)
+        },
+        MoveProxy: function (proxyId, aabb, displacement) {
+            var buffer = this.m_tree.MoveProxy(proxyId, aabb, displacement);
+            if (buffer) {
+                this.BufferMove(proxyId)
+            }
+        },
+        TouchProxy: function (proxyId) {
+            this.BufferMove(proxyId)
+        },
+        GetFatAABB: function (proxyId) {
+            return this.m_tree.GetFatAABB(proxyId)
+        },
+        GetUserData: function (proxyId) {
+            return this.m_tree.GetUserData(proxyId)
+        },
+        TestOverlap: function (proxyIdA, proxyIdB) {
+            var aabbA = this.m_tree.GetFatAABB(proxyIdA);
+            var aabbB = this.m_tree.GetFatAABB(proxyIdB);
+            return b2TestOverlap(aabbA, aabbB)
+        },
+        GetProxyCount: function () {
+            return this.m_proxyCount
+        },
+        UpdatePairs: function (callback) {
+            this.m_pairCount = 0;
+            this.m_pairBuffer.length = 0;
+            for (var i = 0; i < this.m_moveCount; ++i) {
+                this.m_queryProxyId = this.m_moveBuffer[i];
+                if (this.m_queryProxyId == b2BroadPhase.e_nullProxy) {
+                    continue
+                }
+                var fatAABB = this.m_tree.GetFatAABB(this.m_queryProxyId);
+                this.m_tree.Query(this, fatAABB)
+            }
+            this.m_moveCount = 0;
+            this.m_pairBuffer.sort(b2PairLessThan);
+            var i = 0;
+            while (i < this.m_pairCount) {
+                var primaryPair = this.m_pairBuffer[i];
+                var userDataA = this.m_tree.GetUserData(primaryPair.proxyIdA);
+                var userDataB = this.m_tree.GetUserData(primaryPair.proxyIdB);
+                callback.AddPair(userDataA, userDataB);
+                ++i;
+                while (i < this.m_pairCount) {
+                    var pair = this.m_pairBuffer[i];
+                    if (pair.proxyIdA != primaryPair.proxyIdA || pair.proxyIdB != primaryPair.proxyIdB) {
+                        break
+                    }++i
+                }
+            }
+        },
+        Query: function (callback, aabb) {
+            this.m_tree.Query(callback, aabb)
+        },
+        RayCast: function (callback, input) {
+            this.m_tree.RayCast(callback, input)
+        },
+        GetTreeHeight: function () {
+            return this.m_tree.GetHeight()
+        },
+        GetTreeBalance: function () {
+            return this.m_tree.GetMaxBalance()
+        },
+        GetTreeQuality: function () {
+            return this.m_tree.GetAreaRatio()
+        },
+        ShiftOrigin: function (newOrigin) {
+            this.m_tree.ShiftOrigin(newOrigin)
+        },
+        BufferMove: function (proxyId) {
+            this.m_moveBuffer[this.m_moveCount] = proxyId;
+            ++this.m_moveCount
+        },
+        UnBufferMove: function (proxyId) {
+            for (var i = 0; i < this.m_moveCount; ++i) {
+                if (this.m_moveBuffer[i] == proxyId) {
+                    this.m_moveBuffer[i] = b2BroadPhase.e_nullProxy
+                }
+            }
+        },
+        QueryCallback: function (proxyId) {
+            if (proxyId == this.m_queryProxyId) {
+                return true
+            }
+            this.m_pairBuffer[this.m_pairCount] = new b2Pair();
+            this.m_pairBuffer[this.m_pairCount].proxyIdA = b2Min(proxyId, this.m_queryProxyId);
+            this.m_pairBuffer[this.m_pairCount].proxyIdB = b2Max(proxyId, this.m_queryProxyId);
+            ++this.m_pairCount;
+            return true
+        }
+    };
+    b2BroadPhase.e_nullProxy = -1;
+    "use strict";
+
+    function b2DistanceProxy() {
+        this.m_vertices = null;
+        this.m_count = 0;
+        this.m_radius = 0
+    }
+    b2DistanceProxy.prototype = {
+        Assign: function (l) {
+            this.m_vertices = l.m_vertices;
+            this.m_count = l.m_count;
+            this.m_radius = l.m_radius
+        },
+        Set: function (shape, index) {
+            switch (shape.GetType()) {
+                case b2Shape.e_circle:
+                    var circle = shape;
+                    this.m_vertices = [circle.m_p];
+                    this.m_count = 1;
+                    this.m_radius = circle.m_radius;
+                    break;
+                case b2Shape.e_polygon:
+                    var polygon = shape;
+                    this.m_vertices = polygon.m_vertices;
+                    this.m_count = polygon.m_count;
+                    this.m_radius = polygon.m_radius;
+                    break;
+                case b2Shape.e_chain:
+                    var chain = shape;
+                    this.m_vertices = [chain.m_vertices[index]];
+                    if (index + 1 < chain.m_count) {
+                        this.m_vertices[1] = chain.m_vertices[index + 1]
+                    } else {
+                        this.m_vertices[1] = chain.m_vertices[0]
+                    }
+                    this.m_count = 2;
+                    this.m_radius = chain.m_radius;
+                    break;
+                case b2Shape.e_edge:
+                    var edge = shape;
+                    this.m_vertices = [edge.m_vertex1, edge.m_vertex2];
+                    this.m_count = 2;
+                    this.m_radius = edge.m_radius;
+                    break
+            }
+        },
+        GetSupport: function (dx, dy) {
+            var bestIndex = 0;
+            var bestValue = this.m_vertices[0].x * dx + this.m_vertices[0].y * dy;
+            for (var i = 1; i < this.m_count; ++i) {
+                var value = this.m_vertices[i].x * dx + this.m_vertices[i].y * dy;
+                if (value > bestValue) {
+                    bestIndex = i;
+                    bestValue = value
+                }
+            }
+            return bestIndex
+        },
+        GetSupportVertex: function (dx, dy) {
+            return this.m_vertices[this.GetSupport(dx, dy)]
+        },
+        GetVertexCount: function () {
+            return this.m_count
+        },
+        GetVertex: function (index) {
+            return this.m_vertices[index]
+        }
+    };
+
+    function b2SimplexCache() {
+        this.metric = 0;
+        this.count = 0;
+        this.indexA = [0, 0, 0];
+        this.indexB = [0, 0, 0]
+    }
+
+    function b2DistanceInput() {
+        this.proxyA = new b2DistanceProxy();
+        this.proxyB = new b2DistanceProxy();
+        this.transformA = new b2Transform();
+        this.transformB = new b2Transform();
+        this.useRadii = false
+    }
+
+    function b2DistanceOutput() {
+        this.pointA = new b2Vec2();
+        this.pointB = new b2Vec2();
+        this.distance = 0;
+        this.iterations = 0
+    }
+
+    function b2SimplexVertex() {
+        this.wA = new b2Vec2();
+        this.wB = new b2Vec2();
+        this.w = new b2Vec2();
+        this.a = 0;
+        this.indexA = 0;
+        this.indexB = 0
+    }
+    b2SimplexVertex.prototype = {
+        Assign: function (l) {
+            this.wA.x = l.wA.x;
+            this.wA.y = l.wA.y;
+            this.wB.x = l.wB.x;
+            this.wB.y = l.wB.y;
+            this.w.x = l.w.x;
+            this.w.y = l.w.y;
+            this.a = l.a;
+            this.indexA = l.indexA;
+            this.indexB = l.indexB
+        }
+    };
+
+    function b2Simplex() {
+        this.m_v = [new b2SimplexVertex(), new b2SimplexVertex(), new b2SimplexVertex()];
+        this.m_count = 0
+    }
+    b2Simplex.prototype = {
+        ReadCache: function (cache, proxyA, transformA, proxyB, transformB) {
+            this.m_count = cache.count;
+            var vertices = this.m_v;
+            for (var i = 0; i < this.m_count; ++i) {
+                var v = vertices[i];
+                v.indexA = cache.indexA[i];
+                v.indexB = cache.indexB[i];
+                var wALocal = proxyA.GetVertex(v.indexA);
+                var wBLocal = proxyB.GetVertex(v.indexB);
+                v.wA.x = (transformA.q.c * wALocal.x - transformA.q.s * wALocal.y) + transformA.p.x;
+                v.wA.y = (transformA.q.s * wALocal.x + transformA.q.c * wALocal.y) + transformA.p.y;
+                v.wB.x = (transformB.q.c * wBLocal.x - transformB.q.s * wBLocal.y) + transformB.p.x;
+                v.wB.y = (transformB.q.s * wBLocal.x + transformB.q.c * wBLocal.y) + transformB.p.y;
+                v.w.x = v.wB.x - v.wA.x;
+                v.w.y = v.wB.y - v.wA.y;
+                v.a = 0
+            }
+            if (this.m_count > 1) {
+                var metric1 = cache.metric;
+                var metric2 = this.GetMetric();
+                if (metric2 < 0.5 * metric1 || 2 * metric1 < metric2 || metric2 < b2_epsilon) {
+                    this.m_count = 0
+                }
+            }
+            if (this.m_count == 0) {
+                var v = vertices[0];
+                v.indexA = 0;
+                v.indexB = 0;
+                var wALocal = proxyA.GetVertex(0);
+                var wBLocal = proxyB.GetVertex(0);
+                v.wA.x = (transformA.q.c * wALocal.x - transformA.q.s * wALocal.y) + transformA.p.x;
+                v.wA.y = (transformA.q.s * wALocal.x + transformA.q.c * wALocal.y) + transformA.p.y;
+                v.wB.x = (transformB.q.c * wBLocal.x - transformB.q.s * wBLocal.y) + transformB.p.x;
+                v.wB.y = (transformB.q.s * wBLocal.x + transformB.q.c * wBLocal.y) + transformB.p.y;
+                v.w.x = v.wB.x - v.wA.x;
+                v.w.y = v.wB.y - v.wA.y;
+                v.a = 1;
+                this.m_count = 1
+            }
+        },
+        WriteCache: function (cache) {
+            cache.metric = this.GetMetric();
+            cache.count = this.m_count;
+            var vertices = this.m_v;
+            for (var i = 0; i < this.m_count; ++i) {
+                cache.indexA[i] = vertices[i].indexA;
+                cache.indexB[i] = vertices[i].indexB
+            }
+        },
+        GetSearchDirection: function (p) {
+            switch (this.m_count) {
+                case 1:
+                    p.x = -this.m_v[0].w.x;
+                    p.y = -this.m_v[0].w.y;
+                    break;
+                case 2:
+                    var e12x = this.m_v[1].w.x - this.m_v[0].w.x;
+                    var e12y = this.m_v[1].w.y - this.m_v[0].w.y;
+                    var sgn = e12x * -this.m_v[0].w.y - e12y * -this.m_v[0].w.x;
+                    if (sgn > 0) {
+                        p.x = -1 * e12y;
+                        p.y = 1 * e12x
+                    } else {
+                        p.x = 1 * e12y;
+                        p.y = -1 * e12x
+                    }
+                    break
+            }
+        },
+        GetClosestPoint: function (p) {
+            switch (this.m_count) {
+                case 1:
+                    p.x = this.m_v[0].w.x;
+                    p.y = this.m_v[0].w.y;
+                    break;
+                case 2:
+                    p.x = (this.m_v[0].a * this.m_v[0].w.x) + (this.m_v[1].a * this.m_v[1].w.x);
+                    p.y = (this.m_v[0].a * this.m_v[0].w.y) + (this.m_v[1].a * this.m_v[1].w.y);
+                    break;
+                case 3:
+                    p.x = p.y = 0;
+                    break
+            }
+        },
+        GetWitnessPoints: function (pA, pB) {
+            switch (this.m_count) {
+                case 1:
+                    pA.x = this.m_v[0].wA.x;
+                    pA.y = this.m_v[0].wA.y;
+                    pB.x = this.m_v[0].wB.x;
+                    pB.y = this.m_v[0].wB.y;
+                    break;
+                case 2:
+                    pA.x = (this.m_v[0].a * this.m_v[0].wA.x) + (this.m_v[1].a * this.m_v[1].wA.x);
+                    pA.y = (this.m_v[0].a * this.m_v[0].wA.y) + (this.m_v[1].a * this.m_v[1].wA.y);
+                    pB.x = (this.m_v[0].a * this.m_v[0].wB.x) + (this.m_v[1].a * this.m_v[1].wB.x);
+                    pB.y = (this.m_v[0].a * this.m_v[0].wB.y) + (this.m_v[1].a * this.m_v[1].wB.y);
+                    break;
+                case 3:
+                    pA.x = (this.m_v[0].a, this.m_v[0].wA.x) + (this.m_v[1].a, this.m_v[1].wA.x) + (this.m_v[2].a, this.m_v[2].wA.x);
+                    pA.y = (this.m_v[0].a, this.m_v[0].wA.y) + (this.m_v[1].a, this.m_v[1].wA.y) + (this.m_v[2].a, this.m_v[2].wA.y);
+                    pB.x = pA.x;
+                    pB.y = pA.y;
+                    break
+            }
+        },
+        GetMetric: function () {
+            switch (this.m_count) {
+                case 1:
+                    return 0;
+                case 2:
+                    return b2Distance(this.m_v[0].w, this.m_v[1].w);
+                case 3:
+                    return (this.m_v[1].w.x - this.m_v[0].w.x) * (this.m_v[2].w.y - this.m_v[0].w.y) - (this.m_v[1].w.y - this.m_v[0].w.y) * (this.m_v[2].w.x - this.m_v[0].w.x)
+            }
+        },
+        Solve2: function () {
+            var w1 = this.m_v[0].w;
+            var w2 = this.m_v[1].w;
+            var e12x = w2.x - w1.x;
+            var e12y = w2.y - w1.y;
+            var d12_2 = -(w1.x * e12x + w1.y * e12y);
+            if (d12_2 <= 0) {
+                this.m_v[0].a = 1;
+                this.m_count = 1;
+                return
+            }
+            var d12_1 = w2.x * e12x + w2.y * e12y;
+            if (d12_1 <= 0) {
+                this.m_v[1].a = 1;
+                this.m_count = 1;
+                this.m_v[0].Assign(this.m_v[1]);
+                return
+            }
+            var inv_d12 = 1 / (d12_1 + d12_2);
+            this.m_v[0].a = d12_1 * inv_d12;
+            this.m_v[1].a = d12_2 * inv_d12;
+            this.m_count = 2
+        },
+        Solve3: function () {
+            var w1 = this.m_v[0].w;
+            var w2 = this.m_v[1].w;
+            var w3 = this.m_v[2].w;
+            var e12x = w2.x - w1.x;
+            var e12y = w2.y - w1.y;
+            var w1e12 = w1.x * e12x + w1.y * e12y;
+            var w2e12 = w2.x * e12x + w2.y * e12y;
+            var d12_1 = w2e12;
+            var d12_2 = -w1e12;
+            var e13x = w3.x - w1.x;
+            var e13y = w3.y - w1.y;
+            var w1e13 = w1.x * e13x + w1.y * e13y;
+            var w3e13 = w3.x * e13x + w3.y * e13y;
+            var d13_1 = w3e13;
+            var d13_2 = -w1e13;
+            var e23x = w3.x - w2.x;
+            var e23y = w3.y - w2.y;
+            var w2e23 = w2.x * e23x + w2.y * e23y;
+            var w3e23 = w3.x * e23x + w3.y * e23y;
+            var d23_1 = w3e23;
+            var d23_2 = -w2e23;
+            var n123 = e12x * e13y - e12y * e13x;
+            var d123_1 = n123 * (w2.x * w3.y - w2.y * w3.x);
+            var d123_2 = n123 * (w3.x * w1.y - w3.y * w1.x);
+            var d123_3 = n123 * (w1.x * w2.y - w1.y * w2.x);
+            if (d12_2 <= 0 && d13_2 <= 0) {
+                this.m_v[0].a = 1;
+                this.m_count = 1;
+                return
+            }
+            if (d12_1 > 0 && d12_2 > 0 && d123_3 <= 0) {
+                var inv_d12 = 1 / (d12_1 + d12_2);
+                this.m_v[0].a = d12_1 * inv_d12;
+                this.m_v[1].a = d12_2 * inv_d12;
+                this.m_count = 2;
+                return
+            }
+            if (d13_1 > 0 && d13_2 > 0 && d123_2 <= 0) {
+                var inv_d13 = 1 / (d13_1 + d13_2);
+                this.m_v[0].a = d13_1 * inv_d13;
+                this.m_v[2].a = d13_2 * inv_d13;
+                this.m_count = 2;
+                this.m_v[1].Assign(this.m_v[2]);
+                return
+            }
+            if (d12_1 <= 0 && d23_2 <= 0) {
+                this.m_v[1].a = 1;
+                this.m_count = 1;
+                this.m_v[0].Assign(this.m_v[1]);
+                return
+            }
+            if (d13_1 <= 0 && d23_1 <= 0) {
+                this.m_v[2].a = 1;
+                this.m_count = 1;
+                this.m_v[0].Assign(this.m_v[2]);
+                return
+            }
+            if (d23_1 > 0 && d23_2 > 0 && d123_1 <= 0) {
+                var inv_d23 = 1 / (d23_1 + d23_2);
+                this.m_v[1].a = d23_1 * inv_d23;
+                this.m_v[2].a = d23_2 * inv_d23;
+                this.m_count = 2;
+                this.m_v[0].Assign(this.m_v[2]);
+                return
+            }
+            var inv_d123 = 1 / (d123_1 + d123_2 + d123_3);
+            this.m_v[0].a = d123_1 * inv_d123;
+            this.m_v[1].a = d123_2 * inv_d123;
+            this.m_v[2].a = d123_3 * inv_d123;
+            this.m_count = 3
+        }
+    };
+    var _b2Distance_simplex = new b2Simplex();
+    var _b2Distance_normal = new b2Vec2();
+    var _b2Distance_p = new b2Vec2();
+
+    function b2DistanceFunc(output, cache, input) {
+        ++b2DistanceFunc.b2_gjkCalls;
+        var proxyA = input.proxyA;
+        var proxyB = input.proxyB;
+        var transformA = input.transformA;
+        var transformB = input.transformB;
+        _b2Distance_simplex.ReadCache(cache, proxyA, transformA, proxyB, transformB);
+        var vertices = _b2Distance_simplex.m_v;
+        var k_maxIters = 20;
+        var saveA = [0, 0, 0],
+            saveB = [0, 0, 0];
+        var saveCount = 0;
+        var distanceSqr1 = b2_maxFloat;
+        var distanceSqr2 = distanceSqr1;
+        var iter = 0;
+        while (iter < k_maxIters) {
+            saveCount = _b2Distance_simplex.m_count;
+            for (var i = 0; i < saveCount; ++i) {
+                saveA[i] = vertices[i].indexA;
+                saveB[i] = vertices[i].indexB
+            }
+            switch (_b2Distance_simplex.m_count) {
+                case 1:
+                    break;
+                case 2:
+                    _b2Distance_simplex.Solve2();
+                    break;
+                case 3:
+                    _b2Distance_simplex.Solve3();
+                    break
+            }
+            if (_b2Distance_simplex.m_count == 3) {
+                break
+            }
+            _b2Distance_simplex.GetClosestPoint(_b2Distance_p);
+            distanceSqr2 = _b2Distance_p.LengthSquared();
+            if (distanceSqr2 >= distanceSqr1) {}
+            distanceSqr1 = distanceSqr2;
+            _b2Distance_simplex.GetSearchDirection(_b2Distance_p);
+            if (_b2Distance_p.LengthSquared() < b2_epsilon * b2_epsilon) {
+                break
+            }
+            var vertex = vertices[_b2Distance_simplex.m_count];
+            vertex.indexA = proxyA.GetSupport(transformA.q.c * -_b2Distance_p.x + transformA.q.s * -_b2Distance_p.y, -transformA.q.s * -_b2Distance_p.x + transformA.q.c * -_b2Distance_p.y);
+            var pva = proxyA.GetVertex(vertex.indexA);
+            vertex.wA.x = (transformA.q.c * pva.x - transformA.q.s * pva.y) + transformA.p.x;
+            vertex.wA.y = (transformA.q.s * pva.x + transformA.q.c * pva.y) + transformA.p.y;
+            vertex.indexB = proxyB.GetSupport(transformB.q.c * _b2Distance_p.x + transformB.q.s * _b2Distance_p.y, -transformB.q.s * _b2Distance_p.x + transformB.q.c * _b2Distance_p.y);
+            var pvb = proxyB.GetVertex(vertex.indexB);
+            vertex.wB.x = (transformB.q.c * pvb.x - transformB.q.s * pvb.y) + transformB.p.x;
+            vertex.wB.y = (transformB.q.s * pvb.x + transformB.q.c * pvb.y) + transformB.p.y;
+            vertex.w.x = vertex.wB.x - vertex.wA.x;
+            vertex.w.y = vertex.wB.y - vertex.wA.y;
+            ++iter;
+            ++b2DistanceFunc.b2_gjkIters;
+            var duplicate = false;
+            for (var i = 0; i < saveCount; ++i) {
+                if (vertex.indexA == saveA[i] && vertex.indexB == saveB[i]) {
+                    duplicate = true;
+                    break
+                }
+            }
+            if (duplicate) {
+                break
+            }++_b2Distance_simplex.m_count
+        }
+        b2DistanceFunc.b2_gjkMaxIters = b2Max(b2DistanceFunc.b2_gjkMaxIters, iter);
+        _b2Distance_simplex.GetWitnessPoints(output.pointA, output.pointB);
+        output.distance = b2Distance(output.pointA, output.pointB);
+        output.iterations = iter;
+        _b2Distance_simplex.WriteCache(cache);
+        if (input.useRadii) {
+            var rA = proxyA.m_radius;
+            var rB = proxyB.m_radius;
+            if (output.distance > rA + rB && output.distance > b2_epsilon) {
+                output.distance -= rA + rB;
+                _b2Distance_normal.x = output.pointB.x - output.pointA.x;
+                _b2Distance_normal.y = output.pointB.y - output.pointA.y;
+                _b2Distance_normal.Normalize();
+                output.pointA.x += (rA * _b2Distance_normal.x);
+                output.pointA.y += (rA * _b2Distance_normal.y);
+                output.pointB.x -= (rB * _b2Distance_normal.x);
+                output.pointB.y -= (rB * _b2Distance_normal.y)
+            } else {
+                var px = (0.5 * (output.pointA.x + output.pointB.x));
+                var py = (0.5 * (output.pointA.y + output.pointB.y));
+                output.pointA.x = px;
+                output.pointA.y = py;
+                output.pointB.x = px;
+                output.pointB.y = py;
+                output.distance = 0
+            }
+        }
+    }
+    b2DistanceFunc.b2_gjkCalls = 0;
+    b2DistanceFunc.b2_gjkIters = 0;
+    b2DistanceFunc.b2_gjkMaxIters = 0;
+    "use strict";
+    var b2_nullFeature = 255;
+
+    function b2ContactID() {}
+    b2ContactID.prototype = {
+        indexA: 0,
+        indexB: 0,
+        typeA: 0,
+        typeB: 0,
+        Reset: function () {
+            this.indexA = this.indexB = this.typeA = this.typeB = 0
+        },
+        Get: function () {
+            return this.indexA | (this.indexB << 8) | (this.typeA << 16) | (this.typeB << 24)
+        },
+        Assign: function (k) {
+            this.indexA = k.indexA;
+            this.indexB = k.indexB;
+            this.typeA = k.typeA;
+            this.typeB = k.typeB
+        }
+    };
+    b2ContactID.e_vertex = 0;
+    b2ContactID.e_face = 1;
+
+    function b2ManifoldPoint() {
+        this.localPoint = new b2Vec2();
+        this.normalImpulse = 0;
+        this.tangentImpulse = 0;
+        this.id = new b2ContactID()
+    }
+    b2ManifoldPoint.prototype = {
+        Clone: function () {
+            var point = new b2ManifoldPoint();
+            point.localPoint.x = this.localPoint.x;
+            point.localPoint.y = this.localPoint.y;
+            point.normalImpulse = this.normalImpulse;
+            point.tangentImpulse = this.tangentImpulse;
+            point.id.Assign(this.id);
+            return point
+        }
+    };
+
+    function b2Manifold() {
+        this.points = new Array(b2_maxManifoldPoints);
+        this.localNormal = new b2Vec2();
+        this.localPoint = new b2Vec2();
+        this.type = 0;
+        this.pointCount = 0
+    }
+    b2Manifold.prototype = {
+        Clone: function () {
+            var manifold = new b2Manifold();
+            manifold.pointCount = this.pointCount;
+            manifold.type = this.type;
+            manifold.localPoint.x = this.localPoint.x;
+            manifold.localPoint.y = this.localPoint.y;
+            manifold.localNormal.x = this.localNormal.x;
+            manifold.localNormal.y = this.localNormal.y;
+            for (var i = 0; i < this.pointCount; ++i) {
+                manifold.points[i] = this.points[i].Clone()
+            }
+            return manifold
+        },
+        Assign: function (manifold) {
+            this.pointCount = manifold.pointCount;
+            this.type = manifold.type;
+            this.localPoint.x = manifold.localPoint.x;
+            this.localPoint.y = manifold.localPoint.y;
+            this.localNormal.x = manifold.localNormal.x;
+            this.localNormal.y = manifold.localNormal.y;
+            for (var i = 0; i < this.pointCount; ++i) {
+                this.points[i] = manifold.points[i].Clone()
+            }
+        }
+    };
+    b2Manifold.e_circles = 0;
+    b2Manifold.e_faceA = 1;
+    b2Manifold.e_faceB = 2;
+    b2Manifold.b2_nullState = 0;
+    b2Manifold.b2_addState = 1;
+    b2Manifold.b2_persistState = 2;
+    b2Manifold.b2_removeState = 3;
+
+    function b2WorldManifold() {
+        this.normal = new b2Vec2();
+        this.points = new Array(b2_maxManifoldPoints);
+        this.separations = new Array(b2_maxManifoldPoints)
+    }
+    b2WorldManifold.prototype = {
+        Initialize: function (manifold, xfA, radiusA, xfB, radiusB) {
+            if (manifold.pointCount == 0) {
+                return
+            }
+            switch (manifold.type) {
+                case b2Manifold.e_circles:
+                    this.normal.x = 1;
+                    this.normal.y = 0;
+                    var pointAx = (xfA.q.c * manifold.localPoint.x - xfA.q.s * manifold.localPoint.y) + xfA.p.x;
+                    var pointAy = (xfA.q.s * manifold.localPoint.x + xfA.q.c * manifold.localPoint.y) + xfA.p.y;
+                    var pointBx = (xfB.q.c * manifold.points[0].localPoint.x - xfB.q.s * manifold.points[0].localPoint.y) + xfB.p.x;
+                    var pointBy = (xfB.q.s * manifold.points[0].localPoint.x + xfB.q.c * manifold.points[0].localPoint.y) + xfB.p.y;
+                    var cx = pointAx - pointBx;
+                    var cy = pointAy - pointBy;
+                    if ((cx * cx + cy * cy) > b2_epsilon * b2_epsilon) {
+                        this.normal.x = pointBx - pointAx;
+                        this.normal.y = pointBy - pointAy;
+                        this.normal.Normalize()
+                    }
+                    var cAx = pointAx + (radiusA * this.normal.x);
+                    var cAy = pointAy + (radiusA * this.normal.y);
+                    var cBx = pointBx - (radiusB * this.normal.x);
+                    var cBy = pointBy - (radiusB * this.normal.y);
+                    this.points[0] = new b2Vec2(0.5 * (cAx + cBx), 0.5 * (cAy + cBy));
+                    this.separations[0] = (cBx - cAx) * this.normal.x + (cBy - cAy) * this.normal.y;
+                    break;
+                case b2Manifold.e_faceA:
+                    this.normal.x = xfA.q.c * manifold.localNormal.x - xfA.q.s * manifold.localNormal.y;
+                    this.normal.y = xfA.q.s * manifold.localNormal.x + xfA.q.c * manifold.localNormal.y;
+                    var planePointx = (xfA.q.c * manifold.localPoint.x - xfA.q.s * manifold.localPoint.y) + xfA.p.x;
+                    var planePointy = (xfA.q.s * manifold.localPoint.x + xfA.q.c * manifold.localPoint.y) + xfA.p.y;
+                    for (var i = 0; i < manifold.pointCount; ++i) {
+                        var clipPointx = (xfB.q.c * manifold.points[i].localPoint.x - xfB.q.s * manifold.points[i].localPoint.y) + xfB.p.x;
+                        var clipPointy = (xfB.q.s * manifold.points[i].localPoint.x + xfB.q.c * manifold.points[i].localPoint.y) + xfB.p.y;
+                        var d = (clipPointx - planePointx) * this.normal.x + (clipPointy - planePointy) * this.normal.y;
+                        var cAx = clipPointx + ((radiusA - d) * this.normal.x);
+                        var cAy = clipPointy + ((radiusA - d) * this.normal.y);
+                        var cBx = (clipPointx - (radiusB * this.normal.x));
+                        var cBy = (clipPointy - (radiusB * this.normal.y));
+                        this.points[i] = new b2Vec2(0.5 * (cAx + cBx), 0.5 * (cAy + cBy));
+                        this.separations[i] = (cBx - cAx) * this.normal.x + (cBy - cAy) * this.normal.y
+                    }
+                    break;
+                case b2Manifold.e_faceB:
+                    this.normal.x = xfB.q.c * manifold.localNormal.x - xfB.q.s * manifold.localNormal.y;
+                    this.normal.y = xfB.q.s * manifold.localNormal.x + xfB.q.c * manifold.localNormal.y;
+                    var planePointx = (xfB.q.c * manifold.localPoint.x - xfB.q.s * manifold.localPoint.y) + xfB.p.x;
+                    var planePointy = (xfB.q.s * manifold.localPoint.x + xfB.q.c * manifold.localPoint.y) + xfB.p.y;
+                    for (var i = 0; i < manifold.pointCount; ++i) {
+                        var clipPointx = (xfA.q.c * manifold.points[i].localPoint.x - xfA.q.s * manifold.points[i].localPoint.y) + xfA.p.x;
+                        var clipPointy = (xfA.q.s * manifold.points[i].localPoint.x + xfA.q.c * manifold.points[i].localPoint.y) + xfA.p.y;
+                        var d = (clipPointx - planePointx) * this.normal.x + (clipPointy - planePointy) * this.normal.y;
+                        var cBx = clipPointx + ((radiusB - d) * this.normal.x);
+                        var cBy = clipPointy + ((radiusB - d) * this.normal.y);
+                        var cAx = (clipPointx - (radiusA * this.normal.x));
+                        var cAy = (clipPointy - (radiusA * this.normal.y));
+                        this.points[i] = new b2Vec2(0.5 * (cAx + cBx), 0.5 * (cAy + cBy));
+                        this.separations[i] = (cAx - cBx) * this.normal.x + (cAy - cBy) * this.normal.y
+                    }
+                    this.normal.x = -this.normal.x;
+                    this.normal.y = -this.normal.y;
+                    break
+            }
+        }
+    };
+
+    function b2GetPointStates(state1, state2, manifold1, manifold2) {
+        for (var i = 0; i < b2_maxManifoldPoints; ++i) {
+            state1[i] = b2Manifold.b2_nullState;
+            state2[i] = b2Manifold.b2_nullState
+        }
+        for (var i = 0; i < manifold1.pointCount; ++i) {
+            var id = manifold1.points[i].id;
+            state1[i] = b2Manifold.b2_removeState;
+            for (var j = 0; j < manifold2.pointCount; ++j) {
+                if (manifold2.points[j].id.Get() == id.Get()) {
+                    state1[i] = b2Manifold.b2_persistState;
+                    break
+                }
+            }
+        }
+        for (var i = 0; i < manifold2.pointCount; ++i) {
+            var id = manifold2.points[i].id;
+            state2[i] = b2Manifold.b2_addState;
+            for (var j = 0; j < manifold1.pointCount; ++j) {
+                if (manifold1.points[j].id.Get() == id.Get()) {
+                    state2[i] = b2Manifold.b2_persistState;
+                    break
+                }
+            }
+        }
+    }
+
+    function b2ClipVertex() {
+        this.v = new b2Vec2();
+        this.id = new b2ContactID()
+    }
+
+    function b2RayCastInput() {
+        this.p1 = new b2Vec2(), this.p2 = new b2Vec2();
+        this.maxFraction = 0
+    }
+
+    function b2RayCastOutput() {
+        this.normal = new b2Vec2();
+        this.fraction = 0
+    }
+
+    function b2AABB() {
+        this.lowerBound = new b2Vec2();
+        this.upperBound = new b2Vec2()
+    }
+    b2AABB.prototype = {
+        Assign: function (other) {
+            this.lowerBound.x = other.lowerBound.x;
+            this.lowerBound.y = other.lowerBound.y;
+            this.upperBound.x = other.upperBound.x;
+            this.upperBound.y = other.upperBound.y
+        },
+        Clone: function () {
+            var clone = new b2AABB();
+            clone.lowerBound.x = this.lowerBound.x;
+            clone.lowerBound.y = this.lowerBound.y;
+            clone.lowerBound.x = this.lowerBound.x;
+            clone.lowerBound.y = this.lowerBound.y;
+            return clone
+        },
+        IsValid: function () {
+            return (this.upperBound.x - this.lowerBound.x) >= 0 && (this.upperBound.y - this.lowerBound.y) >= 0 && this.lowerBound.IsValid() && this.upperBound.IsValid()
+        },
+        GetCenter: function () {
+            return new b2Vec2(0.5 * (this.lowerBound.x + this.upperBound.x), 0.5 * (this.lowerBound.y + this.upperBound.y))
+        },
+        GetExtents: function () {
+            return new b2Vec2(0.5 * (this.upperBound.x - this.lowerBound.x), 0.5 * (this.upperBound.y - this.lowerBound.y))
+        },
+        GetPerimeter: function () {
+            return 2 * ((this.upperBound.x - this.lowerBound.x) + (this.upperBound.y - this.lowerBound.y))
+        },
+        Combine: function (aabb1, aabb2) {
+            if (aabb2) {
+                this.lowerBound.x = b2Min(aabb1.lowerBound.x, aabb2.lowerBound.x);
+                this.lowerBound.y = b2Min(aabb1.lowerBound.y, aabb2.lowerBound.y);
+                this.upperBound.x = b2Max(aabb1.upperBound.x, aabb2.upperBound.x);
+                this.upperBound.y = b2Max(aabb1.upperBound.y, aabb2.upperBound.y)
+            } else {
+                this.lowerBound.x = b2Min(this.lowerBound.x, aabb1.lowerBound.x);
+                this.lowerBound.y = b2Min(this.lowerBound.y, aabb1.lowerBound.y);
+                this.upperBound.x = b2Max(this.upperBound.x, aabb1.upperBound.x);
+                this.upperBound.y = b2Max(this.upperBound.y, aabb1.upperBound.y)
+            }
+        },
+        Contains: function (aabb) {
+            return this.lowerBound.x <= aabb.lowerBound.x && this.lowerBound.y <= aabb.lowerBound.y && aabb.upperBound.x <= this.upperBound.x && aabb.upperBound.y <= this.upperBound.y
+        },
+        RayCast: function (output, input) {
+            var tmin = -b2_maxFloat;
+            var tmax = b2_maxFloat;
+            var p = input.p1;
+            var d = b2Vec2.Subtract(input.p2, input.p1);
+            var absD = b2Abs_v2(d);
+            var normal = new b2Vec2();
+            for (var i = 0; i < 2; ++i) {
+                if (absD.get_i(i) < b2_epsilon) {
+                    if (p.get_i(i) < this.lowerBound.get_i(i) || this.upperBound.get_i(i) < p.get_i(i)) {
+                        return false
+                    }
+                } else {
+                    var inv_d = 1 / d.get_i(i);
+                    var t1 = (this.lowerBound.get_i(i) - p.get_i(i)) * inv_d;
+                    var t2 = (this.upperBound.get_i(i) - p.get_i(i)) * inv_d;
+                    var s = -1;
+                    if (t1 > t2) {
+                        var temp = t2;
+                        t2 = t1;
+                        t1 = temp;
+                        s = 1
+                    }
+                    if (t1 > tmin) {
+                        normal.x = normal.y = 0;
+                        normal.set_i(i, s);
+                        tmin = t1
+                    }
+                    tmax = b2Min(tmax, t2);
+                    if (tmin > tmax) {
+                        return false
+                    }
+                }
+            }
+            if (tmin < 0 || input.maxFraction < tmin) {
+                return false
+            }
+            output.fraction = tmin;
+            output.normal.x = normal.x;
+            output.normal.y = normal.y;
+            return true
+        }
+    };
+
+    function b2CollideCircles(manifold, circleA, xfA, circleB, xfB) {
+        manifold.pointCount = 0;
+        var pA = b2Mul_t_v2(xfA, circleA.m_p);
+        var pB = b2Mul_t_v2(xfB, circleB.m_p);
+        var dx = pB.x - pA.x;
+        var dy = pB.y - pA.y;
+        var distSqr = dx * dx + dy * dy;
+        var rA = circleA.m_radius,
+            rB = circleB.m_radius;
+        var radius = rA + rB;
+        if (distSqr > radius * radius) {
+            return
+        }
+        manifold.type = b2Manifold.e_circles;
+        manifold.localPoint.x = circleA.m_p.x;
+        manifold.localPoint.y = circleA.m_p.y;
+        manifold.localNormal.x = manifold.localNormal.y = 0;
+        manifold.pointCount = 1;
+        manifold.points[0] = new b2ManifoldPoint();
+        manifold.points[0].localPoint.x = circleB.m_p.x;
+        manifold.points[0].localPoint.y = circleB.m_p.y;
+        manifold.points[0].id.Reset()
+    }
+
+    function b2CollidePolygonAndCircle(manifold, polygonA, xfA, circleB, xfB) {
+        manifold.pointCount = 0;
+        var c = b2Mul_t_v2(xfB, circleB.m_p);
+        var cLocal = b2MulT_t_v2(xfA, c);
+        var normalIndex = 0;
+        var separation = -b2_maxFloat;
+        var radius = polygonA.m_radius + circleB.m_radius;
+        var vertexCount = polygonA.m_count;
+        var vertices = polygonA.m_vertices;
+        var normals = polygonA.m_normals;
+        for (var i = 0; i < vertexCount; ++i) {
+            var s = normals[i].x * (cLocal.x - vertices[i].x) + normals[i].y * (cLocal.y - vertices[i].y);
+            if (s > radius) {
+                return
+            }
+            if (s > separation) {
+                separation = s;
+                normalIndex = i
+            }
+        }
+        var vertIndex1 = normalIndex;
+        var vertIndex2 = vertIndex1 + 1 < vertexCount ? vertIndex1 + 1 : 0;
+        var v1 = vertices[vertIndex1];
+        var v2 = vertices[vertIndex2];
+        if (separation < b2_epsilon) {
+            manifold.pointCount = 1;
+            manifold.type = b2Manifold.e_faceA;
+            manifold.localNormal.x = normals[normalIndex].x;
+            manifold.localNormal.y = normals[normalIndex].y;
+            manifold.localPoint.x = 0.5 * (v1.x + v2.x);
+            manifold.localPoint.y = 0.5 * (v1.y + v2.y);
+            manifold.points[0] = new b2ManifoldPoint();
+            manifold.points[0].localPoint.x = circleB.m_p.x;
+            manifold.points[0].localPoint.y = circleB.m_p.y;
+            manifold.points[0].id.Reset();
+            return
+        }
+        var u1 = (cLocal.x - v1.x) * (v2.x - v1.x) + (cLocal.y - v1.y) * (v2.y - v1.y);
+        var u2 = (cLocal.x - v2.x) * (v1.x - v2.x) + (cLocal.y - v2.y) * (v1.y - v2.y);
+        if (u1 <= 0) {
+            if (b2DistanceSquared(cLocal, v1) > radius * radius) {
+                return
+            }
+            manifold.pointCount = 1;
+            manifold.type = b2Manifold.e_faceA;
+            manifold.localNormal.x = cLocal.x - v1.x;
+            manifold.localNormal.y = cLocal.y - v1.y;
+            manifold.localNormal.Normalize();
+            manifold.localPoint.x = v1.x;
+            manifold.localPoint.y = v1.y;
+            manifold.points[0] = new b2ManifoldPoint();
+            manifold.points[0].localPoint.x = circleB.m_p.x;
+            manifold.points[0].localPoint.y = circleB.m_p.y;
+            manifold.points[0].id.Reset()
+        } else {
+            if (u2 <= 0) {
+                if (b2DistanceSquared(cLocal, v2) > radius * radius) {
+                    return
+                }
+                manifold.pointCount = 1;
+                manifold.type = b2Manifold.e_faceA;
+                manifold.localNormal.x = cLocal.x - v2.x;
+                manifold.localNormal.y = cLocal.y - v2.y;
+                manifold.localNormal.Normalize();
+                manifold.localPoint.x = v2.x;
+                manifold.localPoint.y = v2.y;
+                manifold.points[0] = new b2ManifoldPoint();
+                manifold.points[0].localPoint.x = circleB.m_p.x;
+                manifold.points[0].localPoint.y = circleB.m_p.y;
+                manifold.points[0].id.Reset()
+            } else {
+                var faceCenterx = 0.5 * (v1.x + v2.x);
+                var faceCentery = 0.5 * (v1.y + v2.y);
+                var separation = (cLocal.x - faceCenterx) * normals[vertIndex1].x + (cLocal.y - faceCentery) * normals[vertIndex1].y;
+                if (separation > radius) {
+                    return
+                }
+                manifold.pointCount = 1;
+                manifold.type = b2Manifold.e_faceA;
+                manifold.localNormal.x = normals[vertIndex1].x;
+                manifold.localNormal.y = normals[vertIndex1].y;
+                manifold.localPoint.x = faceCenterx;
+                manifold.localPoint.y = faceCentery;
+                manifold.points[0] = new b2ManifoldPoint();
+                manifold.points[0].localPoint.x = circleB.m_p.x;
+                manifold.points[0].localPoint.y = circleB.m_p.y;
+                manifold.points[0].id.Reset()
+            }
+        }
+    }
+
+    function b2FindMaxSeparation(edgeIndex, poly1, xf1, poly2, xf2) {
+        var count1 = poly1.m_count;
+        var count2 = poly2.m_count;
+        var n1s = poly1.m_normals;
+        var v1s = poly1.m_vertices;
+        var v2s = poly2.m_vertices;
+        var xf = b2MulT_t_t(xf2, xf1);
+        var bestIndex = 0;
+        var maxSeparation = -b2_maxFloat;
+        for (var i = 0; i < count1; ++i) {
+            var nx = xf.q.c * n1s[i].x - xf.q.s * n1s[i].y;
+            var ny = xf.q.s * n1s[i].x + xf.q.c * n1s[i].y;
+            var v1x = (xf.q.c * v1s[i].x - xf.q.s * v1s[i].y) + xf.p.x;
+            var v1y = (xf.q.s * v1s[i].x + xf.q.c * v1s[i].y) + xf.p.y;
+            var si = b2_maxFloat;
+            for (var j = 0; j < count2; ++j) {
+                var sij = nx * (v2s[j].x - v1x) + ny * (v2s[j].y - v1y);
+                if (sij < si) {
+                    si = sij
+                }
+            }
+            if (si > maxSeparation) {
+                maxSeparation = si;
+                bestIndex = i
+            }
+        }
+        edgeIndex[0] = bestIndex;
+        return maxSeparation
+    }
+
+    function b2FindIncidentEdge(c, poly1, xf1, edge1, poly2, xf2) {
+        var normals1 = poly1.m_normals;
+        var count2 = poly2.m_count;
+        var vertices2 = poly2.m_vertices;
+        var normals2 = poly2.m_normals;
+        var t1x = xf1.q.c * normals1[edge1].x - xf1.q.s * normals1[edge1].y;
+        var t1y = xf1.q.s * normals1[edge1].x + xf1.q.c * normals1[edge1].y;
+        var normal1x = xf2.q.c * t1x + xf2.q.s * t1y;
+        var normal1y = -xf2.q.s * t1x + xf2.q.c * t1y;
+        var index = 0;
+        var minDot = b2_maxFloat;
+        for (var i = 0; i < count2; ++i) {
+            var dot = normal1x * normals2[i].x + normal1y * normals2[i].y;
+            if (dot < minDot) {
+                minDot = dot;
+                index = i
+            }
+        }
+        var i1 = index;
+        var i2 = i1 + 1 < count2 ? i1 + 1 : 0;
+        c[0].v.x = (xf2.q.c * vertices2[i1].x - xf2.q.s * vertices2[i1].y) + xf2.p.x;
+        c[0].v.y = (xf2.q.s * vertices2[i1].x + xf2.q.c * vertices2[i1].y) + xf2.p.y;
+        c[0].id.indexA = edge1;
+        c[0].id.indexB = i1;
+        c[0].id.typeA = b2ContactID.e_face;
+        c[0].id.typeB = b2ContactID.e_vertex;
+        c[1].v.x = (xf2.q.c * vertices2[i2].x - xf2.q.s * vertices2[i2].y) + xf2.p.x;
+        c[1].v.y = (xf2.q.s * vertices2[i2].x + xf2.q.c * vertices2[i2].y) + xf2.p.y;
+        c[1].id.indexA = edge1;
+        c[1].id.indexB = i2;
+        c[1].id.typeA = b2ContactID.e_face;
+        c[1].id.typeB = b2ContactID.e_vertex
+    }
+
+    function b2CollidePolygons(manifold, polyA, xfA, polyB, xfB) {
+        manifold.pointCount = 0;
+        var totalRadius = polyA.m_radius + polyB.m_radius;
+        var edgeA = [0];
+        var separationA = b2FindMaxSeparation(edgeA, polyA, xfA, polyB, xfB);
+        if (separationA > totalRadius) {
+            return
+        }
+        var edgeB = [0];
+        var separationB = b2FindMaxSeparation(edgeB, polyB, xfB, polyA, xfA);
+        if (separationB > totalRadius) {
+            return
+        }
+        var poly1;
+        var poly2;
+        var xf1, xf2;
+        var edge1 = 0;
+        var flip = 0;
+        var k_tol = 0.1 * b2_linearSlop;
+        if (separationB > separationA + k_tol) {
+            poly1 = polyB;
+            poly2 = polyA;
+            xf1 = xfB;
+            xf2 = xfA;
+            edge1 = edgeB[0];
+            manifold.type = b2Manifold.e_faceB;
+            flip = 1
+        } else {
+            poly1 = polyA;
+            poly2 = polyB;
+            xf1 = xfA;
+            xf2 = xfB;
+            edge1 = edgeA[0];
+            manifold.type = b2Manifold.e_faceA;
+            flip = 0
+        }
+        b2FindIncidentEdge(b2CollidePolygons._local_incidentEdges, poly1, xf1, edge1, poly2, xf2);
+        var count1 = poly1.m_count;
+        var vertices1 = poly1.m_vertices;
+        var iv1 = edge1;
+        var iv2 = edge1 + 1 < count1 ? edge1 + 1 : 0;
+        var v11 = vertices1[iv1];
+        var v12 = vertices1[iv2];
+        b2CollidePolygons._localTangent.x = v12.x - v11.x;
+        b2CollidePolygons._localTangent.y = v12.y - v11.y;
+        b2CollidePolygons._localTangent.Normalize();
+        var localNormalx = 1 * b2CollidePolygons._localTangent.y;
+        var localNormaly = -1 * b2CollidePolygons._localTangent.x;
+        var planePointx = 0.5 * (v11.x + v12.x);
+        var planePointy = 0.5 * (v11.y + v12.y);
+        var tangentx = xf1.q.c * b2CollidePolygons._localTangent.x - xf1.q.s * b2CollidePolygons._localTangent.y;
+        var tangenty = xf1.q.s * b2CollidePolygons._localTangent.x + xf1.q.c * b2CollidePolygons._localTangent.y;
+        var normalx = 1 * tangenty;
+        var normaly = -1 * tangentx;
+        v11 = b2Mul_t_v2(xf1, v11);
+        v12 = b2Mul_t_v2(xf1, v12);
+        var frontOffset = normalx * v11.x + normaly * v11.y;
+        var sideOffset1 = -(tangentx * v11.x + tangenty * v11.y) + totalRadius;
+        var sideOffset2 = (tangentx * v12.x + tangenty * v12.y) + totalRadius;
+        var clipPoints1 = new Array(2);
+        var clipPoints2 = new Array(2);
+        var np;
+        np = b2ClipSegmentToLine(clipPoints1, b2CollidePolygons._local_incidentEdges, -tangentx, -tangenty, sideOffset1, iv1);
+        if (np < 2) {
+            return
+        }
+        np = b2ClipSegmentToLine(clipPoints2, clipPoints1, tangentx, tangenty, sideOffset2, iv2);
+        if (np < 2) {
+            return
+        }
+        manifold.localNormal.x = localNormalx;
+        manifold.localNormal.y = localNormaly;
+        manifold.localPoint.x = planePointx;
+        manifold.localPoint.y = planePointy;
+        var pointCount = 0;
+        for (var i = 0; i < b2_maxManifoldPoints; ++i) {
+            var separation = (normalx * clipPoints2[i].v.x + normaly * clipPoints2[i].v.y) - frontOffset;
+            if (separation <= totalRadius) {
+                var cp = manifold.points[pointCount] = new b2ManifoldPoint();
+                cp.localPoint.Assign(b2MulT_t_v2(xf2, clipPoints2[i].v));
+                cp.id.Assign(clipPoints2[i].id);
+                if (flip) {
+                    var cf = new b2ContactID();
+                    cf.Assign(cp.id);
+                    cp.id.indexA = cf.indexB;
+                    cp.id.indexB = cf.indexA;
+                    cp.id.typeA = cf.typeB;
+                    cp.id.typeB = cf.typeA
+                }++pointCount
+            }
+        }
+        manifold.pointCount = pointCount
+    }
+    b2CollidePolygons._localTangent = new b2Vec2();
+    b2CollidePolygons._local_incidentEdges = [new b2ClipVertex(), new b2ClipVertex()];
+
+    function b2CollideEdgeAndCircle(manifold, edgeA, xfA, circleB, xfB) {
+        manifold.pointCount = 0;
+        var Q = b2MulT_t_v2(xfA, b2Mul_t_v2(xfB, circleB.m_p));
+        var A = edgeA.m_vertex1,
+            B = edgeA.m_vertex2;
+        var ex = B.x - A.x;
+        var ey = B.y - A.y;
+        var u = ex * (B.x - Q.x) + ey * (B.y - Q.y);
+        var v = ex * (Q.x - A.x) + ey * (Q.y - A.y);
+        var radius = edgeA.m_radius + circleB.m_radius;
+        var cf = new b2ContactID();
+        cf.indexB = 0;
+        cf.typeB = b2ContactID.e_vertex;
+        if (v <= 0) {
+            var P = A;
+            var dx = Q.x - P.x;
+            var dy = Q.y - P.y;
+            var dd = dx * dx + dy * dy;
+            if (dd > radius * radius) {
+                return
+            }
+            if (edgeA.m_hasVertex0) {
+                var A1 = edgeA.m_vertex0;
+                var B1 = A;
+                var e1x = B1.x - A1.x;
+                var e1y = B1.y - A1.y;
+                var u1 = e1x * (B1.x - Q.x) + e1y * (B1.y - Q.y);
+                if (u1 > 0) {
+                    return
+                }
+            }
+            cf.indexA = 0;
+            cf.typeA = b2ContactID.e_vertex;
+            manifold.pointCount = 1;
+            manifold.type = b2Manifold.e_circles;
+            manifold.localNormal.x = manifold.localNormal.y = 0;
+            manifold.localPoint.x = P.x;
+            manifold.localPoint.y = P.y;
+            manifold.points[0] = new b2ManifoldPoint();
+            manifold.points[0].id.Assign(cf);
+            manifold.points[0].localPoint.x = circleB.m_p.x;
+            manifold.points[0].localPoint.y = circleB.m_p.y;
+            return
+        }
+        if (u <= 0) {
+            var P = B;
+            var dx = Q.x - P.x;
+            var dy = Q.y - P.y;
+            var dd = dx * dx + dy * dy;
+            if (dd > radius * radius) {
+                return
+            }
+            if (edgeA.m_hasVertex3) {
+                var B2 = edgeA.m_vertex3;
+                var A2 = B;
+                var e2x = B2.x - A2.x;
+                var e2y = B2.y - A2.y;
+                var v2 = e2x * (Q.x - A2.x) + e2y * (Q.y - A2.y);
+                if (v2 > 0) {
+                    return
+                }
+            }
+            cf.indexA = 1;
+            cf.typeA = b2ContactID.e_vertex;
+            manifold.pointCount = 1;
+            manifold.type = b2Manifold.e_circles;
+            manifold.localNormal.x = manifold.localNormal.y = 0;
+            manifold.localPoint.x = P.x;
+            manifold.localPoint.y = P.y;
+            manifold.points[0] = new b2ManifoldPoint();
+            manifold.points[0].id.Assign(cf);
+            manifold.points[0].localPoint.x = circleB.m_p.x;
+            manifold.points[0].localPoint.y = circleB.m_p.y;
+            return
+        }
+        var den = ex * ex + ey * ey;
+        var Px = (1 / den) * ((u * A.x) + (v * B.x));
+        var Py = (1 / den) * ((u * A.y) + (v * B.y));
+        var dx = Q.x - Px;
+        var dy = Q.y - Py;
+        var dd = dx * dx + dy * dy;
+        if (dd > radius * radius) {
+            return
+        }
+        var nx = -ey;
+        var ny = ex;
+        if (nx * (Q.x - A.x) + ny * (Q.y - A.y) < 0) {
+            nx = -nx;
+            ny = -ny
+        }
+        cf.indexA = 0;
+        cf.typeA = b2ContactID.e_face;
+        manifold.pointCount = 1;
+        manifold.type = b2Manifold.e_faceA;
+        manifold.localNormal.x = nx;
+        manifold.localNormal.y = ny;
+        manifold.localNormal.Normalize();
+        manifold.localPoint.x = A.x;
+        manifold.localPoint.y = A.y;
+        manifold.points[0] = new b2ManifoldPoint();
+        manifold.points[0].id.Assign(cf);
+        manifold.points[0].localPoint.x = circleB.m_p.x;
+        manifold.points[0].localPoint.y = circleB.m_p.y
+    }
+
+    function b2EPAxis() {
+        this.type = 0;
+        this.index = 0;
+        this.separation = 0
+    }
+    b2EPAxis.e_unknown = 0;
+    b2EPAxis.e_edgeA = 1;
+    b2EPAxis.e_edgeB = 2;
+
+    function b2TempPolygon() {
+        this.vertices = new Array(b2_maxPolygonVertices);
+        this.normals = new Array(b2_maxPolygonVertices);
+        this.count = 0
+    }
+
+    function b2ReferenceFace() {
+        this.i1 = 0, this.i2 = 0;
+        this.v1 = new b2Vec2(), this.v2 = new b2Vec2();
+        this.normal = new b2Vec2();
+        this.sideNormal1 = new b2Vec2();
+        this.sideOffset1 = 0;
+        this.sideNormal2 = new b2Vec2();
+        this.sideOffset2 = 0
+    }
+
+    function b2EPCollider() {
+        this.m_polygonB = new b2TempPolygon();
+        this.m_xf = new b2Transform();
+        this.m_centroidB = new b2Vec2();
+        this.m_v0 = new b2Vec2(), this.m_v1 = new b2Vec2(), this.m_v2 = new b2Vec2(), this.m_v3 = new b2Vec2();
+        this.m_normal0 = new b2Vec2(), this.m_normal1 = new b2Vec2(), this.m_normal2 = new b2Vec2();
+        this.m_normal = new b2Vec2();
+        this.m_type1 = 0, this.m_type2 = 0;
+        this.m_lowerLimit = new b2Vec2(), this.m_upperLimit = new b2Vec2();
+        this.m_radius = 0;
+        this.m_front = false
+    }
+    b2EPCollider._temp_edge = new b2Vec2();
+    b2EPCollider._temp_edge0 = new b2Vec2();
+    b2EPCollider._temp_edge2 = new b2Vec2();
+    b2EPCollider.prototype = {
+        Collide: function (manifold, edgeA, xfA, polygonB, xfB) {
+            this.m_xf.Assign(b2MulT_t_t(xfA, xfB));
+            this.m_centroidB.x = (this.m_xf.q.c * polygonB.m_centroid.x - this.m_xf.q.s * polygonB.m_centroid.y) + this.m_xf.p.x;
+            this.m_centroidB.y = (this.m_xf.q.s * polygonB.m_centroid.x + this.m_xf.q.c * polygonB.m_centroid.y) + this.m_xf.p.y;
+            this.m_v0.x = edgeA.m_vertex0.x;
+            this.m_v0.y = edgeA.m_vertex0.y;
+            this.m_v1.x = edgeA.m_vertex1.x;
+            this.m_v1.y = edgeA.m_vertex1.y;
+            this.m_v2.x = edgeA.m_vertex2.x;
+            this.m_v2.y = edgeA.m_vertex2.y;
+            this.m_v3.x = edgeA.m_vertex3.x;
+            this.m_v3.y = edgeA.m_vertex3.y;
+            var hasVertex0 = edgeA.m_hasVertex0;
+            var hasVertex3 = edgeA.m_hasVertex3;
+            b2EPCollider._temp_edge.x = this.m_v2.x - this.m_v1.x;
+            b2EPCollider._temp_edge.y = this.m_v2.y - this.m_v1.y;
+            b2EPCollider._temp_edge.Normalize();
+            this.m_normal1.x = b2EPCollider._temp_edge.y;
+            this.m_normal1.y = -b2EPCollider._temp_edge.x;
+            var offset1 = this.m_normal1.x * (this.m_centroidB.x - this.m_v1.x) + this.m_normal1.y * (this.m_centroidB.y - this.m_v1.y);
+            var offset0 = 0,
+                offset2 = 0;
+            var convex1 = false,
+                convex2 = false;
+            if (hasVertex0) {
+                b2EPCollider._temp_edge0.x = this.m_v1.x - this.m_v0.x;
+                b2EPCollider._temp_edge0.y = this.m_v1.y - this.m_v0.y;
+                b2EPCollider._temp_edge0.Normalize();
+                this.m_normal0.x = b2EPCollider._temp_edge0.y;
+                this.m_normal0.y = -b2EPCollider._temp_edge0.x;
+                convex1 = (b2EPCollider._temp_edge0.x * b2EPCollider._temp_edge.y - b2EPCollider._temp_edge0.y * b2EPCollider._temp_edge.x) >= 0;
+                offset0 = this.m_normal0.x * (this.m_centroidB.x - this.m_v0.x) + this.m_normal0.y * (this.m_centroidB.y - this.m_v0.y)
+            }
+            if (hasVertex3) {
+                b2EPCollider._temp_edge2.x = this.m_v3.x - this.m_v2.x;
+                b2EPCollider._temp_edge2.y = this.m_v3.y - this.m_v2.y;
+                b2EPCollider._temp_edge2.Normalize();
+                this.m_normal2.x = b2EPCollider._temp_edge2.y;
+                this.m_normal2.y = -b2EPCollider._temp_edge2.x;
+                convex2 = (b2EPCollider._temp_edge.x * b2EPCollider._temp_edge2.y - b2EPCollider._temp_edge.y * b2EPCollider._temp_edge2.x) > 0;
+                offset2 = this.m_normal2.x * (this.m_centroidB.x - this.m_v2.x) + this.m_normal2.y * (this.m_centroidB.y - this.m_v2.y)
+            }
+            if (hasVertex0 && hasVertex3) {
+                if (convex1 && convex2) {
+                    this.m_front = offset0 >= 0 || offset1 >= 0 || offset2 >= 0;
+                    if (this.m_front) {
+                        this.m_normal.x = this.m_normal1.x;
+                        this.m_normal.y = this.m_normal1.y;
+                        this.m_lowerLimit.x = this.m_normal0.x;
+                        this.m_lowerLimit.y = this.m_normal0.y;
+                        this.m_upperLimit.x = this.m_normal2.x;
+                        this.m_upperLimit.y = this.m_normal2.y
+                    } else {
+                        this.m_normal.x = -this.m_normal1.x;
+                        this.m_normal.y = -this.m_normal1.y;
+                        this.m_lowerLimit.x = -this.m_normal1.x;
+                        this.m_lowerLimit.y = -this.m_normal1.y;
+                        this.m_upperLimit.x = -this.m_normal1.x;
+                        this.m_upperLimit.y = -this.m_normal1.y
+                    }
+                } else {
+                    if (convex1) {
+                        this.m_front = offset0 >= 0 || (offset1 >= 0 && offset2 >= 0);
+                        if (this.m_front) {
+                            this.m_normal.x = this.m_normal1.x;
+                            this.m_normal.y = this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal0.x;
+                            this.m_lowerLimit.y = this.m_normal0.y;
+                            this.m_upperLimit.x = this.m_normal1.x;
+                            this.m_upperLimit.y = this.m_normal1.y
+                        } else {
+                            this.m_normal.x = -this.m_normal1.x;
+                            this.m_normal.y = -this.m_normal1.y;
+                            this.m_lowerLimit.x = -this.m_normal2.x;
+                            this.m_lowerLimit.y = -this.m_normal2.y;
+                            this.m_upperLimit.x = -this.m_normal1.x;
+                            this.m_upperLimit.y = -this.m_normal1.y
+                        }
+                    } else {
+                        if (convex2) {
+                            this.m_front = offset2 >= 0 || (offset0 >= 0 && offset1 >= 0);
+                            if (this.m_front) {
+                                this.m_normal.x = this.m_normal1.x;
+                                this.m_normal.y = this.m_normal1.y;
+                                this.m_lowerLimit.x = this.m_normal1.x;
+                                this.m_lowerLimit.y = this.m_normal1.y;
+                                this.m_upperLimit.x = this.m_normal2.x;
+                                this.m_upperLimit.y = this.m_normal2.y
+                            } else {
+                                this.m_normal.x = -this.m_normal1.x;
+                                this.m_normal.y = -this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal1.x;
+                                this.m_lowerLimit.y = -this.m_normal1.y;
+                                this.m_upperLimit.x = -this.m_normal0.x;
+                                this.m_upperLimit.y = -this.m_normal0.y
+                            }
+                        } else {
+                            this.m_front = offset0 >= 0 && offset1 >= 0 && offset2 >= 0;
+                            if (this.m_front) {
+                                this.m_normal.x = this.m_normal1.x;
+                                this.m_normal.y = this.m_normal1.y;
+                                this.m_lowerLimit.x = this.m_normal1.x;
+                                this.m_lowerLimit.y = this.m_normal1.y;
+                                this.m_upperLimit.x = this.m_normal1.x;
+                                this.m_upperLimit.y = this.m_normal1.y
+                            } else {
+                                this.m_normal.x = -this.m_normal1.x;
+                                this.m_normal.y = -this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal2.x;
+                                this.m_lowerLimit.y = -this.m_normal2.y;
+                                this.m_upperLimit.x = -this.m_normal0.x;
+                                this.m_upperLimit.y = -this.m_normal0.y
+                            }
+                        }
+                    }
+                }
+            } else {
+                if (hasVertex0) {
+                    if (convex1) {
+                        this.m_front = offset0 >= 0 || offset1 >= 0;
+                        if (this.m_front) {
+                            this.m_normal.x = this.m_normal1.x;
+                            this.m_normal.y = this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal0.x;
+                            this.m_lowerLimit.y = this.m_normal0.y;
+                            this.m_upperLimit.x = -this.m_normal1.x;
+                            this.m_upperLimit.y = -this.m_normal1.y
+                        } else {
+                            this.m_normal.x = -this.m_normal1.x;
+                            this.m_normal.y = -this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal1.x;
+                            this.m_lowerLimit.y = this.m_normal1.y;
+                            this.m_upperLimit.x = -this.m_normal1.x;
+                            this.m_upperLimit.y = -this.m_normal1.y
+                        }
+                    } else {
+                        this.m_front = offset0 >= 0 && offset1 >= 0;
+                        if (this.m_front) {
+                            this.m_normal.x = this.m_normal1.x;
+                            this.m_normal.y = this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal1.x;
+                            this.m_lowerLimit.y = this.m_normal1.y;
+                            this.m_upperLimit.x = -this.m_normal1.x;
+                            this.m_upperLimit.y = -this.m_normal1.y
+                        } else {
+                            this.m_normal.x = -this.m_normal1.x;
+                            this.m_normal.y = -this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal1.x;
+                            this.m_lowerLimit.y = this.m_normal1.y;
+                            this.m_upperLimit.x = -this.m_normal0.x;
+                            this.m_upperLimit.y = -this.m_normal0.y
+                        }
+                    }
+                } else {
+                    if (hasVertex3) {
+                        if (convex2) {
+                            this.m_front = offset1 >= 0 || offset2 >= 0;
+                            if (this.m_front) {
+                                this.m_normal.x = this.m_normal1.x;
+                                this.m_normal.y = this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal1.x;
+                                this.m_lowerLimit.y = -this.m_normal1.y;
+                                this.m_upperLimit.x = this.m_normal2.x;
+                                this.m_upperLimit.y = this.m_normal2.y
+                            } else {
+                                this.m_normal.x = -this.m_normal1.x;
+                                this.m_normal.y = -this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal1.x;
+                                this.m_lowerLimit.y = -this.m_normal1.y;
+                                this.m_upperLimit.x = this.m_normal1.x;
+                                this.m_upperLimit.y = this.m_normal1.y
+                            }
+                        } else {
+                            this.m_front = offset1 >= 0 && offset2 >= 0;
+                            if (this.m_front) {
+                                this.m_normal.x = this.m_normal1.x;
+                                this.m_normal.y = this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal1.x;
+                                this.m_lowerLimit.y = -this.m_normal1.y;
+                                this.m_upperLimit.x = this.m_normal1.x;
+                                this.m_upperLimit.y = this.m_normal1.y
+                            } else {
+                                this.m_normal.x = -this.m_normal1.x;
+                                this.m_normal.y = -this.m_normal1.y;
+                                this.m_lowerLimit.x = -this.m_normal2.x;
+                                this.m_lowerLimit.y = -this.m_normal2.y;
+                                this.m_upperLimit.x = this.m_normal1.x;
+                                this.m_upperLimit.y = this.m_normal1.y
+                            }
+                        }
+                    } else {
+                        this.m_front = offset1 >= 0;
+                        if (this.m_front) {
+                            this.m_normal.x = this.m_normal1.x;
+                            this.m_normal.y = this.m_normal1.y;
+                            this.m_lowerLimit.x = -this.m_normal1.x;
+                            this.m_lowerLimit.y = -this.m_normal1.y;
+                            this.m_upperLimit.x = -this.m_normal1.x;
+                            this.m_upperLimit.y = -this.m_normal1.y
+                        } else {
+                            this.m_normal.x = -this.m_normal1.x;
+                            this.m_normal.y = -this.m_normal1.y;
+                            this.m_lowerLimit.x = this.m_normal1.x;
+                            this.m_lowerLimit.y = this.m_normal1.y;
+                            this.m_upperLimit.x = this.m_normal1.x;
+                            this.m_upperLimit.y = this.m_normal1.y
+                        }
+                    }
+                }
+            }
+            this.m_polygonB.count = polygonB.m_count;
+            for (var i = 0; i < polygonB.m_count; ++i) {
+                this.m_polygonB.vertices[i] = b2Mul_t_v2(this.m_xf, polygonB.m_vertices[i]);
+                this.m_polygonB.normals[i] = b2Mul_r_v2(this.m_xf.q, polygonB.m_normals[i])
+            }
+            this.m_radius = 2 * b2_polygonRadius;
+            manifold.pointCount = 0;
+            var edgeAxis = this.ComputeEdgeSeparation();
+            if (edgeAxis.type == b2EPAxis.e_unknown) {
+                return
+            }
+            if (edgeAxis.separation > this.m_radius) {
+                return
+            }
+            var polygonAxis = this.ComputePolygonSeparation();
+            if (polygonAxis.type != b2EPAxis.e_unknown && polygonAxis.separation > this.m_radius) {
+                return
+            }
+            var k_relativeTol = 0.98;
+            var k_absoluteTol = 0.001;
+            var primaryAxis = new b2EPAxis();
+            if (polygonAxis.type == b2EPAxis.e_unknown) {
+                primaryAxis = edgeAxis
+            } else {
+                if (polygonAxis.separation > k_relativeTol * edgeAxis.separation + k_absoluteTol) {
+                    primaryAxis = polygonAxis
+                } else {
+                    primaryAxis = edgeAxis
+                }
+            }
+            var ie = new Array(2);
+            var rf = new b2ReferenceFace();
+            if (primaryAxis.type == b2EPAxis.e_edgeA) {
+                manifold.type = b2Manifold.e_faceA;
+                var bestIndex = 0;
+                var bestValue = this.m_normal.x * this.m_polygonB.normals[0].x + this.m_normal.y * this.m_polygonB.normals[0].y;
+                for (var i = 1; i < this.m_polygonB.count; ++i) {
+                    var value = this.m_normal.x * this.m_polygonB.normals[i].x + this.m_normal.y * this.m_polygonB.normals[i].y;
+                    if (value < bestValue) {
+                        bestValue = value;
+                        bestIndex = i
+                    }
+                }
+                var i1 = bestIndex;
+                var i2 = i1 + 1 < this.m_polygonB.count ? i1 + 1 : 0;
+                ie[0] = new b2ClipVertex();
+                ie[0].v.x = this.m_polygonB.vertices[i1].x;
+                ie[0].v.y = this.m_polygonB.vertices[i1].y;
+                ie[0].id.indexA = 0;
+                ie[0].id.indexB = i1;
+                ie[0].id.typeA = b2ContactID.e_face;
+                ie[0].id.typeB = b2ContactID.e_vertex;
+                ie[1] = new b2ClipVertex();
+                ie[1].v.x = this.m_polygonB.vertices[i2].x;
+                ie[1].v.y = this.m_polygonB.vertices[i2].y;
+                ie[1].id.indexA = 0;
+                ie[1].id.indexB = i2;
+                ie[1].id.typeA = b2ContactID.e_face;
+                ie[1].id.typeB = b2ContactID.e_vertex;
+                if (this.m_front) {
+                    rf.i1 = 0;
+                    rf.i2 = 1;
+                    rf.v1.x = this.m_v1.x;
+                    rf.v1.y = this.m_v1.y;
+                    rf.v2.x = this.m_v2.x;
+                    rf.v2.y = this.m_v2.y;
+                    rf.normal.x = this.m_normal1.x;
+                    rf.normal.y = this.m_normal1.y
+                } else {
+                    rf.i1 = 1;
+                    rf.i2 = 0;
+                    rf.v1.x = this.m_v2.x;
+                    rf.v1.y = this.m_v2.y;
+                    rf.v2.x = this.m_v1.x;
+                    rf.v2.y = this.m_v1.y;
+                    rf.normal.x = -this.m_normal1.x;
+                    rf.normal.y = -this.m_normal1.y
+                }
+            } else {
+                manifold.type = b2Manifold.e_faceB;
+                ie[0] = new b2ClipVertex();
+                ie[0].v = this.m_v1;
+                ie[0].id.indexA = 0;
+                ie[0].id.indexB = primaryAxis.index;
+                ie[0].id.typeA = b2ContactID.e_vertex;
+                ie[0].id.typeB = b2ContactID.e_face;
+                ie[1] = new b2ClipVertex();
+                ie[1].v = this.m_v2;
+                ie[1].id.indexA = 0;
+                ie[1].id.indexB = primaryAxis.index;
+                ie[1].id.typeA = b2ContactID.e_vertex;
+                ie[1].id.typeB = b2ContactID.e_face;
+                rf.i1 = primaryAxis.index;
+                rf.i2 = rf.i1 + 1 < this.m_polygonB.count ? rf.i1 + 1 : 0;
+                rf.v1.x = this.m_polygonB.vertices[rf.i1].x;
+                rf.v1.y = this.m_polygonB.vertices[rf.i1].y;
+                rf.v2.x = this.m_polygonB.vertices[rf.i2].x;
+                rf.v2.y = this.m_polygonB.vertices[rf.i2].y;
+                rf.normal.x = this.m_polygonB.normals[rf.i1].x;
+                rf.normal.y = this.m_polygonB.normals[rf.i1].y
+            }
+            rf.sideNormal1.x = rf.normal.y;
+            rf.sideNormal1.y = -rf.normal.x;
+            rf.sideNormal2.x = -rf.sideNormal1.x;
+            rf.sideNormal2.y = -rf.sideNormal1.y;
+            rf.sideOffset1 = rf.sideNormal1.x * rf.v1.x + rf.sideNormal1.y * rf.v1.y;
+            rf.sideOffset2 = rf.sideNormal2.x * rf.v2.x + rf.sideNormal2.y * rf.v2.y;
+            var clipPoints1 = new Array(2);
+            var clipPoints2 = new Array(2);
+            var np;
+            np = b2ClipSegmentToLine(clipPoints1, ie, rf.sideNormal1.x, rf.sideNormal1.y, rf.sideOffset1, rf.i1);
+            if (np < b2_maxManifoldPoints) {
+                return
+            }
+            np = b2ClipSegmentToLine(clipPoints2, clipPoints1, rf.sideNormal2.x, rf.sideNormal2.y, rf.sideOffset2, rf.i2);
+            if (np < b2_maxManifoldPoints) {
+                return
+            }
+            if (primaryAxis.type == b2EPAxis.e_edgeA) {
+                manifold.localNormal.x = rf.normal.x;
+                manifold.localNormal.y = rf.normal.y;
+                manifold.localPoint.x = rf.v1.x;
+                manifold.localPoint.y = rf.v1.y
+            } else {
+                manifold.localNormal.x = polygonB.m_normals[rf.i1].x;
+                manifold.localNormal.y = polygonB.m_normals[rf.i1].y;
+                manifold.localPoint.x = polygonB.m_vertices[rf.i1].x;
+                manifold.localPoint.y = polygonB.m_vertices[rf.i1].y
+            }
+            var pointCount = 0;
+            for (var i = 0; i < b2_maxManifoldPoints; ++i) {
+                var separation = rf.normal.x * (clipPoints2[i].v.x - rf.v1.x) + rf.normal.y * (clipPoints2[i].v.y - rf.v1.y);
+                if (separation <= this.m_radius) {
+                    var cp = manifold.points[pointCount] = new b2ManifoldPoint();
+                    if (primaryAxis.type == b2EPAxis.e_edgeA) {
+                        cp.localPoint.Assign(b2MulT_t_v2(this.m_xf, clipPoints2[i].v));
+                        cp.id.Assign(clipPoints2[i].id)
+                    } else {
+                        cp.localPoint.x = clipPoints2[i].v.x;
+                        cp.localPoint.y = clipPoints2[i].v.y;
+                        cp.id.typeA = clipPoints2[i].id.typeB;
+                        cp.id.typeB = clipPoints2[i].id.typeA;
+                        cp.id.indexA = clipPoints2[i].id.indexB;
+                        cp.id.indexB = clipPoints2[i].id.indexA
+                    }++pointCount
+                }
+            }
+            manifold.pointCount = pointCount
+        },
+        ComputeEdgeSeparation: function () {
+            var axis = new b2EPAxis();
+            axis.type = b2EPAxis.e_edgeA;
+            axis.index = this.m_front ? 0 : 1;
+            axis.separation = Number.MAX_VALUE;
+            for (var i = 0; i < this.m_polygonB.count; ++i) {
+                var s = this.m_normal.x * (this.m_polygonB.vertices[i].x - this.m_v1.x) + this.m_normal.y * (this.m_polygonB.vertices[i].y - this.m_v1.y);
+                if (s < axis.separation) {
+                    axis.separation = s
+                }
+            }
+            return axis
+        },
+        ComputePolygonSeparation: function () {
+            var axis = new b2EPAxis();
+            axis.type = b2EPAxis.e_unknown;
+            axis.index = -1;
+            axis.separation = -Number.MAX_VALUE;
+            var perpx = -this.m_normal.y;
+            var perpy = this.m_normal.x;
+            for (var i = 0; i < this.m_polygonB.count; ++i) {
+                var nx = -this.m_polygonB.normals[i].x;
+                var ny = -this.m_polygonB.normals[i].y;
+                var s1 = nx * (this.m_polygonB.vertices[i].x - this.m_v1.x) + ny * (this.m_polygonB.vertices[i].y - this.m_v1.y);
+                var s2 = nx * (this.m_polygonB.vertices[i].x - this.m_v2.x) + ny * (this.m_polygonB.vertices[i].y - this.m_v2.y);
+                var s = b2Min(s1, s2);
+                if (s > this.m_radius) {
+                    axis.type = b2EPAxis.e_edgeB;
+                    axis.index = i;
+                    axis.separation = s;
+                    return axis
+                }
+                if (nx * perpx + ny * perpy >= 0) {
+                    if ((nx - this.m_upperLimit.x) * this.m_normal.x + (ny - this.m_upperLimit.y) * this.m_normal.y < -b2_angularSlop) {
+                        continue
+                    }
+                } else {
+                    if ((nx - this.m_lowerLimit.x) * this.m_normal.x + (ny - this.m_lowerLimit.y) * this.m_normal.y < -b2_angularSlop) {
+                        continue
+                    }
+                }
+                if (s > axis.separation) {
+                    axis.type = b2EPAxis.e_edgeB;
+                    axis.index = i;
+                    axis.separation = s
+                }
+            }
+            return axis
+        }
+    };
+    b2EPCollider.e_isolated = 0;
+    b2EPCollider.e_concave = 1;
+    b2EPCollider.e_convex = 2;
+
+    function b2CollideEdgeAndPolygon(manifold, edgeA, xfA, polygonB, xfB) {
+        b2CollideEdgeAndPolygon.collider.Collide(manifold, edgeA, xfA, polygonB, xfB)
+    }
+    b2CollideEdgeAndPolygon.collider = new b2EPCollider();
+
+    function b2ClipSegmentToLine(vOut, vIn, normalx, normaly, offset, vertexIndexA) {
+        var numOut = 0;
+        var distance0 = (normalx * vIn[0].v.x + normaly * vIn[0].v.y) - offset;
+        var distance1 = (normalx * vIn[1].v.x + normaly * vIn[1].v.y) - offset;
+        if (distance0 <= 0) {
+            vOut[numOut++] = vIn[0]
+        }
+        if (distance1 <= 0) {
+            vOut[numOut++] = vIn[1]
+        }
+        if (distance0 * distance1 < 0) {
+            var interp = distance0 / (distance0 - distance1);
+            vOut[numOut] = new b2ClipVertex();
+            vOut[numOut].v.x = vIn[0].v.x + (interp * (vIn[1].v.x - vIn[0].v.x));
+            vOut[numOut].v.y = vIn[0].v.y + (interp * (vIn[1].v.y - vIn[0].v.y));
+            vOut[numOut].id.indexA = vertexIndexA;
+            vOut[numOut].id.indexB = vIn[0].id.indexB;
+            vOut[numOut].id.typeA = b2ContactID.e_vertex;
+            vOut[numOut].id.typeB = b2ContactID.e_face;
+            ++numOut
+        }
+        return numOut
+    }
+
+    function b2TestShapeOverlap(shapeA, indexA, shapeB, indexB, xfA, xfB) {
+        b2TestShapeOverlap.input.proxyA.Set(shapeA, indexA);
+        b2TestShapeOverlap.input.proxyB.Set(shapeB, indexB);
+        b2TestShapeOverlap.input.transformA = xfA;
+        b2TestShapeOverlap.input.transformB = xfB;
+        b2TestShapeOverlap.input.useRadii = true;
+        b2TestShapeOverlap.cache.count = 0;
+        b2DistanceFunc(b2TestShapeOverlap.output, b2TestShapeOverlap.cache, b2TestShapeOverlap.input);
+        return b2TestShapeOverlap.output.distance < 10 * b2_epsilon
+    }
+    b2TestShapeOverlap.input = new b2DistanceInput();
+    b2TestShapeOverlap.cache = new b2SimplexCache();
+    b2TestShapeOverlap.output = new b2DistanceOutput();
+
+    function b2TestOverlap(a, b) {
+        return !((b.lowerBound.x - a.upperBound.x) > 0 || (b.lowerBound.y - a.upperBound.y) > 0 || (a.lowerBound.x - b.upperBound.x) > 0 || (a.lowerBound.y - b.upperBound.y) > 0)
+    }
+    "use strict";
+    var b2_nullNode = -1;
+
+    function b2TreeNode() {
+        this.aabb = new b2AABB();
+        this.userData = null;
+        this.parent = 0;
+        this.child1 = this.child2 = this.height = 0
+    }
+    b2TreeNode.prototype = {
+        IsLeaf: function () {
+            return this.child1 == b2_nullNode
+        }
+    };
+
+    function b2DynamicTree() {
+        this.m_root = b2_nullNode;
+        this.m_nodeCapacity = 16;
+        this.m_nodeCount = 0;
+        this.m_nodes = new Array(this.m_nodeCapacity);
+        for (var i = 0; i < this.m_nodeCapacity - 1; ++i) {
+            this.m_nodes[i] = new b2TreeNode();
+            this.m_nodes[i].parent = i + 1;
+            this.m_nodes[i].height = -1
+        }
+        this.m_nodes[this.m_nodeCapacity - 1] = new b2TreeNode();
+        this.m_nodes[this.m_nodeCapacity - 1].parent = b2_nullNode;
+        this.m_nodes[this.m_nodeCapacity - 1].height = -1;
+        this.m_freeList = 0;
+        this.m_path = 0;
+        this.m_insertionCount = 0
+    }
+    b2DynamicTree.aabbExtensionFattener = new b2Vec2(b2_aabbExtension, b2_aabbExtension);
+    b2DynamicTree.prototype = {
+        CreateProxy: function (aabb, userData) {
+            var proxyId = this.AllocateNode();
+            this.m_nodes[proxyId].aabb.lowerBound.Assign(b2Vec2.Subtract(aabb.lowerBound, b2DynamicTree.aabbExtensionFattener));
+            this.m_nodes[proxyId].aabb.upperBound.Assign(b2Vec2.Add(aabb.upperBound, b2DynamicTree.aabbExtensionFattener));
+            this.m_nodes[proxyId].userData = userData;
+            this.m_nodes[proxyId].height = 0;
+            this.InsertLeaf(proxyId);
+            return proxyId
+        },
+        DestroyProxy: function (proxyId) {
+            this.RemoveLeaf(proxyId);
+            this.FreeNode(proxyId)
+        },
+        MoveProxy: function (proxyId, aabb, displacement) {
+            if (this.m_nodes[proxyId].aabb.Contains(aabb)) {
+                return false
+            }
+            this.RemoveLeaf(proxyId);
+            this.m_nodes[proxyId].aabb.Assign(aabb);
+            this.m_nodes[proxyId].aabb.lowerBound.Subtract(b2DynamicTree.aabbExtensionFattener);
+            this.m_nodes[proxyId].aabb.upperBound.Add(b2DynamicTree.aabbExtensionFattener);
+            var d = b2Vec2.Multiply(b2_aabbMultiplier, displacement);
+            if (d.x < 0) {
+                this.m_nodes[proxyId].aabb.lowerBound.x += d.x
+            } else {
+                this.m_nodes[proxyId].aabb.upperBound.x += d.x
+            }
+            if (d.y < 0) {
+                this.m_nodes[proxyId].aabb.lowerBound.y += d.y
+            } else {
+                this.m_nodes[proxyId].aabb.upperBound.y += d.y
+            }
+            this.InsertLeaf(proxyId);
+            return true
+        },
+        GetUserData: function (proxyId) {
+            return this.m_nodes[proxyId].userData
+        },
+        GetFatAABB: function (proxyId) {
+            return this.m_nodes[proxyId].aabb
+        },
+        Query: function (callback, aabb) {
+            var stack = [];
+            stack.push(this.m_root);
+            while (stack.length > 0) {
+                var nodeId = stack.pop();
+                if (nodeId == b2_nullNode) {
+                    continue
+                }
+                var node = this.m_nodes[nodeId];
+                if (b2TestOverlap(node.aabb, aabb)) {
+                    if (node.IsLeaf()) {
+                        var proceed = callback.QueryCallback(nodeId);
+                        if (proceed == false) {
+                            return
+                        }
+                    } else {
+                        stack.push(node.child1);
+                        stack.push(node.child2)
+                    }
+                }
+            }
+        },
+        RayCast: function (callback, input) {
+            var p1 = input.p1;
+            var p2 = input.p2;
+            var r = b2Vec2.Subtract(p2, p1);
+            r.Normalize();
+            var v = b2Cross_f_v2(1, r);
+            var abs_v = b2Abs_v2(v);
+            var maxFraction = input.maxFraction;
+            var segmentAABB = new b2AABB();
+            var t = b2Vec2.Add(p1, b2Vec2.Multiply(maxFraction, b2Vec2.Subtract(p2, p1)));
+            segmentAABB.lowerBound.Assign(b2Min_v2(p1, t));
+            segmentAABB.upperBound.Assign(b2Max_v2(p1, t));
+            var stack = [];
+            stack.push(this.m_root);
+            while (stack.length > 0) {
+                var nodeId = stack.pop();
+                if (nodeId == b2_nullNode) {
+                    continue
+                }
+                var node = this.m_nodes[nodeId];
+                if (b2TestOverlap(node.aabb, segmentAABB) == false) {
+                    continue
+                }
+                var c = node.aabb.GetCenter();
+                var h = node.aabb.GetExtents();
+                var separation = b2Abs(b2Dot_v2_v2(v, b2Vec2.Subtract(p1, c))) - b2Dot_v2_v2(abs_v, h);
+                if (separation > 0) {
+                    continue
+                }
+                if (node.IsLeaf()) {
+                    var subInput = new b2RayCastInput();
+                    subInput.p1.Assign(input.p1);
+                    subInput.p2.Assign(input.p2);
+                    subInput.maxFraction = maxFraction;
+                    var value = callback.RayCastCallback(subInput, nodeId);
+                    if (value == 0) {
+                        return
+                    }
+                    if (value > 0) {
+                        maxFraction = value;
+                        var t = b2Vec2.Add(p1, b2Vec2.Multiply(maxFraction, b2Vec2.Subtract(p2, p1)));
+                        segmentAABB.lowerBound.Assign(b2Min_v2(p1, t));
+                        segmentAABB.upperBound.Assign(b2Max_v2(p1, t))
+                    }
+                } else {
+                    stack.push(node.child1);
+                    stack.push(node.child2)
+                }
+            }
+        },
+        Validate: function () {
+            this.ValidateStructure(this.m_root);
+            this.ValidateMetrics(this.m_root);
+            var freeCount = 0;
+            var freeIndex = this.m_freeList;
+            while (freeIndex != b2_nullNode) {
+                freeIndex = this.m_nodes[freeIndex].parent;
+                ++freeCount
+            }
+        },
+        GetHeight: function () {
+            if (this.m_root == b2_nullNode) {
+                return 0
+            }
+            return this.m_nodes[this.m_root].height
+        },
+        GetMaxBalance: function () {
+            var maxBalance = 0;
+            for (var i = 0; i < this.m_nodeCapacity; ++i) {
+                var node = this.m_nodes[i];
+                if (node.height <= 1) {
+                    continue
+                }
+                var child1 = node.child1;
+                var child2 = node.child2;
+                var balance = b2Abs(this.m_nodes[child2].height - this.m_nodes[child1].height);
+                maxBalance = b2Max(maxBalance, balance)
+            }
+            return maxBalance
+        },
+        GetAreaRatio: function () {
+            if (this.m_root == b2_nullNode) {
+                return 0
+            }
+            var root = this.m_nodes[this.m_root];
+            var rootArea = root.aabb.GetPerimeter();
+            var totalArea = 0;
+            for (var i = 0; i < this.m_nodeCapacity; ++i) {
+                var node = this.m_nodes[i];
+                if (node.height < 0) {
+                    continue
+                }
+                totalArea += node.aabb.GetPerimeter()
+            }
+            return totalArea / rootArea
+        },
+        RebuildBottomUp: function () {
+            var nodes = new Array(this.m_nodeCount);
+            var count = 0;
+            for (var i = 0; i < this.m_nodeCapacity; ++i) {
+                if (this.m_nodes[i].height < 0) {
+                    continue
+                }
+                if (this.m_nodes[i].IsLeaf()) {
+                    this.m_nodes[i].parent = b2_nullNode;
+                    nodes[count] = i;
+                    ++count
+                } else {
+                    this.FreeNode(i)
+                }
+            }
+            while (count > 1) {
+                var minCost = b2_maxFloat;
+                var iMin = -1,
+                    jMin = -1;
+                for (i = 0; i < count; ++i) {
+                    var aabbi = this.m_nodes[nodes[i]].aabb;
+                    for (var j = i + 1; j < count; ++j) {
+                        var aabbj = this.m_nodes[nodes[j]].aabb;
+                        var b = new b2AABB();
+                        b.Combine(aabbi, aabbj);
+                        var cost = b.GetPerimeter();
+                        if (cost < minCost) {
+                            iMin = i;
+                            jMin = j;
+                            minCost = cost
+                        }
+                    }
+                }
+                var index1 = nodes[iMin];
+                var index2 = nodes[jMin];
+                var child1 = this.m_nodes[index1];
+                var child2 = this.m_nodes[index2];
+                var parentIndex = this.AllocateNode();
+                var parent = this.m_nodes[parentIndex];
+                parent.child1 = index1;
+                parent.child2 = index2;
+                parent.height = 1 + b2Max(child1.height, child2.height);
+                parent.aabb.Combine(child1.aabb, child2.aabb);
+                parent.parent = b2_nullNode;
+                child1.parent = parentIndex;
+                child2.parent = parentIndex;
+                nodes[jMin] = nodes[count - 1];
+                nodes[iMin] = parentIndex;
+                --count
+            }
+            this.m_root = nodes[0];
+            this.Validate()
+        },
+        ShiftOrigin: function (newOrigin) {
+            for (var i = 0; i < this.m_nodeCapacity; ++i) {
+                this.m_nodes[i].aabb.lowerBound.Subtract(newOrigin);
+                this.m_nodes[i].aabb.upperBound.Subtract(newOrigin)
+            }
+        },
+        AllocateNode: function () {
+            if (this.m_freeList == b2_nullNode) {
+                var oldNodes = this.m_nodes;
+                this.m_nodeCapacity *= 2;
+                this.m_nodes = oldNodes.concat(new Array(this.m_nodeCapacity - this.m_nodeCount));
+                for (var i = this.m_nodeCount; i < this.m_nodeCapacity - 1; ++i) {
+                    this.m_nodes[i] = new b2TreeNode();
+                    this.m_nodes[i].parent = i + 1;
+                    this.m_nodes[i].height = -1
+                }
+                this.m_nodes[this.m_nodeCapacity - 1] = new b2TreeNode();
+                this.m_nodes[this.m_nodeCapacity - 1].parent = b2_nullNode;
+                this.m_nodes[this.m_nodeCapacity - 1].height = -1;
+                this.m_freeList = this.m_nodeCount
+            }
+            var nodeId = this.m_freeList;
+            this.m_freeList = this.m_nodes[nodeId].parent;
+            this.m_nodes[nodeId].parent = b2_nullNode;
+            this.m_nodes[nodeId].child1 = b2_nullNode;
+            this.m_nodes[nodeId].child2 = b2_nullNode;
+            this.m_nodes[nodeId].height = 0;
+            this.m_nodes[nodeId].userData = null;
+            ++this.m_nodeCount;
+            return nodeId
+        },
+        FreeNode: function (nodeId) {
+            this.m_nodes[nodeId].parent = this.m_freeList;
+            this.m_nodes[nodeId].height = -1;
+            this.m_freeList = nodeId;
+            --this.m_nodeCount
+        },
+        InsertLeaf: function (leaf) {
+            ++this.m_insertionCount;
+            if (this.m_root == b2_nullNode) {
+                this.m_root = leaf;
+                this.m_nodes[this.m_root].parent = b2_nullNode;
+                return
+            }
+            var leafAABB = this.m_nodes[leaf].aabb;
+            var index = this.m_root;
+            while (this.m_nodes[index].IsLeaf() == false) {
+                var child1 = this.m_nodes[index].child1;
+                var child2 = this.m_nodes[index].child2;
+                var area = this.m_nodes[index].aabb.GetPerimeter();
+                var combinedAABB = new b2AABB();
+                combinedAABB.Combine(this.m_nodes[index].aabb, leafAABB);
+                var combinedArea = combinedAABB.GetPerimeter();
+                var cost = 2 * combinedArea;
+                var inheritanceCost = 2 * (combinedArea - area);
+                var cost1;
+                var aabb;
+                if (this.m_nodes[child1].IsLeaf()) {
+                    aabb = new b2AABB();
+                    aabb.Combine(leafAABB, this.m_nodes[child1].aabb);
+                    cost1 = aabb.GetPerimeter() + inheritanceCost
+                } else {
+                    aabb = new b2AABB();
+                    aabb.Combine(leafAABB, this.m_nodes[child1].aabb);
+                    var oldArea = this.m_nodes[child1].aabb.GetPerimeter();
+                    var newArea = aabb.GetPerimeter();
+                    cost1 = (newArea - oldArea) + inheritanceCost
+                }
+                var cost2;
+                if (this.m_nodes[child2].IsLeaf()) {
+                    aabb = new b2AABB();
+                    aabb.Combine(leafAABB, this.m_nodes[child2].aabb);
+                    cost2 = aabb.GetPerimeter() + inheritanceCost
+                } else {
+                    aabb = new b2AABB();
+                    aabb.Combine(leafAABB, this.m_nodes[child2].aabb);
+                    var oldArea = this.m_nodes[child2].aabb.GetPerimeter();
+                    var newArea = aabb.GetPerimeter();
+                    cost2 = newArea - oldArea + inheritanceCost
+                }
+                if (cost < cost1 && cost < cost2) {
+                    break
+                }
+                if (cost1 < cost2) {
+                    index = child1
+                } else {
+                    index = child2
+                }
+            }
+            var sibling = index;
+            var oldParent = this.m_nodes[sibling].parent;
+            var newParent = this.AllocateNode();
+            this.m_nodes[newParent].parent = oldParent;
+            this.m_nodes[newParent].userData = null;
+            this.m_nodes[newParent].aabb.Combine(leafAABB, this.m_nodes[sibling].aabb);
+            this.m_nodes[newParent].height = this.m_nodes[sibling].height + 1;
+            if (oldParent != b2_nullNode) {
+                if (this.m_nodes[oldParent].child1 == sibling) {
+                    this.m_nodes[oldParent].child1 = newParent
+                } else {
+                    this.m_nodes[oldParent].child2 = newParent
+                }
+                this.m_nodes[newParent].child1 = sibling;
+                this.m_nodes[newParent].child2 = leaf;
+                this.m_nodes[sibling].parent = newParent;
+                this.m_nodes[leaf].parent = newParent
+            } else {
+                this.m_nodes[newParent].child1 = sibling;
+                this.m_nodes[newParent].child2 = leaf;
+                this.m_nodes[sibling].parent = newParent;
+                this.m_nodes[leaf].parent = newParent;
+                this.m_root = newParent
+            }
+            index = this.m_nodes[leaf].parent;
+            while (index != b2_nullNode) {
+                index = this.Balance(index);
+                var child1 = this.m_nodes[index].child1;
+                var child2 = this.m_nodes[index].child2;
+                this.m_nodes[index].height = 1 + b2Max(this.m_nodes[child1].height, this.m_nodes[child2].height);
+                this.m_nodes[index].aabb.Combine(this.m_nodes[child1].aabb, this.m_nodes[child2].aabb);
+                index = this.m_nodes[index].parent
+            }
+        },
+        RemoveLeaf: function (leaf) {
+            if (leaf == this.m_root) {
+                this.m_root = b2_nullNode;
+                return
+            }
+            var parent = this.m_nodes[leaf].parent;
+            var grandParent = this.m_nodes[parent].parent;
+            var sibling;
+            if (this.m_nodes[parent].child1 == leaf) {
+                sibling = this.m_nodes[parent].child2
+            } else {
+                sibling = this.m_nodes[parent].child1
+            }
+            if (grandParent != b2_nullNode) {
+                if (this.m_nodes[grandParent].child1 == parent) {
+                    this.m_nodes[grandParent].child1 = sibling
+                } else {
+                    this.m_nodes[grandParent].child2 = sibling
+                }
+                this.m_nodes[sibling].parent = grandParent;
+                this.FreeNode(parent);
+                var index = grandParent;
+                while (index != b2_nullNode) {
+                    index = this.Balance(index);
+                    var child1 = this.m_nodes[index].child1;
+                    var child2 = this.m_nodes[index].child2;
+                    this.m_nodes[index].aabb.Combine(this.m_nodes[child1].aabb, this.m_nodes[child2].aabb);
+                    this.m_nodes[index].height = 1 + b2Max(this.m_nodes[child1].height, this.m_nodes[child2].height);
+                    index = this.m_nodes[index].parent
+                }
+            } else {
+                this.m_root = sibling;
+                this.m_nodes[sibling].parent = b2_nullNode;
+                this.FreeNode(parent)
+            }
+        },
+        Balance: function (iA) {
+            var A = this.m_nodes[iA];
+            if (A.IsLeaf() || A.height < 2) {
+                return iA
+            }
+            var iB = A.child1;
+            var iC = A.child2;
+            var B = this.m_nodes[iB];
+            var C = this.m_nodes[iC];
+            var balance = C.height - B.height;
+            if (balance > 1) {
+                var iF = C.child1;
+                var iG = C.child2;
+                var F = this.m_nodes[iF];
+                var G = this.m_nodes[iG];
+                C.child1 = iA;
+                C.parent = A.parent;
+                A.parent = iC;
+                if (C.parent != b2_nullNode) {
+                    if (this.m_nodes[C.parent].child1 == iA) {
+                        this.m_nodes[C.parent].child1 = iC
+                    } else {
+                        this.m_nodes[C.parent].child2 = iC
+                    }
+                } else {
+                    this.m_root = iC
+                }
+                if (F.height > G.height) {
+                    C.child2 = iF;
+                    A.child2 = iG;
+                    G.parent = iA;
+                    A.aabb.Combine(B.aabb, G.aabb);
+                    C.aabb.Combine(A.aabb, F.aabb);
+                    A.height = 1 + b2Max(B.height, G.height);
+                    C.height = 1 + b2Max(A.height, F.height)
+                } else {
+                    C.child2 = iG;
+                    A.child2 = iF;
+                    F.parent = iA;
+                    A.aabb.Combine(B.aabb, F.aabb);
+                    C.aabb.Combine(A.aabb, G.aabb);
+                    A.height = 1 + b2Max(B.height, F.height);
+                    C.height = 1 + b2Max(A.height, G.height)
+                }
+                return iC
+            }
+            if (balance < -1) {
+                var iD = B.child1;
+                var iE = B.child2;
+                var D = this.m_nodes[iD];
+                var E = this.m_nodes[iE];
+                B.child1 = iA;
+                B.parent = A.parent;
+                A.parent = iB;
+                if (B.parent != b2_nullNode) {
+                    if (this.m_nodes[B.parent].child1 == iA) {
+                        this.m_nodes[B.parent].child1 = iB
+                    } else {
+                        this.m_nodes[B.parent].child2 = iB
+                    }
+                } else {
+                    this.m_root = iB
+                }
+                if (D.height > E.height) {
+                    B.child2 = iD;
+                    A.child1 = iE;
+                    E.parent = iA;
+                    A.aabb.Combine(C.aabb, E.aabb);
+                    B.aabb.Combine(A.aabb, D.aabb);
+                    A.height = 1 + b2Max(C.height, E.height);
+                    B.height = 1 + b2Max(A.height, D.height)
+                } else {
+                    B.child2 = iE;
+                    A.child1 = iD;
+                    D.parent = iA;
+                    A.aabb.Combine(C.aabb, D.aabb);
+                    B.aabb.Combine(A.aabb, E.aabb);
+                    A.height = 1 + b2Max(C.height, D.height);
+                    B.height = 1 + b2Max(A.height, E.height)
+                }
+                return iB
+            }
+            return iA
+        },
+        ComputeHeight: function (nodeId) {
+            if (typeof (nodeId) === "undefined") {
+                nodeId = this.m_root
+            }
+            var node = this.m_nodes[nodeId];
+            if (node.IsLeaf()) {
+                return 0
+            }
+            var height1 = this.ComputeHeight(node.child1);
+            var height2 = this.ComputeHeight(node.child2);
+            return 1 + b2Max(height1, height2)
+        },
+        ValidateStructure: function (index) {
+            if (index == b2_nullNode) {
+                return
+            }
+            var node = this.m_nodes[index];
+            var child1 = node.child1;
+            var child2 = node.child2;
+            if (node.IsLeaf()) {
+                return
+            }
+            this.ValidateStructure(child1);
+            this.ValidateStructure(child2)
+        },
+        ValidateMetrics: function (index) {
+            if (index == b2_nullNode) {
+                return
+            }
+            var node = this.m_nodes[index];
+            var child1 = node.child1;
+            var child2 = node.child2;
+            if (node.IsLeaf()) {
+                return
+            }
+            var height1 = this.m_nodes[child1].height;
+            var height2 = this.m_nodes[child2].height;
+            var height;
+            height = 1 + b2Max(height1, height2);
+            var aabb = new b2AABB();
+            aabb.Combine(this.m_nodes[child1].aabb, this.m_nodes[child2].aabb);
+            this.ValidateMetrics(child1);
+            this.ValidateMetrics(child2)
+        }
+    };
+    "use strict";
+
+    function b2TOIInput() {
+        this.proxyA = new b2DistanceProxy();
+        this.proxyB = new b2DistanceProxy();
+        this.sweepA = new b2Sweep();
+        this.sweepB = new b2Sweep();
+        this.tMax = 0
+    }
+
+    function b2TOIOutput() {
+        this.state = 0;
+        this.t = 0
+    }
+    b2TOIOutput.e_unknown = 0;
+    b2TOIOutput.e_failed = 1;
+    b2TOIOutput.e_overlapped = 2;
+    b2TOIOutput.e_touching = 3;
+    b2TOIOutput.e_separated = 4;
+
+    function b2SeparationFunction() {
+        this.m_proxyA = null;
+        this.m_proxyB = null;
+        this.m_sweepA = null;
+        this.m_sweepB = null;
+        this.m_type = 0;
+        this.m_localPoint = new b2Vec2();
+        this.m_axis = new b2Vec2()
+    }
+    var _local_xfA = new b2Transform();
+    var _local_xfB = new b2Transform();
+    b2SeparationFunction.prototype = {
+        Initialize: function (cache, proxyA, sweepA, proxyB, sweepB, t1) {
+            this.m_proxyA = proxyA;
+            this.m_proxyB = proxyB;
+            var count = cache.count;
+            this.m_sweepA = sweepA;
+            this.m_sweepB = sweepB;
+            this.m_sweepA.GetTransform(_local_xfA, t1);
+            this.m_sweepB.GetTransform(_local_xfB, t1);
+            if (count == 1) {
+                this.m_type = b2SeparationFunction.e_points;
+                var localPointA = this.m_proxyA.GetVertex(cache.indexA[0]);
+                var localPointB = this.m_proxyB.GetVertex(cache.indexB[0]);
+                var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                this.m_axis.x = pointBx - pointAx;
+                this.m_axis.y = pointBy - pointAy;
+                var s = this.m_axis.Normalize();
+                return s
+            } else {
+                if (cache.indexA[0] == cache.indexA[1]) {
+                    this.m_type = b2SeparationFunction.e_faceB;
+                    var localPointB1 = proxyB.GetVertex(cache.indexB[0]);
+                    var localPointB2 = proxyB.GetVertex(cache.indexB[1]);
+                    this.m_axis.x = 1 * (localPointB2.y - localPointB1.y);
+                    this.m_axis.y = -1 * (localPointB2.x - localPointB1.x);
+                    this.m_axis.Normalize();
+                    var normalx = _local_xfB.q.c * this.m_axis.x - _local_xfB.q.s * this.m_axis.y;
+                    var normaly = _local_xfB.q.s * this.m_axis.x + _local_xfB.q.c * this.m_axis.y;
+                    this.m_localPoint.x = 0.5 * (localPointB1.x + localPointB2.x);
+                    this.m_localPoint.y = 0.5 * (localPointB1.y + localPointB2.y);
+                    var pointBx = (_local_xfB.q.c * this.m_localPoint.x - _local_xfB.q.s * this.m_localPoint.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * this.m_localPoint.x + _local_xfB.q.c * this.m_localPoint.y) + _local_xfB.p.y;
+                    var localPointA = proxyA.GetVertex(cache.indexA[0]);
+                    var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                    var s = (pointAx - pointBx) * normalx + (pointAy - pointBy) * normaly;
+                    if (s < 0) {
+                        this.m_axis.x = -this.m_axis.x;
+                        this.m_axis.y = -this.m_axis.y;
+                        s = -s
+                    }
+                    return s
+                } else {
+                    this.m_type = b2SeparationFunction.e_faceA;
+                    var localPointA1 = this.m_proxyA.GetVertex(cache.indexA[0]);
+                    var localPointA2 = this.m_proxyA.GetVertex(cache.indexA[1]);
+                    this.m_axis.x = 1 * (localPointA2.y - localPointA1.y);
+                    this.m_axis.y = -1 * (localPointA2.x - localPointA1.x);
+                    this.m_axis.Normalize();
+                    var normalx = _local_xfA.q.c * this.m_axis.x - _local_xfA.q.s * this.m_axis.y;
+                    var normaly = _local_xfA.q.s * this.m_axis.x + _local_xfA.q.c * this.m_axis.y;
+                    this.m_localPoint.x = 0.5 * (localPointA1.x + localPointA2.x);
+                    this.m_localPoint.y = 0.5 * (localPointA1.y + localPointA2.y);
+                    var pointAx = (_local_xfA.q.c * this.m_localPoint.x - _local_xfA.q.s * this.m_localPoint.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * this.m_localPoint.x + _local_xfA.q.c * this.m_localPoint.y) + _local_xfA.p.y;
+                    var localPointB = this.m_proxyB.GetVertex(cache.indexB[0]);
+                    var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                    var s = (pointBx - pointAx) * normalx + (pointBy - pointAy) * normaly;
+                    if (s < 0) {
+                        this.m_axis.x = -this.m_axis.x;
+                        this.m_axis.y = -this.m_axis.y;
+                        s = -s
+                    }
+                    return s
+                }
+            }
+        },
+        FindMinSeparation: function (indices, t) {
+            this.m_sweepA.GetTransform(_local_xfA, t);
+            this.m_sweepB.GetTransform(_local_xfB, t);
+            switch (this.m_type) {
+                case b2SeparationFunction.e_points:
+                    var axisAx = _local_xfA.q.c * this.m_axis.x + _local_xfA.q.s * this.m_axis.y;
+                    var axisAy = -_local_xfA.q.s * this.m_axis.x + _local_xfA.q.c * this.m_axis.y;
+                    var axisBx = _local_xfB.q.c * -this.m_axis.x + _local_xfB.q.s * -this.m_axis.y;
+                    var axisBy = -_local_xfB.q.s * -this.m_axis.x + _local_xfB.q.c * -this.m_axis.y;
+                    indices[0] = this.m_proxyA.GetSupport(axisAx, axisAy);
+                    indices[1] = this.m_proxyB.GetSupport(axisBx, axisBy);
+                    var localPointA = this.m_proxyA.GetVertex(indices[0]);
+                    var localPointB = this.m_proxyB.GetVertex(indices[1]);
+                    var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                    var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                    return (pointBx - pointAx) * this.m_axis.x + (pointBy - pointAy) * this.m_axis.y;
+                case b2SeparationFunction.e_faceA:
+                    var normalx = _local_xfA.q.c * this.m_axis.x - _local_xfA.q.s * this.m_axis.y;
+                    var normaly = _local_xfA.q.s * this.m_axis.x + _local_xfA.q.c * this.m_axis.y;
+                    var pointAx = (_local_xfA.q.c * this.m_localPoint.x - _local_xfA.q.s * this.m_localPoint.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * this.m_localPoint.x + _local_xfA.q.c * this.m_localPoint.y) + _local_xfA.p.y;
+                    var axisBx = _local_xfB.q.c * -normalx + _local_xfB.q.s * -normaly;
+                    var axisBy = -_local_xfB.q.s * -normalx + _local_xfB.q.c * -normaly;
+                    indices[0] = -1;
+                    indices[1] = this.m_proxyB.GetSupport(axisBx, axisBy);
+                    var localPointB = this.m_proxyB.GetVertex(indices[1]);
+                    var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                    return (pointBx - pointAx) * normalx + (pointBy - pointAy) * normaly;
+                case b2SeparationFunction.e_faceB:
+                    var normalx = _local_xfB.q.c * this.m_axis.x - _local_xfB.q.s * this.m_axis.y;
+                    var normaly = _local_xfB.q.s * this.m_axis.x + _local_xfB.q.c * this.m_axis.y;
+                    var pointBx = (_local_xfB.q.c * this.m_localPoint.x - _local_xfB.q.s * this.m_localPoint.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * this.m_localPoint.x + _local_xfB.q.c * this.m_localPoint.y) + _local_xfB.p.y;
+                    var axisAx = _local_xfA.q.c * -normalx + _local_xfA.q.s * -normaly;
+                    var axisBy = -_local_xfA.q.s * -normalx + _local_xfA.q.c * -normaly;
+                    indices[1] = -1;
+                    indices[0] = this.m_proxyA.GetSupport(axisAx, axisBy);
+                    var localPointA = this.m_proxyA.GetVertex(indices[0]);
+                    var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                    return (pointAx - pointBx) * normalx + (pointAy - pointBy) * normaly
+            }
+        },
+        Evaluate: function (indexA, indexB, t) {
+            this.m_sweepA.GetTransform(_local_xfA, t);
+            this.m_sweepB.GetTransform(_local_xfB, t);
+            switch (this.m_type) {
+                case b2SeparationFunction.e_points:
+                    var localPointA = this.m_proxyA.GetVertex(indexA);
+                    var localPointB = this.m_proxyB.GetVertex(indexB);
+                    var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                    var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                    var separation = (pointBx - pointAx) * this.m_axis.x + (pointBy - pointAy) * this.m_axis.y;
+                    return separation;
+                case b2SeparationFunction.e_faceA:
+                    var normalx = _local_xfA.q.c * this.m_axis.x - _local_xfA.q.s * this.m_axis.y;
+                    var normaly = _local_xfA.q.s * this.m_axis.x + _local_xfA.q.c * this.m_axis.y;
+                    var pointAx = (_local_xfA.q.c * this.m_localPoint.x - _local_xfA.q.s * this.m_localPoint.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * this.m_localPoint.x + _local_xfA.q.c * this.m_localPoint.y) + _local_xfA.p.y;
+                    var localPointB = this.m_proxyB.GetVertex(indexB);
+                    var pointBx = (_local_xfB.q.c * localPointB.x - _local_xfB.q.s * localPointB.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * localPointB.x + _local_xfB.q.c * localPointB.y) + _local_xfB.p.y;
+                    var separation = (pointBx - pointAx) * normalx + (pointBy - pointAy) * normaly;
+                    return separation;
+                case b2SeparationFunction.e_faceB:
+                    var normalx = _local_xfB.q.c * this.m_axis.x - _local_xfB.q.s * this.m_axis.y;
+                    var normaly = _local_xfB.q.s * this.m_axis.x + _local_xfB.q.c * this.m_axis.y;
+                    var pointBx = (_local_xfB.q.c * this.m_localPoint.x - _local_xfB.q.s * this.m_localPoint.y) + _local_xfB.p.x;
+                    var pointBy = (_local_xfB.q.s * this.m_localPoint.x + _local_xfB.q.c * this.m_localPoint.y) + _local_xfB.p.y;
+                    var localPointA = this.m_proxyA.GetVertex(indexA);
+                    var pointAx = (_local_xfA.q.c * localPointA.x - _local_xfA.q.s * localPointA.y) + _local_xfA.p.x;
+                    var pointAy = (_local_xfA.q.s * localPointA.x + _local_xfA.q.c * localPointA.y) + _local_xfA.p.y;
+                    var separation = (pointAx - pointBx) * normalx + (pointAy - pointBy) * normaly;
+                    return separation
+            }
+        }
+    };
+    b2SeparationFunction.e_points = 0;
+    b2SeparationFunction.e_faceA = 1;
+    b2SeparationFunction.e_faceB = 2;
+    var profile_toi = b2Profiler.create("toi", "solveTOI");
+
+    function b2TimeOfImpact(output, input) {
+        profile_toi.start();
+        ++b2TimeOfImpact.b2_toiCalls;
+        output.state = b2TOIOutput.e_unknown;
+        output.t = input.tMax;
+        var proxyA = input.proxyA;
+        var proxyB = input.proxyB;
+        b2TimeOfImpact._temp_sweepA.Assign(input.sweepA);
+        b2TimeOfImpact._temp_sweepB.Assign(input.sweepB);
+        b2TimeOfImpact._temp_sweepA.Normalize();
+        b2TimeOfImpact._temp_sweepB.Normalize();
+        var tMax = input.tMax;
+        var totalRadius = proxyA.m_radius + proxyB.m_radius;
+        var target = b2Max(b2_linearSlop, totalRadius - 3 * b2_linearSlop);
+        var tolerance = 0.25 * b2_linearSlop;
+        var t1 = 0;
+        var k_maxIterations = 20;
+        var iter = 0;
+        var cache = new b2SimplexCache();
+        cache.count = 0;
+        var distanceInput = new b2DistanceInput();
+        distanceInput.proxyA.Assign(input.proxyA);
+        distanceInput.proxyB.Assign(input.proxyB);
+        distanceInput.useRadii = false;
+        for (;;) {
+            b2TimeOfImpact._temp_sweepA.GetTransform(distanceInput.transformA, t1);
+            b2TimeOfImpact._temp_sweepB.GetTransform(distanceInput.transformB, t1);
+            var distanceOutput = new b2DistanceOutput();
+            b2DistanceFunc(distanceOutput, cache, distanceInput);
+            if (distanceOutput.distance <= 0) {
+                output.state = b2TOIOutput.e_overlapped;
+                output.t = 0;
+                break
+            }
+            if (distanceOutput.distance < target + tolerance) {
+                output.state = b2TOIOutput.e_touching;
+                output.t = t1;
+                break
+            }
+            var fcn = new b2SeparationFunction();
+            fcn.Initialize(cache, proxyA, b2TimeOfImpact._temp_sweepA, proxyB, b2TimeOfImpact._temp_sweepB, t1);
+            var done = false;
+            var t2 = tMax;
+            var pushBackIter = 0;
+            for (;;) {
+                var indices = [];
+                var s2 = fcn.FindMinSeparation(indices, t2);
+                if (s2 > target + tolerance) {
+                    output.state = b2TOIOutput.e_separated;
+                    output.t = tMax;
+                    done = true;
+                    break
+                }
+                if (s2 > target - tolerance) {
+                    t1 = t2;
+                    break
+                }
+                var s1 = fcn.Evaluate(indices[0], indices[1], t1);
+                if (s1 < target - tolerance) {
+                    output.state = b2TOIOutput.e_failed;
+                    output.t = t1;
+                    done = true;
+                    break
+                }
+                if (s1 <= target + tolerance) {
+                    output.state = b2TOIOutput.e_touching;
+                    output.t = t1;
+                    done = true;
+                    break
+                }
+                var rootIterCount = 0;
+                var a1 = t1,
+                    a2 = t2;
+                for (;;) {
+                    var t;
+                    if (rootIterCount & 1) {
+                        t = a1 + (target - s1) * (a2 - a1) / (s2 - s1)
+                    } else {
+                        t = 0.5 * (a1 + a2)
+                    }++rootIterCount;
+                    ++b2TimeOfImpact.b2_toiRootIters;
+                    var s = fcn.Evaluate(indices[0], indices[1], t);
+                    if (b2Abs(s - target) < tolerance) {
+                        t2 = t;
+                        break
+                    }
+                    if (s > target) {
+                        a1 = t;
+                        s1 = s
+                    } else {
+                        a2 = t;
+                        s2 = s
+                    }
+                    if (rootIterCount == 50) {
+                        break
+                    }
+                }
+                b2TimeOfImpact.b2_toiMaxRootIters = b2Max(b2TimeOfImpact.b2_toiMaxRootIters, rootIterCount);
+                ++pushBackIter;
+                if (pushBackIter == b2_maxPolygonVertices) {
+                    break
+                }
+            }++iter;
+            ++b2TimeOfImpact.b2_toiIters;
+            if (done) {
+                break
+            }
+            if (iter == k_maxIterations) {
+                output.state = b2TOIOutput.e_failed;
+                output.t = t1;
+                break
+            }
+        }
+        b2TimeOfImpact.b2_toiMaxIters = b2Max(b2TimeOfImpact.b2_toiMaxIters, iter);
+        profile_toi.stop();
+        b2TimeOfImpact.b2_toiMaxTime = b2Max(b2TimeOfImpact.b2_toiMaxTime, profile_toi.elapsedTime);
+        b2TimeOfImpact.b2_toiTime += profile_toi.elapsedTime
+    }
+    b2TimeOfImpact._temp_sweepA = new b2Sweep();
+    b2TimeOfImpact._temp_sweepB = new b2Sweep();
+    b2TimeOfImpact.b2_toiTime = 0;
+    b2TimeOfImpact.b2_toiMaxTime = 0;
+    b2TimeOfImpact.b2_toiCalls = 0;
+    b2TimeOfImpact.b2_toiIters = 0;
+    b2TimeOfImpact.b2_toiMaxIters = 0;
+    b2TimeOfImpact.b2_toiRootIters = 0;
+    b2TimeOfImpact.b2_toiMaxRootIters = 0;
+    "use strict";
+
+    function b2BodyDef() {
+        this.type = b2Body.b2_staticBody;
+        this.position = new b2Vec2(0, 0);
+        this.angle = 0;
+        this.linearVelocity = new b2Vec2(0, 0);
+        this.angularVelocity = 0;
+        this.linearDamping = 0;
+        this.angularDamping = 0;
+        this.allowSleep = true;
+        this.awake = true;
+        this.fixedRotation = false;
+        this.bullet = false;
+        this.active = true;
+        this.userData = null;
+        this.gravityScale = 1;
+        Object.seal(this)
+    }
+    b2BodyDef.prototype = {
+        _deserialize: function (data) {
+            this.type = data.type;
+            this.position._deserialize(data.position);
+            this.angle = data.angle;
+            this.linearVelocity._deserialize(data.linearVelocity);
+            this.angularVelocity = data.angularVelocity;
+            this.linearDamping = data.linearDamping;
+            this.angularDamping = data.angularDamping;
+            this.allowSleep = data.allowSleep;
+            this.awake = data.awake;
+            this.fixedRotation = data.fixedRotation;
+            this.bullet = data.bullet;
+            this.active = data.active;
+            this.gravityScale = data.gravityScale
+        }
+    };
+
+    function b2Body(bd, world) {
+        this.m_islandIndex = 0;
+        this.m_flags = 0;
+        if (bd.bullet) {
+            this.m_flags |= b2Body.e_bulletFlag
+        }
+        if (bd.fixedRotation) {
+            this.m_flags |= b2Body.e_fixedRotationFlag
+        }
+        if (bd.allowSleep) {
+            this.m_flags |= b2Body.e_autoSleepFlag
+        }
+        if (bd.awake) {
+            this.m_flags |= b2Body.e_awakeFlag
+        }
+        if (bd.active) {
+            this.m_flags |= b2Body.e_activeFlag
+        }
+        this.m_world = world;
+        this.m_xf = new b2Transform();
+        this.m_xf.p.Assign(bd.position);
+        this.m_xf.q.Set(bd.angle);
+        this.m_sweep = new b2Sweep();
+        this.m_sweep.localCenter.SetZero();
+        this.m_sweep.c0.Assign(this.m_xf.p);
+        this.m_sweep.c.Assign(this.m_xf.p);
+        this.m_sweep.a0 = bd.angle;
+        this.m_sweep.a = bd.angle;
+        this.m_sweep.alpha0 = 0;
+        this.m_jointList = null;
+        this.m_contactList = null;
+        this.m_prev = null;
+        this.m_next = null;
+        this.m_linearVelocity = bd.linearVelocity.Clone();
+        this.m_angularVelocity = bd.angularVelocity;
+        this.m_linearDamping = bd.linearDamping;
+        this.m_angularDamping = bd.angularDamping;
+        this.m_gravityScale = bd.gravityScale;
+        this.m_force = new b2Vec2();
+        this.m_torque = 0;
+        this.m_sleepTime = 0;
+        this.m_type = bd.type;
+        if (this.m_type == b2Body.b2_dynamicBody) {
+            this.m_mass = 1;
+            this.m_invMass = 1
+        } else {
+            this.m_mass = 0;
+            this.m_invMass = 0
+        }
+        this.m_I = 0;
+        this.m_invI = 0;
+        this.m_userData = bd.userData;
+        this.m_fixtureList = null;
+        this.m_fixtureCount = 0
+    }
+    b2Body.b2_staticBody = 0;
+    b2Body.b2_kinematicBody = 1;
+    b2Body.b2_dynamicBody = 2;
+    b2Body.e_islandFlag = 1;
+    b2Body.e_awakeFlag = 2;
+    b2Body.e_autoSleepFlag = 4;
+    b2Body.e_bulletFlag = 8;
+    b2Body.e_fixedRotationFlag = 16;
+    b2Body.e_activeFlag = 32;
+    b2Body.e_toiFlag = 64;
+    b2Body.m_local_oldCenter = new b2Vec2();
+    b2Body.m_local_xf1 = new b2Transform();
+    b2Body.prototype = {
+        CreateFixture: function (def, density) {
+            if (typeof (density) !== "undefined") {
+                var ndef = new b2FixtureDef();
+                ndef.shape = def;
+                ndef.density = density;
+                return this.CreateFixture(ndef)
+            }
+            if (this.m_world.IsLocked() == true) {
+                return null
+            }
+            var fixture = new b2Fixture();
+            fixture.Create(this, def);
+            if (this.m_flags & b2Body.e_activeFlag) {
+                var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+                fixture.CreateProxies(broadPhase, this.m_xf)
+            }
+            fixture.m_next = this.m_fixtureList;
+            this.m_fixtureList = fixture;
+            ++this.m_fixtureCount;
+            fixture.m_body = this;
+            if (fixture.m_density > 0) {
+                this.ResetMassData()
+            }
+            this.m_world.m_flags |= b2World.e_newFixture;
+            return fixture
+        },
+        DestroyFixture: function (fixture) {
+            if (this.m_world.IsLocked() == true) {
+                return
+            }
+            var node = this.m_fixtureList;
+            var found = false;
+            while (node != null) {
+                if (node == fixture) {
+                    this.m_fixtureList = node = fixture.m_next;
+                    found = true;
+                    break
+                }
+                node = node.m_next
+            }
+            var edge = this.m_contactList;
+            while (edge) {
+                var c = edge.contact;
+                edge = edge.next;
+                var fixtureA = c.GetFixtureA();
+                var fixtureB = c.GetFixtureB();
+                if (fixture == fixtureA || fixture == fixtureB) {
+                    this.m_world.m_contactManager.Destroy(c)
+                }
+            }
+            if (this.m_flags & b2Body.e_activeFlag) {
+                var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+                fixture.DestroyProxies(broadPhase)
+            }
+            fixture.Destroy();
+            fixture.m_body = null;
+            fixture.m_next = null;
+            --this.m_fixtureCount;
+            this.ResetMassData()
+        },
+        SetTransform: function (position, angle) {
+            if (this.m_world.IsLocked() == true) {
+                return
+            }
+            this.m_xf.q.Set(angle);
+            this.m_xf.p.Assign(position);
+            this.m_sweep.c.Assign(b2Mul_t_v2(this.m_xf, this.m_sweep.localCenter));
+            this.m_sweep.a = angle;
+            this.m_sweep.c0.Assign(this.m_sweep.c);
+            this.m_sweep.a0 = angle;
+            var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+            for (var f = this.m_fixtureList; f; f = f.m_next) {
+                f.Synchronize(broadPhase, this.m_xf, this.m_xf)
+            }
+        },
+        GetTransform: function () {
+            return this.m_xf
+        },
+        GetPosition: function () {
+            return this.m_xf.p
+        },
+        GetAngle: function () {
+            return this.m_sweep.a
+        },
+        GetWorldCenter: function () {
+            return this.m_sweep.c
+        },
+        GetLocalCenter: function () {
+            return this.m_sweep.localCenter
+        },
+        SetLinearVelocity: function (v) {
+            if (this.m_type == b2Body.b2_staticBody) {
+                return
+            }
+            if (b2Dot_v2_v2(v, v) > 0) {
+                this.SetAwake(true)
+            }
+            this.m_linearVelocity = v
+        },
+        GetLinearVelocity: function () {
+            return this.m_linearVelocity
+        },
+        SetAngularVelocity: function (w) {
+            if (this.m_type == b2Body.b2_staticBody) {
+                return
+            }
+            if (w * w > 0) {
+                this.SetAwake(true)
+            }
+            this.m_angularVelocity = w
+        },
+        GetAngularVelocity: function () {
+            return this.m_angularVelocity
+        },
+        ApplyForce: function (force, point, wake) {
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            if (wake && (this.m_flags & b2Body.e_awakeFlag) == 0) {
+                this.SetAwake(true)
+            }
+            if (this.m_flags & b2Body.e_awakeFlag) {
+                this.m_force.Add(force);
+                this.m_torque += b2Cross_v2_v2(b2Vec2.Subtract(point, this.m_sweep.c), force)
+            }
+        },
+        ApplyForceToCenter: function (force, wake) {
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            if (wake && (this.m_flags & b2Body.e_awakeFlag) == 0) {
+                this.SetAwake(true)
+            }
+            if (this.m_flags & b2Body.e_awakeFlag) {
+                this.m_force.Add(force)
+            }
+        },
+        ApplyTorque: function (torque, wake) {
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            if (wake && (this.m_flags & b2Body.e_awakeFlag) == 0) {
+                this.SetAwake(true)
+            }
+            if (this.m_flags & b2Body.e_awakeFlag) {
+                this.m_torque += torque
+            }
+        },
+        ApplyLinearImpulse: function (impulse, point, wake) {
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            if (wake && (this.m_flags & b2Body.e_awakeFlag) == 0) {
+                this.SetAwake(true)
+            }
+            if (this.m_flags & b2Body.e_awakeFlag) {
+                this.m_linearVelocity.Add(b2Vec2.Multiply(this.m_invMass, impulse));
+                this.m_angularVelocity += this.m_invI * b2Cross_v2_v2(b2Vec2.Subtract(point, this.m_sweep.c), impulse)
+            }
+        },
+        ApplyAngularImpulse: function (impulse, wake) {
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            if (wake && (this.m_flags & b2Body.e_awakeFlag) == 0) {
+                this.SetAwake(true)
+            }
+            if (this.m_flags & b2Body.e_awakeFlag) {
+                this.m_angularVelocity += this.m_invI * impulse
+            }
+        },
+        GetMass: function () {
+            return this.m_mass
+        },
+        GetInertia: function () {
+            return this.m_I + this.m_mass * b2Dot_v2_v2(this.m_sweep.localCenter, this.m_sweep.localCenter)
+        },
+        GetMassData: function (data) {
+            data.mass = this.m_mass;
+            data.I = this.m_I + this.m_mass * b2Dot_v2_v2(this.m_sweep.localCenter, this.m_sweep.localCenter);
+            data.center = this.m_sweep.localCenter
+        },
+        SetMassData: function (massData) {
+            if (this.m_world.IsLocked() == true) {
+                return
+            }
+            if (this.m_type != b2Body.b2_dynamicBody) {
+                return
+            }
+            this.m_invMass = 0;
+            this.m_I = 0;
+            this.m_invI = 0;
+            this.m_mass = massData.mass;
+            if (this.m_mass <= 0) {
+                this.m_mass = 1
+            }
+            this.m_invMass = 1 / this.m_mass;
+            if (massData.I > 0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) {
+                this.m_I = massData.I - this.m_mass * b2Dot_v2_v2(massData.center, massData.center);
+                this.m_invI = 1 / this.m_I
+            }
+            b2Body.m_local_oldCenter.Assign(this.m_sweep.c);
+            this.m_sweep.localCenter.Assign(massData.center);
+            this.m_sweep.c0.Assign(b2Mul_t_v2(this.m_xf, this.m_sweep.localCenter));
+            this.m_sweep.c.Assign(this.m_sweep.c0);
+            this.m_linearVelocity.Add(b2Cross_f_v2(this.m_angularVelocity, b2Vec2.Subtract(this.m_sweep.c, b2Body.m_local_oldCenter)))
+        },
+        ResetMassData: function () {
+            this.m_mass = 0;
+            this.m_invMass = 0;
+            this.m_I = 0;
+            this.m_invI = 0;
+            this.m_sweep.localCenter.SetZero();
+            if (this.m_type == b2Body.b2_staticBody || this.m_type == b2Body.b2_kinematicBody) {
+                this.m_sweep.c0.Assign(this.m_xf.p);
+                this.m_sweep.c.Assign(this.m_xf.p);
+                this.m_sweep.a0 = this.m_sweep.a;
+                return
+            }
+            var localCenter = new b2Vec2(0, 0);
+            for (var f = this.m_fixtureList; f; f = f.m_next) {
+                if (f.m_density == 0) {
+                    continue
+                }
+                var massData = new b2MassData();
+                f.GetMassData(massData);
+                this.m_mass += massData.mass;
+                localCenter.Add(b2Vec2.Multiply(massData.mass, massData.center));
+                this.m_I += massData.I
+            }
+            if (this.m_mass > 0) {
+                this.m_invMass = 1 / this.m_mass;
+                localCenter.Multiply(this.m_invMass)
+            } else {
+                this.m_mass = 1;
+                this.m_invMass = 1
+            }
+            if (this.m_I > 0 && (this.m_flags & b2Body.e_fixedRotationFlag) == 0) {
+                this.m_I -= this.m_mass * b2Dot_v2_v2(localCenter, localCenter);
+                this.m_invI = 1 / this.m_I
+            } else {
+                this.m_I = 0;
+                this.m_invI = 0
+            }
+            b2Body.m_local_oldCenter.Assign(this.m_sweep.c);
+            this.m_sweep.localCenter.Assign(localCenter);
+            this.m_sweep.c0.Assign(b2Mul_t_v2(this.m_xf, this.m_sweep.localCenter));
+            this.m_sweep.c.Assign(this.m_sweep.c0);
+            this.m_linearVelocity.Add(b2Cross_f_v2(this.m_angularVelocity, b2Vec2.Subtract(this.m_sweep.c, b2Body.m_local_oldCenter)))
+        },
+        GetWorldPoint: function (localPoint) {
+            return b2Mul_t_v2(this.m_xf, localPoint)
+        },
+        GetWorldVector: function (localVector) {
+            return b2Mul_r_v2(this.m_xf.q, localVector)
+        },
+        GetLocalPoint: function (worldPoint) {
+            return b2MulT_t_v2(this.m_xf, worldPoint)
+        },
+        GetLocalVector: function (worldVector) {
+            return b2MulT_r_v2(this.m_xf.q, worldVector)
+        },
+        GetLinearVelocityFromWorldPoint: function (worldPoint) {
+            return b2Vec2.Add(this.m_linearVelocity, b2Cross_f_v2(this.m_angularVelocity, b2Vec2.Subtract(worldPoint, this.m_sweep.c)))
+        },
+        GetLinearVelocityFromLocalPoint: function (localPoint) {
+            return this.GetLinearVelocityFromWorldPoint(this.GetWorldPoint(localPoint))
+        },
+        GetLinearDamping: function () {
+            return this.m_linearDamping
+        },
+        SetLinearDamping: function (linearDamping) {
+            this.m_linearDamping = linearDamping
+        },
+        GetAngularDamping: function () {
+            return this.m_angularDamping
+        },
+        SetAngularDamping: function (angularDamping) {
+            this.m_angularDamping = angularDamping
+        },
+        GetGravityScale: function () {
+            return this.m_gravityScale
+        },
+        SetGravityScale: function (scale) {
+            this.m_gravityScale = scale
+        },
+        SetType: function (type) {
+            if (this.m_world.IsLocked() == true) {
+                return
+            }
+            if (this.m_type == type) {
+                return
+            }
+            this.m_type = type;
+            this.ResetMassData();
+            if (this.m_type == b2Body.b2_staticBody) {
+                this.m_linearVelocity.SetZero();
+                this.m_angularVelocity = 0;
+                this.m_sweep.a0 = this.m_sweep.a;
+                this.m_sweep.c0.Assign(this.m_sweep.c);
+                this.SynchronizeFixtures()
+            }
+            this.SetAwake(true);
+            this.m_force.SetZero();
+            this.m_torque = 0;
+            var ce = this.m_contactList;
+            while (ce) {
+                var ce0 = ce;
+                ce = ce.next;
+                this.m_world.m_contactManager.Destroy(ce0.contact)
+            }
+            this.m_contactList = null;
+            var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+            for (var f = this.m_fixtureList; f; f = f.m_next) {
+                var proxyCount = f.m_proxyCount;
+                for (var i = 0; i < proxyCount; ++i) {
+                    broadPhase.TouchProxy(f.m_proxies[i].proxyId)
+                }
+            }
+        },
+        GetType: function () {
+            return this.m_type
+        },
+        SetBullet: function (flag) {
+            if (flag) {
+                this.m_flags |= b2Body.e_bulletFlag
+            } else {
+                this.m_flags &= ~b2Body.e_bulletFlag
+            }
+        },
+        IsBullet: function () {
+            return (this.m_flags & b2Body.e_bulletFlag) == b2Body.e_bulletFlag
+        },
+        SetSleepingAllowed: function (flag) {
+            if (flag) {
+                this.m_flags |= b2Body.e_autoSleepFlag
+            } else {
+                this.m_flags &= ~b2Body.e_autoSleepFlag;
+                this.SetAwake(true)
+            }
+        },
+        IsSleepingAllowed: function () {
+            return (this.m_flags & b2Body.e_autoSleepFlag) == b2Body.e_autoSleepFlag
+        },
+        SetAwake: function (flag) {
+            if (flag) {
+                if ((this.m_flags & b2Body.e_awakeFlag) == 0) {
+                    this.m_flags |= b2Body.e_awakeFlag;
+                    this.m_sleepTime = 0
+                }
+            } else {
+                this.m_flags &= ~b2Body.e_awakeFlag;
+                this.m_sleepTime = 0;
+                this.m_linearVelocity.SetZero();
+                this.m_angularVelocity = 0;
+                this.m_force.SetZero();
+                this.m_torque = 0
+            }
+        },
+        IsAwake: function () {
+            return (this.m_flags & b2Body.e_awakeFlag) == b2Body.e_awakeFlag
+        },
+        SetActive: function (flag) {
+            if (flag == this.IsActive()) {
+                return
+            }
+            if (flag) {
+                this.m_flags |= b2Body.e_activeFlag;
+                var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+                for (var f = this.m_fixtureList; f; f = f.m_next) {
+                    f.CreateProxies(broadPhase, this.m_xf)
+                }
+            } else {
+                this.m_flags &= ~b2Body.e_activeFlag;
+                var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+                for (var f = this.m_fixtureList; f; f = f.m_next) {
+                    f.DestroyProxies(broadPhase)
+                }
+                var ce = this.m_contactList;
+                while (ce) {
+                    var ce0 = ce;
+                    ce = ce.next;
+                    this.m_world.m_contactManager.Destroy(ce0.contact)
+                }
+                this.m_contactList = null
+            }
+        },
+        IsActive: function () {
+            return (this.m_flags & b2Body.e_activeFlag) == b2Body.e_activeFlag
+        },
+        SetFixedRotation: function (flag) {
+            var status = (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag;
+            if (status == flag) {
+                return
+            }
+            if (flag) {
+                this.m_flags |= b2Body.e_fixedRotationFlag
+            } else {
+                this.m_flags &= ~b2Body.e_fixedRotationFlag
+            }
+            this.m_angularVelocity = 0;
+            this.ResetMassData()
+        },
+        IsFixedRotation: function () {
+            return (this.m_flags & b2Body.e_fixedRotationFlag) == b2Body.e_fixedRotationFlag
+        },
+        GetFixtureList: function () {
+            return this.m_fixtureList
+        },
+        GetJointList: function () {
+            return this.m_jointList
+        },
+        GetContactList: function () {
+            return this.m_contactList
+        },
+        GetNext: function () {
+            return this.m_next
+        },
+        GetUserData: function () {
+            return this.m_userData
+        },
+        SetUserData: function (data) {
+            this.m_userData = data
+        },
+        GetWorld: function () {
+            return this.m_world
+        },
+        SynchronizeFixtures: function () {
+            b2Body.m_local_xf1.q.Set(this.m_sweep.a0);
+            b2Body.m_local_xf1.p.Assign(b2Vec2.Subtract(this.m_sweep.c0, b2Mul_r_v2(b2Body.m_local_xf1.q, this.m_sweep.localCenter)));
+            var broadPhase = this.m_world.m_contactManager.m_broadPhase;
+            for (var f = this.m_fixtureList; f; f = f.m_next) {
+                f.Synchronize(broadPhase, b2Body.m_local_xf1, this.m_xf)
+            }
+        },
+        SynchronizeTransform: function () {
+            this.m_xf.q.Set(this.m_sweep.a);
+            this.m_xf.p.Assign(b2Vec2.Subtract(this.m_sweep.c, b2Mul_r_v2(this.m_xf.q, this.m_sweep.localCenter)))
+        },
+        ShouldCollide: function (other) {
+            if (this.m_type != b2Body.b2_dynamicBody && other.m_type != b2Body.b2_dynamicBody) {
+                return false
+            }
+            for (var jn = this.m_jointList; jn; jn = jn.next) {
+                if (jn.other == other) {
+                    if (jn.joint.m_collideConnected == false) {
+                        return false
+                    }
+                }
+            }
+            return true
+        },
+        Advance: function (alpha) {
+            this.m_sweep.Advance(alpha);
+            this.m_sweep.c.Assign(this.m_sweep.c0);
+            this.m_sweep.a = this.m_sweep.a0;
+            this.m_xf.q.Set(this.m_sweep.a);
+            this.m_xf.p.Assign(b2Vec2.Subtract(this.m_sweep.c, b2Mul_r_v2(this.m_xf.q, this.m_sweep.localCenter)))
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            obj.fixtures = null;
+            obj.type = this.m_type;
+            obj.position = this.GetPosition()._serialize();
+            obj.angle = this.GetAngle();
+            obj.linearVelocity = this.GetLinearVelocity()._serialize();
+            obj.angularVelocity = this.GetAngularVelocity();
+            obj.linearDamping = this.GetLinearDamping();
+            obj.angularDamping = this.GetAngularDamping();
+            obj.allowSleep = this.IsSleepingAllowed();
+            obj.awake = this.IsAwake();
+            obj.fixedRotation = this.IsFixedRotation();
+            obj.bullet = this.IsBullet();
+            obj.active = this.IsActive();
+            obj.gravityScale = this.GetGravityScale();
+            return obj
+        }
+    };
+    "use strict";
+
+    function b2Filter() {
+        this.categoryBits = 1;
+        this.maskBits = 65535;
+        this.groupIndex = 0
+    }
+    b2Filter.prototype = {
+        Clone: function () {
+            var filter = new b2Filter();
+            filter.categoryBits = this.categoryBits;
+            filter.maskBits = this.maskBits;
+            filter.groupIndex = this.groupIndex;
+            return filter
+        },
+        Assign: function (filter) {
+            this.categoryBits = filter.categoryBits;
+            this.maskBits = filter.maskBits;
+            this.groupIndex = filter.groupIndex
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            obj.categoryBits = this.categoryBits;
+            obj.maskBits = this.maskBits;
+            obj.groupIndex = this.groupIndex;
+            return obj
+        },
+        _deserialize: function (data) {
+            this.categoryBits = data.categoryBits;
+            this.maskBits = data.maskBits;
+            this.groupIndex = data.groupIndex
+        }
+    };
+
+    function b2FixtureDef() {
+        this.shape = null;
+        this.userData = null;
+        this.friction = 0.2;
+        this.restitution = 0;
+        this.density = 0;
+        this.isSensor = false;
+        this.filter = new b2Filter();
+        Object.seal(this)
+    }
+    b2FixtureDef.prototype = {
+        _deserialize: function (data) {
+            this.friction = data.friction;
+            this.restitution = data.restitution;
+            this.density = data.density;
+            this.isSensor = data.isSensor;
+            this.filter._deserialize(data.filter)
+        }
+    };
+
+    function b2FixtureProxy() {
+        this.aabb = new b2AABB();
+        this.fixture = null;
+        this.childIndex = 0;
+        this.proxyId = 0
+    }
+
+    function b2Fixture() {
+        this.m_userData = null;
+        this.m_body = null;
+        this.m_next = null;
+        this.m_proxies = null;
+        this.m_proxyCount = 0;
+        this.m_shape = null;
+        this.m_density = 0;
+        this.m_filter = new b2Filter();
+        this.m_isSensor = false;
+        this.m_friction = 0;
+        this.m_restitution = 0
+    }
+    b2Fixture.prototype = {
+        GetType: function () {
+            return this.m_shape.GetType()
+        },
+        GetShape: function () {
+            return this.m_shape
+        },
+        SetSensor: function (sensor) {
+            if (sensor != this.m_isSensor) {
+                this.m_body.SetAwake(true);
+                this.m_isSensor = sensor
+            }
+        },
+        IsSensor: function () {
+            return this.m_isSensor
+        },
+        SetFilterData: function (filter) {
+            this.m_filter = filter;
+            this.Refilter()
+        },
+        GetFilterData: function () {
+            return this.m_filter
+        },
+        Refilter: function () {
+            if (this.m_body == null) {
+                return
+            }
+            var edge = this.m_body.GetContactList();
+            while (edge) {
+                var contact = edge.contact;
+                var fixtureA = contact.GetFixtureA();
+                var fixtureB = contact.GetFixtureB();
+                if (fixtureA == this || fixtureB == this) {
+                    contact.FlagForFiltering()
+                }
+                edge = edge.next
+            }
+            var world = this.m_body.GetWorld();
+            if (world == null) {
+                return
+            }
+            var broadPhase = world.m_contactManager.m_broadPhase;
+            for (var i = 0; i < this.m_proxyCount; ++i) {
+                broadPhase.TouchProxy(this.m_proxies[i].proxyId)
+            }
+        },
+        GetBody: function () {
+            return this.m_body
+        },
+        GetNext: function () {
+            return this.m_next
+        },
+        GetUserData: function () {
+            return this.m_userData
+        },
+        SetUserData: function (data) {
+            this.m_userData = data
+        },
+        TestPoint: function (p) {
+            return this.m_shape.TestPoint(this.m_body.GetTransform(), p)
+        },
+        RayCast: function (output, input, childIndex) {
+            return this.m_shape.RayCast(output, input, this.m_body.GetTransform(), childIndex)
+        },
+        GetMassData: function (massData) {
+            this.m_shape.ComputeMass(massData, this.m_density)
+        },
+        SetDensity: function (density) {
+            this.m_density = density
+        },
+        GetDensity: function () {
+            return this.m_density
+        },
+        GetFriction: function () {
+            return this.m_friction
+        },
+        SetFriction: function (friction) {
+            this.m_friction = friction
+        },
+        GetRestitution: function () {
+            return this.m_restitution
+        },
+        SetRestitution: function (restitution) {
+            this.m_restitution = restitution
+        },
+        GetAABB: function (childIndex) {
+            return this.m_proxies[childIndex].aabb
+        },
+        Create: function (body, def) {
+            this.m_userData = def.userData;
+            this.m_friction = def.friction;
+            this.m_restitution = def.restitution;
+            this.m_body = body;
+            this.m_next = null;
+            this.m_filter.Assign(def.filter);
+            this.m_isSensor = def.isSensor;
+            this.m_shape = def.shape.Clone();
+            var childCount = this.m_shape.GetChildCount();
+            this.m_proxies = new Array(childCount);
+            for (var i = 0; i < childCount; ++i) {
+                this.m_proxies[i] = new b2FixtureProxy();
+                this.m_proxies[i].fixture = null;
+                this.m_proxies[i].proxyId = b2BroadPhase.e_nullProxy
+            }
+            this.m_proxyCount = 0;
+            this.m_density = def.density
+        },
+        Destroy: function () {
+            this.m_proxies = null;
+            this.m_shape = null
+        },
+        CreateProxies: function (broadPhase, xf) {
+            this.m_proxyCount = this.m_shape.GetChildCount();
+            for (var i = 0; i < this.m_proxyCount; ++i) {
+                var proxy = this.m_proxies[i];
+                this.m_shape.ComputeAABB(proxy.aabb, xf, i);
+                proxy.proxyId = broadPhase.CreateProxy(proxy.aabb, proxy);
+                proxy.fixture = this;
+                proxy.childIndex = i
+            }
+        },
+        DestroyProxies: function (broadPhase) {
+            for (var i = 0; i < this.m_proxyCount; ++i) {
+                var proxy = this.m_proxies[i];
+                broadPhase.DestroyProxy(proxy.proxyId);
+                proxy.proxyId = b2BroadPhase.e_nullProxy
+            }
+            this.m_proxyCount = 0
+        },
+        Synchronize: function (broadPhase, transform1, transform2) {
+            if (this.m_proxyCount == 0) {
+                return
+            }
+            for (var i = 0; i < this.m_proxyCount; ++i) {
+                var proxy = this.m_proxies[i];
+                var aabb1 = new b2AABB(),
+                    aabb2 = new b2AABB();
+                this.m_shape.ComputeAABB(aabb1, transform1, proxy.childIndex);
+                this.m_shape.ComputeAABB(aabb2, transform2, proxy.childIndex);
+                proxy.aabb.Combine(aabb1, aabb2);
+                var displacement = b2Vec2.Subtract(transform2.p, transform1.p);
+                broadPhase.MoveProxy(proxy.proxyId, proxy.aabb, displacement)
+            }
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            obj.shape = null;
+            obj.friction = this.m_friction;
+            obj.restitution = this.m_restitution;
+            obj.density = this.m_density;
+            obj.isSensor = this.m_isSensor;
+            obj.filter = this.m_filter._serialize();
+            return obj
+        }
+    };
+    "use strict";
+
+    function b2DestructionListener() {}
+    b2DestructionListener.prototype = {
+        SayGoodbyeJoint: function (joint) {},
+        SayGoodbyeFixture: function (fixture) {}
+    };
+
+    function b2ContactFilter() {}
+    b2ContactFilter.prototype = {
+        ShouldCollide: function (fixtureA, fixtureB) {
+            var filterA = fixtureA.GetFilterData();
+            var filterB = fixtureB.GetFilterData();
+            if (filterA.groupIndex == filterB.groupIndex && filterA.groupIndex != 0) {
+                return filterA.groupIndex > 0
+            }
+            var collide = (filterA.maskBits & filterB.categoryBits) != 0 && (filterA.categoryBits & filterB.maskBits) != 0;
+            return collide
+        }
+    };
+
+    function b2ContactImpulse() {
+        this.normalImpulses = new Array(b2_maxManifoldPoints);
+        this.tangentImpulses = new Array(b2_maxManifoldPoints);
+        this.count = 0
+    }
+
+    function b2ContactListener() {}
+    b2ContactListener.prototype = {
+        BeginContact: function (contact) {},
+        EndContact: function (contact) {},
+        PreSolve: function (contact, oldManifold) {},
+        PostSolve: function (contact, impulse) {}
+    };
+
+    function b2QueryCallback() {}
+    b2QueryCallback.prototype = {
+        ReportFixture: function (fixture) {}
+    };
+
+    function b2RayCastCallback() {}
+    b2RayCastCallback.prototype = {
+        ReportFixture: function (fixture, point, normal, fraction) {}
+    };
+    "use strict";
+
+    function b2TimeStep() {
+        this.dt = 0;
+        this.inv_dt = 0;
+        this.dtRatio = 0;
+        this.velocityIterations = 0;
+        this.positionIterations = 0;
+        this.warmStarting = false
+    }
+
+    function b2Position() {
+        this.c = new b2Vec2();
+        this.a = 0
+    }
+
+    function b2Velocity() {
+        this.v = new b2Vec2();
+        this.w = 0
+    }
+
+    function b2SolverData() {
+        this.step = new b2TimeStep();
+        this.positions = null;
+        this.velocities = null
+    }
+    "use strict";
+    var profile_world_step = b2Profiler.create("step");
+    var profile_world_collide = b2Profiler.create("collide", "step");
+    var profile_world_solve = b2Profiler.create("solve", "step");
+    var profile_world_solveTOI = b2Profiler.create("solveTOI", "step");
+    var profile_world_broadphase = b2Profiler.create("broadphase", "step");
+
+    function b2World(gravity) {
+        this.m_contactManager = new b2ContactManager();
+        this.m_destructionListener = null;
+        this.g_debugDraw = null;
+        this.m_bodyList = null;
+        this.m_jointList = null;
+        this.m_bodyCount = 0;
+        this.m_jointCount = 0;
+        this.m_warmStarting = true;
+        this.m_continuousPhysics = true;
+        this.m_subStepping = false;
+        this.m_stepComplete = true;
+        this.m_allowSleep = true;
+        this.m_gravity = gravity;
+        this.m_flags = b2World.e_clearForces;
+        this.m_inv_dt0 = 0;
+        this.p_step = new b2TimeStep();
+        this.p_island = new b2Island()
+    }
+
+    function b2WorldQueryWrapper() {
+        this.broadPhase = null;
+        this.callback = null
+    }
+    b2WorldQueryWrapper.prototype = {
+        QueryCallback: function (proxyId) {
+            var proxy = this.broadPhase.GetUserData(proxyId);
+            return this.callback.ReportFixture(proxy.fixture)
+        }
+    };
+
+    function b2WorldRayCastWrapper() {
+        this.broadPhase = null;
+        this.callback = null
+    }
+    b2WorldRayCastWrapper.prototype = {
+        RayCastCallback: function (input, proxyId) {
+            var userData = this.broadPhase.GetUserData(proxyId);
+            var proxy = userData;
+            var fixture = proxy.fixture;
+            var index = proxy.childIndex;
+            var output = new b2RayCastOutput();
+            var hit = fixture.RayCast(output, input, index);
+            if (hit) {
+                var fraction = output.fraction;
+                var point = b2Vec2.Add(b2Vec2.Multiply((1 - fraction), input.p1), b2Vec2.Multiply(fraction, input.p2));
+                return this.callback.ReportFixture(fixture, point, output.normal, fraction)
+            }
+            return input.maxFraction
+        }
+    };
+    b2World.m_local_sweep_backupA = new b2Sweep();
+    b2World.m_local_sweep_backupB = new b2Sweep();
+    b2World.m_local_sweep_backupC = new b2Sweep();
+    b2World.prototype = {
+        Destroy: function () {
+            var b = this.m_bodyList;
+            while (b) {
+                var bNext = b.m_next;
+                var f = b.m_fixtureList;
+                while (f) {
+                    var fNext = f.m_next;
+                    f.m_proxyCount = 0;
+                    f.Destroy();
+                    f = fNext
+                }
+                b = bNext
+            }
+        },
+        SetDestructionListener: function (listener) {
+            this.m_destructionListener = listener
+        },
+        SetContactFilter: function (filter) {
+            this.m_contactManager.m_contactFilter = filter
+        },
+        SetContactListener: function (listener) {
+            this.m_contactManager.m_contactListener = listener
+        },
+        SetDebugDraw: function (debugDraw) {
+            this.g_debugDraw = debugDraw
+        },
+        CreateBody: function (def) {
+            if (this.IsLocked()) {
+                return null
+            }
+            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 (this.IsLocked()) {
+                return
+            }
+            var je = b.m_jointList;
+            while (je) {
+                var je0 = je;
+                je = je.next;
+                if (this.m_destructionListener) {
+                    this.m_destructionListener.SayGoodbyeJoint(je0.joint)
+                }
+                this.DestroyJoint(je0.joint);
+                b.m_jointList = je
+            }
+            b.m_jointList = null;
+            var ce = b.m_contactList;
+            while (ce) {
+                var ce0 = ce;
+                ce = ce.next;
+                this.m_contactManager.Destroy(ce0.contact)
+            }
+            b.m_contactList = null;
+            var f = b.m_fixtureList;
+            while (f) {
+                var f0 = f;
+                f = f.m_next;
+                if (this.m_destructionListener) {
+                    this.m_destructionListener.SayGoodbyeFixture(f0)
+                }
+                f0.DestroyProxies(this.m_contactManager.m_broadPhase);
+                f0.Destroy();
+                b.m_fixtureList = f;
+                b.m_fixtureCount -= 1
+            }
+            b.m_fixtureList = null;
+            b.m_fixtureCount = 0;
+            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_destroyed = true;
+            --this.m_bodyCount
+        },
+        CreateJoint: function (def) {
+            if (this.IsLocked()) {
+                return null
+            }
+            var j = b2Joint.Create(def);
+            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_edgeA.joint = j;
+            j.m_edgeA.other = j.m_bodyB;
+            j.m_edgeA.prev = null;
+            j.m_edgeA.next = j.m_bodyA.m_jointList;
+            if (j.m_bodyA.m_jointList) {
+                j.m_bodyA.m_jointList.prev = j.m_edgeA
+            }
+            j.m_bodyA.m_jointList = j.m_edgeA;
+            j.m_edgeB.joint = j;
+            j.m_edgeB.other = j.m_bodyA;
+            j.m_edgeB.prev = null;
+            j.m_edgeB.next = j.m_bodyB.m_jointList;
+            if (j.m_bodyB.m_jointList) {
+                j.m_bodyB.m_jointList.prev = j.m_edgeB
+            }
+            j.m_bodyB.m_jointList = j.m_edgeB;
+            var bodyA = def.bodyA;
+            var bodyB = def.bodyB;
+            if (def.collideConnected == false) {
+                var edge = bodyB.GetContactList();
+                while (edge) {
+                    if (edge.other == bodyA) {
+                        edge.contact.FlagForFiltering()
+                    }
+                    edge = edge.next
+                }
+            }
+            return j
+        },
+        DestroyJoint: function (j) {
+            if (this.IsLocked()) {
+                return
+            }
+            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 bodyA = j.m_bodyA;
+            var bodyB = j.m_bodyB;
+            bodyA.SetAwake(true);
+            bodyB.SetAwake(true);
+            if (j.m_edgeA.prev) {
+                j.m_edgeA.prev.next = j.m_edgeA.next
+            }
+            if (j.m_edgeA.next) {
+                j.m_edgeA.next.prev = j.m_edgeA.prev
+            }
+            if (j.m_edgeA == bodyA.m_jointList) {
+                bodyA.m_jointList = j.m_edgeA.next
+            }
+            j.m_edgeA.prev = null;
+            j.m_edgeA.next = null;
+            if (j.m_edgeB.prev) {
+                j.m_edgeB.prev.next = j.m_edgeB.next
+            }
+            if (j.m_edgeB.next) {
+                j.m_edgeB.next.prev = j.m_edgeB.prev
+            }
+            if (j.m_edgeB == bodyB.m_jointList) {
+                bodyB.m_jointList = j.m_edgeB.next
+            }
+            j.m_edgeB.prev = null;
+            j.m_edgeB.next = null;
+            b2Joint.Destroy(j);
+            --this.m_jointCount;
+            if (collideConnected == false) {
+                var edge = bodyB.GetContactList();
+                while (edge) {
+                    if (edge.other == bodyA) {
+                        edge.contact.FlagForFiltering()
+                    }
+                    edge = edge.next
+                }
+            }
+        },
+        Step: function (dt, velocityIterations, positionIterations) {
+            profile_world_step.start();
+            if (this.m_flags & b2World.e_newFixture) {
+                this.m_contactManager.FindNewContacts();
+                this.m_flags &= ~b2World.e_newFixture
+            }
+            this.m_flags |= b2World.e_locked;
+            this.p_step.dt = dt;
+            this.p_step.velocityIterations = velocityIterations;
+            this.p_step.positionIterations = positionIterations;
+            if (dt > 0) {
+                this.p_step.inv_dt = 1 / dt
+            } else {
+                this.p_step.inv_dt = 0
+            }
+            this.p_step.dtRatio = this.m_inv_dt0 * dt;
+            this.p_step.warmStarting = this.m_warmStarting;
+            profile_world_collide.start();
+            this.m_contactManager.Collide();
+            profile_world_collide.stop();
+            if (this.m_stepComplete && this.p_step.dt > 0) {
+                profile_world_solve.start();
+                this.Solve(this.p_step);
+                profile_world_solve.stop()
+            }
+            if (this.m_continuousPhysics && this.p_step.dt > 0) {
+                profile_world_solveTOI.start();
+                this.SolveTOI(this.p_step);
+                profile_world_solveTOI.stop()
+            }
+            if (this.p_step.dt > 0) {
+                this.m_inv_dt0 = this.p_step.inv_dt
+            }
+            if (this.m_flags & b2World.e_clearForces) {
+                this.ClearForces()
+            }
+            this.m_flags &= ~b2World.e_locked;
+            profile_world_step.stop()
+        },
+        ClearForces: function () {
+            for (var body = this.m_bodyList; body; body = body.GetNext()) {
+                body.m_force.x = body.m_force.y = 0;
+                body.m_torque = 0
+            }
+        },
+        DrawDebugData: function () {
+            if (this.g_debugDraw == null) {
+                return
+            }
+            var flags = this.g_debugDraw.GetFlags();
+            if (flags & b2Draw.e_shapeBit) {
+                for (var b = this.m_bodyList; b; b = b.GetNext()) {
+                    var xf = b.GetTransform();
+                    for (var f = b.GetFixtureList(); f; f = f.GetNext()) {
+                        if (b.IsActive() == false) {
+                            this.DrawShape(f, xf, new b2Color(0.5, 0.5, 0.3))
+                        } else {
+                            if (b.GetType() == b2Body.b2_staticBody) {
+                                this.DrawShape(f, xf, new b2Color(0.5, 0.9, 0.5))
+                            } else {
+                                if (b.GetType() == b2Body.b2_kinematicBody) {
+                                    this.DrawShape(f, xf, new b2Color(0.5, 0.5, 0.9))
+                                } else {
+                                    if (b.IsAwake() == false) {
+                                        this.DrawShape(f, xf, new b2Color(0.6, 0.6, 0.6))
+                                    } else {
+                                        this.DrawShape(f, xf, new b2Color(0.9, 0.7, 0.7))
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+            if (flags & b2Draw.e_jointBit) {
+                for (var j = this.m_jointList; j; j = j.GetNext()) {
+                    this.DrawJoint(j)
+                }
+            }
+            if (flags & b2Draw.e_pairBit) {
+                var color = new b2Color(0.3, 0.9, 0.9);
+                for (var c = this.m_contactManager.m_contactList; c; c = c.GetNext()) {
+                    var fixtureA = c.GetFixtureA();
+                    var fixtureB = c.GetFixtureB();
+                    var cA = fixtureA.GetAABB(c.GetChildIndexA()).GetCenter();
+                    var cB = fixtureB.GetAABB(c.GetChildIndexB()).GetCenter();
+                    this.g_debugDraw.DrawSegment(cA, cB, color)
+                }
+            }
+            if (flags & b2Draw.e_aabbBit) {
+                var color = new b2Color(0.9, 0.3, 0.9);
+                var bp = this.m_contactManager.m_broadPhase;
+                for (var b = this.m_bodyList; b; b = b.GetNext()) {
+                    if (b.IsActive() == false) {
+                        continue
+                    }
+                    for (var f = b.GetFixtureList(); f; f = f.GetNext()) {
+                        for (var i = 0; i < f.m_proxyCount; ++i) {
+                            var proxy = f.m_proxies[i];
+                            var aabb = bp.GetFatAABB(proxy.proxyId);
+                            var vs = [];
+                            vs[0] = new b2Vec2(aabb.lowerBound.x, aabb.lowerBound.y);
+                            vs[1] = new b2Vec2(aabb.upperBound.x, aabb.lowerBound.y);
+                            vs[2] = new b2Vec2(aabb.upperBound.x, aabb.upperBound.y);
+                            vs[3] = new b2Vec2(aabb.lowerBound.x, aabb.upperBound.y);
+                            this.g_debugDraw.DrawPolygon(vs, 4, color)
+                        }
+                    }
+                }
+            }
+            if (flags & b2Draw.e_centerOfMassBit) {
+                for (var b = this.m_bodyList; b; b = b.GetNext()) {
+                    var xf = b.GetTransform().Clone();
+                    xf.p = b.GetWorldCenter();
+                    this.g_debugDraw.DrawTransform(xf)
+                }
+            }
+        },
+        QueryAABB: function (callback, aabb) {
+            var wrapper = new b2WorldQueryWrapper();
+            wrapper.broadPhase = this.m_contactManager.m_broadPhase;
+            wrapper.callback = callback;
+            this.m_contactManager.m_broadPhase.Query(wrapper, aabb)
+        },
+        RayCast: function (callback, point1, point2) {
+            var wrapper = new b2WorldRayCastWrapper();
+            wrapper.broadPhase = this.m_contactManager.m_broadPhase;
+            wrapper.callback = callback;
+            var input = new b2RayCastInput();
+            input.maxFraction = 1;
+            input.p1 = point1;
+            input.p2 = point2;
+            this.m_contactManager.m_broadPhase.RayCast(wrapper, input)
+        },
+        GetBodyList: function () {
+            return this.m_bodyList
+        },
+        GetJointList: function () {
+            return this.m_jointList
+        },
+        GetContactList: function () {
+            return this.m_contactManager.m_contactList
+        },
+        SetAllowSleeping: function (flag) {
+            if (flag == this.m_allowSleep) {
+                return
+            }
+            this.m_allowSleep = flag;
+            if (this.m_allowSleep == false) {
+                for (var b = this.m_bodyList; b; b = b.m_next) {
+                    b.SetAwake(true)
+                }
+            }
+        },
+        GetAllowSleeping: function () {
+            return this.m_allowSleep
+        },
+        SetWarmStarting: function (flag) {
+            this.m_warmStarting = flag
+        },
+        GetWarmStarting: function () {
+            return this.m_warmStarting
+        },
+        SetContinuousPhysics: function (flag) {
+            this.m_continuousPhysics = flag
+        },
+        GetContinuousPhysics: function () {
+            return this.m_continuousPhysics
+        },
+        SetSubStepping: function (flag) {
+            this.m_subStepping = flag
+        },
+        GetSubStepping: function () {
+            return this.m_subStepping
+        },
+        GetProxyCount: function () {
+            return this.m_contactManager.m_broadPhase.GetProxyCount()
+        },
+        GetBodyCount: function () {
+            return this.m_bodyCount
+        },
+        GetJointCount: function () {
+            return this.m_jointCount
+        },
+        GetContactCount: function () {
+            return this.m_contactManager.m_contactCount
+        },
+        GetTreeHeight: function () {
+            return this.m_contactManager.m_broadPhase.GetTreeHeight()
+        },
+        GetTreeBalance: function () {
+            return this.m_contactManager.m_broadPhase.GetTreeBalance()
+        },
+        GetTreeQuality: function () {
+            return this.m_contactManager.m_broadPhase.GetTreeQuality()
+        },
+        SetGravity: function (gravity) {
+            this.m_gravity = gravity
+        },
+        GetGravity: function () {
+            return this.m_gravity
+        },
+        IsLocked: function () {
+            return (this.m_flags & b2World.e_locked) == b2World.e_locked
+        },
+        SetAutoClearForces: function (flag) {
+            if (flag) {
+                this.m_flags |= b2World.e_clearForces
+            } else {
+                this.m_flags &= ~b2World.e_clearForces
+            }
+        },
+        GetAutoClearForces: function () {
+            return (this.m_flags & b2World.e_clearForces) == b2World.e_clearForces
+        },
+        ShiftOrigin: function (newOrigin) {
+            if ((this.m_flags & b2World.e_locked) == b2World.e_locked) {
+                return
+            }
+            for (var b = this.m_bodyList; b; b = b.m_next) {
+                b.m_xf.p.Subtract(newOrigin);
+                b.m_sweep.c0.Subtract(newOrigin);
+                b.m_sweep.c.Subtract(newOrigin)
+            }
+            for (var j = this.m_jointList; j; j = j.m_next) {
+                j.ShiftOrigin(newOrigin)
+            }
+            this.m_contactManager.m_broadPhase.ShiftOrigin(newOrigin)
+        },
+        GetContactManager: function () {
+            return this.m_contactManager
+        },
+        Solve: function (step) {
+            this.p_island.Initialize(this.m_bodyCount, this.m_contactManager.m_contactCount, this.m_jointCount, this.m_contactManager.m_contactListener);
+            for (var b = this.m_bodyList; b; b = b.m_next) {
+                b.m_flags &= ~b2Body.e_islandFlag
+            }
+            for (var c = this.m_contactManager.m_contactList; c; c = c.m_next) {
+                c.m_flags &= ~b2Contact.e_islandFlag
+            }
+            for (var j = this.m_jointList; j; j = j.m_next) {
+                j.m_islandFlag = false
+            }
+            var stackSize = this.m_bodyCount;
+            var stack = new Array(stackSize);
+            for (var seed = this.m_bodyList; seed; seed = seed.m_next) {
+                if (seed.m_flags & b2Body.e_islandFlag) {
+                    continue
+                }
+                if (seed.IsAwake() == false || seed.IsActive() == false) {
+                    continue
+                }
+                if (seed.GetType() == b2Body.b2_staticBody) {
+                    continue
+                }
+                this.p_island.Clear();
+                var stackCount = 0;
+                stack[stackCount++] = seed;
+                seed.m_flags |= b2Body.e_islandFlag;
+                while (stackCount > 0) {
+                    var b = stack[--stackCount];
+                    this.p_island.AddBody(b);
+                    b.SetAwake(true);
+                    if (b.GetType() == b2Body.b2_staticBody) {
+                        continue
+                    }
+                    for (var ce = b.m_contactList; ce; ce = ce.next) {
+                        var contact = ce.contact;
+                        if (contact.m_flags & b2Contact.e_islandFlag) {
+                            continue
+                        }
+                        if (contact.IsEnabled() == false || contact.IsTouching() == false) {
+                            continue
+                        }
+                        var sensorA = contact.m_fixtureA.m_isSensor;
+                        var sensorB = contact.m_fixtureB.m_isSensor;
+                        if (sensorA || sensorB) {
+                            continue
+                        }
+                        this.p_island.AddContact(contact);
+                        contact.m_flags |= b2Contact.e_islandFlag;
+                        var other = ce.other;
+                        if (other.m_flags & b2Body.e_islandFlag) {
+                            continue
+                        }
+                        stack[stackCount++] = other;
+                        other.m_flags |= b2Body.e_islandFlag
+                    }
+                    for (var je = b.m_jointList; je; je = je.next) {
+                        if (je.joint.m_islandFlag == true) {
+                            continue
+                        }
+                        var other = je.other;
+                        if (other.IsActive() == false) {
+                            continue
+                        }
+                        this.p_island.AddJoint(je.joint);
+                        je.joint.m_islandFlag = true;
+                        if (other.m_flags & b2Body.e_islandFlag) {
+                            continue
+                        }
+                        stack[stackCount++] = other;
+                        other.m_flags |= b2Body.e_islandFlag
+                    }
+                }
+                this.p_island.Solve(step, this.m_gravity, this.m_allowSleep);
+                for (var i = 0; i < this.p_island.m_bodyCount; ++i) {
+                    var b = this.p_island.m_bodies[i];
+                    if (b.GetType() == b2Body.b2_staticBody) {
+                        b.m_flags &= ~b2Body.e_islandFlag
+                    }
+                }
+            }
+            profile_world_broadphase.start();
+            for (var b = this.m_bodyList; b; b = b.GetNext()) {
+                if ((b.m_flags & b2Body.e_islandFlag) == 0) {
+                    continue
+                }
+                if (b.GetType() == b2Body.b2_staticBody) {
+                    continue
+                }
+                b.SynchronizeFixtures()
+            }
+            this.m_contactManager.FindNewContacts();
+            profile_world_broadphase.stop()
+        },
+        SolveTOI: function (step) {
+            this.p_island.Initialize(2 * b2_maxTOIContacts, b2_maxTOIContacts, 0, this.m_contactManager.m_contactListener);
+            if (this.m_stepComplete) {
+                for (var b = this.m_bodyList; b; b = b.m_next) {
+                    b.m_flags &= ~b2Body.e_islandFlag;
+                    b.m_sweep.alpha0 = 0
+                }
+                for (var c = this.m_contactManager.m_contactList; c; c = c.m_next) {
+                    c.m_flags &= ~(b2Contact.e_toiFlag | b2Contact.e_islandFlag);
+                    c.m_toiCount = 0;
+                    c.m_toi = 1
+                }
+            }
+            for (;;) {
+                var minContact = null;
+                var minAlpha = 1;
+                for (var c = this.m_contactManager.m_contactList; c; c = c.m_next) {
+                    if (c.IsEnabled() == false) {
+                        continue
+                    }
+                    if (c.m_toiCount > b2_maxSubSteps) {
+                        continue
+                    }
+                    var alpha = 1;
+                    if (c.m_flags & b2Contact.e_toiFlag) {
+                        alpha = c.m_toi
+                    } else {
+                        var fA = c.GetFixtureA();
+                        var fB = c.GetFixtureB();
+                        if (fA.IsSensor() || fB.IsSensor()) {
+                            continue
+                        }
+                        var bA = fA.GetBody();
+                        var bB = fB.GetBody();
+                        var typeA = bA.m_type;
+                        var typeB = bB.m_type;
+                        var activeA = bA.IsAwake() && typeA != b2Body.b2_staticBody;
+                        var activeB = bB.IsAwake() && typeB != b2Body.b2_staticBody;
+                        if (activeA == false && activeB == false) {
+                            continue
+                        }
+                        var collideA = bA.IsBullet() || typeA != b2Body.b2_dynamicBody;
+                        var collideB = bB.IsBullet() || typeB != b2Body.b2_dynamicBody;
+                        if (collideA == false && collideB == false) {
+                            continue
+                        }
+                        var alpha0 = bA.m_sweep.alpha0;
+                        if (bA.m_sweep.alpha0 < bB.m_sweep.alpha0) {
+                            alpha0 = bB.m_sweep.alpha0;
+                            bA.m_sweep.Advance(alpha0)
+                        } else {
+                            if (bB.m_sweep.alpha0 < bA.m_sweep.alpha0) {
+                                alpha0 = bA.m_sweep.alpha0;
+                                bB.m_sweep.Advance(alpha0)
+                            }
+                        }
+                        var indexA = c.GetChildIndexA();
+                        var indexB = c.GetChildIndexB();
+                        var input = new b2TOIInput();
+                        input.proxyA.Set(fA.GetShape(), indexA);
+                        input.proxyB.Set(fB.GetShape(), indexB);
+                        input.sweepA.Assign(bA.m_sweep);
+                        input.sweepB.Assign(bB.m_sweep);
+                        input.tMax = 1;
+                        var output = new b2TOIOutput();
+                        b2TimeOfImpact(output, input);
+                        var beta = output.t;
+                        if (output.state == b2TOIOutput.e_touching) {
+                            alpha = b2Min(alpha0 + (1 - alpha0) * beta, 1)
+                        } else {
+                            alpha = 1
+                        }
+                        c.m_toi = alpha;
+                        c.m_flags |= b2Contact.e_toiFlag
+                    }
+                    if (alpha < minAlpha) {
+                        minContact = c;
+                        minAlpha = alpha
+                    }
+                }
+                if (minContact == null || 1 - 10 * b2_epsilon < minAlpha) {
+                    this.m_stepComplete = true;
+                    break
+                }
+                var fA = minContact.GetFixtureA();
+                var fB = minContact.GetFixtureB();
+                var bA = fA.GetBody();
+                var bB = fB.GetBody();
+                b2World.m_local_sweep_backupA.Assign(bA.m_sweep);
+                b2World.m_local_sweep_backupB.Assign(bB.m_sweep);
+                bA.Advance(minAlpha);
+                bB.Advance(minAlpha);
+                minContact.Update(this.m_contactManager.m_contactListener);
+                minContact.m_flags &= ~b2Contact.e_toiFlag;
+                ++minContact.m_toiCount;
+                if (minContact.IsEnabled() == false || minContact.IsTouching() == false) {
+                    minContact.SetEnabled(false);
+                    bA.m_sweep.Assign(b2World.m_local_sweep_backupA);
+                    bB.m_sweep.Assign(b2World.m_local_sweep_backupB);
+                    bA.SynchronizeTransform();
+                    bB.SynchronizeTransform();
+                    continue
+                }
+                bA.SetAwake(true);
+                bB.SetAwake(true);
+                this.p_island.Clear();
+                this.p_island.AddBody(bA);
+                this.p_island.AddBody(bB);
+                this.p_island.AddContact(minContact);
+                bA.m_flags |= b2Body.e_islandFlag;
+                bB.m_flags |= b2Body.e_islandFlag;
+                minContact.m_flags |= b2Contact.e_islandFlag;
+                var bodies = [bA, bB];
+                for (var i = 0; i < 2; ++i) {
+                    var body = bodies[i];
+                    if (body.m_type == b2Body.b2_dynamicBody) {
+                        for (var ce = body.m_contactList; ce; ce = ce.next) {
+                            if (this.p_island.m_bodyCount == this.p_island.m_bodyCapacity) {
+                                break
+                            }
+                            if (this.p_island.m_contactCount == this.p_island.m_contactCapacity) {
+                                break
+                            }
+                            var contact = ce.contact;
+                            if (contact.m_flags & b2Contact.e_islandFlag) {
+                                continue
+                            }
+                            var other = ce.other;
+                            if (other.m_type == b2Body.b2_dynamicBody && body.IsBullet() == false && other.IsBullet() == false) {
+                                continue
+                            }
+                            var sensorA = contact.m_fixtureA.m_isSensor;
+                            var sensorB = contact.m_fixtureB.m_isSensor;
+                            if (sensorA || sensorB) {
+                                continue
+                            }
+                            b2World.m_local_sweep_backupC.Assign(other.m_sweep);
+                            if ((other.m_flags & b2Body.e_islandFlag) == 0) {
+                                other.Advance(minAlpha)
+                            }
+                            contact.Update(this.m_contactManager.m_contactListener);
+                            if (contact.IsEnabled() == false) {
+                                other.m_sweep.Assign(b2World.m_local_sweep_backupC);
+                                other.SynchronizeTransform();
+                                continue
+                            }
+                            if (contact.IsTouching() == false) {
+                                other.m_sweep.Assign(b2World.m_local_sweep_backupC);
+                                other.SynchronizeTransform();
+                                continue
+                            }
+                            contact.m_flags |= b2Contact.e_islandFlag;
+                            this.p_island.AddContact(contact);
+                            if (other.m_flags & b2Body.e_islandFlag) {
+                                continue
+                            }
+                            other.m_flags |= b2Body.e_islandFlag;
+                            if (other.m_type != b2Body.b2_staticBody) {
+                                other.SetAwake(true)
+                            }
+                            this.p_island.AddBody(other)
+                        }
+                    }
+                }
+                var subStep = new b2TimeStep();
+                subStep.dt = (1 - minAlpha) * step.dt;
+                subStep.inv_dt = 1 / subStep.dt;
+                subStep.dtRatio = 1;
+                subStep.positionIterations = 20;
+                subStep.velocityIterations = step.velocityIterations;
+                subStep.warmStarting = false;
+                this.p_island.SolveTOI(subStep, bA.m_islandIndex, bB.m_islandIndex);
+                for (var i = 0; i < this.p_island.m_bodyCount; ++i) {
+                    var body = this.p_island.m_bodies[i];
+                    body.m_flags &= ~b2Body.e_islandFlag;
+                    if (body.m_type != b2Body.b2_dynamicBody) {
+                        continue
+                    }
+                    body.SynchronizeFixtures();
+                    for (var ce = body.m_contactList; ce; ce = ce.next) {
+                        ce.contact.m_flags &= ~(b2Contact.e_toiFlag | b2Contact.e_islandFlag)
+                    }
+                }
+                this.m_contactManager.FindNewContacts();
+                if (this.m_subStepping) {
+                    this.m_stepComplete = false;
+                    break
+                }
+            }
+        },
+        DrawJoint: function (joint) {
+            var bodyA = joint.GetBodyA();
+            var bodyB = joint.GetBodyB();
+            var xf1 = bodyA.GetTransform();
+            var xf2 = bodyB.GetTransform();
+            var x1 = xf1.p;
+            var x2 = xf2.p;
+            var p1 = joint.GetAnchorA();
+            var p2 = joint.GetAnchorB();
+            var color = new b2Color(0.5, 0.8, 0.8);
+            switch (joint.GetType()) {
+                case b2Joint.e_distanceJoint:
+                    this.g_debugDraw.DrawSegment(p1, p2, color);
+                    break;
+                case b2Joint.e_pulleyJoint:
+                    var pulley = joint;
+                    var s1 = pulley.GetGroundAnchorA();
+                    var s2 = pulley.GetGroundAnchorB();
+                    this.g_debugDraw.DrawSegment(s1, p1, color);
+                    this.g_debugDraw.DrawSegment(s2, p2, color);
+                    this.g_debugDraw.DrawSegment(s1, s2, color);
+                    break;
+                case b2Joint.e_mouseJoint:
+                    break;
+                case b2Joint.e_motorJoint:
+                    this.g_debugDraw.DrawPoint(joint.GetLinearOffset(), 5, color);
+                default:
+                    this.g_debugDraw.DrawSegment(x1, p1, color);
+                    this.g_debugDraw.DrawSegment(p1, p2, color);
+                    this.g_debugDraw.DrawSegment(x2, p2, color)
+            }
+        },
+        DrawShape: function (fixture, xf, color) {
+            switch (fixture.GetType()) {
+                case b2Shape.e_circle:
+                    var circle = fixture.GetShape();
+                    var center = b2Mul_t_v2(xf, circle.m_p);
+                    var radius = circle.m_radius;
+                    var axis = b2Mul_r_v2(xf.q, new b2Vec2(1, 0));
+                    this.g_debugDraw.DrawSolidCircle(center, radius, axis, color);
+                    break;
+                case b2Shape.e_edge:
+                    var edge = fixture.GetShape();
+                    var v1 = b2Mul_t_v2(xf, edge.m_vertex1);
+                    var v2 = b2Mul_t_v2(xf, edge.m_vertex2);
+                    this.g_debugDraw.DrawSegment(v1, v2, color);
+                    break;
+                case b2Shape.e_chain:
+                    var chain = fixture.GetShape();
+                    var count = chain.m_count;
+                    var vertices = chain.m_vertices;
+                    var v1 = b2Mul_t_v2(xf, vertices[0]);
+                    for (var i = 1; i < count; ++i) {
+                        var v2 = b2Mul_t_v2(xf, vertices[i]);
+                        this.g_debugDraw.DrawSegment(v1, v2, color);
+                        v1 = v2
+                    }
+                    break;
+                case b2Shape.e_polygon:
+                    var poly = fixture.GetShape();
+                    var vertexCount = poly.m_count;
+                    var vertices = new Array(b2_maxPolygonVertices);
+                    for (var i = 0; i < vertexCount; ++i) {
+                        vertices[i] = b2Mul_t_v2(xf, poly.m_vertices[i])
+                    }
+                    this.g_debugDraw.DrawSolidPolygon(vertices, vertexCount, color);
+                    break;
+                default:
+                    break
+            }
+        }
+    };
+    b2World.e_newFixture = 1;
+    b2World.e_locked = 2;
+    b2World.e_clearForces = 4;
+    "use strict";
+
+    function b2MixFriction(friction1, friction2) {
+        return b2Sqrt(friction1 * friction2)
+    }
+
+    function b2MixRestitution(restitution1, restitution2) {
+        return restitution1 > restitution2 ? restitution1 : restitution2
+    }
+
+    function b2ContactRegister() {
+        this.fcn = null;
+        this.primary = false
+    }
+
+    function b2ContactEdge() {
+        this.other = null;
+        this.contact = null;
+        this.prev = null;
+        this.next = null
+    }
+
+    function b2Contact() {
+        this.m_nodeA = new b2ContactEdge();
+        this.m_nodeB = new b2ContactEdge();
+        this.m_manifold = new b2Manifold()
+    }
+    b2Contact.m_local_tempManifold = new b2Manifold();
+    b2Contact.prototype = {
+        Create: function (fA, indexA, fB, indexB) {
+            this.m_toi = 0;
+            this.m_flags = b2Contact.e_enabledFlag;
+            this.m_fixtureA = fA || null;
+            this.m_fixtureB = fB || null;
+            this.m_indexA = indexA || 0;
+            this.m_indexB = indexB || 0;
+            this.m_manifold.pointCount = 0;
+            this.m_prev = null;
+            this.m_next = null;
+            this.m_nodeA.contact = null;
+            this.m_nodeA.prev = null;
+            this.m_nodeA.next = null;
+            this.m_nodeA.other = null;
+            this.m_nodeB.contact = null;
+            this.m_nodeB.prev = null;
+            this.m_nodeB.next = null;
+            this.m_nodeB.other = null;
+            this.m_toiCount = 0;
+            if (fA) {
+                this.m_friction = b2MixFriction(this.m_fixtureA.m_friction, this.m_fixtureB.m_friction);
+                this.m_restitution = b2MixRestitution(this.m_fixtureA.m_restitution, this.m_fixtureB.m_restitution)
+            } else {
+                this.m_friction = 0;
+                this.m_restitution = 0
+            }
+            this.m_tangentSpeed = 0
+        },
+        GetManifold: function () {
+            return this.m_manifold
+        },
+        GetWorldManifold: function (worldManifold) {
+            var bodyA = this.m_fixtureA.GetBody();
+            var bodyB = this.m_fixtureB.GetBody();
+            var shapeA = this.m_fixtureA.GetShape();
+            var shapeB = this.m_fixtureB.GetShape();
+            worldManifold.Initialize(this.m_manifold, bodyA.GetTransform(), shapeA.m_radius, bodyB.GetTransform(), shapeB.m_radius)
+        },
+        IsTouching: function () {
+            return (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag
+        },
+        SetEnabled: function (flag) {
+            if (flag) {
+                this.m_flags |= b2Contact.e_enabledFlag
+            } else {
+                this.m_flags &= ~b2Contact.e_enabledFlag
+            }
+        },
+        IsEnabled: function () {
+            return (this.m_flags & b2Contact.e_enabledFlag) == b2Contact.e_enabledFlag
+        },
+        GetNext: function () {
+            return this.m_next
+        },
+        GetFixtureA: function () {
+            return this.m_fixtureA
+        },
+        GetChildIndexA: function () {
+            return this.m_indexA
+        },
+        GetFixtureB: function () {
+            return this.m_fixtureB
+        },
+        GetChildIndexB: function () {
+            return this.m_indexB
+        },
+        SetFriction: function (friction) {
+            this.m_friction = friction
+        },
+        GetFriction: function () {
+            return this.m_friction
+        },
+        ResetFriction: function () {
+            this.m_friction = b2MixFriction(this.m_fixtureA.m_friction, this.m_fixtureB.m_friction)
+        },
+        SetRestitution: function (restitution) {
+            this.m_restitution = restitution
+        },
+        GetRestitution: function () {
+            return this.m_restitution
+        },
+        ResetRestitution: function () {
+            this.m_restitution = b2MixRestitution(this.m_fixtureA.m_restitution, this.m_fixtureB.m_restitution)
+        },
+        SetTangentSpeed: function (speed) {
+            this.m_tangentSpeed = speed
+        },
+        GetTangentSpeed: function () {
+            return this.m_tangentSpeed
+        },
+        Evaluate: function (manifold, xfA, xfB) {},
+        FlagForFiltering: function () {
+            this.m_flags |= b2Contact.e_filterFlag
+        },
+        m_oldManifold: null,
+        Update: function (listener) {
+            b2Contact.m_local_tempManifold.Assign(this.m_manifold);
+            this.m_flags |= b2Contact.e_enabledFlag;
+            var touching = false;
+            var wasTouching = (this.m_flags & b2Contact.e_touchingFlag) == b2Contact.e_touchingFlag;
+            var sensorA = this.m_fixtureA.IsSensor();
+            var sensorB = this.m_fixtureB.IsSensor();
+            var sensor = sensorA || sensorB;
+            var bodyA = this.m_fixtureA.GetBody();
+            var bodyB = this.m_fixtureB.GetBody();
+            var xfA = bodyA.GetTransform();
+            var xfB = bodyB.GetTransform();
+            if (sensor) {
+                var shapeA = this.m_fixtureA.GetShape();
+                var shapeB = this.m_fixtureB.GetShape();
+                touching = b2TestShapeOverlap(shapeA, this.m_indexA, shapeB, this.m_indexB, xfA, xfB);
+                this.m_manifold.pointCount = 0
+            } else {
+                this.Evaluate(this.m_manifold, xfA, xfB);
+                touching = this.m_manifold.pointCount > 0;
+                for (var i = 0; i < this.m_manifold.pointCount; ++i) {
+                    var mp2 = this.m_manifold.points[i];
+                    mp2.normalImpulse = 0;
+                    mp2.tangentImpulse = 0;
+                    var id2 = mp2.id;
+                    for (var j = 0; j < b2Contact.m_local_tempManifold.pointCount; ++j) {
+                        var mp1 = b2Contact.m_local_tempManifold.points[j];
+                        if (mp1.id.Get() == id2.Get()) {
+                            mp2.normalImpulse = mp1.normalImpulse;
+                            mp2.tangentImpulse = mp1.tangentImpulse;
+                            break
+                        }
+                    }
+                }
+                if (touching != wasTouching) {
+                    bodyA.SetAwake(true);
+                    bodyB.SetAwake(true)
+                }
+            }
+            if (touching) {
+                this.m_flags |= b2Contact.e_touchingFlag
+            } else {
+                this.m_flags &= ~b2Contact.e_touchingFlag
+            }
+            if (wasTouching == false && touching == true && listener) {
+                listener.BeginContact(this)
+            }
+            if (wasTouching == true && touching == false && listener) {
+                listener.EndContact(this)
+            }
+            if (sensor == false && touching && listener) {
+                listener.PreSolve(this, b2Contact.m_local_tempManifold)
+            }
+        }
+    };
+    b2Contact.e_islandFlag = 1;
+    b2Contact.e_touchingFlag = 2;
+    b2Contact.e_enabledFlag = 4;
+    b2Contact.e_filterFlag = 8;
+    b2Contact.e_bulletHitFlag = 16;
+    b2Contact.e_toiFlag = 32;
+
+    function b2CircleContact() {
+        this.parent.call(this)
+    }
+    b2CircleContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            b2CollideCircles(manifold, this.m_fixtureA.GetShape(), xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, unused1, fixtureB, unused2) {
+            this.parent.prototype.Create.call(this, fixtureA, 0, fixtureB, 0)
+        }
+    };
+    b2CircleContact._extend(b2Contact);
+    var _local_temp_edgeShape = new b2EdgeShape();
+
+    function b2ChainAndCircleContact() {
+        this.parent.call(this)
+    }
+    b2ChainAndCircleContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            var chain = this.m_fixtureA.GetShape();
+            chain.GetChildEdge(_local_temp_edgeShape, this.m_indexA);
+            b2CollideEdgeAndCircle(manifold, _local_temp_edgeShape, xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, indexA, fixtureB, indexB)
+        }
+    };
+    b2ChainAndCircleContact._extend(b2Contact);
+
+    function b2ChainAndPolygonContact() {
+        this.parent.call(this)
+    }
+    b2ChainAndPolygonContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            var chain = this.m_fixtureA.GetShape();
+            chain.GetChildEdge(_local_temp_edgeShape, this.m_indexA);
+            b2CollideEdgeAndPolygon(manifold, _local_temp_edgeShape, xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, indexA, fixtureB, indexB)
+        }
+    };
+    b2ChainAndPolygonContact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        return new b2ChainAndPolygonContact(fixtureA, indexA, fixtureB, indexB)
+    };
+    b2ChainAndPolygonContact._extend(b2Contact);
+
+    function b2EdgeAndCircleContact() {
+        this.parent.call(this)
+    }
+    b2EdgeAndCircleContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            b2CollideEdgeAndCircle(manifold, this.m_fixtureA.GetShape(), xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, 0, fixtureB, 0)
+        }
+    };
+    b2EdgeAndCircleContact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        return new b2EdgeAndCircleContact(fixtureA, fixtureB)
+    };
+    b2EdgeAndCircleContact._extend(b2Contact);
+
+    function b2EdgeAndPolygonContact() {
+        this.parent.call(this)
+    }
+    b2EdgeAndPolygonContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            b2CollideEdgeAndPolygon(manifold, this.m_fixtureA.GetShape(), xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, 0, fixtureB, 0)
+        }
+    };
+    b2EdgeAndPolygonContact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        return new b2EdgeAndPolygonContact(fixtureA, fixtureB)
+    };
+    b2EdgeAndPolygonContact._extend(b2Contact);
+
+    function b2PolygonAndCircleContact() {
+        this.parent.call(this)
+    }
+    b2PolygonAndCircleContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            b2CollidePolygonAndCircle(manifold, this.m_fixtureA.GetShape(), xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, 0, fixtureB, 0)
+        }
+    };
+    b2PolygonAndCircleContact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        return new b2PolygonAndCircleContact(fixtureA, fixtureB)
+    };
+    b2PolygonAndCircleContact._extend(b2Contact);
+
+    function b2PolygonContact() {
+        this.parent.call(this)
+    }
+    b2PolygonContact.prototype = {
+        Evaluate: function (manifold, xfA, xfB) {
+            b2CollidePolygons(manifold, this.m_fixtureA.GetShape(), xfA, this.m_fixtureB.GetShape(), xfB)
+        },
+        Create: function (fixtureA, indexA, fixtureB, indexB) {
+            this.parent.prototype.Create.call(this, fixtureA, 0, fixtureB, 0)
+        }
+    };
+    b2PolygonContact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        return new b2PolygonContact(fixtureA, fixtureB)
+    };
+    b2PolygonContact._extend(b2Contact);
+    b2Contact.AddType = function (fcn, type1, type2) {
+        if (!b2Contact.s_registers[type1]) {
+            b2Contact.s_registers[type1] = []
+        }
+        b2Contact.s_registers[type1][type2] = new b2ContactRegister();
+        b2Contact.s_registers[type1][type2].fcn = fcn;
+        b2Contact.s_registers[type1][type2].primary = true;
+        if (type1 != type2) {
+            if (!b2Contact.s_registers[type2]) {
+                b2Contact.s_registers[type2] = []
+            }
+            b2Contact.s_registers[type2][type1] = new b2ContactRegister();
+            b2Contact.s_registers[type2][type1].fcn = fcn;
+            b2Contact.s_registers[type2][type1].primary = false
+        }
+        fcn.garbage = [];
+        fcn.alloc = 2
+    };
+    b2Contact.InitializeRegisters = function () {
+        b2Contact.AddType(b2CircleContact, b2Shape.e_circle, b2Shape.e_circle);
+        b2Contact.AddType(b2PolygonAndCircleContact, b2Shape.e_polygon, b2Shape.e_circle);
+        b2Contact.AddType(b2PolygonContact, b2Shape.e_polygon, b2Shape.e_polygon);
+        b2Contact.AddType(b2EdgeAndCircleContact, b2Shape.e_edge, b2Shape.e_circle);
+        b2Contact.AddType(b2EdgeAndPolygonContact, b2Shape.e_edge, b2Shape.e_polygon);
+        b2Contact.AddType(b2ChainAndCircleContact, b2Shape.e_chain, b2Shape.e_circle);
+        b2Contact.AddType(b2ChainAndPolygonContact, b2Shape.e_chain, b2Shape.e_polygon)
+    };
+    b2Contact.RetrieveGarbage = function (fcn) {
+        var contact;
+        if (contact = fcn.garbage.pop()) {
+            return contact
+        }
+        for (var i = 0; i < fcn.alloc - 1; ++i) {
+            fcn.garbage.push(new fcn())
+        }
+        fcn.alloc += 32;
+        return new fcn()
+    };
+    b2Contact.Create = function (fixtureA, indexA, fixtureB, indexB) {
+        if (b2Contact.s_initialized == false) {
+            b2Contact.InitializeRegisters();
+            b2Contact.s_initialized = true
+        }
+        var type1 = fixtureA.GetType();
+        var type2 = fixtureB.GetType();
+        var fcn = b2Contact.s_registers[type1][type2].fcn;
+        if (fcn) {
+            var contact = b2Contact.RetrieveGarbage(fcn);
+            if (b2Contact.s_registers[type1][type2].primary) {
+                contact.Create(fixtureA, indexA, fixtureB, indexB)
+            } else {
+                contact.Create(fixtureB, indexB, fixtureA, indexA)
+            }
+            return contact
+        }
+        return null
+    };
+    b2Contact.Destroy = function (contact) {
+        var fixtureA = contact.m_fixtureA;
+        var fixtureB = contact.m_fixtureB;
+        if (contact.m_manifold.pointCount > 0 && fixtureA.IsSensor() == false && fixtureB.IsSensor() == false) {
+            fixtureA.GetBody().SetAwake(true);
+            fixtureB.GetBody().SetAwake(true)
+        }
+        var typeA = fixtureA.GetType();
+        var typeB = fixtureB.GetType();
+        b2Contact.s_registers[typeA][typeB].fcn.garbage.push(contact)
+    };
+    b2Contact.s_registers = [];
+    b2Contact.s_initialized = false;
+    "use strict";
+    var b2_defaultFilter = new b2ContactFilter();
+    var b2_defaultListener = new b2ContactListener();
+
+    function b2ContactManager() {
+        this.m_broadPhase = new b2BroadPhase();
+        this.m_contactList = null;
+        this.m_contactCount = 0;
+        this.m_contactFilter = b2_defaultFilter;
+        this.m_contactListener = b2_defaultListener
+    }
+    b2ContactManager.prototype = {
+        AddPair: function (proxyUserDataA, proxyUserDataB) {
+            var proxyA = proxyUserDataA;
+            var proxyB = proxyUserDataB;
+            var fixtureA = proxyA.fixture;
+            var fixtureB = proxyB.fixture;
+            var indexA = proxyA.childIndex;
+            var indexB = proxyB.childIndex;
+            var bodyA = fixtureA.GetBody();
+            var bodyB = fixtureB.GetBody();
+            if (bodyA == bodyB) {
+                return
+            }
+            var edge = bodyB.GetContactList();
+            while (edge) {
+                if (edge.other == bodyA) {
+                    var fA = edge.contact.GetFixtureA();
+                    var fB = edge.contact.GetFixtureB();
+                    var iA = edge.contact.GetChildIndexA();
+                    var iB = edge.contact.GetChildIndexB();
+                    if (fA == fixtureA && fB == fixtureB && iA == indexA && iB == indexB) {
+                        return
+                    }
+                    if (fA == fixtureB && fB == fixtureA && iA == indexB && iB == indexA) {
+                        return
+                    }
+                }
+                edge = edge.next
+            }
+            if (bodyB.ShouldCollide(bodyA) == false) {
+                return
+            }
+            if (this.m_contactFilter && this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) {
+                return
+            }
+            var c = b2Contact.Create(fixtureA, indexA, fixtureB, indexB);
+            if (c == null) {
+                return
+            }
+            fixtureA = c.GetFixtureA();
+            fixtureB = c.GetFixtureB();
+            indexA = c.GetChildIndexA();
+            indexB = c.GetChildIndexB();
+            bodyA = fixtureA.GetBody();
+            bodyB = fixtureB.GetBody();
+            c.m_prev = null;
+            c.m_next = this.m_contactList;
+            if (this.m_contactList != null) {
+                this.m_contactList.m_prev = c
+            }
+            this.m_contactList = c;
+            c.m_nodeA.contact = c;
+            c.m_nodeA.other = bodyB;
+            c.m_nodeA.prev = null;
+            c.m_nodeA.next = bodyA.m_contactList;
+            if (bodyA.m_contactList != null) {
+                bodyA.m_contactList.prev = c.m_nodeA
+            }
+            bodyA.m_contactList = c.m_nodeA;
+            c.m_nodeB.contact = c;
+            c.m_nodeB.other = bodyA;
+            c.m_nodeB.prev = null;
+            c.m_nodeB.next = bodyB.m_contactList;
+            if (bodyB.m_contactList != null) {
+                bodyB.m_contactList.prev = c.m_nodeB
+            }
+            bodyB.m_contactList = c.m_nodeB;
+            if (fixtureA.IsSensor() == false && fixtureB.IsSensor() == false) {
+                bodyA.SetAwake(true);
+                bodyB.SetAwake(true)
+            }++this.m_contactCount
+        },
+        FindNewContacts: function () {
+            this.m_broadPhase.UpdatePairs(this)
+        },
+        Destroy: function (c) {
+            var fixtureA = c.GetFixtureA();
+            var fixtureB = c.GetFixtureB();
+            var bodyA = fixtureA.GetBody();
+            var bodyB = fixtureB.GetBody();
+            if (this.m_contactListener && c.IsTouching()) {
+                this.m_contactListener.EndContact(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_contactList) {
+                this.m_contactList = c.m_next
+            }
+            if (c.m_nodeA.prev) {
+                c.m_nodeA.prev.next = c.m_nodeA.next
+            }
+            if (c.m_nodeA.next) {
+                c.m_nodeA.next.prev = c.m_nodeA.prev
+            }
+            if (c.m_nodeA == bodyA.m_contactList) {
+                bodyA.m_contactList = c.m_nodeA.next
+            }
+            if (c.m_nodeB.prev) {
+                c.m_nodeB.prev.next = c.m_nodeB.next
+            }
+            if (c.m_nodeB.next) {
+                c.m_nodeB.next.prev = c.m_nodeB.prev
+            }
+            if (c.m_nodeB == bodyB.m_contactList) {
+                bodyB.m_contactList = c.m_nodeB.next
+            }
+            b2Contact.Destroy(c);
+            --this.m_contactCount
+        },
+        Collide: function () {
+            var c = this.m_contactList;
+            while (c) {
+                var fixtureA = c.GetFixtureA();
+                var fixtureB = c.GetFixtureB();
+                var indexA = c.GetChildIndexA();
+                var indexB = c.GetChildIndexB();
+                var bodyA = fixtureA.GetBody();
+                var bodyB = fixtureB.GetBody();
+                if (c.m_flags & b2Contact.e_filterFlag) {
+                    if (bodyB.ShouldCollide(bodyA) == false) {
+                        var cNuke = c;
+                        c = cNuke.GetNext();
+                        this.Destroy(cNuke);
+                        continue
+                    }
+                    if (this.m_contactFilter && this.m_contactFilter.ShouldCollide(fixtureA, fixtureB) == false) {
+                        var cNuke = c;
+                        c = cNuke.GetNext();
+                        this.Destroy(cNuke);
+                        continue
+                    }
+                    c.m_flags &= ~b2Contact.e_filterFlag
+                }
+                var activeA = bodyA.IsAwake() && bodyA.m_type != b2Body.b2_staticBody;
+                var activeB = bodyB.IsAwake() && bodyB.m_type != b2Body.b2_staticBody;
+                if (activeA == false && activeB == false) {
+                    c = c.GetNext();
+                    continue
+                }
+                var proxyIdA = fixtureA.m_proxies[indexA].proxyId;
+                var proxyIdB = fixtureB.m_proxies[indexB].proxyId;
+                var overlap = this.m_broadPhase.TestOverlap(proxyIdA, proxyIdB);
+                if (overlap == false) {
+                    var cNuke = c;
+                    c = cNuke.GetNext();
+                    this.Destroy(cNuke);
+                    continue
+                }
+                c.Update(this.m_contactListener);
+                c = c.GetNext()
+            }
+        }
+    };
+
+    function b2VelocityConstraintPoint() {
+        this.rA = new b2Vec2();
+        this.rB = new b2Vec2();
+        this.normalImpulse = 0;
+        this.tangentImpulse = 0;
+        this.normalMass = 0;
+        this.tangentMass = 0;
+        this.velocityBias = 0
+    }
+
+    function b2ContactPositionConstraint() {
+        this.localPoints = new Array(b2_maxManifoldPoints);
+        this.localNormal = new b2Vec2();
+        this.localPoint = new b2Vec2();
+        this.indexA = 0;
+        this.indexB = 0;
+        this.invMassA = 0, this.invMassB = 0;
+        this.localCenterA = new b2Vec2(), this.localCenterB = new b2Vec2();
+        this.invIA = 0, this.invIB = 0;
+        this.type = 0;
+        this.radiusA = 0, this.radiusB = 0;
+        this.pointCount = 0
+    }
+
+    function b2ContactVelocityConstraint() {
+        this.points = new Array(b2_maxManifoldPoints);
+        for (var i = 0; i < this.points.length; ++i) {
+            this.points[i] = new b2VelocityConstraintPoint()
+        }
+        this.normal = new b2Vec2();
+        this.normalMass = new b2Mat22();
+        this.K = new b2Mat22();
+        this.indexA = 0;
+        this.indexB = 0;
+        this.invMassA = 0, this.invMassB = 0;
+        this.invIA = 0, this.invIB = 0;
+        this.friction = 0;
+        this.restitution = 0;
+        this.tangentSpeed = 0;
+        this.pointCount = 0;
+        this.contactIndex = 0
+    }
+
+    function b2PositionSolverManifold() {
+        this.normal = new b2Vec2();
+        this.point = new b2Vec2();
+        this.separation = 0
+    }
+    b2PositionSolverManifold.prototype = {
+        Initialize: function (pc, xfA, xfB, index) {
+            switch (pc.type) {
+                case b2Manifold.e_circles:
+                    var pointAx = (xfA.q.c * pc.localPoint.x - xfA.q.s * pc.localPoint.y) + xfA.p.x;
+                    var pointAy = (xfA.q.s * pc.localPoint.x + xfA.q.c * pc.localPoint.y) + xfA.p.y;
+                    var pointBx = (xfB.q.c * pc.localPoints[0].x - xfB.q.s * pc.localPoints[0].y) + xfB.p.x;
+                    var pointBy = (xfB.q.s * pc.localPoints[0].x + xfB.q.c * pc.localPoints[0].y) + xfB.p.y;
+                    this.point.x = 0.5 * (pointAx + pointBx);
+                    this.point.y = 0.5 * (pointAy + pointBy);
+                    this.normal.x = pointBx - pointAx;
+                    this.normal.y = pointBy - pointAy;
+                    var tempnx = this.normal.x;
+                    var tempny = this.normal.y;
+                    this.normal.Normalize();
+                    this.separation = (tempnx * this.normal.x + tempny * this.normal.y) - pc.radiusA - pc.radiusB;
+                    break;
+                case b2Manifold.e_faceA:
+                    this.normal.x = xfA.q.c * pc.localNormal.x - xfA.q.s * pc.localNormal.y;
+                    this.normal.y = xfA.q.s * pc.localNormal.x + xfA.q.c * pc.localNormal.y;
+                    var planePointx = (xfA.q.c * pc.localPoint.x - xfA.q.s * pc.localPoint.y) + xfA.p.x;
+                    var planePointy = (xfA.q.s * pc.localPoint.x + xfA.q.c * pc.localPoint.y) + xfA.p.y;
+                    var clipPointx = (xfB.q.c * pc.localPoints[index].x - xfB.q.s * pc.localPoints[index].y) + xfB.p.x;
+                    var clipPointy = (xfB.q.s * pc.localPoints[index].x + xfB.q.c * pc.localPoints[index].y) + xfB.p.y;
+                    this.separation = ((clipPointx - planePointx) * this.normal.x + (clipPointy - planePointy) * this.normal.y) - pc.radiusA - pc.radiusB;
+                    this.point.x = clipPointx;
+                    this.point.y = clipPointy;
+                    break;
+                case b2Manifold.e_faceB:
+                    this.normal.x = xfB.q.c * pc.localNormal.x - xfB.q.s * pc.localNormal.y;
+                    this.normal.y = xfB.q.s * pc.localNormal.x + xfB.q.c * pc.localNormal.y;
+                    var planePointx = (xfB.q.c * pc.localPoint.x - xfB.q.s * pc.localPoint.y) + xfB.p.x;
+                    var planePointy = (xfB.q.s * pc.localPoint.x + xfB.q.c * pc.localPoint.y) + xfB.p.y;
+                    var clipPointx = (xfA.q.c * pc.localPoints[index].x - xfA.q.s * pc.localPoints[index].y) + xfA.p.x;
+                    var clipPointy = (xfA.q.s * pc.localPoints[index].x + xfA.q.c * pc.localPoints[index].y) + xfA.p.y;
+                    this.separation = ((clipPointx - planePointx) * this.normal.x + (clipPointy - planePointy) * this.normal.y) - pc.radiusA - pc.radiusB;
+                    this.point.x = clipPointx;
+                    this.point.y = clipPointy;
+                    this.normal.x = -this.normal.x;
+                    this.normal.y = -this.normal.y;
+                    break
+            }
+        }
+    };
+
+    function b2ContactSolverDef() {
+        this.step = new b2TimeStep();
+        this.contacts = null;
+        this.count = 0;
+        this.positions = null;
+        this.velocities = null
+    }
+
+    function b2ContactSolver() {
+        this.m_positionConstraints = [];
+        this.m_velocityConstraints = []
+    }
+    b2ContactSolver.cs_xfA = new b2Transform();
+    b2ContactSolver.cs_xfB = new b2Transform();
+    b2ContactSolver.temp_solver_manifold = new b2PositionSolverManifold();
+    b2ContactSolver.prototype = {
+        Init: function (def) {
+            this.m_step = def.step;
+            this.m_count = def.count;
+            this.m_positionConstraints.length = this.m_count;
+            this.m_velocityConstraints.length = this.m_count;
+            this.m_positions = def.positions;
+            this.m_velocities = def.velocities;
+            this.m_contacts = def.contacts;
+            for (var i = 0; i < this.m_count; ++i) {
+                var contact = this.m_contacts[i];
+                var fixtureA = contact.m_fixtureA;
+                var fixtureB = contact.m_fixtureB;
+                var shapeA = fixtureA.GetShape();
+                var shapeB = fixtureB.GetShape();
+                var radiusA = shapeA.m_radius;
+                var radiusB = shapeB.m_radius;
+                var bodyA = fixtureA.GetBody();
+                var bodyB = fixtureB.GetBody();
+                var manifold = contact.GetManifold();
+                var pointCount = manifold.pointCount;
+                var vc = this.m_velocityConstraints[i] || new b2ContactVelocityConstraint();
+                vc.friction = contact.m_friction;
+                vc.restitution = contact.m_restitution;
+                vc.tangentSpeed = contact.m_tangentSpeed;
+                vc.indexA = bodyA.m_islandIndex;
+                vc.indexB = bodyB.m_islandIndex;
+                vc.invMassA = bodyA.m_invMass;
+                vc.invMassB = bodyB.m_invMass;
+                vc.invIA = bodyA.m_invI;
+                vc.invIB = bodyB.m_invI;
+                vc.contactIndex = i;
+                vc.pointCount = pointCount;
+                vc.K.SetZero();
+                vc.normalMass.SetZero();
+                this.m_velocityConstraints[i] = vc;
+                var pc = this.m_positionConstraints[i] || new b2ContactPositionConstraint();
+                pc.indexA = bodyA.m_islandIndex;
+                pc.indexB = bodyB.m_islandIndex;
+                pc.invMassA = bodyA.m_invMass;
+                pc.invMassB = bodyB.m_invMass;
+                pc.localCenterA.x = bodyA.m_sweep.localCenter.x;
+                pc.localCenterA.y = bodyA.m_sweep.localCenter.y;
+                pc.localCenterB.x = bodyB.m_sweep.localCenter.x;
+                pc.localCenterB.y = bodyB.m_sweep.localCenter.y;
+                pc.invIA = bodyA.m_invI;
+                pc.invIB = bodyB.m_invI;
+                pc.localNormal.x = manifold.localNormal.x;
+                pc.localNormal.y = manifold.localNormal.y;
+                pc.localPoint.x = manifold.localPoint.x;
+                pc.localPoint.y = manifold.localPoint.y;
+                pc.pointCount = pointCount;
+                pc.radiusA = radiusA;
+                pc.radiusB = radiusB;
+                pc.type = manifold.type;
+                this.m_positionConstraints[i] = pc;
+                for (var j = 0; j < pointCount; ++j) {
+                    var cp = manifold.points[j];
+                    var vcp = vc.points[j];
+                    if (this.m_step.warmStarting) {
+                        vcp.normalImpulse = this.m_step.dtRatio * cp.normalImpulse;
+                        vcp.tangentImpulse = this.m_step.dtRatio * cp.tangentImpulse
+                    } else {
+                        vcp.normalImpulse = 0;
+                        vcp.tangentImpulse = 0
+                    }
+                    vcp.rA.SetZero();
+                    vcp.rB.SetZero();
+                    vcp.normalMass = 0;
+                    vcp.tangentMass = 0;
+                    vcp.velocityBias = 0;
+                    pc.localPoints[j] = cp.localPoint
+                }
+            }
+        },
+        InitializeVelocityConstraints: function () {
+            for (var i = 0; i < this.m_count; ++i) {
+                var vc = this.m_velocityConstraints[i];
+                var pc = this.m_positionConstraints[i];
+                var radiusA = pc.radiusA;
+                var radiusB = pc.radiusB;
+                var manifold = this.m_contacts[vc.contactIndex].GetManifold();
+                var indexA = vc.indexA;
+                var indexB = vc.indexB;
+                var mA = vc.invMassA;
+                var mB = vc.invMassB;
+                var iA = vc.invIA;
+                var iB = vc.invIB;
+                var localCenterA = pc.localCenterA;
+                var localCenterB = pc.localCenterB;
+                var cA = this.m_positions[indexA].c;
+                var aA = this.m_positions[indexA].a;
+                var vA = this.m_velocities[indexA].v;
+                var wA = this.m_velocities[indexA].w;
+                var cB = this.m_positions[indexB].c;
+                var aB = this.m_positions[indexB].a;
+                var vB = this.m_velocities[indexB].v;
+                var wB = this.m_velocities[indexB].w;
+                b2ContactSolver.cs_xfA.q.Set(aA);
+                b2ContactSolver.cs_xfB.q.Set(aB);
+                b2ContactSolver.cs_xfA.p.x = cA.x - (b2ContactSolver.cs_xfA.q.c * localCenterA.x - b2ContactSolver.cs_xfA.q.s * localCenterA.y);
+                b2ContactSolver.cs_xfA.p.y = cA.y - (b2ContactSolver.cs_xfA.q.s * localCenterA.x + b2ContactSolver.cs_xfA.q.c * localCenterA.y);
+                b2ContactSolver.cs_xfB.p.x = cB.x - (b2ContactSolver.cs_xfB.q.c * localCenterB.x - b2ContactSolver.cs_xfB.q.s * localCenterB.y);
+                b2ContactSolver.cs_xfB.p.y = cB.y - (b2ContactSolver.cs_xfB.q.s * localCenterB.x + b2ContactSolver.cs_xfB.q.c * localCenterB.y);
+                var worldManifold = new b2WorldManifold();
+                worldManifold.Initialize(manifold, b2ContactSolver.cs_xfA, radiusA, b2ContactSolver.cs_xfB, radiusB);
+                vc.normal.x = worldManifold.normal.x;
+                vc.normal.y = worldManifold.normal.y;
+                var pointCount = vc.pointCount;
+                for (var j = 0; j < pointCount; ++j) {
+                    var vcp = vc.points[j];
+                    vcp.rA.x = worldManifold.points[j].x - cA.x;
+                    vcp.rA.y = worldManifold.points[j].y - cA.y;
+                    vcp.rB.x = worldManifold.points[j].x - cB.x;
+                    vcp.rB.y = worldManifold.points[j].y - cB.y;
+                    var rnA = vcp.rA.x * vc.normal.y - vcp.rA.y * vc.normal.x;
+                    var rnB = vcp.rB.x * vc.normal.y - vcp.rB.y * vc.normal.x;
+                    var kNormal = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
+                    vcp.normalMass = kNormal > 0 ? 1 / kNormal : 0;
+                    var tangentx = 1 * vc.normal.y;
+                    var tangenty = -1 * vc.normal.x;
+                    var rtA = vcp.rA.x * tangenty - vcp.rA.y * tangentx;
+                    var rtB = vcp.rB.x * tangenty - vcp.rB.y * tangentx;
+                    var kTangent = mA + mB + iA * rtA * rtA + iB * rtB * rtB;
+                    vcp.tangentMass = kTangent > 0 ? 1 / kTangent : 0;
+                    vcp.velocityBias = 0;
+                    var vRel = vc.normal.x * (((vB.x + (-wB * vcp.rB.y)) - vA.x) - (-wA * vcp.rA.y)) + vc.normal.y * (((vB.y + (wB * vcp.rB.x)) - vA.y) - (wA * vcp.rA.x));
+                    if (vRel < -b2_velocityThreshold) {
+                        vcp.velocityBias = -vc.restitution * vRel
+                    }
+                }
+                if (vc.pointCount == 2) {
+                    var vcp1 = vc.points[0];
+                    var vcp2 = vc.points[1];
+                    var rn1A = vcp1.rA.x * vc.normal.y - vcp1.rA.y * vc.normal.x;
+                    var rn1B = vcp1.rB.x * vc.normal.y - vcp1.rB.y * vc.normal.x;
+                    var rn2A = vcp2.rA.x * vc.normal.y - vcp2.rA.y * vc.normal.x;
+                    var rn2B = vcp2.rB.x * vc.normal.y - vcp2.rB.y * vc.normal.x;
+                    var k11 = mA + mB + iA * rn1A * rn1A + iB * rn1B * rn1B;
+                    var k22 = mA + mB + iA * rn2A * rn2A + iB * rn2B * rn2B;
+                    var k12 = mA + mB + iA * rn1A * rn2A + iB * rn1B * rn2B;
+                    var k_maxConditionNumber = 1000;
+                    if (k11 * k11 < k_maxConditionNumber * (k11 * k22 - k12 * k12)) {
+                        vc.K.ex.x = k11;
+                        vc.K.ex.y = k12;
+                        vc.K.ey.x = k12;
+                        vc.K.ey.y = k22;
+                        vc.normalMass.Assign(vc.K.GetInverse())
+                    } else {
+                        vc.pointCount = 1
+                    }
+                }
+            }
+        },
+        WarmStart: function () {
+            for (var i = 0; i < this.m_count; ++i) {
+                var vc = this.m_velocityConstraints[i];
+                var indexA = vc.indexA;
+                var indexB = vc.indexB;
+                var mA = vc.invMassA;
+                var iA = vc.invIA;
+                var mB = vc.invMassB;
+                var iB = vc.invIB;
+                var pointCount = vc.pointCount;
+                var vA = this.m_velocities[indexA].v;
+                var wA = this.m_velocities[indexA].w;
+                var vB = this.m_velocities[indexB].v;
+                var wB = this.m_velocities[indexB].w;
+                var normal = vc.normal;
+                var tangentx = 1 * normal.y;
+                var tangenty = -1 * normal.x;
+                for (var j = 0; j < pointCount; ++j) {
+                    var vcp = vc.points[j];
+                    var Px = (vcp.normalImpulse * normal.x) + (vcp.tangentImpulse * tangentx);
+                    var Py = (vcp.normalImpulse * normal.y) + (vcp.tangentImpulse * tangenty);
+                    wA -= iA * (vcp.rA.x * Py - vcp.rA.y * Px);
+                    vA.x -= mA * Px;
+                    vA.y -= mA * Py;
+                    wB += iB * (vcp.rB.x * Py - vcp.rB.y * Px);
+                    vB.x += mB * Px;
+                    vB.y += mB * Py
+                }
+                this.m_velocities[indexA].w = wA;
+                this.m_velocities[indexB].w = wB
+            }
+        },
+        SolveVelocityConstraints: function () {
+            for (var i = 0; i < this.m_count; ++i) {
+                var vc = this.m_velocityConstraints[i];
+                var indexA = vc.indexA;
+                var indexB = vc.indexB;
+                var mA = vc.invMassA;
+                var iA = vc.invIA;
+                var mB = vc.invMassB;
+                var iB = vc.invIB;
+                var pointCount = vc.pointCount;
+                var vA = this.m_velocities[indexA].v;
+                var wA = this.m_velocities[indexA].w;
+                var vB = this.m_velocities[indexB].v;
+                var wB = this.m_velocities[indexB].w;
+                var normal = vc.normal;
+                var tangentx = 1 * normal.y;
+                var tangenty = -1 * normal.x;
+                var friction = vc.friction;
+                for (var j = 0; j < pointCount; ++j) {
+                    var vcp = vc.points[j];
+                    var dvx = vB.x + (-wB * vcp.rB.y) - vA.x - (-wA * vcp.rA.y);
+                    var dvy = vB.y + (wB * vcp.rB.x) - vA.y - (wA * vcp.rA.x);
+                    var vt = (dvx * tangentx + dvy * tangenty) - vc.tangentSpeed;
+                    var lambda = vcp.tangentMass * (-vt);
+                    var maxFriction = friction * vcp.normalImpulse;
+                    var newImpulse = b2Clamp(vcp.tangentImpulse + lambda, -maxFriction, maxFriction);
+                    lambda = newImpulse - vcp.tangentImpulse;
+                    vcp.tangentImpulse = newImpulse;
+                    var Px = lambda * tangentx;
+                    var Py = lambda * tangenty;
+                    vA.x -= mA * Px;
+                    vA.y -= mA * Py;
+                    wA -= iA * (vcp.rA.x * Py - vcp.rA.y * Px);
+                    vB.x += mB * Px;
+                    vB.y += mB * Py;
+                    wB += iB * (vcp.rB.x * Py - vcp.rB.y * Px)
+                }
+                if (vc.pointCount == 1) {
+                    vcp = vc.points[0];
+                    dvx = vB.x + (-wB * vcp.rB.y) - vA.x - (-wA * vcp.rA.y);
+                    dvy = vB.y + (wB * vcp.rB.x) - vA.y - (wA * vcp.rA.x);
+                    var vn = dvx * normal.x + dvy * normal.y;
+                    var lambda = -vcp.normalMass * (vn - vcp.velocityBias);
+                    var newImpulse = b2Max(vcp.normalImpulse + lambda, 0);
+                    lambda = newImpulse - vcp.normalImpulse;
+                    vcp.normalImpulse = newImpulse;
+                    Px = lambda * normal.x;
+                    Py = lambda * normal.y;
+                    vA.x -= mA * Px;
+                    vA.y -= mA * Py;
+                    wA -= iA * (vcp.rA.x * Py - vcp.rA.y * Px);
+                    vB.x += mB * Px;
+                    vB.y += mB * Py;
+                    wB += iB * (vcp.rB.x * Py - vcp.rB.y * Px)
+                } else {
+                    var cp1 = vc.points[0];
+                    var cp2 = vc.points[1];
+                    var ax = cp1.normalImpulse;
+                    var ay = cp2.normalImpulse;
+                    var dv1x = vB.x + (-wB * cp1.rB.y) - vA.x - (-wA * cp1.rA.y);
+                    var dv1y = vB.y + (wB * cp1.rB.x) - vA.y - (wA * cp1.rA.x);
+                    var dv2x = vB.x + (-wB * cp2.rB.y) - vA.x - (-wA * cp2.rA.y);
+                    var dv2y = vB.y + (wB * cp2.rB.x) - vA.y - (wA * cp2.rA.x);
+                    var vn1 = dv1x * normal.x + dv1y * normal.y;
+                    var vn2 = dv2x * normal.x + dv2y * normal.y;
+                    var bx = vn1 - cp1.velocityBias;
+                    var by = vn2 - cp2.velocityBias;
+                    bx -= vc.K.ex.x * ax + vc.K.ey.x * ay;
+                    by -= vc.K.ex.y * ax + vc.K.ey.y * ay;
+                    for (;;) {
+                        var xx = -(vc.normalMass.ex.x * bx + vc.normalMass.ey.x * by);
+                        var xy = -(vc.normalMass.ex.y * bx + vc.normalMass.ey.y * by);
+                        if (xx >= 0 && xy >= 0) {
+                            var dx = xx - ax;
+                            var dy = xy - ay;
+                            var P1x = dx * normal.x;
+                            var P1y = dx * normal.y;
+                            var P2x = dy * normal.x;
+                            var P2y = dy * normal.y;
+                            vA.x -= mA * (P1x + P2x);
+                            vA.y -= mA * (P1y + P2y);
+                            wA -= iA * ((cp1.rA.x * P1y - cp1.rA.y * P1x) + (cp2.rA.x * P2y - cp2.rA.y * P2x));
+                            vB.x += mB * (P1x + P2x);
+                            vB.y += mB * (P1y + P2y);
+                            wB += iB * ((cp1.rB.x * P1y - cp1.rB.y * P1x) + (cp2.rB.x * P2y - cp2.rB.y * P2x));
+                            cp1.normalImpulse = xx;
+                            cp2.normalImpulse = xy;
+                            break
+                        }
+                        xx = -cp1.normalMass * bx;
+                        xy = 0;
+                        vn1 = 0;
+                        vn2 = vc.K.ex.y * xx + by;
+                        if (xx >= 0 && vn2 >= 0) {
+                            dx = xx - ax;
+                            dy = xy - ay;
+                            P1x = dx * normal.x;
+                            P1y = dx * normal.y;
+                            P2x = dy * normal.x;
+                            P2y = dy * normal.y;
+                            vA.x -= mA * (P1x + P2x);
+                            vA.y -= mA * (P1y + P2y);
+                            wA -= iA * ((cp1.rA.x * P1y - cp1.rA.y * P1x) + (cp2.rA.x * P2y - cp2.rA.y * P2x));
+                            vB.x += mB * (P1x + P2x);
+                            vB.y += mB * (P1y + P2y);
+                            wB += iB * ((cp1.rB.x * P1y - cp1.rB.y * P1x) + (cp2.rB.x * P2y - cp2.rB.y * P2x));
+                            cp1.normalImpulse = xx;
+                            cp2.normalImpulse = xy;
+                            break
+                        }
+                        xx = 0;
+                        xy = -cp2.normalMass * by;
+                        vn1 = vc.K.ey.x * xy + bx;
+                        vn2 = 0;
+                        if (xy >= 0 && vn1 >= 0) {
+                            dx = xx - ax;
+                            dy = xy - ay;
+                            P1x = dx * normal.x;
+                            P1y = dx * normal.y;
+                            P2x = dy * normal.x;
+                            P2y = dy * normal.y;
+                            vA.x -= mA * (P1x + P2x);
+                            vA.y -= mA * (P1y + P2y);
+                            wA -= iA * ((cp1.rA.x * P1y - cp1.rA.y * P1x) + (cp2.rA.x * P2y - cp2.rA.y * P2x));
+                            vB.x += mB * (P1x + P2x);
+                            vB.y += mB * (P1y + P2y);
+                            wB += iB * ((cp1.rB.x * P1y - cp1.rB.y * P1x) + (cp2.rB.x * P2y - cp2.rB.y * P2x));
+                            cp1.normalImpulse = xx;
+                            cp2.normalImpulse = xy;
+                            break
+                        }
+                        xx = 0;
+                        xy = 0;
+                        vn1 = bx;
+                        vn2 = by;
+                        if (vn1 >= 0 && vn2 >= 0) {
+                            dx = xx - ax;
+                            dy = xy - ay;
+                            P1x = dx * normal.x;
+                            P1y = dx * normal.y;
+                            P2x = dy * normal.x;
+                            P2y = dy * normal.y;
+                            vA.x -= mA * (P1x + P2x);
+                            vA.y -= mA * (P1y + P2y);
+                            wA -= iA * ((cp1.rA.x * P1y - cp1.rA.y * P1x) + (cp2.rA.x * P2y - cp2.rA.y * P2x));
+                            vB.x += mB * (P1x + P2x);
+                            vB.y += mB * (P1y + P2y);
+                            wB += iB * ((cp1.rB.x * P1y - cp1.rB.y * P1x) + (cp2.rB.x * P2y - cp2.rB.y * P2x));
+                            cp1.normalImpulse = xx;
+                            cp2.normalImpulse = xy;
+                            break
+                        }
+                        break
+                    }
+                }
+                this.m_velocities[indexA].w = wA;
+                this.m_velocities[indexB].w = wB
+            }
+        },
+        StoreImpulses: function () {
+            for (var i = 0; i < this.m_count; ++i) {
+                var vc = this.m_velocityConstraints[i];
+                var manifold = this.m_contacts[vc.contactIndex].GetManifold();
+                for (var j = 0; j < vc.pointCount; ++j) {
+                    manifold.points[j].normalImpulse = vc.points[j].normalImpulse;
+                    manifold.points[j].tangentImpulse = vc.points[j].tangentImpulse
+                }
+            }
+        },
+        SolvePositionConstraints: function () {
+            var minSeparation = 0;
+            for (var i = 0; i < this.m_count; ++i) {
+                var pc = this.m_positionConstraints[i];
+                var indexA = pc.indexA;
+                var indexB = pc.indexB;
+                var localCenterA = pc.localCenterA;
+                var mA = pc.invMassA;
+                var iA = pc.invIA;
+                var localCenterB = pc.localCenterB;
+                var mB = pc.invMassB;
+                var iB = pc.invIB;
+                var pointCount = pc.pointCount;
+                var cA = this.m_positions[indexA].c;
+                var aA = this.m_positions[indexA].a;
+                var cB = this.m_positions[indexB].c;
+                var aB = this.m_positions[indexB].a;
+                for (var j = 0; j < pointCount; ++j) {
+                    b2ContactSolver.cs_xfA.q.Set(aA);
+                    b2ContactSolver.cs_xfB.q.Set(aB);
+                    b2ContactSolver.cs_xfA.p.x = cA.x - (b2ContactSolver.cs_xfA.q.c * localCenterA.x - b2ContactSolver.cs_xfA.q.s * localCenterA.y);
+                    b2ContactSolver.cs_xfA.p.y = cA.y - (b2ContactSolver.cs_xfA.q.s * localCenterA.x + b2ContactSolver.cs_xfA.q.c * localCenterA.y);
+                    b2ContactSolver.cs_xfB.p.x = cB.x - (b2ContactSolver.cs_xfB.q.c * localCenterB.x - b2ContactSolver.cs_xfB.q.s * localCenterB.y);
+                    b2ContactSolver.cs_xfB.p.y = cB.y - (b2ContactSolver.cs_xfB.q.s * localCenterB.x + b2ContactSolver.cs_xfB.q.c * localCenterB.y);
+                    b2ContactSolver.temp_solver_manifold.Initialize(pc, b2ContactSolver.cs_xfA, b2ContactSolver.cs_xfB, j);
+                    var normal = b2ContactSolver.temp_solver_manifold.normal;
+                    var point = b2ContactSolver.temp_solver_manifold.point;
+                    var separation = b2ContactSolver.temp_solver_manifold.separation;
+                    var rAx = point.x - cA.x;
+                    var rAy = point.y - cA.y;
+                    var rBx = point.x - cB.x;
+                    var rBy = point.y - cB.y;
+                    minSeparation = b2Min(minSeparation, separation);
+                    var C = b2Clamp(b2_baumgarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0);
+                    var rnA = rAx * normal.y - rAy * normal.x;
+                    var rnB = rBx * normal.y - rBy * normal.x;
+                    var K = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
+                    var impulse = K > 0 ? -C / K : 0;
+                    var Px = impulse * normal.x;
+                    var Py = impulse * normal.y;
+                    cA.x -= mA * Px;
+                    cA.y -= mA * Py;
+                    aA -= iA * (rAx * Py - rAy * Px);
+                    cB.x += mB * Px;
+                    cB.y += mB * Py;
+                    aB += iB * (rBx * Py - rBy * Px)
+                }
+                this.m_positions[indexA].a = aA;
+                this.m_positions[indexB].a = aB
+            }
+            return minSeparation >= -3 * b2_linearSlop
+        },
+        SolveTOIPositionConstraints: function (toiIndexA, toiIndexB) {
+            var minSeparation = 0;
+            for (var i = 0; i < this.m_count; ++i) {
+                var pc = this.m_positionConstraints[i];
+                var indexA = pc.indexA;
+                var indexB = pc.indexB;
+                var localCenterA = pc.localCenterA;
+                var localCenterB = pc.localCenterB;
+                var pointCount = pc.pointCount;
+                var mA = 0;
+                var iA = 0;
+                if (indexA == toiIndexA || indexA == toiIndexB) {
+                    mA = pc.invMassA;
+                    iA = pc.invIA
+                }
+                var mB = 0;
+                var iB = 0;
+                if (indexB == toiIndexA || indexB == toiIndexB) {
+                    mB = pc.invMassB;
+                    iB = pc.invIB
+                }
+                var cA = this.m_positions[indexA].c;
+                var aA = this.m_positions[indexA].a;
+                var cB = this.m_positions[indexB].c;
+                var aB = this.m_positions[indexB].a;
+                for (var j = 0; j < pointCount; ++j) {
+                    b2ContactSolver.cs_xfA.q.Set(aA);
+                    b2ContactSolver.cs_xfB.q.Set(aB);
+                    b2ContactSolver.cs_xfA.p.Assign(b2Vec2.Subtract(cA, b2Mul_r_v2(b2ContactSolver.cs_xfA.q, localCenterA)));
+                    b2ContactSolver.cs_xfB.p.Assign(b2Vec2.Subtract(cB, b2Mul_r_v2(b2ContactSolver.cs_xfB.q, localCenterB)));
+                    b2ContactSolver.temp_solver_manifold.Initialize(pc, b2ContactSolver.cs_xfA, b2ContactSolver.cs_xfB, j);
+                    var normal = b2ContactSolver.temp_solver_manifold.normal;
+                    var point = b2ContactSolver.temp_solver_manifold.point;
+                    var separation = b2ContactSolver.temp_solver_manifold.separation;
+                    var rA = b2Vec2.Subtract(point, cA);
+                    var rB = b2Vec2.Subtract(point, cB);
+                    minSeparation = b2Min(minSeparation, separation);
+                    var C = b2Clamp(b2_toiBaugarte * (separation + b2_linearSlop), -b2_maxLinearCorrection, 0);
+                    var rnA = b2Cross_v2_v2(rA, normal);
+                    var rnB = b2Cross_v2_v2(rB, normal);
+                    var K = mA + mB + iA * rnA * rnA + iB * rnB * rnB;
+                    var impulse = K > 0 ? -C / K : 0;
+                    var P = b2Vec2.Multiply(impulse, normal);
+                    cA.Subtract(b2Vec2.Multiply(mA, P));
+                    aA -= iA * b2Cross_v2_v2(rA, P);
+                    cB.Add(b2Vec2.Multiply(mB, P));
+                    aB += iB * b2Cross_v2_v2(rB, P)
+                }
+                this.m_positions[indexA].a = aA;
+                this.m_positions[indexB].a = aB
+            }
+            return minSeparation >= -1.5 * b2_linearSlop
+        }
+    };
+    "use strict";
+
+    function b2Island() {
+        this.m_bodies = [];
+        this.m_contacts = [];
+        this.m_joints = [];
+        this.m_velocities = [];
+        this.m_positions = []
+    }
+    var profile_solve_init = b2Profiler.create("solve initialization", "solve");
+    var profile_solve_init_warmStarting = b2Profiler.create("warm starting", "solve initialization");
+    var profile_solve_velocity = b2Profiler.create("solve velocities", "solve");
+    var profile_solve_position = b2Profiler.create("solve positions", "solve");
+    b2Island._solverData = new b2SolverData();
+    b2Island._solverDef = new b2ContactSolverDef();
+    b2Island._solver = new b2ContactSolver();
+    b2Island.prototype = {
+        Clear: function () {
+            this.m_bodyCount = 0;
+            this.m_contactCount = 0;
+            this.m_jointCount = 0
+        },
+        Initialize: function (bodyCapacity, contactCapacity, jointCapacity, listener) {
+            this.m_listener = listener;
+            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.length = bodyCapacity;
+            this.m_contacts.length = contactCapacity;
+            this.m_joints.length = jointCapacity;
+            this.m_velocities.length = bodyCapacity;
+            this.m_positions.length = bodyCapacity
+        },
+        Solve: function (step, gravity, allowSleep) {
+            profile_solve_init.start();
+            var h = step.dt;
+            for (var i = 0; i < this.m_bodyCount; ++i) {
+                var b = this.m_bodies[i];
+                this.m_positions[i].c.Assign(b.m_sweep.c);
+                var a = b.m_sweep.a;
+                this.m_velocities[i].v.Assign(b.m_linearVelocity);
+                var w = b.m_angularVelocity;
+                b.m_sweep.c0.Assign(b.m_sweep.c);
+                b.m_sweep.a0 = b.m_sweep.a;
+                if (b.m_type == b2Body.b2_dynamicBody) {
+                    this.m_velocities[i].v.x += h * ((b.m_gravityScale * gravity.x) + (b.m_invMass * b.m_force.x));
+                    this.m_velocities[i].v.y += h * ((b.m_gravityScale * gravity.y) + (b.m_invMass * b.m_force.y));
+                    w += h * b.m_invI * b.m_torque;
+                    this.m_velocities[i].v.x *= 1 / (1 + h * b.m_linearDamping);
+                    this.m_velocities[i].v.y *= 1 / (1 + h * b.m_linearDamping);
+                    w *= 1 / (1 + h * b.m_angularDamping)
+                }
+                this.m_positions[i].a = a;
+                this.m_velocities[i].w = w
+            }
+            b2Island._solverData.step = step;
+            b2Island._solverData.positions = this.m_positions;
+            b2Island._solverData.velocities = this.m_velocities;
+            b2Island._solverDef.step = step;
+            b2Island._solverDef.contacts = this.m_contacts;
+            b2Island._solverDef.count = this.m_contactCount;
+            b2Island._solverDef.positions = this.m_positions;
+            b2Island._solverDef.velocities = this.m_velocities;
+            b2Island._solverDef.allocator = this.m_allocator;
+            b2Island._solver.Init(b2Island._solverDef);
+            b2Island._solver.InitializeVelocityConstraints();
+            if (step.warmStarting) {
+                profile_solve_init_warmStarting.start();
+                b2Island._solver.WarmStart();
+                profile_solve_init_warmStarting.stop()
+            }
+            for (var i = 0; i < this.m_jointCount; ++i) {
+                this.m_joints[i].InitVelocityConstraints(b2Island._solverData)
+            }
+            profile_solve_init.stop();
+            profile_solve_velocity.start();
+            for (var i = 0; i < step.velocityIterations; ++i) {
+                for (var j = 0; j < this.m_jointCount; ++j) {
+                    this.m_joints[j].SolveVelocityConstraints(b2Island._solverData)
+                }
+                b2Island._solver.SolveVelocityConstraints()
+            }
+            b2Island._solver.StoreImpulses();
+            profile_solve_velocity.stop();
+            profile_solve_position.start();
+            for (var i = 0; i < this.m_bodyCount; ++i) {
+                var c = this.m_positions[i].c;
+                var a = this.m_positions[i].a;
+                var v = this.m_velocities[i].v;
+                var w = this.m_velocities[i].w;
+                var translationx = h * v.x;
+                var translationy = h * v.y;
+                var translationl = translationx * translationx + translationy * translationy;
+                if (translationl > b2_maxTranslationSquared) {
+                    var ratio = b2_maxTranslation / b2Sqrt(translationl);
+                    v.x *= ratio;
+                    v.y *= ratio
+                }
+                var rotation = h * w;
+                if (rotation * rotation > b2_maxRotationSquared) {
+                    var ratio = b2_maxRotation / b2Abs(rotation);
+                    w *= ratio
+                }
+                c.x += h * v.x;
+                c.y += h * v.y;
+                a += h * w;
+                this.m_positions[i].a = a;
+                this.m_velocities[i].w = w
+            }
+            var positionSolved = false;
+            for (var i = 0; i < step.positionIterations; ++i) {
+                var contactsOkay = b2Island._solver.SolvePositionConstraints();
+                var jointsOkay = true;
+                for (var j = 0; j < this.m_jointCount; ++j) {
+                    var jointOkay = this.m_joints[j].SolvePositionConstraints(b2Island._solverData);
+                    jointsOkay = jointsOkay && jointOkay
+                }
+                if (contactsOkay && jointsOkay) {
+                    positionSolved = true;
+                    break
+                }
+            }
+            for (var i = 0; i < this.m_bodyCount; ++i) {
+                var body = this.m_bodies[i];
+                body.m_sweep.c.Assign(this.m_positions[i].c);
+                body.m_sweep.a = this.m_positions[i].a;
+                body.m_linearVelocity.Assign(this.m_velocities[i].v);
+                body.m_angularVelocity = this.m_velocities[i].w;
+                body.SynchronizeTransform()
+            }
+            profile_solve_position.stop();
+            this.Report(b2Island._solver.m_velocityConstraints);
+            if (allowSleep) {
+                var minSleepTime = b2_maxFloat;
+                var linTolSqr = b2_linearSleepTolerance * b2_linearSleepTolerance;
+                var angTolSqr = b2_angularSleepTolerance * b2_angularSleepTolerance;
+                for (var i = 0; i < this.m_bodyCount; ++i) {
+                    var b = this.m_bodies[i];
+                    if (b.GetType() == b2Body.b2_staticBody) {
+                        continue
+                    }
+                    if ((b.m_flags & b2Body.e_autoSleepFlag) == 0 || b.m_angularVelocity * b.m_angularVelocity > angTolSqr || b2Dot_v2_v2(b.m_linearVelocity, b.m_linearVelocity) > linTolSqr) {
+                        b.m_sleepTime = 0;
+                        minSleepTime = 0
+                    } else {
+                        b.m_sleepTime += h;
+                        minSleepTime = b2Min(minSleepTime, b.m_sleepTime)
+                    }
+                }
+                if (minSleepTime >= b2_timeToSleep && positionSolved) {
+                    for (var i = 0; i < this.m_bodyCount; ++i) {
+                        var b = this.m_bodies[i];
+                        b.SetAwake(false)
+                    }
+                }
+            }
+        },
+        SolveTOI: function (subStep, toiIndexA, toiIndexB) {
+            for (var i = 0; i < this.m_bodyCount; ++i) {
+                var b = this.m_bodies[i];
+                this.m_positions[i].c.Assign(b.m_sweep.c);
+                this.m_positions[i].a = b.m_sweep.a;
+                this.m_velocities[i].v.Assign(b.m_linearVelocity);
+                this.m_velocities[i].w = b.m_angularVelocity
+            }
+            b2Island._solverDef.contacts = this.m_contacts;
+            b2Island._solverDef.count = this.m_contactCount;
+            b2Island._solverDef.step = subStep;
+            b2Island._solverDef.positions = this.m_positions;
+            b2Island._solverDef.velocities = this.m_velocities;
+            b2Island._solver.Init(b2Island._solverDef);
+            for (var i = 0; i < subStep.positionIterations; ++i) {
+                var contactsOkay = b2Island._solver.SolveTOIPositionConstraints(toiIndexA, toiIndexB);
+                if (contactsOkay) {
+                    break
+                }
+            }
+            this.m_bodies[toiIndexA].m_sweep.c0.Assign(this.m_positions[toiIndexA].c);
+            this.m_bodies[toiIndexA].m_sweep.a0 = this.m_positions[toiIndexA].a;
+            this.m_bodies[toiIndexB].m_sweep.c0.Assign(this.m_positions[toiIndexB].c);
+            this.m_bodies[toiIndexB].m_sweep.a0 = this.m_positions[toiIndexB].a;
+            b2Island._solver.InitializeVelocityConstraints();
+            for (var i = 0; i < subStep.velocityIterations; ++i) {
+                b2Island._solver.SolveVelocityConstraints()
+            }
+            var h = subStep.dt;
+            for (var i = 0; i < this.m_bodyCount; ++i) {
+                var c = this.m_positions[i].c;
+                var a = this.m_positions[i].a;
+                var v = this.m_velocities[i].v;
+                var w = this.m_velocities[i].w;
+                var translation = b2Vec2.Multiply(h, v);
+                if (b2Dot_v2_v2(translation, translation) > b2_maxTranslationSquared) {
+                    var ratio = b2_maxTranslation / translation.Length();
+                    v.Multiply(ratio)
+                }
+                var rotation = h * w;
+                if (rotation * rotation > b2_maxRotationSquared) {
+                    var ratio = b2_maxRotation / b2Abs(rotation);
+                    w *= ratio
+                }
+                c.Add(b2Vec2.Multiply(h, v));
+                a += h * w;
+                this.m_positions[i].a = a;
+                this.m_velocities[i].w = w;
+                var body = this.m_bodies[i];
+                body.m_sweep.c.Assign(c);
+                body.m_sweep.a = a;
+                body.m_linearVelocity.Assign(v);
+                body.m_angularVelocity = w;
+                body.SynchronizeTransform()
+            }
+            this.Report(b2Island._solver.m_velocityConstraints)
+        },
+        AddBody: function (body) {
+            body.m_islandIndex = this.m_bodyCount;
+            this.m_bodies[this.m_bodyCount] = body;
+            if (!this.m_positions[this.m_bodyCount]) {
+                this.m_positions[this.m_bodyCount] = new b2Position();
+                this.m_velocities[this.m_bodyCount] = new b2Velocity()
+            }++this.m_bodyCount
+        },
+        AddContact: function (contact) {
+            this.m_contacts[this.m_contactCount++] = contact
+        },
+        AddJoint: function (joint) {
+            this.m_joints[this.m_jointCount++] = joint
+        },
+        Report: function (constraints) {
+            if (this.m_listener == null) {
+                return
+            }
+            for (var i = 0; i < this.m_contactCount; ++i) {
+                var c = this.m_contacts[i];
+                var vc = constraints[i];
+                var impulse = new b2ContactImpulse();
+                impulse.count = vc.pointCount;
+                for (var j = 0; j < vc.pointCount; ++j) {
+                    impulse.normalImpulses[j] = vc.points[j].normalImpulse;
+                    impulse.tangentImpulses[j] = vc.points[j].tangentImpulse
+                }
+                this.m_listener.PostSolve(c, impulse)
+            }
+        }
+    };
+
+    function b2Jacobian() {
+        this.linear = new b2Vec2();
+        this.angularA = 0;
+        this.angularB = 0
+    }
+
+    function b2JointEdge() {
+        this.other = null;
+        this.joint = null;
+        this.prev = null;
+        this.next = null
+    }
+
+    function b2JointDef() {
+        this.type = b2Joint.e_unknownJoint;
+        this.userData = null;
+        this.bodyA = null;
+        this.bodyB = null;
+        this.collideConnected = false
+    }
+    b2JointDef.prototype = {
+        _deserialize: function (data, bodies, joints) {
+            this.bodyA = bodies[data.bodyA];
+            this.bodyB = bodies[data.bodyB];
+            this.collideConnected = data.collideConnected
+        }
+    };
+
+    function b2Joint(def) {
+        this.m_type = def.type;
+        this.m_prev = null;
+        this.m_next = null;
+        this.m_bodyA = def.bodyA;
+        this.m_bodyB = def.bodyB;
+        this.m_index = 0;
+        this.m_collideConnected = def.collideConnected;
+        this.m_islandFlag = false;
+        this.m_userData = def.userData;
+        this.m_edgeA = new b2JointEdge();
+        this.m_edgeA.joint = null;
+        this.m_edgeA.other = null;
+        this.m_edgeA.prev = null;
+        this.m_edgeA.next = null;
+        this.m_edgeB = new b2JointEdge();
+        this.m_edgeB.joint = null;
+        this.m_edgeB.other = null;
+        this.m_edgeB.prev = null;
+        this.m_edgeB.next = null
+    }
+    b2Joint.prototype = {
+        GetType: function () {
+            return this.m_type
+        },
+        GetBodyA: function () {
+            return this.m_bodyA
+        },
+        GetBodyB: function () {
+            return this.m_bodyB
+        },
+        GetAnchorA: function () {},
+        GetAnchorB: function () {},
+        GetReactionForce: function (inv_dt) {},
+        GetReactionTorque: function (inv_dt) {},
+        GetNext: function () {
+            return this.m_next
+        },
+        GetUserData: function () {
+            return this.m_userData
+        },
+        SetUserData: function (data) {
+            this.m_userData = data
+        },
+        IsActive: function () {
+            return this.m_bodyA.IsActive() && this.m_bodyB.IsActive()
+        },
+        GetCollideConnected: function () {
+            return this.m_collideConnected
+        },
+        ShiftOrigin: function (newOrigin) {},
+        InitVelocityConstraints: function (data) {},
+        SolveVelocityConstraints: function (data) {},
+        SolvePositionConstraints: function (data) {},
+        _serialize: function (out) {
+            var obj = out || {};
+            obj.bodyA = null;
+            obj.bodyB = null;
+            obj.type = this.m_type;
+            obj.collideConnected = this.m_collideConnected;
+            return obj
+        }
+    };
+    b2Joint.e_inactiveLimit = 0;
+    b2Joint.e_atLowerLimit = 1;
+    b2Joint.e_atUpperLimit = 2;
+    b2Joint.e_equalLimits = 3;
+    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_wheelJoint = 7;
+    b2Joint.e_weldJoint = 8;
+    b2Joint.e_frictionJoint = 9;
+    b2Joint.e_ropeJoint = 10;
+    b2Joint.e_motorJoint = 11;
+    b2Joint.Create = function (def) {
+        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;
+            case b2Joint.e_wheelJoint:
+                joint = new b2WheelJoint(def);
+                break;
+            case b2Joint.e_weldJoint:
+                joint = new b2WeldJoint(def);
+                break;
+            case b2Joint.e_frictionJoint:
+                joint = new b2FrictionJoint(def);
+                break;
+            case b2Joint.e_ropeJoint:
+                joint = new b2RopeJoint(def);
+                break;
+            case b2Joint.e_motorJoint:
+                joint = new b2MotorJoint(def);
+                break
+        }
+        return joint
+    };
+    b2Joint.Destroy = function (joint) {};
+
+    function b2RevoluteJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_revoluteJoint;
+        this.localAnchorA = new b2Vec2();
+        this.localAnchorB = new b2Vec2();
+        this.referenceAngle = 0;
+        this.lowerAngle = 0;
+        this.upperAngle = 0;
+        this.maxMotorTorque = 0;
+        this.motorSpeed = 0;
+        this.enableLimit = false;
+        this.enableMotor = false;
+        Object.seal(this)
+    }
+    b2RevoluteJointDef.prototype = {
+        Initialize: function (bA, bB, anchor) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.localAnchorA = this.bodyA.GetLocalPoint(anchor);
+            this.localAnchorB = this.bodyB.GetLocalPoint(anchor);
+            this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle()
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.referenceAngle = data.referenceAngle;
+            this.lowerAngle = data.lowerAngle;
+            this.upperAngle = data.upperAngle;
+            this.maxMotorTorque = data.maxMotorTorque;
+            this.motorSpeed = data.motorSpeed;
+            this.enableLimit = data.enableLimit;
+            this.enableMotor = data.enableMotor
+        }
+    };
+    b2RevoluteJointDef._extend(b2JointDef);
+
+    function b2RevoluteJoint(def) {
+        this.parent.call(this, def);
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_referenceAngle = def.referenceAngle;
+        this.m_impulse = new b2Vec3();
+        this.m_motorImpulse = 0;
+        this.m_lowerAngle = def.lowerAngle;
+        this.m_upperAngle = def.upperAngle;
+        this.m_maxMotorTorque = def.maxMotorTorque;
+        this.m_motorSpeed = def.motorSpeed;
+        this.m_enableLimit = def.enableLimit;
+        this.m_enableMotor = def.enableMotor;
+        this.m_limitState = b2Joint.e_inactiveLimit;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_mass = new b2Mat33();
+        this.m_motorMass = 0
+    }
+    b2RevoluteJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        GetReferenceAngle: function () {
+            return this.m_referenceAngle
+        },
+        GetJointAngle: function () {
+            var bA = this.m_bodyA;
+            var bB = this.m_bodyB;
+            return bB.m_sweep.a - bA.m_sweep.a - this.m_referenceAngle
+        },
+        GetJointSpeed: function () {
+            var bA = this.m_bodyA;
+            var bB = this.m_bodyB;
+            return bB.m_angularVelocity - bA.m_angularVelocity
+        },
+        IsLimitEnabled: function () {
+            return this.m_enableLimit
+        },
+        EnableLimit: function (flag) {
+            if (flag != this.m_enableLimit) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_enableLimit = flag;
+                this.m_impulse.z = 0
+            }
+        },
+        GetLowerLimit: function () {
+            return this.m_lowerAngle
+        },
+        GetUpperLimit: function () {
+            return this.m_upperAngle
+        },
+        SetLimits: function (lower, upper) {
+            if (lower != this.m_lowerAngle || upper != this.m_upperAngle) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_impulse.z = 0;
+                this.m_lowerAngle = lower;
+                this.m_upperAngle = upper
+            }
+        },
+        IsMotorEnabled: function () {
+            return this.m_enableMotor
+        },
+        EnableMotor: function (flag) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_enableMotor = flag
+        },
+        SetMotorSpeed: function (speed) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_motorSpeed = speed
+        },
+        GetMotorSpeed: function () {
+            return this.m_motorSpeed
+        },
+        SetMaxMotorTorque: function (torque) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_maxMotorTorque = torque
+        },
+        GetMaxMotorTorque: function () {
+            return this.m_maxMotorTorque
+        },
+        GetReactionForce: function (inv_dt) {
+            var P = new b2Vec2(this.m_impulse.x, this.m_impulse.y);
+            return b2Vec2.Multiply(inv_dt, P)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_impulse.z
+        },
+        GetMotorTorque: function (inv_dt) {
+            return inv_dt * this.m_motorImpulse
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
+            this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            this.m_rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var fixedRotation = (iA + iB == 0);
+            this.m_mass.ex.x = mA + mB + this.m_rA.y * this.m_rA.y * iA + this.m_rB.y * this.m_rB.y * iB;
+            this.m_mass.ey.x = -this.m_rA.y * this.m_rA.x * iA - this.m_rB.y * this.m_rB.x * iB;
+            this.m_mass.ez.x = -this.m_rA.y * iA - this.m_rB.y * iB;
+            this.m_mass.ex.y = this.m_mass.ey.x;
+            this.m_mass.ey.y = mA + mB + this.m_rA.x * this.m_rA.x * iA + this.m_rB.x * this.m_rB.x * iB;
+            this.m_mass.ez.y = this.m_rA.x * iA + this.m_rB.x * iB;
+            this.m_mass.ex.z = this.m_mass.ez.x;
+            this.m_mass.ey.z = this.m_mass.ez.y;
+            this.m_mass.ez.z = iA + iB;
+            this.m_motorMass = iA + iB;
+            if (this.m_motorMass > 0) {
+                this.m_motorMass = 1 / this.m_motorMass
+            }
+            if (this.m_enableMotor == false || fixedRotation) {
+                this.m_motorImpulse = 0
+            }
+            if (this.m_enableLimit && fixedRotation == false) {
+                var jointAngle = aB - aA - this.m_referenceAngle;
+                if (b2Abs(this.m_upperAngle - this.m_lowerAngle) < 2 * b2_angularSlop) {
+                    this.m_limitState = b2Joint.e_equalLimits
+                } else {
+                    if (jointAngle <= this.m_lowerAngle) {
+                        if (this.m_limitState != b2Joint.e_atLowerLimit) {
+                            this.m_impulse.z = 0
+                        }
+                        this.m_limitState = b2Joint.e_atLowerLimit
+                    } else {
+                        if (jointAngle >= this.m_upperAngle) {
+                            if (this.m_limitState != b2Joint.e_atUpperLimit) {
+                                this.m_impulse.z = 0
+                            }
+                            this.m_limitState = b2Joint.e_atUpperLimit
+                        } else {
+                            this.m_limitState = b2Joint.e_inactiveLimit;
+                            this.m_impulse.z = 0
+                        }
+                    }
+                }
+            } else {
+                this.m_limitState = b2Joint.e_inactiveLimit
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse.Multiply(data.step.dtRatio);
+                this.m_motorImpulse *= data.step.dtRatio;
+                var P = new b2Vec2(this.m_impulse.x, this.m_impulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + this.m_motorImpulse + this.m_impulse.z);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + this.m_motorImpulse + this.m_impulse.z)
+            } else {
+                this.m_impulse.SetZero();
+                this.m_motorImpulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var fixedRotation = (iA + iB == 0);
+            if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits && fixedRotation == false) {
+                var Cdot = wB - wA - this.m_motorSpeed;
+                var impulse = -this.m_motorMass * Cdot;
+                var oldImpulse = this.m_motorImpulse;
+                var maxImpulse = data.step.dt * this.m_maxMotorTorque;
+                this.m_motorImpulse = b2Clamp(this.m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+                impulse = this.m_motorImpulse - oldImpulse;
+                wA -= iA * impulse;
+                wB += iB * impulse
+            }
+            if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit && fixedRotation == false) {
+                var Cdot1 = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB)), vA), b2Cross_f_v2(wA, this.m_rA));
+                var Cdot2 = wB - wA;
+                var Cdot = new b2Vec3(Cdot1.x, Cdot1.y, Cdot2);
+                var impulse = this.m_mass.Solve33(Cdot).Negate();
+                if (this.m_limitState == b2Joint.e_equalLimits) {
+                    this.m_impulse.Add(impulse)
+                } else {
+                    if (this.m_limitState == b2Joint.e_atLowerLimit) {
+                        var newImpulse = this.m_impulse.z + impulse.z;
+                        if (newImpulse < 0) {
+                            var rhs = b2Vec2.Add(Cdot1.Negate(), b2Vec2.Multiply(this.m_impulse.z, new b2Vec2(this.m_mass.ez.x, this.m_mass.ez.y)));
+                            var reduced = this.m_mass.Solve22(rhs);
+                            impulse.x = reduced.x;
+                            impulse.y = reduced.y;
+                            impulse.z = -this.m_impulse.z;
+                            this.m_impulse.x += reduced.x;
+                            this.m_impulse.y += reduced.y;
+                            this.m_impulse.z = 0
+                        } else {
+                            this.m_impulse.Add(impulse)
+                        }
+                    } else {
+                        if (this.m_limitState == b2Joint.e_atUpperLimit) {
+                            var newImpulse = this.m_impulse.z + impulse.z;
+                            if (newImpulse > 0) {
+                                var rhs = b2Vec2.Add(Cdot1.Negate(), b2Vec2.Multiply(this.m_impulse.z, new b2Vec2(this.m_mass.ez.x, this.m_mass.ez.y)));
+                                var reduced = this.m_mass.Solve22(rhs);
+                                impulse.x = reduced.x;
+                                impulse.y = reduced.y;
+                                impulse.z = -this.m_impulse.z;
+                                this.m_impulse.x += reduced.x;
+                                this.m_impulse.y += reduced.y;
+                                this.m_impulse.z = 0
+                            } else {
+                                this.m_impulse.Add(impulse)
+                            }
+                        }
+                    }
+                }
+                var P = new b2Vec2(impulse.x, impulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + impulse.z);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + impulse.z)
+            } else {
+                var Cdot = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB)), vA), b2Cross_f_v2(wA, this.m_rA));
+                var impulse = this.m_mass.Solve22(Cdot.Negate());
+                this.m_impulse.x += impulse.x;
+                this.m_impulse.y += impulse.y;
+                vA.Subtract(b2Vec2.Multiply(mA, impulse));
+                wA -= iA * b2Cross_v2_v2(this.m_rA, impulse);
+                vB.Add(b2Vec2.Multiply(mB, impulse));
+                wB += iB * b2Cross_v2_v2(this.m_rB, impulse)
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var angularError = 0;
+            var positionError = 0;
+            var fixedRotation = (this.m_invIA + this.m_invIB == 0);
+            if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit && fixedRotation == false) {
+                var angle = aB - aA - this.m_referenceAngle;
+                var limitImpulse = 0;
+                if (this.m_limitState == b2Joint.e_equalLimits) {
+                    var C = b2Clamp(angle - this.m_lowerAngle, -b2_maxAngularCorrection, b2_maxAngularCorrection);
+                    limitImpulse = -this.m_motorMass * C;
+                    angularError = b2Abs(C)
+                } else {
+                    if (this.m_limitState == b2Joint.e_atLowerLimit) {
+                        var C = angle - this.m_lowerAngle;
+                        angularError = -C;
+                        C = b2Clamp(C + b2_angularSlop, -b2_maxAngularCorrection, 0);
+                        limitImpulse = -this.m_motorMass * C
+                    } else {
+                        if (this.m_limitState == b2Joint.e_atUpperLimit) {
+                            var C = angle - this.m_upperAngle;
+                            angularError = C;
+                            C = b2Clamp(C - b2_angularSlop, 0, b2_maxAngularCorrection);
+                            limitImpulse = -this.m_motorMass * C
+                        }
+                    }
+                }
+                aA -= this.m_invIA * limitImpulse;
+                aB += this.m_invIB * limitImpulse
+            }
+            qA.Set(aA);
+            qB.Set(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var C = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+            positionError = C.Length();
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var K = new b2Mat22();
+            K.ex.x = mA + mB + iA * rA.y * rA.y + iB * rB.y * rB.y;
+            K.ex.y = -iA * rA.x * rA.y - iB * rB.x * rB.y;
+            K.ey.x = K.ex.y;
+            K.ey.y = mA + mB + iA * rA.x * rA.x + iB * rB.x * rB.x;
+            var impulse = K.Solve(C).Negate();
+            cA.Subtract(b2Vec2.Multiply(mA, impulse));
+            aA -= iA * b2Cross_v2_v2(rA, impulse);
+            cB.Add(b2Vec2.Multiply(mB, impulse));
+            aB += iB * b2Cross_v2_v2(rB, impulse);
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return positionError <= b2_linearSlop && angularError <= b2_angularSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.referenceAngle = this.m_referenceAngle;
+            obj.lowerAngle = this.m_lowerAngle;
+            obj.upperAngle = this.m_upperAngle;
+            obj.maxMotorTorque = this.m_maxMotorTorque;
+            obj.motorSpeed = this.m_motorSpeed;
+            obj.enableLimit = this.m_enableLimit;
+            obj.enableMotor = this.m_enableMotor;
+            return obj
+        }
+    };
+    b2RevoluteJoint._extend(b2Joint);
+
+    function b2MouseJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_mouseJoint;
+        this.target = new b2Vec2(0, 0);
+        this.maxForce = 0;
+        this.frequencyHz = 5;
+        this.dampingRatio = 0.7;
+        Object.seal(this)
+    }
+    b2MouseJointDef._extend(b2JointDef);
+
+    function b2MouseJoint(def) {
+        this.parent.call(this, def);
+        this.m_targetA = def.target.Clone();
+        this.m_localAnchorB = b2MulT_t_v2(this.m_bodyB.GetTransform(), this.m_targetA);
+        this.m_maxForce = def.maxForce;
+        this.m_impulse = new b2Vec2();
+        this.m_frequencyHz = def.frequencyHz;
+        this.m_dampingRatio = def.dampingRatio;
+        this.m_beta = 0;
+        this.m_gamma = 0;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_rB = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassB = 0;
+        this.m_invIB = 0;
+        this.m_mass = new b2Mat22();
+        this.m_C = new b2Vec2()
+    }
+    b2MouseJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_targetA
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            return b2Vec2.Multiply(inv_dt, this.m_impulse)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * 0
+        },
+        SetTarget: function (target) {
+            if (this.m_bodyB.IsAwake() == false) {
+                this.m_bodyB.SetAwake(true)
+            }
+            this.m_targetA.Assign(target)
+        },
+        GetTarget: function () {
+            return this.m_targetA
+        },
+        SetMaxForce: function (force) {
+            this.m_maxForce = force
+        },
+        GetMaxForce: function () {
+            return this.m_maxForce
+        },
+        SetFrequency: function (hz) {
+            this.m_frequencyHz = hz
+        },
+        GetFrequency: function () {
+            return this.m_frequencyHz
+        },
+        SetDampingRatio: function (ratio) {
+            this.m_dampingRatio = ratio
+        },
+        GetDampingRatio: function () {
+            return this.m_dampingRatio
+        },
+        ShiftOrigin: function (newOrigin) {
+            this.m_targetA.Subtract(newOrigin)
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qB = new b2Rot(aB);
+            var mass = this.m_bodyB.GetMass();
+            var omega = 2 * b2_pi * this.m_frequencyHz;
+            var d = 2 * mass * this.m_dampingRatio * omega;
+            var k = mass * (omega * omega);
+            var h = data.step.dt;
+            this.m_gamma = h * (d + h * k);
+            if (this.m_gamma != 0) {
+                this.m_gamma = 1 / this.m_gamma
+            }
+            this.m_beta = h * k * this.m_gamma;
+            this.m_rB.Assign(b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB)));
+            var K = new b2Mat22();
+            K.ex.x = this.m_invMassB + this.m_invIB * this.m_rB.y * this.m_rB.y + this.m_gamma;
+            K.ex.y = -this.m_invIB * this.m_rB.x * this.m_rB.y;
+            K.ey.x = K.ex.y;
+            K.ey.y = this.m_invMassB + this.m_invIB * this.m_rB.x * this.m_rB.x + this.m_gamma;
+            this.m_mass.Assign(K.GetInverse());
+            this.m_C.Assign(b2Vec2.Subtract(b2Vec2.Add(cB, this.m_rB), this.m_targetA));
+            this.m_C.Multiply(this.m_beta);
+            wB *= 0.98;
+            if (data.step.warmStarting) {
+                this.m_impulse.Multiply(data.step.dtRatio);
+                vB.Add(b2Vec2.Multiply(this.m_invMassB, this.m_impulse));
+                wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, this.m_impulse)
+            } else {
+                this.m_impulse.SetZero()
+            }
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var Cdot = b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB));
+            var impulse = b2Mul_m22_v2(this.m_mass, (b2Vec2.Add(b2Vec2.Add(Cdot, this.m_C), b2Vec2.Multiply(this.m_gamma, this.m_impulse))).Negate());
+            var oldImpulse = this.m_impulse.Clone();
+            this.m_impulse.Add(impulse);
+            var maxImpulse = data.step.dt * this.m_maxForce;
+            if (this.m_impulse.LengthSquared() > maxImpulse * maxImpulse) {
+                this.m_impulse.Multiply(maxImpulse / this.m_impulse.Length())
+            }
+            impulse.Assign(b2Vec2.Subtract(this.m_impulse, oldImpulse));
+            vB.Add(b2Vec2.Multiply(this.m_invMassB, impulse));
+            wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, impulse);
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            return true
+        }
+    };
+    b2MouseJoint._extend(b2Joint);
+
+    function b2DistanceJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_distanceJoint;
+        this.localAnchorA = new b2Vec2(0, 0);
+        this.localAnchorB = new b2Vec2(0, 0);
+        this.length = 1;
+        this.frequencyHz = 0;
+        this.dampingRatio = 0;
+        Object.seal(this)
+    }
+    b2DistanceJointDef.prototype = {
+        Initialize: function (b1, b2, anchor1, anchor2) {
+            this.bodyA = b1;
+            this.bodyB = b2;
+            this.localAnchorA = this.bodyA.GetLocalPoint(anchor1);
+            this.localAnchorB = this.bodyB.GetLocalPoint(anchor2);
+            var d = b2Vec2.Subtract(anchor2, anchor1);
+            this.length = d.Length()
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.length = data.length;
+            this.frequencyHz = data.frequencyHz;
+            this.dampingRatio = data.dampingRatio
+        }
+    };
+    b2DistanceJointDef._extend(b2JointDef);
+
+    function b2DistanceJoint(def) {
+        this.parent.call(this, def);
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_length = def.length;
+        this.m_frequencyHz = def.frequencyHz;
+        this.m_dampingRatio = def.dampingRatio;
+        this.m_impulse = 0;
+        this.m_gamma = 0;
+        this.m_bias = 0;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_u = new b2Vec2();
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_mass = 0
+    }
+    b2DistanceJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            var F = b2Vec2.Multiply((inv_dt * this.m_impulse), this.m_u);
+            return F
+        },
+        GetReactionTorque: function (inv_dt) {
+            return 0
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        SetLength: function (length) {
+            this.m_length = length
+        },
+        GetLength: function () {
+            return this.m_length
+        },
+        SetFrequency: function (hz) {
+            this.m_frequencyHz = hz
+        },
+        GetFrequency: function () {
+            return this.m_frequencyHz
+        },
+        SetDampingRatio: function (ratio) {
+            this.m_dampingRatio = ratio
+        },
+        GetDampingRatio: function () {
+            return this.m_dampingRatio
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            this.m_rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            this.m_u = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, this.m_rB), cA), this.m_rA);
+            var length = this.m_u.Length();
+            if (length > b2_linearSlop) {
+                this.m_u.Multiply(1 / length)
+            } else {
+                this.m_u.Set(0, 0)
+            }
+            var crAu = b2Cross_v2_v2(this.m_rA, this.m_u);
+            var crBu = b2Cross_v2_v2(this.m_rB, this.m_u);
+            var invMass = this.m_invMassA + this.m_invIA * crAu * crAu + this.m_invMassB + this.m_invIB * crBu * crBu;
+            this.m_mass = invMass != 0 ? 1 / invMass : 0;
+            if (this.m_frequencyHz > 0) {
+                var C = length - this.m_length;
+                var omega = 2 * b2_pi * this.m_frequencyHz;
+                var d = 2 * this.m_mass * this.m_dampingRatio * omega;
+                var k = this.m_mass * omega * omega;
+                var h = data.step.dt;
+                this.m_gamma = h * (d + h * k);
+                this.m_gamma = this.m_gamma != 0 ? 1 / this.m_gamma : 0;
+                this.m_bias = C * h * k * this.m_gamma;
+                invMass += this.m_gamma;
+                this.m_mass = invMass != 0 ? 1 / invMass : 0
+            } else {
+                this.m_gamma = 0;
+                this.m_bias = 0
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse *= data.step.dtRatio;
+                var P = b2Vec2.Multiply(this.m_impulse, this.m_u);
+                vA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+                wA -= this.m_invIA * b2Cross_v2_v2(this.m_rA, P);
+                vB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+                wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, P)
+            } else {
+                this.m_impulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var vpA = b2Vec2.Add(vA, b2Cross_f_v2(wA, this.m_rA));
+            var vpB = b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB));
+            var Cdot = b2Dot_v2_v2(this.m_u, b2Vec2.Subtract(vpB, vpA));
+            var impulse = -this.m_mass * (Cdot + this.m_bias + this.m_gamma * this.m_impulse);
+            this.m_impulse += impulse;
+            var P = b2Vec2.Multiply(impulse, this.m_u);
+            vA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+            wA -= this.m_invIA * b2Cross_v2_v2(this.m_rA, P);
+            vB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+            wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, P);
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            if (this.m_frequencyHz > 0) {
+                return true
+            }
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var u = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+            var length = u.Normalize();
+            var C = length - this.m_length;
+            C = b2Clamp(C, -b2_maxLinearCorrection, b2_maxLinearCorrection);
+            var impulse = -this.m_mass * C;
+            var P = b2Vec2.Multiply(impulse, u);
+            cA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+            aA -= this.m_invIA * b2Cross_v2_v2(rA, P);
+            cB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+            aB += this.m_invIB * b2Cross_v2_v2(rB, P);
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return b2Abs(C) < b2_linearSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.length = this.m_length;
+            obj.frequencyHz = this.m_frequencyHz;
+            obj.dampingRatio = this.m_dampingRatio;
+            return obj
+        }
+    };
+    b2DistanceJoint._extend(b2Joint);
+
+    function b2PrismaticJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_prismaticJoint;
+        this.localAnchorA = new b2Vec2();
+        this.localAnchorB = new b2Vec2();
+        this.localAxisA = new b2Vec2(1, 0);
+        this.referenceAngle = 0;
+        this.enableLimit = false;
+        this.lowerTranslation = 0;
+        this.upperTranslation = 0;
+        this.enableMotor = false;
+        this.maxMotorForce = 0;
+        this.motorSpeed = 0;
+        Object.seal(this)
+    }
+    b2PrismaticJointDef.prototype = {
+        Initialize: function (bA, bB, anchor, axis) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.localAnchorA = this.bodyA.GetLocalPoint(anchor);
+            this.localAnchorB = this.bodyB.GetLocalPoint(anchor);
+            this.localAxisA = this.bodyA.GetLocalVector(axis);
+            this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle()
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.localAxisA._deserialize(data.localAxisA);
+            this.referenceAngle = data.referenceAngle;
+            this.enableLimit = data.enableLimit;
+            this.lowerTranslation = data.lowerTranslation;
+            this.upperTranslation = data.upperTranslation;
+            this.enableMotor = data.enableMotor;
+            this.maxMotorForce = data.maxMotorForce;
+            this.motorSpeed = data.motorSpeed
+        }
+    };
+    b2PrismaticJointDef._extend(b2JointDef);
+
+    function b2PrismaticJoint(def) {
+        this.parent.call(this, def);
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_localXAxisA = def.localAxisA.Clone();
+        this.m_localXAxisA.Normalize();
+        this.m_localYAxisA = b2Cross_f_v2(1, this.m_localXAxisA);
+        this.m_referenceAngle = def.referenceAngle;
+        this.m_impulse = new b2Vec3();
+        this.m_motorMass = 0;
+        this.m_motorImpulse = 0;
+        this.m_lowerTranslation = def.lowerTranslation;
+        this.m_upperTranslation = def.upperTranslation;
+        this.m_maxMotorForce = def.maxMotorForce;
+        this.m_motorSpeed = def.motorSpeed;
+        this.m_enableLimit = def.enableLimit;
+        this.m_enableMotor = def.enableMotor;
+        this.m_limitState = b2Joint.e_inactiveLimit;
+        this.m_axis = new b2Vec2();
+        this.m_perp = new b2Vec2();
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_s1 = 0, this.m_s2 = 0;
+        this.m_a1 = 0, this.m_a2 = 0;
+        this.m_K = new b2Mat33();
+        this.m_motorMass = 0
+    }
+    b2PrismaticJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            return b2Vec2.Multiply(inv_dt, b2Vec2.Add(b2Vec2.Multiply(this.m_impulse.x, this.m_perp), b2Vec2.Multiply((this.m_motorImpulse + this.m_impulse.z), this.m_axis)))
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_impulse.y
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        GetLocalAxisA: function () {
+            return this.m_localXAxisA
+        },
+        GetReferenceAngle: function () {
+            return this.m_referenceAngle
+        },
+        GetJointTranslation: function () {
+            var pA = this.m_bodyA.GetWorldPoint(this.m_localAnchorA);
+            var pB = this.m_bodyB.GetWorldPoint(this.m_localAnchorB);
+            var d = b2Vec2.Subtract(pB, pA);
+            var axis = this.m_bodyA.GetWorldVector(this.m_localXAxisA);
+            var translation = b2Dot_v2_v2(d, axis);
+            return translation
+        },
+        GetJointSpeed: function () {
+            var bA = this.m_bodyA;
+            var bB = this.m_bodyB;
+            var rA = b2Mul_r_v2(bA.m_xf.q, b2Vec2.Subtract(this.m_localAnchorA, bA.m_sweep.localCenter));
+            var rB = b2Mul_r_v2(bB.m_xf.q, b2Vec2.Subtract(this.m_localAnchorB, bB.m_sweep.localCenter));
+            var p1 = b2Vec2.Add(bA.m_sweep.c, rA);
+            var p2 = b2Vec2.Add(bB.m_sweep.c, rB);
+            var d = b2Vec2.Subtract(p2, p1);
+            var axis = b2Mul_r_v2(bA.m_xf.q, this.m_localXAxisA);
+            var vA = bA.m_linearVelocity;
+            var vB = bB.m_linearVelocity;
+            var wA = bA.m_angularVelocity;
+            var wB = bB.m_angularVelocity;
+            var speed = b2Dot_v2_v2(d, b2Cross_f_v2(wA, axis)) + b2Dot_v2_v2(axis, b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, rB)), vA), b2Cross_f_v2(wA, rA)));
+            return speed
+        },
+        IsLimitEnabled: function () {
+            return this.m_enableLimit
+        },
+        EnableLimit: function (flag) {
+            if (flag != this.m_enableLimit) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_enableLimit = flag;
+                this.m_impulse.z = 0
+            }
+        },
+        GetLowerLimit: function () {
+            return this.m_lowerTranslation
+        },
+        GetUpperLimit: function () {
+            return this.m_upperTranslation
+        },
+        SetLimits: function (lower, upper) {
+            if (lower != this.m_lowerTranslation || upper != this.m_upperTranslation) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_lowerTranslation = lower;
+                this.m_upperTranslation = upper;
+                this.m_impulse.z = 0
+            }
+        },
+        IsMotorEnabled: function () {
+            return this.m_enableMotor
+        },
+        EnableMotor: function (flag) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_enableMotor = flag
+        },
+        SetMotorSpeed: function (speed) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_motorSpeed = speed
+        },
+        GetMotorSpeed: function () {
+            return this.m_motorSpeed
+        },
+        SetMaxMotorForce: function (force) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_maxMotorForce = force
+        },
+        GetMaxMotorForce: function () {
+            return this.m_maxMotorForce
+        },
+        GetMotorForce: function (inv_dt) {
+            return inv_dt * this.m_motorImpulse
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA = this.m_bodyA.m_sweep.localCenter;
+            this.m_localCenterB = this.m_bodyB.m_sweep.localCenter;
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var d = b2Vec2.Add(b2Vec2.Subtract(cB, cA), b2Vec2.Subtract(rB, rA));
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            this.m_axis = b2Mul_r_v2(qA, this.m_localXAxisA);
+            this.m_a1 = b2Cross_v2_v2(b2Vec2.Add(d, rA), this.m_axis);
+            this.m_a2 = b2Cross_v2_v2(rB, this.m_axis);
+            this.m_motorMass = mA + mB + iA * this.m_a1 * this.m_a1 + iB * this.m_a2 * this.m_a2;
+            if (this.m_motorMass > 0) {
+                this.m_motorMass = 1 / this.m_motorMass
+            }
+            this.m_perp = b2Mul_r_v2(qA, this.m_localYAxisA);
+            this.m_s1 = b2Cross_v2_v2(b2Vec2.Add(d, rA), this.m_perp);
+            this.m_s2 = b2Cross_v2_v2(rB, this.m_perp);
+            var k11 = mA + mB + iA * this.m_s1 * this.m_s1 + iB * this.m_s2 * this.m_s2;
+            var k12 = iA * this.m_s1 + iB * this.m_s2;
+            var k13 = iA * this.m_s1 * this.m_a1 + iB * this.m_s2 * this.m_a2;
+            var k22 = iA + iB;
+            if (k22 == 0) {
+                k22 = 1
+            }
+            var k23 = iA * this.m_a1 + iB * this.m_a2;
+            var k33 = mA + mB + iA * this.m_a1 * this.m_a1 + iB * this.m_a2 * this.m_a2;
+            this.m_K.ex.Set(k11, k12, k13);
+            this.m_K.ey.Set(k12, k22, k23);
+            this.m_K.ez.Set(k13, k23, k33);
+            if (this.m_enableLimit) {
+                var jointTranslation = b2Dot_v2_v2(this.m_axis, d);
+                if (b2Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2 * b2_linearSlop) {
+                    this.m_limitState = b2Joint.e_equalLimits
+                } else {
+                    if (jointTranslation <= this.m_lowerTranslation) {
+                        if (this.m_limitState != b2Joint.e_atLowerLimit) {
+                            this.m_limitState = b2Joint.e_atLowerLimit;
+                            this.m_impulse.z = 0
+                        }
+                    } else {
+                        if (jointTranslation >= this.m_upperTranslation) {
+                            if (this.m_limitState != b2Joint.e_atUpperLimit) {
+                                this.m_limitState = b2Joint.e_atUpperLimit;
+                                this.m_impulse.z = 0
+                            }
+                        } else {
+                            this.m_limitState = b2Joint.e_inactiveLimit;
+                            this.m_impulse.z = 0
+                        }
+                    }
+                }
+            } else {
+                this.m_limitState = b2Joint.e_inactiveLimit;
+                this.m_impulse.z = 0
+            }
+            if (this.m_enableMotor == false) {
+                this.m_motorImpulse = 0
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse.Multiply(data.step.dtRatio);
+                this.m_motorImpulse *= data.step.dtRatio;
+                var P = b2Vec2.Add(b2Vec2.Multiply(this.m_impulse.x, this.m_perp), b2Vec2.Multiply((this.m_motorImpulse + this.m_impulse.z), this.m_axis));
+                var LA = this.m_impulse.x * this.m_s1 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a1;
+                var LB = this.m_impulse.x * this.m_s2 + this.m_impulse.y + (this.m_motorImpulse + this.m_impulse.z) * this.m_a2;
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * LA;
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * LB
+            } else {
+                this.m_impulse.SetZero();
+                this.m_motorImpulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits) {
+                var Cdot = b2Dot_v2_v2(this.m_axis, b2Vec2.Subtract(vB, vA)) + this.m_a2 * wB - this.m_a1 * wA;
+                var impulse = this.m_motorMass * (this.m_motorSpeed - Cdot);
+                var oldImpulse = this.m_motorImpulse;
+                var maxImpulse = data.step.dt * this.m_maxMotorForce;
+                this.m_motorImpulse = b2Clamp(this.m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+                impulse = this.m_motorImpulse - oldImpulse;
+                var P = b2Vec2.Multiply(impulse, this.m_axis);
+                var LA = impulse * this.m_a1;
+                var LB = impulse * this.m_a2;
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * LA;
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * LB
+            }
+            var Cdot1 = new b2Vec2();
+            Cdot1.x = b2Dot_v2_v2(this.m_perp, b2Vec2.Subtract(vB, vA)) + this.m_s2 * wB - this.m_s1 * wA;
+            Cdot1.y = wB - wA;
+            if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit) {
+                var Cdot2;
+                Cdot2 = b2Dot_v2_v2(this.m_axis, b2Vec2.Subtract(vB, vA)) + this.m_a2 * wB - this.m_a1 * wA;
+                var Cdot = new b2Vec3(Cdot1.x, Cdot1.y, Cdot2);
+                var f1 = this.m_impulse.Clone();
+                var df = this.m_K.Solve33(Cdot.Negate());
+                this.m_impulse.Add(df);
+                if (this.m_limitState == b2Joint.e_atLowerLimit) {
+                    this.m_impulse.z = b2Max(this.m_impulse.z, 0)
+                } else {
+                    if (this.m_limitState == b2Joint.e_atUpperLimit) {
+                        this.m_impulse.z = b2Min(this.m_impulse.z, 0)
+                    }
+                }
+                var b = b2Vec2.Subtract(Cdot1.Negate(), b2Vec2.Multiply((this.m_impulse.z - f1.z), new b2Vec2(this.m_K.ez.x, this.m_K.ez.y)));
+                var f2r = b2Vec2.Add(this.m_K.Solve22(b), new b2Vec2(f1.x, f1.y));
+                this.m_impulse.x = f2r.x;
+                this.m_impulse.y = f2r.y;
+                df = b2Vec3.Subtract(this.m_impulse, f1);
+                var P = b2Vec2.Add(b2Vec2.Multiply(df.x, this.m_perp), b2Vec2.Multiply(df.z, this.m_axis));
+                var LA = df.x * this.m_s1 + df.y + df.z * this.m_a1;
+                var LB = df.x * this.m_s2 + df.y + df.z * this.m_a2;
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * LA;
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * LB
+            } else {
+                var df = this.m_K.Solve22(Cdot1.Negate());
+                this.m_impulse.x += df.x;
+                this.m_impulse.y += df.y;
+                var P = b2Vec2.Multiply(df.x, this.m_perp);
+                var LA = df.x * this.m_s1 + df.y;
+                var LB = df.x * this.m_s2 + df.y;
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * LA;
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * LB
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var d = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+            var axis = b2Mul_r_v2(qA, this.m_localXAxisA);
+            var a1 = b2Cross_v2_v2(b2Vec2.Add(d, rA), axis);
+            var a2 = b2Cross_v2_v2(rB, axis);
+            var perp = b2Mul_r_v2(qA, this.m_localYAxisA);
+            var s1 = b2Cross_v2_v2(b2Vec2.Add(d, rA), perp);
+            var s2 = b2Cross_v2_v2(rB, perp);
+            var impulse = new b2Vec3();
+            var C1 = new b2Vec2();
+            C1.x = b2Dot_v2_v2(perp, d);
+            C1.y = aB - aA - this.m_referenceAngle;
+            var linearError = b2Abs(C1.x);
+            var angularError = b2Abs(C1.y);
+            var active = false;
+            var C2 = 0;
+            if (this.m_enableLimit) {
+                var translation = b2Dot_v2_v2(axis, d);
+                if (b2Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2 * b2_linearSlop) {
+                    C2 = b2Clamp(translation, -b2_maxLinearCorrection, b2_maxLinearCorrection);
+                    linearError = b2Max(linearError, b2Abs(translation));
+                    active = true
+                } else {
+                    if (translation <= this.m_lowerTranslation) {
+                        C2 = b2Clamp(translation - this.m_lowerTranslation + b2_linearSlop, -b2_maxLinearCorrection, 0);
+                        linearError = b2Max(linearError, this.m_lowerTranslation - translation);
+                        active = true
+                    } else {
+                        if (translation >= this.m_upperTranslation) {
+                            C2 = b2Clamp(translation - this.m_upperTranslation - b2_linearSlop, 0, b2_maxLinearCorrection);
+                            linearError = b2Max(linearError, translation - this.m_upperTranslation);
+                            active = true
+                        }
+                    }
+                }
+            }
+            if (active) {
+                var k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
+                var k12 = iA * s1 + iB * s2;
+                var k13 = iA * s1 * a1 + iB * s2 * a2;
+                var k22 = iA + iB;
+                if (k22 == 0) {
+                    k22 = 1
+                }
+                var k23 = iA * a1 + iB * a2;
+                var k33 = mA + mB + iA * a1 * a1 + iB * a2 * a2;
+                var K = new b2Mat33();
+                K.ex.Set(k11, k12, k13);
+                K.ey.Set(k12, k22, k23);
+                K.ez.Set(k13, k23, k33);
+                var C = new b2Vec3();
+                C.x = C1.x;
+                C.y = C1.y;
+                C.z = C2;
+                impulse = K.Solve33(C.Negate())
+            } else {
+                var k11 = mA + mB + iA * s1 * s1 + iB * s2 * s2;
+                var k12 = iA * s1 + iB * s2;
+                var k22 = iA + iB;
+                if (k22 == 0) {
+                    k22 = 1
+                }
+                var K = new b2Mat22();
+                K.ex.Set(k11, k12);
+                K.ey.Set(k12, k22);
+                var impulse1 = K.Solve(C1.Negate());
+                impulse.x = impulse1.x;
+                impulse.y = impulse1.y;
+                impulse.z = 0
+            }
+            var P = b2Vec2.Add(b2Vec2.Multiply(impulse.x, perp), b2Vec2.Multiply(impulse.z, axis));
+            var LA = impulse.x * s1 + impulse.y + impulse.z * a1;
+            var LB = impulse.x * s2 + impulse.y + impulse.z * a2;
+            cA.Subtract(b2Vec2.Multiply(mA, P));
+            aA -= iA * LA;
+            cB.Add(b2Vec2.Multiply(mB, P));
+            aB += iB * LB;
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return linearError <= b2_linearSlop && angularError <= b2_angularSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.localAxisA = this.m_localXAxisA._serialize();
+            obj.referenceAngle = this.m_referenceAngle;
+            obj.enableLimit = this.m_enableLimit;
+            obj.lowerTranslation = this.m_lowerTranslation;
+            obj.upperTranslation = this.m_upperTranslation;
+            obj.enableMotor = this.m_enableMotor;
+            obj.maxMotorForce = this.m_maxMotorForce;
+            obj.motorSpeed = this.m_motorSpeed;
+            return obj
+        }
+    };
+    b2PrismaticJoint._extend(b2Joint);
+
+    function b2FrictionJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_frictionJoint;
+        this.localAnchorA = new b2Vec2();
+        this.localAnchorB = new b2Vec2();
+        this.maxForce = 0;
+        this.maxTorque = 0;
+        Object.seal(this)
+    }
+    b2FrictionJointDef.prototype = {
+        Initialize: function (bA, bB, anchor) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));
+            this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor))
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.maxForce = data.maxForce;
+            this.maxTorque = data.maxTorque
+        }
+    };
+    b2FrictionJointDef._extend(b2JointDef);
+
+    function b2FrictionJoint(def) {
+        this.parent.call(this, def);
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_linearImpulse = new b2Vec2();
+        this.m_angularImpulse = 0;
+        this.m_maxForce = def.maxForce;
+        this.m_maxTorque = def.maxTorque;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_linearMass = new b2Mat22();
+        this.m_angularMass = 0
+    }
+    b2FrictionJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            return b2Vec2.Multiply(inv_dt, this.m_linearImpulse)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_angularImpulse
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        SetMaxForce: function (force) {
+            this.m_maxForce = force
+        },
+        GetMaxForce: function () {
+            return this.m_maxForce
+        },
+        SetMaxTorque: function (torque) {
+            this.m_maxTorque = torque
+        },
+        GetMaxTorque: function () {
+            return this.m_maxTorque
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            this.m_rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var K = new b2Mat22();
+            K.ex.x = mA + mB + iA * this.m_rA.y * this.m_rA.y + iB * this.m_rB.y * this.m_rB.y;
+            K.ex.y = -iA * this.m_rA.x * this.m_rA.y - iB * this.m_rB.x * this.m_rB.y;
+            K.ey.x = K.ex.y;
+            K.ey.y = mA + mB + iA * this.m_rA.x * this.m_rA.x + iB * this.m_rB.x * this.m_rB.x;
+            this.m_linearMass = K.GetInverse();
+            this.m_angularMass = iA + iB;
+            if (this.m_angularMass > 0) {
+                this.m_angularMass = 1 / this.m_angularMass
+            }
+            if (data.step.warmStarting) {
+                this.m_linearImpulse.Multiply(data.step.dtRatio);
+                this.m_angularImpulse *= data.step.dtRatio;
+                var P = new b2Vec2(this.m_linearImpulse.x, this.m_linearImpulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + this.m_angularImpulse);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + this.m_angularImpulse)
+            } else {
+                this.m_linearImpulse.SetZero();
+                this.m_angularImpulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var h = data.step.dt;
+            var Cdot = wB - wA;
+            var impulse = -this.m_angularMass * Cdot;
+            var oldImpulse = this.m_angularImpulse;
+            var maxImpulse = h * this.m_maxTorque;
+            this.m_angularImpulse = b2Clamp(this.m_angularImpulse + impulse, -maxImpulse, maxImpulse);
+            impulse = this.m_angularImpulse - oldImpulse;
+            wA -= iA * impulse;
+            wB += iB * impulse;
+            var Cdot = b2Vec2.Add(vB, b2Vec2.Subtract(b2Cross_f_v2(wB, this.m_rB), b2Vec2.Subtract(vA, b2Cross_f_v2(wA, this.m_rA))));
+            var impulse = b2Mul_m22_v2(this.m_linearMass, Cdot).Negate();
+            var oldImpulse = this.m_linearImpulse.Clone();
+            this.m_linearImpulse.Add(impulse);
+            var maxImpulse = h * this.m_maxForce;
+            if (this.m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse) {
+                this.m_linearImpulse.Normalize();
+                this.m_linearImpulse.Multiply(maxImpulse)
+            }
+            impulse = b2Vec2.Subtract(this.m_linearImpulse, oldImpulse);
+            vA.Subtract(b2Vec2.Multiply(mA, impulse));
+            wA -= iA * b2Cross_v2_v2(this.m_rA, impulse);
+            vB.Add(b2Vec2.Multiply(mB, impulse));
+            wB += iB * b2Cross_v2_v2(this.m_rB, impulse);
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            return true
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.maxForce = this.m_maxForce;
+            obj.maxTorque = this.m_maxTorque;
+            return obj
+        }
+    };
+    b2FrictionJoint._extend(b2Joint);
+
+    function b2WeldJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_weldJoint;
+        this.localAnchorA = new b2Vec2(0, 0);
+        this.localAnchorB = new b2Vec2(0, 0);
+        this.referenceAngle = 0;
+        this.frequencyHz = 0;
+        this.dampingRatio = 0;
+        Object.seal(this)
+    }
+    b2WeldJointDef.prototype = {
+        Initialize: function (bA, bB, anchor) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));
+            this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor));
+            this.referenceAngle = this.bodyB.GetAngle() - this.bodyA.GetAngle()
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.referenceAngle = data.referenceAngle;
+            this.frequencyHz = data.frequencyHz;
+            this.dampingRatio = data.dampingRatio
+        }
+    };
+    b2WeldJointDef._extend(b2JointDef);
+
+    function b2WeldJoint(def) {
+        this.parent.call(this, def);
+        this.m_bias = 0;
+        this.m_gamma = 0;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_mass = new b2Mat33();
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_referenceAngle = def.referenceAngle;
+        this.m_frequencyHz = def.frequencyHz;
+        this.m_dampingRatio = def.dampingRatio;
+        this.m_impulse = new b2Vec3()
+    }
+    b2WeldJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            var P = new b2Vec2(this.m_impulse.x, this.m_impulse.y);
+            return b2Vec2.Multiply(inv_dt, P)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_impulse.z
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        GetReferenceAngle: function () {
+            return this.m_referenceAngle
+        },
+        SetFrequency: function (hz) {
+            this.m_frequencyHz = hz
+        },
+        GetFrequency: function () {
+            return this.m_frequencyHz
+        },
+        SetDampingRatio: function (ratio) {
+            this.m_dampingRatio = ratio
+        },
+        GetDampingRatio: function () {
+            return this.m_dampingRatio
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA.Assign(b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA)));
+            this.m_rB.Assign(b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB)));
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var K = new b2Mat33();
+            K.ex.x = mA + mB + this.m_rA.y * this.m_rA.y * iA + this.m_rB.y * this.m_rB.y * iB;
+            K.ey.x = -this.m_rA.y * this.m_rA.x * iA - this.m_rB.y * this.m_rB.x * iB;
+            K.ez.x = -this.m_rA.y * iA - this.m_rB.y * iB;
+            K.ex.y = K.ey.x;
+            K.ey.y = mA + mB + this.m_rA.x * this.m_rA.x * iA + this.m_rB.x * this.m_rB.x * iB;
+            K.ez.y = this.m_rA.x * iA + this.m_rB.x * iB;
+            K.ex.z = K.ez.x;
+            K.ey.z = K.ez.y;
+            K.ez.z = iA + iB;
+            if (this.m_frequencyHz > 0) {
+                K.GetInverse22(this.m_mass);
+                var invM = iA + iB;
+                var m = invM > 0 ? 1 / invM : 0;
+                var C = aB - aA - this.m_referenceAngle;
+                var omega = 2 * b2_pi * this.m_frequencyHz;
+                var d = 2 * m * this.m_dampingRatio * omega;
+                var k = m * omega * omega;
+                var h = data.step.dt;
+                this.m_gamma = h * (d + h * k);
+                this.m_gamma = this.m_gamma != 0 ? 1 / this.m_gamma : 0;
+                this.m_bias = C * h * k * this.m_gamma;
+                invM += this.m_gamma;
+                this.m_mass.ez.z = invM != 0 ? 1 / invM : 0
+            } else {
+                K.GetSymInverse33(this.m_mass);
+                this.m_gamma = 0;
+                this.m_bias = 0
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse.Multiply(data.step.dtRatio);
+                var P = new b2Vec2(this.m_impulse.x, this.m_impulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + this.m_impulse.z);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + this.m_impulse.z)
+            } else {
+                this.m_impulse.SetZero()
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            if (this.m_frequencyHz > 0) {
+                var Cdot2 = wB - wA;
+                var impulse2 = -this.m_mass.ez.z * (Cdot2 + this.m_bias + this.m_gamma * this.m_impulse.z);
+                this.m_impulse.z += impulse2;
+                wA -= iA * impulse2;
+                wB += iB * impulse2;
+                var Cdot1 = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB)), vA), b2Cross_f_v2(wA, this.m_rA));
+                var impulse1 = b2Mul22_m33_v2(this.m_mass, Cdot1).Negate();
+                this.m_impulse.x += impulse1.x;
+                this.m_impulse.y += impulse1.y;
+                var P = impulse1.Clone();
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * b2Cross_v2_v2(this.m_rA, P);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * b2Cross_v2_v2(this.m_rB, P)
+            } else {
+                var Cdot1 = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB)), vA), b2Cross_f_v2(wA, this.m_rA));
+                var Cdot2 = wB - wA;
+                var Cdot = new b2Vec3(Cdot1.x, Cdot1.y, Cdot2);
+                var impulse = b2Mul_m33_v3(this.m_mass, Cdot).Negate();
+                this.m_impulse.Add(impulse);
+                var P = new b2Vec2(impulse.x, impulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + impulse.z);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + impulse.z)
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var positionError, angularError;
+            var K = new b2Mat33();
+            K.ex.x = mA + mB + rA.y * rA.y * iA + rB.y * rB.y * iB;
+            K.ey.x = -rA.y * rA.x * iA - rB.y * rB.x * iB;
+            K.ez.x = -rA.y * iA - rB.y * iB;
+            K.ex.y = K.ey.x;
+            K.ey.y = mA + mB + rA.x * rA.x * iA + rB.x * rB.x * iB;
+            K.ez.y = rA.x * iA + rB.x * iB;
+            K.ex.z = K.ez.x;
+            K.ey.z = K.ez.y;
+            K.ez.z = iA + iB;
+            if (this.m_frequencyHz > 0) {
+                var C1 = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+                positionError = C1.Length();
+                angularError = 0;
+                var P = K.Solve22(C1).Negate();
+                cA.Subtract(b2Vec2.Multiply(mA, P));
+                aA -= iA * b2Cross_v2_v2(rA, P);
+                cB.Add(b2Vec2.Multiply(mB, P));
+                aB += iB * b2Cross_v2_v2(rB, P)
+            } else {
+                var C1 = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+                var C2 = aB - aA - this.m_referenceAngle;
+                positionError = C1.Length();
+                angularError = b2Abs(C2);
+                var C = new b2Vec3(C1.x, C1.y, C2);
+                var impulse = K.Solve33(C).Negate();
+                var P = new b2Vec2(impulse.x, impulse.y);
+                cA.Subtract(b2Vec2.Multiply(mA, P));
+                aA -= iA * (b2Cross_v2_v2(rA, P) + impulse.z);
+                cB.Add(b2Vec2.Multiply(mB, P));
+                aB += iB * (b2Cross_v2_v2(rB, P) + impulse.z)
+            }
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return positionError <= b2_linearSlop && angularError <= b2_angularSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.referenceAngle = this.m_referenceAngle;
+            obj.frequencyHz = this.m_frequencyHz;
+            obj.dampingRatio = this.m_dampingRatio;
+            return obj
+        }
+    };
+    b2WeldJoint._extend(b2Joint);
+
+    function b2WheelJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_wheelJoint;
+        this.localAnchorA = new b2Vec2();
+        this.localAnchorB = new b2Vec2();
+        this.localAxisA = new b2Vec2(1, 0);
+        this.enableMotor = false;
+        this.maxMotorTorque = 0;
+        this.motorSpeed = 0;
+        this.frequencyHz = 2;
+        this.dampingRatio = 0.7;
+        Object.seal(this)
+    }
+    b2WheelJointDef.prototype = {
+        Initialize: function (bA, bB, anchor, axis) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchor));
+            this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchor));
+            this.localAxisA.Assign(this.bodyA.GetLocalVector(axis))
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.localAxisA._deserialize(data.localAxisA);
+            this.enableMotor = data.enableMotor;
+            this.maxMotorTorque = data.maxMotorTorque;
+            this.motorSpeed = data.motorSpeed;
+            this.frequencyHz = data.frequencyHz;
+            this.dampingRatio = data.dampingRatio
+        }
+    };
+    b2WheelJointDef._extend(b2JointDef);
+
+    function b2WheelJoint(def) {
+        this.parent.call(this, def);
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_localXAxisA = def.localAxisA.Clone();
+        this.m_localYAxisA = b2Cross_f_v2(1, this.m_localXAxisA);
+        this.m_mass = 0;
+        this.m_impulse = 0;
+        this.m_motorMass = 0;
+        this.m_motorImpulse = 0;
+        this.m_springMass = 0;
+        this.m_springImpulse = 0;
+        this.m_maxMotorTorque = def.maxMotorTorque;
+        this.m_motorSpeed = def.motorSpeed;
+        this.m_enableMotor = def.enableMotor;
+        this.m_frequencyHz = def.frequencyHz;
+        this.m_dampingRatio = def.dampingRatio;
+        this.m_bias = 0;
+        this.m_gamma = 0;
+        this.m_ax = new b2Vec2();
+        this.m_ay = new b2Vec2();
+        this.m_sAx = this.m_sBx = 0;
+        this.m_sAy = this.m_sBy = 0
+    }
+    b2WheelJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            return b2Vec2.Multiply(inv_dt, b2Vec2.Add(b2Vec2.Multiply(this.m_impulse, this.m_ay), b2Vec2.Multiply(this.m_springImpulse, this.m_ax)))
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_motorImpulse
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        GetLocalAxisA: function () {
+            return this.m_localXAxisA
+        },
+        GetJointTranslation: function () {
+            var bA = this.m_bodyA;
+            var bB = this.m_bodyB;
+            var pA = bA.GetWorldPoint(this.m_localAnchorA);
+            var pB = bB.GetWorldPoint(this.m_localAnchorB);
+            var d = b2Vec2.Subtract(pB, pA);
+            var axis = bA.GetWorldVector(this.m_localXAxisA);
+            var translation = b2Dot_v2_v2(d, axis);
+            return translation
+        },
+        GetJointSpeed: function () {
+            var wA = this.m_bodyA.m_angularVelocity;
+            var wB = this.m_bodyB.m_angularVelocity;
+            return wB - wA
+        },
+        IsMotorEnabled: function () {
+            return this.m_enableMotor
+        },
+        EnableMotor: function (flag) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_enableMotor = flag
+        },
+        SetMotorSpeed: function (speed) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_motorSpeed = speed
+        },
+        GetMotorSpeed: function () {
+            return this.m_motorSpeed
+        },
+        SetMaxMotorTorque: function (torque) {
+            this.m_bodyA.SetAwake(true);
+            this.m_bodyB.SetAwake(true);
+            this.m_maxMotorTorque = torque
+        },
+        GetMaxMotorTorque: function () {
+            return this.m_maxMotorTorque
+        },
+        GetMotorTorque: function (inv_dt) {
+            return inv_dt * this.m_motorImpulse
+        },
+        SetSpringFrequencyHz: function (hz) {
+            this.m_frequencyHz = hz
+        },
+        GetSpringFrequencyHz: function () {
+            return this.m_frequencyHz
+        },
+        SetSpringDampingRatio: function (ratio) {
+            this.m_dampingRatio = ratio
+        },
+        GetSpringDampingRatio: function () {
+            return this.m_dampingRatio
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var d = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+            this.m_ay.Assign(b2Mul_r_v2(qA, this.m_localYAxisA));
+            this.m_sAy = b2Cross_v2_v2(b2Vec2.Add(d, rA), this.m_ay);
+            this.m_sBy = b2Cross_v2_v2(rB, this.m_ay);
+            this.m_mass = mA + mB + iA * this.m_sAy * this.m_sAy + iB * this.m_sBy * this.m_sBy;
+            if (this.m_mass > 0) {
+                this.m_mass = 1 / this.m_mass
+            }
+            this.m_springMass = 0;
+            this.m_bias = 0;
+            this.m_gamma = 0;
+            if (this.m_frequencyHz > 0) {
+                this.m_ax.Assign(b2Mul_r_v2(qA, this.m_localXAxisA));
+                this.m_sAx = b2Cross_v2_v2(b2Vec2.Add(d, rA), this.m_ax);
+                this.m_sBx = b2Cross_v2_v2(rB, this.m_ax);
+                var invMass = mA + mB + iA * this.m_sAx * this.m_sAx + iB * this.m_sBx * this.m_sBx;
+                if (invMass > 0) {
+                    this.m_springMass = 1 / invMass;
+                    var C = b2Dot_v2_v2(d, this.m_ax);
+                    var omega = 2 * b2_pi * this.m_frequencyHz;
+                    var d = 2 * this.m_springMass * this.m_dampingRatio * omega;
+                    var k = this.m_springMass * omega * omega;
+                    var h = data.step.dt;
+                    this.m_gamma = h * (d + h * k);
+                    if (this.m_gamma > 0) {
+                        this.m_gamma = 1 / this.m_gamma
+                    }
+                    this.m_bias = C * h * k * this.m_gamma;
+                    this.m_springMass = invMass + this.m_gamma;
+                    if (this.m_springMass > 0) {
+                        this.m_springMass = 1 / this.m_springMass
+                    }
+                }
+            } else {
+                this.m_springImpulse = 0
+            }
+            if (this.m_enableMotor) {
+                this.m_motorMass = iA + iB;
+                if (this.m_motorMass > 0) {
+                    this.m_motorMass = 1 / this.m_motorMass
+                }
+            } else {
+                this.m_motorMass = 0;
+                this.m_motorImpulse = 0
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse *= data.step.dtRatio;
+                this.m_springImpulse *= data.step.dtRatio;
+                this.m_motorImpulse *= data.step.dtRatio;
+                var P = b2Vec2.Add(b2Vec2.Multiply(this.m_impulse, this.m_ay), b2Vec2.Multiply(this.m_springImpulse, this.m_ax));
+                var LA = this.m_impulse * this.m_sAy + this.m_springImpulse * this.m_sAx + this.m_motorImpulse;
+                var LB = this.m_impulse * this.m_sBy + this.m_springImpulse * this.m_sBx + this.m_motorImpulse;
+                vA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+                wA -= this.m_invIA * LA;
+                vB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+                wB += this.m_invIB * LB
+            } else {
+                this.m_impulse = 0;
+                this.m_springImpulse = 0;
+                this.m_motorImpulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var Cdot = b2Dot_v2_v2(this.m_ax, b2Vec2.Subtract(vB, vA)) + this.m_sBx * wB - this.m_sAx * wA;
+            var impulse = -this.m_springMass * (Cdot + this.m_bias + this.m_gamma * this.m_springImpulse);
+            this.m_springImpulse += impulse;
+            var P = b2Vec2.Multiply(impulse, this.m_ax);
+            var LA = impulse * this.m_sAx;
+            var LB = impulse * this.m_sBx;
+            vA.Subtract(b2Vec2.Multiply(mA, P));
+            wA -= iA * LA;
+            vB.Add(b2Vec2.Multiply(mB, P));
+            wB += iB * LB;
+            var Cdot = wB - wA - this.m_motorSpeed;
+            var impulse = -this.m_motorMass * Cdot;
+            var oldImpulse = this.m_motorImpulse;
+            var maxImpulse = data.step.dt * this.m_maxMotorTorque;
+            this.m_motorImpulse = b2Clamp(this.m_motorImpulse + impulse, -maxImpulse, maxImpulse);
+            impulse = this.m_motorImpulse - oldImpulse;
+            wA -= iA * impulse;
+            wB += iB * impulse;
+            var Cdot = b2Dot_v2_v2(this.m_ay, b2Vec2.Subtract(vB, vA)) + this.m_sBy * wB - this.m_sAy * wA;
+            var impulse = -this.m_mass * Cdot;
+            this.m_impulse += impulse;
+            var P = b2Vec2.Multiply(impulse, this.m_ay);
+            var LA = impulse * this.m_sAy;
+            var LB = impulse * this.m_sBy;
+            vA.Subtract(b2Vec2.Multiply(mA, P));
+            wA -= iA * LA;
+            vB.Add(b2Vec2.Multiply(mB, P));
+            wB += iB * LB;
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var d = b2Vec2.Add(b2Vec2.Subtract(cB, cA), b2Vec2.Subtract(rB, rA));
+            var ay = b2Mul_r_v2(qA, this.m_localYAxisA);
+            var sAy = b2Cross_v2_v2(b2Vec2.Add(d, rA), ay);
+            var sBy = b2Cross_v2_v2(rB, ay);
+            var C = b2Dot_v2_v2(d, ay);
+            var k = this.m_invMassA + this.m_invMassB + this.m_invIA * this.m_sAy * this.m_sAy + this.m_invIB * this.m_sBy * this.m_sBy;
+            var impulse;
+            if (k != 0) {
+                impulse = -C / k
+            } else {
+                impulse = 0
+            }
+            var P = b2Vec2.Multiply(impulse, ay);
+            var LA = impulse * sAy;
+            var LB = impulse * sBy;
+            cA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+            aA -= this.m_invIA * LA;
+            cB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+            aB += this.m_invIB * LB;
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return b2Abs(C) <= b2_linearSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.localAxisA = this.m_localAxisA._serialize();
+            obj.enableMotor = this.m_enableMotor;
+            obj.maxMotorTorque = this.m_maxMotorTorque;
+            obj.motorSpeed = this.m_motorSpeed;
+            obj.frequencyHz = this.m_frequencyHz;
+            obj.dampingRatio = this.m_dampingRatio;
+            return obj
+        }
+    };
+    b2WheelJoint._extend(b2Joint);
+
+    function b2GearJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_gearJoint;
+        this.joint1 = null;
+        this.joint2 = null;
+        this.ratio = 1;
+        Object.seal(this)
+    }
+    b2GearJointDef.prototype = {
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.joint1 = data.joint1;
+            this.joint2 = data.joint2;
+            this.ratio = data.ratio
+        }
+    };
+    b2GearJointDef._extend(b2JointDef);
+
+    function b2GearJoint(def) {
+        this.parent.call(this, def);
+        this.m_joint1 = def.joint1;
+        this.m_joint2 = def.joint2;
+        this.m_typeA = this.m_joint1.GetType();
+        this.m_typeB = this.m_joint2.GetType();
+        var coordinateA, coordinateB;
+        this.m_bodyC = this.m_joint1.GetBodyA();
+        this.m_bodyA = this.m_joint1.GetBodyB();
+        var xfA = this.m_bodyA.m_xf;
+        var aA = this.m_bodyA.m_sweep.a;
+        var xfC = this.m_bodyC.m_xf;
+        var aC = this.m_bodyC.m_sweep.a;
+        this.m_localAnchorA = new b2Vec2();
+        this.m_localAnchorB = new b2Vec2();
+        this.m_localAnchorC = new b2Vec2();
+        this.m_localAnchorD = new b2Vec2();
+        this.m_localAxisC = new b2Vec2();
+        this.m_localAxisD = new b2Vec2();
+        if (this.m_typeA == b2Joint.e_revoluteJoint) {
+            var revolute = def.joint1;
+            this.m_localAnchorC.Assign(revolute.m_localAnchorA);
+            this.m_localAnchorA.Assign(revolute.m_localAnchorB);
+            this.m_referenceAngleA = revolute.m_referenceAngle;
+            this.m_localAxisC.SetZero();
+            coordinateA = aA - aC - this.m_referenceAngleA
+        } else {
+            var prismatic = def.joint1;
+            this.m_localAnchorC.Assign(prismatic.m_localAnchorA);
+            this.m_localAnchorA.Assign(prismatic.m_localAnchorB);
+            this.m_referenceAngleA = prismatic.m_referenceAngle;
+            this.m_localAxisC.Assign(prismatic.m_localXAxisA);
+            var pC = this.m_localAnchorC;
+            var pA = b2MulT_r_v2(xfC.q, b2Vec2.Add(b2Mul_r_v2(xfA.q, this.m_localAnchorA), b2Vec2.Subtract(xfA.p, xfC.p)));
+            coordinateA = b2Dot_v2_v2(b2Vec2.Subtract(pA, pC), this.m_localAxisC)
+        }
+        this.m_bodyD = this.m_joint2.GetBodyA();
+        this.m_bodyB = this.m_joint2.GetBodyB();
+        var xfB = this.m_bodyB.m_xf;
+        var aB = this.m_bodyB.m_sweep.a;
+        var xfD = this.m_bodyD.m_xf;
+        var aD = this.m_bodyD.m_sweep.a;
+        if (this.m_typeB == b2Joint.e_revoluteJoint) {
+            var revolute = def.joint2;
+            this.m_localAnchorD.Assign(revolute.m_localAnchorA);
+            this.m_localAnchorB.Assign(revolute.m_localAnchorB);
+            this.m_referenceAngleB = revolute.m_referenceAngle;
+            this.m_localAxisD.SetZero();
+            coordinateB = aB - aD - this.m_referenceAngleB
+        } else {
+            var prismatic = def.joint2;
+            this.m_localAnchorD.Assign(prismatic.m_localAnchorA);
+            this.m_localAnchorB.Assign(prismatic.m_localAnchorB);
+            this.m_referenceAngleB = prismatic.m_referenceAngle;
+            this.m_localAxisD.Assign(prismatic.m_localXAxisA);
+            var pD = this.m_localAnchorD;
+            var pB = b2MulT_r_v2(xfD.q, b2Vec2.Add(b2Mul_r_v2(xfB.q, this.m_localAnchorB), b2Vec2.Subtract(xfB.p, xfD.p)));
+            coordinateB = b2Dot_v2_v2(b2Vec2.Subtract(pB, pD), this.m_localAxisD)
+        }
+        this.m_ratio = def.ratio;
+        this.m_constant = coordinateA + this.m_ratio * coordinateB;
+        this.m_impulse = 0;
+        this.m_indexA = this.m_indexB = this.m_indexC = this.m_indexD = 0;
+        this.m_lcA = new b2Vec2();
+        this.m_lcB = new b2Vec2();
+        this.m_lcC = new b2Vec2();
+        this.m_lcD = new b2Vec2();
+        this.m_mA = this.m_mB = this.m_mC = this.m_mD = 0;
+        this.m_iA = this.m_iB = this.m_iC = this.m_iD = 0;
+        this.m_JvAC = new b2Vec2(), this.m_JvBD = new b2Vec2();
+        this.m_JwA = this.m_JwB = this.m_JwC = this.m_JwD = 0;
+        this.m_mass = 0
+    }
+    b2GearJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            var P = b2Vec2.Multiply(this.m_impulse, this.m_JvAC);
+            return b2Vec2.Multiply(inv_dt, P)
+        },
+        GetReactionTorque: function (inv_dt) {
+            var L = this.m_impulse * this.m_JwA;
+            return inv_dt * L
+        },
+        GetJoint1: function () {
+            return this.m_joint1
+        },
+        GetJoint2: function () {
+            return this.m_joint2
+        },
+        SetRatio: function (ratio) {
+            this.m_ratio = ratio
+        },
+        GetRatio: function () {
+            return this.m_ratio
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_indexC = this.m_bodyC.m_islandIndex;
+            this.m_indexD = this.m_bodyD.m_islandIndex;
+            this.m_lcA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_lcB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_lcC.Assign(this.m_bodyC.m_sweep.localCenter);
+            this.m_lcD.Assign(this.m_bodyD.m_sweep.localCenter);
+            this.m_mA = this.m_bodyA.m_invMass;
+            this.m_mB = this.m_bodyB.m_invMass;
+            this.m_mC = this.m_bodyC.m_invMass;
+            this.m_mD = this.m_bodyD.m_invMass;
+            this.m_iA = this.m_bodyA.m_invI;
+            this.m_iB = this.m_bodyB.m_invI;
+            this.m_iC = this.m_bodyC.m_invI;
+            this.m_iD = this.m_bodyD.m_invI;
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var aC = data.positions[this.m_indexC].a;
+            var vC = data.velocities[this.m_indexC].v.Clone();
+            var wC = data.velocities[this.m_indexC].w;
+            var aD = data.positions[this.m_indexD].a;
+            var vD = data.velocities[this.m_indexD].v.Clone();
+            var wD = data.velocities[this.m_indexD].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB),
+                qC = new b2Rot(aC),
+                qD = new b2Rot(aD);
+            this.m_mass = 0;
+            if (this.m_typeA == b2Joint.e_revoluteJoint) {
+                this.m_JvAC.SetZero();
+                this.m_JwA = 1;
+                this.m_JwC = 1;
+                this.m_mass += this.m_iA + this.m_iC
+            } else {
+                var u = b2Mul_r_v2(qC, this.m_localAxisC);
+                var rC = b2Mul_r_v2(qC, b2Vec2.Subtract(this.m_localAnchorC, this.m_lcC));
+                var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_lcA));
+                this.m_JvAC.Assign(u);
+                this.m_JwC = b2Cross_v2_v2(rC, u);
+                this.m_JwA = b2Cross_v2_v2(rA, u);
+                this.m_mass += this.m_mC + this.m_mA + this.m_iC * this.m_JwC * this.m_JwC + this.m_iA * this.m_JwA * this.m_JwA
+            }
+            if (this.m_typeB == b2Joint.e_revoluteJoint) {
+                this.m_JvBD.SetZero();
+                this.m_JwB = this.m_ratio;
+                this.m_JwD = this.m_ratio;
+                this.m_mass += this.m_ratio * this.m_ratio * (this.m_iB + this.m_iD)
+            } else {
+                var u = b2Mul_r_v2(qD, this.m_localAxisD);
+                var rD = b2Mul_r_v2(qD, b2Vec2.Subtract(this.m_localAnchorD, this.m_lcD));
+                var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_lcB));
+                this.m_JvBD.Assign(b2Vec2.Multiply(this.m_ratio, u));
+                this.m_JwD = this.m_ratio * b2Cross_v2_v2(rD, u);
+                this.m_JwB = this.m_ratio * b2Cross_v2_v2(rB, u);
+                this.m_mass += this.m_ratio * this.m_ratio * (this.m_mD + this.m_mB) + this.m_iD * this.m_JwD * this.m_JwD + this.m_iB * this.m_JwB * this.m_JwB
+            }
+            this.m_mass = this.m_mass > 0 ? 1 / this.m_mass : 0;
+            if (data.step.warmStarting) {
+                vA.Add(b2Vec2.Multiply((this.m_mA * this.m_impulse), this.m_JvAC));
+                wA += this.m_iA * this.m_impulse * this.m_JwA;
+                vB.Add(b2Vec2.Multiply((this.m_mB * this.m_impulse), this.m_JvBD));
+                wB += this.m_iB * this.m_impulse * this.m_JwB;
+                vC.Subtract(b2Vec2.Multiply((this.m_mC * this.m_impulse), this.m_JvAC));
+                wC -= this.m_iC * this.m_impulse * this.m_JwC;
+                vD.Subtract(b2Vec2.Multiply((this.m_mD * this.m_impulse), this.m_JvBD));
+                wD -= this.m_iD * this.m_impulse * this.m_JwD
+            } else {
+                this.m_impulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB;
+            data.velocities[this.m_indexC].v.Assign(vC);
+            data.velocities[this.m_indexC].w = wC;
+            data.velocities[this.m_indexD].v.Assign(vD);
+            data.velocities[this.m_indexD].w = wD
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var vC = data.velocities[this.m_indexC].v.Clone();
+            var wC = data.velocities[this.m_indexC].w;
+            var vD = data.velocities[this.m_indexD].v.Clone();
+            var wD = data.velocities[this.m_indexD].w;
+            var Cdot = b2Dot_v2_v2(this.m_JvAC, b2Vec2.Subtract(vA, vC)) + b2Dot_v2_v2(this.m_JvBD, b2Vec2.Subtract(vB, vD));
+            Cdot += (this.m_JwA * wA - this.m_JwC * wC) + (this.m_JwB * wB - this.m_JwD * wD);
+            var impulse = -this.m_mass * Cdot;
+            this.m_impulse += impulse;
+            vA.Add(b2Vec2.Multiply((this.m_mA * impulse), this.m_JvAC));
+            wA += this.m_iA * impulse * this.m_JwA;
+            vB.Add(b2Vec2.Multiply((this.m_mB * impulse), this.m_JvBD));
+            wB += this.m_iB * impulse * this.m_JwB;
+            vC.Subtract(b2Vec2.Multiply((this.m_mC * impulse), this.m_JvAC));
+            wC -= this.m_iC * impulse * this.m_JwC;
+            vD.Subtract(b2Vec2.Multiply((this.m_mD * impulse), this.m_JvBD));
+            wD -= this.m_iD * impulse * this.m_JwD;
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB;
+            data.velocities[this.m_indexC].v.Assign(vC);
+            data.velocities[this.m_indexC].w = wC;
+            data.velocities[this.m_indexD].v.Assign(vD);
+            data.velocities[this.m_indexD].w = wD
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var cC = data.positions[this.m_indexC].c.Clone();
+            var aC = data.positions[this.m_indexC].a;
+            var cD = data.positions[this.m_indexD].c.Clone();
+            var aD = data.positions[this.m_indexD].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB),
+                qC = new b2Rot(aC),
+                qD = new b2Rot(aD);
+            var linearError = 0;
+            var coordinateA, coordinateB;
+            var JvAC = new b2Vec2(),
+                JvBD = new b2Vec2();
+            var JwA, JwB, JwC, JwD;
+            var mass = 0;
+            if (this.m_typeA == b2Joint.e_revoluteJoint) {
+                JvAC.SetZero();
+                JwA = 1;
+                JwC = 1;
+                mass += this.m_iA + this.m_iC;
+                coordinateA = aA - aC - this.m_referenceAngleA
+            } else {
+                var u = b2Mul_r_v2(qC, this.m_localAxisC);
+                var rC = b2Mul_r_v2(qC, b2Vec2.Subtract(this.m_localAnchorC, this.m_lcC));
+                var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_lcA));
+                JvAC.Assign(u);
+                JwC = b2Cross_v2_v2(rC, u);
+                JwA = b2Cross_v2_v2(rA, u);
+                mass += this.m_mC + this.m_mA + this.m_iC * JwC * JwC + this.m_iA * JwA * JwA;
+                var pC = b2Vec2.Subtract(this.m_localAnchorC, this.m_lcC);
+                var pA = b2MulT_r_v2(qC, b2Vec2.Add(rA, b2Vec2.Subtract(cA, cC)));
+                coordinateA = b2Dot_v2_v2(b2Vec2.Subtract(pA, pC), this.m_localAxisC)
+            }
+            if (this.m_typeB == b2Joint.e_revoluteJoint) {
+                JvBD.SetZero();
+                JwB = this.m_ratio;
+                JwD = this.m_ratio;
+                mass += this.m_ratio * this.m_ratio * (this.m_iB + this.m_iD);
+                coordinateB = aB - aD - this.m_referenceAngleB
+            } else {
+                var u = b2Mul_r_v2(qD, this.m_localAxisD);
+                var rD = b2Mul_r_v2(qD, b2Vec2.Subtract(this.m_localAnchorD, this.m_lcD));
+                var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_lcB));
+                JvBD.Assign(b2Vec2.Multiply(this.m_ratio, u));
+                JwD = this.m_ratio * b2Cross_v2_v2(rD, u);
+                JwB = this.m_ratio * b2Cross_v2_v2(rB, u);
+                mass += this.m_ratio * this.m_ratio * (this.m_mD + this.m_mB) + this.m_iD * JwD * JwD + this.m_iB * JwB * JwB;
+                var pD = b2Vec2.Subtract(this.m_localAnchorD, this.m_lcD);
+                var pB = b2MulT_r_v2(qD, b2Vec2.Add(rB, b2Vec2.Subtract(cB, cD)));
+                coordinateB = b2Dot_v2_v2(b2Vec2.Subtract(pB, pD), this.m_localAxisD)
+            }
+            var C = (coordinateA + this.m_ratio * coordinateB) - this.m_constant;
+            var impulse = 0;
+            if (mass > 0) {
+                impulse = -C / mass
+            }
+            cA.Add(b2Vec2.Multiply(this.m_mA, b2Vec2.Multiply(impulse, JvAC)));
+            aA += this.m_iA * impulse * JwA;
+            cB.Add(b2Vec2.Multiply(this.m_mB, b2Vec2.Multiply(impulse, JvBD)));
+            aB += this.m_iB * impulse * JwB;
+            cC.Subtract(b2Vec2.Multiply(this.m_mC, b2Vec2.Multiply(impulse, JvAC)));
+            aC -= this.m_iC * impulse * JwC;
+            cD.Subtract(b2Vec2.Multiply(this.m_mD, b2Vec2.Multiply(impulse, JvBD)));
+            aD -= this.m_iD * impulse * JwD;
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            data.positions[this.m_indexC].c.Assign(cC);
+            data.positions[this.m_indexC].a = aC;
+            data.positions[this.m_indexD].c.Assign(cD);
+            data.positions[this.m_indexD].a = aD;
+            return linearError < b2_linearSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.joint1 = this.m_joint1.__temp_joint_id;
+            obj.joint2 = this.m_joint2.__temp_joint_id;
+            obj.ratio = this.m_ratio;
+            return obj
+        }
+    };
+    b2GearJoint._extend(b2Joint);
+
+    function b2MotorJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_motorJoint;
+        this.linearOffset = new b2Vec2();
+        this.angularOffset = 0;
+        this.maxForce = 1;
+        this.maxTorque = 1;
+        this.correctionFactor = 0.3;
+        Object.seal(this)
+    }
+    b2MotorJointDef.prototype = {
+        Initialize: function (bA, bB) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            var xB = this.bodyB.GetPosition();
+            this.linearOffset.Assign(this.bodyA.GetLocalPoint(xB));
+            var angleA = this.bodyA.GetAngle();
+            var angleB = this.bodyB.GetAngle();
+            this.angularOffset = angleB - angleA
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.linearOffset._deserialize(data.linearOffset);
+            this.angularOffset = data.angularOffset;
+            this.maxForce = data.maxForce;
+            this.maxTorque = data.maxTorque;
+            this.correctionFactor = data.correctionFactor
+        }
+    };
+    b2MotorJointDef._extend(b2JointDef);
+
+    function b2MotorJoint(def) {
+        this.parent.call(this, def);
+        this.m_linearOffset = def.linearOffset.Clone();
+        this.m_angularOffset = def.angularOffset;
+        this.m_linearImpulse = new b2Vec2();
+        this.m_angularImpulse = 0;
+        this.m_maxForce = def.maxForce;
+        this.m_maxTorque = def.maxTorque;
+        this.m_correctionFactor = def.correctionFactor;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_linearError = new b2Vec2();
+        this.m_angularError = 0;
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_linearMass = new b2Mat22();
+        this.m_angularMass = 0
+    }
+    b2MotorJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetPosition()
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetPosition()
+        },
+        GetReactionForce: function (inv_dt) {
+            return b2Vec2.Multiply(inv_dt, this.m_linearImpulse)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return inv_dt * this.m_angularImpulse
+        },
+        SetLinearOffset: function (linearOffset) {
+            if (linearOffset.x != this.m_linearOffset.x || linearOffset.y != this.m_linearOffset.y) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_linearOffset.Assign(linearOffset)
+            }
+        },
+        GetLinearOffset: function () {
+            return this.m_linearOffset
+        },
+        SetAngularOffset: function (angularOffset) {
+            if (angularOffset != this.m_angularOffset) {
+                this.m_bodyA.SetAwake(true);
+                this.m_bodyB.SetAwake(true);
+                this.m_angularOffset = angularOffset
+            }
+        },
+        GetAngularOffset: function () {
+            return this.m_angularOffset
+        },
+        SetMaxForce: function (force) {
+            this.m_maxForce = force
+        },
+        GetMaxForce: function () {
+            return this.m_maxForce
+        },
+        SetMaxTorque: function (torque) {
+            this.m_maxTorque = torque
+        },
+        GetMaxTorque: function () {
+            return this.m_maxTorque
+        },
+        SetCorrectionFactor: function (factor) {
+            this.m_correctionFactor = factor
+        },
+        GetCorrectionFactor: function () {
+            return this.m_correctionFactor
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA.Assign(b2Mul_r_v2(qA, this.m_localCenterA.Negate()));
+            this.m_rB.Assign(b2Mul_r_v2(qB, this.m_localCenterB.Negate()));
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var K = new b2Mat22();
+            K.ex.x = mA + mB + iA * this.m_rA.y * this.m_rA.y + iB * this.m_rB.y * this.m_rB.y;
+            K.ex.y = -iA * this.m_rA.x * this.m_rA.y - iB * this.m_rB.x * this.m_rB.y;
+            K.ey.x = K.ex.y;
+            K.ey.y = mA + mB + iA * this.m_rA.x * this.m_rA.x + iB * this.m_rB.x * this.m_rB.x;
+            this.m_linearMass.Assign(K.GetInverse());
+            this.m_angularMass = iA + iB;
+            if (this.m_angularMass > 0) {
+                this.m_angularMass = 1 / this.m_angularMass
+            }
+            this.m_linearError.Assign(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, this.m_rB), cA), this.m_rA), b2Mul_r_v2(qA, this.m_linearOffset)));
+            this.m_angularError = aB - aA - this.m_angularOffset;
+            if (data.step.warmStarting) {
+                this.m_linearImpulse.Multiply(data.step.dtRatio);
+                this.m_angularImpulse *= data.step.dtRatio;
+                var P = new b2Vec2(this.m_linearImpulse.x, this.m_linearImpulse.y);
+                vA.Subtract(b2Vec2.Multiply(mA, P));
+                wA -= iA * (b2Cross_v2_v2(this.m_rA, P) + this.m_angularImpulse);
+                vB.Add(b2Vec2.Multiply(mB, P));
+                wB += iB * (b2Cross_v2_v2(this.m_rB, P) + this.m_angularImpulse)
+            } else {
+                this.m_linearImpulse.SetZero();
+                this.m_angularImpulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var mA = this.m_invMassA,
+                mB = this.m_invMassB;
+            var iA = this.m_invIA,
+                iB = this.m_invIB;
+            var h = data.step.dt;
+            var inv_h = data.step.inv_dt;
+            var Cdot = wB - wA + inv_h * this.m_correctionFactor * this.m_angularError;
+            var impulse = -this.m_angularMass * Cdot;
+            var oldImpulse = this.m_angularImpulse;
+            var maxImpulse = h * this.m_maxTorque;
+            this.m_angularImpulse = b2Clamp(this.m_angularImpulse + impulse, -maxImpulse, maxImpulse);
+            impulse = this.m_angularImpulse - oldImpulse;
+            wA -= iA * impulse;
+            wB += iB * impulse;
+            var Cdot = b2Vec2.Add(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB)), vA), b2Cross_f_v2(wA, this.m_rA)), b2Vec2.Multiply(inv_h, b2Vec2.Multiply(this.m_correctionFactor, this.m_linearError)));
+            var impulse = b2Mul_m22_v2(this.m_linearMass, Cdot).Negate();
+            var oldImpulse = this.m_linearImpulse;
+            this.m_linearImpulse.Add(impulse);
+            var maxImpulse = h * this.m_maxForce;
+            if (this.m_linearImpulse.LengthSquared() > maxImpulse * maxImpulse) {
+                this.m_linearImpulse.Normalize();
+                this.m_linearImpulse.Multiply(maxImpulse)
+            }
+            impulse.Assign(b2Vec2.Subtract(this.m_linearImpulse, oldImpulse));
+            vA.Subtract(b2Vec2.Multiply(mA, impulse));
+            wA -= iA * b2Cross_v2_v2(this.m_rA, impulse);
+            vB.Add(b2Vec2.Multiply(mB, impulse));
+            wB += iB * b2Cross_v2_v2(this.m_rB, impulse);
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            return true
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.linearOffset = this.m_linearOffset._serialize();
+            obj.angularOffset = this.m_angularOffset;
+            obj.maxForce = this.m_maxForce;
+            obj.maxTorque = this.m_maxTorque;
+            obj.correctionFactor = this.m_correctionFactor;
+            return obj
+        }
+    };
+    b2MotorJoint._extend(b2Joint);
+    var b2_minPulleyLength = 2;
+
+    function b2PulleyJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_pulleyJoint;
+        this.groundAnchorA = new b2Vec2(-1, 1);
+        this.groundAnchorB = new b2Vec2(1, 1);
+        this.localAnchorA = new b2Vec2(-1, 0);
+        this.localAnchorB = new b2Vec2(1, 0);
+        this.lengthA = 0;
+        this.lengthB = 0;
+        this.ratio = 1;
+        this.collideConnected = true;
+        Object.seal(this)
+    }
+    b2PulleyJointDef.prototype = {
+        Initialize: function (bA, bB, groundA, groundB, anchorA, anchorB, r) {
+            this.bodyA = bA;
+            this.bodyB = bB;
+            this.groundAnchorA.Assign(groundA);
+            this.groundAnchorB.Assign(groundB);
+            this.localAnchorA.Assign(this.bodyA.GetLocalPoint(anchorA));
+            this.localAnchorB.Assign(this.bodyB.GetLocalPoint(anchorB));
+            var dA = b2Vec2.Subtract(anchorA, groundA);
+            this.lengthA = dA.Length();
+            var dB = b2Vec2.Subtract(anchorB, groundB);
+            this.lengthB = dB.Length();
+            this.ratio = r
+        },
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.groundAnchorA._deserialize(data.groundAnchorA);
+            this.groundAnchorB._deserialize(data.groundAnchorB);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.lengthA = data.lengthA;
+            this.lengthB = data.lengthB;
+            this.ratio = data.ratio
+        }
+    };
+    b2PulleyJointDef._extend(b2JointDef);
+
+    function b2PulleyJoint(def) {
+        this.parent.call(this, def);
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_uA = new b2Vec2();
+        this.m_uB = new b2Vec2();
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0;
+        this.m_mass = 0;
+        this.m_groundAnchorA = def.groundAnchorA.Clone();
+        this.m_groundAnchorB = def.groundAnchorB.Clone();
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_lengthA = def.lengthA;
+        this.m_lengthB = def.lengthB;
+        this.m_ratio = def.ratio;
+        this.m_constant = def.lengthA + this.m_ratio * def.lengthB;
+        this.m_impulse = 0
+    }
+    b2PulleyJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            var P = b2Vec2.Multiply(this.m_impulse, this.m_uB);
+            return b2Vec2.Multiply(inv_dt, P)
+        },
+        GetReactionTorque: function (inv_dt) {
+            return 0
+        },
+        GetGroundAnchorA: function () {
+            return this.m_groundAnchorA
+        },
+        GetGroundAnchorB: function () {
+            return this.m_groundAnchorB
+        },
+        GetLengthA: function () {
+            return this.m_lengthA
+        },
+        GetLengthB: function () {
+            return this.m_lengthB
+        },
+        GetRatio: function () {
+            return this.m_ratio
+        },
+        GetCurrentLengthA: function () {
+            var p = this.m_bodyA.GetWorldPoint(this.m_localAnchorA);
+            var s = this.m_groundAnchorA;
+            var d = b2Vec2.Subtract(p, s);
+            return d.Length()
+        },
+        GetCurrentLengthB: function () {
+            var p = this.m_bodyB.GetWorldPoint(this.m_localAnchorB);
+            var s = this.m_groundAnchorB;
+            var d = b2Vec2.Subtract(p, s);
+            return d.Length()
+        },
+        ShiftOrigin: function (newOrigin) {
+            this.m_groundAnchorA.Subtract(newOrigin);
+            this.m_groundAnchorB.Subtract(newOrigin)
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA.Assign(b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA)));
+            this.m_rB.Assign(b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB)));
+            this.m_uA.Assign(b2Vec2.Add(cA, b2Vec2.Subtract(this.m_rA, this.m_groundAnchorA)));
+            this.m_uB.Assign(b2Vec2.Add(cB, b2Vec2.Subtract(this.m_rB, this.m_groundAnchorB)));
+            var lengthA = this.m_uA.Length();
+            var lengthB = this.m_uB.Length();
+            if (lengthA > 10 * b2_linearSlop) {
+                this.m_uA.Multiply(1 / lengthA)
+            } else {
+                this.m_uA.SetZero()
+            }
+            if (lengthB > 10 * b2_linearSlop) {
+                this.m_uB.Multiply(1 / lengthB)
+            } else {
+                this.m_uB.SetZero()
+            }
+            var ruA = b2Cross_v2_v2(this.m_rA, this.m_uA);
+            var ruB = b2Cross_v2_v2(this.m_rB, this.m_uB);
+            var mA = this.m_invMassA + this.m_invIA * ruA * ruA;
+            var mB = this.m_invMassB + this.m_invIB * ruB * ruB;
+            this.m_mass = mA + this.m_ratio * this.m_ratio * mB;
+            if (this.m_mass > 0) {
+                this.m_mass = 1 / this.m_mass
+            }
+            if (data.step.warmStarting) {
+                this.m_impulse *= data.step.dtRatio;
+                var PA = b2Vec2.Multiply(-(this.m_impulse), this.m_uA);
+                var PB = b2Vec2.Multiply((-this.m_ratio * this.m_impulse), this.m_uB);
+                vA.Add(b2Vec2.Multiply(this.m_invMassA, PA));
+                wA += this.m_invIA * b2Cross_v2_v2(this.m_rA, PA);
+                vB.Add(b2Vec2.Multiply(this.m_invMassB, PB));
+                wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, PB)
+            } else {
+                this.m_impulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var vpA = b2Vec2.Add(vA, b2Cross_f_v2(wA, this.m_rA));
+            var vpB = b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB));
+            var Cdot = -b2Dot_v2_v2(this.m_uA, vpA) - this.m_ratio * b2Dot_v2_v2(this.m_uB, vpB);
+            var impulse = -this.m_mass * Cdot;
+            this.m_impulse += impulse;
+            var PA = b2Vec2.Multiply(-impulse, this.m_uA);
+            var PB = b2Vec2.Multiply(-this.m_ratio, b2Vec2.Multiply(impulse, this.m_uB));
+            vA.Add(b2Vec2.Multiply(this.m_invMassA, PA));
+            wA += this.m_invIA * b2Cross_v2_v2(this.m_rA, PA);
+            vB.Add(b2Vec2.Multiply(this.m_invMassB, PB));
+            wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, PB);
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var uA = b2Vec2.Add(cA, b2Vec2.Subtract(rA, this.m_groundAnchorA));
+            var uB = b2Vec2.Add(cB, b2Vec2.Subtract(rB, this.m_groundAnchorB));
+            var lengthA = uA.Length();
+            var lengthB = uB.Length();
+            if (lengthA > 10 * b2_linearSlop) {
+                uA.Multiply(1 / lengthA)
+            } else {
+                uA.SetZero()
+            }
+            if (lengthB > 10 * b2_linearSlop) {
+                uB.Multiply(1 / lengthB)
+            } else {
+                uB.SetZero()
+            }
+            var ruA = b2Cross_v2_v2(rA, uA);
+            var ruB = b2Cross_v2_v2(rB, uB);
+            var mA = this.m_invMassA + this.m_invIA * ruA * ruA;
+            var mB = this.m_invMassB + this.m_invIB * ruB * ruB;
+            var mass = mA + this.m_ratio * this.m_ratio * mB;
+            if (mass > 0) {
+                mass = 1 / mass
+            }
+            var C = this.m_constant - lengthA - this.m_ratio * lengthB;
+            var linearError = b2Abs(C);
+            var impulse = -mass * C;
+            var PA = b2Vec2.Multiply(-impulse, uA);
+            var PB = b2Vec2.Multiply(-this.m_ratio, b2Vec2.Multiply(impulse, uB));
+            cA.Add(b2Vec2.Multiply(this.m_invMassA, PA));
+            aA += this.m_invIA * b2Cross_v2_v2(rA, PA);
+            cB.Add(b2Vec2.Multiply(this.m_invMassB, PB));
+            aB += this.m_invIB * b2Cross_v2_v2(rB, PB);
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return linearError < b2_linearSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.groundAnchorA = this.m_groundAnchorA._serialize();
+            obj.groundAnchorB = this.m_groundAnchorB._serialize();
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.lengthA = this.m_lengthA;
+            obj.lengthB = this.m_lengthB;
+            obj.ratio = this.m_ratio;
+            return obj
+        }
+    };
+    b2PulleyJoint._extend(b2Joint);
+
+    function b2RopeJointDef() {
+        this.parent.call(this);
+        this.type = b2Joint.e_ropeJoint;
+        this.localAnchorA = new b2Vec2(-1, 0);
+        this.localAnchorB = new b2Vec2(1, 0);
+        this.maxLength = 0;
+        Object.seal(this)
+    }
+    b2RopeJointDef.prototype = {
+        _deserialize: function (data, bodies, joints) {
+            this.parent.prototype._deserialize.call(this, data, bodies, joints);
+            this.localAnchorA._deserialize(data.localAnchorA);
+            this.localAnchorB._deserialize(data.localAnchorB);
+            this.maxLength = data.maxLength
+        }
+    };
+    b2RopeJointDef._extend(b2JointDef);
+
+    function b2RopeJoint(def) {
+        this.parent.call(this, def);
+        this.m_localAnchorA = def.localAnchorA.Clone();
+        this.m_localAnchorB = def.localAnchorB.Clone();
+        this.m_maxLength = def.maxLength;
+        this.m_mass = 0;
+        this.m_impulse = 0;
+        this.m_state = b2Joint.e_inactiveLimit;
+        this.m_length = 0;
+        this.m_indexA = 0;
+        this.m_indexB = 0;
+        this.m_u = new b2Vec2();
+        this.m_rA = new b2Vec2();
+        this.m_rB = new b2Vec2();
+        this.m_localCenterA = new b2Vec2();
+        this.m_localCenterB = new b2Vec2();
+        this.m_invMassA = 0;
+        this.m_invMassB = 0;
+        this.m_invIA = 0;
+        this.m_invIB = 0
+    }
+    b2RopeJoint.prototype = {
+        GetAnchorA: function () {
+            return this.m_bodyA.GetWorldPoint(this.m_localAnchorA)
+        },
+        GetAnchorB: function () {
+            return this.m_bodyB.GetWorldPoint(this.m_localAnchorB)
+        },
+        GetReactionForce: function (inv_dt) {
+            var F = b2Vec2.Multiply((inv_dt * this.m_impulse), this.m_u);
+            return F
+        },
+        GetReactionTorque: function (inv_dt) {
+            return 0
+        },
+        GetLocalAnchorA: function () {
+            return this.m_localAnchorA
+        },
+        GetLocalAnchorB: function () {
+            return this.m_localAnchorB
+        },
+        SetMaxLength: function (length) {
+            this.m_maxLength = length
+        },
+        GetMaxLength: function () {
+            return this.m_maxLength
+        },
+        GetLimitState: function () {
+            return this.m_state
+        },
+        InitVelocityConstraints: function (data) {
+            this.m_indexA = this.m_bodyA.m_islandIndex;
+            this.m_indexB = this.m_bodyB.m_islandIndex;
+            this.m_localCenterA.Assign(this.m_bodyA.m_sweep.localCenter);
+            this.m_localCenterB.Assign(this.m_bodyB.m_sweep.localCenter);
+            this.m_invMassA = this.m_bodyA.m_invMass;
+            this.m_invMassB = this.m_bodyB.m_invMass;
+            this.m_invIA = this.m_bodyA.m_invI;
+            this.m_invIB = this.m_bodyB.m_invI;
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            this.m_rA.Assign(b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA)));
+            this.m_rB.Assign(b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB)));
+            this.m_u.Assign(b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, this.m_rB), cA), this.m_rA));
+            this.m_length = this.m_u.Length();
+            var C = this.m_length - this.m_maxLength;
+            if (C > 0) {
+                this.m_state = b2Joint.e_atUpperLimit
+            } else {
+                this.m_state = b2Joint.e_inactiveLimit
+            }
+            if (this.m_length > b2_linearSlop) {
+                this.m_u.Multiply(1 / this.m_length)
+            } else {
+                this.m_u.SetZero();
+                this.m_mass = 0;
+                this.m_impulse = 0;
+                return
+            }
+            var crA = b2Cross_v2_v2(this.m_rA, this.m_u);
+            var crB = b2Cross_v2_v2(this.m_rB, this.m_u);
+            var invMass = this.m_invMassA + this.m_invIA * crA * crA + this.m_invMassB + this.m_invIB * crB * crB;
+            this.m_mass = invMass != 0 ? 1 / invMass : 0;
+            if (data.step.warmStarting) {
+                this.m_impulse *= data.step.dtRatio;
+                var P = b2Vec2.Multiply(this.m_impulse, this.m_u);
+                vA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+                wA -= this.m_invIA * b2Cross_v2_v2(this.m_rA, P);
+                vB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+                wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, P)
+            } else {
+                this.m_impulse = 0
+            }
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolveVelocityConstraints: function (data) {
+            var vA = data.velocities[this.m_indexA].v.Clone();
+            var wA = data.velocities[this.m_indexA].w;
+            var vB = data.velocities[this.m_indexB].v.Clone();
+            var wB = data.velocities[this.m_indexB].w;
+            var vpA = b2Vec2.Add(vA, b2Cross_f_v2(wA, this.m_rA));
+            var vpB = b2Vec2.Add(vB, b2Cross_f_v2(wB, this.m_rB));
+            var C = this.m_length - this.m_maxLength;
+            var Cdot = b2Dot_v2_v2(this.m_u, b2Vec2.Subtract(vpB, vpA));
+            if (C < 0) {
+                Cdot += data.step.inv_dt * C
+            }
+            var impulse = -this.m_mass * Cdot;
+            var oldImpulse = this.m_impulse;
+            this.m_impulse = b2Min(0, this.m_impulse + impulse);
+            impulse = this.m_impulse - oldImpulse;
+            var P = b2Vec2.Multiply(impulse, this.m_u);
+            vA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+            wA -= this.m_invIA * b2Cross_v2_v2(this.m_rA, P);
+            vB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+            wB += this.m_invIB * b2Cross_v2_v2(this.m_rB, P);
+            data.velocities[this.m_indexA].v.Assign(vA);
+            data.velocities[this.m_indexA].w = wA;
+            data.velocities[this.m_indexB].v.Assign(vB);
+            data.velocities[this.m_indexB].w = wB
+        },
+        SolvePositionConstraints: function (data) {
+            var cA = data.positions[this.m_indexA].c.Clone();
+            var aA = data.positions[this.m_indexA].a;
+            var cB = data.positions[this.m_indexB].c.Clone();
+            var aB = data.positions[this.m_indexB].a;
+            var qA = new b2Rot(aA),
+                qB = new b2Rot(aB);
+            var rA = b2Mul_r_v2(qA, b2Vec2.Subtract(this.m_localAnchorA, this.m_localCenterA));
+            var rB = b2Mul_r_v2(qB, b2Vec2.Subtract(this.m_localAnchorB, this.m_localCenterB));
+            var u = b2Vec2.Subtract(b2Vec2.Subtract(b2Vec2.Add(cB, rB), cA), rA);
+            var length = u.Normalize();
+            var C = length - this.m_maxLength;
+            C = b2Clamp(C, 0, b2_maxLinearCorrection);
+            var impulse = -this.m_mass * C;
+            var P = b2Vec2.Multiply(impulse, u);
+            cA.Subtract(b2Vec2.Multiply(this.m_invMassA, P));
+            aA -= this.m_invIA * b2Cross_v2_v2(rA, P);
+            cB.Add(b2Vec2.Multiply(this.m_invMassB, P));
+            aB += this.m_invIB * b2Cross_v2_v2(rB, P);
+            data.positions[this.m_indexA].c.Assign(cA);
+            data.positions[this.m_indexA].a = aA;
+            data.positions[this.m_indexB].c.Assign(cB);
+            data.positions[this.m_indexB].a = aB;
+            return length - this.m_maxLength < b2_linearSlop
+        },
+        _serialize: function (out) {
+            var obj = out || {};
+            this.parent.prototype._serialize.call(this, obj);
+            obj.localAnchorA = this.m_localAnchorA._serialize();
+            obj.localAnchorB = this.m_localAnchorB._serialize();
+            obj.maxLength = this.m_maxLength;
+            return obj
+        }
+    };
+    b2RopeJoint._extend(b2Joint);
+    var expf = Math.exp;
+
+    function b2RopeDef() {
+        this.vertices = null;
+        this.count = 0;
+        this.masses = null;
+        this.gravity = new b2Vec2();
+        this.damping = 0.1;
+        this.k2 = 0.9;
+        this.k3 = 0.1
+    }
+
+    function b2Rope() {
+        this.m_count = 0;
+        this.m_ps = null;
+        this.m_p0s = null;
+        this.m_vs = null;
+        this.m_ims = null;
+        this.m_Ls = null;
+        this.m_as = null;
+        this.m_damping = 0;
+        this.m_gravity = new b2Vec2();
+        this.m_k2 = 1;
+        this.m_k3 = 0.1
+    }
+    b2Rope.prototype = {
+        Initialize: function (def) {
+            this.m_count = def.count;
+            this.m_ps = new Array(this.m_count);
+            this.m_p0s = new Array(this.m_count);
+            this.m_vs = new Array(this.m_count);
+            this.m_ims = new Array(this.m_count);
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_ps[i] = def.vertices[i].Clone();
+                this.m_p0s[i] = def.vertices[i].Clone();
+                this.m_vs[i] = new b2Vec2();
+                var m = def.masses[i];
+                if (m > 0) {
+                    this.m_ims[i] = 1 / m
+                } else {
+                    this.m_ims[i] = 0
+                }
+            }
+            var count2 = this.m_count - 1;
+            var count3 = this.m_count - 2;
+            this.m_Ls = new Array(count2);
+            this.m_as = new Array(count3);
+            for (var i = 0; i < count2; ++i) {
+                var p1 = this.m_ps[i];
+                var p2 = this.m_ps[i + 1];
+                this.m_Ls[i] = b2Distance(p1, p2)
+            }
+            for (var i = 0; i < count3; ++i) {
+                var p1 = this.m_ps[i];
+                var p2 = this.m_ps[i + 1];
+                var p3 = this.m_ps[i + 2];
+                var d1 = b2Vec2.Subtract(p2, p1);
+                var d2 = b2Vec2.Subtract(p3, p2);
+                var a = b2Cross_v2_v2(d1, d2);
+                var b = b2Dot_v2_v2(d1, d2);
+                this.m_as[i] = b2Atan2(a, b)
+            }
+            this.m_gravity = def.gravity.Clone();
+            this.m_damping = def.damping;
+            this.m_k2 = def.k2;
+            this.m_k3 = def.k3
+        },
+        Step: function (h, iterations) {
+            if (h == 0) {
+                return
+            }
+            var d = expf(-h * this.m_damping);
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_p0s[i].Assign(this.m_ps[i]);
+                if (this.m_ims[i] > 0) {
+                    this.m_vs[i].Add(b2Vec2.Multiply(h, this.m_gravity))
+                }
+                this.m_vs[i].Multiply(d);
+                this.m_ps[i].Add(b2Vec2.Multiply(h, this.m_vs[i]))
+            }
+            for (var i = 0; i < iterations; ++i) {
+                this.SolveC2();
+                this.SolveC3();
+                this.SolveC2()
+            }
+            var inv_h = 1 / h;
+            for (var i = 0; i < this.m_count; ++i) {
+                this.m_vs[i] = b2Vec2.Multiply(inv_h, b2Vec2.Subtract(this.m_ps[i], this.m_p0s[i]))
+            }
+        },
+        GetVertexCount: function () {
+            return this.m_count
+        },
+        GetVertices: function () {
+            return this.m_ps
+        },
+        Draw: function (draw) {
+            var c = new b2Color(0.4, 0.5, 0.7);
+            for (var i = 0; i < this.m_count - 1; ++i) {
+                draw.DrawSegment(this.m_ps[i], this.m_ps[i + 1], c)
+            }
+        },
+        SetAngle: function (angle) {
+            var count3 = this.m_count - 2;
+            for (var i = 0; i < count3; ++i) {
+                this.m_as[i] = angle
+            }
+        },
+        SolveC2: function () {
+            var count2 = this.m_count - 1;
+            for (var i = 0; i < count2; ++i) {
+                var p1 = this.m_ps[i];
+                var p2 = this.m_ps[i + 1];
+                var d = b2Vec2.Subtract(p2, p1);
+                var L = d.Normalize();
+                var im1 = this.m_ims[i];
+                var im2 = this.m_ims[i + 1];
+                if (im1 + im2 == 0) {
+                    continue
+                }
+                var s1 = im1 / (im1 + im2);
+                var s2 = im2 / (im1 + im2);
+                p1.Subtract(b2Vec2.Multiply(this.m_k2 * s1 * (this.m_Ls[i] - L), d));
+                p2.Add(b2Vec2.Multiply(this.m_k2 * s2 * (this.m_Ls[i] - L), d))
+            }
+        },
+        SolveC3: function () {
+            var count3 = this.m_count - 2;
+            for (var i = 0; i < count3; ++i) {
+                var p1 = this.m_ps[i];
+                var p2 = this.m_ps[i + 1];
+                var p3 = this.m_ps[i + 2];
+                var m1 = this.m_ims[i];
+                var m2 = this.m_ims[i + 1];
+                var m3 = this.m_ims[i + 2];
+                var d1 = b2Vec2.Subtract(p2, p1);
+                var d2 = b2Vec2.Subtract(p3, p2);
+                var L1sqr = d1.LengthSquared();
+                var L2sqr = d2.LengthSquared();
+                if (L1sqr * L2sqr == 0) {
+                    continue
+                }
+                var a = b2Cross_v2_v2(d1, d2);
+                var b = b2Dot_v2_v2(d1, d2);
+                var angle = b2Atan2(a, b);
+                var Jd1 = b2Vec2.Multiply((-1 / L1sqr), d1.Skew());
+                var Jd2 = b2Vec2.Multiply((1 / L2sqr), d2.Skew());
+                var J1 = b2Vec2.Negate(Jd1);
+                var J2 = b2Vec2.Subtract(Jd1, Jd2);
+                var J3 = Jd2;
+                var mass = m1 * b2Dot_v2_v2(J1, J1) + m2 * b2Dot_v2_v2(J2, J2) + m3 * b2Dot_v2_v2(J3, J3);
+                if (mass == 0) {
+                    continue
+                }
+                mass = 1 / mass;
+                var C = angle - this.m_as[i];
+                while (C > b2_pi) {
+                    angle -= 2 * b2_pi;
+                    C = angle - this.m_as[i]
+                }
+                while (C < -b2_pi) {
+                    angle += 2 * b2_pi;
+                    C = angle - this.m_as[i]
+                }
+                var impulse = -this.m_k3 * mass * C;
+                p1.Add(b2Vec2.Multiply((m1 * impulse), J1));
+                p2.Add(b2Vec2.Multiply((m2 * impulse), J2));
+                p3.Add(b2Vec2.Multiply((m3 * impulse), J3))
+            }
+        }
+    };
+    var b2JsonSerializer = {
+        serialize: function (world) {
+            var shapes = [];
+            var i;
+            var serialized;
+            var b;
+            var f;
+            var shape;
+            for (b = world.GetBodyList(); b; b = b.GetNext()) {
+                for (f = b.GetFixtureList(); f; f = f.GetNext()) {
+                    shape = f.GetShape();
+                    f.__temp_shape_id = shapes.length;
+                    shapes.push(shape._serialize())
+                }
+            }
+            var fixtures = [];
+            for (b = world.GetBodyList(); b; b = b.GetNext()) {
+                b.__temp_fixture_ids = [];
+                for (f = b.GetFixtureList(); f; f = f.GetNext()) {
+                    serialized = f._serialize();
+                    serialized.shape = f.__temp_shape_id;
+                    delete f.__temp_shape_id;
+                    b.__temp_fixture_ids.push(fixtures.length);
+                    fixtures.push(serialized)
+                }
+            }
+            var bodies = [];
+            for (b = world.GetBodyList(); b; b = b.GetNext()) {
+                serialized = b._serialize();
+                serialized.fixtures = [];
+                for (i = 0; i < b.__temp_fixture_ids.length; ++i) {
+                    serialized.fixtures.push(b.__temp_fixture_ids[i])
+                }
+                delete b.__temp_fixture_ids;
+                b.__temp_body_id = bodies.length;
+                bodies.push(serialized)
+            }
+            var joints = [];
+            var j;
+            for (j = world.GetJointList(), i = 0; j; j = j.GetNext(), ++i) {
+                j.__temp_joint_id = i
+            }
+            for (j = world.GetJointList(); j; j = j.GetNext()) {
+                if (j.GetType() === b2Joint.e_mouseJoint) {
+                    continue
+                }
+                serialized = j._serialize();
+                serialized.bodyA = j.GetBodyA().__temp_body_id;
+                serialized.bodyB = j.GetBodyB().__temp_body_id;
+                joints.push(serialized)
+            }
+            for (j = world.GetJointList(); j; j = j.GetNext()) {
+                delete j.__temp_joint_id
+            }
+            for (b = world.GetBodyList(); b; b = b.GetNext()) {
+                delete b.__temp_body_id
+            }
+            return {
+                shapes: shapes,
+                fixtures: fixtures,
+                bodies: bodies,
+                joints: joints
+            }
+        },
+        deserialize: function (serialized, world, clear) {
+            var deserialized = JSON.parse(serialized);
+            if (clear) {
+                for (var b = world.GetBodyList(); b;) {
+                    var next = b.GetNext();
+                    world.DestroyBody(b);
+                    b = next
+                }
+                for (var j = world.GetJointList(); j;) {
+                    var next = j.GetNext();
+                    world.DestroyJoint(j);
+                    j = next
+                }
+            }
+            var shapes = [];
+            for (var i = 0; i < deserialized.shapes.length; ++i) {
+                var shapeData = deserialized.shapes[i];
+                var shape;
+                switch (shapeData.m_type) {
+                    case b2Shape.e_circle:
+                        shape = new b2CircleShape();
+                        break;
+                    case b2Shape.e_edge:
+                        shape = new b2EdgeShape();
+                        break;
+                    case b2Shape.e_chain:
+                        shape = new b2ChainShape();
+                        break;
+                    case b2Shape.e_polygon:
+                        shape = new b2PolygonShape();
+                        break
+                }
+                shape._deserialize(shapeData);
+                shapes.push(shape)
+            }
+            var fixtures = [];
+            for (i = 0; i < deserialized.fixtures.length; ++i) {
+                var fixtureData = deserialized.fixtures[i];
+                var fixture = new b2FixtureDef();
+                fixture._deserialize(fixtureData);
+                fixture.shape = shapes[fixtureData.shape];
+                fixtures.push(fixture)
+            }
+            var bodies = [];
+            for (i = 0; i < deserialized.bodies.length; ++i) {
+                var bodyData = deserialized.bodies[i];
+                var def = new b2BodyDef();
+                def._deserialize(bodyData);
+                var body = world.CreateBody(def);
+                for (var x = 0; x < bodyData.fixtures.length; ++x) {
+                    body.CreateFixture(fixtures[bodyData.fixtures[x]])
+                }
+                bodies.push(body)
+            }
+            var joints = [];
+            var gears = [];
+            for (i = 0; i < deserialized.joints.length; ++i) {
+                var jointData = deserialized.joints[i];
+                var jointDef;
+                switch (jointData.type) {
+                    case b2Joint.e_revoluteJoint:
+                        jointDef = new b2RevoluteJointDef();
+                        break;
+                    case b2Joint.e_prismaticJoint:
+                        jointDef = new b2PrismaticJointDef();
+                        break;
+                    case b2Joint.e_distanceJoint:
+                        jointDef = new b2DistanceJointDef();
+                        break;
+                    case b2Joint.e_pulleyJoint:
+                        jointDef = new b2PulleyJointDef();
+                        break;
+                    case b2Joint.e_gearJoint:
+                        jointDef = new b2GearJointDef();
+                        break;
+                    case b2Joint.e_wheelJoint:
+                        jointDef = new b2WheelJointDef();
+                        break;
+                    case b2Joint.e_weldJoint:
+                        jointDef = new b2WeldJointDef();
+                        break;
+                    case b2Joint.e_frictionJoint:
+                        jointDef = new b2FrictionJointDef();
+                        break;
+                    case b2Joint.e_ropeJoint:
+                        jointDef = new b2RopeJointDef();
+                        break;
+                    case b2Joint.e_motorJoint:
+                        jointDef = new b2MotorJointDef();
+                        break;
+                    default:
+                        throw new Error("unknown joint")
+                }
+                jointDef._deserialize(jointData, bodies);
+                if (jointData.type === b2Joint.e_gearJoint) {
+                    gears.push([jointDef, joints.length]);
+                    joints.push(null)
+                } else {
+                    var joint = world.CreateJoint(jointDef);
+                    joints.push(joint)
+                }
+            }
+            for (i = 0; i < gears.length; ++i) {
+                gears[i][0].joint1 = joints[gears[i][0].joint1];
+                gears[i][0].joint2 = joints[gears[i][0].joint2];
+                joint = world.CreateJoint(gears[i][0]);
+                joints[gears[i][1]] = joint
+            }
+        }
+    };
+    var b2RUBELoader = (function () {
+        function parseVector(obj) {
+            return new b2Vec2(obj ? (obj.x || 0) : 0, obj ? (obj.y || 0) : 0)
+        }
+
+        function parseVectorArray(obj) {
+            var vals = new Array(obj.x.length);
+            for (var i = 0; i < vals.length; ++i) {
+                vals[i] = new b2Vec2(obj.x[i], obj.y[i])
+            }
+            return vals
+        }
+
+        function parseProperty(obj, instance) {
+            var name = obj.name;
+            var val;
+            if (typeof (obj["int"]) !== "undefined") {
+                val = obj["int"]
+            } else {
+                if (typeof (obj["float"]) !== "undefined") {
+                    val = obj["float"]
+                } else {
+                    if (typeof (obj.string) !== "undefined") {
+                        val = obj.string
+                    } else {
+                        if (typeof (obj.bool) !== "undefined") {
+                            val = obj.bool
+                        } else {
+                            if (typeof (obj.vec2) !== "undefined") {
+                                val = parseVector(obj.vec2)
+                            } else {
+                                throw new Error("unknown property type")
+                            }
+                        }
+                    }
+                }
+            }
+            if (instance.hasOwnProperty(name)) {
+                throw new Error("custom property possibly overwriting an existing one")
+            }
+            instance[name] = val
+        }
+
+        function parseFixture(obj, body) {
+            var def = new b2FixtureDef();
+            def.density = obj.density || 0;
+            def.filter.categoryBits = typeof (obj["filter-categoryBits"]) === "undefined" ? 1 : obj["filter-categoryBits"];
+            def.filter.maskBits = typeof (obj["filter-maskBits"]) === "undefined" ? 65535 : obj["filter-maskBits"];
+            def.filter.groupIndex = typeof (obj["filter-groupIndex"]) === "undefined" ? 0 : obj["filter-groupIndex"];
+            def.friction = obj.friction || 0;
+            def.restitution = obj.restitution || 0;
+            def.isSensor = obj.sensor || 0;
+            var shape;
+            if (typeof (obj.circle) !== "undefined") {
+                shape = new b2CircleShape();
+                shape.m_p = parseVector(obj.circle.center);
+                shape.m_radius = obj.circle.radius || 0
+            } else {
+                if (typeof (obj.polygon) !== "undefined") {
+                    var vertices = parseVectorArray(obj.polygon.vertices);
+                    shape = new b2PolygonShape();
+                    shape.Set(vertices, vertices.length)
+                } else {
+                    if (typeof (obj.chain) !== "undefined") {
+                        var vertices = parseVectorArray(obj.chain.vertices);
+                        shape = new b2ChainShape();
+                        shape.m_count = vertices.length;
+                        shape.m_vertices = vertices;
+                        if (shape.m_hasNextVertex = obj.chain.hasNextVertex) {
+                            shape.m_nextVertex = parseVector(obj.chain.nextVertex)
+                        }
+                        if (shape.m_hasPrevVertex = obj.chain.hasPrevVertex) {
+                            shape.m_prevVertex = parseVector(obj.chain.prevVertex)
+                        }
+                    } else {
+                        throw new Error("unknown shape type")
+                    }
+                }
+            }
+            def.shape = shape;
+            var fixture = body.CreateFixture(def);
+            fixture.name = obj.name;
+            if (obj.customProperties) {
+                for (var i = 0; i < obj.customProperties.length; ++i) {
+                    parseProperty(obj, fixture)
+                }
+            }
+        }
+
+        function parseBody(obj, world) {
+            var def = new b2BodyDef();
+            def.type = obj.type || b2Body.b2_staticBody;
+            def.angle = obj.angle || 0;
+            def.angularDamping = obj.angularDamping || 0;
+            def.angularVelocity = obj.angularVelocity || 0;
+            def.awake = obj.awake || false;
+            def.bullet = obj.bullet || false;
+            def.fixedRotation = obj.fixedRotation || false;
+            def.linearDamping = obj.linearDamping || false;
+            def.linearVelocity = parseVector(obj.linearVelocity);
+            def.gravityScale = typeof (obj.gravityScale) !== "undefined" ? obj.gravityScale : 1;
+            var md = new b2MassData();
+            md.mass = obj["massData-mass"] || 0;
+            md.center = parseVector(obj["massData-center"]);
+            md.I = obj["massData-I"] || 0;
+            def.position = parseVector(obj.position);
+            var body = world.CreateBody(def);
+            body.name = obj.name;
+            body.SetMassData(md);
+            if (obj.fixture) {
+                for (var i = 0; i < obj.fixture.length; ++i) {
+                    parseFixture(obj.fixture[i], body)
+                }
+            }
+            if (obj.customProperties) {
+                for (i = 0; i < obj.customProperties.length; ++i) {
+                    parseProperty(obj, body)
+                }
+            }
+            return body
+        }
+        var jointsList = {
+            revolute: b2RevoluteJointDef,
+            distance: b2DistanceJointDef,
+            prismatic: b2PrismaticJointDef,
+            wheel: b2WheelJointDef,
+            rope: b2RopeJointDef,
+            motor: b2MotorJointDef,
+            weld: b2WeldJointDef,
+            friction: b2FrictionJointDef
+        };
+
+        function parseJoint(obj, world, bodies) {
+            if (!jointsList[obj.type]) {
+                throw new Error("unknown joint type")
+            }
+            var jd = new jointsList[obj.type]();
+            switch (jd.type) {
+                case b2Joint.e_revoluteJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.enableLimit = obj.enableLimit || false;
+                    jd.enableMotor = obj.enableMotor || false;
+                    jd.lowerAngle = obj.lowerLimit || 0;
+                    jd.maxMotorTorque = obj.maxMotorTorque || 0;
+                    jd.motorSpeed = obj.motorSpeed || 0;
+                    jd.referenceAngle = obj.refAngle || 0;
+                    jd.upperAngle = obj.upperLimit || 0;
+                    break;
+                case b2Joint.e_distanceJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.dampingRatio = obj.dampingRatio || 0;
+                    jd.frequencyHz = obj.frequency || 0;
+                    jd.length = obj.length || 0;
+                    break;
+                case b2Joint.e_prismaticJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.enableLimit = obj.enableLimit || false;
+                    jd.enableMotor = obj.enableMotor || false;
+                    jd.localAxisA = parseVector(obj.localAxisA);
+                    jd.lowerTranslation = obj.lowerLimit || 0;
+                    jd.maxMotorForce = obj.maxMotorForce || 0;
+                    jd.motorSpeed = obj.motorSpeed || 0;
+                    jd.referenceAngle = obj.refAngle || 0;
+                    jd.upperTranslation = obj.upperLimit || 0;
+                    break;
+                case b2Joint.e_wheelJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.enableMotor = obj.enableMotor || false;
+                    jd.localAxisA = parseVector(obj.localAxisA);
+                    jd.maxMotorTorque = obj.maxMotorTorque || 0;
+                    jd.motorSpeed = obj.motorSpeed || 0;
+                    jd.dampingRatio = obj.springDampingRatio || 0;
+                    jd.frequencyHz = obj.springFrequency || 0;
+                    break;
+                case b2Joint.e_ropeJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.maxLength = obj.maxLength || 0;
+                    break;
+                case b2Joint.e_motorJoint:
+                    jd.linearOffset = parseVector(obj.anchorA);
+                    jd.angularOffset = obj.refAngle || 0;
+                    jd.maxForce = obj.maxForce || 0;
+                    jd.maxTorque = obj.maxTorque || 0;
+                    jd.correctionFactor = obj.correctionFactor || 0;
+                    break;
+                case b2Joint.e_weldJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.referenceAngle = obj.refAngle || 0;
+                    jd.dampingRatio = obj.dampingRatio || 0;
+                    jd.frequencyHz = obj.frequencyHz || 0;
+                    break;
+                case b2Joint.e_frictionJoint:
+                    jd.localAnchorA = parseVector(obj.anchorA);
+                    jd.localAnchorB = parseVector(obj.anchorB);
+                    jd.maxForce = obj.maxForce || 0;
+                    jd.maxTorque = obj.maxTorque || 0;
+                    break;
+                default:
+                    throw new Error("wat?")
+            }
+            jd.bodyA = bodies[obj.bodyA || 0];
+            jd.bodyB = bodies[obj.bodyB || 0];
+            jd.collideConnected = obj.collideConnected || false;
+            var joint = world.CreateJoint(jd);
+            joint.name = obj.name;
+            if (obj.customProperties) {
+                for (var i = 0; i < obj.customProperties.length; ++i) {
+                    parseProperty(obj, joint)
+                }
+            }
+            return joint
+        }
+
+        function b2RubeParameters() {
+            this.world = null;
+            this.positionIterations = 0;
+            this.velocityIterations = 0;
+            this.stepsPerSecond = 0;
+            this.fixtures = {};
+            this.bodies = {};
+            this.joints = {};
+            Object.seal(this)
+        }
+
+        function parseWorld(obj, world) {
+            var params = new b2RubeParameters();
+            params.world = world = world || new b2World(new b2Vec2(0, 0));
+            params.positionIterations = obj.positionIterations || 0;
+            params.velocityIterations = obj.velocityIterations || 0;
+            params.stepsPerSecond = obj.stepsPerSecond || 0;
+            if (obj.gravity) {
+                world.SetGravity(parseVector(obj.gravity))
+            }
+            world.SetAllowSleeping(obj.allowSleep || false);
+            world.SetAutoClearForces(obj.autoClearForces || false);
+            world.SetWarmStarting(obj.warmStarting || false);
+            world.SetContinuousPhysics(obj.continuousPhysics || false);
+            world.SetSubStepping(obj.subStepping || false);
+            var bodies = [];
+            var bl = obj.body;
+            if (bl) {
+                for (var i = 0; i < bl.length; ++i) {
+                    var body = parseBody(bl[i], world);
+                    bodies.push(body);
+                    for (var f = body.GetFixtureList(); f; f = f.GetNext()) {
+                        if (!params.fixtures[f.name]) {
+                            params.fixtures[f.name] = []
+                        }
+                        params.fixtures[f.name].push(f)
+                    }
+                    if (!params.bodies[body.name]) {
+                        params.bodies[body.name] = []
+                    }
+                    params.bodies[body.name].push(body)
+                }
+            }
+            var joints = [];
+            var jl = obj.joint;
+            if (jl) {
+                for (i = 0; i < jl.length; ++i) {
+                    var joint = parseJoint(jl[i], world, bodies);
+                    joints.push(joint);
+                    if (!params.joints[joint.name]) {
+                        params.joints[joint.name] = []
+                    }
+                    params.joints[joint.name].push(joint)
+                }
+            }
+            return params
+        }
+        return {
+            parseWorld: parseWorld
+        }
+    })();
+    var mappings = [{
+        trimmed: "version",
+        name: "b2_version",
+        def: b2_version
+    }, {
+        trimmed: "Vec2",
+        name: "b2Vec2",
+        def: b2Vec2
+    }, {
+        trimmed: "Vec3",
+        name: "b2Vec3",
+        def: b2Vec3
+    }, {
+        trimmed: "Mat22",
+        name: "b2Mat22",
+        def: b2Mat22
+    }, {
+        trimmed: "Mat33",
+        name: "b2Mat33",
+        def: b2Mat33
+    }, {
+        trimmed: "Rot",
+        name: "b2Rot",
+        def: b2Rot
+    }, {
+        trimmed: "Transform",
+        name: "b2Transform",
+        def: b2Transform
+    }, {
+        trimmed: "Sweep",
+        name: "b2Sweep",
+        def: b2Sweep
+    }, {
+        trimmed: "Dot_v2_v2",
+        name: "b2Dot_v2_v2",
+        def: b2Dot_v2_v2
+    }, {
+        trimmed: "Cross_v2_v2",
+        name: "b2Cross_v2_v2",
+        def: b2Cross_v2_v2
+    }, {
+        trimmed: "Cross_v2_f",
+        name: "b2Cross_v2_f",
+        def: b2Cross_v2_f
+    }, {
+        trimmed: "Cross_f_v2",
+        name: "b2Cross_f_v2",
+        def: b2Cross_f_v2
+    }, {
+        trimmed: "Mul_m22_v2",
+        name: "b2Mul_m22_v2",
+        def: b2Mul_m22_v2
+    }, {
+        trimmed: "MulT_m22_v2",
+        name: "b2MulT_m22_v2",
+        def: b2MulT_m22_v2
+    }, {
+        trimmed: "Distance",
+        name: "b2Distance",
+        def: b2Distance
+    }, {
+        trimmed: "DistanceSquared",
+        name: "b2DistanceSquared",
+        def: b2DistanceSquared
+    }, {
+        trimmed: "Dot_v3_v3",
+        name: "b2Dot_v3_v3",
+        def: b2Dot_v3_v3
+    }, {
+        trimmed: "Cross_v3_v3",
+        name: "b2Cross_v3_v3",
+        def: b2Cross_v3_v3
+    }, {
+        trimmed: "Mul_m22_m22",
+        name: "b2Mul_m22_m22",
+        def: b2Mul_m22_m22
+    }, {
+        trimmed: "MulT_m22_m22",
+        name: "b2MulT_m22_m22",
+        def: b2MulT_m22_m22
+    }, {
+        trimmed: "Mul_m33_v3",
+        name: "b2Mul_m33_v3",
+        def: b2Mul_m33_v3
+    }, {
+        trimmed: "Mul22_m33_v2",
+        name: "b2Mul22_m33_v2",
+        def: b2Mul22_m33_v2
+    }, {
+        trimmed: "Mul_r_r",
+        name: "b2Mul_r_r",
+        def: b2Mul_r_r
+    }, {
+        trimmed: "MulT_r_r",
+        name: "b2MulT_r_r",
+        def: b2MulT_r_r
+    }, {
+        trimmed: "Mul_r_v2",
+        name: "b2Mul_r_v2",
+        def: b2Mul_r_v2
+    }, {
+        trimmed: "MulT_r_v2",
+        name: "b2MulT_r_v2",
+        def: b2MulT_r_v2
+    }, {
+        trimmed: "Mul_t_v2",
+        name: "b2Mul_t_v2",
+        def: b2Mul_t_v2
+    }, {
+        trimmed: "Min_v2",
+        name: "b2Min_v2",
+        def: b2Min_v2
+    }, {
+        trimmed: "Max_v2",
+        name: "b2Max_v2",
+        def: b2Max_v2
+    }, {
+        trimmed: "Clamp",
+        name: "b2Clamp",
+        def: b2Clamp
+    }, {
+        trimmed: "MulT_t_v2",
+        name: "b2MulT_t_v2",
+        def: b2MulT_t_v2
+    }, {
+        trimmed: "Mul_t_t",
+        name: "b2Mul_t_t",
+        def: b2Mul_t_t
+    }, {
+        trimmed: "MulT_t_t",
+        name: "b2MulT_t_t",
+        def: b2MulT_t_t
+    }, {
+        trimmed: "Clamp_v2",
+        name: "b2Clamp_v2",
+        def: b2Clamp_v2
+    }, {
+        trimmed: "NextPowerOfTwo",
+        name: "b2NextPowerOfTwo",
+        def: b2NextPowerOfTwo
+    }, {
+        trimmed: "Abs_v2",
+        name: "b2Abs_v2",
+        def: b2Abs_v2
+    }, {
+        trimmed: "Abs_m22",
+        name: "b2Abs_m22",
+        def: b2Abs_m22
+    }, {
+        trimmed: "IsPowerOfTwo",
+        name: "b2IsPowerOfTwo",
+        def: b2IsPowerOfTwo
+    }, {
+        trimmed: "RandomFloat",
+        name: "b2RandomFloat",
+        def: b2RandomFloat
+    }, {
+        trimmed: "Timer",
+        name: "b2Timer",
+        def: b2Timer
+    }, {
+        trimmed: "Color",
+        name: "b2Color",
+        def: b2Color
+    }, {
+        trimmed: "Draw",
+        name: "b2Draw",
+        def: b2Draw
+    }, {
+        trimmed: "ContactID",
+        name: "b2ContactID",
+        def: b2ContactID
+    }, {
+        trimmed: "ManifoldPoint",
+        name: "b2ManifoldPoint",
+        def: b2ManifoldPoint
+    }, {
+        trimmed: "Manifold",
+        name: "b2Manifold",
+        def: b2Manifold
+    }, {
+        trimmed: "WorldManifold",
+        name: "b2WorldManifold",
+        def: b2WorldManifold
+    }, {
+        trimmed: "GetPointStates",
+        name: "b2GetPointStates",
+        def: b2GetPointStates
+    }, {
+        trimmed: "ClipVertex",
+        name: "b2ClipVertex",
+        def: b2ClipVertex
+    }, {
+        trimmed: "RayCastInput",
+        name: "b2RayCastInput",
+        def: b2RayCastInput
+    }, {
+        trimmed: "RayCastOutput",
+        name: "b2RayCastOutput",
+        def: b2RayCastOutput
+    }, {
+        trimmed: "AABB",
+        name: "b2AABB",
+        def: b2AABB
+    }, {
+        trimmed: "CollideCircles",
+        name: "b2CollideCircles",
+        def: b2CollideCircles
+    }, {
+        trimmed: "CollidePolygonAndCircle",
+        name: "b2CollidePolygonAndCircle",
+        def: b2CollidePolygonAndCircle
+    }, {
+        trimmed: "FindMaxSeparation",
+        name: "b2FindMaxSeparation",
+        def: b2FindMaxSeparation
+    }, {
+        trimmed: "FindIncidentEdge",
+        name: "b2FindIncidentEdge",
+        def: b2FindIncidentEdge
+    }, {
+        trimmed: "CollidePolygons",
+        name: "b2CollidePolygons",
+        def: b2CollidePolygons
+    }, {
+        trimmed: "CollideEdgeAndCircle",
+        name: "b2CollideEdgeAndCircle",
+        def: b2CollideEdgeAndCircle
+    }, {
+        trimmed: "EPAxis",
+        name: "b2EPAxis",
+        def: b2EPAxis
+    }, {
+        trimmed: "TempPolygon",
+        name: "b2TempPolygon",
+        def: b2TempPolygon
+    }, {
+        trimmed: "ReferenceFace",
+        name: "b2ReferenceFace",
+        def: b2ReferenceFace
+    }, {
+        trimmed: "EPCollider",
+        name: "b2EPCollider",
+        def: b2EPCollider
+    }, {
+        trimmed: "CollideEdgeAndPolygon",
+        name: "b2CollideEdgeAndPolygon",
+        def: b2CollideEdgeAndPolygon
+    }, {
+        trimmed: "ClipSegmentToLine",
+        name: "b2ClipSegmentToLine",
+        def: b2ClipSegmentToLine
+    }, {
+        trimmed: "TestShapeOverlap",
+        name: "b2TestShapeOverlap",
+        def: b2TestShapeOverlap
+    }, {
+        trimmed: "TestOverlap",
+        name: "b2TestOverlap",
+        def: b2TestOverlap
+    }, {
+        trimmed: "Shape",
+        name: "b2Shape",
+        def: b2Shape
+    }, {
+        trimmed: "CircleShape",
+        name: "b2CircleShape",
+        def: b2CircleShape
+    }, {
+        trimmed: "EdgeShape",
+        name: "b2EdgeShape",
+        def: b2EdgeShape
+    }, {
+        trimmed: "ChainShape",
+        name: "b2ChainShape",
+        def: b2ChainShape
+    }, {
+        trimmed: "PolygonShape",
+        name: "b2PolygonShape",
+        def: b2PolygonShape
+    }, {
+        trimmed: "Pair",
+        name: "b2Pair",
+        def: b2Pair
+    }, {
+        trimmed: "PairLessThan",
+        name: "b2PairLessThan",
+        def: b2PairLessThan
+    }, {
+        trimmed: "BroadPhase",
+        name: "b2BroadPhase",
+        def: b2BroadPhase
+    }, {
+        trimmed: "DistanceProxy",
+        name: "b2DistanceProxy",
+        def: b2DistanceProxy
+    }, {
+        trimmed: "SimplexCache",
+        name: "b2SimplexCache",
+        def: b2SimplexCache
+    }, {
+        trimmed: "DistanceInput",
+        name: "b2DistanceInput",
+        def: b2DistanceInput
+    }, {
+        trimmed: "DistanceOutput",
+        name: "b2DistanceOutput",
+        def: b2DistanceOutput
+    }, {
+        trimmed: "SimplexVertex",
+        name: "b2SimplexVertex",
+        def: b2SimplexVertex
+    }, {
+        trimmed: "Simplex",
+        name: "b2Simplex",
+        def: b2Simplex
+    }, {
+        trimmed: "DistanceFunc",
+        name: "b2DistanceFunc",
+        def: b2DistanceFunc
+    }, {
+        trimmed: "TreeNode",
+        name: "b2TreeNode",
+        def: b2TreeNode
+    }, {
+        trimmed: "DynamicTree",
+        name: "b2DynamicTree",
+        def: b2DynamicTree
+    }, {
+        trimmed: "TOIInput",
+        name: "b2TOIInput",
+        def: b2TOIInput
+    }, {
+        trimmed: "TOIOutput",
+        name: "b2TOIOutput",
+        def: b2TOIOutput
+    }, {
+        trimmed: "SeparationFunction",
+        name: "b2SeparationFunction",
+        def: b2SeparationFunction
+    }, {
+        trimmed: "TimeOfImpact",
+        name: "b2TimeOfImpact",
+        def: b2TimeOfImpact
+    }, {
+        trimmed: "BodyDef",
+        name: "b2BodyDef",
+        def: b2BodyDef
+    }, {
+        trimmed: "Body",
+        name: "b2Body",
+        def: b2Body
+    }, {
+        trimmed: "Filter",
+        name: "b2Filter",
+        def: b2Filter
+    }, {
+        trimmed: "FixtureDef",
+        name: "b2FixtureDef",
+        def: b2FixtureDef
+    }, {
+        trimmed: "Fixture",
+        name: "b2Fixture",
+        def: b2Fixture
+    }, {
+        trimmed: "DestructionListener",
+        name: "b2DestructionListener",
+        def: b2DestructionListener
+    }, {
+        trimmed: "ContactFilter",
+        name: "b2ContactFilter",
+        def: b2ContactFilter
+    }, {
+        trimmed: "ContactImpulse",
+        name: "b2ContactImpulse",
+        def: b2ContactImpulse
+    }, {
+        trimmed: "ContactListener",
+        name: "b2ContactListener",
+        def: b2ContactListener
+    }, {
+        trimmed: "QueryCallback",
+        name: "b2QueryCallback",
+        def: b2QueryCallback
+    }, {
+        trimmed: "RayCastCallback",
+        name: "b2RayCastCallback",
+        def: b2RayCastCallback
+    }, {
+        trimmed: "TimeStep",
+        name: "b2TimeStep",
+        def: b2TimeStep
+    }, {
+        trimmed: "Position",
+        name: "b2Position",
+        def: b2Position
+    }, {
+        trimmed: "Velocity",
+        name: "b2Velocity",
+        def: b2Velocity
+    }, {
+        trimmed: "SolverData",
+        name: "b2SolverData",
+        def: b2SolverData
+    }, {
+        trimmed: "World",
+        name: "b2World",
+        def: b2World
+    }, {
+        trimmed: "MixFriction",
+        name: "b2MixFriction",
+        def: b2MixFriction
+    }, {
+        trimmed: "MixRestitution",
+        name: "b2MixRestitution",
+        def: b2MixRestitution
+    }, {
+        trimmed: "ContactRegister",
+        name: "b2ContactRegister",
+        def: b2ContactRegister
+    }, {
+        trimmed: "ContactEdge",
+        name: "b2ContactEdge",
+        def: b2ContactEdge
+    }, {
+        trimmed: "Contact",
+        name: "b2Contact",
+        def: b2Contact
+    }, {
+        trimmed: "CircleContact",
+        name: "b2CircleContact",
+        def: b2CircleContact
+    }, {
+        trimmed: "PolygonContact",
+        name: "b2PolygonContact",
+        def: b2PolygonContact
+    }, {
+        trimmed: "ChainAndCircleContact",
+        name: "b2ChainAndCircleContact",
+        def: b2ChainAndCircleContact
+    }, {
+        trimmed: "ChainAndPolygonContact",
+        name: "b2ChainAndPolygonContact",
+        def: b2ChainAndPolygonContact
+    }, {
+        trimmed: "EdgeAndCircleContact",
+        name: "b2EdgeAndCircleContact",
+        def: b2EdgeAndCircleContact
+    }, {
+        trimmed: "EdgeAndPolygonContact",
+        name: "b2EdgeAndPolygonContact",
+        def: b2EdgeAndPolygonContact
+    }, {
+        trimmed: "PolygonAndCircleContact",
+        name: "b2PolygonAndCircleContact",
+        def: b2PolygonAndCircleContact
+    }, {
+        trimmed: "defaultFilter",
+        name: "b2_defaultFilter",
+        def: b2_defaultFilter
+    }, {
+        trimmed: "defaultListener",
+        name: "b2_defaultListener",
+        def: b2_defaultListener
+    }, {
+        trimmed: "ContactManager",
+        name: "b2ContactManager",
+        def: b2ContactManager
+    }, {
+        trimmed: "VelocityConstraintPoint",
+        name: "b2VelocityConstraintPoint",
+        def: b2VelocityConstraintPoint
+    }, {
+        trimmed: "ContactPositionConstraint",
+        name: "b2ContactPositionConstraint",
+        def: b2ContactPositionConstraint
+    }, {
+        trimmed: "ContactVelocityConstraint",
+        name: "b2ContactVelocityConstraint",
+        def: b2ContactVelocityConstraint
+    }, {
+        trimmed: "PositionSolverManifold",
+        name: "b2PositionSolverManifold",
+        def: b2PositionSolverManifold
+    }, {
+        trimmed: "ContactSolverDef",
+        name: "b2ContactSolverDef",
+        def: b2ContactSolverDef
+    }, {
+        trimmed: "ContactSolver",
+        name: "b2ContactSolver",
+        def: b2ContactSolver
+    }, {
+        trimmed: "Island",
+        name: "b2Island",
+        def: b2Island
+    }, {
+        trimmed: "Jacobian",
+        name: "b2Jacobian",
+        def: b2Jacobian
+    }, {
+        trimmed: "JointEdge",
+        name: "b2JointEdge",
+        def: b2JointEdge
+    }, {
+        trimmed: "JointDef",
+        name: "b2JointDef",
+        def: b2JointDef
+    }, {
+        trimmed: "Joint",
+        name: "b2Joint",
+        def: b2Joint
+    }, {
+        trimmed: "RevoluteJointDef",
+        name: "b2RevoluteJointDef",
+        def: b2RevoluteJointDef
+    }, {
+        trimmed: "RevoluteJoint",
+        name: "b2RevoluteJoint",
+        def: b2RevoluteJoint
+    }, {
+        trimmed: "MouseJointDef",
+        name: "b2MouseJointDef",
+        def: b2MouseJointDef
+    }, {
+        trimmed: "MouseJoint",
+        name: "b2MouseJoint",
+        def: b2MouseJoint
+    }, {
+        trimmed: "DistanceJointDef",
+        name: "b2DistanceJointDef",
+        def: b2DistanceJointDef
+    }, {
+        trimmed: "DistanceJoint",
+        name: "b2DistanceJoint",
+        def: b2DistanceJoint
+    }, {
+        trimmed: "PrismaticJointDef",
+        name: "b2PrismaticJointDef",
+        def: b2PrismaticJointDef
+    }, {
+        trimmed: "PrismaticJoint",
+        name: "b2PrismaticJoint",
+        def: b2PrismaticJoint
+    }, {
+        trimmed: "FrictionJointDef",
+        name: "b2FrictionJointDef",
+        def: b2FrictionJointDef
+    }, {
+        trimmed: "FrictionJoint",
+        name: "b2FrictionJoint",
+        def: b2FrictionJoint
+    }, {
+        trimmed: "WeldJointDef",
+        name: "b2WeldJointDef",
+        def: b2WeldJointDef
+    }, {
+        trimmed: "WeldJoint",
+        name: "b2WeldJoint",
+        def: b2WeldJoint
+    }, {
+        trimmed: "WheelJointDef",
+        name: "b2WheelJointDef",
+        def: b2WheelJointDef
+    }, {
+        trimmed: "WheelJoint",
+        name: "b2WheelJoint",
+        def: b2WheelJoint
+    }, {
+        trimmed: "GearJointDef",
+        name: "b2GearJointDef",
+        def: b2GearJointDef
+    }, {
+        trimmed: "GearJoint",
+        name: "b2GearJoint",
+        def: b2GearJoint
+    }, {
+        trimmed: "MotorJointDef",
+        name: "b2MotorJointDef",
+        def: b2MotorJointDef
+    }, {
+        trimmed: "MotorJoint",
+        name: "b2MotorJoint",
+        def: b2MotorJoint
+    }, {
+        trimmed: "PulleyJointDef",
+        name: "b2PulleyJointDef",
+        def: b2PulleyJointDef
+    }, {
+        trimmed: "PulleyJoint",
+        name: "b2PulleyJoint",
+        def: b2PulleyJoint
+    }, {
+        trimmed: "RopeJointDef",
+        name: "b2RopeJointDef",
+        def: b2RopeJointDef
+    }, {
+        trimmed: "RopeJoint",
+        name: "b2RopeJoint",
+        def: b2RopeJoint
+    }, {
+        trimmed: "RopeDef",
+        name: "b2RopeDef",
+        def: b2RopeDef
+    }, {
+        trimmed: "Rope",
+        name: "b2Rope",
+        def: b2Rope
+    }, {
+        trimmed: "maxManifoldPoints",
+        name: "b2_maxManifoldPoints",
+        def: b2_maxManifoldPoints
+    }, {
+        trimmed: "maxPolygonVertices",
+        name: "b2_maxPolygonVertices",
+        def: b2_maxPolygonVertices
+    }, {
+        trimmed: "aabbExtension",
+        name: "b2_aabbExtension",
+        def: b2_aabbExtension
+    }, {
+        trimmed: "aabbMultiplier",
+        name: "b2_aabbMultiplier",
+        def: b2_aabbMultiplier
+    }, {
+        trimmed: "linearSlop",
+        name: "b2_linearSlop",
+        def: b2_linearSlop
+    }, {
+        trimmed: "angularSlop",
+        name: "b2_angularSlop",
+        def: b2_angularSlop
+    }, {
+        trimmed: "polygonRadius",
+        name: "b2_polygonRadius",
+        def: b2_polygonRadius
+    }, {
+        trimmed: "maxSubSteps",
+        name: "b2_maxSubSteps",
+        def: b2_maxSubSteps
+    }, {
+        trimmed: "maxTOIContacts",
+        name: "b2_maxTOIContacts",
+        def: b2_maxTOIContacts
+    }, {
+        trimmed: "velocityThreshold",
+        name: "b2_velocityThreshold",
+        def: b2_velocityThreshold
+    }, {
+        trimmed: "maxLinearCorrection",
+        name: "b2_maxLinearCorrection",
+        def: b2_maxLinearCorrection
+    }, {
+        trimmed: "maxAngularCorrection",
+        name: "b2_maxAngularCorrection",
+        def: b2_maxAngularCorrection
+    }, {
+        trimmed: "maxTranslation",
+        name: "b2_maxTranslation",
+        def: b2_maxTranslation
+    }, {
+        trimmed: "maxTranslationSquared",
+        name: "b2_maxTranslationSquared",
+        def: b2_maxTranslationSquared
+    }, {
+        trimmed: "maxRotation",
+        name: "b2_maxRotation",
+        def: b2_maxRotation
+    }, {
+        trimmed: "maxRotationSquared",
+        name: "b2_maxRotationSquared",
+        def: b2_maxRotationSquared
+    }, {
+        trimmed: "baumgarte",
+        name: "b2_baumgarte",
+        def: b2_baumgarte
+    }, {
+        trimmed: "toiBaugarte",
+        name: "b2_toiBaugarte",
+        def: b2_toiBaugarte
+    }, {
+        trimmed: "timeToSleep",
+        name: "b2_timeToSleep",
+        def: b2_timeToSleep
+    }, {
+        trimmed: "linearSleepTolerance",
+        name: "b2_linearSleepTolerance",
+        def: b2_linearSleepTolerance
+    }, {
+        trimmed: "angularSleepTolerance",
+        name: "b2_angularSleepTolerance",
+        def: b2_angularSleepTolerance
+    }, {
+        trimmed: "epsilon",
+        name: "b2_epsilon",
+        def: b2_epsilon
+    }, {
+        trimmed: "JsonSerializer",
+        name: "b2JsonSerializer",
+        def: b2JsonSerializer
+    }, {
+        trimmed: "RUBELoader",
+        name: "b2RUBELoader",
+        def: b2RUBELoader
+    }, {
+        trimmed: "Profiler",
+        name: "b2Profiler",
+        def: b2Profiler
+    }];
+
+    
+    if (typeof (b2_compatibility) !== "undefined" && typeof (window) !== "undefined") {
+        for (var i = 0; i < mappings.length; ++i) {
+            window[mappings[i].name] = mappings[i].def
+        }
+    } else {
+        var b2 = {};
+        for (var i = 0; i < mappings.length; ++i) {
+            b2[mappings[i].trimmed] = mappings[i].def
+        }
+        if (typeof (module) !== "undefined") {
+            module.exports = b2
+        } else {
+            window.b2 = b2
+        }
+    }
+})();
diff --git a/vendor/neurojs-v2.js b/vendor/neurojs-v2.js
deleted file mode 100644
index f652415..0000000
--- a/vendor/neurojs-v2.js
+++ /dev/null
@@ -1,4908 +0,0 @@
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-/******/ 	// getDefaultExport function for compatibility with non-harmony modules
-/******/ 	__webpack_require__.n = function(module) {
-/******/ 		var getter = module && module.__esModule ?
-/******/ 			function getDefault() { return module['default']; } :
-/******/ 			function getModuleExports() { return module; };
-/******/ 		__webpack_require__.d(getter, 'a', getter);
-/******/ 		return getter;
-/******/ 	};
-
-/******/ 	// Object.prototype.hasOwnProperty.call
-/******/ 	__webpack_require__.o = function(object, property) { return Object.prototype.hasOwnProperty.call(object, property); };
-
-/******/ 	// __webpack_public_path__
-/******/ 	__webpack_require__.p = "";
-
-/******/ 	// Load entry module and return exports
-/******/ 	return __webpack_require__(__webpack_require__.s = 41);
-/******/ })
-/************************************************************************/
-/******/ ([
-/* 0 */
-/***/ (function(module, exports, __webpack_require__) {
-
-/*
-
-The MIT License (MIT)
-
-Original Library 
-  - Copyright (c) Marak Squires
-
-Additional functionality
- - Copyright (c) Sindre Sorhus <sindresorhus@gmail.com> (sindresorhus.com)
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-var colors = {};
-module['exports'] = colors;
-
-colors.themes = {};
-
-var ansiStyles = colors.styles = __webpack_require__(24);
-var defineProps = Object.defineProperties;
-
-colors.supportsColor = __webpack_require__(25);
-
-if (typeof colors.enabled === "undefined") {
-  colors.enabled = colors.supportsColor;
-}
-
-colors.stripColors = colors.strip = function(str){
-  return ("" + str).replace(/\x1B\[\d+m/g, '');
-};
-
-
-var stylize = colors.stylize = function stylize (str, style) {
-  if (!colors.enabled) {
-    return str+'';
-  }
-
-  return ansiStyles[style].open + str + ansiStyles[style].close;
-}
-
-var matchOperatorsRe = /[|\\{}()[\]^$+*?.]/g;
-var escapeStringRegexp = function (str) {
-  if (typeof str !== 'string') {
-    throw new TypeError('Expected a string');
-  }
-  return str.replace(matchOperatorsRe,  '\\$&');
-}
-
-function build(_styles) {
-  var builder = function builder() {
-    return applyStyle.apply(builder, arguments);
-  };
-  builder._styles = _styles;
-  // __proto__ is used because we must return a function, but there is
-  // no way to create a function with a different prototype.
-  builder.__proto__ = proto;
-  return builder;
-}
-
-var styles = (function () {
-  var ret = {};
-  ansiStyles.grey = ansiStyles.gray;
-  Object.keys(ansiStyles).forEach(function (key) {
-    ansiStyles[key].closeRe = new RegExp(escapeStringRegexp(ansiStyles[key].close), 'g');
-    ret[key] = {
-      get: function () {
-        return build(this._styles.concat(key));
-      }
-    };
-  });
-  return ret;
-})();
-
-var proto = defineProps(function colors() {}, styles);
-
-function applyStyle() {
-  var args = arguments;
-  var argsLen = args.length;
-  var str = argsLen !== 0 && String(arguments[0]);
-  if (argsLen > 1) {
-    for (var a = 1; a < argsLen; a++) {
-      str += ' ' + args[a];
-    }
-  }
-
-  if (!colors.enabled || !str) {
-    return str;
-  }
-
-  var nestedStyles = this._styles;
-
-  var i = nestedStyles.length;
-  while (i--) {
-    var code = ansiStyles[nestedStyles[i]];
-    str = code.open + str.replace(code.closeRe, code.open) + code.close;
-  }
-
-  return str;
-}
-
-function applyTheme (theme) {
-  for (var style in theme) {
-    (function(style){
-      colors[style] = function(str){
-        if (typeof theme[style] === 'object'){
-          var out = str;
-          for (var i in theme[style]){
-            out = colors[theme[style][i]](out);
-          }
-          return out;
-        }
-        return colors[theme[style]](str);
-      };
-    })(style)
-  }
-}
-
-colors.setTheme = function (theme) {
-  if (typeof theme === 'string') {
-    try {
-      colors.themes[theme] = !(function webpackMissingModule() { var e = new Error("Cannot find module \".\""); e.code = 'MODULE_NOT_FOUND';; throw e; }());
-      applyTheme(colors.themes[theme]);
-      return colors.themes[theme];
-    } catch (err) {
-      console.log(err);
-      return err;
-    }
-  } else {
-    applyTheme(theme);
-  }
-};
-
-function init() {
-  var ret = {};
-  Object.keys(styles).forEach(function (name) {
-    ret[name] = {
-      get: function () {
-        return build([name]);
-      }
-    };
-  });
-  return ret;
-}
-
-var sequencer = function sequencer (map, str) {
-  var exploded = str.split(""), i = 0;
-  exploded = exploded.map(map);
-  return exploded.join("");
-};
-
-// custom formatter methods
-colors.trap = __webpack_require__(16);
-colors.zalgo = __webpack_require__(17);
-
-// maps
-colors.maps = {};
-colors.maps.america = __webpack_require__(20);
-colors.maps.zebra = __webpack_require__(23);
-colors.maps.rainbow = __webpack_require__(21);
-colors.maps.random = __webpack_require__(22)
-
-for (var map in colors.maps) {
-  (function(map){
-    colors[map] = function (str) {
-      return sequencer(colors.maps[map], str);
-    }
-  })(map)
-}
-
-defineProps(colors, init());
-
-/***/ }),
-/* 1 */
-/***/ (function(module, exports) {
-
-module.exports = class Size {
-
-	static derive(val) {
-		if (val instanceof Size) {
-			return val;
-		}
-
-		if (Number.isInteger(val)) {
-			return new Size(1, 1, val)
-		}
-
-		if (val instanceof Object) {
-			return new Size(val.x, val.y, val.z)
-		}
-
-		throw "Could not create size object";
-	}
-
-	constructor(x, y, z) {
-		this.x = x
-		this.y = y
-		this.z = z
-	}
-
-	get length() {
-		return this.x * this.y * this.z
-	}
-
-	get dimensions() {
-		if (this.x * this.y * this.z === 0)
-			return 0
-
-		if (this.x * this.y === 1)
-			return 1
-
-		if (this.x === 1)
-			return 2
-
-		return 3
-	}
-
-}
-
-/***/ }),
-/* 2 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-var dot = __webpack_require__(28)
-var dropout = __webpack_require__(29)
-var nonlinear = __webpack_require__(32)
-var input = __webpack_require__(30)
-var regression = __webpack_require__(33)
-var noise = __webpack_require__(31)
-var bayesian = __webpack_require__(27)
-var variational = __webpack_require__(34)
-
-var Size = __webpack_require__(1)
-var Tensor = __webpack_require__(35)
-var Optim = __webpack_require__(4)
-
-var SharedConfiguration = __webpack_require__(3)
-
-if (typeof window === 'undefined') {
-	__webpack_require__(19);
-}
-
-// defines how the network looks; which layers etc.
-class Model {
-
-	constructor(opt) {
-		this.representation = opt
-		this.build(opt)
-	}
-
-	build(opt) {
-		this.layers = []
-
-		var input = null
-		var desc = Model.expand(opt)
-
-		for(var i = 0; i < desc.length; i++) {
-			var current = desc[i]
-			var layer = Model.create(input, current)
-
-			layer.label = current.label || undefined
-			layer.index = i
-			layer.model = this
-			layer.options = current
-
-			if (layer.dimensions.output)
-				layer.size = layer.dimensions.output.length // convenience
-
-			this.layers.push(layer)
-			input = layer.dimensions.output
-		}
-
-		this.input = this.layers[0]
-		this.output = this.layers[this.layers.length - 1]
-	}
-
-	newConfiguration() {
-		return new Configuration(this)
-	}
-
-	newState() {
-		return this.newConfiguration().newState()
-	}
-
-	numericalGradientCheck() {
-		var config = this.newConfiguration()
-		var state = config.newState()
-		var diff = 1e-5
-
-		function clear() {
-			// clear gradients
-			for (var i = 0; i < config.parameters.length; i++) {
-				if (config.parameters[i]) 
-					config.parameters[i].dw.fill(0.0)
-			}
-		}
-
-		function analyse(param, index) {
-			clear.call(this)
-
-			state.forward(input)
-			state.backward(output)
-
-			return config.parameters[param].dw[index]
-		}
-
-		function loss() {
-			state.forward(input)
-			return state.loss(output)
-		}
-
-		function measure(param, index) {
-			var orig = config.parameters[param].w[index]
-			config.parameters[param].w[index] = orig - diff
-			var loss1 = loss.call(this)
-			config.parameters[param].w[index] = orig + diff
-			var loss2 = loss.call(this)
-			config.parameters[param].w[index] = orig
-
-			return (loss2 - loss1) / (2 * diff)
-		}
-
-		function checkWeight(param, index) {
-			var analytical = analyse.call(this, param, index)
-			var numerical = measure.call(this, param, index)
-			var divisor = Math.abs(analytical)
-
-			return Math.abs(numerical - analytical) / (divisor !== 0 ? divisor : 1)
-		}
-
-
-		var input = Float64Array.filled(this.input.size, 1.0)
-		var output = Float64Array.filled(this.output.size, 1.0)
-
-		console.log('Checking analytical gradients...'.magenta)
-
-		var total = 0.0
-		for (var i = config.parameters.length - 1; i >= 0; i--) {
-			var param = config.parameters[i]
-			if (param === undefined)
-				continue 
-
-			var offset = 0.0
-			for (var j = 0; j < param.w.length; j++) {
-				var error = checkWeight.call(this, i, j)
-				if (isNaN(error)) {
-					console.log('Layer ' + i)
-					throw 'gradient is NaN'
-				}
-
-				offset += error * error
-			}
-
-			total += offset
-			offset = Math.sqrt(offset) / param.w.length
-
-			console.log('Layer ' + i + ' with gradient error of ' + offset)
-
-			if (offset > 1e-3)  {
-				throw 'analytical gradient unusually faulty'
-			}
-		}
-
-		total = Math.sqrt(total) / config.countOfParameters
-
-		console.log(('Mean gradient error is ' + total).bold.cyan)
-		console.log('Gradients are looking good!'.bold.white)
-	}
-
-
-	static expand(opt) {
-		var description = []
-		for (var i = 0; i < opt.length; i++) {
-			var current = opt[i]
-
-			if (current.type === 'softmax' && current.classes)
-				description.push({ type: 'fc', size: current.classes })
-
-			description.push(current)
-
-			if (current.activation)
-				description.push({ type: current.activation })
-
-			if (current.dropout)
-				description.push({ type: 'dropout', probability: current.dropout })
-		}
-
-		if (![ 'softmax', 'regression' ].includes(description[description.length - 1].type))
-			description.push({ type: 'regression' })
-
-		return description
-	}
-
-	static create(inp, opt) {
-		switch (opt.type) {
-			case 'fc': return new dot.FullyConnectedLayer(inp, opt)
-			case 'dropout': return new dropout.DropOutLayer(inp, opt)
-			case 'sigmoid': return new nonlinear.SigmoidLayer(inp, opt)
-			case 'tanh': return new nonlinear.TanhLayer(inp, opt)
-			case 'relu': return new nonlinear.ReLULayer(inp, opt)
-			case 'elu': return new nonlinear.ELULayer(inp, opt)
-			case 'input': return new input.InputLayer(inp, opt)
-			case 'regression': return new regression.RegressionLayer(inp, opt)
-			case 'softmax': return new regression.SoftmaxLayer(inp, opt)
-			case 'noise': return new noise.UhlenbeckOrnsteinNoiseLayer(inp, opt)
-			case 'bayesian': return new bayesian.VariationalBayesianLayer(inp, opt)
-			case 'variational': return new variational.VariationalLayer(inp, opt)
-			case 'binary': return new variational.VariationalBinaryLayer(inp, opt)
-		}
-
-		throw 'error'
-	}
-
-}
-
-// defines how the network behaves; parameter/weights etc.
-class Configuration {
-
-	constructor(model, parameters, optimizer) {
-		this.model = model
-		this.parameters = []
-		this.optimizer = null
-		this.countOfParameters = 0  
-
-		for (var i = 0; i < this.model.layers.length; i++) {
-			var layer = this.model.layers[i]
-			if (!layer.dimensions.parameters) {
-				continue 
-			}
-
-			var param = this.parameters[i] = new Tensor(layer.dimensions.parameters)
-			if (parameters && i in parameters) // copy from
-				param.w.set(parameters[i].w)
-			else if (layer.initialize) // initialize as new parameters
-				layer.initialize(param)
-			else  // random parameters
-				param.w.randf(-1, 1)
-
-			this.countOfParameters += layer.dimensions.parameters
-		}
-
-		if (optimizer) {
-			this.useOptimizer(optimizer)
-		}
-	}
-
-
-	useOptimizer(optimizer) {
-		if (optimizer.constructor === Object)
-			optimizer = new Optim(optimizer)
-
-		this.optimizer = optimizer
-		this.forEachParameter(param => optimizer.initialize(param))
-
-		return optimizer
-	}
-
-	freeze(val = true) {
-		this.freezed = val
-	}
-
-	optimize(accu = true) {
-		if (accu) this.accumulate(Number.isInteger(accu) ? accu : undefined)
-		this.forEachParameter(param => this.optimizer.apply(param))
-	}
-	
-	accumulate(weighted) {
-		this.forEachParameter(param => this.optimizer.accumulate(param, weighted))
-	}
-
-
-
-	forEachParameter(cb) {
-		if (this.freezed) return
-		for (var i = 0; i < this.parameters.length; i++) { 
-			var param = this.parameters[i]
-			if (param === undefined) 
-				continue
-
-			cb(param, i)
-		}
-	}
-
-	copyParametersFrom(config) {
-		if (config.model !== this.model)
-			throw 'models must match'
-
-		this.forEachParameter((function (param, index) {
-			param.w.set(config.parameters[index].w)
-		}).bind(this))
-	}
-
-
-	newState() {
-		return new State(this)
-	}
-
-	clone() {
-		return new Configuration(this.model, this.parameters, this.optimizer)
-	}
-
-
-	putWeights(arr) {
-		var joined = arr
-
-		if (arr.length !== this.countOfParameters)
-			throw 'array doesnt match'
-
-		for (var i = 0, p = 0; i < this.parameters.length; i++) { 
-			var param = this.parameters[i]
-			if (param === undefined) 
-				continue
-
-			param.w.set(joined.subarray(p, p + param.w.length))
-
-			p += param.w.length
-		}
-	}
-
-	pullWeights() {
-		var joined = new Float64Array(this.countOfParameters)
-
-		for (var i = 0, p = 0; i < this.parameters.length; i++) { 
-			var param = this.parameters[i]
-			if (param === undefined) 
-				continue
-
-			joined.set(param.w, p)
-
-			p += param.w.length
-		}
-
-		return joined
-	}
-
-
-	share() {
-		return new SharedConfiguration(this)
-	}
-
-}
-
-// defines current network input/hidden/output-state; activations and gradients etc.
-class State {
-
-	constructor(configuration) {
-		this.configuration = configuration
-		this.model = this.configuration.model
-		this.layers = this.model.layers
-
-		this.tensors = [] // array of layer tensors; this.tensors[i] = output tensor of layer i
-		this.contexts = [] 
-
-		// First input + output of every layer
-		for (var i = 0; i < this.layers.length + 1; i++) {
-			if (i > 0 && this.layers[i - 1].passthrough) // if passthrough, just use last tensor
-				this.tensors[i] = this.tensors[i - 1]
-			else // if at i = layers.length, then use output of last layer as tensor size
-				this.tensors[i] = new Tensor(i < this.layers.length ? this.layers[i].dimensions.input : this.layers[i - 1].dimensions.output)
-		}
-		
-		for (var i = 0; i < this.layers.length; i++) {
-			var layer = this.layers[i]
-			var context = this.contexts[i] = new LayerContext({
-				input: this.tensors[i],
-				output: this.tensors[i + 1],
-				parameters: this.configuration.parameters[i],
-				state: this
-			})
-
-			Object.each(layer.storage || {}, function (k, v) {
-				context[k] = new Float64Array(!isNaN(v) ? v : v.length);
-			})
-		}
- 
-		this.in = this.tensors[0]
-		this.out = this.tensors[this.layers.length]
-
-		this.__target = new Float64Array(this.out.w.length)
-		this.__l_in = this.layers[0]
-		this.__l_out = this.layers[this.layers.length - 1]
-	}
-
-	/**
-	 * Evaluate network
-	 * @param  {Float64Array} input
-	 * @return {Float64Array} 
-	 */
-	forward(input, opt) {
-		if (input != null) {
-			this.__l_in.toInputVector(input, this.in.w) // use 'input' as input values, while converting it to a vector
-		}
-
-		this.options = opt || {} // set pass options
-		this.activate() // activate all layers
-
-		return this.output // return copy of output
-	}
-
-	/**
-	 * Propagates error back, error is provided by subtracting desired from actual output values. 
-	 * @param  {Float64Array | Int} desired
-	 * @return {Float}         loss
-	 */
-	backward(desired) {
-		if (desired != null) {
-			this.__l_out.toGradientVector(desired, this.out.w, this.out.dw) // convert 'desired' to target vector
-		}
-		
-		this.propagate() // propagate errors backwards
-
-		return this.loss(desired) // return loss
-	}
-
-	/**
-	 * Instead of regressing the network to have minimal error, you can provide your own gradient.
-	 * @param  {Float64Array} grad
-	 */
-	backwardWithGradient(grad) {
-		if (Array.isArray(grad))
-			this.out.dw.set(grad)
-		else if (this.out.dw.length === 1)
-			this.out.dw[0] = grad
-		else
-			throw 'error grad not propagatable';
-
-		this.propagate()
-	}
-
-
-	// get copy of current output
-	get output() {
-		return this.__l_out.result(this.contexts[this.__l_out.index])
-	}
-
-	// get loss of current 
-	loss(desired) {
-		if (desired === undefined)
-			return 
-
-		return this.__l_out.loss(this.contexts[this.__l_out.index], desired)
-	}
-
-
-	// not error gradient, but value gradient => how to increase/decrease n-th output value
-	derivatives(n, clone = true) {
-		this.out.dw.fill(0.0)
-		this.out.dw[n] = 1.0
-
-		this.propagate()
-
-		if (clone)
-			return this.in.dw.clone()
-
-		return this.in.dw
-	}
-
-
-	// forward pass
-	activate() {
-		for (var i = 0; i < this.layers.length; i++) {
-			if (this.layers[i].passthrough) 
-				continue ;
-
-			this.layers[i].forward(this.contexts[i])
-		}
-	}
-
-	// backwards pass
-	propagate() {
-		// safety check
-		for (var i = 0; i < this.out.dw.length; i++) {
-			if (isNaN(this.out.dw[i])) {
-				throw 'warning: terror!';
-			}
-		}
-
-		for (var i = this.layers.length - 1; i >= 0; i--) {
-			if (this.layers[i].passthrough) 
-				continue ;
-
-			this.layers[i].backward(this.contexts[i])
-		}
-	}
-
-}
-
-class LayerContext {
-
-	constructor(opt) {
-		this.input = opt.input
-		this.output = opt.output
-		this.params = opt.parameters
-		this.state = opt.state
-	}
-
-}
-
-
-module.exports = {
-	Model, Configuration, State
-};
-
-/***/ }),
-/* 3 */
-/***/ (function(module, exports) {
-
-class EventRadio {
-
-	constructor() {
-		this.events = {}
-	}
-
-
-	on(event, callback) {
-		if (!(event in this.events)) {
-			this.events[event] = []
-		}
-
-		this.events[event].push(callback)
-	}
-
-	trigger(event, args = []) {
-		if (event in this.events) {
-			for (var i = 0; i < this.events[event].length; i++) {
-				this.events[event][i].apply(undefined, [this].concat(args));
-			}
-		}
-	}
-
-}
-
-class ConfigPool extends EventRadio {
-
-	constructor(names) {
-		super()
-		this.states = {}
-		this.configs = {}
-		this.requested = []
-	}
-
-	add(name, wrapper) {
-		if (!(name in this.states)) {
-			this.states[name] = []
-		}
-
-		if (name in this.configs) {
-			wrapper.set(this.configs[name])
-		}
-
-		this.states[name].push(wrapper)
-		wrapper.pool = this
-		wrapper.__pool_name = name
-
-		this.trigger('add', [ wrapper, name ])
-		this.trigger('add ' + name, [ wrapper ])
-	}
-
-	set(name, config) {
-		if (name in this.states) {
-
-			for (var i = 0; i < this.states[name].length; i++) {
-				this.states[name][i].set(config)
-			}
-
-		}
-
-		this.configs[name] = config
-	}
-
-	step() {
-		for (var i = 0; i < this.requested.length; i++) {
-			var name = this.requested[i]
-			this.configs[name].optimize(false)
-		}
-
-		this.requested = []
-	}
-
-	requestOptimisation(wrapper) {
-		if (wrapper.__pool_name === undefined || !(wrapper.__pool_name in this.configs)) 
-			return false
-
-		if (this.requested.indexOf(wrapper.__pool_name) >= 0)
-			return true
-
-		this.requested.push(wrapper.__pool_name)
-
-		return true
-	}
-
-}
-
-class NetworkWrapper extends EventRadio {
-
-	constructor() {
-		super()
-
-		this.on('set', () => {
-			if (this.optim !== undefined)
-				this.config.useOptimizer(this.optim)
-		})
-	}
-
-	set(value) {
-		var state
-
-		if (!value) {
-			return
-		}
-
-		if (value.constructor.name === 'State') {
-			state = value
-		}
-
-		else if (value.constructor.name === 'Configuration' || value.constructor.name === 'Model') {
-			state = value.newState()
-		}
-
-		this.net = state
-		this.config = state.configuration
-		this.model = state.model
-
-		this.trigger('set', [ state ])
-	}
-
-	useOptimizer(optim) {
-		this.optim = optim
-
-		if (this.config) {
-			this.config.useOptimizer(optim)
-		}
-	}
-
-	optimize() {
-		if (this.pool && this.pool.requestOptimisation(this)) {
-			return 
-		}
-		
-		this.config.optimize(false)
-	}
-
-}
-
-module.exports = {
-	NetworkWrapper, ConfigPool
-}
-
-/***/ }),
-/* 4 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-Object.assign(RegExp, {
-
-    escape(str) {
-        return str.replace(/([.*+?^=!:${}()|\[\]\/\\])/g, "\\$1");
-    }
-
-});
-
-Object.assign(Function.prototype, {
-
-    getArguments() {
-        const STRIP_COMMENTS = /((\/\/.*$)|(\/\*[\s\S]*?\*\/))/mg;
-        const ARGUMENT_NAMES = /([^\s,]+)/g;
-
-        if (this.$args)
-            return this.$args;
-
-        var fnStr = this.toString().replace(STRIP_COMMENTS, '');
-        var result = fnStr.slice(fnStr.indexOf('(') + 1, fnStr.indexOf(')')).match(ARGUMENT_NAMES);
-        if (result === null)
-            result = [];
-
-        return this.$args = result;
-    },
-
-    getSource() {
-        return this.toString().replace(/^[^{]+{/i, '').replace(/}[^}]*$/i, '')
-    },
-
-    decompile() {
-        return { arguments: this.getArguments(), source: this.getSource() };
-    }
-
-});
-
-Object.assign(Object, {
-
-    each(obj, callback) {
-        for (var key in obj)
-            if (obj.hasOwnProperty(key))
-                callback(key, obj[key]);
-    }
-
-});
-
-Object.assign(String.prototype, {
-
-    replaceAll(find, replace) {
-        return this.replace(new RegExp(RegExp.escape(find), 'g'), replace);
-    }
-
-});
-
-/**
- * How to use this optimizer:
- *
- * 1. First initialize with options e.g.
- *     var optimizer = new Optim({
- *         method: 'adadelta',
- *         regularization: { l2: 1e-2 },
- *         clipping: 5
- *     })
- * 2. Then create a (weight) tensor:
- *     var toOptimize = new Tensor(100)
- * 3. And prepare the tensor for optimization
- *     optimizer.initialize(toOptimize)
- * 4. Then add a gradient to the tensor (not practical like this, but you get the hang of it)
- *     toOptimize.dw[50] = 1.0
- * 5. Accumulate gradient (do this n-times if n is your batch count)
- *     optimizer.accumulate(toOptimize)
- * 6. Finally apply gradient optimization via
- *     optimizer.apply(toOptimize)
- * 
- */
-
-class Optim {
-
-    constructor(opt) {
-        this.update(opt || {});
-        this.uuid = ++Optim.INDEX
-    }
-
-    update(opt) {
-        this.method = opt.method || 'sgd';
-        this.options = Object.assign({
-
-            type: 'descent',
-            clipping: 0,
-            regularization: {
-                l1: 0,
-                l2: 0
-            }
-
-        }, Optim.methods[this.method].options, opt);
-
-        delete this.options.method;
-
-        this.options = Object.freeze(this.options);
-
-        this.build();
-    }
-
-    build() {
-        if (this.options.type === 'descent')
-            this.apply = this.assemble('-')
-        else if (this.options.type === 'ascent')
-            this.apply = this.assemble('+')
-        else 
-            throw 'unrecognized optimizer type'
-    }
-
-    assemble(dir) {
-        var method = Optim.methods[this.method];
-        var regDir = dir === '+' ? '-' : '+'
-
-        var performer = (method.deliver ? method.deliver(this.options) : method.perform).decompile();
-        var stateDefs = [], produceDefs = [];
-
-        this.states = performer.arguments;
-
-        for (var i = 0; i < this.states.length; i++) {
-            stateDefs.push(this.states[i] + '=' + 'dw.' + this.states[i]);
-        }
-
-        function _definitions() {
-            var defs = '';
-            if (stateDefs.length > 0)
-                defs += 'var ' + stateDefs.join(',') + ';';
-
-            if (produceDefs.length > 0)
-                defs += 'var ' + produceDefs.join(',') + ';';
-
-            return defs;
-        }
-
-        function _gradient() {
-            var producer = '';
-            if (this.options.clipping > 0) {
-                producer += 'grad = grad > opt.clipping ? opt.clipping : (grad < -opt.clipping ? -opt.clipping : grad);\n';
-            }
-
-            var sum = 'grad';
-            if (this.options.regularization.l1 > 0) {
-                produceDefs.push('l1grad');
-                producer += 'l1grad = opt.regularization.l1 * (w[i] > 0 ? ' + regDir + '1 : ' + dir + '1);\n';
-                sum += '+l1grad';
-            }
-
-            if (this.options.regularization.l2 > 0) {
-                produceDefs.push('l2grad');
-                producer += 'l2grad = opt.regularization.l2 * w[i] * ' + regDir + '1.0;\n';
-                sum += '+l2grad';
-            }
-
-            producer += 'gij = ' + '(' + sum + ') / iteration' + ';\n';
-
-            return { source: producer };
-        }
-
-        function replaceOptionsWithConstants(k, v) {
-            if (typeof v === 'object') {
-                Object.each(v, replaceOptionsWithConstants.bind(this + k + '.'));
-                return;
-            }
-
-            fn = fn.replaceAll(this + k, v);
-        }
-
-        var grad = _gradient.call(this);
-
-        var fn =
-            `"use strict";
-            var w = tensor.w, dw = tensor.dw, accdw = dw.acc;
-            var dx, gij, grad, iteration = dw.iteration;
-            if (iteration < 1) return ;
-            ${ _definitions() }
-            for (var i = 0; i < w.length; ++i) {
-                grad = accdw[i];
-                ${ grad.source }
-                ${ performer.source }
-                w[i] ${ dir }= dx;
-                accdw[i] = 0.0;
-            }
-            dw.iteration = 0;`;
-
-        Object.each(this.options, replaceOptionsWithConstants.bind('opt.'));
-        return new Function('tensor', fn);
-    }
-
-    accumulate(tensor, weighted) {
-        weighted = weighted || 1
-        var w = tensor.w, dw = tensor.dw, accdw = dw.acc;
-        var dx, gij, grad, iteration = (dw.iteration += weighted);
-        for (var i = 0; i < w.length; ++i) accdw[i] += weighted * dw[i];
-    }
-
-    initialize(tensor, set, linked) {
-        if (!tensor.initialized) { // general initialization
-            tensor.dw.iteration = 0;
-            tensor.dw.acc = new Float64Array(tensor.dw.length)
-        }
-
-        for (var i = 0; i < this.states.length; ++i) { // specific (algorithm dependent) initialization
-            if (this.states[i] in tensor.dw)
-                tensor.dw[this.states[i]] = tensor.dw[this.states[i]].fill(0.0)
-            else
-                tensor.dw[this.states[i]] = new Float64Array(tensor.dw.length)
-        }
-
-        tensor.initialized = true
-    }
-
-    static register(name, value) {
-        Optim.methods[name] = value;
-    }
-
-}
-
-Optim.methods = {};
-
-Optim.register("sgd", {
-
-    deliver(opt) {
-        if (opt.momentum === 0) {
-            return function() { dx = opt.rate * gij; }
-        }
-
-        return this.perform;
-    },
-
-    perform(mom) {
-        dx = opt.rate * gij + opt.momentum * mom[i];
-        mom[i] = dx;
-    },
-
-    options: {
-        rate: 0.01,
-        momentum: 0
-    }
-
-});
-
-Optim.register("adadelta", {
-
-    perform(gsum, xsum) {
-        gsum[i] = opt.ro * gsum[i] + (1 - opt.ro) * gij * gij;
-        dx = Math.sqrt((xsum[i] + opt.eps) / (gsum[i] + opt.eps)) * gij;
-        xsum[i] = opt.ro * xsum[i] + (1 - opt.ro) * dx * dx; // yes, xsum lags behind gsum by 1.
-    },
-
-    options: {
-        ro: 0.95,
-        eps: 1e-8
-    }
-
-});
-
-Optim.register("adam", {
-
-    perform(m, v) {
-        m[i] = opt.beta1 * m[i] + (1 - opt.beta1) * gij; // update biased first moment estimate
-        v[i] = opt.beta2 * v[i] + (1 - opt.beta2) * gij * gij; // update biased second moment estimate
-        var bcm = m[i] / (1 - Math.pow(opt.beta1, iteration)); // correct bias first moment estimate
-        var bcv = v[i] / (1 - Math.pow(opt.beta2, iteration)); // correct bias second moment estimate
-        dx = opt.rate * bcm / (Math.sqrt(bcv) + opt.eps);
-    },
-
-    options: {
-        rate: 0.01,
-        eps: 1e-8,
-        beta1: 0.9,
-        beta2: 0.999
-    }
-
-});
-
-Optim.INDEX = 0
-
-module.exports = Optim;
-
-
-/***/ }),
-/* 5 */
-/***/ (function(module, exports) {
-
-class ReplayBuffer {
-
-	add(e) { throw 'not implemented' }
-	sample(n) { throw 'not implemented' }
-	getAverageLoss() { throw 'not implemented' }
-	getImportanceSamplingWeight(e) { return 1.0 }
-	updateAfterLearning() {}
-
-}
-
-class UniformReplayBuffer extends ReplayBuffer {
-
-	constructor(size) {
-		super()
-		this.buffer = []
-		this.size = size
-	}
-
-	add(e) {
-
-		if (this.buffer.length >= this.size) {
-			this.buffer[Math.randi(0, this.buffer.length)] = e
-		}
-
-		else {
-			this.buffer.push(e)
-		}
-		
-	}
-
-	sample(n) {
-		var batch = []
-
-		if (this.buffer.length <= n)
-			return this.buffer
-		
-		for (var i = 0; i < n; i++) {
-			batch.push(Array.random(this.buffer))
-		}
-
-		return batch
-	}
-
-	draw() {
-		return Array.random(this.buffer)
-	}
-
-	getAverageLoss() {
-		return Array.sum(this.buffer, x => x.loss) / this.buffer.length
-	}
-
-}
-
-class PrioritizedReplayBuffer extends ReplayBuffer {
-
-	constructor(N) {
-		super()
-
-		this.root = new PrioritizedReplayBuffer.Node(null, null)
-		this.iterations = 0
-		this.size = 0
-
-		this.maxISW = 1.0
-		this.beta = 0.5
-
-		for (var i = 0; i < N - 1; ++i) {
-			this.root.add(null)
-		}
-
-		this.leafs = this.root.getLeafs()
-
-		if (this.leafs.length !== this.root.size)
-			throw 'could not create replay tree...'
-	}
-
-	add(e) {
-		if (this.size === this.leafs.length) {
-			this.root.descent((a, b) => a.minimum < b.minimum ? 0 : 1).set(e)
-		}
-
-		else {
-			this.leafs[this.size].set(e)
-		}
-		
-		this.iterations += 1
-		this.size = Math.max(this.size, this.iterations % this.leafs.length)
-	}
-
-	sample(n) { 
-		var batch = []
-
-		this.maxISW = Math.pow(this.size * (this.root.minimum / this.root.value), -this.beta)
-
-		if (this.size < 5 * n) 
-			return [ ]
-
-		while (batch.length < n)
-			batch.push(this.root.cumulativeSample(Math.random() * this.root.value).experience)
-
-		return batch
-	}
-
-	draw(prioritised) {
-		if (!prioritised) 
-			return this.leafs[Math.randi(0, this.size)].experience
-
-		return this.root.cumulativeSample(Math.random() * this.root.value).experience
-	}
-
-	updateAfterLearning(batch) {
-		for (var i = 0; i < batch.length; i++) {
-			var e = batch[i]
-			if (e !== e.node.experience)
-				throw 'association error'
-
-			e.node.revalue()
-		}
-	}
-
-	getImportanceSamplingWeight(e) { 
-		if (e.priority === undefined)
-			return 1.0
-
-		return Math.pow(this.size * (e.priority / this.root.value), -this.beta)
-	}
-
-	getAverageLoss() {
-		return this.root.value / this.root.size
-	}
-
-}
-
-PrioritizedReplayBuffer.Node = class Node {
-
-	constructor(parent, experience) {
-		this.parent = parent
-		this.children = []
-		this.size = 1
-		this.value = 0.0
-
-		this.maximum = -Infinity
-		this.minimum = Infinity
-
-		this.experience = experience
-		this.revalue()
-	}
-
-
-	cumulativeSample(x) {
-		if (this.children.length === 0)
-			return this
-
-		if (this.children[0].value < x)
-			return this.children[1].cumulativeSample(x - this.children[0].value)
-		else 
-			return this.children[0].cumulativeSample(x)
-	} 
-
-	update() {
-		this.value = Array.sum(this.children, x => x.value)
-		this.maximum = this.children.reduce((a, b) => a.maximum > b.maximum ? a : b).maximum
-		this.minimum = this.children.reduce((a, b) => a.minimum < b.minimum ? a : b).minimum
-
-		if (this.parent)
-			this.parent.update()
-	}
-
-	revalue() {
-		if (this.children.length > 0)
-			throw 'not possible'
-
-		if (!this.experience)
-			return 
-
-		this.value = this.experience.priority || Infinity
-
-		this.maximum = this.value
-		this.minimum = this.value
-
-		if (this.parent)
-			this.parent.update()
-	}
-
-	set(experience) {
-		if (this.children.length > 0)
-			throw "can't set experience of node with children"
-
-		experience.node = this
-
-		this.experience = experience
-		this.revalue()
-	}
-
-	add(experience) {
-		if (this.children.length === 0) { // branch off
-			this.children.push(new PrioritizedReplayBuffer.Node(this, this.experience))
-			this.children.push(new PrioritizedReplayBuffer.Node(this, experience))
-			this.experience = null
-
-			// this.update()
-		} else {
-			this.children.reduce((a, b) => a.size < b.size ? a : b).add(experience)
-		}
-
-		this.size++
-	}
-
-	descent(dir) {
-		if (this.children.length === 0)
-			return this
-
-		return this.children[ dir(this.children[0], this.children[1]) ].descent(dir)
-	}
-
-	getLeafs() {
-		if (this.children.length === 0)
-			return [ this ]
-
-		var unfolded = []
-		for (var i = 0; i < this.children.length; i++) {
-			unfolded.push(this.children[i].getLeafs())
-		}
-
-		return Array.prototype.concat.apply([], unfolded)
-	}
-
-}
-
-module.exports = {
-
-	ReplayBuffer, 
-	UniformReplayBuffer, 
-	PrioritizedReplayBuffer
-
-}
-
-/***/ }),
-/* 6 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var binary = __webpack_require__(7);
-var network = __webpack_require__(2);
-
-class NetOnDisk {
-
-	static write(config) {
-		var contents = [];
-
-		contents.push(config.model.representation)
-		contents.push(config.pullWeights())
-
-		return binary.Writer.write(contents)
-	}
-
-	static read(buffer) {
-		var contents = binary.Reader.read(buffer)
-
-		var model = new network.Model(contents[0])
-		var config = model.newConfiguration()
-
-		config.putWeights(contents[1])
-
-		return config
-	}
-
-
-
-	static writeMultiPart(list) {
-		var contents = [];
-
-		contents.push(Object.keys(list))
-
-		for (var name in list) {
-			var config = list[name]
-
-			if (!config instanceof network.Configuration) {
-				throw 'config in list must be of type Network.Configuration'
-			}
-
-			contents.push(name)
-			contents.push(config.model.representation)
-			contents.push(config.pullWeights())
-		}
-
-		return binary.Writer.write(contents)
-	}
-
-	static readMultiPart(buffer) {
-		var contents = binary.Reader.read(buffer)
-
-		var ptr = -1
-		var names = contents[++ptr]
-
-		var list = {}
-
-		for (var i = 0; i < names.length; i++) {
-			var name = names[i]
-
-			if (contents[++ptr] !== name) {
-				throw 'name does not match up'
-			}
-
-			var model = new network.Model(contents[++ptr])
-			var config = model.newConfiguration()
-
-			config.putWeights(contents[++ptr])
-
-			list[name] = config
-		}
-
-		return list
-	}
-
-}
-
-module.exports = NetOnDisk
-
-/***/ }),
-/* 7 */
-/***/ (function(module, exports, __webpack_require__) {
-
-/* WEBPACK VAR INJECTION */(function(global) {var StringView = __webpack_require__(40);
-
-function isObjLiteral(_obj) {
-  var _test  = _obj;
-  return (  typeof _obj !== 'object' || _obj === null ?
-              false :  
-              (
-                (function () {
-                  while (!false) {
-                    if (  Object.getPrototypeOf( _test = Object.getPrototypeOf(_test)  ) === null) {
-                      break;
-                    }      
-                  }
-                  return Object.getPrototypeOf(_obj) === _test;
-                })()
-              )
-          );
-}
-
-class BinaryWriter {
-
-	/**
-	 * Returns array buffer, which contains the binary data.
-	 * @param  {array} contents
-	 * @return {ArrayBuffer} 
-	 */
-	static write(contents) {
-		var toc = [], length = 0;
-
-		for (var i = 0; i < contents.length; i++) {
-			var value = contents[i]
-			var isobject = false
-
-			if (value.constructor === Object || value.constructor === Array) {
-				value = (contents[i] = JSON.stringify(value))
-				isobject = true
-			}
-
-			if (typeof value === 'string') {
-				toc.push({
-					t: 's',
-					l: value.length
-				});
-
-				if (isobject) {
-					toc[toc.length - 1]['o'] = 1;
-				}
-
-				length += value.length
-			}
-
-			else if (ArrayBuffer.isView(value)) {
-				toc.push({
-					t: 't',
-					l: value.byteLength,
-					i: value.constructor.name
-				})
-
-				length += value.byteLength
-			}
-
-			else if (value instanceof ArrayBuffer) {
-				toc.push({
-					t: 'b',
-					l: value.byteLength
-				})
-
-				length += value.byteLength
-			}
- 		}
-
-		var jsonified = JSON.stringify(toc)
-
-		length += jsonified.length + Uint32Array.BYTES_PER_ELEMENT + 1
-
-		var writer = new BinaryWriter(length)
-
-		writer.setUint8(BinaryWriter.validationByte) // validation byte
-		writer.setUint32(jsonified.length) // table of contents length
-		writer.setString(jsonified) // ToC
-
-		for (var i = 0; i < toc.length; i++) {
-			switch(toc[i].t) {
-				case 's': writer.setString(contents[i]); break
-				case 't': writer.setTypedArray(contents[i]); break
-				case 'b': writer.setBuffer(contents[i]); break
-			}
-		}
-
-		if (!writer.isAtEnd()) {
-			throw "The lengths don't match up";
-		}
-
-		return writer.raw
-	}
-
-
-	constructor(length) {
-		this.array = new Uint8Array(length)
-		this.buffer = this.array.buffer
-		this.dataView = new DataView(this.buffer)
-		this.index = 0
-	}
-
-	setUint8(val) {
-		this.dataView.setUint8(this.index, val)
-		this.index += Uint8Array.BYTES_PER_ELEMENT
-	}
-
-	setUint32(val) {
-		this.dataView.setUint32(this.index, val)
-		this.index += Uint32Array.BYTES_PER_ELEMENT
-	}
-
-	setString(string) {
-		var sv = new StringView(string);
-		this.array.set(sv.rawData, this.index);
-		this.index += sv.buffer.byteLength
-	}
-
-	setTypedArray(arr) {
-		this.array.set(new Uint8Array(arr.buffer), this.index)
-		this.index += arr.byteLength
-	}
-
-	setBuffer(buf) {
-		this.array.set(new Uint8Array(buf), this.index)
-		this.index += buf.byteLength
-	}
-
-	isAtEnd() {
-		return this.buffer.byteLength === this.index
-	}
-
-	get raw() {
-		return this.array.buffer
-	}
-
-}
-
-
-class BinaryReader {
-
-	/**
-	 * Returns the contents read from the array buffer
-	 * @param  {ArrayBuffer} buffer
-	 * @return {array}      
-	 */
-	static read(buffer) {
-		var reader = new BinaryReader(buffer)
-
-		var validation = reader.getUint8()
-
-		if (validation !== BinaryWriter.validationByte) {
-			throw "validation byte doesn't match."
-		}
-
-		var tocLength = reader.getUint32()
-		var tocString = reader.getString(tocLength)
-		var toc = JSON.parse(tocString)
-		var contents = []
-
-		for (var i = 0; i < toc.length; i++) {
-			switch (toc[i].t) {
-				case 's': contents.push(reader.getString(toc[i].l)); break
-				case 't': contents.push(new (typeof window !== 'undefined' ? window : global)[toc[i].i](reader.getBuffer(toc[i].l))); break
-				case 'b': contents.push(reader.getBuffer(toc[i].l)); break
-			}
-
-			if (toc[i]['o'] === 1) {
-				contents[i] = JSON.parse(contents[i]);
-			}
-		}
-
-		return contents
-	}
-
-
-	constructor(buffer) {
-		this.array = new Uint8Array(buffer)
-		this.buffer = buffer
-		this.dataView = new DataView(buffer)
-		this.index = 0
-	}
-
-
-	getUint8() {
-		var val = this.dataView.getUint8(this.index)
-		this.index += Uint8Array.BYTES_PER_ELEMENT
-
-		return val
-	}
-
-	getUint32() {
-		var val = this.dataView.getUint32(this.index)
-		this.index += Uint32Array.BYTES_PER_ELEMENT
-
-		return val
-	}
-
-	getString(length) {
-		var arr = this.array.subarray(this.index, this.index + length)
-		var str = (new StringView(arr)).toString()
-
-		this.index += arr.byteLength
-
-		return str
-	}
-
-	getBuffer(byteLength) {
-		var arr = this.array.slice(this.index, this.index + byteLength)
-		this.index += byteLength
-
-		return arr.buffer
-	}
-
-	isAtEnd() {
-		return this.buffer.byteLength === this.index
-	}
-
-}
-
-BinaryWriter.validationByte = 0x8F;
-
-module.exports = {
-	'Writer' : BinaryWriter,
-	'Reader' : BinaryReader
-};
-/* WEBPACK VAR INJECTION */}.call(exports, __webpack_require__(26)))
-
-/***/ }),
-/* 8 */
-/***/ (function(module, exports) {
-
-function webpackEmptyContext(req) {
-	throw new Error("Cannot find module '" + req + "'.");
-}
-webpackEmptyContext.keys = function() { return []; };
-webpackEmptyContext.resolve = webpackEmptyContext;
-module.exports = webpackEmptyContext;
-webpackEmptyContext.id = 8;
-
-
-/***/ }),
-/* 9 */
-/***/ (function(module, exports) {
-
-// shim for using process in browser
-var process = module.exports = {};
-
-// cached from whatever global is present so that test runners that stub it
-// don't break things.  But we need to wrap it in a try catch in case it is
-// wrapped in strict mode code which doesn't define any globals.  It's inside a
-// function because try/catches deoptimize in certain engines.
-
-var cachedSetTimeout;
-var cachedClearTimeout;
-
-function defaultSetTimout() {
-    throw new Error('setTimeout has not been defined');
-}
-function defaultClearTimeout () {
-    throw new Error('clearTimeout has not been defined');
-}
-(function () {
-    try {
-        if (typeof setTimeout === 'function') {
-            cachedSetTimeout = setTimeout;
-        } else {
-            cachedSetTimeout = defaultSetTimout;
-        }
-    } catch (e) {
-        cachedSetTimeout = defaultSetTimout;
-    }
-    try {
-        if (typeof clearTimeout === 'function') {
-            cachedClearTimeout = clearTimeout;
-        } else {
-            cachedClearTimeout = defaultClearTimeout;
-        }
-    } catch (e) {
-        cachedClearTimeout = defaultClearTimeout;
-    }
-} ())
-function runTimeout(fun) {
-    if (cachedSetTimeout === setTimeout) {
-        //normal enviroments in sane situations
-        return setTimeout(fun, 0);
-    }
-    // if setTimeout wasn't available but was latter defined
-    if ((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout) {
-        cachedSetTimeout = setTimeout;
-        return setTimeout(fun, 0);
-    }
-    try {
-        // when when somebody has screwed with setTimeout but no I.E. maddness
-        return cachedSetTimeout(fun, 0);
-    } catch(e){
-        try {
-            // When we are in I.E. but the script has been evaled so I.E. doesn't trust the global object when called normally
-            return cachedSetTimeout.call(null, fun, 0);
-        } catch(e){
-            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error
-            return cachedSetTimeout.call(this, fun, 0);
-        }
-    }
-
-
-}
-function runClearTimeout(marker) {
-    if (cachedClearTimeout === clearTimeout) {
-        //normal enviroments in sane situations
-        return clearTimeout(marker);
-    }
-    // if clearTimeout wasn't available but was latter defined
-    if ((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout) {
-        cachedClearTimeout = clearTimeout;
-        return clearTimeout(marker);
-    }
-    try {
-        // when when somebody has screwed with setTimeout but no I.E. maddness
-        return cachedClearTimeout(marker);
-    } catch (e){
-        try {
-            // When we are in I.E. but the script has been evaled so I.E. doesn't  trust the global object when called normally
-            return cachedClearTimeout.call(null, marker);
-        } catch (e){
-            // same as above but when it's a version of I.E. that must have the global object for 'this', hopfully our context correct otherwise it will throw a global error.
-            // Some versions of I.E. have different rules for clearTimeout vs setTimeout
-            return cachedClearTimeout.call(this, marker);
-        }
-    }
-
-
-
-}
-var queue = [];
-var draining = false;
-var currentQueue;
-var queueIndex = -1;
-
-function cleanUpNextTick() {
-    if (!draining || !currentQueue) {
-        return;
-    }
-    draining = false;
-    if (currentQueue.length) {
-        queue = currentQueue.concat(queue);
-    } else {
-        queueIndex = -1;
-    }
-    if (queue.length) {
-        drainQueue();
-    }
-}
-
-function drainQueue() {
-    if (draining) {
-        return;
-    }
-    var timeout = runTimeout(cleanUpNextTick);
-    draining = true;
-
-    var len = queue.length;
-    while(len) {
-        currentQueue = queue;
-        queue = [];
-        while (++queueIndex < len) {
-            if (currentQueue) {
-                currentQueue[queueIndex].run();
-            }
-        }
-        queueIndex = -1;
-        len = queue.length;
-    }
-    currentQueue = null;
-    draining = false;
-    runClearTimeout(timeout);
-}
-
-process.nextTick = function (fun) {
-    var args = new Array(arguments.length - 1);
-    if (arguments.length > 1) {
-        for (var i = 1; i < arguments.length; i++) {
-            args[i - 1] = arguments[i];
-        }
-    }
-    queue.push(new Item(fun, args));
-    if (queue.length === 1 && !draining) {
-        runTimeout(drainQueue);
-    }
-};
-
-// v8 likes predictible objects
-function Item(fun, array) {
-    this.fun = fun;
-    this.array = array;
-}
-Item.prototype.run = function () {
-    this.fun.apply(null, this.array);
-};
-process.title = 'browser';
-process.browser = true;
-process.env = {};
-process.argv = [];
-process.version = ''; // empty string to avoid regexp issues
-process.versions = {};
-
-function noop() {}
-
-process.on = noop;
-process.addListener = noop;
-process.once = noop;
-process.off = noop;
-process.removeListener = noop;
-process.removeAllListeners = noop;
-process.emit = noop;
-
-process.binding = function (name) {
-    throw new Error('process.binding is not supported');
-};
-
-process.cwd = function () { return '/' };
-process.chdir = function (dir) {
-    throw new Error('process.chdir is not supported');
-};
-process.umask = function() { return 0; };
-
-
-/***/ }),
-/* 10 */
-/***/ (function(module, exports) {
-
-
-class Algorithm {
-
-	// what to do?
-	act(state, target) { throw 'Not implemented' }
-
-	// how good is an action at state
-	value(state, action, target) { throw 'Not implemented' }
-
-	// replay
-	optimize(e, descent = true) { throw 'Not implemented' }
-
-	// adjust weights etc
-	learn() { throw 'Not implemented' }
-
-	import(params) { throw 'Not implemented' }
-	export() { throw 'Not implemented' }
-
-
-	evaluate(state, target) {
-		return this.value(state, this.act(state, target), target)
-	}
-
-}
-
-module.exports = Algorithm
-
-/***/ }),
-/* 11 */
-/***/ (function(module, exports) {
-
-class WebLoader {
-
-    static load(path, completion) {
-        var request = new XMLHttpRequest()
-        request.open("GET", path, true)
-        request.responseType = "arraybuffer"
-        request.addEventListener('load', function(e) {
-            completion(request.response)
-        })
-
-        request.send(null)
-    }
-
-    static loadConfig(path, model, completion) {
-    	var config = model.newConfiguration()
-    	WebLoader.loadConfigInto(path, config, completion.bind(null, config))
-    }
-
-    static loadConfigInto(path, config, completion) {
-        WebLoader.load(path, function (buffer) {
-            var weights = new Float64Array(buffer)
-            config.read(weights)
-            completion()
-        })
-    }
-
-
-    static loadAgent(path, agent, completion) {
-        agent.ready = false
-
-        WebLoader.load(path, function (buffer) {
-            var weights = new Float64Array(buffer)
-            agent.import(weights)
-            agent.ready = true
-
-            if (completion)
-                completion(agent)
-        })
-    }
-
-}
-
-module.exports = WebLoader
-
-/***/ }),
-/* 12 */
-/***/ (function(module, exports) {
-
-if (Float64Array.prototype.fill === undefined)
-    Float64Array.prototype.fill = function (v) {
-        for (var i = 0; i < this.length; i++) { this[i] = v; }
-    };
-
-
-Object.assign(Math, {
-
-    statistics: true,
-
-    randn() {
-        var U1, U2 = this.randn.U2, W, mult;
-        if (U2) {
-            this.randn.U2 = null; // deactivate for next time
-            return U2;
-        }
-
-        do {
-            U1 = -1 + this.random() * 2;
-            U2 = -1 + this.random() * 2;
-            W = U1 * U1 + U2 * U2;
-        } while (W >= 1 || W === 0);
-
-        mult = Math.sqrt(-2 * Math.log(W) / W);
-        this.randn.U2 = U2 * mult;
-
-        return U1 * mult;
-    },
-
-    randf(a, b) {
-        return this.random() * (b - a) + a;
-    },
-
-    randi(a, b) {
-        return a + Math.floor(Math.random() * (b - a))
-    },
-
-    uhlenbeckOrnstein(old, theta, sigma, dt) {
-       return old - theta * old * dt + Math.sqrt(dt) * Math.randn(0.0, sigma)
-    }
-
-})
-
-Object.assign(Array, {
-
-    random(arr) {
-        return arr[Math.floor(Math.random() * arr.length)]
-    },
-
-    randomAndRemove() {
-        var index = Math.floor(Math.random() * this.length)
-        var value = this[index]
-        this.splice(index, 1)
-
-        return value
-    },
-
-    sum(arr, valueFunc) {
-        valueFunc = valueFunc || (x => x);
-        var sum = 0.0
-        for (var i = 0; i < arr.length; i++) {
-            sum += valueFunc(arr[i])
-        }
-
-        return sum
-    },
-
-    lowest(valueFunc) {
-        return this.reduce((a, b) => valueFunc(a) < valueFunc(b) ? a : b)
-    },
-
-    highest(valueFunc) {
-        return this.reduce((a, b) => valueFunc(a) > valueFunc(b) ? a : b)
-    },
-
-    sample(probFunc) {
-        var des = Math.random()
-        var pos = 0.0
-        for (var i = 0; i < this.children.length; i++) {
-            if (des < (pos += prob[i]))
-                return this.children[i]
-        }
-
-        return this.children[this.children.length - 1]
-    }
-
-})
-
-
-Object.assign(Float64Array, {
-
-    filled(n, v) {
-        return (new Float64Array(n)).fill(v)
-    },
-
-    oneHot(n, N) {
-        var vec = new Float64Array(N)
-        vec[n] = 1.0
-        return vec
-    },
-
-    noise(N, a, b) {
-        var vec = new Float64Array(N)
-        vec.randf(a || -1, b || 1)
-        return vec
-    }
-
-});
-
-
-Object.assign(Float64Array.prototype, {
-
-    randn(mu, std) {
-        for (var i = 0; i < this.length; i++) { this[i] = mu + std * Math.randn(); }
-    },
-
-    randf(a, b) { 
-        for (var i = 0; i < this.length; i++) { this[i] = Math.randf(a, b); }
-    },
-
-    maxi() {
-        var maxv = -Infinity, maxi = 0.0
-        for (var i = 0; i < this.length; i++) {
-            if (this[i] > maxv) {
-                maxv = this[i]; maxi = i
-            }
-        }
-
-        return maxi
-    },
-
-    clone() {
-        var copied = new Float64Array(this.length)
-        copied.set(this)
-        return copied
-    },
-
-    diff(x, y) {
-        for (var i = 0; i < this.length; i++) { this[i] = x[i] - y[i] }
-    },
-
-    add(x, y) {
-        for (var i = 0; i < this.length; i++) { this[i] = x[i] + y[i] }
-    },
-
-    mult(x, y) {
-        for (var i = 0; i < this.length; i++) { this[i] = x[i] * y }
-    }
-
-});
-
-
-
-/***/ }),
-/* 13 */
-/***/ (function(module, exports, __webpack_require__) {
-
-// var network = require('../network.js')
-var Window = __webpack_require__(36)
-var Experience = __webpack_require__(39)
-var Buffers = __webpack_require__(5)
-var DQN = __webpack_require__(38)
-var DDPG = __webpack_require__(37)
-
-/**
- * The Agent class represents the
- * reinforcement-learner.
- */
-class Agent {
-
-	constructor(opt) {
-
-		this.options = Object.assign({
-
-			type: 'q-learning', // sarsa or q-learning
-			experience: 25e3,
-			temporalWindow: 0,
-
-			learningPerTick: 64,
-			startLearningAt: 1000,
-
-			buffer: Buffers.PrioritizedReplayBuffer,
-
-			algorithm: 'ddpg',
-
-			discount: opt.discount || 0.9,
-			beta: 0.15, // how to prioritise experiences (0 = no prioritisation, 1 = full prioritisation)
-
-		}, opt)
-
-		// options
-		this.states = this.options.states // state space
-		this.actions = this.options.actions // action space
-		this.input = Agent.getInputDimension(this.states, this.actions, this.options.temporalWindow) // extended state (over time)
-
-		// settings
-		this.buffer = new this.options.buffer(this.options.experience)
-		this.history = {
-			states: new Window(Math.max(2, this.options.temporalWindow)),
-			actions: new Window(Math.max(2, this.options.temporalWindow)),
-			inputs: new Window(2),
-			rewards: new Window(2),
-		}
-
-		this.age = 1
-		this.learning = true
-		this.ready = true
-
-		switch (this.options.algorithm) {
-			case 'dqn':
-				this.algorithm = new DQN(this); break
-			case 'ddpg':
-				this.algorithm = new DDPG(this); break
-			default:
-				throw 'unknown algorithm'
-		}
-	}
-
-	/**
-	 * Let the agent make an action, includes exploration through noise
-	 * @param  {Array} state
-	 * @return {Array}       An action
-	 */
-	policy(state) {
-		if (!this.ready)
-			return
-
-		var input = this.getStateInputVector(state)
-		var action = this.act(input)
-
-		this.history.inputs.push(input)
-		this.history.states.push(state)
-		this.history.actions.push(action)
-		this.acted = true
-
-		return action
-	}
-
-	actionToVector(action) {
-		if (action instanceof Float64Array) {
-			return action
-		}
-
-		if (Number.isInteger(action)) {
-			return Float64Array.oneHot(action, this.actions)
-		}
-
-		throw 'Action is invalid'
-	}
-
-	getStateInputVector(state) {
-		if (this.options.temporalWindow > 0) {
-			var input = new Float64Array(this.input)
-			var cursor = 0
-			
-			for (var t = this.options.temporalWindow - 1; t >= 0; t--) {
-				if (this.history.states.size > t) {
-					input.set(this.history.states.get(t), cursor)
-					input.set(this.actionToVector( this.history.actions.get(t) ), cursor + this.states) 
-				}
-				
-				cursor += this.states + this.actions
-			}
-
-			input.set(state, cursor)
-
-			return input
-		}
-
-		return state
-	}
-
-	/**
-	 * Simulate that the agent did an action
-	 * @param  {Array} state
-	 * @param  {Array} action
-	 */
-	simulate(state, action) {
-		if (!this.ready)
-			return
-
-		var input = this.getStateInputVector(state)
-
-		this.history.inputs.push(input)
-		this.history.states.push(state)
-		this.history.actions.push(action)
-		this.acted = true
-	}
-
-	/**
-	 * Adds an experience to the buffer and replays a batch of experiences
-	 * @param  {Float} reward
-	 * @return {Float}        The loss
-	 */
-	learn(reward) {
-		if (!this.acted || !this.ready)
-			return
-
-		this.acted = false
-		this.history.rewards.push(reward)
-
-		// Learning happens always one step after actually experiencing
-		if (this.history.states.size < 2 || this.learning === false) 
-			return
-
-		// Create new experience
-		var e = new Experience(this)
-		e.action0 = this.history.actions.get(1)
-		e.state0 = this.history.inputs.get(1)
-		e.reward0 = this.history.rewards.get(1)
-		e.state1 = this.history.inputs.get(0)
-		e.action1 = this.history.actions.get(0) // for SARSA only
-		e.init() // set loss etc.
-
-		// Add experience to replay buffer
-		this.buffer.add(e)
-
-		// Get older
-		++this.age 
-
-		return this.backward()
-	}
-
-	backward() {
-		if (this.options.startLearningAt > this.age)
-			return false
-
-		// Set training
-		this.training = true
-
-		// Learn batch
-		var loss = this.replay()
-
-		// Execute algorithm
-		this.algorithm.learn()
- 
-		return loss
-	}
-
-	replay() {		
-		var batch = this.buffer.sample(this.options.learningPerTick), loss = 0.0
-
-		for (var i = 0; i < batch.length; i++) {
-			loss += batch[i].step()
-		}
-
-		this.buffer.updateAfterLearning(batch)
-
-		return loss / batch.length
-	}
-
-
-	// 
-	act(state, target) {
-		return this.algorithm.act(state, target)
-	}
-
-	value(state, action, target)  {
-		return this.algorithm.value(state, action, target)
-	}
-
-	evaluate(state, target) {
-		return this.algorithm.evaluate(state, target)
-	}
-
-
-
-	// utility functions
-	export() {
-		return this.algorithm.export()
-	}
-
-	static getInputDimension(states, actions, temporalWindow) {
-		return states + temporalWindow * (states + actions)
-	}
-
-}
-
-module.exports = Agent
-
-/***/ }),
-/* 14 */
-/***/ (function(module, exports) {
-
-class FileLoader {
-
-	static download(file, callback) {
-		// Create XHR, Blob and FileReader objects
-	    var xhr = new XMLHttpRequest(), blob, fileReader = new FileReader();
-
-	    xhr.open("GET", file, true);
-	    // Set the responseType to arraybuffer. "blob" is an option too, rendering manual Blob creation unnecessary, but the support for "blob" is not widespread enough yet
-	    xhr.responseType = "arraybuffer";
-
-	    xhr.addEventListener("load", function () {
-	        if (xhr.status === 200) {
-	            callback(null, xhr.response)
-	        }
-
-	        else {
-	        	callback(xhr.status, null)
-	        }
-	    }, false);
-
-	    // Send XHR
-	    xhr.send();
-	}
-
-}
-
-module.exports = FileLoader;
-
-/***/ }),
-/* 15 */
-/***/ (function(module, exports, __webpack_require__) {
-
-/* WEBPACK VAR INJECTION */(function(process) {function CheckSupport() {
-
-	if (process !== undefined && !process.browser) {
-		if (process.version.indexOf('v') !== 0) {
-			throw 'unknown node version.';
-		}
-
-		var vn = process.version.substring(1).split('.');
-		var major = parseInt(vn[0]);
-		var minor = parseInt(vn[1]);
-	
-		if (major > 6) return true;
-		if (major === 6 && minor >= 6) return true;
-
-		return false;
-	}
-
-	else if (typeof window !== 'undefined') {
-		var supported = {
-			'safari': 10,
-			'chrome': 54
-		};
-
-		return true;
-	}
-
-	return true;
-
-}
-
-module.exports = CheckSupport;
-/* WEBPACK VAR INJECTION */}.call(exports, __webpack_require__(9)))
-
-/***/ }),
-/* 16 */
-/***/ (function(module, exports) {
-
-module['exports'] = function runTheTrap (text, options) {
-  var result = "";
-  text = text || "Run the trap, drop the bass";
-  text = text.split('');
-  var trap = {
-    a: ["\u0040", "\u0104", "\u023a", "\u0245", "\u0394", "\u039b", "\u0414"],
-    b: ["\u00df", "\u0181", "\u0243", "\u026e", "\u03b2", "\u0e3f"],
-    c: ["\u00a9", "\u023b", "\u03fe"],
-    d: ["\u00d0", "\u018a", "\u0500" , "\u0501" ,"\u0502", "\u0503"],
-    e: ["\u00cb", "\u0115", "\u018e", "\u0258", "\u03a3", "\u03be", "\u04bc", "\u0a6c"],
-    f: ["\u04fa"],
-    g: ["\u0262"],
-    h: ["\u0126", "\u0195", "\u04a2", "\u04ba", "\u04c7", "\u050a"],
-    i: ["\u0f0f"],
-    j: ["\u0134"],
-    k: ["\u0138", "\u04a0", "\u04c3", "\u051e"],
-    l: ["\u0139"],
-    m: ["\u028d", "\u04cd", "\u04ce", "\u0520", "\u0521", "\u0d69"],
-    n: ["\u00d1", "\u014b", "\u019d", "\u0376", "\u03a0", "\u048a"],
-    o: ["\u00d8", "\u00f5", "\u00f8", "\u01fe", "\u0298", "\u047a", "\u05dd", "\u06dd", "\u0e4f"],
-    p: ["\u01f7", "\u048e"],
-    q: ["\u09cd"],
-    r: ["\u00ae", "\u01a6", "\u0210", "\u024c", "\u0280", "\u042f"],
-    s: ["\u00a7", "\u03de", "\u03df", "\u03e8"],
-    t: ["\u0141", "\u0166", "\u0373"],
-    u: ["\u01b1", "\u054d"],
-    v: ["\u05d8"],
-    w: ["\u0428", "\u0460", "\u047c", "\u0d70"],
-    x: ["\u04b2", "\u04fe", "\u04fc", "\u04fd"],
-    y: ["\u00a5", "\u04b0", "\u04cb"],
-    z: ["\u01b5", "\u0240"]
-  }
-  text.forEach(function(c){
-    c = c.toLowerCase();
-    var chars = trap[c] || [" "];
-    var rand = Math.floor(Math.random() * chars.length);
-    if (typeof trap[c] !== "undefined") {
-      result += trap[c][rand];
-    } else {
-      result += c;
-    }
-  });
-  return result;
-
-}
-
-
-/***/ }),
-/* 17 */
-/***/ (function(module, exports) {
-
-// please no
-module['exports'] = function zalgo(text, options) {
-  text = text || "   he is here   ";
-  var soul = {
-    "up" : [
-      '̍', '̎', '̄', '̅',
-      '̿', '̑', '̆', '̐',
-      '͒', '͗', '͑', '̇',
-      '̈', '̊', '͂', '̓',
-      '̈', '͊', '͋', '͌',
-      '̃', '̂', '̌', '͐',
-      '̀', '́', '̋', '̏',
-      '̒', '̓', '̔', '̽',
-      '̉', 'ͣ', 'ͤ', 'ͥ',
-      'ͦ', 'ͧ', 'ͨ', 'ͩ',
-      'ͪ', 'ͫ', 'ͬ', 'ͭ',
-      'ͮ', 'ͯ', '̾', '͛',
-      '͆', '̚'
-    ],
-    "down" : [
-      '̖', '̗', '̘', '̙',
-      '̜', '̝', '̞', '̟',
-      '̠', '̤', '̥', '̦',
-      '̩', '̪', '̫', '̬',
-      '̭', '̮', '̯', '̰',
-      '̱', '̲', '̳', '̹',
-      '̺', '̻', '̼', 'ͅ',
-      '͇', '͈', '͉', '͍',
-      '͎', '͓', '͔', '͕',
-      '͖', '͙', '͚', '̣'
-    ],
-    "mid" : [
-      '̕', '̛', '̀', '́',
-      '͘', '̡', '̢', '̧',
-      '̨', '̴', '̵', '̶',
-      '͜', '͝', '͞',
-      '͟', '͠', '͢', '̸',
-      '̷', '͡', ' ҉'
-    ]
-  },
-  all = [].concat(soul.up, soul.down, soul.mid),
-  zalgo = {};
-
-  function randomNumber(range) {
-    var r = Math.floor(Math.random() * range);
-    return r;
-  }
-
-  function is_char(character) {
-    var bool = false;
-    all.filter(function (i) {
-      bool = (i === character);
-    });
-    return bool;
-  }
-  
-
-  function heComes(text, options) {
-    var result = '', counts, l;
-    options = options || {};
-    options["up"] =   typeof options["up"]   !== 'undefined' ? options["up"]   : true;
-    options["mid"] =  typeof options["mid"]  !== 'undefined' ? options["mid"]  : true;
-    options["down"] = typeof options["down"] !== 'undefined' ? options["down"] : true;
-    options["size"] = typeof options["size"] !== 'undefined' ? options["size"] : "maxi";
-    text = text.split('');
-    for (l in text) {
-      if (is_char(l)) {
-        continue;
-      }
-      result = result + text[l];
-      counts = {"up" : 0, "down" : 0, "mid" : 0};
-      switch (options.size) {
-      case 'mini':
-        counts.up = randomNumber(8);
-        counts.mid = randomNumber(2);
-        counts.down = randomNumber(8);
-        break;
-      case 'maxi':
-        counts.up = randomNumber(16) + 3;
-        counts.mid = randomNumber(4) + 1;
-        counts.down = randomNumber(64) + 3;
-        break;
-      default:
-        counts.up = randomNumber(8) + 1;
-        counts.mid = randomNumber(6) / 2;
-        counts.down = randomNumber(8) + 1;
-        break;
-      }
-
-      var arr = ["up", "mid", "down"];
-      for (var d in arr) {
-        var index = arr[d];
-        for (var i = 0 ; i <= counts[index]; i++) {
-          if (options[index]) {
-            result = result + soul[index][randomNumber(soul[index].length)];
-          }
-        }
-      }
-    }
-    return result;
-  }
-  // don't summon him
-  return heComes(text, options);
-}
-
-
-/***/ }),
-/* 18 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-
-module['exports'] = function () {
-
-  //
-  // Extends prototype of native string object to allow for "foo".red syntax
-  //
-  var addProperty = function (color, func) {
-    String.prototype.__defineGetter__(color, func);
-  };
-
-  var sequencer = function sequencer (map, str) {
-      return function () {
-        var exploded = this.split(""), i = 0;
-        exploded = exploded.map(map);
-        return exploded.join("");
-      }
-  };
-
-  addProperty('strip', function () {
-    return colors.strip(this);
-  });
-
-  addProperty('stripColors', function () {
-    return colors.strip(this);
-  });
-
-  addProperty("trap", function(){
-    return colors.trap(this);
-  });
-
-  addProperty("zalgo", function(){
-    return colors.zalgo(this);
-  });
-
-  addProperty("zebra", function(){
-    return colors.zebra(this);
-  });
-
-  addProperty("rainbow", function(){
-    return colors.rainbow(this);
-  });
-
-  addProperty("random", function(){
-    return colors.random(this);
-  });
-
-  addProperty("america", function(){
-    return colors.america(this);
-  });
-
-  //
-  // Iterate through all default styles and colors
-  //
-  var x = Object.keys(colors.styles);
-  x.forEach(function (style) {
-    addProperty(style, function () {
-      return colors.stylize(this, style);
-    });
-  });
-
-  function applyTheme(theme) {
-    //
-    // Remark: This is a list of methods that exist
-    // on String that you should not overwrite.
-    //
-    var stringPrototypeBlacklist = [
-      '__defineGetter__', '__defineSetter__', '__lookupGetter__', '__lookupSetter__', 'charAt', 'constructor',
-      'hasOwnProperty', 'isPrototypeOf', 'propertyIsEnumerable', 'toLocaleString', 'toString', 'valueOf', 'charCodeAt',
-      'indexOf', 'lastIndexof', 'length', 'localeCompare', 'match', 'replace', 'search', 'slice', 'split', 'substring',
-      'toLocaleLowerCase', 'toLocaleUpperCase', 'toLowerCase', 'toUpperCase', 'trim', 'trimLeft', 'trimRight'
-    ];
-
-    Object.keys(theme).forEach(function (prop) {
-      if (stringPrototypeBlacklist.indexOf(prop) !== -1) {
-        console.log('warn: '.red + ('String.prototype' + prop).magenta + ' is probably something you don\'t want to override. Ignoring style name');
-      }
-      else {
-        if (typeof(theme[prop]) === 'string') {
-          colors[prop] = colors[theme[prop]];
-          addProperty(prop, function () {
-            return colors[theme[prop]](this);
-          });
-        }
-        else {
-          addProperty(prop, function () {
-            var ret = this;
-            for (var t = 0; t < theme[prop].length; t++) {
-              ret = colors[theme[prop][t]](ret);
-            }
-            return ret;
-          });
-        }
-      }
-    });
-  }
-
-  colors.setTheme = function (theme) {
-    if (typeof theme === 'string') {
-      try {
-        colors.themes[theme] = !(function webpackMissingModule() { var e = new Error("Cannot find module \".\""); e.code = 'MODULE_NOT_FOUND';; throw e; }());
-        applyTheme(colors.themes[theme]);
-        return colors.themes[theme];
-      } catch (err) {
-        console.log(err);
-        return err;
-      }
-    } else {
-      applyTheme(theme);
-    }
-  };
-
-};
-
-/***/ }),
-/* 19 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-module['exports'] = colors;
-
-// Remark: By default, colors will add style properties to String.prototype
-//
-// If you don't wish to extend String.prototype you can do this instead and native String will not be touched
-//
-//   var colors = require('colors/safe);
-//   colors.red("foo")
-//
-//
-__webpack_require__(18)();
-
-/***/ }),
-/* 20 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-
-module['exports'] = (function() {
-  return function (letter, i, exploded) {
-    if(letter === " ") return letter;
-    switch(i%3) {
-      case 0: return colors.red(letter);
-      case 1: return colors.white(letter)
-      case 2: return colors.blue(letter)
-    }
-  }
-})();
-
-/***/ }),
-/* 21 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-
-module['exports'] = (function () {
-  var rainbowColors = ['red', 'yellow', 'green', 'blue', 'magenta']; //RoY G BiV
-  return function (letter, i, exploded) {
-    if (letter === " ") {
-      return letter;
-    } else {
-      return colors[rainbowColors[i++ % rainbowColors.length]](letter);
-    }
-  };
-})();
-
-
-
-/***/ }),
-/* 22 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-
-module['exports'] = (function () {
-  var available = ['underline', 'inverse', 'grey', 'yellow', 'red', 'green', 'blue', 'white', 'cyan', 'magenta'];
-  return function(letter, i, exploded) {
-    return letter === " " ? letter : colors[available[Math.round(Math.random() * (available.length - 1))]](letter);
-  };
-})();
-
-/***/ }),
-/* 23 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var colors = __webpack_require__(0);
-
-module['exports'] = function (letter, i, exploded) {
-  return i % 2 === 0 ? letter : colors.inverse(letter);
-};
-
-/***/ }),
-/* 24 */
-/***/ (function(module, exports) {
-
-/*
-The MIT License (MIT)
-
-Copyright (c) Sindre Sorhus <sindresorhus@gmail.com> (sindresorhus.com)
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-var styles = {};
-module['exports'] = styles;
-
-var codes = {
-  reset: [0, 0],
-
-  bold: [1, 22],
-  dim: [2, 22],
-  italic: [3, 23],
-  underline: [4, 24],
-  inverse: [7, 27],
-  hidden: [8, 28],
-  strikethrough: [9, 29],
-
-  black: [30, 39],
-  red: [31, 39],
-  green: [32, 39],
-  yellow: [33, 39],
-  blue: [34, 39],
-  magenta: [35, 39],
-  cyan: [36, 39],
-  white: [37, 39],
-  gray: [90, 39],
-  grey: [90, 39],
-
-  bgBlack: [40, 49],
-  bgRed: [41, 49],
-  bgGreen: [42, 49],
-  bgYellow: [43, 49],
-  bgBlue: [44, 49],
-  bgMagenta: [45, 49],
-  bgCyan: [46, 49],
-  bgWhite: [47, 49],
-
-  // legacy styles for colors pre v1.0.0
-  blackBG: [40, 49],
-  redBG: [41, 49],
-  greenBG: [42, 49],
-  yellowBG: [43, 49],
-  blueBG: [44, 49],
-  magentaBG: [45, 49],
-  cyanBG: [46, 49],
-  whiteBG: [47, 49]
-
-};
-
-Object.keys(codes).forEach(function (key) {
-  var val = codes[key];
-  var style = styles[key] = [];
-  style.open = '\u001b[' + val[0] + 'm';
-  style.close = '\u001b[' + val[1] + 'm';
-});
-
-/***/ }),
-/* 25 */
-/***/ (function(module, exports, __webpack_require__) {
-
-/* WEBPACK VAR INJECTION */(function(process) {/*
-The MIT License (MIT)
-
-Copyright (c) Sindre Sorhus <sindresorhus@gmail.com> (sindresorhus.com)
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-
-*/
-
-var argv = process.argv;
-
-module.exports = (function () {
-  if (argv.indexOf('--no-color') !== -1 ||
-    argv.indexOf('--color=false') !== -1) {
-    return false;
-  }
-
-  if (argv.indexOf('--color') !== -1 ||
-    argv.indexOf('--color=true') !== -1 ||
-    argv.indexOf('--color=always') !== -1) {
-    return true;
-  }
-
-  if (process.stdout && !process.stdout.isTTY) {
-    return false;
-  }
-
-  if (process.platform === 'win32') {
-    return true;
-  }
-
-  if ('COLORTERM' in process.env) {
-    return true;
-  }
-
-  if (process.env.TERM === 'dumb') {
-    return false;
-  }
-
-  if (/^screen|^xterm|^vt100|color|ansi|cygwin|linux/i.test(process.env.TERM)) {
-    return true;
-  }
-
-  return false;
-})();
-/* WEBPACK VAR INJECTION */}.call(exports, __webpack_require__(9)))
-
-/***/ }),
-/* 26 */
-/***/ (function(module, exports) {
-
-var g;
-
-// This works in non-strict mode
-g = (function() {
-	return this;
-})();
-
-try {
-	// This works if eval is allowed (see CSP)
-	g = g || Function("return this")() || (1,eval)("this");
-} catch(e) {
-	// This works if the window reference is available
-	if(typeof window === "object")
-		g = window;
-}
-
-// g can still be undefined, but nothing to do about it...
-// We return undefined, instead of nothing here, so it's
-// easier to handle this case. if(!global) { ...}
-
-module.exports = g;
-
-
-/***/ }),
-/* 27 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-var Size = __webpack_require__(1);
-
-// http://arxiv.org/pdf/1505.05424.pdf
-class VariationalBayesianLayer {
-
-	constructor(input, opt) {
-		opt.size = Size.derive(opt.size)
-
-		this.dimensions = {
-			input,
-			output: opt.size,
-			parameters: 2 * (input.length * opt.size.length + opt.size.length) // mean and std
-		}
-
-		this.storage = {
-			sample: input.length * opt.size.length + opt.size.length,
-			weights: input.length * opt.size.length + opt.size.length
-		}
-
-
-	}
-
-	forward(ctx) {
-		var sum = 0.0, X = this.dimensions.input.length, Y = this.dimensions.output.length
-		var inpw = ctx.input.w, outw = ctx.output.w, paramw = ctx.params.w
-		var sampled = ctx.sample, weights = ctx.weights, epsilon = 0
-		var mu, std, w, b
-
-		for (var i = 0; i < Y; i++) {
-			sum = 0.0
-			for (var j = 0; j < X; j++) {
-				mu = paramw[(i * X + j) * 2 + 0] 
-				std = Math.log(1 + Math.exp( paramw[(i * X + j) * 2 + 1] ))
-
-				sampled[i * X + j] = epsilon = Math.randn()
-				weights[i * X + j] = w = mu + std * epsilon
-
-				sum += inpw[j] * w
-			}
-
-			mu = paramw[(X * Y + i) * 2 + 0] 
-			std = Math.log(1 + Math.exp( paramw[(X * Y + i) * 2 + 1] ))
-
-			sampled[X * Y + i] = epsilon = Math.randn()
-			weights[X * Y + i] = b = mu + std * epsilon
-
-			outw[i] = sum + b
-		}
-
-	}
-
-	backward(ctx) {
-		var sum = 0.0, X = this.dimensions.input.length, Y = this.dimensions.output.length
-		var inpw = ctx.input.w, outw = ctx.output.w, paramw = ctx.params.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw, paramdw = ctx.params.dw
-		var sampled = ctx.sample, weights = ctx.weights
-
-		for (var i = 0; i < X; i++) {
-			sum = 0.0
-			for (var j = 0; j < Y; j++) {
-				paramdw[(j * X + i) * 2 + 0] = inpw[i] * outdw[j]
-				paramdw[(j * X + i) * 2 + 1] = inpw[i] * outdw[j] * sampled[j * X + i] / (1.0 + Math.exp(-paramw[(j * X + i) * 2 + 1]))
-				sum += weights[j * X + i] * outdw[j]
-			}
-
-			inpdw[i] = sum
-		}
-
-		for (var i = 0; i < Y; i++) {
-			paramdw[(X * Y + i) * 2 + 0] = outdw[i]
-			paramdw[(X * Y + i) * 2 + 1] = outdw[i] * sampled[X * Y + i] / (1.0 + Math.exp(-paramw[(X * Y + i) * 2 + 1]))
-		}
-	}
-
-	initialize(params) {
-		var H = this.dimensions.parameters / 2
-		var elements = (this.dimensions.input.length + this.dimensions.output.length)
-		var scale = Math.sqrt(2.0 / elements)
-
-		for (var i = 0; i < H; i+=2) {
-			params.w[i] = Math.randn() * scale
-			params.w[i + 1] = Math.randn()
-		}
-	}
-
-}
-
-module.exports = {
-	VariationalBayesianLayer
-}
-
-/***/ }),
-/* 28 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-var Size = __webpack_require__(1);
-
-class FullyConnectedLayer {
-
-	constructor(input, opt) {
-		opt.size = Size.derive(opt.size)
-
-		this.dimensions = {
-			input,
-			output: opt.size,
-			parameters: input.length * opt.size.length + opt.size.length
-		}
-		
-	}
-
-	forward(ctx) {
-		var sum = 0.0, X = this.dimensions.input.length, Y = this.dimensions.output.length
-		var inpw = ctx.input.w, outw = ctx.output.w, paramw = ctx.params.w
-		
-
-		for (var i = 0; i < Y; i++) {
-			sum = 0.0
-			for (var j = 0; j < X; j++) {
-				sum += inpw[j] * paramw[i * X + j]
-			}
-
-			outw[i] = sum + paramw[X * Y + i]
-		}
-
-		// outw.set(this.fwd(inpw, paramw));
-	}
-
-	backward(ctx) {
-		var sum = 0.0, X = this.dimensions.input.length, Y = this.dimensions.output.length
-		var inpw = ctx.input.w, outw = ctx.output.w, paramw = ctx.params.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw, paramdw = ctx.params.dw
-
-		for (var i = 0; i < X; i++) {
-			sum = 0.0
-			for (var j = 0; j < Y; j++) {
-				sum += paramw[j * X + i] * outdw[j]
-				paramdw[j * X + i] = inpw[i] * outdw[j]
-			}
-
-			inpdw[i] = sum
-		}
-
-		for (var i = 0; i < Y; i++) {
-			paramdw[X * Y + i] = outdw[i]
-		}
-	}
-
-	initialize(params) {
-		var X = this.dimensions.input.length, Y = this.dimensions.output.length
-
-		if (this.options.init) {
-			params.w.randn(0.0, this.options.init)
-		}
-
-		else {
-			// var dropout = this.options.dropout || 0
-			// var elements = (1 - dropout) * (this.dimensions.input.length + this.dimensions.output.length)
-			var scale = Math.sqrt(1.0 / X)
-			params.w.randn((this.options.mean / X) || 0.0, scale)
-		}
-
-		// biases should be zero
-		for (var i = 0; i < Y; i++) {
-			params.w[X * Y + i] = 0.0
-		}
-	}
-
-}
-
-module.exports = {
-	FullyConnectedLayer
-}
-
-/***/ }),
-/* 29 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-class DropOutLayer {
-
-	constructor(input, opt) {
-		this.dimensions = {
-			input,
-			output: input,
-			parameters: 0
-		}
-
-		this.probability = opt.probability
-		this.storage = {
-			activations: input
-		}
-	}
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var prob = this.probability, act = ctx.activations
-
-		// if (ctx.state.options.learning !== true) {
-		// 	for (var i = 0; i < X; i++)
-		// 		outw[i] = inpw[i] * prob 
-			
-		// 	return 
-		// }
-
-		for (var i = 0; i < X; i++) {
-			if (Math.random() < prob) { // dropping out
-				outw[i] = 0.0
-				act[i] = 0.0
-			}
-
-			else {
-				outw[i] = inpw[i] / (1.0 - prob)
-				act[i] = 1.0
-			}
-		}
-	}
-
-	backward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw
-		var prob = this.probability, act = ctx.activations
-
-		// if (ctx.state.options.learning !== true) {
-		// 	// for (var i = 0; i < X; i++)
-		// 	// 	inpdw[i] = outdw[i] * prob 
-
-		// 	return
-		// }
-
-		for (var i = 0; i < X; i++) {
-			inpdw[i] = act[i] * outdw[i] / (1.0 - prob)
-		}
-	}
-
-}
-
-module.exports = {
-	DropOutLayer
-};
-
-/***/ }),
-/* 30 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-var Size = __webpack_require__(1);
-
-class InputLayer {
-
-	constructor(inp, opt) {
-		this.dimensions = {
-			input: Size.derive(opt.size),
-			output: Size.derive(opt.size),
-			parameters: 0
-		};
-
-		this.input = true
-		this.passthrough = true
-	}
-
-	toInputVector(input, out) {
-		if (input === undefined)
-			return 
-
-		if (Number.isInteger(input) && input < this.dimensions.intrinsic) {
-			out.fill(0.0)
-			out[input] = 1.0
-		} 
-
-		else if (input.length === out.length) {
-			out.set(input)
-		} 
-
-		else {
-			throw 'invalid input format';
-		}
-	}
-
-}
-
-module.exports = {
-	InputLayer
-}
-
-/***/ }),
-/* 31 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-
-class UhlenbeckOrnsteinNoiseLayer {
-
-	constructor(input, opt) {
-		this.dimensions = {
-			input,
-			output: input,
-			parameters: 0
-		}
-
-		this.theta = opt.theta || 0.15
-		this.sigma = opt.sigma || 0.3
-		this.delta = opt.delta || 0.1
-
-		this.storage = {
-			noise: input
-		}
-	}
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var outw = ctx.output.w, inpw = ctx.input.w
-
-		var alpha = 0.3
-		for (var i = 0; i < X; i++) {
-			outw[i] = (1-alpha) * inpw[i] + alpha * (ctx.noise[i] = Math.uhlenbeckOrnstein(ctx.noise[i], this.theta, this.sigma, this.delta))
-		}
-	}
-
-	backward(ctx) {
-		ctx.input.dw.set(ctx.output.dw)
-	}
-
-}
-
-module.exports = {
-    UhlenbeckOrnsteinNoiseLayer
-};
-
-
-/***/ }),
-/* 32 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-class NonLinearityLayer {
-
-	constructor(input, opt) {
-		this.dimensions = {
-			input,
-			output: input,
-			parameters: 0
-		};
-	}
-
-}
-
-class SigmoidLayer extends NonLinearityLayer {
-
-	forward(ctx) {
-		var X = this.dimensions.input.length;
-		var inpw = ctx.input.w, outw = ctx.output.w
-
-		for (var i = 0; i < X; i++) {
-			outw[i] = 1 / (1 + Math.exp(-inpw[i]))
-		}
-	}
-
-	backward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw
-
-		for (var i = 0; i < X; i++) {
-			inpdw[i] = outw[i] * (1.0 - outw[i]) * outdw[i]
-		}
-	}
-
-}
-
-class TanhLayer extends NonLinearityLayer {
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var y = 0.0;
-
-		for (var i = 0; i < X; i++) {
-			y = Math.exp(2 * inpw[i]);
-			outw[i] = (y - 1) / (y + 1);
-		}
-	}
-
-	backward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw
-
-		for (var i = 0; i < X; i++) {
-			inpdw[i] = (1 - outw[i] * outw[i]) * outdw[i];
-		}
-	}
-
-}
-
-class ReLULayer extends NonLinearityLayer {
-
-	constructor(input, opt) {
-		super(input, opt)
-		this.leaky = opt.leaky || 0
-	}
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var y = 0.0;
-
-		for (var i = 0; i < X; i++) {
-			outw[i] = (inpw[i] > 0.0 ? inpw[i] : this.leaky * inpw[i]);
-		}
-	}
-
-	backward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw
-
-		for (var i = 0; i < X; i++) {
-			inpdw[i] = (inpw[i] > 0.0 ? 1.0 : this.leaky) * outdw[i];
-		}
-	}
-
-}
-
-class ELULayer extends NonLinearityLayer {
-
-	constructor(input, opt) {
-		super(input, opt)
-		this.alpha = opt.alpha || 1.0
-	}
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var y = 0.0;
-
-		for (var i = 0; i < X; i++) {
-			outw[i] = (inpw[i] > 0.0 ? inpw[i] : this.alpha * (Math.exp(inpw[i]) - 1));
-		}
-	}
-
-	backward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpdw = ctx.input.dw, outdw = ctx.output.dw
-
-		for (var i = 0; i < X; i++) {
-			inpdw[i] = (inpw[i] > 0.0 ? 1.0 : outw[i] + this.alpha) * outdw[i];
-		}
-	}
-
-}
-
-module.exports = {
-	SigmoidLayer, TanhLayer, ReLULayer, ELULayer
-};
-
-/***/ }),
-/* 33 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-class OutputLayer {
-
-	constructor(inp, opt) {
-        this.dimensions = {
-            input: inp,
-            output: inp,
-            parameters: 0
-        };
-
-        this.output = true
-    }
-
-    result(ctx) {
-        return ctx.output.w.clone()
-    }
-
-
-}
-
-class SoftmaxLayer extends OutputLayer {
-
-	forward(ctx) {
-		var X = this.dimensions.input.length
-		var inpw = ctx.input.w, outw = ctx.output.w
-		var inpmax = -Infinity
-
-		for (var i = 0; i < X; ++i)
-			if (inpw[i] > inpmax) inpmax = inpw[i]
-
-		var expsum = 0.0
-		for (var i = 0; i < X; ++i)
-			expsum += outw[i] = Math.exp(inpw[i] - inpmax)
-
-		for (var i = 0; i < X; ++i)
-			outw[i] /= expsum
-    }
-
-    backward(ctx) {
-        var X = this.dimensions.input.length
-        var inpdw = ctx.input.dw
-        var outdw = ctx.output.dw, outw = ctx.output.w
-
-        for (var i = 0; i < X; i++) {
-            var sum = outw[i] * (1 - outw[i]) * outdw[i]
-
-            for (var j = 0; j < X; j++) {
-                if (i !== j)  sum -= outw[j] * outw[i] * outdw[j]
-            }
-
-            inpdw[i] = sum
-        }
-    }
-
-    loss(ctx, desired, target) {
-        return -Math.log(ctx.output.w[desired]) 
-    }
-
-    toGradientVector(desired, actual, out) {
-        if (Number.isInteger(desired) !== true || desired >= this.size)
-            throw 'target must be class index in softmax'
-
-        for (var i = 0; i < this.size; i++) {
-            out[i] = actual[i] - (desired === i ? 1.0 : 0.0)
-        }
-    }
-
-}
-
-class RegressionLayer extends OutputLayer {
-
-    constructor(inp, opt) {
-        super(inp, opt)
-        this.passthrough = true
-    }
-
-    loss(ctx, desired) {
-        var loss = 0.0
-        var grads = this.toGradientVector(desired, ctx.output.w)
-
-        for (var i = 0; i < this.dimensions.input.length; i++) {
-            loss += 0.5 * grads[i] * grads[i]
-        }
-
-        return loss
-    }
-
-    toGradientVector(desired, actual, out) {
-        var X = this.dimensions.input.length
-
-        if (out === undefined) {
-            out = new Float64Array(X)
-        }
-
-        // target is maximizing argmax, set n-th value to 1, rest to 0
-        if (X > 1 && !isNaN(desired) && Number.isInteger(desired) && desired < X) {
-            for (var i = 0; i < X; ++i) {
-                out[i] = actual[i] - (i === desired ? 1.0 : 0.0)
-            }
-        }
-
-        // single value output
-        else if (X === 1 && !isNaN(desired)) {
-            out[0] = actual[0] - desired
-        }
-
-        else if (desired instanceof Array || desired instanceof Float64Array) {
-            for (var i = 0; i < out.length; ++i) {
-                out[i] = actual[i] - desired[i]
-            }
-        }
-
-        else {
-            throw 'invalid target'
-        }
-
-        return out
-    }
-
-}
-
-module.exports = {
-    RegressionLayer, SoftmaxLayer
-};
-
-
-/***/ }),
-/* 34 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-var Size = __webpack_require__(1);
-
-function sigm(x) {
-    return 1 / (1 + Math.exp(-x))
-}
-
-function dsigm(fx) {
-    return fx * (1.0 - fx)
-}
-
-class VariationalLayer {
-
-    constructor(input, opt) {
-        if (input.length % 2 !== 0) {
-            throw 'input must be divisible by two.'
-        }
-
-        this.dimensions = {
-            input: input,
-            output: new Size(1, 1, input.length / 2),
-            parameters: 0
-        }
-
-        this.storage = {
-            samples: this.dimensions.output.length
-        }
-
-        this.variance_decay = opt.variance_decay || 0.0
-        
-    }
-
-    forward(ctx) {
-        var Y = this.dimensions.output.length
-        var inpw = ctx.input.w, outw = ctx.output.w
-        var samples = ctx.samples
-
-        for (var i = 0; i < Y; i++) {
-            var eps = Math.randn(0.0, 1.0)
-            outw[i] = inpw[2 * i + 0] + inpw[2 * i + 1] * eps
-            samples[i] = eps
-        }
-    }
-
-    backward(ctx) {
-        var Y = this.dimensions.output.length
-        var inpw = ctx.input.w, outw = ctx.output.w
-        var inpdw = ctx.input.dw, outdw = ctx.output.dw
-        var samples = ctx.samples
-
-        for (var i = 0; i < Y; i++) {
-            inpdw[2 * i + 0] += outdw[i]
-            inpdw[2 * i + 1] += samples[i] * outdw[i]
-        }
-    }
-
-}
-
-
-class VariationalBinaryLayer {
-
-    constructor(input, opt) {
-        this.dimensions = {
-            input: input,
-            output: new Size(1, 1, input.length),
-            parameters: 0
-        }
-
-        this.storage = {
-            probs: this.dimensions.output.length
-        }
-        
-    }
-
-    forward(ctx) {
-        var Y = this.dimensions.output.length
-        var inpw = ctx.input.w, outw = ctx.output.w
-        var probs = ctx.probs
-
-        for (var i = 0; i < Y; i++) {
-            var eps = Math.random()
-            probs[i] = sigm(inpw[i]) // activate with probability
-            outw[i] = eps <= probs[i] ? 1.0 : 0.0
-        }
-    }
-
-    backward(ctx) {
-        var Y = this.dimensions.output.length
-        var inpw = ctx.input.w, outw = ctx.output.w
-        var inpdw = ctx.input.dw, outdw = ctx.output.dw
-        var probs = ctx.probs
-
-        for (var i = 0; i < Y; i++) {
-            inpdw[i] = dsigm( probs[i] ) * outdw[i]
-        }
-    }
-
-}
-
-
-module.exports = {
-    VariationalBinaryLayer
-}
-
-/***/ }),
-/* 35 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var Size = __webpack_require__(1);
-
-module.exports = class Tensor {
-
-	constructor(size) {
-		this.size = Size.derive(size)
-		this.w = new Float64Array(this.size.length);
-		this.dw = new Float64Array(this.size.length);
-	}
-
-}
-
-/***/ }),
-/* 36 */
-/***/ (function(module, exports) {
-
-class Window {
-
-	constructor(n) {
-		this.list = []
-		this.length = n
-	}
-
-	push(value) {
-		this.list.unshift(value)
-
-		if (this.list.length > this.length) {
-			this.list.pop()
-		}
-	}
-
-	get(nth) {
-		return this.list[nth]
-	}
-
-	get size() {
-		return this.list.length
-	}
-
-}
-
-module.exports = Window
-
-/***/ }),
-/* 37 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var network = __webpack_require__(2)
-var shared = __webpack_require__(3)
-
-var NetOnDisk = __webpack_require__(6)
-var Algorithm = __webpack_require__(10)
-
-
-/* Deep deterministic policy gradient */
-class DDPG extends Algorithm {
-
-	constructor(agent) {
-		super()
-		// options
-		this.options = Object.assign({
-			alpha: 0, // advantage learning (AL) http://arxiv.org/pdf/1512.04860v1.pdf; increase action-gap
-			theta: 0.001, // soft target updates
-		}, agent.options)
-
-
-		this.actor = new shared.NetworkWrapper()
-		this.critic = new shared.NetworkWrapper()
-
-		// target networks
-
-		var targetCreate = (wrapper, state) => {
-			wrapper.live = state
-
-			if (this.options.theta < 1) {
-				wrapper.target = wrapper.live.model.newState()
-			}
-			
-			else {
-				wrapper.target = wrapper.live
-			}
-		}
-
-		this.actor.on('set', targetCreate)
-		this.critic.on('set', targetCreate)
-
-		// network validations
-
-		this.actor.on('set', (wrapper, state) => {
-			if (state.in.w.length !== this.agent.input) {
-				throw 'actor input length insufficient'
-			}
-
-			if (state.out.w.length !== this.agent.actions) {
-				throw 'actor output insufficient'
-			}
-		})
-
-		this.critic.on('set', (wrapper, state) => {
-			if (state.in.w.length !== this.agent.input + this.agent.actions) {
-				throw 'critic input length insufficient'
-			}
-
-			if (state.out.w.length !== 1) {
-				throw 'critic output length insufficient'
-			}
-		})
-
-		// optimizer
-
-		this.actor.useOptimizer({
-			type: 'ascent',
-			method: 'adadelta',
-			regularization: { l2: 1e-2 }
-		})
-
-		this.critic.useOptimizer({
-			type: 'descent',
-			method: 'adadelta',
-            regularization: { l2: 1e-3 }
-		})
-
-		// agent
-		this.agent = agent
-
-		this.input = agent.input
-		this.buffer = agent.buffer
-
-		// network weight updates
-		this.targetActorUpdate = this.progressiveCopy.bind(this, this.actor)
-		this.targetCriticUpdate = this.progressiveCopy.bind(this, this.critic)
-
-		// adopt networks
-		this.actor.set(this.options.actor)
-		this.critic.set(this.options.critic)
-	}
-
-	act(state, target) {
-		if (target) {
-			return this.actor.target.forward(state)
-		}
-
-		return this.actor.live.forward(state)
-	}
-
-	value(state, action, target) {
-		var net = target ? this.critic.target : this.critic.live
-
-		net.in.w.set(state, 0)
-		net.in.w.set(action, this.input)
-
-		return net.forward()[0]
-	}
-
-	optimize(e, descent = true) {
-		var target = e.target()
-		var value = e.estimate()
-
-		var grad = value - target
-		var gradAL = grad
-
-		if (this.options.alpha > 0) {
-			gradAL = grad + this.options.alpha * (value - this.evaluate(e.state0, true)) // advantage learning
-		}
-
-		if (descent) {
-			var isw = this.buffer.getImportanceSamplingWeight(e)
-			this.critic.live.backwardWithGradient(gradAL * isw)
-			this.critic.live.configuration.accumulate()
-			this.teach(e, isw)
-		}
-
-		return 0.5 * gradAL * gradAL // Math.pow(this.teach(e, isw, descent) - target, 2)
-	}
-
-	teach(e, isw = 1.0, descent = true) {
-		var action = this.actor.live.forward(e.state0)  // which action to take?
-		var val = this.value(e.state0, action) // how good will the future be, if i take this action?
-		var grad = this.critic.live.derivatives(0, false) // how will the future change, if i change this action
-
-		for (var i = 0; i < this.options.actions; i++) {
-			this.actor.live.out.dw[i] = grad[this.input + i] * isw
-		}
-
-		if (descent) {
-			this.actor.live.backward() // propagate change
-			this.actor.config.accumulate()
-		}
-	}
-
-	learn() {
-		// Improve through batch accumuluated gradients
-		this.actor.optimize()
-		this.critic.optimize()
-		
-		// Copy actor and critic to target networks slowly
-		this.targetNetworkUpdates()
-	}
-
-	targetNetworkUpdates() {
-		this.actor.target.configuration.forEachParameter(this.targetActorUpdate)
-		this.critic.target.configuration.forEachParameter(this.targetCriticUpdate)
-	}
-
-	progressiveCopy(net, param, index) {
-		if (this.options.theta >= 1) {
-			return 
-		}
-
-		// _ = network in use, no _ = target network
-		var _theta = this.options.theta, _paramw = net.config.parameters[index].w
-		var  theta = 1.0 - _theta,        paramw = param.w
-
-		for (var i = 0; i < param.w.length; i++) {
-			paramw[i] = _theta * _paramw[i] + theta * paramw[i]
-		}
-	}
-
-
-	import(file) {
-		var multiPart = NetOnDisk.readMultiPart(file)
-		this.actor.set(multiPart.actor)
-		this.critic.set(multiPart.critic)
-	}
-
-	export() {
-		return NetOnDisk.writeMultiPart({
-			'actor': this.actor.config,
-			'critic': this.critic.config
-		})
-	}
-
-}
-
-module.exports = DDPG;
-
-/***/ }),
-/* 38 */
-/***/ (function(module, exports, __webpack_require__) {
-
-var Algorithm = __webpack_require__(10)
-
-class DQN extends Algorithm {
-
-	constructor(agent) {
-		// options
-		this.options = Object.assign({
-
-			alpha: 0.1, // advantage learning (AL) http://arxiv.org/pdf/1512.04860v1.pdf; increase action-gap
-			theta: 0.001, // soft target updates
-			
-			learningSteps: 100e3,
-			learningStepsBurnin: 3e3,
-
-			epsilonMin: 0.05,
-			epsilonAtTestTime: 0.05
-
-
-		}, agent.options)
-
-		//
-		this.net = agent.options.network.newState()
-		this.target = this.net.model.newState() // agent.options.target.actor.newState()
-		// this.target.configuration.copyParametersFrom(this.net.configuration)
-
-		//
-		this.targetWeightCopy = this.progressiveCopy.bind(this, this.net.configuration)
-
-		this.net.configuration.useOptimizer({
-			type: 'descent',
-			method: 'adadelta',
-            regularization: { l2: 1e-3 }
-		})
-
-		// agent
-		this.agent = agent
-		this.buffer = agent.buffer
-
-		this.states = this.agent.states
-		this.actions = this.agent.actions
-		this.input = this.agent.input
-	}
-
-	// what to do?
-	act(state, target) {
-
-		if (this.agent.learning)
-			this.epsilon = Math.max(1.0 - Math.max((this.agent.age - this.options.learningStepsBurnin) / this.options.learningSteps, 0.0), this.options.epsilonMin)
-		else
-			this.epsilon = this.options.epsilonAtTestTime
-
-		if (Math.random() <= this.epsilon) {
-			return Math.randi(0, this.actions)
-		}
-
-		this.net.forward(state)
-
-		return this.net.out.w.maxi()
-
-	}
-
-	// how good is an action at state
-	value(state, action, target) {
-		target = target == null ? this.net : this.target
-		target.forward(state)
-		return target.out.w[action]
-	}
-
-	// replay
-	optimize(e, descent = true) {
-		var target = e.target()
-		var value = e.estimate()
-
-		var grad = value - target
-		var gradAL = grad + this.options.alpha * (value - this.agent.evaluate(e.state0, true)) // advantage learning
-		var isw = this.buffer.getImportanceSamplingWeight(e)
-
-		this.net.out.dw.fill(0.0)
-		this.net.out.dw[e.action0] = gradAL * isw
-
-		if (descent) {
-			this.net.backward()
-			this.net.configuration.accumulate()
-		}
-
-		return gradAL * gradAL * 0.5
-	}
-
-	// adjust weights etc
-	learn() {
-		this.net.configuration.optimize(false)
-		this.targetUpdate()
-	}
-
-
-	targetUpdate() {
-		if (this.options.theta < 1) {
-			this.target.configuration.forEachParameter(this.targetWeightCopy)
-		}
-	}
-
-	progressiveCopy(net, param, index) {
-		var _theta = this.options.theta
-		for (var i = 0; i < param.w.length; i++) {
-			param.w[i] = _theta * net.parameters[index].w[i] + (1.0 - _theta) * param.w[i]
-		}
-	}
-
-
-	import(params) {
-		if (params.length !== this.net.configuration.countOfParameters)
-			return false
-
-		this.net.configuration.read(params)
-
-		return true
-	}
-
-	export() {
-		return this.net.configuration.write()
-	}
-
-}
-
-module.exports = DQN;
-
-/***/ }),
-/* 39 */
-/***/ (function(module, exports) {
-
-class Experience {
-
-	constructor(agent) {
-		this.agent = agent
-		this.learnSteps = 0
-
-		if (agent.options.type === 'sarsa')
-			this.target = this.__sarsa_target
-		else
-			this.target = this.__q_target
-	}
-
-	__q_target() {
-		return this.reward0 + this.agent.options.discount * this.agent.evaluate(this.state1, true) // this.agent.value(this.state1, this.agent.act(this.state1, true), true)
-	}
-
-	__sarsa_target() {
-		return this.reward0 + this.agent.options.discount * this.agent.value(this.state1, this.action1, true)
-	}
-
-	estimate() {
-		return this.value = this.agent.value(this.state0, this.action0)
-	}
-
-	step() {
-		this.loss = this.agent.algorithm.optimize(this)
-
-		this.learnSteps++
-		this.lastLearnedAt = this.agent.age
-
-		return this.loss
-	}
-
-	init() {
-		this.loss = this.agent.algorithm.optimize(this, false)
-		this.atAge = this.agent.age
-	}
-
-	get priority() {
-		if (this.loss === undefined)
-			return undefined
-
-		return Math.pow(this.loss, this.agent.options.beta || 0.5)
-	}
-
-}
-
-module.exports = Experience
-
-/***/ }),
-/* 40 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-/*\
-|*|
-|*|	:: Number.isInteger() polyfill ::
-|*|
-|*|	https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Number/isInteger
-|*|
-\*/
-
-if (!Number.isInteger) {
-	Number.isInteger = function isInteger (nVal) {
-		return typeof nVal === "number" && isFinite(nVal) && nVal > -9007199254740992 && nVal < 9007199254740992 && Math.floor(nVal) === nVal;
-	};
-}
-
-/*\
-|*|
-|*|	StringView - Mozilla Developer Network
-|*|
-|*|	Revision #9, October 30, 2016
-|*|
-|*|	https://developer.mozilla.org/en-US/Add-ons/Code_snippets/StringView
-|*|	https://developer.mozilla.org/en-US/docs/User:fusionchess
-|*|	https://github.com/madmurphy/stringview.js
-|*|
-|*|	This framework is released under the GNU Lesser General Public License, version 3 or later.
-|*|	http://www.gnu.org/licenses/lgpl-3.0.html
-|*|
-\*/
-
-function StringView (vInput, sEncoding /* optional (default: UTF-8) */, nOffset /* optional */, nLength /* optional */) {
-
-	var fTAView, aWhole, aRaw, fPutOutptCode, fGetOutptChrSize, nInptLen, nStartIdx = isFinite(nOffset) ? nOffset : 0, nTranscrType = 15;
-
-	if (sEncoding) { this.encoding = sEncoding.toString(); }
-
-	encSwitch: switch (this.encoding) {
-		case "UTF-8":
-			fPutOutptCode = StringView.putUTF8CharCode;
-			fGetOutptChrSize = StringView.getUTF8CharLength;
-			fTAView = Uint8Array;
-			break encSwitch;
-		case "UTF-16":
-			fPutOutptCode = StringView.putUTF16CharCode;
-			fGetOutptChrSize = StringView.getUTF16CharLength;
-			fTAView = Uint16Array;
-			break encSwitch;
-		case "UTF-32":
-			fTAView = Uint32Array;
-			nTranscrType &= 14;
-			break encSwitch;
-		default:
-			/* case "ASCII", or case "BinaryString" or unknown cases */
-			fTAView = Uint8Array;
-			nTranscrType &= 14;
-	}
-
-	typeSwitch: switch (typeof vInput) {
-		case "string":
-			/* the input argument is a primitive string: a new buffer will be created. */
-			nTranscrType &= 7;
-			break typeSwitch;
-		case "object":
-			classSwitch: switch (vInput.constructor) {
-				case StringView:
-					/* the input argument is a stringView: a new buffer will be created. */
-					nTranscrType &= 3;
-					break typeSwitch;
-				case String:
-					/* the input argument is an objectified string: a new buffer will be created. */
-					nTranscrType &= 7;
-					break typeSwitch;
-				case ArrayBuffer:
-					/* the input argument is an arrayBuffer: the buffer will be shared. */
-					aWhole = new fTAView(vInput);
-					nInptLen = this.encoding === "UTF-32" ?
-							vInput.byteLength >>> 2
-						: this.encoding === "UTF-16" ?
-							vInput.byteLength >>> 1
-						:
-							vInput.byteLength;
-					aRaw = nStartIdx === 0 && (!isFinite(nLength) || nLength === nInptLen) ?
-						aWhole
-						: new fTAView(vInput, nStartIdx, !isFinite(nLength) ? nInptLen - nStartIdx : nLength);
-
-					break typeSwitch;
-				case Uint32Array:
-				case Uint16Array:
-				case Uint8Array:
-					/* the input argument is a typedArray: the buffer, and possibly the array itself, will be shared. */
-					fTAView = vInput.constructor;
-					nInptLen = vInput.length;
-					aWhole = vInput.byteOffset === 0 && vInput.length === (
-						fTAView === Uint32Array ?
-							vInput.buffer.byteLength >>> 2
-						: fTAView === Uint16Array ?
-							vInput.buffer.byteLength >>> 1
-						:
-							vInput.buffer.byteLength
-					) ? vInput : new fTAView(vInput.buffer);
-					aRaw = nStartIdx === 0 && (!isFinite(nLength) || nLength === nInptLen) ?
-						vInput
-						: vInput.subarray(nStartIdx, isFinite(nLength) ? nStartIdx + nLength : nInptLen);
-
-					break typeSwitch;
-				default:
-					/* the input argument is an array or another serializable object: a new typedArray will be created. */
-					aWhole = new fTAView(vInput);
-					nInptLen = aWhole.length;
-					aRaw = nStartIdx === 0 && (!isFinite(nLength) || nLength === nInptLen) ?
-						aWhole
-						: aWhole.subarray(nStartIdx, isFinite(nLength) ? nStartIdx + nLength : nInptLen);
-			}
-			break typeSwitch;
-		default:
-			/* the input argument is a number, a boolean or a function: a new typedArray will be created. */
-			aWhole = aRaw = new fTAView(Number(vInput) || 0);
-
-	}
-
-	if (nTranscrType < 8) {
-
-		var vSource, nOutptLen, nCharStart, nCharEnd, nEndIdx, fGetInptChrSize, fGetInptChrCode;
-
-		if (nTranscrType & 4) { /* input is string */
-
-			vSource = vInput;
-			nOutptLen = nInptLen = vSource.length;
-			nTranscrType ^= this.encoding === "UTF-32" ? 0 : 2;
-			/* ...or...: nTranscrType ^= Number(this.encoding !== "UTF-32") << 1; */
-			nStartIdx = nCharStart = nOffset ? Math.max((nOutptLen + nOffset) % nOutptLen, 0) : 0;
-			nEndIdx = nCharEnd = (Number.isInteger(nLength) ? Math.min(Math.max(nLength, 0) + nStartIdx, nOutptLen) : nOutptLen) - 1;
-
-		} else { /* input is stringView */
-
-			vSource = vInput.rawData;
-			nInptLen = vInput.makeIndex();
-			nStartIdx = nCharStart = nOffset ? Math.max((nInptLen + nOffset) % nInptLen, 0) : 0;
-			nOutptLen = Number.isInteger(nLength) ? Math.min(Math.max(nLength, 0), nInptLen - nCharStart) : nInptLen;
-			nEndIdx = nCharEnd = nOutptLen + nCharStart;
-
-			if (vInput.encoding === "UTF-8") {
-				fGetInptChrSize = StringView.getUTF8CharLength;
-				fGetInptChrCode = StringView.loadUTF8CharCode;
-			} else if (vInput.encoding === "UTF-16") {
-				fGetInptChrSize = StringView.getUTF16CharLength;
-				fGetInptChrCode = StringView.loadUTF16CharCode;
-			} else {
-				nTranscrType &= 1;
-			}
-
-		}
-
-		if (nOutptLen === 0 || nTranscrType < 4 && vSource.encoding === this.encoding && nCharStart === 0 && nOutptLen === nInptLen) {
-
-			/* the encoding is the same, the length too and the offset is 0... or the input is empty! */
-
-			nTranscrType = 7;
-
-		}
-
-		conversionSwitch: switch (nTranscrType) {
-
-			case 0:
-
-			/* both the source and the new StringView have a fixed-length encoding... */
-
-				aWhole = new fTAView(nOutptLen);
-				for (var nOutptIdx = 0; nOutptIdx < nOutptLen; aWhole[nOutptIdx] = vSource[nStartIdx + nOutptIdx++]);
-				break conversionSwitch;
-
-			case 1:
-
-			/* the source has a fixed-length encoding but the new StringView has a variable-length encoding... */
-
-				/* mapping... */
-
-				nOutptLen = 0;
-
-				for (var nInptIdx = nStartIdx; nInptIdx < nEndIdx; nInptIdx++) {
-					nOutptLen += fGetOutptChrSize(vSource[nInptIdx]);
-				}
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription of the source... */
-
-				for (var nInptIdx = nStartIdx, nOutptIdx = 0; nOutptIdx < nOutptLen; nInptIdx++) {
-					nOutptIdx = fPutOutptCode(aWhole, vSource[nInptIdx], nOutptIdx);
-				}
-
-				break conversionSwitch;
-
-			case 2:
-
-			/* the source has a variable-length encoding but the new StringView has a fixed-length encoding... */
-
-				/* mapping... */
-
-				nStartIdx = 0;
-
-				var nChrCode;
-
-				for (nChrIdx = 0; nChrIdx < nCharStart; nChrIdx++) {
-					nChrCode = fGetInptChrCode(vSource, nStartIdx);
-					nStartIdx += fGetInptChrSize(nChrCode);
-				}
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription of the source... */
-
-				for (var nInptIdx = nStartIdx, nOutptIdx = 0; nOutptIdx < nOutptLen; nInptIdx += fGetInptChrSize(nChrCode), nOutptIdx++) {
-					nChrCode = fGetInptChrCode(vSource, nInptIdx);
-					aWhole[nOutptIdx] = nChrCode;
-				}
-
-				break conversionSwitch;
-
-			case 3:
-
-			/* both the source and the new StringView have a variable-length encoding... */
-
-				/* mapping... */
-
-				nOutptLen = 0;
-
-				var nChrCode;
-
-				for (var nChrIdx = 0, nInptIdx = 0; nChrIdx < nCharEnd; nInptIdx += fGetInptChrSize(nChrCode)) {
-					nChrCode = fGetInptChrCode(vSource, nInptIdx);
-					if (nChrIdx === nCharStart) { nStartIdx = nInptIdx; }
-					if (++nChrIdx > nCharStart) { nOutptLen += fGetOutptChrSize(nChrCode); }
-				}
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription... */
-
-				for (var nInptIdx = nStartIdx, nOutptIdx = 0; nOutptIdx < nOutptLen; nInptIdx += fGetInptChrSize(nChrCode)) {
-					nChrCode = fGetInptChrCode(vSource, nInptIdx);
-					nOutptIdx = fPutOutptCode(aWhole, nChrCode, nOutptIdx);
-				}
-
-				break conversionSwitch;
-
-			case 4:
-
-			/* DOMString to ASCII or BinaryString or other unknown encodings */
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription... */
-
-				for (var nIdx = 0; nIdx < nOutptLen; nIdx++) {
-					aWhole[nIdx] = vSource.charCodeAt(nIdx) & 0xff;
-				}
-
-				break conversionSwitch;
-
-			case 5:
-
-			/* DOMString to UTF-8 or to UTF-16 */
-
-				/* mapping... */
-
-				nOutptLen = 0;
-
-				for (var nMapIdx = 0; nMapIdx < nInptLen; nMapIdx++) {
-					if (nMapIdx === nCharStart) { nStartIdx = nOutptLen; }
-					nOutptLen += fGetOutptChrSize(vSource.charCodeAt(nMapIdx));
-					if (nMapIdx === nCharEnd) { nEndIdx = nOutptLen; }
-				}
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription... */
-
-				for (var nOutptIdx = 0, nChrIdx = 0; nOutptIdx < nOutptLen; nChrIdx++) {
-					nOutptIdx = fPutOutptCode(aWhole, vSource.charCodeAt(nChrIdx), nOutptIdx);
-				}
-
-				break conversionSwitch;
-
-			case 6:
-
-			/* DOMString to UTF-32 */
-
-				aWhole = new fTAView(nOutptLen);
-
-				/* transcription... */
-
-				for (var nIdx = 0; nIdx < nOutptLen; nIdx++) {
-					aWhole[nIdx] = vSource.charCodeAt(nIdx);
-				}
-
-				break conversionSwitch;
-
-			case 7:
-
-				aWhole = new fTAView(nOutptLen ? vSource : 0);
-				break conversionSwitch;
-
-		}
-
-		aRaw = nTranscrType > 3 && (nStartIdx > 0 || nEndIdx < aWhole.length - 1) ? aWhole.subarray(nStartIdx, nEndIdx) : aWhole;
-
-	}
-
-	this.buffer = aWhole.buffer;
-	this.bufferView = aWhole;
-	this.rawData = aRaw;
-
-	Object.freeze(this);
-
-}
-
-/* CONSTRUCTOR'S METHODS */
-
-StringView.loadUTF8CharCode = function (aChars, nIdx) {
-
-	var nLen = aChars.length, nPart = aChars[nIdx];
-
-	return nPart > 251 && nPart < 254 && nIdx + 5 < nLen ?
-			/* (nPart - 252 << 30) may be not safe in ECMAScript! So...: */
-			/* six bytes */ (nPart - 252) * 1073741824 + (aChars[nIdx + 1] - 128 << 24) + (aChars[nIdx + 2] - 128 << 18) + (aChars[nIdx + 3] - 128 << 12) + (aChars[nIdx + 4] - 128 << 6) + aChars[nIdx + 5] - 128
-		: nPart > 247 && nPart < 252 && nIdx + 4 < nLen ?
-			/* five bytes */ (nPart - 248 << 24) + (aChars[nIdx + 1] - 128 << 18) + (aChars[nIdx + 2] - 128 << 12) + (aChars[nIdx + 3] - 128 << 6) + aChars[nIdx + 4] - 128
-		: nPart > 239 && nPart < 248 && nIdx + 3 < nLen ?
-			/* four bytes */(nPart - 240 << 18) + (aChars[nIdx + 1] - 128 << 12) + (aChars[nIdx + 2] - 128 << 6) + aChars[nIdx + 3] - 128
-		: nPart > 223 && nPart < 240 && nIdx + 2 < nLen ?
-			/* three bytes */ (nPart - 224 << 12) + (aChars[nIdx + 1] - 128 << 6) + aChars[nIdx + 2] - 128
-		: nPart > 191 && nPart < 224 && nIdx + 1 < nLen ?
-			/* two bytes */ (nPart - 192 << 6) + aChars[nIdx + 1] - 128
-		:
-			/* one byte */ nPart;
-
-};
-
-StringView.putUTF8CharCode = function (aTarget, nChar, nPutAt) {
-
-	var nIdx = nPutAt;
-
-	if (nChar < 0x80 /* 128 */) {
-		/* one byte */
-		aTarget[nIdx++] = nChar;
-	} else if (nChar < 0x800 /* 2048 */) {
-		/* two bytes */
-		aTarget[nIdx++] = 0xc0 /* 192 */ + (nChar >>> 6);
-		aTarget[nIdx++] = 0x80 /* 128 */ + (nChar & 0x3f /* 63 */);
-	} else if (nChar < 0x10000 /* 65536 */) {
-		/* three bytes */
-		aTarget[nIdx++] = 0xe0 /* 224 */ + (nChar >>> 12);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 6) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + (nChar & 0x3f /* 63 */);
-	} else if (nChar < 0x200000 /* 2097152 */) {
-		/* four bytes */
-		aTarget[nIdx++] = 0xf0 /* 240 */ + (nChar >>> 18);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 12) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 6) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + (nChar & 0x3f /* 63 */);
-	} else if (nChar < 0x4000000 /* 67108864 */) {
-		/* five bytes */
-		aTarget[nIdx++] = 0xf8 /* 248 */ + (nChar >>> 24);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 18) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 12) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 6) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + (nChar & 0x3f /* 63 */);
-	} else /* if (nChar <= 0x7fffffff) */ { /* 2147483647 */
-		/* six bytes */
-		aTarget[nIdx++] = 0xfc /* 252 */ + /* (nChar >>> 30) may be not safe in ECMAScript! So...: */ (nChar / 1073741824);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 24) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 18) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 12) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + ((nChar >>> 6) & 0x3f /* 63 */);
-		aTarget[nIdx++] = 0x80 /* 128 */ + (nChar & 0x3f /* 63 */);
-	}
-
-	return nIdx;
-
-};
-
-StringView.getUTF8CharLength = function (nChar) {
-	return nChar < 0x80 ? 1 : nChar < 0x800 ? 2 : nChar < 0x10000 ? 3 : nChar < 0x200000 ? 4 : nChar < 0x4000000 ? 5 : 6;
-};
-
-StringView.loadUTF16CharCode = function (aChars, nIdx) {
-
-	/* UTF-16 to DOMString decoding algorithm */
-	var nFrstChr = aChars[nIdx];
-
-	return nFrstChr > 0xD7BF /* 55231 */ && nIdx + 1 < aChars.length ?
-		(nFrstChr - 0xD800 /* 55296 */ << 10) + aChars[nIdx + 1] + 0x2400 /* 9216 */
-		: nFrstChr;
-
-};
-
-StringView.putUTF16CharCode = function (aTarget, nChar, nPutAt) {
-
-	var nIdx = nPutAt;
-
-	if (nChar < 0x10000 /* 65536 */) {
-		/* one element */
-		aTarget[nIdx++] = nChar;
-	} else {
-		/* two elements */
-		aTarget[nIdx++] = 0xD7C0 /* 55232 */ + (nChar >>> 10);
-		aTarget[nIdx++] = 0xDC00 /* 56320 */ + (nChar & 0x3FF /* 1023 */);
-	}
-
-	return nIdx;
-
-};
-
-StringView.getUTF16CharLength = function (nChar) {
-	return nChar < 0x10000 ? 1 : 2;
-};
-
-/* Array of bytes to base64 string decoding */
-
-StringView.b64ToUint6 = function (nChr) {
-
-	return nChr > 64 && nChr < 91 ?
-			nChr - 65
-		: nChr > 96 && nChr < 123 ?
-			nChr - 71
-		: nChr > 47 && nChr < 58 ?
-			nChr + 4
-		: nChr === 43 ?
-			62
-		: nChr === 47 ?
-			63
-		:
-			0;
-
-};
-
-StringView.uint6ToB64 = function (nUint6) {
-
-	return nUint6 < 26 ?
-			nUint6 + 65
-		: nUint6 < 52 ?
-			nUint6 + 71
-		: nUint6 < 62 ?
-			nUint6 - 4
-		: nUint6 === 62 ?
-			43
-		: nUint6 === 63 ?
-			47
-		:
-			65;
-
-};
-
-/* Base64 string to array encoding */
-
-StringView.bytesToBase64 = function (aBytes) {
-
-	var eqLen = (3 - (aBytes.length % 3)) % 3, sB64Enc = "";
-
-	for (var nMod3, nLen = aBytes.length, nUint24 = 0, nIdx = 0; nIdx < nLen; nIdx++) {
-		nMod3 = nIdx % 3;
-		/* Uncomment the following line in order to split the output in lines 76-character long: */
-		/*
-		if (nIdx > 0 && (nIdx * 4 / 3) % 76 === 0) { sB64Enc += "\r\n"; }
-		*/
-		nUint24 |= aBytes[nIdx] << (16 >>> nMod3 & 24);
-		if (nMod3 === 2 || aBytes.length - nIdx === 1) {
-			sB64Enc += String.fromCharCode(StringView.uint6ToB64(nUint24 >>> 18 & 63), StringView.uint6ToB64(nUint24 >>> 12 & 63), StringView.uint6ToB64(nUint24 >>> 6 & 63), StringView.uint6ToB64(nUint24 & 63));
-			nUint24 = 0;
-		}
-	}
-
-	return	eqLen === 0 ?
-			sB64Enc
-		:
-			sB64Enc.substring(0, sB64Enc.length - eqLen) + (eqLen === 1 ? "=" : "==");
-
-
-};
-
-
-StringView.base64ToBytes = function (sBase64, nBlockBytes) {
-
-	var
-		sB64Enc = sBase64.replace(/[^A-Za-z0-9\+\/]/g, ""), nInLen = sB64Enc.length,
-		nOutLen = nBlockBytes ? Math.ceil((nInLen * 3 + 1 >>> 2) / nBlockBytes) * nBlockBytes : nInLen * 3 + 1 >>> 2, aBytes = new Uint8Array(nOutLen);
-
-	for (var nMod3, nMod4, nUint24 = 0, nOutIdx = 0, nInIdx = 0; nInIdx < nInLen; nInIdx++) {
-		nMod4 = nInIdx & 3;
-		nUint24 |= StringView.b64ToUint6(sB64Enc.charCodeAt(nInIdx)) << 18 - 6 * nMod4;
-		if (nMod4 === 3 || nInLen - nInIdx === 1) {
-			for (nMod3 = 0; nMod3 < 3 && nOutIdx < nOutLen; nMod3++, nOutIdx++) {
-				aBytes[nOutIdx] = nUint24 >>> (16 >>> nMod3 & 24) & 255;
-			}
-			nUint24 = 0;
-		}
-	}
-
-	return aBytes;
-
-};
-
-StringView.makeFromBase64 = function (sB64Inpt, sEncoding, nByteOffset, nLength) {
-
-	return new StringView(sEncoding === "UTF-16" || sEncoding === "UTF-32" ? StringView.base64ToBytes(sB64Inpt, sEncoding === "UTF-16" ? 2 : 4).buffer : StringView.base64ToBytes(sB64Inpt), sEncoding, nByteOffset, nLength);
-
-};
-
-/* DEFAULT VALUES */
-
-StringView.prototype.encoding = "UTF-8"; /* Default encoding... */
-
-/* INSTANCES' METHODS */
-
-StringView.prototype.makeIndex = function (nChrLength, nStartFrom) {
-
-	var
-
-		aTarget = this.rawData, nChrEnd, nRawLength = aTarget.length,
-		nStartIdx = nStartFrom || 0, nIdxEnd = nStartIdx, nStopAtChr = isNaN(nChrLength) ? Infinity : nChrLength;
-
-	if (nChrLength + 1 > aTarget.length) { throw new RangeError("StringView.prototype.makeIndex - The offset can\'t be major than the length of the array - 1."); }
-
-	switch (this.encoding) {
-
-		case "UTF-8":
-
-			var nPart;
-
-			for (nChrEnd = 0; nIdxEnd < nRawLength && nChrEnd < nStopAtChr; nChrEnd++) {
-				nPart = aTarget[nIdxEnd];
-				nIdxEnd += nPart > 251 && nPart < 254 && nIdxEnd + 5 < nRawLength ? 6
-					: nPart > 247 && nPart < 252 && nIdxEnd + 4 < nRawLength ? 5
-					: nPart > 239 && nPart < 248 && nIdxEnd + 3 < nRawLength ? 4
-					: nPart > 223 && nPart < 240 && nIdxEnd + 2 < nRawLength ? 3
-					: nPart > 191 && nPart < 224 && nIdxEnd + 1 < nRawLength ? 2
-					: 1;
-			}
-
-			break;
-
-		case "UTF-16":
-
-			for (nChrEnd = nStartIdx; nIdxEnd < nRawLength && nChrEnd < nStopAtChr; nChrEnd++) {
-				nIdxEnd += aTarget[nIdxEnd] > 0xD7BF /* 55231 */ && nIdxEnd + 1 < aTarget.length ? 2 : 1;
-			}
-
-			break;
-
-		default:
-
-			nIdxEnd = nChrEnd = isFinite(nChrLength) ? nChrLength : nRawLength - 1;
-
-	}
-
-	if (nChrLength) { return nIdxEnd; }
-
-	return nChrEnd;
-
-};
-
-StringView.prototype.toBase64 = function (bWholeBuffer) {
-
-	return StringView.bytesToBase64(
-		bWholeBuffer ?
-			(
-				this.bufferView.constructor === Uint8Array ?
-					this.bufferView
-				:
-					new Uint8Array(this.buffer)
-			)
-		: this.rawData.constructor === Uint8Array ?
-			this.rawData
-		:
-			new Uint8Array(this.buffer, this.rawData.byteOffset, this.rawData.length << (this.rawData.constructor === Uint16Array ? 1 : 2))
-		);
-
-};
-
-StringView.prototype.subview = function (nCharOffset /* optional */, nCharLength /* optional */) {
-
-	var
-
-		nChrLen, nCharStart, nStrLen, bVariableLen = this.encoding === "UTF-8" || this.encoding === "UTF-16",
-		nStartOffset = nCharOffset, nStringLength, nRawLen = this.rawData.length;
-
-	if (nRawLen === 0) {
-		return new StringView(this.buffer, this.encoding);
-	}
-
-	nStringLength = bVariableLen ? this.makeIndex() : nRawLen;
-	nCharStart = nCharOffset ? Math.max((nStringLength + nCharOffset) % nStringLength, 0) : 0;
-	nStrLen = Number.isInteger(nCharLength) ? Math.max(nCharLength, 0) + nCharStart > nStringLength ? nStringLength - nCharStart : nCharLength : nStringLength;
-
-	if (nCharStart === 0 && nStrLen === nStringLength) { return this; }
-
-	if (bVariableLen) {
-		nStartOffset = this.makeIndex(nCharStart);
-		nChrLen = this.makeIndex(nStrLen, nStartOffset) - nStartOffset;
-	} else {
-		nStartOffset = nCharStart;
-		nChrLen = nStrLen - nCharStart;
-	}
-
-	if (this.encoding === "UTF-16") {
-		nStartOffset <<= 1;
-	} else if (this.encoding === "UTF-32") {
-		nStartOffset <<= 2;
-	}
-
-	return new StringView(this.buffer, this.encoding, nStartOffset, nChrLen);
-
-};
-
-StringView.prototype.forEachChar = function (fCallback, oThat, nChrOffset, nChrLen) {
-
-	var aSource = this.rawData, nRawEnd, nRawIdx;
-
-	if (this.encoding === "UTF-8" || this.encoding === "UTF-16") {
-
-		var fGetInptChrSize, fGetInptChrCode;
-
-		if (this.encoding === "UTF-8") {
-			fGetInptChrSize = StringView.getUTF8CharLength;
-			fGetInptChrCode = StringView.loadUTF8CharCode;
-		} else if (this.encoding === "UTF-16") {
-			fGetInptChrSize = StringView.getUTF16CharLength;
-			fGetInptChrCode = StringView.loadUTF16CharCode;
-		}
-
-		nRawIdx = isFinite(nChrOffset) ? this.makeIndex(nChrOffset) : 0;
-		nRawEnd = isFinite(nChrLen) ? this.makeIndex(nChrLen, nRawIdx) : aSource.length;
-
-		for (var nChrCode, nChrIdx = 0; nRawIdx < nRawEnd; nChrIdx++) {
-			nChrCode = fGetInptChrCode(aSource, nRawIdx);
-			fCallback.call(oThat || null, nChrCode, nChrIdx, nRawIdx, aSource);
-			nRawIdx += fGetInptChrSize(nChrCode);
-		}
-
-	} else {
-
-		nRawIdx = isFinite(nChrOffset) ? nChrOffset : 0;
-		nRawEnd = isFinite(nChrLen) ? nChrLen + nRawIdx : aSource.length;
-
-		for (nRawIdx; nRawIdx < nRawEnd; nRawIdx++) {
-			fCallback.call(oThat || null, aSource[nRawIdx], nRawIdx, nRawIdx, aSource);
-		}
-
-	}
-
-};
-
-StringView.prototype.valueOf = StringView.prototype.toString = function () {
-
-	if (this.encoding !== "UTF-8" && this.encoding !== "UTF-16") {
-		/* ASCII, UTF-32 or BinaryString to DOMString */
-		return String.fromCharCode.apply(null, this.rawData);
-	}
-
-	var fGetCode, fGetIncr, sView = "";
-
-	if (this.encoding === "UTF-8") {
-		fGetIncr = StringView.getUTF8CharLength;
-		fGetCode = StringView.loadUTF8CharCode;
-	} else if (this.encoding === "UTF-16") {
-		fGetIncr = StringView.getUTF16CharLength;
-		fGetCode = StringView.loadUTF16CharCode;
-	}
-
-	for (var nChr, nLen = this.rawData.length, nIdx = 0; nIdx < nLen; nIdx += fGetIncr(nChr)) {
-		nChr = fGetCode(this.rawData, nIdx);
-		sView += String.fromCharCode(nChr);
-	}
-
-	return sView;
-
-};
-
-module.exports = StringView;
-
-/***/ }),
-/* 41 */
-/***/ (function(module, exports, __webpack_require__) {
-
-"use strict";
-
-
-if (!__webpack_require__(15)()) {
-	throw 'env unsupported';
-}
-
-__webpack_require__(12)
-
-var neurojs = {
-
-	Network: __webpack_require__(2),
-	Agent: __webpack_require__(13),
-	Optim: __webpack_require__(4),
-	Loader: __webpack_require__(11),
-	Buffers: __webpack_require__(5),
-	NetOnDisk: __webpack_require__(6),
-	FileLoader: __webpack_require__(14),
-	Binary: __webpack_require__(7),
-	Shared: __webpack_require__(3)
-
-}
-
-if (typeof window !== 'undefined') {
-	window.neurojs = neurojs
-} else {
-	module.exports = neurojs
-}
-
-
-/***/ })
-/******/ ]);
\ No newline at end of file