Inactivo

var canvas; var delta = [0,0]; var stage = [window.screenX,window.screenY,window.innerWidth,window.innerHeight]; getBrowserDimensions(); var isRunning = false; var isMouseDown = false; var worldAABB; var world; var iterations = 1; var timeStep = 1/25; var walls = new Array(); var wall_thickness = 200; var wallsSetted = false; var mouseJoint; var mouseX = 0; var mouseY = 0; var mouseOnClick = new Array(); var timer = 0; var elements = new Array(); var bodies = new Array(); var properties = new Array(); var gWebSearch; var imFeelingLuckyMode = false; var resultBodies = new Array(); init(); if (location.search != "") { var params = location.search.substr(1).split("&") for (var i = 0; i < params.length; i++) { var param = params[i].split("="); if (param[0] == "q") { document.getElementById('q').value = param[1]; run(); break; } } } // GOOGLE API function onLoad() { gWebSearch = new GwebSearch(); gWebSearch.setResultSetSize(GSearch.SMALL_RESULTSET); gWebSearch.setSearchCompleteCallback(null, onWebSearch); if (document.getElementById('q').value != '') search(); } function onWebSearch() { if(imFeelingLuckyMode) { location.href = gWebSearch.results[0].unescapedUrl; return; } for (var i = 0; i < gWebSearch.results.length; i++) addResult(gWebSearch.results[i]); } // function init() { canvas = document.getElementById('canvas'); document.onmousedown = onDocumentMouseDown; document.onmouseup = onDocumentMouseUp; document.onmousemove = onDocumentMouseMove; document.ondblclick = onDocumentDoubleClick; document.onkeypress = onDocumentKeyPress; document.addEventListener('touchstart', onDocumentTouchStart, false); document.addEventListener('touchmove', onDocumentTouchMove, false); document.addEventListener('touchend', onDocumentTouchEnd, false) // init box2d worldAABB = new b2AABB(); worldAABB.minVertex.Set(-200, -200); worldAABB.maxVertex.Set( screen.width + 200, screen.height + 200); world = new b2World(worldAABB, new b2Vec2(0, 0), true); // walls setWalls(); // Get box2d elements elements = getElementsByClass("box2d"); for (i = 0; i < elements.length; i++) { var element = elements[i]; properties[i] = findPos(element); properties[i][2] = element.offsetWidth; properties[i][3] = element.offsetHeight; } for (i = 0; i < elements.length; i++) { var element = elements[i]; element.style.position = 'absolute'; element.style.left = properties[i][0] + 'px'; element.style.top = properties[i][1] + 'px'; // element.style.backgroundColor = '#ffff00'; element.onmousedown = onElementMouseDown; element.onmouseup = onElementMouseUp; element.onclick = onElementClick; bodies[i] = createBox(world, properties[i][0] + (properties[i][2] >> 1), properties[i][1] + (properties[i][3] >> 1), properties[i][2] / 2, properties[i][3] / 2, false); } } function run() { isRunning = true; setInterval(loop, 25); } // function onDocumentMouseDown() { isMouseDown = true; return false; } function onDocumentMouseUp() { isMouseDown = false; return false; } function onDocumentMouseMove() { if (!isRunning) run(); mouseX = window.event.clientX; mouseY = window.event.clientY; } function onDocumentDoubleClick() { reset(); } function onDocumentKeyPress(event) { if (event.charCode == 13) search(); } function onDocumentTouchStart( event ) { if(event.touches.length == 1) { event.preventDefault(); if (!isRunning) run(); // Faking double click for touch devices var now = new Date().getTime(); if (now - timeOfLastTouch < 250) { reset(); return; } timeOfLastTouch = now; mouseX = event.touches[0].pageX; mouseY = event.touches[0].pageY; isMouseDown = true; } } function onDocumentTouchMove( event ) { if(event.touches.length == 1) { event.preventDefault(); mouseX = event.touches[0].pageX; mouseY = event.touches[0].pageY; } } function onDocumentTouchEnd( event ) { if(event.touches.length == 0) { event.preventDefault(); isMouseDown = false; } } // function onElementMouseDown() { mouseOnClick[0] = window.event.clientX; mouseOnClick[1] = window.event.clientY; return false; } function onElementMouseUp() { return false; } function onElementClick() { var range = 5; if (mouseOnClick[0] > window.event.clientX + range || mouseOnClick[0] < window.event.clientX - range && mouseOnClick[1] > window.event.clientY + range || mouseOnClick[1] < window.event.clientY - range) return false; if (this == document.getElementById('btnG')) search(); if (this == document.getElementById('btnI')) imFeelingLucky(); if (this == document.getElementById('q')) document.f.q.focus(); } // API STUFF function search() { if (!isRunning) run(); onDocumentDoubleClick(); // clean gWebSearch.execute(document.getElementById('q').value); return false; } function imFeelingLucky() { imFeelingLuckyMode = true; gWebSearch.execute(document.getElementById('q').value); return false; } function addResult(data) { var element = document.createElement('div'); element.innerHTML = '

/* * Box2Djs (port of Box2DFlash 1.4.3.1) - http://box2d-js.sourceforge.net/ * Single-filed and jsmined ( http://code.google.com/p/jsmin-php/ ) by Mr.doob */  var b2Settings=Class.create();b2Settings.prototype={initialize:function(){}} b2Settings.USHRT_MAX=0x0000ffff;b2Settings.b2_pi=Math.PI;b2Settings.b2_massUnitsPerKilogram=1.0;b2Settings.b2_timeUnitsPerSecond=1.0;b2Settings.b2_lengthUnitsPerMeter=30.0;b2Settings.b2_maxManifoldPoints=2;b2Settings.b2_maxShapesPerBody=64;b2Settings.b2_maxPolyVertices=8;b2Settings.b2_maxProxies=1024;b2Settings.b2_maxPairs=8*b2Settings.b2_maxProxies;b2Settings.b2_linearSlop=0.005*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_angularSlop=2.0/180.0*b2Settings.b2_pi;b2Settings.b2_velocityThreshold=1.0*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_maxLinearCorrection=0.2*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_maxAngularCorrection=8.0/180.0*b2Settings.b2_pi;b2Settings.b2_contactBaumgarte=0.2;b2Settings.b2_timeToSleep=0.5*b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_linearSleepTolerance=0.01*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_angularSleepTolerance=2.0/180.0/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2Assert=function(a) {if(!a){var nullVec;nullVec.x++;}}; var b2Vec2=Class.create();b2Vec2.prototype={initialize:function(x_,y_){this.x=x_;this.y=y_;},SetZero:function(){this.x=0.0;this.y=0.0;},Set:function(x_,y_){this.x=x_;this.y=y_;},SetV:function(v){this.x=v.x;this.y=v.y;},Negative:function(){return new b2Vec2(-this.x,-this.y);},Copy:function(){return new b2Vec2(this.x,this.y);},Add:function(v) {this.x+=v.x;this.y+=v.y;},Subtract:function(v) {this.x-=v.x;this.y-=v.y;},Multiply:function(a) {this.x*=a;this.y*=a;},MulM:function(A) {var tX=this.x;this.x=A.col1.x*tX+A.col2.x*this.y;this.y=A.col1.y*tX+A.col2.y*this.y;},MulTM:function(A) {var tX=b2Math.b2Dot(this,A.col1);this.y=b2Math.b2Dot(this,A.col2);this.x=tX;},CrossVF:function(s) {var tX=this.x;this.x=s*this.y;this.y=-s*tX;},CrossFV:function(s) {var tX=this.x;this.x=-s*this.y;this.y=s*tX;},MinV:function(b) {this.x=this.xb.x?this.x:b.x;this.y=this.y>b.y?this.y:b.y;},Abs:function() {this.x=Math.abs(this.x);this.y=Math.abs(this.y);},Length:function() {return Math.sqrt(this.x*this.x+this.y*this.y);},Normalize:function() {var length=this.Length();if(length0.0?a:-a;};b2Math.b2AbsV=function(a) {var b=new b2Vec2(b2Math.b2Abs(a.x),b2Math.b2Abs(a.y));return b;};b2Math.b2AbsM=function(A) {var B=new b2Mat22(0,b2Math.b2AbsV(A.col1),b2Math.b2AbsV(A.col2));return B;};b2Math.b2Min=function(a,b) {return ab?a:b;};b2Math.b2MaxV=function(a,b) {var c=new b2Vec2(b2Math.b2Max(a.x,b.x),b2Math.b2Max(a.y,b.y));return c;};b2Math.b2Clamp=function(a,low,high) {return b2Math.b2Max(low,b2Math.b2Min(a,high));};b2Math.b2ClampV=function(a,low,high) {return b2Math.b2MaxV(low,b2Math.b2MinV(a,high));};b2Math.b2Swap=function(a,b) {var tmp=a[0];a[0]=b[0];b[0]=tmp;};b2Math.b2Random=function() {return Math.random()*2-1;};b2Math.b2NextPowerOfTwo=function(x) {x|=(x>>1)&0x7FFFFFFF;x|=(x>>2)&0x3FFFFFFF;x|=(x>>4)&0x0FFFFFFF;x|=(x>>8)&0x00FFFFFF;x|=(x>>16)&0x0000FFFF;return x+1;};b2Math.b2IsPowerOfTwo=function(x) {var result=x>0&&(x&(x-1))==0;return result;};b2Math.tempVec2=new b2Vec2();b2Math.tempVec3=new b2Vec2();b2Math.tempVec4=new b2Vec2();b2Math.tempVec5=new b2Vec2();b2Math.tempMat=new b2Mat22(); var b2AABB=Class.create();b2AABB.prototype={IsValid:function(){var dX=this.maxVertex.x;var dY=this.maxVertex.y;dX=this.maxVertex.x;dY=this.maxVertex.y;dX-=this.minVertex.x;dY-=this.minVertex.y;var valid=dX>=0.0&&dY>=0.0;valid=valid&&this.minVertex.IsValid()&&this.maxVertex.IsValid();return valid;},minVertex:new b2Vec2(),maxVertex:new b2Vec2(),initialize:function(){this.minVertex=new b2Vec2();this.maxVertex=new b2Vec2();}}; var b2Bound=Class.create();b2Bound.prototype={IsLower:function(){return(this.value&1)==0;},IsUpper:function(){return(this.value&1)==1;},Swap:function(b){var tempValue=this.value;var tempProxyId=this.proxyId;var tempStabbingCount=this.stabbingCount;this.value=b.value;this.proxyId=b.proxyId;this.stabbingCount=b.stabbingCount;b.value=tempValue;b.proxyId=tempProxyId;b.stabbingCount=tempStabbingCount;},value:0,proxyId:0,stabbingCount:0,initialize:function(){}}  var b2BoundValues=Class.create();b2BoundValues.prototype={lowerValues:[0,0],upperValues:[0,0],initialize:function(){this.lowerValues=[0,0];this.upperValues=[0,0];}}  var b2Pair=Class.create();b2Pair.prototype={SetBuffered:function(){this.status|=b2Pair.e_pairBuffered;},ClearBuffered:function(){this.status&=~b2Pair.e_pairBuffered;},IsBuffered:function(){return(this.status&b2Pair.e_pairBuffered)==b2Pair.e_pairBuffered;},SetRemoved:function(){this.status|=b2Pair.e_pairRemoved;},ClearRemoved:function(){this.status&=~b2Pair.e_pairRemoved;},IsRemoved:function(){return(this.status&b2Pair.e_pairRemoved)==b2Pair.e_pairRemoved;},SetFinal:function(){this.status|=b2Pair.e_pairFinal;},IsFinal:function(){return(this.status&b2Pair.e_pairFinal)==b2Pair.e_pairFinal;},userData:null,proxyId1:0,proxyId2:0,next:0,status:0,initialize:function(){}};b2Pair.b2_nullPair=b2Settings.USHRT_MAX;b2Pair.b2_nullProxy=b2Settings.USHRT_MAX;b2Pair.b2_tableCapacity=b2Settings.b2_maxPairs;b2Pair.b2_tableMask=b2Pair.b2_tableCapacity-1;b2Pair.e_pairBuffered=0x0001;b2Pair.e_pairRemoved=0x0002;b2Pair.e_pairFinal=0x0004; var b2PairCallback=Class.create();b2PairCallback.prototype={PairAdded:function(proxyUserData1,proxyUserData2){return null},PairRemoved:function(proxyUserData1,proxyUserData2,pairUserData){},initialize:function(){}}; var b2BufferedPair=Class.create();b2BufferedPair.prototype={proxyId1:0,proxyId2:0,initialize:function(){}}  var b2PairManager=Class.create();b2PairManager.prototype={initialize:function(){var i=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(i=0;i0&&lowerValue0) {index=upperIndex;while(index0) {index=lowerIndex;while(index0&&upperValuebounds[p2.upperBounds[axis]].value) return false;if(bounds[p1.upperBounds[axis]].valuebounds[p.upperBounds[axis]].value) return false;if(b.upperValues[axis]0) {var i=lowerQuery-1;var s=bounds[i].stabbingCount;while(s) {if(bounds[i].IsLower()) {var proxy=this.m_proxyPool[bounds[i].proxyId];if(lowerQuery<=proxy.upperBounds[axis]) {this.IncrementOverlapCount(bounds[i].proxyId);--s;}} --i;}} lowerQueryOut[0]=lowerQuery;upperQueryOut[0]=upperQuery;},IncrementOverlapCount:function(proxyId){var proxy=this.m_proxyPool[proxyId];if(proxy.timeStampvalue) {high=mid-1;} else if(bounds[mid].value0.0) {vOut[numOut].id=vIn[0].id;} else {vOut[numOut].id=vIn[1].id;} ++numOut;} return numOut;};b2Collision.EdgeSeparation=function(poly1,edge1,poly2) {var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var normalX=poly1.m_normals[edge1].x;var normalY=poly1.m_normals[edge1].y;var tX=normalX;var tMat=poly1.m_R;normalX=tMat.col1.x*tX+tMat.col2.x*normalY;normalY=tMat.col1.y*tX+tMat.col2.y*normalY;var normalLocal2X=normalX;var normalLocal2Y=normalY;tMat=poly2.m_R;tX=normalLocal2X*tMat.col1.x+normalLocal2Y*tMat.col1.y;normalLocal2Y=normalLocal2X*tMat.col2.x+normalLocal2Y*tMat.col2.y;normalLocal2X=tX;var vertexIndex2=0;var minDot=Number.MAX_VALUE;for(var i=0;imaxDot) {maxDot=dot;edge=i;}} var s=b2Collision.EdgeSeparation(poly1,edge,poly2);if(s>0.0&&conservative==false) {return s;} var prevEdge=edge-1>=0?edge-1:count1-1;var sPrev=b2Collision.EdgeSeparation(poly1,prevEdge,poly2);if(sPrev>0.0&&conservative==false) {return sPrev;} var nextEdge=edge+10.0&&conservative==false) {return sNext;} var bestEdge=0;var bestSeparation;var increment=0;if(sPrev>s&&sPrev>sNext) {increment=-1;bestEdge=prevEdge;bestSeparation=sPrev;} else if(sNext>s) {increment=1;bestEdge=nextEdge;bestSeparation=sNext;} else {edgeIndex[0]=edge;return s;} while(true) {if(increment==-1) edge=bestEdge-1>=0?bestEdge-1:count1-1;else edge=bestEdge+10.0&&conservative==false) {return s;} if(s>bestSeparation) {bestEdge=edge;bestSeparation=s;} else {break;}} edgeIndex[0]=bestEdge;return bestSeparation;};b2Collision.FindIncidentEdge=function(c,poly1,edge1,poly2) {var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var vertex11=edge1;var vertex12=edge1+1==count1?0:edge1+1;var tVec=vert1s[vertex12];var normal1Local1X=tVec.x;var normal1Local1Y=tVec.y;tVec=vert1s[vertex11];normal1Local1X-=tVec.x;normal1Local1Y-=tVec.y;var tX=normal1Local1X;normal1Local1X=normal1Local1Y;normal1Local1Y=-tX;var invLength=1.0/Math.sqrt(normal1Local1X*normal1Local1X+normal1Local1Y*normal1Local1Y);normal1Local1X*=invLength;normal1Local1Y*=invLength;var normal1X=normal1Local1X;var normal1Y=normal1Local1Y;tX=normal1X;var tMat=poly1.m_R;normal1X=tMat.col1.x*tX+tMat.col2.x*normal1Y;normal1Y=tMat.col1.y*tX+tMat.col2.y*normal1Y;var normal1Local2X=normal1X;var normal1Local2Y=normal1Y;tMat=poly2.m_R;tX=normal1Local2X*tMat.col1.x+normal1Local2Y*tMat.col1.y;normal1Local2Y=normal1Local2X*tMat.col2.x+normal1Local2Y*tMat.col2.y;normal1Local2X=tX;var vertex21=0;var vertex22=0;var minDot=Number.MAX_VALUE;for(var i=0;i0.0&&conservative==false) return;var edgeB=0;var edgeBOut=[edgeB];var separationB=b2Collision.FindMaxSeparation(edgeBOut,polyB,polyA,conservative);edgeB=edgeBOut[0];if(separationB>0.0&&conservative==false) return;var poly1;var poly2;var edge1=0;var flip=0;var k_relativeTol=0.98;var k_absoluteTol=0.001;if(separationB>k_relativeTol*separationA+k_absoluteTol) {poly1=polyB;poly2=polyA;edge1=edgeB;flip=1;} else {poly1=polyA;poly2=polyB;edge1=edgeA;flip=0;} var incidentEdge=[new ClipVertex(),new ClipVertex()];b2Collision.FindIncidentEdge(incidentEdge,poly1,edge1,poly2);var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var v11=vert1s[edge1];var v12=edge1+1radiusSum*radiusSum&&conservative==false) {return;} var separation;if(distSqrradius) {return;} if(s>separation) {separation=s;normalIndex=i;}} if(separation=0.0&&ud>=0.0) {var lambda=un/(un+ud);p1Out.x=p1s[1].x+lambda*(p1s[2].x-p1s[1].x);p1Out.y=p1s[1].y+lambda*(p1s[2].y-p1s[1].y);p2Out.x=p2s[1].x+lambda*(p2s[2].x-p2s[1].x);p2Out.y=p2s[1].y+lambda*(p2s[2].y-p2s[1].y);p1s[0].SetV(p1s[2]);p2s[0].SetV(p2s[2]);points[0].SetV(points[2]);return 2;} var vb=n*(cX*aY-cY*aX);if(vb<=0.0&&tn>=0.0&&td>=0.0) {var lambda=tn/(tn+td);p1Out.x=p1s[0].x+lambda*(p1s[2].x-p1s[0].x);p1Out.y=p1s[0].y+lambda*(p1s[2].y-p1s[0].y);p2Out.x=p2s[0].x+lambda*(p2s[2].x-p2s[0].x);p2Out.y=p2s[0].y+lambda*(p2s[2].y-p2s[0].y);p1s[1].SetV(p1s[2]);p2s[1].SetV(p2s[2]);points[1].SetV(points[2]);return 2;} var denom=va+vb+vc;denom=1.0/denom;var u=va*denom;var v=vb*denom;var w=1.0-u-v;p1Out.x=u*p1s[0].x+v*p1s[1].x+w*p1s[2].x;p1Out.y=u*p1s[0].y+v*p1s[1].y+w*p1s[2].y;p2Out.x=u*p2s[0].x+v*p2s[1].x+w*p2s[2].x;p2Out.y=u*p2s[0].y+v*p2s[1].y+w*p2s[2].y;return 3;};b2Distance.InPoinsts=function(w,points,pointCount) {for(var i=0;i0.0) {return false;}} return true;},initialize:function(def,body,newOrigin){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;this.syncAABB=new b2AABB();this.syncMat=new b2Mat22();this.m_localCentroid=new b2Vec2();this.m_localOBB=new b2OBB();var i=0;var hX;var hY;var tVec;var aabb=new b2AABB();this.m_vertices=new Array(b2Settings.b2_maxPolyVertices);this.m_coreVertices=new Array(b2Settings.b2_maxPolyVertices);this.m_normals=new Array(b2Settings.b2_maxPolyVertices);this.m_type=b2Shape.e_polyShape;var localR=new b2Mat22(def.localRotation);if(def.type==b2Shape.e_boxShape) {this.m_localCentroid.x=def.localPosition.x-newOrigin.x;this.m_localCentroid.y=def.localPosition.y-newOrigin.y;var box=def;this.m_vertexCount=4;hX=box.extents.x;hY=box.extents.y;var hcX=Math.max(0.0,hX-2.0*b2Settings.b2_linearSlop);var hcY=Math.max(0.0,hY-2.0*b2Settings.b2_linearSlop);tVec=this.m_vertices[0]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*hY;tVec.y=localR.col1.y*hX+localR.col2.y*hY;tVec=this.m_vertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*hY;tVec.y=localR.col1.y*-hX+localR.col2.y*hY;tVec=this.m_vertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*-hY;tVec.y=localR.col1.y*-hX+localR.col2.y*-hY;tVec=this.m_vertices[3]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*-hY;tVec.y=localR.col1.y*hX+localR.col2.y*-hY;tVec=this.m_coreVertices[0]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*-hcY;tVec=this.m_coreVertices[3]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*-hcY;} else {var poly=def;this.m_vertexCount=poly.vertexCount;b2Shape.PolyCentroid(poly.vertices,poly.vertexCount,b2PolyShape.tempVec);var centroidX=b2PolyShape.tempVec.x;var centroidY=b2PolyShape.tempVec.y;this.m_localCentroid.x=def.localPosition.x+(localR.col1.x*centroidX+localR.col2.x*centroidY)-newOrigin.x;this.m_localCentroid.y=def.localPosition.y+(localR.col1.y*centroidX+localR.col2.y*centroidY)-newOrigin.y;for(i=0;iNumber.MIN_VALUE) {uX*=1.0/length;uY*=1.0/length;} this.m_coreVertices[i].x=this.m_vertices[i].x-2.0*b2Settings.b2_linearSlop*uX;this.m_coreVertices[i].y=this.m_vertices[i].y-2.0*b2Settings.b2_linearSlop*uY;}} var minVertexX=Number.MAX_VALUE;var minVertexY=Number.MAX_VALUE;var maxVertexX=-Number.MAX_VALUE;var maxVertexY=-Number.MAX_VALUE;this.m_maxRadius=0.0;for(i=0;ibestValue) {bestIndex=i;bestValue=value;}} out.Set(this.m_position.x+(this.m_R.col1.x*this.m_coreVertices[bestIndex].x+this.m_R.col2.x*this.m_coreVertices[bestIndex].y),this.m_position.y+(this.m_R.col1.y*this.m_coreVertices[bestIndex].x+this.m_R.col2.y*this.m_coreVertices[bestIndex].y));},m_localCentroid:new b2Vec2(),m_localOBB:new b2OBB(),m_vertices:null,m_coreVertices:null,m_vertexCount:0,m_normals:null});b2PolyShape.tempVec=new b2Vec2();b2PolyShape.tAbsR=new b2Mat22(); var b2Body=Class.create();b2Body.prototype={SetOriginPosition:function(position,rotation){if(this.IsFrozen()) {return;} this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position=b2Math.AddVV(position,b2Math.b2MulMV(this.m_R,this.m_center));this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next) {s.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R);} this.m_world.m_broadPhase.Commit();},GetOriginPosition:function(){return b2Math.SubtractVV(this.m_position,b2Math.b2MulMV(this.m_R,this.m_center));},SetCenterPosition:function(position,rotation){if(this.IsFrozen()) {return;} this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position.SetV(position);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next) {s.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R);} this.m_world.m_broadPhase.Commit();},GetCenterPosition:function(){return this.m_position;},GetRotation:function(){return this.m_rotation;},GetRotationMatrix:function(){return this.m_R;},SetLinearVelocity:function(v){this.m_linearVelocity.SetV(v);},GetLinearVelocity:function(){return this.m_linearVelocity;},SetAngularVelocity:function(w){this.m_angularVelocity=w;},GetAngularVelocity:function(){return this.m_angularVelocity;},ApplyForce:function(force,point) {if(this.IsSleeping()==false) {this.m_force.Add(force);this.m_torque+=b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),force);}},ApplyTorque:function(torque) {if(this.IsSleeping()==false) {this.m_torque+=torque;}},ApplyImpulse:function(impulse,point) {if(this.IsSleeping()==false) {this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass,impulse));this.m_angularVelocity+=(this.m_invI*b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),impulse));}},GetMass:function(){return this.m_mass;},GetInertia:function(){return this.m_I;},GetWorldPoint:function(localPoint){return b2Math.AddVV(this.m_position,b2Math.b2MulMV(this.m_R,localPoint));},GetWorldVector:function(localVector){return b2Math.b2MulMV(this.m_R,localVector);},GetLocalPoint:function(worldPoint){return b2Math.b2MulTMV(this.m_R,b2Math.SubtractVV(worldPoint,this.m_position));},GetLocalVector:function(worldVector){return b2Math.b2MulTMV(this.m_R,worldVector);},IsStatic:function(){return(this.m_flags&b2Body.e_staticFlag)==b2Body.e_staticFlag;},IsFrozen:function() {return(this.m_flags&b2Body.e_frozenFlag)==b2Body.e_frozenFlag;},IsSleeping:function(){return(this.m_flags&b2Body.e_sleepFlag)==b2Body.e_sleepFlag;},AllowSleeping:function(flag) {if(flag) {this.m_flags|=b2Body.e_allowSleepFlag;} else {this.m_flags&=~b2Body.e_allowSleepFlag;this.WakeUp();}},WakeUp:function(){this.m_flags&=~b2Body.e_sleepFlag;this.m_sleepTime=0.0;},GetShapeList:function(){return this.m_shapeList;},GetContactList:function() {return this.m_contactList;},GetJointList:function() {return this.m_jointList;},GetNext:function(){return this.m_next;},GetUserData:function(){return this.m_userData;},initialize:function(bd,world){this.sMat0=new b2Mat22();this.m_position=new b2Vec2();this.m_R=new b2Mat22(0);this.m_position0=new b2Vec2();var i=0;var sd;var massData;this.m_flags=0;this.m_position.SetV(bd.position);this.m_rotation=bd.rotation;this.m_R.Set(this.m_rotation);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;this.m_world=world;this.m_linearDamping=b2Math.b2Clamp(1.0-bd.linearDamping,0.0,1.0);this.m_angularDamping=b2Math.b2Clamp(1.0-bd.angularDamping,0.0,1.0);this.m_force=new b2Vec2(0.0,0.0);this.m_torque=0.0;this.m_mass=0.0;var massDatas=new Array(b2Settings.b2_maxShapesPerBody);for(i=0;i0.0) {this.m_center.Multiply(1.0/this.m_mass);this.m_position.Add(b2Math.b2MulMV(this.m_R,this.m_center));} else {this.m_flags|=b2Body.e_staticFlag;} this.m_I=0.0;for(i=0;i0.0) {this.m_invMass=1.0/this.m_mass;} else {this.m_invMass=0.0;} if(this.m_I>0.0&&bd.preventRotation==false) {this.m_invI=1.0/this.m_I;} else {this.m_I=0.0;this.m_invI=0.0;} this.m_linearVelocity=b2Math.AddVV(bd.linearVelocity,b2Math.b2CrossFV(bd.angularVelocity,this.m_center));this.m_angularVelocity=bd.angularVelocity;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_shapeList=null;for(i=0;i0;} var collide=(shape1.m_maskBits&shape2.m_categoryBits)!=0&&(shape1.m_categoryBits&shape2.m_maskBits)!=0;return collide;},initialize:function(){}};b2CollisionFilter.b2_defaultFilter=new b2CollisionFilter; var b2Island=Class.create();b2Island.prototype={initialize:function(bodyCapacity,contactCapacity,jointCapacity,allocator) {var i=0;this.m_bodyCapacity=bodyCapacity;this.m_contactCapacity=contactCapacity;this.m_jointCapacity=jointCapacity;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodies=new Array(bodyCapacity);for(i=0;iangTolSqr||b2Math.b2Dot(b.m_linearVelocity,b.m_linearVelocity)>linTolSqr) {b.m_sleepTime=0.0;minSleepTime=0.0;} else {b.m_sleepTime+=dt;minSleepTime=b2Math.b2Min(minSleepTime,b.m_sleepTime);}} if(minSleepTime>=b2Settings.b2_timeToSleep) {for(i=0;i0) {contact.m_shape1.m_body.WakeUp();contact.m_shape2.m_body.WakeUp();} var type1=contact.m_shape1.m_type;var type2=contact.m_shape2.m_type;var destroyFcn=b2Contact.s_registers[type1][type2].destroyFcn;destroyFcn(contact,allocator);};b2Contact.s_registers=null;b2Contact.s_initialized=false; var b2ContactConstraint=Class.create();b2ContactConstraint.prototype={initialize:function(){this.normal=new b2Vec2();this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var i=0;i0.0) {ccp.velocityBias=-60.0*ccp.separation;} var tX=v2X+(-w2*r2Y)-v1X-(-w1*r1Y);var tY=v2Y+(w2*r2X)-v1Y-(w1*r1X);var vRel=c.normal.x*tX+c.normal.y*tY;if(vRel<-b2Settings.b2_velocityThreshold) {ccp.velocityBias+=-c.restitution*vRel;}} ++count;}}},PreSolve:function(){var tVec;var tVec2;var tMat;for(var i=0;i=-b2Settings.b2_linearSlop;},PostSolve:function(){for(var i=0;i0) {this.m_manifoldCount=1;} else {this.m_manifoldCount=0;}},GetManifolds:function() {return this.m_manifold;},m_manifold:[new b2Manifold()]});b2CircleContact.Create=function(shape1,shape2,allocator){return new b2CircleContact(shape1,shape2);};b2CircleContact.Destroy=function(contact,allocator){}; var b2Conservative=Class.create();b2Conservative.prototype={initialize:function(){}} b2Conservative.R1=new b2Mat22();b2Conservative.R2=new b2Mat22();b2Conservative.x1=new b2Vec2();b2Conservative.x2=new b2Vec2();b2Conservative.Conservative=function(shape1,shape2){var body1=shape1.GetBody();var body2=shape2.GetBody();var v1X=body1.m_position.x-body1.m_position0.x;var v1Y=body1.m_position.y-body1.m_position0.y;var omega1=body1.m_rotation-body1.m_rotation0;var v2X=body2.m_position.x-body2.m_position0.x;var v2Y=body2.m_position.y-body2.m_position0.y;var omega2=body2.m_rotation-body2.m_rotation0;var r1=shape1.GetMaxRadius();var r2=shape2.GetMaxRadius();var p1StartX=body1.m_position0.x;var p1StartY=body1.m_position0.y;var a1Start=body1.m_rotation0;var p2StartX=body2.m_position0.x;var p2StartY=body2.m_position0.y;var a2Start=body2.m_rotation0;var p1X=p1StartX;var p1Y=p1StartY;var a1=a1Start;var p2X=p2StartX;var p2Y=p2StartY;var a2=a2Start;b2Conservative.R1.Set(a1);b2Conservative.R2.Set(a2);shape1.QuickSync(p1,b2Conservative.R1);shape2.QuickSync(p2,b2Conservative.R2);var s1=0.0;var maxIterations=10;var dX;var dY;var invRelativeVelocity=0.0;var hit=true;for(var iter=0;iterFLT_EPSILON) {d*=b2_linearSlop/length;} if(body1.IsStatic()) {body1.m_position.x=p1X;body1.m_position.y=p1Y;} else {body1.m_position.x=p1X-dX;body1.m_position.y=p1Y-dY;} body1.m_rotation=a1;body1.m_R.Set(a1);body1.QuickSyncShapes();if(body2.IsStatic()) {body2.m_position.x=p2X;body2.m_position.y=p2Y;} else {body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;} body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;body2.m_rotation=a2;body2.m_R.Set(a2);body2.QuickSyncShapes();return true;} shape1.QuickSync(body1.m_position,body1.m_R);shape2.QuickSync(body2.m_position,body2.m_R);return false;}; var b2NullContact=Class.create();Object.extend(b2NullContact.prototype,b2Contact.prototype);Object.extend(b2NullContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;} this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;},Evaluate:function(){},GetManifolds:function(){return null;}}); var b2PolyAndCircleContact=Class.create();Object.extend(b2PolyAndCircleContact.prototype,b2Contact.prototype);Object.extend(b2PolyAndCircleContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;} this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m_manifold=[new b2Manifold()];b2Settings.b2Assert(this.m_shape1.m_type==b2Shape.e_polyShape);b2Settings.b2Assert(this.m_shape2.m_type==b2Shape.e_circleShape);this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0.0;this.m_manifold[0].points[0].tangentImpulse=0.0;},Evaluate:function(){b2Collision.b2CollidePolyAndCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0) {this.m_manifoldCount=1;} else {this.m_manifoldCount=0;}},GetManifolds:function() {return this.m_manifold;},m_manifold:[new b2Manifold()]}) b2PolyAndCircleContact.Create=function(shape1,shape2,allocator){return new b2PolyAndCircleContact(shape1,shape2);};b2PolyAndCircleContact.Destroy=function(contact,allocator){}; var b2PolyContact=Class.create();Object.extend(b2PolyContact.prototype,b2Contact.prototype);Object.extend(b2PolyContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;} this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m0=new b2Manifold();this.m_manifold=[new b2Manifold()];this.m_manifold[0].pointCount=0;},m0:new b2Manifold(),Evaluate:function(){var tMani=this.m_manifold[0];var tPoints=this.m0.points;for(var k=0;k0) {var match=[false,false];for(var i=0;i0) {var body1=c.m_shape1.m_body;var body2=c.m_shape2.m_body;var node1=c.m_node1;var node2=c.m_node2;body1.WakeUp();body2.WakeUp();if(node1.prev) {node1.prev.next=node1.next;} if(node1.next) {node1.next.prev=node1.prev;} if(node1==body1.m_contactList) {body1.m_contactList=node1.next;} node1.prev=null;node1.next=null;if(node2.prev) {node2.prev.next=node2.next;} if(node2.next) {node2.next.prev=node2.prev;} if(node2==body2.m_contactList) {body2.m_contactList=node2.next;} node2.prev=null;node2.next=null;} b2Contact.Destroy(c,this.m_world.m_blockAllocator);--this.m_world.m_contactCount;},CleanContactList:function() {var c=this.m_world.m_contactList;while(c!=null) {var c0=c;c=c.m_next;if(c0.m_flags&b2Contact.e_destroyFlag) {this.DestroyContact(c0);c0=null;}}},Collide:function() {var body1;var body2;var node1;var node2;for(var c=this.m_world.m_contactList;c!=null;c=c.m_next) {if(c.m_shape1.m_body.IsSleeping()&&c.m_shape2.m_body.IsSleeping()) {continue;} var oldCount=c.GetManifoldCount();c.Evaluate();var newCount=c.GetManifoldCount();if(oldCount==0&&newCount>0) {body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;node1.contact=c;node1.other=body2;node1.prev=null;node1.next=body1.m_contactList;if(node1.next!=null) {node1.next.prev=c.m_node1;} body1.m_contactList=c.m_node1;node2.contact=c;node2.other=body1;node2.prev=null;node2.next=body2.m_contactList;if(node2.next!=null) {node2.next.prev=node2;} body2.m_contactList=node2;} else if(oldCount>0&&newCount==0) {body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;if(node1.prev) {node1.prev.next=node1.next;} if(node1.next) {node1.next.prev=node1.prev;} if(node1==body1.m_contactList) {body1.m_contactList=node1.next;} node1.prev=null;node1.next=null;if(node2.prev) {node2.prev.next=node2.next;} if(node2.next) {node2.next.prev=node2.prev;} if(node2==body2.m_contactList) {body2.m_contactList=node2.next;} node2.prev=null;node2.next=null;}}},m_world:null,m_nullContact:new b2NullContact(),m_destroyImmediate:null}); var b2World=Class.create();b2World.prototype={initialize:function(worldAABB,gravity,doSleep){this.step=new b2TimeStep();this.m_contactManager=new b2ContactManager();this.m_listener=null;this.m_filter=b2CollisionFilter.b2_defaultFilter;this.m_bodyList=null;this.m_contactList=null;this.m_jointList=null;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodyDestroyList=null;this.m_allowSleep=doSleep;this.m_gravity=gravity;this.m_contactManager.m_world=this;this.m_broadPhase=new b2BroadPhase(worldAABB,this.m_contactManager);var bd=new b2BodyDef();this.m_groundBody=this.CreateBody(bd);},SetListener:function(listener){this.m_listener=listener;},SetFilter:function(filter){this.m_filter=filter;},CreateBody:function(def){var b=new b2Body(def,this);b.m_prev=null;b.m_next=this.m_bodyList;if(this.m_bodyList) {this.m_bodyList.m_prev=b;} this.m_bodyList=b;++this.m_bodyCount;return b;},DestroyBody:function(b) {if(b.m_flags&b2Body.e_destroyFlag) {return;} if(b.m_prev) {b.m_prev.m_next=b.m_next;} if(b.m_next) {b.m_next.m_prev=b.m_prev;} if(b==this.m_bodyList) {this.m_bodyList=b.m_next;} b.m_flags|=b2Body.e_destroyFlag;--this.m_bodyCount;b.m_prev=null;b.m_next=this.m_bodyDestroyList;this.m_bodyDestroyList=b;},CleanBodyList:function() {this.m_contactManager.m_destroyImmediate=true;var b=this.m_bodyDestroyList;while(b) {var b0=b;b=b.m_next;var jn=b0.m_jointList;while(jn) {var jn0=jn;jn=jn.next;if(this.m_listener) {this.m_listener.NotifyJointDestroyed(jn0.joint);} this.DestroyJoint(jn0.joint);} b0.Destroy();} this.m_bodyDestroyList=null;this.m_contactManager.m_destroyImmediate=false;},CreateJoint:function(def){var j=b2Joint.Create(def,this.m_blockAllocator);j.m_prev=null;j.m_next=this.m_jointList;if(this.m_jointList) {this.m_jointList.m_prev=j;} this.m_jointList=j;++this.m_jointCount;j.m_node1.joint=j;j.m_node1.other=j.m_body2;j.m_node1.prev=null;j.m_node1.next=j.m_body1.m_jointList;if(j.m_body1.m_jointList)j.m_body1.m_jointList.prev=j.m_node1;j.m_body1.m_jointList=j.m_node1;j.m_node2.joint=j;j.m_node2.other=j.m_body1;j.m_node2.prev=null;j.m_node2.next=j.m_body2.m_jointList;if(j.m_body2.m_jointList)j.m_body2.m_jointList.prev=j.m_node2;j.m_body2.m_jointList=j.m_node2;if(def.collideConnected==false) {var b=def.body1.m_shapeCount0.0) {this.step.inv_dt=1.0/dt;} else {this.step.inv_dt=0.0;} this.m_positionIterationCount=0;this.m_contactManager.CleanContactList();this.CleanBodyList();this.m_contactManager.Collide();var island=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator);for(b=this.m_bodyList;b!=null;b=b.m_next) {b.m_flags&=~b2Body.e_islandFlag;} for(var c=this.m_contactList;c!=null;c=c.m_next) {c.m_flags&=~b2Contact.e_islandFlag;} for(var j=this.m_jointList;j!=null;j=j.m_next) {j.m_islandFlag=false;} var stackSize=this.m_bodyCount;var stack=new Array(this.m_bodyCount);for(var k=0;k0) {b=stack[--stackCount];island.AddBody(b);b.m_flags&=~b2Body.e_sleepFlag;if(b.m_flags&b2Body.e_staticFlag) {continue;} for(var cn=b.m_contactList;cn!=null;cn=cn.next) {if(cn.contact.m_flags&b2Contact.e_islandFlag) {continue;} island.AddContact(cn.contact);cn.contact.m_flags|=b2Contact.e_islandFlag;other=cn.other;if(other.m_flags&b2Body.e_islandFlag) {continue;} stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;} for(var jn=b.m_jointList;jn!=null;jn=jn.next) {if(jn.joint.m_islandFlag==true) {continue;} island.AddJoint(jn.joint);jn.joint.m_islandFlag=true;other=jn.other;if(other.m_flags&b2Body.e_islandFlag) {continue;} stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;}} island.Solve(this.step,this.m_gravity);this.m_positionIterationCount=b2Math.b2Max(this.m_positionIterationCount,b2Island.m_positionIterationCount);if(this.m_allowSleep) {island.UpdateSleep(dt);} for(var i=0;ib2Settings.b2_linearSlop) {this.m_u.Multiply(1.0/length);} else {this.m_u.SetZero();} var cr1u=(r1X*this.m_u.y-r1Y*this.m_u.x);var cr2u=(r2X*this.m_u.y-r2Y*this.m_u.x);this.m_mass=this.m_body1.m_invMass+this.m_body1.m_invI*cr1u*cr1u+this.m_body2.m_invMass+this.m_body2.m_invI*cr2u*cr2u;this.m_mass=1.0/this.m_mass;if(b2World.s_enableWarmStarting) {var PX=this.m_impulse*this.m_u.x;var PY=this.m_impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);} else {this.m_impulse=0.0;}},SolveVelocityConstraints:function(step){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var v1X=this.m_body1.m_linearVelocity.x+(-this.m_body1.m_angularVelocity*r1Y);var v1Y=this.m_body1.m_linearVelocity.y+(this.m_body1.m_angularVelocity*r1X);var v2X=this.m_body2.m_linearVelocity.x+(-this.m_body2.m_angularVelocity*r2Y);var v2Y=this.m_body2.m_linearVelocity.y+(this.m_body2.m_angularVelocity*r2X);var Cdot=(this.m_u.x*(v2X-v1X)+this.m_u.y*(v2Y-v1Y));var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);},SolvePositionConstraints:function(){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var dX=this.m_body2.m_position.x+r2X-this.m_body1.m_position.x-r1X;var dY=this.m_body2.m_position.y+r2Y-this.m_body1.m_position.y-r1Y;var length=Math.sqrt(dX*dX+dY*dY);dX/=length;dY/=length;var C=length-this.m_length;C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var impulse=-this.m_mass*C;this.m_u.Set(dX,dY);var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_position.x-=this.m_body1.m_invMass*PX;this.m_body1.m_position.y-=this.m_body1.m_invMass*PY;this.m_body1.m_rotation-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_position.x+=this.m_body2.m_invMass*PX;this.m_body2.m_position.y+=this.m_body2.m_invMass*PY;this.m_body2.m_rotation+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);this.m_body1.m_R.Set(this.m_body1.m_rotation);this.m_body2.m_R.Set(this.m_body2.m_rotation);return b2Math.b2Abs(C)b2Settings.b2_linearSlop) {this.m_u1.Multiply(1.0/length1);} else {this.m_u1.SetZero();} if(length2>b2Settings.b2_linearSlop) {this.m_u2.Multiply(1.0/length2);} else {this.m_u2.SetZero();} C=this.m_constant-length1-this.m_ratio*length2;linearError=b2Math.b2Max(linearError,Math.abs(C));C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);impulse=-this.m_pulleyMass*C;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;p2X=-this.m_ratio*impulse*this.m_u2.x;p2Y=-this.m_ratio*impulse*this.m_u2.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b1.m_R.Set(b1.m_rotation);b2.m_R.Set(b2.m_rotation);} if(this.m_limitState1==b2Joint.e_atUpperLimit) {tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);length1=this.m_u1.Length();if(length1>b2Settings.b2_linearSlop) {this.m_u1.x*=1.0/length1;this.m_u1.y*=1.0/length1;} else {this.m_u1.SetZero();} C=this.m_maxLength1-length1;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass1*C;oldLimitPositionImpulse=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0.0,this.m_limitPositionImpulse1+impulse);impulse=this.m_limitPositionImpulse1-oldLimitPositionImpulse;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b1.m_R.Set(b1.m_rotation);} if(this.m_limitState2==b2Joint.e_atUpperLimit) {tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;this.m_u2.Set(p2X-s2X,p2Y-s2Y);length2=this.m_u2.Length();if(length2>b2Settings.b2_linearSlop) {this.m_u2.x*=1.0/length2;this.m_u2.y*=1.0/length2;} else {this.m_u2.SetZero();} C=this.m_maxLength2-length2;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass2*C;oldLimitPositionImpulse=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0.0,this.m_limitPositionImpulse2+impulse);impulse=this.m_limitPositionImpulse2-oldLimitPositionImpulse;p2X=-impulse*this.m_u2.x;p2Y=-impulse*this.m_u2.y;b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b2.m_R.Set(b2.m_rotation);} return linearError=this.m_upperAngle) {if(this.m_limitState!=b2Joint.e_atUpperLimit) {this.m_limitImpulse=0.0;} this.m_limitState=b2Joint.e_atUpperLimit;} else {this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0.0;}} else {this.m_limitImpulse=0.0;} if(b2World.s_enableWarmStarting) {b1.m_linearVelocity.x-=invMass1*this.m_ptpImpulse.x;b1.m_linearVelocity.y-=invMass1*this.m_ptpImpulse.y;b1.m_angularVelocity-=invI1*((r1X*this.m_ptpImpulse.y-r1Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);b2.m_linearVelocity.x+=invMass2*this.m_ptpImpulse.x;b2.m_linearVelocity.y+=invMass2*this.m_ptpImpulse.y;b2.m_angularVelocity+=invI2*((r2X*this.m_ptpImpulse.y-r2Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);} else{this.m_ptpImpulse.SetZero();this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;} this.m_limitPositionImpulse=0.0;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var oldLimitImpulse;var ptpCdotX=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y)-b1.m_linearVelocity.x-(-b1.m_angularVelocity*r1Y);var ptpCdotY=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X)-b1.m_linearVelocity.y-(b1.m_angularVelocity*r1X);var ptpImpulseX=-(this.m_ptpMass.col1.x*ptpCdotX+this.m_ptpMass.col2.x*ptpCdotY);var ptpImpulseY=-(this.m_ptpMass.col1.y*ptpCdotX+this.m_ptpMass.col2.y*ptpCdotY);this.m_ptpImpulse.x+=ptpImpulseX;this.m_ptpImpulse.y+=ptpImpulseY;b1.m_linearVelocity.x-=b1.m_invMass*ptpImpulseX;b1.m_linearVelocity.y-=b1.m_invMass*ptpImpulseY;b1.m_angularVelocity-=b1.m_invI*(r1X*ptpImpulseY-r1Y*ptpImpulseX);b2.m_linearVelocity.x+=b2.m_invMass*ptpImpulseX;b2.m_linearVelocity.y+=b2.m_invMass*ptpImpulseY;b2.m_angularVelocity+=b2.m_invI*(r2X*ptpImpulseY-r2Y*ptpImpulseX);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits) {var motorCdot=b2.m_angularVelocity-b1.m_angularVelocity-this.m_motorSpeed;var motorImpulse=-this.m_motorMass*motorCdot;var oldMotorImpulse=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+motorImpulse,-step.dt*this.m_maxMotorTorque,step.dt*this.m_maxMotorTorque);motorImpulse=this.m_motorImpulse-oldMotorImpulse;b1.m_angularVelocity-=b1.m_invI*motorImpulse;b2.m_angularVelocity+=b2.m_invI*motorImpulse;} if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit) {var limitCdot=b2.m_angularVelocity-b1.m_angularVelocity;var limitImpulse=-this.m_motorMass*limitCdot;if(this.m_limitState==b2Joint.e_equalLimits) {this.m_limitImpulse+=limitImpulse;} else if(this.m_limitState==b2Joint.e_atLowerLimit) {oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;} else if(this.m_limitState==b2Joint.e_atUpperLimit) {oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;} b1.m_angularVelocity-=b1.m_invI*limitImpulse;b2.m_angularVelocity+=b2.m_invI*limitImpulse;}},SolvePositionConstraints:function(){var oldLimitImpulse;var limitC;var b1=this.m_body1;var b2=this.m_body2;var positionError=0.0;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var ptpCX=p2X-p1X;var ptpCY=p2Y-p1Y;positionError=Math.sqrt(ptpCX*ptpCX+ptpCY*ptpCY);var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;this.K1.col1.x=invMass1+invMass2;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass1+invMass2;this.K2.col1.x=invI1*r1Y*r1Y;this.K2.col2.x=-invI1*r1X*r1Y;this.K2.col1.y=-invI1*r1X*r1Y;this.K2.col2.y=invI1*r1X*r1X;this.K3.col1.x=invI2*r2Y*r2Y;this.K3.col2.x=-invI2*r2X*r2Y;this.K3.col1.y=-invI2*r2X*r2Y;this.K3.col2.y=invI2*r2X*r2X;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-ptpCX,-ptpCY);var impulseX=b2RevoluteJoint.tImpulse.x;var impulseY=b2RevoluteJoint.tImpulse.y;b1.m_position.x-=b1.m_invMass*impulseX;b1.m_position.y-=b1.m_invMass*impulseY;b1.m_rotation-=b1.m_invI*(r1X*impulseY-r1Y*impulseX);b1.m_R.Set(b1.m_rotation);b2.m_position.x+=b2.m_invMass*impulseX;b2.m_position.y+=b2.m_invMass*impulseY;b2.m_rotation+=b2.m_invI*(r2X*impulseY-r2Y*impulseX);b2.m_R.Set(b2.m_rotation);var angularError=0.0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit) {var angle=b2.m_rotation-b1.m_rotation-this.m_intialAngle;var limitImpulse=0.0;if(this.m_limitState==b2Joint.e_equalLimits) {limitC=b2Math.b2Clamp(angle,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;angularError=b2Math.b2Abs(limitC);} else if(this.m_limitState==b2Joint.e_atLowerLimit) {limitC=angle-this.m_lowerAngle;angularError=b2Math.b2Max(0.0,-limitC);limitC=b2Math.b2Clamp(limitC+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0.0);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;} else if(this.m_limitState==b2Joint.e_atUpperLimit) {limitC=angle-this.m_upperAngle;angularError=b2Math.b2Max(0.0,limitC);limitC=b2Math.b2Clamp(limitC-b2Settings.b2_angularSlop,0.0,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;} b1.m_rotation-=b1.m_invI*limitImpulse;b1.m_R.Set(b1.m_rotation);b2.m_rotation+=b2.m_invI*limitImpulse;b2.m_R.Set(b2.m_rotation);} return positionError<=b2Settings.b2_linearSlop&&angularError<=b2Settings.b2_angularSlop;},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_ptpImpulse:new b2Vec2(),m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_ptpMass:new b2Mat22(),m_motorMass:null,m_intialAngle:null,m_lowerAngle:null,m_upperAngle:null,m_maxMotorTorque:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});b2RevoluteJoint.tImpulse=new b2Vec2(); var b2RevoluteJointDef=Class.create();Object.extend(b2RevoluteJointDef.prototype,b2JointDef.prototype);Object.extend(b2RevoluteJointDef.prototype,{initialize:function() {this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_revoluteJoint;this.anchorPoint=new b2Vec2(0.0,0.0);this.lowerAngle=0.0;this.upperAngle=0.0;this.motorTorque=0.0;this.motorSpeed=0.0;this.enableLimit=false;this.enableMotor=false;},anchorPoint:null,lowerAngle:null,upperAngle:null,motorTorque:null,motorSpeed:null,enableLimit:null,enableMotor:null});

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