(function t(e,i,o){function n(s,a){if(!i[s]){if(!e[s]){var l="function"==typeof require&&require;if(!a&&l)return l(s,!0);if(r)return r(s,!0);var h=new Error("Cannot find module '"+s+"'");throw h.code="MODULE_NOT_FOUND",h}var c=i[s]={exports:{}};e[s][0].call(c.exports,function(t){return n(e[s][1][t]||t)},c,c.exports,t,e,i,o)}return i[s].exports}for(var r="function"==typeof require&&require,s=0;s<o.length;s++)n(o[s]);return n})({1:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonRigidBody=void 0;var o,n=(o=t("../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o};function r(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}var s=new n.default.Vec3,a=new n.default.Vec3,l=cc.Vec3,h=function(){function t(){this._rigidBody=void 0,this._sharedBody=void 0,this._isEnabled=!1}var e,i,o=t.prototype;return o.__preload=function(t){this._rigidBody=t,this._sharedBody=cc.director.getPhysics3DManager().physicsWorld.getSharedBody(this._rigidBody.node),this._sharedBody.reference=!0,this._sharedBody.wrappedBody=this},o.onLoad=function(){},o.onEnable=function(){this._isEnabled=!0,this.mass=this._rigidBody.mass,this.allowSleep=this._rigidBody.allowSleep,this.linearDamping=this._rigidBody.linearDamping,this.angularDamping=this._rigidBody.angularDamping,this.useGravity=this._rigidBody.useGravity,this.isKinematic=this._rigidBody.isKinematic,this.fixedRotation=this._rigidBody.fixedRotation,this.linearFactor=this._rigidBody.linearFactor,this.angularFactor=this._rigidBody.angularFactor,this._sharedBody.enabled=!0},o.onDisable=function(){this._isEnabled=!1,this._sharedBody.enabled=!1},o.onDestroy=function(){this._sharedBody.reference=!1,this._rigidBody=null,this._sharedBody=null},o.wakeUp=function(){return this._sharedBody.body.wakeUp()},o.sleep=function(){return this._sharedBody.body.sleep()},o.getLinearVelocity=function(t){return l.copy(t,this._sharedBody.body.velocity),t},o.setLinearVelocity=function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),l.copy(e.velocity,t)},o.getAngularVelocity=function(t){return l.copy(t,this._sharedBody.body.angularVelocity),t},o.setAngularVelocity=function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),l.copy(e.angularVelocity,t)},o.applyForce=function(t,e){null==e&&(e=l.ZERO);var i=this._sharedBody.body;i.isSleeping()&&i.wakeUp(),i.applyForce(l.copy(s,t),l.copy(a,e))},o.applyImpulse=function(t,e){null==e&&(e=l.ZERO);var i=this._sharedBody.body;i.isSleeping()&&i.wakeUp(),i.applyImpulse(l.copy(s,t),l.copy(a,e))},o.applyLocalForce=function(t,e){null==e&&(e=l.ZERO);var i=this._sharedBody.body;i.isSleeping()&&i.wakeUp(),i.applyLocalForce(l.copy(s,t),l.copy(a,e))},o.applyLocalImpulse=function(t,e){null==e&&(e=l.ZERO);var i=this._sharedBody.body;i.isSleeping()&&i.wakeUp(),i.applyLocalImpulse(l.copy(s,t),l.copy(a,e))},o.applyTorque=function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),e.torque.x+=t.x,e.torque.y+=t.y,e.torque.z+=t.z},o.applyLocalTorque=function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),l.copy(s,t),e.vectorToWorldFrame(s,s),e.torque.x+=s.x,e.torque.y+=s.y,e.torque.z+=s.z},e=t,(i=[{key:"isAwake",get:function(){return this._sharedBody.body.isAwake()}},{key:"isSleepy",get:function(){return this._sharedBody.body.isSleepy()}},{key:"isSleeping",get:function(){return this._sharedBody.body.isSleeping()}},{key:"allowSleep",set:function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),e.allowSleep=t}},{key:"mass",set:function(t){var e=this._sharedBody.body;e.mass=t,0==e.mass?e.type=n.default.Body.STATIC:e.type=this._rigidBody.isKinematic?n.default.Body.KINEMATIC:n.default.Body.DYNAMIC,e.updateMassProperties(),e.isSleeping()&&e.wakeUp()}},{key:"isKinematic",set:function(t){var e=this._sharedBody.body;0==e.mass?e.type=n.default.Body.STATIC:e.type=t?n.default.Body.KINEMATIC:n.default.Body.DYNAMIC}},{key:"fixedRotation",set:function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),e.fixedRotation=t,e.updateMassProperties()}},{key:"linearDamping",set:function(t){this._sharedBody.body.linearDamping=t}},{key:"angularDamping",set:function(t){this._sharedBody.body.angularDamping=t}},{key:"useGravity",set:function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),e.useGravity=t}},{key:"linearFactor",set:function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),l.copy(e.linearFactor,t)}},{key:"angularFactor",set:function(t){var e=this._sharedBody.body;e.isSleeping()&&e.wakeUp(),l.copy(e.angularFactor,t)}},{key:"rigidBody",get:function(){return this._rigidBody}},{key:"sharedBody",get:function(){return this._sharedBody}},{key:"isEnabled",get:function(){return this._isEnabled}}])&&r(e.prototype,i),t}();i.CannonRigidBody=h},{"../../../../../external/cannon/cannon":24}],2:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonSharedBody=void 0;var o,n=(o=t("../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o},r=t("../framework/physics-enum"),s=t("../framework/util"),a=t("./cannon-util");function l(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}var h=cc.Node._LocalDirtyFlag.PHYSICS_SCALE,c=cc.Quat,p=cc.Vec3,u=cc.js.array.fastRemoveAt,d=new p,y=new c,f=[],v={type:"collision-enter",selfCollider:null,otherCollider:null,contacts:[]},m=function(){var t,e;function i(t,e){this.node=void 0,this.wrappedWorld=void 0,this.body=new n.default.Body,this.shapes=[],this.wrappedBody=null,this.index=-1,this.ref=0,this.onCollidedListener=this.onCollided.bind(this),this.wrappedWorld=e,this.node=t,this.body.material=this.wrappedWorld.world.defaultMaterial,this.body.addEventListener("cc-collide",this.onCollidedListener),this._updateGroup(),this.node.on(cc.Node.EventType.GROUP_CHANGED,this._updateGroup,this)}i.getSharedBody=function(t,e){var o=t._id;if(i.sharedBodiesMap.has(o))return i.sharedBodiesMap.get(o);var n=new i(t,e);return i.sharedBodiesMap.set(t._id,n),n},t=i,(e=[{key:"enabled",set:function(t){if(t){if(this.index<0){this.index=this.wrappedWorld.bodies.length,this.wrappedWorld.addSharedBody(this);var e=this.node;this.body.aabbNeedsUpdate=!0,e.getWorldPosition(d),e.getWorldRotation(y);var i=this.body.position;i.x=parseFloat(d.x.toFixed(3)),i.y=parseFloat(d.y.toFixed(3)),i.z=parseFloat(d.z.toFixed(3));var o=this.body.quaternion;if(o.x=parseFloat(y.x.toFixed(12)),o.y=parseFloat(y.y.toFixed(12)),o.z=parseFloat(y.z.toFixed(12)),o.w=parseFloat(y.w.toFixed(12)),e._localMatDirty&h){for(var n=e.__wscale,r=0;r<this.shapes.length;r++)this.shapes[r].setScale(n);(0,a.commitShapeUpdates)(this.body)}this.body.isSleeping()&&this.body.wakeUp()}}else this.index>=0&&(0==this.shapes.length&&null==this.wrappedBody||0==this.shapes.length&&null!=this.wrappedBody&&!this.wrappedBody.rigidBody.enabledInHierarchy||0==this.shapes.length&&null!=this.wrappedBody&&!this.wrappedBody.isEnabled)&&(this.body.sleep(),this.index=-1,this.wrappedWorld.removeSharedBody(this))}},{key:"reference",set:function(t){t?this.ref++:this.ref--,0==this.ref&&this.destroy()}}])&&l(t.prototype,e);var o=i.prototype;return o._updateGroup=function(){(0,a.groupIndexToBitMask)(this.node.groupIndex,this.body)},o.addShape=function(t){if(this.shapes.indexOf(t)<0){var e=this.body.shapes.length;this.body.addShape(t.shape),this.shapes.push(t),t.setIndex(e);var i=this.body.shapeOffsets[e],o=this.body.shapeOrientations[e];t.setOffsetAndOrient(i,o)}},o.removeShape=function(t){var e=this.shapes.indexOf(t);e>=0&&(u(this.shapes,e),this.body.removeShape(t.shape),t.setIndex(-1))},o.syncSceneToPhysics=function(t){void 0===t&&(t=!1);var e=this.node,i=(0,s.worldDirty)(e);if(t||i){if(this.body.aabbNeedsUpdate=!0,e.getWorldPosition(d),e.getWorldRotation(y),p.copy(this.body.position,d),c.copy(this.body.quaternion,y),e._localMatDirty&h){for(var o=e.__wscale,n=0;n<this.shapes.length;n++)this.shapes[n].setScale(o);(0,a.commitShapeUpdates)(this.body)}this.body.isSleeping()&&this.body.wakeUp()}},o.syncPhysicsToScene=function(){this.body.type==r.ERigidBodyType.STATIC||this.body.isSleeping()||(p.copy(d,this.body.position),c.copy(y,this.body.quaternion),this.node.setWorldPosition(d),this.node.setWorldRotation(y))},o.destroy=function(){this.body.removeEventListener("cc-collide",this.onCollidedListener),this.node.off(cc.Node.EventType.GROUP_CHANGED,this._updateGroup,this),i.sharedBodiesMap.delete(this.node._id),delete n.default.World.idToBodyMap[this.body.id],this.node=null,this.wrappedWorld=null,this.body=null,this.shapes=null,this.onCollidedListener=null},o.onCollided=function(t){v.type=t.event;var e=(0,s.getWrap)(t.selfShape),i=(0,s.getWrap)(t.otherShape);if(e){v.selfCollider=e.collider,v.otherCollider=i?i.collider:null;var o=0;for(o=v.contacts.length;o--;)f.push(v.contacts.pop());for(o=0;o<t.contacts.length;o++){var n=t.contacts[o];if(f.length>0){var r=f.pop();p.copy(r.contactA,n.ri),p.copy(r.contactB,n.rj),p.copy(r.normal,n.ni),v.contacts.push(r)}else{var l={contactA:p.copy(new p,n.ri),contactB:p.copy(new p,n.rj),normal:p.copy(new p,n.ni)};v.contacts.push(l)}}for(o=0;o<this.shapes.length;o++){var h=this.shapes[o];v.type=a.deprecatedEventMap[v.type],h.collider.emit(v.type,v),v.type=t.event,h.collider.emit(v.type,v)}}},i}();i.CannonSharedBody=m,m.sharedBodiesMap=new Map},{"../../../../../external/cannon/cannon":24,"../framework/physics-enum":19,"../framework/util":23,"./cannon-util":3}],3:[function(t,e,i){"use strict";i.__esModule=!0,i.groupIndexToBitMask=r,i.toCannonRaycastOptions=function(t,e){t.checkCollisionResponse=!e.queryTrigger,r(e.groupIndex,t),t.skipBackFaces=!1},i.fillRaycastResult=function(t,e){t._assign(n.copy(new n,e.hitPointWorld),e.distance,(0,o.getWrap)(e.shape).collider)},i.commitShapeUpdates=function(t){t.aabbNeedsUpdate=!0,t.updateMassProperties(),t.updateBoundingRadius()},i.deprecatedEventMap=void 0;var o=t("../framework/util"),n=cc.Vec3;function r(t,e){var i=1<<t,o=0,n=cc.game.collisionMatrix[t];if(n){for(var r=0;r<n.length;r++)n[r]&&(o|=1<<r);e.collisionFilterGroup=i,e.collisionFilterMask=o}else cc.error("cannon-utils: group is not exist",t)}i.deprecatedEventMap={onCollisionEnter:"collision-enter",onCollisionStay:"collision-stay",onCollisionExit:"collision-exit",onTriggerEnter:"trigger-enter",onTriggerStay:"trigger-stay",onTriggerExit:"trigger-exit"}},{"../framework/util":23}],4:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonWorld=void 0;var o,n=(o=t("../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o},r=t("./cannon-util"),s=t("./shapes/cannon-shape"),a=t("./cannon-shared-body"),l=t("../framework/util");function h(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}var c=cc.Vec3,p=cc.js.array.fastRemoveAt,u=function(){var t,e;function i(){this.bodies=[],this._world=void 0,this._raycastResult=new n.default.RaycastResult,this._world=new n.default.World,this._world.broadphase=new n.default.NaiveBroadphase,this._world.addEventListener("postStep",this.onPostStep.bind(this))}t=i,(e=[{key:"world",get:function(){return this._world}},{key:"defaultMaterial",set:function(t){this._world.defaultMaterial.friction=t.friction,this._world.defaultMaterial.restitution=t.restitution,null!=s.CannonShape.idToMaterial[t._uuid]&&(s.CannonShape.idToMaterial[t._uuid]=this._world.defaultMaterial)}},{key:"allowSleep",set:function(t){this._world.allowSleep=t}},{key:"gravity",set:function(t){c.copy(this._world.gravity,t)}}])&&h(t.prototype,e);var o=i.prototype;return o.onPostStep=function(){var t=cc.director.getPhysics3DManager();if(t.useFixedDigit)for(var e=t.fixDigits.position,i=t.fixDigits.rotation,o=this._world.bodies,r=0;r<o.length;r++){var s=o[r];if(s.type!=n.default.Body.STATIC&&!s.isSleeping()){var a=s.position;a.x=parseFloat(a.x.toFixed(e)),a.y=parseFloat(a.y.toFixed(e)),a.z=parseFloat(a.z.toFixed(e));var l=s.quaternion;l.x=parseFloat(l.x.toFixed(i)),l.y=parseFloat(l.y.toFixed(i)),l.z=parseFloat(l.z.toFixed(i)),l.w=parseFloat(l.w.toFixed(i));var h=s.velocity;h.x=parseFloat(h.x.toFixed(e)),h.y=parseFloat(h.y.toFixed(e)),h.z=parseFloat(h.z.toFixed(e));var c=s.angularVelocity;c.x=parseFloat(c.x.toFixed(e)),c.y=parseFloat(c.y.toFixed(e)),c.z=parseFloat(c.z.toFixed(e))}}},o.step=function(t,e,i){this.syncSceneToPhysics(),this._world.step(t,e,i),this.syncPhysicsToScene(),this.emitEvents()},o.syncSceneToPhysics=function(){(0,l.clearNodeTransformRecord)();for(var t=0;t<this.bodies.length;t++)this.bodies[t].syncSceneToPhysics();(0,l.clearNodeTransformDirtyFlag)()},o.syncPhysicsToScene=function(){for(var t=0;t<this.bodies.length;t++)this.bodies[t].syncPhysicsToScene()},o.emitEvents=function(){this._world.emitTriggeredEvents(),this._world.emitCollisionEvents()},o.raycastClosest=function(t,e,i){f(t,e.maxDistance),(0,r.toCannonRaycastOptions)(v,e);var o=this._world.raycastClosest(d,y,v,this._raycastResult);return o&&(0,r.fillRaycastResult)(i,this._raycastResult),o},o.raycast=function(t,e,i,o){return f(t,e.maxDistance),(0,r.toCannonRaycastOptions)(v,e),this._world.raycastAll(d,y,v,function(t){var e=i.add();(0,r.fillRaycastResult)(e,t),o.push(e)})},o.getSharedBody=function(t){return a.CannonSharedBody.getSharedBody(t,this)},o.addSharedBody=function(t){this.bodies.indexOf(t)<0&&(this.bodies.push(t),this._world.addBody(t.body))},o.removeSharedBody=function(t){var e=this.bodies.indexOf(t);e>=0&&(p(this.bodies,e),this._world.remove(t.body))},i}();i.CannonWorld=u;var d=new n.default.Vec3,y=new n.default.Vec3;function f(t,e){c.copy(d,t.o),t.computeHit(y,e)}var v={checkCollisionResponse:!1,collisionFilterGroup:-1,collisionFilterMask:-1,skipBackFaces:!1}},{"../../../../../external/cannon/cannon":24,"../framework/util":23,"./cannon-shared-body":2,"./cannon-util":3,"./shapes/cannon-shape":7}],5:[function(t){"use strict";var e=t("../framework/physics-selector"),i=t("./cannon-rigid-body"),o=t("./cannon-world"),n=t("./shapes/cannon-box-shape"),r=t("./shapes/cannon-sphere-shape");(0,e.instantiate)(n.CannonBoxShape,r.CannonSphereShape,i.CannonRigidBody,o.CannonWorld)},{"../framework/physics-selector":22,"./cannon-rigid-body":1,"./cannon-world":4,"./shapes/cannon-box-shape":6,"./shapes/cannon-sphere-shape":8}],6:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonBoxShape=void 0;var o,n=(o=t("../../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o},r=t("../cannon-util"),s=t("./cannon-shape");function a(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}function l(t,e,i){return e&&a(t.prototype,e),i&&a(t,i),t}var h=cc.Vec3,c=new h,p=function(t){var e,i;function o(e){var i;return(i=t.call(this)||this).halfExtent=new n.default.Vec3,h.multiplyScalar(i.halfExtent,e,.5),i._shape=new n.default.Box(i.halfExtent.clone()),i}i=t,(e=o).prototype=Object.create(i.prototype),e.prototype.constructor=e,e.__proto__=i,l(o,[{key:"boxCollider",get:function(){return this.collider}},{key:"box",get:function(){return this._shape}}]);var s=o.prototype;return s.onLoad=function(){t.prototype.onLoad.call(this),this.size=this.boxCollider.size},s.setScale=function(e){t.prototype.setScale.call(this,e),this.size=this.boxCollider.size},l(o,[{key:"size",set:function(t){this.collider.node.getWorldScale(c),c.x=Math.abs(c.x),c.y=Math.abs(c.y),c.z=Math.abs(c.z),h.multiplyScalar(this.halfExtent,t,.5),h.multiply(this.box.halfExtents,this.halfExtent,c),this.box.updateConvexPolyhedronRepresentation(),-1!=this._index&&(0,r.commitShapeUpdates)(this._body)}}]),o}(s.CannonShape);i.CannonBoxShape=p},{"../../../../../../external/cannon/cannon":24,"../cannon-util":3,"./cannon-shape":7}],7:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonShape=void 0;var o,n=(o=t("../../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o},r=t("../../framework/util"),s=t("../cannon-util");function a(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}var l={type:"trigger-enter",selfCollider:null,otherCollider:null},h=cc.Vec3,c=new h,p=function(){function t(){this._collider=void 0,this._shape=void 0,this._offset=new n.default.Vec3,this._orient=new n.default.Quaternion,this._index=-1,this._sharedBody=void 0,this.onTriggerListener=this.onTrigger.bind(this)}var e,i,o=t.prototype;return o.__preload=function(t){this._collider=t,(0,r.setWrap)(this._shape,this),this._shape.addEventListener("cc-trigger",this.onTriggerListener),this._sharedBody=cc.director.getPhysics3DManager().physicsWorld.getSharedBody(this._collider.node),this._sharedBody.reference=!0},o.onLoad=function(){this.center=this._collider.center,this.isTrigger=this._collider.isTrigger},o.onEnable=function(){this._sharedBody.addShape(this),this._sharedBody.enabled=!0},o.onDisable=function(){this._sharedBody.removeShape(this),this._sharedBody.enabled=!1},o.onDestroy=function(){this._sharedBody.reference=!1,this._shape.removeEventListener("cc-trigger",this.onTriggerListener),delete n.default.World.idToShapeMap[this._shape.id],this._sharedBody=null,(0,r.setWrap)(this._shape,null),this._offset=null,this._orient=null,this._shape=null,this._collider=null,this.onTriggerListener=null},o.setScale=function(){this._setCenter(this._collider.center)},o.setIndex=function(t){this._index=t},o.setOffsetAndOrient=function(t,e){cc.Vec3.copy(t,this._offset),cc.Vec3.copy(e,this._orient),this._offset=t,this._orient=e},o._setCenter=function(t){var e=this._offset;h.copy(e,t),this._collider.node.getWorldScale(c),h.multiply(e,e,c)},o.onTrigger=function(t){l.type=t.event;var e=(0,r.getWrap)(t.selfShape),i=(0,r.getWrap)(t.otherShape);e&&(l.selfCollider=e.collider,l.otherCollider=i?i.collider:null,l.type=s.deprecatedEventMap[l.type],this._collider.emit(l.type,l),l.type=t.event,this._collider.emit(l.type,l))},e=t,(i=[{key:"shape",get:function(){return this._shape}},{key:"collider",get:function(){return this._collider}},{key:"attachedRigidBody",get:function(){return this._sharedBody.wrappedBody?this._sharedBody.wrappedBody.rigidBody:null}},{key:"sharedBody",get:function(){return this._sharedBody}},{key:"material",set:function(e){null==e?this._shape.material=null:(null==t.idToMaterial[e._uuid]&&(t.idToMaterial[e._uuid]=new n.default.Material(e._uuid)),this._shape.material=t.idToMaterial[e._uuid],this._shape.material.friction=e.friction,this._shape.material.restitution=e.restitution)}},{key:"isTrigger",set:function(t){this._shape.collisionResponse=!t,this._index>=0&&this._body.updateHasTrigger()}},{key:"center",set:function(t){this._setCenter(t),this._index>=0&&(0,s.commitShapeUpdates)(this._body)}},{key:"_body",get:function(){return this._sharedBody.body}}])&&a(e.prototype,i),t}();i.CannonShape=p,p.idToMaterial={}},{"../../../../../../external/cannon/cannon":24,"../../framework/util":23,"../cannon-util":3}],8:[function(t,e,i){"use strict";i.__esModule=!0,i.CannonSphereShape=void 0;var o,n=(o=t("../../../../../../external/cannon/cannon"))&&o.__esModule?o:{default:o},r=t("../cannon-util"),s=t("./cannon-shape");function a(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}var l=new cc.Vec3,h=function(t){var e,i,o,s;function h(e){var i;return(i=t.call(this)||this)._radius=void 0,i._radius=e,i._shape=new n.default.Sphere(i._radius),i}i=t,(e=h).prototype=Object.create(i.prototype),e.prototype.constructor=e,e.__proto__=i,o=h,(s=[{key:"sphereCollider",get:function(){return this.collider}},{key:"sphere",get:function(){return this._shape}},{key:"radius",get:function(){return this._radius},set:function(t){this.collider.node.getWorldScale(l);var e=l.maxAxis();this.sphere.radius=t*Math.abs(e),this.sphere.updateBoundingSphereRadius(),-1!=this._index&&(0,r.commitShapeUpdates)(this._body)}}])&&a(o.prototype,s);var c=h.prototype;return c.onLoad=function(){t.prototype.onLoad.call(this),this.radius=this.sphereCollider.radius},c.setScale=function(e){t.prototype.setScale.call(this,e),this.radius=this.sphereCollider.radius},h}(s.CannonShape);i.CannonSphereShape=h},{"../../../../../../external/cannon/cannon":24,"../cannon-util":3,"./cannon-shape":7}],9:[function(t){"use strict";t("../cannon/instantiate");var e,i=(e=t("../../../../../external/cannon/cannon"))&&e.__esModule?e:{default:e};window&&(window.CANNON=i.default)},{"../../../../../external/cannon/cannon":24,"../cannon/instantiate":5}],10:[function(t,e,i){"use strict";i.__esModule=!0;var o=t("../framework");Object.keys(o).forEach(function(t){"default"!==t&&"__esModule"!==t&&(t in i&&i[t]===o[t]||(i[t]=o[t]))})},{"../framework":17}],11:[function(t,e,i){"use strict";var o,n,r,s,a,l;function h(t,e,i,o){i&&Object.defineProperty(t,e,{enumerable:i.enumerable,configurable:i.configurable,writable:i.writable,value:i.initializer?i.initializer.call(o):void 0})}function 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u(t,e,i,o){i&&Object.defineProperty(t,e,{enumerable:i.enumerable,configurable:i.configurable,writable:i.writable,value:i.initializer?i.initializer.call(o):void 0})}function d(t){if(void 0===t)throw new ReferenceError("this hasn't been initialised - super() hasn't been called");return t}function y(t,e){for(var i=0;i<e.length;i++){var o=e[i];o.enumerable=o.enumerable||!1,o.configurable=!0,"value"in o&&(o.writable=!0),Object.defineProperty(t,o.key,o)}}function f(t,e,i,o,n){var r={};return Object.keys(o).forEach(function(t){r[t]=o[t]}),r.enumerable=!!r.enumerable,r.configurable=!!r.configurable,("value"in r||r.initializer)&&(r.writable=!0),r=i.slice().reverse().reduce(function(i,o){return o(t,e,i)||i},r),n&&void 0!==r.initializer&&(r.value=r.initializer?r.initializer.call(n):void 0,r.initializer=void 0),void 0===r.initializer&&(Object.defineProperty(t,e,r),r=null),r}var v=cc._decorator,m=v.ccclass,g=v.executeInEditMode,w=v.executionOrder,b=v.menu,x=v.property,_=cc.Vec3,B=(o=m("cc.BoxCollider3D"),n=w(98),r=b("i18n:MAIN_MENU.component.physics/Collider/Box 3D"),s=x({type:cc.Vec3}),o(a=n(a=r(a=g((f((l=function(t){var e,i,o,n;function r(){var e;return u(e=t.call(this)||this,"_size",h,d(e)),e._shape=(0,c.createBoxShape)(e._size),e}return i=t,(e=r).prototype=Object.create(i.prototype),e.prototype.constructor=e,e.__proto__=i,o=r,(n=[{key:"size",get:function(){return this._size},set:function(t){_.copy(this._size,t),this.boxShape.size=this._size}},{key:"boxShape",get:function(){return this._shape}}])&&y(o.prototype,n),r}(p.Collider3D)).prototype,"size",[s],Object.getOwnPropertyDescriptor(l.prototype,"size"),l.prototype),h=f(l.prototype,"_size",[x],{configurable:!0,enumerable:!0,writable:!0,initializer:function(){return new _(1,1,1)}}),a=l))||a)||a)||a)||a);i.BoxCollider3D=B},{"../../instance":18,"./collider-component":13}],13:[function(t,e,i){"use 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g=cc._decorator,w=g.ccclass,b=g.property,x=cc.Vec3,_=(o=w("cc.Collider3D"),n=b({type:d.PhysicsMaterial,displayName:"Material",displayOrder:-1}),r=b({displayOrder:0}),s=b({type:cc.Vec3,displayOrder:1}),a=b({type:d.PhysicsMaterial}),o((m((h=function(t){var e,i,o,n;function r(){var e;return(e=t.call(this)||this)._shape=void 0,e._isSharedMaterial=!0,y(e,"_material",c,f(e)),y(e,"_isTrigger",p,f(e)),y(e,"_center",u,f(e)),cc.EventTarget.call(f(e)),e}i=t,(e=r).prototype=Object.create(i.prototype),e.prototype.constructor=e,e.__proto__=i,o=r,(n=[{key:"sharedMaterial",get:function(){return this._material},set:function(t){this.material=t}},{key:"material",get:function(){return this._isSharedMaterial&&null!=this._material&&(this._material.off("physics_material_update",this._updateMaterial,this),this._material=this._material.clone(),this._material.on("physics_material_update",this._updateMaterial,this),this._isSharedMaterial=!1),this._material},set:function(t){null!=t&&null!=this._material?this._material._uuid!=t._uuid&&(this._material.off("physics_material_update",this._updateMaterial,this),t.on("physics_material_update",this._updateMaterial,this),this._isSharedMaterial=!1,this._material=t):null!=t&&null==this._material?(t.on("physics_material_update",this._updateMaterial,this),this._material=t):null==t&&null!=this._material&&(this._material.off("physics_material_update",this._updateMaterial,this),this._material=t),this._updateMaterial()}},{key:"isTrigger",get:function(){return this._isTrigger},set:function(t){this._isTrigger=t,this._shape.isTrigger=this._isTrigger}},{key:"center",get:function(){return 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s.on=function(){},s.off=function(){},s.once=function(){},s.emit=function(){},s.__preload=function(){this._shape.__preload(this)},s.onLoad=function(){this.sharedMaterial=null==this._material?cc.director.getPhysics3DManager().defaultMaterial:this._material,this._shape.onLoad()},s.onEnable=function(){this._shape.onEnable()},s.onDisable=function(){this._shape.onDisable()},s.onDestroy=function(){this._material&&this._material.off("physics_material_update",this._updateMaterial,this),this._shape.onDestroy()},s._updateMaterial=function(){this._shape.material=this._material},r}(cc.Component)).prototype,"sharedMaterial",[n],Object.getOwnPropertyDescriptor(h.prototype,"sharedMaterial"),h.prototype),m(h.prototype,"isTrigger",[r],Object.getOwnPropertyDescriptor(h.prototype,"isTrigger"),h.prototype),m(h.prototype,"center",[s],Object.getOwnPropertyDescriptor(h.prototype,"center"),h.prototype),c=m(h.prototype,"_material",[a],{configurable:!0,enumerable:!0,writable:!0,initializer:function(){return 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Object.keys(o).forEach(function(t){r[t]=o[t]}),r.enumerable=!!r.enumerable,r.configurable=!!r.configurable,("value"in r||r.initializer)&&(r.writable=!0),r=i.slice().reverse().reduce(function(i,o){return o(t,e,i)||i},r),n&&void 0!==r.initializer&&(r.value=r.initializer?r.initializer.call(n):void 0,r.initializer=void 0),void 0===r.initializer&&(Object.defineProperty(t,e,r),r=null),r}var u=cc._decorator,d=u.ccclass,y=u.executeInEditMode,f=u.executionOrder,v=u.menu,m=u.property,g=d("cc.SphereCollider3D")(o=f(98)(o=v("i18n:MAIN_MENU.component.physics/Collider/Sphere 3D")(o=y((p((n=function(t){var e,i,o,n;function a(){var e;return l(e=t.call(this)||this,"_radius",r,h(e)),e._shape=(0,s.createSphereShape)(e._radius),e}return i=t,(e=a).prototype=Object.create(i.prototype),e.prototype.constructor=e,e.__proto__=i,o=a,(n=[{key:"radius",get:function(){return this._radius},set:function(t){this._radius=t,this.sphereShape.radius=this._radius}},{key:"sphereShape",get:function(){return 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-m"},main:"./build/cannon.min.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/cocos-creator/cannon.js.git"},bugs:{url:"https://github.com/cocos-creator/cannon.js/issues"},licenses:[{type:"MIT"}],devDependencies:{jshint:"latest","uglify-js":"latest",nodeunit:"^0.9.0",grunt:"~0.4.0","grunt-contrib-jshint":"~0.1.1","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-concat":"~0.1.3","grunt-contrib-uglify":"^0.5.1","grunt-browserify":"^2.1.4","grunt-contrib-yuidoc":"^0.5.2",browserify:"*"},dependencies:{}}},{}],2:[function(t,e){e.exports={version:t("../package.json").version,AABB:t("./collision/AABB"),ArrayCollisionMatrix:t("./collision/ArrayCollisionMatrix"),Body:t("./objects/Body"),Box:t("./shapes/Box"),Broadphase:t("./collision/Broadphase"),Constraint:t("./constraints/Constraint"),ContactEquation:t("./equations/ContactEquation"),Narrowphase:t("./world/Narrowphase"),ConeTwistConstraint:t("./constraints/ConeTwistConstraint"),ContactMaterial:t("./material/ContactMaterial"),ConvexPolyhedron:t("./shapes/ConvexPolyhedron"),Cylinder:t("./shapes/Cylinder"),DistanceConstraint:t("./constraints/DistanceConstraint"),Equation:t("./equations/Equation"),EventTarget:t("./utils/EventTarget"),FrictionEquation:t("./equations/FrictionEquation"),GSSolver:t("./solver/GSSolver"),GridBroadphase:t("./collision/GridBroadphase"),Heightfield:t("./shapes/Heightfield"),HingeConstraint:t("./constraints/HingeConstraint"),LockConstraint:t("./constraints/LockConstraint"),Mat3:t("./math/Mat3"),Material:t("./material/Material"),NaiveBroadphase:t("./collision/NaiveBroadphase"),ObjectCollisionMatrix:t("./collision/ObjectCollisionMatrix"),Pool:t("./utils/Pool"),Particle:t("./shapes/Particle"),Plane:t("./shapes/Plane"),PointToPointConstraint:t("./constraints/PointToPointConstraint"),Quaternion:t("./math/Quaternion"),Ray:t("./collision/Ray"),RaycastVehicle:t("./objects/RaycastVehicle"),RaycastResult:t("./collision/RaycastResult"),RigidVehicle:t("./objects/RigidVehicle"),RotationalEquation:t("./equations/RotationalEquation"),RotationalMotorEquation:t("./equations/RotationalMotorEquation"),SAPBroadphase:t("./collision/SAPBroadphase"),SPHSystem:t("./objects/SPHSystem"),Shape:t("./shapes/Shape"),Solver:t("./solver/Solver"),Sphere:t("./shapes/Sphere"),SplitSolver:t("./solver/SplitSolver"),Spring:t("./objects/Spring"),Transform:t("./math/Transform"),Trimesh:t("./shapes/Trimesh"),Vec3:t("./math/Vec3"),Vec3Pool:t("./utils/Vec3Pool"),World:t("./world/World"),Octree:t("./utils/Octree"),CMath:t("./math/CMath")}},{"../package.json":1,"./collision/AABB":3,"./collision/ArrayCollisionMatrix":4,"./collision/Broadphase":5,"./collision/GridBroadphase":6,"./collision/NaiveBroadphase":7,"./collision/ObjectCollisionMatrix":8,"./collision/Ray":10,"./collision/RaycastResult":11,"./collision/SAPBroadphase":12,"./constraints/ConeTwistConstraint":13,"./constraints/Constraint":14,"./constraints/DistanceConstraint":15,"./constraints/HingeConstraint":16,"./constraints/LockConstraint":17,"./constraints/PointToPointConstraint":18,"./equations/ContactEquation":20,"./equations/Equation":21,"./equations/FrictionEquation":22,"./equations/RotationalEquation":23,"./equations/RotationalMotorEquation":24,"./material/ContactMaterial":25,"./material/Material":26,"./math/CMath":27,"./math/Mat3":29,"./math/Quaternion":30,"./math/Transform":31,"./math/Vec3":32,"./objects/Body":33,"./objects/RaycastVehicle":34,"./objects/RigidVehicle":35,"./objects/SPHSystem":36,"./objects/Spring":37,"./shapes/Box":39,"./shapes/ConvexPolyhedron":40,"./shapes/Cylinder":41,"./shapes/Heightfield":42,"./shapes/Particle":43,"./shapes/Plane":44,"./shapes/Shape":45,"./shapes/Sphere":46,"./shapes/Trimesh":47,"./solver/GSSolver":48,"./solver/Solver":49,"./solver/SplitSolver":50,"./utils/EventTarget":51,"./utils/Octree":52,"./utils/Pool":53,"./utils/Vec3Pool":56,"./world/Narrowphase":57,"./world/World":58}],3:[function(t,e){var i=t("../math/Vec3");function o(t){t=t||{},this.lowerBound=new i,t.lowerBound&&this.lowerBound.copy(t.lowerBound),this.upperBound=new i,t.upperBound&&this.upperBound.copy(t.upperBound)}t("../utils/Utils"),e.exports=o;var n=new i;o.prototype.setFromPoints=function(t,e,i,o){var r=this.lowerBound,s=this.upperBound,a=i;r.copy(t[0]),a&&a.vmult(r,r),s.copy(r);for(var l=1;l<t.length;l++){var h=t[l];a&&(a.vmult(h,n),h=n),h.x>s.x&&(s.x=h.x),h.x<r.x&&(r.x=h.x),h.y>s.y&&(s.y=h.y),h.y<r.y&&(r.y=h.y),h.z>s.z&&(s.z=h.z),h.z<r.z&&(r.z=h.z)}return e&&(e.vadd(r,r),e.vadd(s,s)),o&&(r.x-=o,r.y-=o,r.z-=o,s.x+=o,s.y+=o,s.z+=o),this},o.prototype.copy=function(t){return this.lowerBound.copy(t.lowerBound),this.upperBound.copy(t.upperBound),this},o.prototype.clone=function(){return(new o).copy(this)},o.prototype.extend=function(t){this.lowerBound.x=Math.min(this.lowerBound.x,t.lowerBound.x),this.upperBound.x=Math.max(this.upperBound.x,t.upperBound.x),this.lowerBound.y=Math.min(this.lowerBound.y,t.lowerBound.y),this.upperBound.y=Math.max(this.upperBound.y,t.upperBound.y),this.lowerBound.z=Math.min(this.lowerBound.z,t.lowerBound.z),this.upperBound.z=Math.max(this.upperBound.z,t.upperBound.z)},o.prototype.overlaps=function(t){var e=this.lowerBound,i=this.upperBound,o=t.lowerBound,n=t.upperBound,r=o.x<=i.x&&i.x<=n.x||e.x<=n.x&&n.x<=i.x,s=o.y<=i.y&&i.y<=n.y||e.y<=n.y&&n.y<=i.y,a=o.z<=i.z&&i.z<=n.z||e.z<=n.z&&n.z<=i.z;return r&&s&&a},o.prototype.volume=function(){var t=this.lowerBound,e=this.upperBound;return(e.x-t.x)*(e.y-t.y)*(e.z-t.z)},o.prototype.contains=function(t){var e=this.lowerBound,i=this.upperBound,o=t.lowerBound,n=t.upperBound;return e.x<=o.x&&i.x>=n.x&&e.y<=o.y&&i.y>=n.y&&e.z<=o.z&&i.z>=n.z},o.prototype.getCorners=function(t,e,i,o,n,r,s,a){var l=this.lowerBound,h=this.upperBound;t.copy(l),e.set(h.x,l.y,l.z),i.set(h.x,h.y,l.z),o.set(l.x,h.y,h.z),n.set(h.x,l.y,h.z),r.set(l.x,h.y,l.z),s.set(l.x,l.y,h.z),a.copy(h)};var r=[new i,new i,new i,new i,new i,new i,new i,new i];o.prototype.toLocalFrame=function(t,e){var i=r,o=i[0],n=i[1],s=i[2],a=i[3],l=i[4],h=i[5],c=i[6],p=i[7];this.getCorners(o,n,s,a,l,h,c,p);for(var u=0;8!==u;u++){var d=i[u];t.pointToLocal(d,d)}return e.setFromPoints(i)},o.prototype.toWorldFrame=function(t,e){var i=r,o=i[0],n=i[1],s=i[2],a=i[3],l=i[4],h=i[5],c=i[6],p=i[7];this.getCorners(o,n,s,a,l,h,c,p);for(var u=0;8!==u;u++){var d=i[u];t.pointToWorld(d,d)}return e.setFromPoints(i)},o.prototype.overlapsRay=function(t){var e=1/t._direction.x,i=1/t._direction.y,o=1/t._direction.z,n=(this.lowerBound.x-t.from.x)*e,r=(this.upperBound.x-t.from.x)*e,s=(this.lowerBound.y-t.from.y)*i,a=(this.upperBound.y-t.from.y)*i,l=(this.lowerBound.z-t.from.z)*o,h=(this.upperBound.z-t.from.z)*o,c=Math.max(Math.max(Math.min(n,r),Math.min(s,a)),Math.min(l,h)),p=Math.min(Math.min(Math.max(n,r),Math.max(s,a)),Math.max(l,h));return!(p<0||c>p)}},{"../math/Vec3":32,"../utils/Utils":55}],4:[function(t,e){function i(){this.matrix=[]}e.exports=i,i.prototype.get=function(t,e){if(t=t.index,(e=e.index)>t){var i=e;e=t,t=i}return this.matrix[(t*(t+1)>>1)+e-1]},i.prototype.set=function(t,e,i){if(t=t.index,(e=e.index)>t){var o=e;e=t,t=o}this.matrix[(t*(t+1)>>1)+e-1]=i?1:0},i.prototype.reset=function(){for(var t=0,e=this.matrix.length;t!==e;t++)this.matrix[t]=0},i.prototype.setNumObjects=function(t){this.matrix.length=t*(t-1)>>1}},{}],5:[function(t,e){var i=t("../objects/Body"),o=t("../math/Vec3"),n=t("../math/Quaternion");function r(){this.world=null,this.useBoundingBoxes=!1,this.dirty=!0}t("../shapes/Shape"),t("../shapes/Plane"),e.exports=r,r.prototype.collisionPairs=function(){throw new Error("collisionPairs not implemented for this BroadPhase class!")},r.prototype.needBroadphaseCollision=function(t,e){return 0!=(t.collisionFilterGroup&e.collisionFilterMask)&&0!=(e.collisionFilterGroup&t.collisionFilterMask)&&(!(!t.hasTrigger&&!e.hasTrigger)||0==(t.type&i.STATIC)&&t.sleepState!==i.SLEEPING||0==(e.type&i.STATIC)&&e.sleepState!==i.SLEEPING)},r.prototype.intersectionTest=function(t,e,i,o){this.useBoundingBoxes?this.doBoundingBoxBroadphase(t,e,i,o):this.doBoundingSphereBroadphase(t,e,i,o)};var s=new o;new o,new n,new o,r.prototype.doBoundingSphereBroadphase=function(t,e,i,o){var n=s;e.position.vsub(t.position,n);var r=Math.pow(t.boundingRadius+e.boundingRadius,2);n.norm2()<r&&(i.push(t),o.push(e))},r.prototype.doBoundingBoxBroadphase=function(t,e,i,o){t.aabbNeedsUpdate&&t.computeAABB(),e.aabbNeedsUpdate&&e.computeAABB(),t.aabb.overlaps(e.aabb)&&(i.push(t),o.push(e))};var a={keys:[]},l=[],h=[];r.prototype.makePairsUnique=function(t,e){for(var i=a,o=l,n=h,r=t.length,s=0;s!==r;s++)o[s]=t[s],n[s]=e[s];for(t.length=0,e.length=0,s=0;s!==r;s++){var c=o[s].id,p=n[s].id;i[u=c<p?c+","+p:p+","+c]=s,i.keys.push(u)}for(s=0;s!==i.keys.length;s++){var u=i.keys.pop(),d=i[u];t.push(o[d]),e.push(n[d]),delete i[u]}},r.prototype.setWorld=function(){};var c=new o;r.boundingSphereCheck=function(t,e){var i=c;return t.position.vsub(e.position,i),Math.pow(t.shape.boundingSphereRadius+e.shape.boundingSphereRadius,2)>i.norm2()},r.prototype.aabbQuery=function(){return console.warn(".aabbQuery is not implemented in this Broadphase subclass."),[]}},{"../math/Quaternion":30,"../math/Vec3":32,"../objects/Body":33,"../shapes/Plane":44,"../shapes/Shape":45}],6:[function(t,e){e.exports=r;var i=t("./Broadphase"),o=t("../math/Vec3"),n=t("../shapes/Shape");function r(t,e,n,r,s){i.apply(this),this.nx=n||10,this.ny=r||10,this.nz=s||10,this.aabbMin=t||new o(100,100,100),this.aabbMax=e||new o(-100,-100,-100);var a=this.nx*this.ny*this.nz;if(a<=0)throw"GridBroadphase: Each dimension's n must be >0";this.bins=[],this.binLengths=[],this.bins.length=a,this.binLengths.length=a;for(var l=0;l<a;l++)this.bins[l]=[],this.binLengths[l]=0}r.prototype=new i,r.prototype.constructor=r;var s=new o;new o,r.prototype.collisionPairs=function(t,e,i){for(var o=t.numObjects(),r=t.bodies,a=this.aabbMax,l=this.aabbMin,h=this.nx,c=this.ny,p=this.nz,u=c*p,d=p,y=1,f=a.x,v=a.y,m=a.z,g=l.x,w=l.y,b=l.z,x=h/(f-g),_=c/(v-w),B=p/(m-b),S=(f-g)/h,E=(v-w)/c,M=(m-b)/p,C=.5*Math.sqrt(S*S+E*E+M*M),A=n.types,z=A.SPHERE,F=A.PLANE,R=(A.BOX,A.COMPOUND,A.CONVEXPOLYHEDRON,this.bins),T=this.binLengths,P=this.bins.length,q=0;q!==P;q++)T[q]=0;var I=Math.ceil;function V(t,e,i,o,n,r,s){var a=(t-g)*x|0,l=(e-w)*_|0,f=(i-b)*B|0,v=I((o-g)*x),m=I((n-w)*_),S=I((r-b)*B);a<0?a=0:a>=h&&(a=h-1),l<0?l=0:l>=c&&(l=c-1),f<0?f=0:f>=p&&(f=p-1),v<0?v=0:v>=h&&(v=h-1),m<0?m=0:m>=c&&(m=c-1),S<0?S=0:S>=p&&(S=p-1),l*=d,f*=y,v*=u,m*=d,S*=y;for(var E=a*=u;E<=v;E+=u)for(var M=l;M<=m;M+=d)for(var C=f;C<=S;C+=y){var A=E+M+C;R[A][T[A]++]=s}}for(l=Math.min,a=Math.max,q=0;q!==o;q++){var O=(it=r[q]).shape;switch(O.type){case z:var k=it.position.x,N=it.position.y,j=it.position.z,L=O.radius;V(k-L,N-L,j-L,k+L,N+L,j+L,it);break;case F:O.worldNormalNeedsUpdate&&O.computeWorldNormal(it.quaternion);var W=O.worldNormal,D=g+.5*S-it.position.x,U=w+.5*E-it.position.y,G=b+.5*M-it.position.z,H=s;H.set(D,U,G);for(var K=0,Q=0;K!==h;K++,Q+=u,H.y=U,H.x+=S)for(var X=0,Y=0;X!==c;X++,Y+=d,H.z=G,H.y+=E)for(var Z=0,J=0;Z!==p;Z++,J+=y,H.z+=M)if(H.dot(W)<C){var $=Q+Y+J;R[$][T[$]++]=it}break;default:it.aabbNeedsUpdate&&it.computeAABB(),V(it.aabb.lowerBound.x,it.aabb.lowerBound.y,it.aabb.lowerBound.z,it.aabb.upperBound.x,it.aabb.upperBound.y,it.aabb.upperBound.z,it)}}for(q=0;q!==P;q++){var tt=T[q];if(tt>1){var et=R[q];for(K=0;K!==tt;K++){var it=et[K];for(X=0;X!==K;X++){var ot=et[X];this.needBroadphaseCollision(it,ot)&&this.intersectionTest(it,ot,e,i)}}}}this.makePairsUnique(e,i)}},{"../math/Vec3":32,"../shapes/Shape":45,"./Broadphase":5}],7:[function(t,e){e.exports=n;var i=t("./Broadphase"),o=t("./AABB");function n(){i.apply(this)}n.prototype=new i,n.prototype.constructor=n,n.prototype.collisionPairs=function(t,e,i){var o,n,r,s,a=t.bodies,l=a.length;for(o=0;o!==l;o++)for(n=0;n!==o;n++)r=a[o],s=a[n],this.needBroadphaseCollision(r,s)&&this.intersectionTest(r,s,e,i)},new o,n.prototype.aabbQuery=function(t,e,i){i=i||[];for(var o=0;o<t.bodies.length;o++){var n=t.bodies[o];n.aabbNeedsUpdate&&n.computeAABB(),n.aabb.overlaps(e)&&i.push(n)}return i}},{"./AABB":3,"./Broadphase":5}],8:[function(t,e){function i(){this.matrix={}}e.exports=i,i.prototype.get=function(t,e){if(t=t.id,(e=e.id)>t){var i=e;e=t,t=i}return t+"-"+e in this.matrix},i.prototype.set=function(t,e,i){if(t=t.id,(e=e.id)>t){var o=e;e=t,t=o}i?this.matrix[t+"-"+e]=!0:delete this.matrix[t+"-"+e]},i.prototype.reset=function(){this.matrix={}},i.prototype.setNumObjects=function(){}},{}],9:[function(t,e){function i(){this.current=[],this.previous=[]}function o(t,e){t.push((4294901760&e)>>16,65535&e)}e.exports=i,i.prototype.getKey=function(t,e){if(e<t){var i=e;e=t,t=i}return t<<16|e},i.prototype.set=function(t,e){for(var i=this.getKey(t,e),o=this.current,n=0;i>o[n];)n++;if(i!==o[n]){for(e=o.length-1;e>=n;e--)o[e+1]=o[e];o[n]=i}},i.prototype.tick=function(){var t=this.current;this.current=this.previous,this.previous=t,this.current.length=0},i.prototype.getDiff=function(t,e){for(var i=this.current,n=this.previous,r=i.length,s=n.length,a=0,l=0;l<r;l++){for(var h=i[l];h>n[a];)a++;h===n[a]||o(t,h)}for(a=0,l=0;l<s;l++){for(var c=n[l];c>i[a];)a++;i[a]===c||o(e,c)}}},{}],10:[function(t,e){e.exports=l;var i=t("../math/Vec3"),o=t("../math/Quaternion"),n=t("../math/Transform"),r=(t("../shapes/ConvexPolyhedron"),t("../shapes/Box"),t("../collision/RaycastResult")),s=t("../shapes/Shape"),a=t("../collision/AABB");function l(t,e){this.from=t?t.clone():new i,this.to=e?e.clone():new i,this._direction=new i,this.precision=1e-4,this.checkCollisionResponse=!0,this.skipBackfaces=!1,this.collisionFilterMask=-1,this.collisionFilterGroup=-1,this.mode=l.ANY,this.result=new r,this.hasHit=!1,this.callback=function(){}}l.prototype.constructor=l,l.CLOSEST=1,l.ANY=2,l.ALL=4;var h=new a,c=[];l.prototype.intersectWorld=function(t,e){return this.mode=e.mode||l.ANY,this.result=e.result||new r,this.skipBackfaces=!!e.skipBackfaces,this.checkCollisionResponse=!!e.checkCollisionResponse,this.collisionFilterMask=void 0!==e.collisionFilterMask?e.collisionFilterMask:-1,this.collisionFilterGroup=void 0!==e.collisionFilterGroup?e.collisionFilterGroup:-1,e.from&&this.from.copy(e.from),e.to&&this.to.copy(e.to),this.callback=e.callback||function(){},this.hasHit=!1,this.result.reset(),this._updateDirection(),this.getAABB(h),c.length=0,t.broadphase.aabbQuery(t,h,c),this.intersectBodies(c),this.hasHit};var p=new i,u=new i;function d(t,e,i,o){o.vsub(e,V),i.vsub(e,p),t.vsub(e,u);var n,r,s=V.dot(V),a=V.dot(p),l=V.dot(u),h=p.dot(p),c=p.dot(u);return(n=h*l-a*c)>=0&&(r=s*c-a*l)>=0&&n+r<s*h-a*a}l.pointInTriangle=d;var y=new i,f=new o;l.prototype.intersectBody=function(t,e){e&&(this.result=e,this._updateDirection());var i=this.checkCollisionResponse;if((!i||t.collisionResponse)&&0!=(this.collisionFilterGroup&t.collisionFilterMask)&&0!=(t.collisionFilterGroup&this.collisionFilterMask))for(var o=y,n=f,r=0,s=t.shapes.length;r<s;r++){var a=t.shapes[r];if((!i||a.collisionResponse)&&(t.quaternion.mult(t.shapeOrientations[r],n),t.quaternion.vmult(t.shapeOffsets[r],o),o.vadd(t.position,o),this.intersectShape(a,n,o,t),this.result._shouldStop))break}},l.prototype.intersectBodies=function(t,e){e&&(this.result=e,this._updateDirection());for(var i=0,o=t.length;!this.result._shouldStop&&i<o;i++)this.intersectBody(t[i])},l.prototype._updateDirection=function(){this.to.vsub(this.from,this._direction),this._direction.normalize()},l.prototype.intersectShape=function(t,e,i,o){if(!(k(this.from,this._direction,i)>t.boundingSphereRadius)){var n=this[t.type];n&&n.call(this,t,e,i,o,t)}},new i,new i;var v=new i,m=new i,g=new i,w=new i;new i,new r,l.prototype.intersectBox=function(t,e,i,o,n){return this.intersectConvex(t.convexPolyhedronRepresentation,e,i,o,n)},l.prototype[s.types.BOX]=l.prototype.intersectBox,l.prototype.intersectPlane=function(t,e,o,n,r){var s=this.from,a=this.to,l=this._direction,h=new i(0,0,1);e.vmult(h,h);var c=new i;s.vsub(o,c);var p=c.dot(h);if(a.vsub(o,c),!(p*c.dot(h)>0||s.distanceTo(a)<p)){var u=h.dot(l);if(!(Math.abs(u)<this.precision)){var d=new i,y=new i,f=new i;s.vsub(o,d);var v=-h.dot(d)/u;l.scale(v,y),s.vadd(y,f),this.reportIntersection(h,f,r,n,-1)}}},l.prototype[s.types.PLANE]=l.prototype.intersectPlane,l.prototype.getAABB=function(t){var e=this.to,i=this.from;t.lowerBound.x=Math.min(e.x,i.x),t.lowerBound.y=Math.min(e.y,i.y),t.lowerBound.z=Math.min(e.z,i.z),t.upperBound.x=Math.max(e.x,i.x),t.upperBound.y=Math.max(e.y,i.y),t.upperBound.z=Math.max(e.z,i.z)};var b={faceList:[0]},x=new i,_=new l,B=[];l.prototype.intersectHeightfield=function(t,e,i,o,r){t.data,t.elementSize;var s=_;s.from.copy(this.from),s.to.copy(this.to),n.pointToLocalFrame(i,e,s.from,s.from),n.pointToLocalFrame(i,e,s.to,s.to),s._updateDirection();var l,h,c,p,u=B;l=h=0,c=p=t.data.length-1;var d=new a;s.getAABB(d),t.getIndexOfPosition(d.lowerBound.x,d.lowerBound.y,u,!0),l=Math.max(l,u[0]),h=Math.max(h,u[1]),t.getIndexOfPosition(d.upperBound.x,d.upperBound.y,u,!0),c=Math.min(c,u[0]+1),p=Math.min(p,u[1]+1);for(var y=l;y<c;y++)for(var f=h;f<p;f++){if(this.result._shouldStop)return;if(t.getAabbAtIndex(y,f,d),d.overlapsRay(s)){if(t.getConvexTrianglePillar(y,f,!1),n.pointToWorldFrame(i,e,t.pillarOffset,x),this.intersectConvex(t.pillarConvex,e,x,o,r,b),this.result._shouldStop)return;t.getConvexTrianglePillar(y,f,!0),n.pointToWorldFrame(i,e,t.pillarOffset,x),this.intersectConvex(t.pillarConvex,e,x,o,r,b)}}},l.prototype[s.types.HEIGHTFIELD]=l.prototype.intersectHeightfield;var S=new i,E=new i;l.prototype.intersectSphere=function(t,e,i,o,n){var r=this.from,s=this.to,a=t.radius,l=Math.pow(s.x-r.x,2)+Math.pow(s.y-r.y,2)+Math.pow(s.z-r.z,2),h=2*((s.x-r.x)*(r.x-i.x)+(s.y-r.y)*(r.y-i.y)+(s.z-r.z)*(r.z-i.z)),c=Math.pow(r.x-i.x,2)+Math.pow(r.y-i.y,2)+Math.pow(r.z-i.z,2)-Math.pow(a,2),p=Math.pow(h,2)-4*l*c,u=S,d=E;if(!(p<0))if(0===p)r.lerp(s,p,u),u.vsub(i,d),d.normalize(),this.reportIntersection(d,u,n,o,-1);else{var y=(-h-Math.sqrt(p))/(2*l),f=(-h+Math.sqrt(p))/(2*l);if(y>=0&&y<=1&&(r.lerp(s,y,u),u.vsub(i,d),d.normalize(),this.reportIntersection(d,u,n,o,-1)),this.result._shouldStop)return;f>=0&&f<=1&&(r.lerp(s,f,u),u.vsub(i,d),d.normalize(),this.reportIntersection(d,u,n,o,-1))}},l.prototype[s.types.SPHERE]=l.prototype.intersectSphere;var M=new i,C=(new i,new i,new i);l.prototype.intersectConvex=function(t,e,i,o,n,r){for(var s=M,a=C,l=r&&r.faceList||null,h=t.faces,c=t.vertices,p=t.faceNormals,u=this._direction,y=this.from,f=this.to,b=y.distanceTo(f),x=l?l.length:h.length,_=this.result,B=0;!_._shouldStop&&B<x;B++){var S=l?l[B]:B,E=h[S],A=p[S],z=e,F=i;a.copy(c[E[0]]),z.vmult(a,a),a.vadd(F,a),a.vsub(y,a),z.vmult(A,s);var R=u.dot(s);if(!(Math.abs(R)<this.precision)){var T=s.dot(a)/R;if(!(T<0)){u.mult(T,v),v.vadd(y,v),m.copy(c[E[0]]),z.vmult(m,m),F.vadd(m,m);for(var P=1;!_._shouldStop&&P<E.length-1;P++){g.copy(c[E[P]]),w.copy(c[E[P+1]]),z.vmult(g,g),z.vmult(w,w),F.vadd(g,g),F.vadd(w,w);var q=v.distanceTo(y);!d(v,m,g,w)&&!d(v,g,m,w)||q>b||this.reportIntersection(s,v,n,o,S)}}}}},l.prototype[s.types.CONVEXPOLYHEDRON]=l.prototype.intersectConvex;var A=new i,z=new i,F=new i,R=new i,T=new i,P=new i,q=(new a,[]),I=new n;l.prototype.intersectTrimesh=function(t,e,i,o,r,s){var a=A,l=q,h=I,c=C,p=z,u=F,y=R,f=P,b=T,x=(s&&s.faceList,t.indices),_=(t.vertices,t.faceNormals,this.from),B=this.to,S=this._direction;h.position.copy(i),h.quaternion.copy(e),n.vectorToLocalFrame(i,e,S,p),n.pointToLocalFrame(i,e,_,u),n.pointToLocalFrame(i,e,B,y),y.x*=t.scale.x,y.y*=t.scale.y,y.z*=t.scale.z,u.x*=t.scale.x,u.y*=t.scale.y,u.z*=t.scale.z,y.vsub(u,p),p.normalize();var E=u.distanceSquared(y);t.tree.rayQuery(this,h,l);for(var M=0,V=l.length;!this.result._shouldStop&&M!==V;M++){var O=l[M];t.getNormal(O,a),t.getVertex(x[3*O],m),m.vsub(u,c);var k=p.dot(a),N=a.dot(c)/k;if(!(N<0)){p.scale(N,v),v.vadd(u,v),t.getVertex(x[3*O+1],g),t.getVertex(x[3*O+2],w);var j=v.distanceSquared(u);!d(v,g,m,w)&&!d(v,m,g,w)||j>E||(n.vectorToWorldFrame(e,a,b),n.pointToWorldFrame(i,e,v,f),this.reportIntersection(b,f,r,o,O))}}l.length=0},l.prototype[s.types.TRIMESH]=l.prototype.intersectTrimesh,l.prototype.reportIntersection=function(t,e,i,o,n){var r=this.from,s=this.to,a=r.distanceTo(e),h=this.result;if(!(this.skipBackfaces&&t.dot(this._direction)>0))switch(h.hitFaceIndex=void 0!==n?n:-1,this.mode){case l.ALL:this.hasHit=!0,h.set(r,s,t,e,i,o,a),h.hasHit=!0,this.callback(h);break;case l.CLOSEST:(a<h.distance||!h.hasHit)&&(this.hasHit=!0,h.hasHit=!0,h.set(r,s,t,e,i,o,a));break;case l.ANY:this.hasHit=!0,h.hasHit=!0,h.set(r,s,t,e,i,o,a),h._shouldStop=!0}};var V=new i,O=new i;function k(t,e,i){i.vsub(t,V);var o=V.dot(e);return e.mult(o,O),O.vadd(t,O),i.distanceTo(O)}},{"../collision/AABB":3,"../collision/RaycastResult":11,"../math/Quaternion":30,"../math/Transform":31,"../math/Vec3":32,"../shapes/Box":39,"../shapes/ConvexPolyhedron":40,"../shapes/Shape":45}],11:[function(t,e){var i=t("../math/Vec3");function o(){this.rayFromWorld=new i,this.rayToWorld=new i,this.hitNormalWorld=new i,this.hitPointWorld=new i,this.hasHit=!1,this.shape=null,this.body=null,this.hitFaceIndex=-1,this.distance=-1,this._shouldStop=!1}e.exports=o,o.prototype.reset=function(){this.rayFromWorld.setZero(),this.rayToWorld.setZero(),this.hitNormalWorld.setZero(),this.hitPointWorld.setZero(),this.hasHit=!1,this.shape=null,this.body=null,this.hitFaceIndex=-1,this.distance=-1,this._shouldStop=!1},o.prototype.abort=function(){this._shouldStop=!0},o.prototype.set=function(t,e,i,o,n,r,s){this.rayFromWorld.copy(t),this.rayToWorld.copy(e),this.hitNormalWorld.copy(i),this.hitPointWorld.copy(o),this.shape=n,this.body=r,this.distance=s}},{"../math/Vec3":32}],12:[function(t,e){t("../shapes/Shape");var i=t("../collision/Broadphase");function o(t){i.apply(this),this.axisList=[],this.world=null,this.axisIndex=0;var e=this.axisList;this._addBodyHandler=function(t){e.push(t.body)},this._removeBodyHandler=function(t){var i=e.indexOf(t.body);-1!==i&&e.splice(i,1)},t&&this.setWorld(t)}e.exports=o,o.prototype=new i,o.prototype.setWorld=function(t){this.axisList.length=0;for(var e=0;e<t.bodies.length;e++)this.axisList.push(t.bodies[e]);t.removeEventListener("addBody",this._addBodyHandler),t.removeEventListener("removeBody",this._removeBodyHandler),t.addEventListener("addBody",this._addBodyHandler),t.addEventListener("removeBody",this._removeBodyHandler),this.world=t,this.dirty=!0},o.insertionSortX=function(t){for(var e=1,i=t.length;e<i;e++){for(var o=t[e],n=e-1;n>=0&&!(t[n].aabb.lowerBound.x<=o.aabb.lowerBound.x);n--)t[n+1]=t[n];t[n+1]=o}return t},o.insertionSortY=function(t){for(var e=1,i=t.length;e<i;e++){for(var o=t[e],n=e-1;n>=0&&!(t[n].aabb.lowerBound.y<=o.aabb.lowerBound.y);n--)t[n+1]=t[n];t[n+1]=o}return t},o.insertionSortZ=function(t){for(var e=1,i=t.length;e<i;e++){for(var o=t[e],n=e-1;n>=0&&!(t[n].aabb.lowerBound.z<=o.aabb.lowerBound.z);n--)t[n+1]=t[n];t[n+1]=o}return t},o.prototype.collisionPairs=function(t,e,i){var n,r,s=this.axisList,a=s.length,l=this.axisIndex;for(this.dirty&&(this.sortList(),this.dirty=!1),n=0;n!==a;n++){var h=s[n];for(r=n+1;r<a;r++){var c=s[r];if(this.needBroadphaseCollision(h,c)){if(!o.checkBounds(h,c,l))break;this.intersectionTest(h,c,e,i)}}}},o.prototype.sortList=function(){for(var t=this.axisList,e=this.axisIndex,i=t.length,n=0;n!==i;n++){var r=t[n];r.aabbNeedsUpdate&&r.computeAABB()}0===e?o.insertionSortX(t):1===e?o.insertionSortY(t):2===e&&o.insertionSortZ(t)},o.checkBounds=function(t,e,i){var o,n;0===i?(o=t.position.x,n=e.position.x):1===i?(o=t.position.y,n=e.position.y):2===i&&(o=t.position.z,n=e.position.z);var r=t.boundingRadius;return n-e.boundingRadius<o+r},o.prototype.autoDetectAxis=function(){for(var t=0,e=0,i=0,o=0,n=0,r=0,s=this.axisList,a=s.length,l=1/a,h=0;h!==a;h++){var c=s[h],p=c.position.x;t+=p,e+=p*p;var u=c.position.y;i+=u,o+=u*u;var d=c.position.z;n+=d,r+=d*d}var y=e-t*t*l,f=o-i*i*l,v=r-n*n*l;this.axisIndex=y>f?y>v?0:2:f>v?1:2},o.prototype.aabbQuery=function(t,e,i){i=i||[],this.dirty&&(this.sortList(),this.dirty=!1);var o=this.axisIndex,n="x";1===o&&(n="y"),2===o&&(n="z");for(var r=this.axisList,s=(e.lowerBound[n],e.upperBound[n],0);s<r.length;s++){var a=r[s];a.aabbNeedsUpdate&&a.computeAABB(),a.aabb.overlaps(e)&&i.push(a)}return i}},{"../collision/Broadphase":5,"../shapes/Shape":45}],13:[function(t,e){e.exports=s,t("./Constraint");var i=t("./PointToPointConstraint"),o=t("../equations/ConeEquation"),n=t("../equations/RotationalEquation"),r=(t("../equations/ContactEquation"),t("../math/Vec3"));function s(t,e,s){var a=void 0!==(s=s||{}).maxForce?s.maxForce:1e6,l=s.pivotA?s.pivotA.clone():new r,h=s.pivotB?s.pivotB.clone():new r;this.axisA=s.axisA?s.axisA.clone():new r,this.axisB=s.axisB?s.axisB.clone():new r,i.call(this,t,l,e,h,a),this.collideConnected=!!s.collideConnected,this.angle=void 0!==s.angle?s.angle:0;var c=this.coneEquation=new o(t,e,s),p=this.twistEquation=new n(t,e,s);this.twistAngle=void 0!==s.twistAngle?s.twistAngle:0,c.maxForce=0,c.minForce=-a,p.maxForce=0,p.minForce=-a,this.equations.push(c,p)}s.prototype=new i,s.constructor=s,new r,new r,s.prototype.update=function(){var t=this.bodyA,e=this.bodyB,o=this.coneEquation,n=this.twistEquation;i.prototype.update.call(this),t.vectorToWorldFrame(this.axisA,o.axisA),e.vectorToWorldFrame(this.axisB,o.axisB),this.axisA.tangents(n.axisA,n.axisA),t.vectorToWorldFrame(n.axisA,n.axisA),this.axisB.tangents(n.axisB,n.axisB),e.vectorToWorldFrame(n.axisB,n.axisB),o.angle=this.angle,n.maxAngle=this.twistAngle}},{"../equations/ConeEquation":19,"../equations/ContactEquation":20,"../equations/RotationalEquation":23,"../math/Vec3":32,"./Constraint":14,"./PointToPointConstraint":18}],14:[function(t,e){e.exports=o;var i=t("../utils/Utils");function o(t,e,n){n=i.defaults(n,{collideConnected:!0,wakeUpBodies:!0}),this.equations=[],this.bodyA=t,this.bodyB=e,this.id=o.idCounter++,this.collideConnected=n.collideConnected,n.wakeUpBodies&&(t&&t.wakeUp(),e&&e.wakeUp())}o.prototype.update=function(){throw new Error("method update() not implmemented in this Constraint subclass!")},o.prototype.enable=function(){for(var t=this.equations,e=0;e<t.length;e++)t[e].enabled=!0},o.prototype.disable=function(){for(var t=this.equations,e=0;e<t.length;e++)t[e].enabled=!1},o.idCounter=0},{"../utils/Utils":55}],15:[function(t,e){e.exports=n;var i=t("./Constraint"),o=t("../equations/ContactEquation");function n(t,e,n,r){i.call(this,t,e),void 0===n&&(n=t.position.distanceTo(e.position)),void 0===r&&(r=1e6),this.distance=n;var s=this.distanceEquation=new o(t,e);this.equations.push(s),s.minForce=-r,s.maxForce=r}n.prototype=new i,n.prototype.update=function(){var t=this.bodyA,e=this.bodyB,i=this.distanceEquation,o=.5*this.distance,n=i.ni;e.position.vsub(t.position,n),n.normalize(),n.mult(o,i.ri),n.mult(-o,i.rj)}},{"../equations/ContactEquation":20,"./Constraint":14}],16:[function(t,e){e.exports=s,t("./Constraint");var i=t("./PointToPointConstraint"),o=t("../equations/RotationalEquation"),n=t("../equations/RotationalMotorEquation"),r=(t("../equations/ContactEquation"),t("../math/Vec3"));function s(t,e,s){var a=void 0!==(s=s||{}).maxForce?s.maxForce:1e6,l=s.pivotA?s.pivotA.clone():new r,h=s.pivotB?s.pivotB.clone():new r;i.call(this,t,l,e,h,a),(this.axisA=s.axisA?s.axisA.clone():new r(1,0,0)).normalize(),(this.axisB=s.axisB?s.axisB.clone():new r(1,0,0)).normalize();var c=this.rotationalEquation1=new o(t,e,s),p=this.rotationalEquation2=new o(t,e,s),u=this.motorEquation=new n(t,e,a);u.enabled=!1,this.equations.push(c,p,u)}s.prototype=new i,s.constructor=s,s.prototype.enableMotor=function(){this.motorEquation.enabled=!0},s.prototype.disableMotor=function(){this.motorEquation.enabled=!1},s.prototype.setMotorSpeed=function(t){this.motorEquation.targetVelocity=t},s.prototype.setMotorMaxForce=function(t){this.motorEquation.maxForce=t,this.motorEquation.minForce=-t};var a=new r,l=new r;s.prototype.update=function(){var t=this.bodyA,e=this.bodyB,o=this.motorEquation,n=this.rotationalEquation1,r=this.rotationalEquation2,s=a,h=l,c=this.axisA,p=this.axisB;i.prototype.update.call(this),t.quaternion.vmult(c,s),e.quaternion.vmult(p,h),s.tangents(n.axisA,r.axisA),n.axisB.copy(h),r.axisB.copy(h),this.motorEquation.enabled&&(t.quaternion.vmult(this.axisA,o.axisA),e.quaternion.vmult(this.axisB,o.axisB))}},{"../equations/ContactEquation":20,"../equations/RotationalEquation":23,"../equations/RotationalMotorEquation":24,"../math/Vec3":32,"./Constraint":14,"./PointToPointConstraint":18}],17:[function(t,e){e.exports=r,t("./Constraint");var i=t("./PointToPointConstraint"),o=t("../equations/RotationalEquation"),n=(t("../equations/RotationalMotorEquation"),t("../equations/ContactEquation"),t("../math/Vec3"));function r(t,e,r){var s=void 0!==(r=r||{}).maxForce?r.maxForce:1e6,a=new n,l=new n,h=new n;t.position.vadd(e.position,h),h.scale(.5,h),e.pointToLocalFrame(h,l),t.pointToLocalFrame(h,a),i.call(this,t,a,e,l,s),this.xA=t.vectorToLocalFrame(n.UNIT_X),this.xB=e.vectorToLocalFrame(n.UNIT_X),this.yA=t.vectorToLocalFrame(n.UNIT_Y),this.yB=e.vectorToLocalFrame(n.UNIT_Y),this.zA=t.vectorToLocalFrame(n.UNIT_Z),this.zB=e.vectorToLocalFrame(n.UNIT_Z);var c=this.rotationalEquation1=new o(t,e,r),p=this.rotationalEquation2=new o(t,e,r),u=this.rotationalEquation3=new o(t,e,r);this.equations.push(c,p,u)}r.prototype=new i,r.constructor=r,new n,new n,r.prototype.update=function(){var t=this.bodyA,e=this.bodyB,o=(this.motorEquation,this.rotationalEquation1),n=this.rotationalEquation2,r=this.rotationalEquation3;i.prototype.update.call(this),t.vectorToWorldFrame(this.xA,o.axisA),e.vectorToWorldFrame(this.yB,o.axisB),t.vectorToWorldFrame(this.yA,n.axisA),e.vectorToWorldFrame(this.zB,n.axisB),t.vectorToWorldFrame(this.zA,r.axisA),e.vectorToWorldFrame(this.xB,r.axisB)}},{"../equations/ContactEquation":20,"../equations/RotationalEquation":23,"../equations/RotationalMotorEquation":24,"../math/Vec3":32,"./Constraint":14,"./PointToPointConstraint":18}],18:[function(t,e){e.exports=r;var i=t("./Constraint"),o=t("../equations/ContactEquation"),n=t("../math/Vec3");function r(t,e,r,s,a){i.call(this,t,r),a=void 0!==a?a:1e6,this.pivotA=e?e.clone():new n,this.pivotB=s?s.clone():new n;var l=this.equationX=new o(t,r),h=this.equationY=new o(t,r),c=this.equationZ=new o(t,r);this.equations.push(l,h,c),l.minForce=h.minForce=c.minForce=-a,l.maxForce=h.maxForce=c.maxForce=a,l.ni.set(1,0,0),h.ni.set(0,1,0),c.ni.set(0,0,1)}r.prototype=new i,r.prototype.update=function(){var t=this.bodyA,e=this.bodyB,i=this.equationX,o=this.equationY,n=this.equationZ;t.quaternion.vmult(this.pivotA,i.ri),e.quaternion.vmult(this.pivotB,i.rj),o.ri.copy(i.ri),o.rj.copy(i.rj),n.ri.copy(i.ri),n.rj.copy(i.rj)}},{"../equations/ContactEquation":20,"../math/Vec3":32,"./Constraint":14}],19:[function(t,e){e.exports=r;var i=t("../math/Vec3"),o=(t("../math/Mat3"),t("./Equation")),n=t("../math/CMath");function r(t,e,n){var r=void 0!==(n=n||{}).maxForce?n.maxForce:1e6;o.call(this,t,e,-r,r),this.axisA=n.axisA?n.axisA.clone():new i(1,0,0),this.axisB=n.axisB?n.axisB.clone():new i(0,1,0),this.angle=void 0!==n.angle?n.angle:0}r.prototype=new o,r.prototype.constructor=r;var s=new i,a=new i;r.prototype.computeB=function(t){var e=this.a,i=this.b,o=this.axisA,r=this.axisB,l=s,h=a,c=this.jacobianElementA,p=this.jacobianElementB;return o.cross(r,l),r.cross(o,h),c.rotational.copy(h),p.rotational.copy(l),-(n.cos(this.angle)-o.dot(r))*e-this.computeGW()*i-t*this.computeGiMf()}},{"../math/CMath":27,"../math/Mat3":29,"../math/Vec3":32,"./Equation":21}],20:[function(t,e){e.exports=n;var i=t("./Equation"),o=t("../math/Vec3");function n(t,e,n){n=void 0!==n?n:1e6,i.call(this,t,e,0,n),this.si=null,this.sj=null,this.restitution=0,this.ri=new o,this.rj=new o,this.ni=new o}t("../math/Mat3"),n.prototype=new i,n.prototype.constructor=n;var r=new o,s=new o,a=new o;n.prototype.computeB=function(t){var e=this.a,i=this.b,o=this.bi,n=this.bj,l=this.ri,h=this.rj,c=r,p=s,u=o.velocity,d=o.angularVelocity,y=(o.force,o.torque,n.velocity),f=n.angularVelocity,v=(n.force,n.torque,a),m=this.jacobianElementA,g=this.jacobianElementB,w=this.ni;l.cross(w,c),h.cross(w,p),w.negate(m.spatial),c.negate(m.rotational),g.spatial.copy(w),g.rotational.copy(p),v.copy(n.position),v.vadd(h,v),v.vsub(o.position,v),v.vsub(l,v);var b=w.dot(v),x=this.restitution+1;return-b*e-(x*y.dot(w)-x*u.dot(w)+f.dot(p)-d.dot(c))*i-t*this.computeGiMf()};var l=new o,h=new o,c=new o,p=new o,u=new o;n.prototype.getImpactVelocityAlongNormal=function(){var t=l,e=h,i=c,o=p,n=u;return this.bi.position.vadd(this.ri,i),this.bj.position.vadd(this.rj,o),this.bi.getVelocityAtWorldPoint(i,t),this.bj.getVelocityAtWorldPoint(o,e),t.vsub(e,n),this.ni.dot(n)}},{"../math/Mat3":29,"../math/Vec3":32,"./Equation":21}],21:[function(t,e){e.exports=n;var i=t("../math/JacobianElement"),o=t("../math/Vec3");function n(t,e,o,r){this.id=n.id++,this.minForce=void 0===o?-1e6:o,this.maxForce=void 0===r?1e6:r,this.bi=t,this.bj=e,this.a=0,this.b=0,this.eps=0,this.jacobianElementA=new i,this.jacobianElementB=new i,this.enabled=!0,this.multiplier=0,this.setSpookParams(1e7,4,1/60)}n.prototype.constructor=n,n.id=0,n.prototype.setSpookParams=function(t,e,i){var o=e,n=t,r=i;this.a=4/(r*(1+4*o)),this.b=4*o/(1+4*o),this.eps=4/(r*r*n*(1+4*o))},n.prototype.computeB=function(t,e,i){var o=this.computeGW();return-this.computeGq()*t-o*e-this.computeGiMf()*i},n.prototype.computeGq=function(){var t=this.jacobianElementA,e=this.jacobianElementB,i=this.bi,o=this.bj,n=i.position,r=o.position;return t.spatial.dot(n)+e.spatial.dot(r)},new o,n.prototype.computeGW=function(){var t=this.jacobianElementA,e=this.jacobianElementB,i=this.bi,o=this.bj,n=i.velocity,r=o.velocity,s=i.angularVelocity,a=o.angularVelocity;return t.multiplyVectors(n,s)+e.multiplyVectors(r,a)},n.prototype.computeGWlambda=function(){var t=this.jacobianElementA,e=this.jacobianElementB,i=this.bi,o=this.bj,n=i.vlambda,r=o.vlambda,s=i.wlambda,a=o.wlambda;return t.multiplyVectors(n,s)+e.multiplyVectors(r,a)};var r=new o,s=new o,a=new o,l=new o;n.prototype.computeGiMf=function(){var t=this.jacobianElementA,e=this.jacobianElementB,i=this.bi,o=this.bj,n=i.force,h=i.torque,c=o.force,p=o.torque,u=i.invMassSolve,d=o.invMassSolve;return n.scale(u,r),c.scale(d,s),i.invInertiaWorldSolve.vmult(h,a),o.invInertiaWorldSolve.vmult(p,l),t.multiplyVectors(r,a)+e.multiplyVectors(s,l)};var h=new o;n.prototype.computeGiMGt=function(){var t=this.jacobianElementA,e=this.jacobianElementB,i=this.bi,o=this.bj,n=i.invMassSolve,r=o.invMassSolve,s=i.invInertiaWorldSolve,a=o.invInertiaWorldSolve,l=n+r;return s.vmult(t.rotational,h),l+=h.dot(t.rotational),a.vmult(e.rotational,h),l+h.dot(e.rotational)};var c=new o;new o,new o,new o,new o,new o,n.prototype.addToWlambda=function(t){var e=this.jacobianElementA,i=this.jacobianElementB,o=this.bi,n=this.bj,r=c;o.vlambda.addScaledVector(o.invMassSolve*t,e.spatial,o.vlambda),n.vlambda.addScaledVector(n.invMassSolve*t,i.spatial,n.vlambda),o.invInertiaWorldSolve.vmult(e.rotational,r),o.wlambda.addScaledVector(t,r,o.wlambda),n.invInertiaWorldSolve.vmult(i.rotational,r),n.wlambda.addScaledVector(t,r,n.wlambda)},n.prototype.computeC=function(){return this.computeGiMGt()+this.eps}},{"../math/JacobianElement":28,"../math/Vec3":32}],22:[function(t,e){e.exports=n;var i=t("./Equation"),o=t("../math/Vec3");function n(t,e,n){i.call(this,t,e,-n,n),this.ri=new o,this.rj=new o,this.t=new o}t("../math/Mat3"),n.prototype=new i,n.prototype.constructor=n;var r=new o,s=new o;n.prototype.computeB=function(t){this.a;var e=this.b,i=(this.bi,this.bj,this.ri),o=this.rj,n=r,a=s,l=this.t;i.cross(l,n),o.cross(l,a);var h=this.jacobianElementA,c=this.jacobianElementB;return l.negate(h.spatial),n.negate(h.rotational),c.spatial.copy(l),c.rotational.copy(a),-this.computeGW()*e-t*this.computeGiMf()}},{"../math/Mat3":29,"../math/Vec3":32,"./Equation":21}],23:[function(t,e){e.exports=r;var i=t("../math/Vec3"),o=(t("../math/Mat3"),t("./Equation")),n=t("../math/CMath");function r(t,e,n){var r=void 0!==(n=n||{}).maxForce?n.maxForce:1e6;o.call(this,t,e,-r,r),this.axisA=n.axisA?n.axisA.clone():new i(1,0,0),this.axisB=n.axisB?n.axisB.clone():new i(0,1,0),this.maxAngle=Math.PI/2}r.prototype=new o,r.prototype.constructor=r;var s=new i,a=new i;r.prototype.computeB=function(t){var e=this.a,i=this.b,o=this.axisA,r=this.axisB,l=s,h=a,c=this.jacobianElementA,p=this.jacobianElementB;return o.cross(r,l),r.cross(o,h),c.rotational.copy(h),p.rotational.copy(l),-(n.cos(this.maxAngle)-o.dot(r))*e-this.computeGW()*i-t*this.computeGiMf()}},{"../math/CMath":27,"../math/Mat3":29,"../math/Vec3":32,"./Equation":21}],24:[function(t,e){e.exports=n;var i=t("../math/Vec3"),o=(t("../math/Mat3"),t("./Equation"));function n(t,e,n){n=void 0!==n?n:1e6,o.call(this,t,e,-n,n),this.axisA=new i,this.axisB=new i,this.targetVelocity=0}n.prototype=new o,n.prototype.constructor=n,n.prototype.computeB=function(t){this.a;var e=this.b,i=(this.bi,this.bj,this.axisA),o=this.axisB,n=this.jacobianElementA,r=this.jacobianElementB;return n.rotational.copy(i),o.negate(r.rotational),-(this.computeGW()-this.targetVelocity)*e-t*this.computeGiMf()}},{"../math/Mat3":29,"../math/Vec3":32,"./Equation":21}],25:[function(t,e){var i=t("../utils/Utils");function o(t,e,n){n=i.defaults(n,{friction:.3,restitution:.3,contactEquationStiffness:1e7,contactEquationRelaxation:3,frictionEquationStiffness:1e7,frictionEquationRelaxation:3}),this.id=o.idCounter++,this.materials=[t,e],this.friction=n.friction,this.restitution=n.restitution,this.contactEquationStiffness=n.contactEquationStiffness,this.contactEquationRelaxation=n.contactEquationRelaxation,this.frictionEquationStiffness=n.frictionEquationStiffness,this.frictionEquationRelaxation=n.frictionEquationRelaxation}e.exports=o,o.idCounter=0},{"../utils/Utils":55}],26:[function(t,e){function i(t){var e="";"string"==typeof(t=t||{})?(e=t,t={}):"object"==typeof t&&(e=""),this.name=e,this.id=i.idCounter++,this.friction=void 0!==t.friction?t.friction:-1,this.restitution=void 0!==t.restitution?t.restitution:-1}e.exports=i,i.idCounter=0},{}],27:[function(t,e){var i=180/Math.PI;function o(t){return t*i}var n={};function r(t){if(n.digit!=t){for(var e=1/Math.pow(10,t),o=0;o<=90;o+=e)n[o.toFixed(t)]=Math.sin(o/i);n.digit=t}}function s(t,e){return t<=90?n[t.toFixed(e)]:t<=180?n[(t=180-t).toFixed(e)]:t<=270?-n[(t-=180).toFixed(e)]:-n[(t=360-t).toFixed(e)]}function a(t){var e=o(t)%360;return e<0&&(e+=360),s(e,p._digit)}function l(t){var e=(o(t)+90)%360;return e<0&&(e+=360),s(e,p._digit)}function h(t){return Math.sin(t).toFixed(p.digit)}function c(t){return Math.cos(t).toFixed(p.digit)}var p={sin:Math.sin,cos:Math.cos,atan2:Math.atan2};p._sin=a,p._cos=l,p._sinArr=n,p._sin360=s,p._sinNative=h,p._cosNative=c,p._radian2angle=o,p._calculateSinByDigit=r,p._digit=1,Object.defineProperty(p,"digit",{get:function(){return this._digit},set:function(t){this._digit=t,1==this._mode&&r(t)}}),p._mode=0,Object.defineProperty(p,"mode",{get:function(){return this._mode},set:function(t){this._mode!=t&&(this._mode=t,0==t?(p.sin=Math.sin,p.cos=Math.cos):1==t?(p.digit=p._digit,p.sin=a,p.cos=l):2==t&&(p.sin=h,p.cos=c))}}),e.exports=p},{}],28:[function(t,e){e.exports=o;var i=t("./Vec3");function o(){this.spatial=new i,this.rotational=new i}o.prototype.multiplyElement=function(t){return t.spatial.dot(this.spatial)+t.rotational.dot(this.rotational)},o.prototype.multiplyVectors=function(t,e){return t.dot(this.spatial)+e.dot(this.rotational)}},{"./Vec3":32}],29:[function(t,e){e.exports=o;var i=t("./Vec3");function o(t){this.elements=t||[0,0,0,0,0,0,0,0,0]}o.prototype.identity=function(){var t=this.elements;t[0]=1,t[1]=0,t[2]=0,t[3]=0,t[4]=1,t[5]=0,t[6]=0,t[7]=0,t[8]=1},o.prototype.setZero=function(){var t=this.elements;t[0]=0,t[1]=0,t[2]=0,t[3]=0,t[4]=0,t[5]=0,t[6]=0,t[7]=0,t[8]=0},o.prototype.setTrace=function(t){var e=this.elements;e[0]=t.x,e[4]=t.y,e[8]=t.z},o.prototype.getTrace=function(t){t=t||new i;var e=this.elements;t.x=e[0],t.y=e[4],t.z=e[8]},o.prototype.vmult=function(t,e){e=e||new i;var o=this.elements,n=t.x,r=t.y,s=t.z;return e.x=o[0]*n+o[1]*r+o[2]*s,e.y=o[3]*n+o[4]*r+o[5]*s,e.z=o[6]*n+o[7]*r+o[8]*s,e},o.prototype.smult=function(t){for(var e=0;e<this.elements.length;e++)this.elements[e]*=t},o.prototype.mmult=function(t,e){for(var i=e||new o,n=0;n<3;n++)for(var r=0;r<3;r++){for(var s=0,a=0;a<3;a++)s+=t.elements[n+3*a]*this.elements[a+3*r];i.elements[n+3*r]=s}return i},o.prototype.scale=function(t,e){e=e||new o;for(var i=this.elements,n=e.elements,r=0;3!==r;r++)n[3*r+0]=t.x*i[3*r+0],n[3*r+1]=t.y*i[3*r+1],n[3*r+2]=t.z*i[3*r+2];return e},o.prototype.solve=function(t,e){e=e||new i;for(var o,n=[],r=0;r<12;r++)n.push(0);for(r=0;r<3;r++)for(o=0;o<3;o++)n[r+4*o]=this.elements[r+3*o];n[3]=t.x,n[7]=t.y,n[11]=t.z;var s,a,l=3,h=l;do{if(0===n[(r=h-l)+4*r])for(o=r+1;o<h;o++)if(0!==n[r+4*o]){s=4;do{n[(a=4-s)+4*r]+=n[a+4*o]}while(--s);break}if(0!==n[r+4*r])for(o=r+1;o<h;o++){var c=n[r+4*o]/n[r+4*r];s=4;do{n[(a=4-s)+4*o]=a<=r?0:n[a+4*o]-n[a+4*r]*c}while(--s)}}while(--l);if(e.z=n[11]/n[10],e.y=(n[7]-n[6]*e.z)/n[5],e.x=(n[3]-n[2]*e.z-n[1]*e.y)/n[0],isNaN(e.x)||isNaN(e.y)||isNaN(e.z)||e.x===1/0||e.y===1/0||e.z===1/0)throw"Could not solve equation! Got x=["+e.toString()+"], b=["+t.toString()+"], A=["+this.toString()+"]";return e},o.prototype.e=function(t,e,i){if(void 0===i)return this.elements[e+3*t];this.elements[e+3*t]=i},o.prototype.copy=function(t){for(var e=0;e<t.elements.length;e++)this.elements[e]=t.elements[e];return this},o.prototype.toString=function(){for(var t="",e=0;e<9;e++)t+=this.elements[e]+",";return t},o.prototype.reverse=function(t){t=t||new o;for(var e,i=[],n=0;n<18;n++)i.push(0);for(n=0;n<3;n++)for(e=0;e<3;e++)i[n+6*e]=this.elements[n+3*e];i[3]=1,i[9]=0,i[15]=0,i[4]=0,i[10]=1,i[16]=0,i[5]=0,i[11]=0,i[17]=1;var r,s,a=3,l=a;do{if(0===i[(n=l-a)+6*n])for(e=n+1;e<l;e++)if(0!==i[n+6*e]){r=6;do{i[(s=6-r)+6*n]+=i[s+6*e]}while(--r);break}if(0!==i[n+6*n])for(e=n+1;e<l;e++){var h=i[n+6*e]/i[n+6*n];r=6;do{i[(s=6-r)+6*e]=s<=n?0:i[s+6*e]-i[s+6*n]*h}while(--r)}}while(--a);n=2;do{e=n-1;do{h=i[n+6*e]/i[n+6*n],r=6;do{i[(s=6-r)+6*e]=i[s+6*e]-i[s+6*n]*h}while(--r)}while(e--)}while(--n);n=2;do{h=1/i[n+6*n],r=6;do{i[(s=6-r)+6*n]=i[s+6*n]*h}while(--r)}while(n--);n=2;do{e=2;do{if(s=i[3+e+6*n],isNaN(s)||s===1/0)throw"Could not reverse! A=["+this.toString()+"]";t.e(n,e,s)}while(e--)}while(n--);return t},o.prototype.setRotationFromQuaternion=function(t){var e=t.x,i=t.y,o=t.z,n=t.w,r=e+e,s=i+i,a=o+o,l=e*r,h=e*s,c=e*a,p=i*s,u=i*a,d=o*a,y=n*r,f=n*s,v=n*a,m=this.elements;return m[0]=1-(p+d),m[1]=h-v,m[2]=c+f,m[3]=h+v,m[4]=1-(l+d),m[5]=u-y,m[6]=c-f,m[7]=u+y,m[8]=1-(l+p),this},o.prototype.transpose=function(t){for(var e=(t=t||new o).elements,i=this.elements,n=0;3!==n;n++)for(var r=0;3!==r;r++)e[3*n+r]=i[3*r+n];return t}},{"./Vec3":32}],30:[function(t,e){e.exports=n;var i=t("./Vec3"),o=t("./CMath");function n(t,e,i,o){this.x=void 0!==t?t:0,this.y=void 0!==e?e:0,this.z=void 0!==i?i:0,this.w=void 0!==o?o:1}n.prototype.set=function(t,e,i,o){return this.x=t,this.y=e,this.z=i,this.w=o,this},n.prototype.toString=function(){return this.x+","+this.y+","+this.z+","+this.w},n.prototype.toArray=function(){return[this.x,this.y,this.z,this.w]},n.prototype.setFromAxisAngle=function(t,e){var i=o.sin(.5*e);return this.x=t.x*i,this.y=t.y*i,this.z=t.z*i,this.w=o.cos(.5*e),this},n.prototype.toAxisAngle=function(t){t=t||new i,this.normalize();var e=2*Math.acos(this.w),o=Math.sqrt(1-this.w*this.w);return o<.001?(t.x=this.x,t.y=this.y,t.z=this.z):(t.x=this.x/o,t.y=this.y/o,t.z=this.z/o),[t,e]};var r=new i,s=new i;n.prototype.setFromVectors=function(t,e){if(t.isAntiparallelTo(e)){var i=r,o=s;t.tangents(i,o),this.setFromAxisAngle(i,Math.PI)}else{var n=t.cross(e);this.x=n.x,this.y=n.y,this.z=n.z,this.w=Math.sqrt(Math.pow(t.norm(),2)*Math.pow(e.norm(),2))+t.dot(e),this.normalize()}return this},new i,new i,new i,n.prototype.mult=function(t,e){e=e||new n;var i=this.x,o=this.y,r=this.z,s=this.w,a=t.x,l=t.y,h=t.z,c=t.w;return e.x=i*c+s*a+o*h-r*l,e.y=o*c+s*l+r*a-i*h,e.z=r*c+s*h+i*l-o*a,e.w=s*c-i*a-o*l-r*h,e},n.prototype.inverse=function(t){var e=this.x,i=this.y,o=this.z,r=this.w;t=t||new n,this.conjugate(t);var s=1/(e*e+i*i+o*o+r*r);return t.x*=s,t.y*=s,t.z*=s,t.w*=s,t},n.prototype.conjugate=function(t){return(t=t||new n).x=-this.x,t.y=-this.y,t.z=-this.z,t.w=this.w,t},n.prototype.normalize=function(){var t=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);return 0===t?(this.x=0,this.y=0,this.z=0,this.w=0):(t=1/t,this.x*=t,this.y*=t,this.z*=t,this.w*=t),this},n.prototype.normalizeFast=function(){var t=(3-(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w))/2;return 0===t?(this.x=0,this.y=0,this.z=0,this.w=0):(this.x*=t,this.y*=t,this.z*=t,this.w*=t),this},n.prototype.vmult=function(t,e){e=e||new i;var o=t.x,n=t.y,r=t.z,s=this.x,a=this.y,l=this.z,h=this.w,c=h*o+a*r-l*n,p=h*n+l*o-s*r,u=h*r+s*n-a*o,d=-s*o-a*n-l*r;return e.x=c*h+d*-s+p*-l-u*-a,e.y=p*h+d*-a+u*-s-c*-l,e.z=u*h+d*-l+c*-a-p*-s,e},n.prototype.copy=function(t){return this.x=t.x,this.y=t.y,this.z=t.z,this.w=t.w,this},n.prototype.toEuler=function(t,e){var i,n,r;e=e||"YZX";var s=this.x,a=this.y,l=this.z,h=this.w;switch(e){case"YZX":var c=s*a+l*h;if(c>.499&&(i=2*o.atan2(s,h),n=Math.PI/2,r=0),c<-.499&&(i=-2*o.atan2(s,h),n=-Math.PI/2,r=0),isNaN(i)){var p=s*s,u=a*a,d=l*l;i=o.atan2(2*a*h-2*s*l,1-2*u-2*d),n=Math.asin(2*c),r=o.atan2(2*s*h-2*a*l,1-2*p-2*d)}break;default:throw new Error("Euler order "+e+" not supported yet.")}t.y=i,t.z=n,t.x=r},n.prototype.setFromEuler=function(t,e,i,n){n=n||"XYZ";var r=o.cos(t/2),s=o.cos(e/2),a=o.cos(i/2),l=o.sin(t/2),h=o.sin(e/2),c=o.sin(i/2);return"XYZ"===n?(this.x=l*s*a+r*h*c,this.y=r*h*a-l*s*c,this.z=r*s*c+l*h*a,this.w=r*s*a-l*h*c):"YXZ"===n?(this.x=l*s*a+r*h*c,this.y=r*h*a-l*s*c,this.z=r*s*c-l*h*a,this.w=r*s*a+l*h*c):"ZXY"===n?(this.x=l*s*a-r*h*c,this.y=r*h*a+l*s*c,this.z=r*s*c+l*h*a,this.w=r*s*a-l*h*c):"ZYX"===n?(this.x=l*s*a-r*h*c,this.y=r*h*a+l*s*c,this.z=r*s*c-l*h*a,this.w=r*s*a+l*h*c):"YZX"===n?(this.x=l*s*a+r*h*c,this.y=r*h*a+l*s*c,this.z=r*s*c-l*h*a,this.w=r*s*a-l*h*c):"XZY"===n&&(this.x=l*s*a-r*h*c,this.y=r*h*a-l*s*c,this.z=r*s*c+l*h*a,this.w=r*s*a+l*h*c),this},n.prototype.clone=function(){return new n(this.x,this.y,this.z,this.w)},n.prototype.slerp=function(t,e,i){i=i||new n;var r,s,a,l,h,c=this.x,p=this.y,u=this.z,d=this.w,y=t.x,f=t.y,v=t.z,m=t.w;return(s=c*y+p*f+u*v+d*m)<0&&(s=-s,y=-y,f=-f,v=-v,m=-m),1-s>1e-6?(r=Math.acos(s),a=o.sin(r),l=o.sin((1-e)*r)/a,h=o.sin(e*r)/a):(l=1-e,h=e),i.x=l*c+h*y,i.y=l*p+h*f,i.z=l*u+h*v,i.w=l*d+h*m,i},n.prototype.integrate=function(t,e,i,o){o=o||new n;var r=t.x*i.x,s=t.y*i.y,a=t.z*i.z,l=this.x,h=this.y,c=this.z,p=this.w,u=.5*e;return o.x+=u*(r*p+s*c-a*h),o.y+=u*(s*p+a*l-r*c),o.z+=u*(a*p+r*h-s*l),o.w+=u*(-r*l-s*h-a*c),o}},{"./CMath":27,"./Vec3":32}],31:[function(t,e){var i=t("./Vec3"),o=t("./Quaternion");function n(t){t=t||{},this.position=new i,t.position&&this.position.copy(t.position),this.quaternion=new o,t.quaternion&&this.quaternion.copy(t.quaternion)}e.exports=n;var r=new o;n.pointToLocalFrame=function(t,e,o,n){return n=n||new i,o.vsub(t,n),e.conjugate(r),r.vmult(n,n),n},n.prototype.pointToLocal=function(t,e){return n.pointToLocalFrame(this.position,this.quaternion,t,e)},n.pointToWorldFrame=function(t,e,o,n){return n=n||new i,e.vmult(o,n),n.vadd(t,n),n},n.prototype.pointToWorld=function(t,e){return n.pointToWorldFrame(this.position,this.quaternion,t,e)},n.prototype.vectorToWorldFrame=function(t,e){return e=e||new i,this.quaternion.vmult(t,e),e},n.vectorToWorldFrame=function(t,e,i){return t.vmult(e,i),i},n.vectorToLocalFrame=function(t,e,o,n){return n=n||new i,e.w*=-1,e.vmult(o,n),e.w*=-1,n}},{"./Quaternion":30,"./Vec3":32}],32:[function(t,e){e.exports=o;var i=t("./Mat3");function o(t,e,i){this.x=t||0,this.y=e||0,this.z=i||0}o.ZERO=new o(0,0,0),o.UNIT_X=new o(1,0,0),o.UNIT_Y=new o(0,1,0),o.UNIT_Z=new o(0,0,1),o.prototype.cross=function(t,e){var i=t.x,n=t.y,r=t.z,s=this.x,a=this.y,l=this.z;return(e=e||new o).x=a*r-l*n,e.y=l*i-s*r,e.z=s*n-a*i,e},o.prototype.set=function(t,e,i){return this.x=t,this.y=e,this.z=i,this},o.prototype.setZero=function(){this.x=this.y=this.z=0},o.prototype.vadd=function(t,e){if(!e)return new o(this.x+t.x,this.y+t.y,this.z+t.z);e.x=t.x+this.x,e.y=t.y+this.y,e.z=t.z+this.z},o.prototype.vsub=function(t,e){if(!e)return new o(this.x-t.x,this.y-t.y,this.z-t.z);e.x=this.x-t.x,e.y=this.y-t.y,e.z=this.z-t.z},o.prototype.crossmat=function(){return new i([0,-this.z,this.y,this.z,0,-this.x,-this.y,this.x,0])},o.prototype.normalize=function(){var t=this.x,e=this.y,i=this.z,o=Math.sqrt(t*t+e*e+i*i);if(o>0){var n=1/o;this.x*=n,this.y*=n,this.z*=n}else this.x=0,this.y=0,this.z=0;return o},o.prototype.unit=function(t){t=t||new o;var e=this.x,i=this.y,n=this.z,r=Math.sqrt(e*e+i*i+n*n);return r>0?(r=1/r,t.x=e*r,t.y=i*r,t.z=n*r):(t.x=1,t.y=0,t.z=0),t},o.prototype.norm=function(){var t=this.x,e=this.y,i=this.z;return Math.sqrt(t*t+e*e+i*i)},o.prototype.length=o.prototype.norm,o.prototype.norm2=function(){return this.dot(this)},o.prototype.lengthSquared=o.prototype.norm2,o.prototype.distanceTo=function(t){var e=this.x,i=this.y,o=this.z,n=t.x,r=t.y,s=t.z;return Math.sqrt((n-e)*(n-e)+(r-i)*(r-i)+(s-o)*(s-o))},o.prototype.distanceSquared=function(t){var e=this.x,i=this.y,o=this.z,n=t.x,r=t.y,s=t.z;return(n-e)*(n-e)+(r-i)*(r-i)+(s-o)*(s-o)},o.prototype.mult=function(t,e){e=e||new o;var i=this.x,n=this.y,r=this.z;return e.x=t*i,e.y=t*n,e.z=t*r,e},o.prototype.vmul=function(t,e){return(e=e||new o).x=t.x*this.x,e.y=t.y*this.y,e.z=t.z*this.z,e},o.prototype.scale=o.prototype.mult,o.prototype.addScaledVector=function(t,e,i){return(i=i||new o).x=this.x+t*e.x,i.y=this.y+t*e.y,i.z=this.z+t*e.z,i},o.prototype.dot=function(t){return this.x*t.x+this.y*t.y+this.z*t.z},o.prototype.isZero=function(){return 0===this.x&&0===this.y&&0===this.z},o.prototype.negate=function(t){return(t=t||new o).x=-this.x,t.y=-this.y,t.z=-this.z,t};var n=new o,r=new o;o.prototype.tangents=function(t,e){var i=this.norm();if(i>0){var o=n,s=1/i;o.set(this.x*s,this.y*s,this.z*s);var a=r;Math.abs(o.x)<.9?(a.set(1,0,0),o.cross(a,t)):(a.set(0,1,0),o.cross(a,t)),o.cross(t,e)}else t.set(1,0,0),e.set(0,1,0)},o.prototype.toString=function(){return this.x+","+this.y+","+this.z},o.prototype.toArray=function(){return[this.x,this.y,this.z]},o.prototype.copy=function(t){return this.x=t.x,this.y=t.y,this.z=t.z,this},o.prototype.lerp=function(t,e,i){var o=this.x,n=this.y,r=this.z;i.x=o+(t.x-o)*e,i.y=n+(t.y-n)*e,i.z=r+(t.z-r)*e},o.prototype.almostEquals=function(t,e){return void 0===e&&(e=1e-6),!(Math.abs(this.x-t.x)>e||Math.abs(this.y-t.y)>e||Math.abs(this.z-t.z)>e)},o.prototype.almostZero=function(t){return void 0===t&&(t=1e-6),!(Math.abs(this.x)>t||Math.abs(this.y)>t||Math.abs(this.z)>t)};var s=new o;o.prototype.isAntiparallelTo=function(t,e){return this.negate(s),s.almostEquals(t,e)},o.prototype.clone=function(){return new o(this.x,this.y,this.z)}},{"./Mat3":29}],33:[function(t,e){e.exports=h;var i=t("../utils/EventTarget"),o=(t("../shapes/Shape"),t("../math/Vec3")),n=t("../math/Mat3"),r=t("../math/Quaternion"),s=(t("../material/Material"),t("../collision/AABB")),a=t("../shapes/Box"),l=t("../world/World");function h(t){t=t||{},i.apply(this),this.id=h.idCounter++,this.world=null,this.preStep=null,this.postStep=null,this.vlambda=new o,this.collisionFilterGroup="number"==typeof t.collisionFilterGroup?t.collisionFilterGroup:1,this.collisionFilterMask="number"==typeof t.collisionFilterMask?t.collisionFilterMask:-1,this.collisionResponse=!0,this.position=new o,this.previousPosition=new o,this.interpolatedPosition=new o,this.initPosition=new o,t.position&&(this.position.copy(t.position),this.previousPosition.copy(t.position),this.interpolatedPosition.copy(t.position),this.initPosition.copy(t.position)),this.velocity=new o,t.velocity&&this.velocity.copy(t.velocity),this.initVelocity=new o,this.force=new o;var e="number"==typeof t.mass?t.mass:0;this.mass=e,this.invMass=e>0?1/e:0,this.material=t.material||null,this.linearDamping="number"==typeof t.linearDamping?t.linearDamping:.01,this.type=e<=0?h.STATIC:h.DYNAMIC,typeof t.type==typeof h.STATIC&&(this.type=t.type),this.allowSleep=void 0===t.allowSleep||t.allowSleep,this.sleepState=0,this.sleepSpeedLimit=void 0!==t.sleepSpeedLimit?t.sleepSpeedLimit:.1,this.sleepTimeLimit=void 0!==t.sleepTimeLimit?t.sleepTimeLimit:1,this.timeLastSleepy=0,this._wakeUpAfterNarrowphase=!1,this.torque=new o,this.quaternion=new r,this.initQuaternion=new r,this.previousQuaternion=new r,this.interpolatedQuaternion=new r,t.quaternion&&(this.quaternion.copy(t.quaternion),this.initQuaternion.copy(t.quaternion),this.previousQuaternion.copy(t.quaternion),this.interpolatedQuaternion.copy(t.quaternion)),this.angularVelocity=new o,t.angularVelocity&&this.angularVelocity.copy(t.angularVelocity),this.initAngularVelocity=new o,this.shapes=[],this.shapeOffsets=[],this.shapeOrientations=[],this.inertia=new o,this.invInertia=new o,this.invInertiaWorld=new n,this.invMassSolve=0,this.invInertiaSolve=new o,this.invInertiaWorldSolve=new n,this.fixedRotation=void 0!==t.fixedRotation&&t.fixedRotation,this.useGravity=!0,this.angularDamping=void 0!==t.angularDamping?t.angularDamping:.01,this.linearFactor=new o(1,1,1),t.linearFactor&&this.linearFactor.copy(t.linearFactor),this.angularFactor=new o(1,1,1),t.angularFactor&&this.angularFactor.copy(t.angularFactor),this.aabb=new s,this.aabbNeedsUpdate=!0,this.boundingRadius=0,this.wlambda=new o,t.shape&&this.addShape(t.shape),this.hasTrigger=!0,this.updateMassProperties()}h.prototype=new i,h.prototype.constructor=h,h.COLLIDE_EVENT_NAME="collide",h.DYNAMIC=1,h.STATIC=2,h.KINEMATIC=4,h.AWAKE=0,h.SLEEPY=1,h.SLEEPING=2,h.idCounter=0,h.wakeupEvent={type:"wakeup"},h.prototype.wakeUp=function(){l.SLEEPING=!1;var t=this.sleepState;this.sleepState=0,this._wakeUpAfterNarrowphase=!1,t===h.SLEEPING&&this.dispatchEvent(h.wakeupEvent)},h.prototype.sleep=function(){this.sleepState=h.SLEEPING,this.velocity.set(0,0,0),this.angularVelocity.set(0,0,0),this._wakeUpAfterNarrowphase=!1},h.sleepyEvent={type:"sleepy"},h.sleepEvent={type:"sleep"},h.prototype.sleepTick=function(t){if(this.allowSleep){var e=this.sleepState,i=this.velocity.norm2()+this.angularVelocity.norm2(),o=Math.pow(this.sleepSpeedLimit,2);e===h.AWAKE&&i<o?(this.sleepState=h.SLEEPY,this.timeLastSleepy=t,this.dispatchEvent(h.sleepyEvent)):e===h.SLEEPY&&i>o?this.wakeUp():e===h.SLEEPY&&t-this.timeLastSleepy>this.sleepTimeLimit&&(this.sleep(),this.dispatchEvent(h.sleepEvent))}},h.prototype.updateSolveMassProperties=function(){this.sleepState===h.SLEEPING||this.type===h.KINEMATIC?(this.invMassSolve=0,this.invInertiaSolve.setZero(),this.invInertiaWorldSolve.setZero()):(this.invMassSolve=this.invMass,this.invInertiaSolve.copy(this.invInertia),this.invInertiaWorldSolve.copy(this.invInertiaWorld))},h.prototype.pointToLocalFrame=function(t,e){return e=e||new o,t.vsub(this.position,e),this.quaternion.conjugate().vmult(e,e),e},h.prototype.vectorToLocalFrame=function(t,e){return e=e||new o,this.quaternion.conjugate().vmult(t,e),e},h.prototype.pointToWorldFrame=function(t,e){return e=e||new o,this.quaternion.vmult(t,e),e.vadd(this.position,e),e},h.prototype.vectorToWorldFrame=function(t,e){return e=e||new o,this.quaternion.vmult(t,e),e};var c=new o,p=new r;h.prototype.addShape=function(t,e,i){var n=new o,s=new r;return e&&n.copy(e),i&&s.copy(i),this.shapes.push(t),this.shapeOffsets.push(n),this.shapeOrientations.push(s),this.aabbNeedsUpdate=!0,this.updateMassProperties(),this.updateBoundingRadius(),this.updateHasTrigger(),l.idToShapeMap[t.id]=t,t.body=this,this},h.prototype.removeShape=function(t){var e=this.shapes.indexOf(t);-1!==e&&(this.shapes.splice(e,1),this.shapeOffsets.splice(e,1),this.shapeOrientations.splice(e,1),this.aabbNeedsUpdate=!0,this.updateMassProperties(),this.updateBoundingRadius(),this.updateHasTrigger())},h.prototype.updateBoundingRadius=function(){for(var t=this.shapes,e=this.shapeOffsets,i=t.length,o=0,n=0;n!==i;n++){var r=t[n];r.updateBoundingSphereRadius();var s=e[n].norm(),a=r.boundingSphereRadius;s+a>o&&(o=s+a)}this.boundingRadius=o};var u=new s;h.prototype.computeAABB=function(){for(var t=this.shapes,e=this.shapeOffsets,i=this.shapeOrientations,o=t.length,n=c,r=p,s=this.quaternion,a=this.aabb,l=u,h=0;h!==o;h++){var d=t[h];s.vmult(e[h],n),n.vadd(this.position,n),i[h].mult(s,r),d.calculateWorldAABB(n,r,l.lowerBound,l.upperBound),0===h?a.copy(l):a.extend(l)}this.aabbNeedsUpdate=!1};var d=new n,y=new n;new n,h.prototype.updateInertiaWorld=function(t){var e=this.invInertia;if(e.x!==e.y||e.y!==e.z||t){var i=d,o=y;i.setRotationFromQuaternion(this.quaternion),i.transpose(o),i.scale(e,i),i.mmult(o,this.invInertiaWorld)}},new o;var f=new o;h.prototype.applyForce=function(t,e){if(this.type===h.DYNAMIC){var i=f;e.cross(t,i),this.force.vadd(t,this.force),this.torque.vadd(i,this.torque)}};var v=new o,m=new o;h.prototype.applyLocalForce=function(t,e){if(this.type===h.DYNAMIC){var i=v,o=m;this.vectorToWorldFrame(t,i),this.vectorToWorldFrame(e,o),this.applyForce(i,o)}},new o;var g=new o,w=new o;h.prototype.applyImpulse=function(t,e){if(this.type===h.DYNAMIC){var i=e,o=g;o.copy(t),o.mult(this.invMass,o),this.velocity.vadd(o,this.velocity);var n=w;i.cross(t,n),this.invInertiaWorld.vmult(n,n),this.angularVelocity.vadd(n,this.angularVelocity)}};var b=new o,x=new o;h.prototype.applyLocalImpulse=function(t,e){if(this.type===h.DYNAMIC){var i=b,o=x;this.vectorToWorldFrame(t,i),this.vectorToWorldFrame(e,o),this.applyImpulse(i,o)}};var _=new o;h.prototype.updateMassProperties=function(){var t=_;this.invMass=this.mass>0?1/this.mass:0;var e=this.inertia,i=this.fixedRotation;this.computeAABB(),t.set((this.aabb.upperBound.x-this.aabb.lowerBound.x)/2,(this.aabb.upperBound.y-this.aabb.lowerBound.y)/2,(this.aabb.upperBound.z-this.aabb.lowerBound.z)/2),a.calculateInertia(t,this.mass,e),this.invInertia.set(e.x>0&&!i?1/e.x:0,e.y>0&&!i?1/e.y:0,e.z>0&&!i?1/e.z:0),this.updateInertiaWorld(!0)},h.prototype.getVelocityAtWorldPoint=function(t,e){var i=new o;return t.vsub(this.position,i),this.angularVelocity.cross(i,e),this.velocity.vadd(e,e),e},new o,new o,new r,new r,h.prototype.integrate=function(t,e,i){if(this.previousPosition.copy(this.position),this.previousQuaternion.copy(this.quaternion),(this.type===h.DYNAMIC||this.type===h.KINEMATIC)&&this.sleepState!==h.SLEEPING){var o=this.velocity,n=this.angularVelocity,r=this.position,s=this.force,a=this.torque,l=this.quaternion,c=this.invMass,p=this.invInertiaWorld,u=this.linearFactor,d=c*t;o.x+=s.x*d*u.x,o.y+=s.y*d*u.y,o.z+=s.z*d*u.z;var y=p.elements,f=this.angularFactor,v=a.x*f.x,m=a.y*f.y,g=a.z*f.z;n.x+=t*(y[0]*v+y[1]*m+y[2]*g),n.y+=t*(y[3]*v+y[4]*m+y[5]*g),n.z+=t*(y[6]*v+y[7]*m+y[8]*g),r.x+=o.x*t,r.y+=o.y*t,r.z+=o.z*t,l.integrate(this.angularVelocity,t,this.angularFactor,l),e&&(i?l.normalizeFast():l.normalize()),this.aabbNeedsUpdate=!0,this.updateInertiaWorld()}},h.prototype.isSleeping=function(){return this.sleepState===h.SLEEPING},h.prototype.isSleepy=function(){return this.sleepState===h.SLEEPY},h.prototype.isAwake=function(){return this.sleepState===h.AWAKE},h.prototype.updateHasTrigger=function(){for(var t=this.shapes.length;t--&&(this.hasTrigger=!this.shapes[t].collisionResponse,!this.hasTrigger););}},{"../collision/AABB":3,"../material/Material":26,"../math/Mat3":29,"../math/Quaternion":30,"../math/Vec3":32,"../shapes/Box":39,"../shapes/Shape":45,"../utils/EventTarget":51,"../world/World":58}],34:[function(t,e){t("./Body");var i=t("../math/Vec3"),o=t("../math/Quaternion"),n=(t("../collision/RaycastResult"),t("../collision/Ray")),r=t("../objects/WheelInfo");function s(t){this.chassisBody=t.chassisBody,this.wheelInfos=[],this.sliding=!1,this.world=null,this.indexRightAxis=void 0!==t.indexRightAxis?t.indexRightAxis:1,this.indexForwardAxis=void 0!==t.indexForwardAxis?t.indexForwardAxis:0,this.indexUpAxis=void 0!==t.indexUpAxis?t.indexUpAxis:2}e.exports=s,new i,new i,new i;var a=new i,l=new i,h=new i;new n,s.prototype.addWheel=function(t){var e=new r(t=t||{}),i=this.wheelInfos.length;return this.wheelInfos.push(e),i},s.prototype.setSteeringValue=function(t,e){this.wheelInfos[e].steering=t},new i,s.prototype.applyEngineForce=function(t,e){this.wheelInfos[e].engineForce=t},s.prototype.setBrake=function(t,e){this.wheelInfos[e].brake=t},s.prototype.addToWorld=function(t){this.constraints,t.addBody(this.chassisBody);var e=this;this.preStepCallback=function(){e.updateVehicle(t.dt)},t.addEventListener("preStep",this.preStepCallback),this.world=t},s.prototype.getVehicleAxisWorld=function(t,e){e.set(0===t?1:0,1===t?1:0,2===t?1:0),this.chassisBody.vectorToWorldFrame(e,e)},s.prototype.updateVehicle=function(t){for(var e=this.wheelInfos,o=e.length,n=this.chassisBody,r=0;r<o;r++)this.updateWheelTransform(r);this.currentVehicleSpeedKmHour=3.6*n.velocity.norm();var s=new i;for(this.getVehicleAxisWorld(this.indexForwardAxis,s),s.dot(n.velocity)<0&&(this.currentVehicleSpeedKmHour*=-1),r=0;r<o;r++)this.castRay(e[r]);this.updateSuspension(t);var a=new i,l=new i;for(r=0;r<o;r++){var h=(d=e[r]).suspensionForce;h>d.maxSuspensionForce&&(h=d.maxSuspensionForce),d.raycastResult.hitNormalWorld.scale(h*t,a),d.raycastResult.hitPointWorld.vsub(n.position,l),n.applyImpulse(a,l)}this.updateFriction(t);var c=new i,p=new i,u=new i;for(r=0;r<o;r++){var d=e[r];n.getVelocityAtWorldPoint(d.chassisConnectionPointWorld,u);var y=1;switch(this.indexUpAxis){case 1:y=-1}if(d.isInContact){this.getVehicleAxisWorld(this.indexForwardAxis,p);var f=p.dot(d.raycastResult.hitNormalWorld);d.raycastResult.hitNormalWorld.scale(f,c),p.vsub(c,p);var v=p.dot(u);d.deltaRotation=y*v*t/d.radius}!d.sliding&&d.isInContact||0===d.engineForce||!d.useCustomSlidingRotationalSpeed||(d.deltaRotation=(d.engineForce>0?1:-1)*d.customSlidingRotationalSpeed*t),Math.abs(d.brake)>Math.abs(d.engineForce)&&(d.deltaRotation=0),d.rotation+=d.deltaRotation,d.deltaRotation*=.99}},s.prototype.updateSuspension=function(){for(var t=this.chassisBody.mass,e=this.wheelInfos,i=e.length,o=0;o<i;o++){var n=e[o];if(n.isInContact){var r,s=n.suspensionRestLength-n.suspensionLength;r=n.suspensionStiffness*s*n.clippedInvContactDotSuspension;var a=n.suspensionRelativeVelocity;r-=(a<0?n.dampingCompression:n.dampingRelaxation)*a,n.suspensionForce=r*t,n.suspensionForce<0&&(n.suspensionForce=0)}else n.suspensionForce=0}},s.prototype.removeFromWorld=function(t){this.constraints,t.remove(this.chassisBody),t.removeEventListener("preStep",this.preStepCallback),this.world=null};var c=new i,p=new i;s.prototype.castRay=function(t){var e=c,o=p;this.updateWheelTransformWorld(t);var n=this.chassisBody,r=-1,s=t.suspensionRestLength+t.radius;t.directionWorld.scale(s,e);var a=t.chassisConnectionPointWorld;a.vadd(e,o);var l=t.raycastResult;l.reset();var h=n.collisionResponse;n.collisionResponse=!1,this.world.rayTest(a,o,l),n.collisionResponse=h;var u=l.body;if(t.raycastResult.groundObject=0,u){r=l.distance,t.raycastResult.hitNormalWorld=l.hitNormalWorld,t.isInContact=!0;var d=l.distance;t.suspensionLength=d-t.radius;var y=t.suspensionRestLength-t.maxSuspensionTravel,f=t.suspensionRestLength+t.maxSuspensionTravel;t.suspensionLength<y&&(t.suspensionLength=y),t.suspensionLength>f&&(t.suspensionLength=f,t.raycastResult.reset());var v=t.raycastResult.hitNormalWorld.dot(t.directionWorld),m=new i;n.getVelocityAtWorldPoint(t.raycastResult.hitPointWorld,m);var g=t.raycastResult.hitNormalWorld.dot(m);if(v>=-.1)t.suspensionRelativeVelocity=0,t.clippedInvContactDotSuspension=10;else{var w=-1/v;t.suspensionRelativeVelocity=g*w,t.clippedInvContactDotSuspension=w}}else t.suspensionLength=t.suspensionRestLength+0*t.maxSuspensionTravel,t.suspensionRelativeVelocity=0,t.directionWorld.scale(-1,t.raycastResult.hitNormalWorld),t.clippedInvContactDotSuspension=1;return r},s.prototype.updateWheelTransformWorld=function(t){t.isInContact=!1;var e=this.chassisBody;e.pointToWorldFrame(t.chassisConnectionPointLocal,t.chassisConnectionPointWorld),e.vectorToWorldFrame(t.directionLocal,t.directionWorld),e.vectorToWorldFrame(t.axleLocal,t.axleWorld)},s.prototype.updateWheelTransform=function(t){var e=a,i=l,n=h,r=this.wheelInfos[t];this.updateWheelTransformWorld(r),r.directionLocal.scale(-1,e),i.copy(r.axleLocal),e.cross(i,n),n.normalize(),i.normalize();var s=r.steering,c=new o;c.setFromAxisAngle(e,s);var p=new o;p.setFromAxisAngle(i,r.rotation);var u=r.worldTransform.quaternion;this.chassisBody.quaternion.mult(c,u),u.mult(p,u),u.normalize();var d=r.worldTransform.position;d.copy(r.directionWorld),d.scale(r.suspensionLength,d),d.vadd(r.chassisConnectionPointWorld,d)};var u=[new i(1,0,0),new i(0,1,0),new i(0,0,1)];s.prototype.getWheelTransformWorld=function(t){return this.wheelInfos[t].worldTransform};var d=new i,y=[],f=[];s.prototype.updateFriction=function(t){for(var e=d,o=this.wheelInfos,n=o.length,r=this.chassisBody,s=f,a=y,l=0;l<n;l++)v=(M=o[l]).raycastResult.body,M.sideImpulse=0,M.forwardImpulse=0,s[l]||(s[l]=new i),a[l]||(a[l]=new i);for(l=0;l<n;l++)if(v=(M=o[l]).raycastResult.body){var h=a[l];this.getWheelTransformWorld(l).vectorToWorldFrame(u[this.indexRightAxis],h);var c=M.raycastResult.hitNormalWorld,p=h.dot(c);c.scale(p,e),h.vsub(e,h),h.normalize(),c.cross(h,s[l]),s[l].normalize(),M.sideImpulse=A(r,M.raycastResult.hitPointWorld,v,M.raycastResult.hitPointWorld,h),M.sideImpulse*=1}for(this.sliding=!1,l=0;l<n;l++){var v=(M=o[l]).raycastResult.body,m=0;if(M.slipInfo=1,v){var g=M.brake?M.brake:0;m=w(r,v,M.raycastResult.hitPointWorld,s[l],g);var b=g/(m+=M.engineForce*t);M.slipInfo*=b}if(M.forwardImpulse=0,M.skidInfo=1,v){M.skidInfo=1;var x=M.suspensionForce*t*M.frictionSlip,_=x*x;M.forwardImpulse=m;var B=.5*M.forwardImpulse,S=1*M.sideImpulse,E=B*B+S*S;M.sliding=!1,E>_&&(this.sliding=!0,M.sliding=!0,b=x/Math.sqrt(E),M.skidInfo*=b)}}if(this.sliding)for(l=0;l<n;l++)0!==(M=o[l]).sideImpulse&&M.skidInfo<1&&(M.forwardImpulse*=M.skidInfo,M.sideImpulse*=M.skidInfo);for(l=0;l<n;l++){var M=o[l],C=new i;if(M.raycastResult.hitPointWorld.vsub(r.position,C),0!==M.forwardImpulse){var z=new i;s[l].scale(M.forwardImpulse,z),r.applyImpulse(z,C)}if(0!==M.sideImpulse){v=M.raycastResult.body;var F=new i;M.raycastResult.hitPointWorld.vsub(v.position,F);var R=new i;a[l].scale(M.sideImpulse,R),r.vectorToLocalFrame(C,C),C["xyz"[this.indexUpAxis]]*=M.rollInfluence,r.vectorToWorldFrame(C,C),r.applyImpulse(R,C),R.scale(-1,R),v.applyImpulse(R,F)}}};var v=new i,m=new i,g=new i;function w(t,e,i,o,n){var r=0,s=i,a=v,l=m,h=g;return t.getVelocityAtWorldPoint(s,a),e.getVelocityAtWorldPoint(s,l),a.vsub(l,h),n<(r=-o.dot(h)*(1/(S(t,i,o)+S(e,i,o))))&&(r=n),r<-n&&(r=-n),r}var b=new i,x=new i,_=new i,B=new i;function S(t,e,i){var o=b,n=x,r=_,s=B;return e.vsub(t.position,o),o.cross(i,n),t.invInertiaWorld.vmult(n,s),s.cross(o,r),t.invMass+i.dot(r)}var E=new i,M=new i,C=new i;function A(t,e,i,o,n){if(n.norm2()>1.1)return 0;var r=E,s=M,a=C;return t.getVelocityAtWorldPoint(e,r),i.getVelocityAtWorldPoint(o,s),r.vsub(s,a),-.2*n.dot(a)*(1/(t.invMass+i.invMass))}},{"../collision/Ray":10,"../collision/RaycastResult":11,"../math/Quaternion":30,"../math/Vec3":32,"../objects/WheelInfo":38,"./Body":33}],35:[function(t,e){var i=t("./Body"),o=t("../shapes/Sphere"),n=t("../shapes/Box"),r=t("../math/Vec3"),s=t("../constraints/HingeConstraint"),a=t("../math/CMath");function l(t){if(this.wheelBodies=[],this.coordinateSystem=void 0===t.coordinateSystem?new r(1,2,3):t.coordinateSystem.clone(),this.chassisBody=t.chassisBody,!this.chassisBody){var e=new n(new r(5,2,.5));this.chassisBody=new i(1,e)}this.constraints=[],this.wheelAxes=[],this.wheelForces=[]}e.exports=l,l.prototype.addWheel=function(t){var e=(t=t||{}).body;e||(e=new i(1,new o(1.2))),this.wheelBodies.push(e),this.wheelForces.push(0),new r;var n=void 0!==t.position?t.position.clone():new r,a=new r;this.chassisBody.pointToWorldFrame(n,a),e.position.set(a.x,a.y,a.z);var l=void 0!==t.axis?t.axis.clone():new r(0,1,0);this.wheelAxes.push(l);var h=new s(this.chassisBody,e,{pivotA:n,axisA:l,pivotB:r.ZERO,axisB:l,collideConnected:!1});return this.constraints.push(h),this.wheelBodies.length-1},l.prototype.setSteeringValue=function(t,e){var i=this.wheelAxes[e],o=a.cos(t),n=a.sin(t),r=i.x,s=i.y;this.constraints[e].axisA.set(o*r-n*s,n*r+o*s,0)},l.prototype.setMotorSpeed=function(t,e){var i=this.constraints[e];i.enableMotor(),i.motorTargetVelocity=t},l.prototype.disableMotor=function(t){this.constraints[t].disableMotor()};var h=new r;l.prototype.setWheelForce=function(t,e){this.wheelForces[e]=t},l.prototype.applyWheelForce=function(t,e){var i=this.wheelAxes[e],o=this.wheelBodies[e],n=o.torque;i.scale(t,h),o.vectorToWorldFrame(h,h),n.vadd(h,n)},l.prototype.addToWorld=function(t){for(var e=this.constraints,i=this.wheelBodies.concat([this.chassisBody]),o=0;o<i.length;o++)t.addBody(i[o]);for(o=0;o<e.length;o++)t.addConstraint(e[o]);t.addEventListener("preStep",this._update.bind(this))},l.prototype._update=function(){for(var t=this.wheelForces,e=0;e<t.length;e++)this.applyWheelForce(t[e],e)},l.prototype.removeFromWorld=function(t){for(var e=this.constraints,i=this.wheelBodies.concat([this.chassisBody]),o=0;o<i.length;o++)t.remove(i[o]);for(o=0;o<e.length;o++)t.removeConstraint(e[o])};var c=new r;l.prototype.getWheelSpeed=function(t){var e=this.wheelAxes[t],i=this.wheelBodies[t].angularVelocity;return this.chassisBody.vectorToWorldFrame(e,c),i.dot(c)}},{"../constraints/HingeConstraint":16,"../math/CMath":27,"../math/Vec3":32,"../shapes/Box":39,"../shapes/Sphere":46,"./Body":33}],36:[function(t,e){e.exports=o,t("../shapes/Shape");var i=t("../math/Vec3");function o(){this.particles=[],this.density=1,this.smoothingRadius=1,this.speedOfSound=1,this.viscosity=.01,this.eps=1e-6,this.pressures=[],this.densities=[],this.neighbors=[]}t("../math/Quaternion"),t("../shapes/Particle"),t("../objects/Body"),t("../material/Material"),o.prototype.add=function(t){this.particles.push(t),this.neighbors.length<this.particles.length&&this.neighbors.push([])},o.prototype.remove=function(t){var e=this.particles.indexOf(t);-1!==e&&(this.particles.splice(e,1),this.neighbors.length>this.particles.length&&this.neighbors.pop())};var n=new i;o.prototype.getNeighbors=function(t,e){for(var i=this.particles.length,o=t.id,r=this.smoothingRadius*this.smoothingRadius,s=n,a=0;a!==i;a++){var l=this.particles[a];l.position.vsub(t.position,s),o!==l.id&&s.norm2()<r&&e.push(l)}};var r=new i,s=new i,a=new i,l=new i,h=new i,c=new i;o.prototype.update=function(){for(var t=this.particles.length,e=r,i=this.speedOfSound,o=this.eps,n=0;n!==t;n++){var p=this.particles[n];(S=this.neighbors[n]).length=0,this.getNeighbors(p,S),S.push(this.particles[n]);for(var u=S.length,d=0,y=0;y!==u;y++){p.position.vsub(S[y].position,e);var f=e.norm(),v=this.w(f);d+=S[y].mass*v}this.densities[n]=d,this.pressures[n]=i*i*(this.densities[n]-this.density)}var m=s,g=a,w=l,b=h,x=c;for(n=0;n!==t;n++){var _,B,S,E=this.particles[n];for(m.set(0,0,0),g.set(0,0,0),u=(S=this.neighbors[n]).length,y=0;y!==u;y++){var M=S[y];E.position.vsub(M.position,b);var C=b.norm();_=-M.mass*(this.pressures[n]/(this.densities[n]*this.densities[n]+o)+this.pressures[y]/(this.densities[y]*this.densities[y]+o)),this.gradw(b,w),w.mult(_,w),m.vadd(w,m),M.velocity.vsub(E.velocity,x),x.mult(1/(1e-4+this.densities[n]*this.densities[y])*this.viscosity*M.mass,x),B=this.nablaw(C),x.mult(B,x),g.vadd(x,g)}g.mult(E.mass,g),m.mult(E.mass,m),E.force.vadd(g,E.force),E.force.vadd(m,E.force)}},o.prototype.w=function(t){var e=this.smoothingRadius;return 315/(64*Math.PI*Math.pow(e,9))*Math.pow(e*e-t*t,3)},o.prototype.gradw=function(t,e){var i=t.norm(),o=this.smoothingRadius;t.mult(945/(32*Math.PI*Math.pow(o,9))*Math.pow(o*o-i*i,2),e)},o.prototype.nablaw=function(t){var e=this.smoothingRadius;return 945/(32*Math.PI*Math.pow(e,9))*(e*e-t*t)*(7*t*t-3*e*e)}},{"../material/Material":26,"../math/Quaternion":30,"../math/Vec3":32,"../objects/Body":33,"../shapes/Particle":43,"../shapes/Shape":45}],37:[function(t,e){var i=t("../math/Vec3");function o(t,e,o){o=o||{},this.restLength="number"==typeof o.restLength?o.restLength:1,this.stiffness=o.stiffness||100,this.damping=o.damping||1,this.bodyA=t,this.bodyB=e,this.localAnchorA=new i,this.localAnchorB=new i,o.localAnchorA&&this.localAnchorA.copy(o.localAnchorA),o.localAnchorB&&this.localAnchorB.copy(o.localAnchorB),o.worldAnchorA&&this.setWorldAnchorA(o.worldAnchorA),o.worldAnchorB&&this.setWorldAnchorB(o.worldAnchorB)}e.exports=o,o.prototype.setWorldAnchorA=function(t){this.bodyA.pointToLocalFrame(t,this.localAnchorA)},o.prototype.setWorldAnchorB=function(t){this.bodyB.pointToLocalFrame(t,this.localAnchorB)},o.prototype.getWorldAnchorA=function(t){this.bodyA.pointToWorldFrame(this.localAnchorA,t)},o.prototype.getWorldAnchorB=function(t){this.bodyB.pointToWorldFrame(this.localAnchorB,t)};var n=new i,r=new i,s=new i,a=new i,l=new i,h=new i,c=new i,p=new i,u=new i,d=new i,y=new i;o.prototype.applyForce=function(){var t=this.stiffness,e=this.damping,i=this.restLength,o=this.bodyA,f=this.bodyB,v=n,m=r,g=s,w=a,b=y,x=l,_=h,B=c,S=p,E=u,M=d;this.getWorldAnchorA(x),this.getWorldAnchorB(_),x.vsub(o.position,B),_.vsub(f.position,S),_.vsub(x,v);var C=v.norm();m.copy(v),m.normalize(),f.velocity.vsub(o.velocity,g),f.angularVelocity.cross(S,b),g.vadd(b,g),o.angularVelocity.cross(B,b),g.vsub(b,g),m.mult(-t*(C-i)-e*g.dot(m),w),o.force.vsub(w,o.force),f.force.vadd(w,f.force),B.cross(w,E),S.cross(w,M),o.torque.vsub(E,o.torque),f.torque.vadd(M,f.torque)}},{"../math/Vec3":32}],38:[function(t,e){var i=t("../math/Vec3"),o=t("../math/Transform"),n=t("../collision/RaycastResult"),r=t("../utils/Utils");function s(t){t=r.defaults(t,{chassisConnectionPointLocal:new i,chassisConnectionPointWorld:new i,directionLocal:new i,directionWorld:new i,axleLocal:new i,axleWorld:new i,suspensionRestLength:1,suspensionMaxLength:2,radius:1,suspensionStiffness:100,dampingCompression:10,dampingRelaxation:10,frictionSlip:1e4,steering:0,rotation:0,deltaRotation:0,rollInfluence:.01,maxSuspensionForce:Number.MAX_VALUE,isFrontWheel:!0,clippedInvContactDotSuspension:1,suspensionRelativeVelocity:0,suspensionForce:0,skidInfo:0,suspensionLength:0,maxSuspensionTravel:1,useCustomSlidingRotationalSpeed:!1,customSlidingRotationalSpeed:-.1}),this.maxSuspensionTravel=t.maxSuspensionTravel,this.customSlidingRotationalSpeed=t.customSlidingRotationalSpeed,this.useCustomSlidingRotationalSpeed=t.useCustomSlidingRotationalSpeed,this.sliding=!1,this.chassisConnectionPointLocal=t.chassisConnectionPointLocal.clone(),this.chassisConnectionPointWorld=t.chassisConnectionPointWorld.clone(),this.directionLocal=t.directionLocal.clone(),this.directionWorld=t.directionWorld.clone(),this.axleLocal=t.axleLocal.clone(),this.axleWorld=t.axleWorld.clone(),this.suspensionRestLength=t.suspensionRestLength,this.suspensionMaxLength=t.suspensionMaxLength,this.radius=t.radius,this.suspensionStiffness=t.suspensionStiffness,this.dampingCompression=t.dampingCompression,this.dampingRelaxation=t.dampingRelaxation,this.frictionSlip=t.frictionSlip,this.steering=0,this.rotation=0,this.deltaRotation=0,this.rollInfluence=t.rollInfluence,this.maxSuspensionForce=t.maxSuspensionForce,this.engineForce=0,this.brake=0,this.isFrontWheel=t.isFrontWheel,this.clippedInvContactDotSuspension=1,this.suspensionRelativeVelocity=0,this.suspensionForce=0,this.skidInfo=0,this.suspensionLength=0,this.sideImpulse=0,this.forwardImpulse=0,this.raycastResult=new n,this.worldTransform=new o,this.isInContact=!1}e.exports=s;var a=new i,l=new i;a=new i,s.prototype.updateWheel=function(t){var e=this.raycastResult;if(this.isInContact){var i=e.hitNormalWorld.dot(e.directionWorld);e.hitPointWorld.vsub(t.position,l),t.getVelocityAtWorldPoint(l,a);var o=e.hitNormalWorld.dot(a);if(i>=-.1)this.suspensionRelativeVelocity=0,this.clippedInvContactDotSuspension=10;else{var n=-1/i;this.suspensionRelativeVelocity=o*n,this.clippedInvContactDotSuspension=n}}else e.suspensionLength=this.suspensionRestLength,this.suspensionRelativeVelocity=0,e.directionWorld.scale(-1,e.hitNormalWorld),this.clippedInvContactDotSuspension=1}},{"../collision/RaycastResult":11,"../math/Transform":31,"../math/Vec3":32,"../utils/Utils":55}],39:[function(t,e){e.exports=r;var i=t("./Shape"),o=t("../math/Vec3"),n=t("./ConvexPolyhedron");function r(t){i.call(this,{type:i.types.BOX}),this.halfExtents=t,this.convexPolyhedronRepresentation=null,this.updateConvexPolyhedronRepresentation(),this.updateBoundingSphereRadius()}r.prototype=new i,r.prototype.constructor=r,r.prototype.updateConvexPolyhedronRepresentation=function(){var t=this.halfExtents.x,e=this.halfExtents.y,i=this.halfExtents.z,r=o,s=[new r(-t,-e,-i),new r(t,-e,-i),new r(t,e,-i),new r(-t,e,-i),new r(-t,-e,i),new r(t,-e,i),new r(t,e,i),new r(-t,e,i)],a=(new r(0,0,1),new r(0,1,0),new r(1,0,0),new n(s,[[3,2,1,0],[4,5,6,7],[5,4,0,1],[2,3,7,6],[0,4,7,3],[1,2,6,5]]));this.convexPolyhedronRepresentation=a,a.material=this.material},r.prototype.calculateLocalInertia=function(t,e){return e=e||new o,r.calculateInertia(this.halfExtents,t,e),e},r.calculateInertia=function(t,e,i){var o=t;o.isZero()?(i.x=2/12*e,i.y=2/12*e,i.z=2/12*e):(i.x=1/12*e*(4*o.y*o.y+4*o.z*o.z),i.y=1/12*e*(4*o.x*o.x+4*o.z*o.z),i.z=1/12*e*(4*o.y*o.y+4*o.x*o.x))},r.prototype.getSideNormals=function(t,e){var i=t,o=this.halfExtents;if(i[0].set(o.x,0,0),i[1].set(0,o.y,0),i[2].set(0,0,o.z),i[3].set(-o.x,0,0),i[4].set(0,-o.y,0),i[5].set(0,0,-o.z),void 0!==e)for(var n=0;n!==i.length;n++)e.vmult(i[n],i[n]);return i},r.prototype.volume=function(){return 8*this.halfExtents.x*this.halfExtents.y*this.halfExtents.z},r.prototype.updateBoundingSphereRadius=function(){this.boundingSphereRadius=this.halfExtents.norm()};var s=new o;new o,r.prototype.forEachWorldCorner=function(t,e,i){for(var o=this.halfExtents,n=[[o.x,o.y,o.z],[-o.x,o.y,o.z],[-o.x,-o.y,o.z],[-o.x,-o.y,-o.z],[o.x,-o.y,-o.z],[o.x,o.y,-o.z],[-o.x,o.y,-o.z],[o.x,-o.y,o.z]],r=0;r<n.length;r++)s.set(n[r][0],n[r][1],n[r][2]),e.vmult(s,s),t.vadd(s,s),i(s.x,s.y,s.z)};var a=[new o,new o,new o,new o,new o,new o,new o,new o];r.prototype.calculateWorldAABB=function(t,e,i,o){var n=this.halfExtents;a[0].set(n.x,n.y,n.z),a[1].set(-n.x,n.y,n.z),a[2].set(-n.x,-n.y,n.z),a[3].set(-n.x,-n.y,-n.z),a[4].set(n.x,-n.y,-n.z),a[5].set(n.x,n.y,-n.z),a[6].set(-n.x,n.y,-n.z),a[7].set(n.x,-n.y,n.z);var r=a[0];e.vmult(r,r),t.vadd(r,r),o.copy(r),i.copy(r);for(var s=1;s<8;s++){r=a[s],e.vmult(r,r),t.vadd(r,r);var l=r.x,h=r.y,c=r.z;l>o.x&&(o.x=l),h>o.y&&(o.y=h),c>o.z&&(o.z=c),l<i.x&&(i.x=l),h<i.y&&(i.y=h),c<i.z&&(i.z=c)}}},{"../math/Vec3":32,"./ConvexPolyhedron":40,"./Shape":45}],40:[function(t,e){e.exports=r;var i=t("./Shape"),o=t("../math/Vec3"),n=(t("../math/Quaternion"),t("../math/Transform"));function r(t,e,o){i.call(this,{type:i.types.CONVEXPOLYHEDRON}),this.vertices=t||[],this.worldVertices=[],this.worldVerticesNeedsUpdate=!0,this.faces=e||[],this.faceNormals=[],this.computeNormals(),this.worldFaceNormalsNeedsUpdate=!0,this.worldFaceNormals=[],this.uniqueEdges=[],this.uniqueAxes=o?o.slice():null,this.computeEdges(),this.updateBoundingSphereRadius()}r.prototype=new i,r.prototype.constructor=r;var s=new o;r.prototype.computeEdges=function(){var t=this.faces,e=this.vertices,i=(e.length,this.uniqueEdges);i.length=0;for(var o=s,n=0;n!==t.length;n++)for(var r=t[n],a=r.length,l=0;l!==a;l++){var h=(l+1)%a;e[r[l]].vsub(e[r[h]],o),o.normalize();for(var c=!1,p=0;p!==i.length;p++)if(i[p].almostEquals(o)||i[p].almostEquals(o)){c=!0;break}c||i.push(o.clone())}},r.prototype.computeNormals=function(){this.faceNormals.length=this.faces.length;for(var t=0;t<this.faces.length;t++){for(var e=0;e<this.faces[t].length;e++)if(!this.vertices[this.faces[t][e]])throw new Error("Vertex "+this.faces[t][e]+" not found!");var i=this.faceNormals[t]||new o;this.getFaceNormal(t,i),i.negate(i),this.faceNormals[t]=i;var n=this.vertices[this.faces[t][0]];if(i.dot(n)<0)for(console.error(".faceNormals["+t+"] = Vec3("+i.toString()+") looks like it points into the shape? The vertices follow. Make sure they are ordered CCW around the normal, using the right hand rule."),e=0;e<this.faces[t].length;e++)console.warn(".vertices["+this.faces[t][e]+"] = Vec3("+this.vertices[this.faces[t][e]].toString()+")")}};var a=new o,l=new o;r.computeNormal=function(t,e,i,o){e.vsub(t,l),i.vsub(e,a),a.cross(l,o),o.isZero()||o.normalize()},r.prototype.getFaceNormal=function(t,e){var i=this.faces[t],o=this.vertices[i[0]],n=this.vertices[i[1]],s=this.vertices[i[2]];return r.computeNormal(o,n,s,e)};var h=new o;r.prototype.clipAgainstHull=function(t,e,i,n,r,s,a,l,c){for(var p=h,u=-1,d=-Number.MAX_VALUE,y=0;y<i.faces.length;y++){p.copy(i.faceNormals[y]),r.vmult(p,p);var f=p.dot(s);f>d&&(d=f,u=y)}for(var v=[],m=i.faces[u],g=m.length,w=0;w<g;w++){var b=i.vertices[m[w]],x=new o;x.copy(b),r.vmult(x,x),n.vadd(x,x),v.push(x)}u>=0&&this.clipFaceAgainstHull(s,t,e,v,a,l,c)};var c=new o,p=new o,u=new o,d=new o,y=new o,f=new o;r.prototype.findSeparatingAxis=function(t,e,i,o,n,r,s,a){var l=c,h=p,v=u,m=d,g=y,w=f,b=Number.MAX_VALUE;if(this.uniqueAxes)for(_=0;_!==this.uniqueAxes.length;_++){if(i.vmult(this.uniqueAxes[_],l),!1===(E=this.testSepAxis(l,t,e,i,o,n)))return!1;E<b&&(b=E,r.copy(l))}else for(var x=s?s.length:this.faces.length,_=0;_<x;_++){var B=s?s[_]:_;if(l.copy(this.faceNormals[B]),i.vmult(l,l),!1===(E=this.testSepAxis(l,t,e,i,o,n)))return!1;E<b&&(b=E,r.copy(l))}if(t.uniqueAxes)for(_=0;_!==t.uniqueAxes.length;_++){if(n.vmult(t.uniqueAxes[_],h),!1===(E=this.testSepAxis(h,t,e,i,o,n)))return!1;E<b&&(b=E,r.copy(h))}else{var S=a?a.length:t.faces.length;for(_=0;_<S;_++){var E;if(B=a?a[_]:_,h.copy(t.faceNormals[B]),n.vmult(h,h),!1===(E=this.testSepAxis(h,t,e,i,o,n)))return!1;E<b&&(b=E,r.copy(h))}}for(var M=0;M!==this.uniqueEdges.length;M++){i.vmult(this.uniqueEdges[M],m);for(var C=0;C!==t.uniqueEdges.length;C++)if(n.vmult(t.uniqueEdges[C],g),m.cross(g,w),!w.almostZero()){w.normalize();var A=this.testSepAxis(w,t,e,i,o,n);if(!1===A)return!1;A<b&&(b=A,r.copy(w))}}return o.vsub(e,v),v.dot(r)>0&&r.negate(r),!0};var v=[],m=[];r.prototype.testSepAxis=function(t,e,i,o,n,s){r.project(this,t,i,o,v),r.project(e,t,n,s,m);var a=v[0],l=v[1],h=m[0],c=m[1];if(a<c||h<l)return!1;var p=a-c,u=h-l;return p<u?p:u};var g=new o,w=new o;r.prototype.calculateLocalInertia=function(t,e){this.computeLocalAABB(g,w);var i=w.x-g.x,o=w.y-g.y,n=w.z-g.z;e.x=1/12*t*(4*o*o+4*n*n),e.y=1/12*t*(4*i*i+4*n*n),e.z=1/12*t*(4*o*o+4*i*i)},r.prototype.getPlaneConstantOfFace=function(t){var e=this.faces[t],i=this.faceNormals[t],o=this.vertices[e[0]];return-i.dot(o)};var b=new o,x=new o,_=new o,B=new o,S=new o,E=new o,M=new o,C=new o;r.prototype.clipFaceAgainstHull=function(t,e,i,o,n,r,s){for(var a=b,l=x,h=_,c=B,p=S,u=E,d=M,y=C,f=o,v=[],m=-1,g=Number.MAX_VALUE,w=0;w<this.faces.length;w++){a.copy(this.faceNormals[w]),i.vmult(a,a);var A=a.dot(t);A<g&&(g=A,m=w)}if(!(m<0)){var z=this.faces[m];z.connectedFaces=[];for(var F=0;F<this.faces.length;F++)for(var R=0;R<this.faces[F].length;R++)-1!==z.indexOf(this.faces[F][R])&&F!==m&&-1===z.connectedFaces.indexOf(F)&&z.connectedFaces.push(F);f.length;for(var T=z.length,P=0;P<T;P++){var q=this.vertices[z[P]],I=this.vertices[z[(P+1)%T]];q.vsub(I,l),h.copy(l),i.vmult(h,h),e.vadd(h,h),c.copy(this.faceNormals[m]),i.vmult(c,c),e.vadd(c,c),h.cross(c,p),p.negate(p),u.copy(q),i.vmult(u,u),e.vadd(u,u),u.dot(p);var V=z.connectedFaces[P];d.copy(this.faceNormals[V]);var O=this.getPlaneConstantOfFace(V);y.copy(d),i.vmult(y,y);var k=O-y.dot(e);for(this.clipFaceAgainstPlane(f,v,y,k);f.length;)f.shift();for(;v.length;)f.push(v.shift())}for(d.copy(this.faceNormals[m]),O=this.getPlaneConstantOfFace(m),y.copy(d),i.vmult(y,y),k=O-y.dot(e),F=0;F<f.length;F++){var N=y.dot(f[F])+k;if(N<=n&&(N=n),N<=r){var j=f[F];if(N<=0){var L={point:j,normal:y,depth:N};s.push(L)}}}}},r.prototype.clipFaceAgainstPlane=function(t,e,i,n){var r,s,a=t.length;if(a<2)return e;var l=t[t.length-1],h=t[0];r=i.dot(l)+n;for(var c=0;c<a;c++){if(h=t[c],s=i.dot(h)+n,r<0)if(s<0)(p=new o).copy(h),e.push(p);else{var p=new o;l.lerp(h,r/(r-s),p),e.push(p)}else s<0&&(p=new o,l.lerp(h,r/(r-s),p),e.push(p),e.push(h));l=h,r=s}return e},r.prototype.computeWorldVertices=function(t,e){for(var i=this.vertices.length;this.worldVertices.length<i;)this.worldVertices.push(new o);for(var n=this.vertices,r=this.worldVertices,s=0;s!==i;s++)e.vmult(n[s],r[s]),t.vadd(r[s],r[s]);this.worldVerticesNeedsUpdate=!1},new o,r.prototype.computeLocalAABB=function(t,e){var i=this.vertices.length,o=this.vertices;t.set(Number.MAX_VALUE,Number.MAX_VALUE,Number.MAX_VALUE),e.set(-Number.MAX_VALUE,-Number.MAX_VALUE,-Number.MAX_VALUE);for(var n=0;n<i;n++){var r=o[n];r.x<t.x?t.x=r.x:r.x>e.x&&(e.x=r.x),r.y<t.y?t.y=r.y:r.y>e.y&&(e.y=r.y),r.z<t.z?t.z=r.z:r.z>e.z&&(e.z=r.z)}},r.prototype.computeWorldFaceNormals=function(t){for(var e=this.faceNormals.length;this.worldFaceNormals.length<e;)this.worldFaceNormals.push(new o);for(var i=this.faceNormals,n=this.worldFaceNormals,r=0;r!==e;r++)t.vmult(i[r],n[r]);this.worldFaceNormalsNeedsUpdate=!1},r.prototype.updateBoundingSphereRadius=function(){for(var t=0,e=this.vertices,i=0,o=e.length;i!==o;i++){var n=e[i].norm2();n>t&&(t=n)}this.boundingSphereRadius=Math.sqrt(t)};var A=new o;r.prototype.calculateWorldAABB=function(t,e,i,o){for(var n,r,s,a,l,h,c=this.vertices.length,p=this.vertices,u=0;u<c;u++){A.copy(p[u]),e.vmult(A,A),t.vadd(A,A);var d=A;(d.x<n||void 0===n)&&(n=d.x),(d.x>a||void 0===a)&&(a=d.x),(d.y<r||void 0===r)&&(r=d.y),(d.y>l||void 0===l)&&(l=d.y),(d.z<s||void 0===s)&&(s=d.z),(d.z>h||void 0===h)&&(h=d.z)}i.set(n,r,s),o.set(a,l,h)},r.prototype.volume=function(){return 4*Math.PI*this.boundingSphereRadius/3},r.prototype.getAveragePointLocal=function(t){t=t||new o;for(var e=this.vertices.length,i=this.vertices,n=0;n<e;n++)t.vadd(i[n],t);return t.mult(1/e,t),t},r.prototype.transformAllPoints=function(t,e){var i=this.vertices.length,o=this.vertices;if(e){for(var n=0;n<i;n++){var r=o[n];e.vmult(r,r)}for(n=0;n<this.faceNormals.length;n++)r=this.faceNormals[n],e.vmult(r,r)}if(t)for(n=0;n<i;n++)(r=o[n]).vadd(t,r)};var z=new o,F=new o,R=new o;r.prototype.pointIsInside=function(t){var e=this.vertices.length,i=this.vertices,o=this.faces,n=this.faceNormals,r=this.faces.length,s=z;this.getAveragePointLocal(s);for(var a=0;a<r;a++){this.faces[a].length,e=n[a];var l=i[o[a][0]],h=F;t.vsub(l,h);var c=e.dot(h),p=R;s.vsub(l,p);var u=e.dot(p);if(c<0&&u>0||c>0&&u<0)return!1}return-1},new o;var T=new o,P=new o;r.project=function(t,e,i,o,r){var s=t.vertices.length,a=T,l=0,h=0,c=P,p=t.vertices;c.setZero(),n.vectorToLocalFrame(i,o,e,a),n.pointToLocalFrame(i,o,c,c);var u=c.dot(a);h=l=p[0].dot(a);for(var d=1;d<s;d++){var y=p[d].dot(a);y>l&&(l=y),y<h&&(h=y)}if((h-=u)>(l-=u)){var f=h;h=l,l=f}r[0]=l,r[1]=h}},{"../math/Quaternion":30,"../math/Transform":31,"../math/Vec3":32,"./Shape":45}],41:[function(t,e){e.exports=r,t("./Shape");var i=t("../math/Vec3"),o=(t("../math/Quaternion"),t("./ConvexPolyhedron")),n=t("../math/CMath");function r(t,e,r,s,a){if(a){for(var l=s,h=n.cos,c=n.sin,p=r/2,u=[],d=[],y=[0],f=[1],v=[],m=2*Math.PI/l,g=0;g<l;g++)u.push(new i(t*h(m*g),p,t*c(m*g))),u.push(new i(t*h(m*g),-p,t*c(m*g))),g<l-1?(d.push([2*g+2,2*g+3,2*g+1,2*g]),y.push(2*g+2),f.push(2*g+3)):d.push([0,1,2*g+1,2*g]),(l%2==1||g<l/2)&&v.push(new i(h(m*(g+.5)),0,c(m*(g+.5))));d.push(f);var w=[];for(g=0;g<y.length;g++)w.push(y[y.length-g-1]);return d.push(w),v.push(new i(0,1,0)),void o.call(this,u,d,v)}l=s;var b=[],x=(v=[],[]),_=[],B=[];for(h=n.cos,c=n.sin,b.push(new i(e*h(0),e*c(0),.5*-r)),_.push(0),b.push(new i(t*h(0),t*c(0),.5*r)),B.push(1),g=0;g<l;g++){m=2*Math.PI/l*(g+1);var S=2*Math.PI/l*(g+.5);g<l-1?(b.push(new i(e*h(m),e*c(m),.5*-r)),_.push(2*g+2),b.push(new i(t*h(m),t*c(m),.5*r)),B.push(2*g+3),x.push([2*g+2,2*g+3,2*g+1,2*g])):x.push([0,1,2*g+1,2*g]),(l%2==1||g<l/2)&&v.push(new i(h(S),c(S),0))}for(x.push(B),v.push(new i(0,0,1)),w=[],g=0;g<_.length;g++)w.push(_[_.length-g-1]);x.push(w),o.call(this,b,x,v)}r.prototype=new o},{"../math/CMath":27,"../math/Quaternion":30,"../math/Vec3":32,"./ConvexPolyhedron":40,"./Shape":45}],42:[function(t,e){var i=t("./Shape"),o=t("./ConvexPolyhedron"),n=t("../math/Vec3"),r=t("../utils/Utils");function s(t,e){e=r.defaults(e,{maxValue:null,minValue:null,elementSize:1}),this.data=t,this.maxValue=e.maxValue,this.minValue=e.minValue,this.elementSize=e.elementSize,null===e.minValue&&this.updateMinValue(),null===e.maxValue&&this.updateMaxValue(),this.cacheEnabled=!0,i.call(this,{type:i.types.HEIGHTFIELD}),this.pillarConvex=new o,this.pillarOffset=new n,this.updateBoundingSphereRadius(),this._cachedPillars={}}e.exports=s,s.prototype=new i,s.prototype.update=function(){this._cachedPillars={}},s.prototype.updateMinValue=function(){for(var t=this.data,e=t[0][0],i=0;i!==t.length;i++)for(var o=0;o!==t[i].length;o++){var n=t[i][o];n<e&&(e=n)}this.minValue=e},s.prototype.updateMaxValue=function(){for(var t=this.data,e=t[0][0],i=0;i!==t.length;i++)for(var o=0;o!==t[i].length;o++){var n=t[i][o];n>e&&(e=n)}this.maxValue=e},s.prototype.setHeightValueAtIndex=function(t,e,i){this.data[t][e]=i,this.clearCachedConvexTrianglePillar(t,e,!1),t>0&&(this.clearCachedConvexTrianglePillar(t-1,e,!0),this.clearCachedConvexTrianglePillar(t-1,e,!1)),e>0&&(this.clearCachedConvexTrianglePillar(t,e-1,!0),this.clearCachedConvexTrianglePillar(t,e-1,!1)),e>0&&t>0&&this.clearCachedConvexTrianglePillar(t-1,e-1,!0)},s.prototype.getRectMinMax=function(t,e,i,o,n){n=n||[];for(var r=this.data,s=this.minValue,a=t;a<=i;a++)for(var l=e;l<=o;l++){var h=r[a][l];h>s&&(s=h)}n[0]=this.minValue,n[1]=s},s.prototype.getIndexOfPosition=function(t,e,i,o){var n=this.elementSize,r=this.data,s=Math.floor(t/n),a=Math.floor(e/n);return i[0]=s,i[1]=a,o&&(s<0&&(s=0),a<0&&(a=0),s>=r.length-1&&(s=r.length-1),a>=r[0].length-1&&(a=r[0].length-1)),!(s<0||a<0||s>=r.length-1||a>=r[0].length-1)};var a=[],l=new n,h=new n,c=new n,p=new n;s.prototype.getTriangleAt=function(t,e,i,o,n,r){var s=a;this.getIndexOfPosition(t,e,s,i);var l=s[0],h=s[1],c=this.data;i&&(l=Math.min(c.length-2,Math.max(0,l)),h=Math.min(c[0].length-2,Math.max(0,h)));var p=this.elementSize,u=Math.pow(t/p-l,2)+Math.pow(e/p-h,2)>Math.pow(t/p-(l+1),2)+Math.pow(e/p-(h+1),2);return this.getTriangle(l,h,u,o,n,r),u};var u=new n,d=new n,y=new n,f=new n,v=new n;function m(t,e,i,o,n,r,s,a,l){l.x=((r-a)*(t-s)+(s-n)*(e-a))/((r-a)*(i-s)+(s-n)*(o-a)),l.y=((a-o)*(t-s)+(i-s)*(e-a))/((r-a)*(i-s)+(s-n)*(o-a)),l.z=1-l.x-l.y}s.prototype.getNormalAt=function(t,e,i,o){var n=u,r=d,s=y,a=f,l=v;this.getTriangleAt(t,e,i,n,r,s),r.vsub(n,a),s.vsub(n,l),a.cross(l,o),o.normalize()},s.prototype.getAabbAtIndex=function(t,e,i){var o=this.data,n=this.elementSize;i.lowerBound.set(t*n,e*n,o[t][e]),i.upperBound.set((t+1)*n,(e+1)*n,o[t+1][e+1])},s.prototype.getHeightAt=function(t,e,i){var o=this.data,n=h,r=c,s=p,u=a;this.getIndexOfPosition(t,e,u,i);var d=u[0],y=u[1];i&&(d=Math.min(o.length-2,Math.max(0,d)),y=Math.min(o[0].length-2,Math.max(0,y)));var f=this.getTriangleAt(t,e,i,n,r,s);m(t,e,n.x,n.y,r.x,r.y,s.x,s.y,l);var v=l;return f?o[d+1][y+1]*v.x+o[d][y+1]*v.y+o[d+1][y]*v.z:o[d][y]*v.x+o[d+1][y]*v.y+o[d][y+1]*v.z},s.prototype.getCacheConvexTrianglePillarKey=function(t,e,i){return t+"_"+e+"_"+(i?1:0)},s.prototype.getCachedConvexTrianglePillar=function(t,e,i){return this._cachedPillars[this.getCacheConvexTrianglePillarKey(t,e,i)]},s.prototype.setCachedConvexTrianglePillar=function(t,e,i,o,n){this._cachedPillars[this.getCacheConvexTrianglePillarKey(t,e,i)]={convex:o,offset:n}},s.prototype.clearCachedConvexTrianglePillar=function(t,e,i){delete this._cachedPillars[this.getCacheConvexTrianglePillarKey(t,e,i)]},s.prototype.getTriangle=function(t,e,i,o,n,r){var s=this.data,a=this.elementSize;i?(o.set((t+1)*a,(e+1)*a,s[t+1][e+1]),n.set(t*a,(e+1)*a,s[t][e+1]),r.set((t+1)*a,e*a,s[t+1][e])):(o.set(t*a,e*a,s[t][e]),n.set((t+1)*a,e*a,s[t+1][e]),r.set(t*a,(e+1)*a,s[t][e+1]))},s.prototype.getConvexTrianglePillar=function(t,e,i){var r=this.pillarConvex,s=this.pillarOffset;if(this.cacheEnabled){if(a=this.getCachedConvexTrianglePillar(t,e,i))return this.pillarConvex=a.convex,void(this.pillarOffset=a.offset);r=new o,s=new n,this.pillarConvex=r,this.pillarOffset=s}var a=this.data,l=this.elementSize,h=r.faces;r.vertices.length=6;for(var c=0;c<6;c++)r.vertices[c]||(r.vertices[c]=new n);for(h.length=5,c=0;c<5;c++)h[c]||(h[c]=[]);var p=r.vertices,u=(Math.min(a[t][e],a[t+1][e],a[t][e+1],a[t+1][e+1])-this.minValue)/2+this.minValue;i?(s.set((t+.75)*l,(e+.75)*l,u),p[0].set(.25*l,.25*l,a[t+1][e+1]-u),p[1].set(-.75*l,.25*l,a[t][e+1]-u),p[2].set(.25*l,-.75*l,a[t+1][e]-u),p[3].set(.25*l,.25*l,-u-1),p[4].set(-.75*l,.25*l,-u-1),p[5].set(.25*l,-.75*l,-u-1),h[0][0]=0,h[0][1]=1,h[0][2]=2,h[1][0]=5,h[1][1]=4,h[1][2]=3,h[2][0]=2,h[2][1]=5,h[2][2]=3,h[2][3]=0,h[3][0]=3,h[3][1]=4,h[3][2]=1,h[3][3]=0,h[4][0]=1,h[4][1]=4,h[4][2]=5,h[4][3]=2):(s.set((t+.25)*l,(e+.25)*l,u),p[0].set(-.25*l,-.25*l,a[t][e]-u),p[1].set(.75*l,-.25*l,a[t+1][e]-u),p[2].set(-.25*l,.75*l,a[t][e+1]-u),p[3].set(-.25*l,-.25*l,-u-1),p[4].set(.75*l,-.25*l,-u-1),p[5].set(-.25*l,.75*l,-u-1),h[0][0]=0,h[0][1]=1,h[0][2]=2,h[1][0]=5,h[1][1]=4,h[1][2]=3,h[2][0]=0,h[2][1]=2,h[2][2]=5,h[2][3]=3,h[3][0]=1,h[3][1]=0,h[3][2]=3,h[3][3]=4,h[4][0]=4,h[4][1]=5,h[4][2]=2,h[4][3]=1),r.computeNormals(),r.computeEdges(),r.updateBoundingSphereRadius(),this.setCachedConvexTrianglePillar(t,e,i,r,s)},s.prototype.calculateLocalInertia=function(t,e){return(e=e||new n).set(0,0,0),e},s.prototype.volume=function(){return Number.MAX_VALUE},s.prototype.calculateWorldAABB=function(t,e,i,o){i.set(-Number.MAX_VALUE,-Number.MAX_VALUE,-Number.MAX_VALUE),o.set(Number.MAX_VALUE,Number.MAX_VALUE,Number.MAX_VALUE)},s.prototype.updateBoundingSphereRadius=function(){var t=this.data,e=this.elementSize;this.boundingSphereRadius=new n(t.length*e,t[0].length*e,Math.max(Math.abs(this.maxValue),Math.abs(this.minValue))).norm()},s.prototype.setHeightsFromImage=function(t,e){var i=document.createElement("canvas");i.width=t.width,i.height=t.height;var o=i.getContext("2d");o.drawImage(t,0,0);var n=o.getImageData(0,0,t.width,t.height),r=this.data;r.length=0,this.elementSize=Math.abs(e.x)/n.width;for(var s=0;s<n.height;s++){for(var a=[],l=0;l<n.width;l++){var h=(n.data[4*(s*n.height+l)]+n.data[4*(s*n.height+l)+1]+n.data[4*(s*n.height+l)+2])/4/255*e.z;e.x<0?a.push(h):a.unshift(h)}e.y<0?r.unshift(a):r.push(a)}this.updateMaxValue(),this.updateMinValue(),this.update()}},{"../math/Vec3":32,"../utils/Utils":55,"./ConvexPolyhedron":40,"./Shape":45}],43:[function(t,e){e.exports=n;var i=t("./Shape"),o=t("../math/Vec3");function n(){i.call(this,{type:i.types.PARTICLE})}n.prototype=new i,n.prototype.constructor=n,n.prototype.calculateLocalInertia=function(t,e){return(e=e||new o).set(0,0,0),e},n.prototype.volume=function(){return 0},n.prototype.updateBoundingSphereRadius=function(){this.boundingSphereRadius=0},n.prototype.calculateWorldAABB=function(t,e,i,o){i.copy(t),o.copy(t)}},{"../math/Vec3":32,"./Shape":45}],44:[function(t,e){e.exports=n;var i=t("./Shape"),o=t("../math/Vec3");function n(){i.call(this,{type:i.types.PLANE}),this.worldNormal=new o,this.worldNormalNeedsUpdate=!0,this.boundingSphereRadius=Number.MAX_VALUE}n.prototype=new i,n.prototype.constructor=n,n.prototype.computeWorldNormal=function(t){var e=this.worldNormal;e.set(0,0,1),t.vmult(e,e),this.worldNormalNeedsUpdate=!1},n.prototype.calculateLocalInertia=function(t,e){return e||new o},n.prototype.volume=function(){return Number.MAX_VALUE};var r=new o;n.prototype.calculateWorldAABB=function(t,e,i,o){r.set(0,0,1),e.vmult(r,r);var n=Number.MAX_VALUE;i.set(-n,-n,-n),o.set(n,n,n),1===r.x&&(o.x=t.x),1===r.y&&(o.y=t.y),1===r.z&&(o.z=t.z),-1===r.x&&(i.x=t.x),-1===r.y&&(i.y=t.y),-1===r.z&&(i.z=t.z)},n.prototype.updateBoundingSphereRadius=function(){this.boundingSphereRadius=Number.MAX_VALUE}},{"../math/Vec3":32,"./Shape":45}],45:[function(t,e){e.exports=o;var i=t("../utils/EventTarget"),o=t("./Shape");function o(t){t=t||{},i.apply(this),this.id=o.idCounter++,this.type=t.type||0,this.boundingSphereRadius=0,this.collisionResponse=!t.collisionResponse||t.collisionResponse,this.collisionFilterGroup=void 0!==t.collisionFilterGroup?t.collisionFilterGroup:1,this.collisionFilterMask=void 0!==t.collisionFilterMask?t.collisionFilterMask:-1,this.material=t.material?t.material:null,this.body=null}t("../math/Vec3"),t("../math/Quaternion"),t("../material/Material"),o.prototype=new i,o.prototype.constructor=o,o.prototype.updateBoundingSphereRadius=function(){throw"computeBoundingSphereRadius() not implemented for shape type "+this.type},o.prototype.volume=function(){throw"volume() not implemented for shape type "+this.type},o.prototype.calculateLocalInertia=function(){throw"calculateLocalInertia() not implemented for shape type "+this.type},o.idCounter=0,o.types={SPHERE:1,PLANE:2,BOX:4,COMPOUND:8,CONVEXPOLYHEDRON:16,HEIGHTFIELD:32,PARTICLE:64,CYLINDER:128,TRIMESH:256}},{"../material/Material":26,"../math/Quaternion":30,"../math/Vec3":32,"../utils/EventTarget":51,"./Shape":45}],46:[function(t,e){e.exports=n;var i=t("./Shape"),o=t("../math/Vec3");function n(t){if(i.call(this,{type:i.types.SPHERE}),this.radius=void 0!==t?t:1,this.radius<0)throw new Error("The sphere radius cannot be negative.");this.updateBoundingSphereRadius()}n.prototype=new i,n.prototype.constructor=n,n.prototype.calculateLocalInertia=function(t,e){e=e||new o;var i=2*t*this.radius*this.radius/5;return e.x=i,e.y=i,e.z=i,e},n.prototype.volume=function(){return 4*Math.PI*this.radius/3},n.prototype.updateBoundingSphereRadius=function(){this.boundingSphereRadius=this.radius},n.prototype.calculateWorldAABB=function(t,e,i,o){for(var n=this.radius,r=["x","y","z"],s=0;s<r.length;s++){var a=r[s];i[a]=t[a]-n,o[a]=t[a]+n}}},{"../math/Vec3":32,"./Shape":45}],47:[function(t,e){e.exports=l;var i=t("./Shape"),o=t("../math/Vec3"),n=(t("../math/Quaternion"),t("../math/Transform")),r=t("../collision/AABB"),s=t("../utils/Octree"),a=t("../math/CMath");function l(t,e){i.call(this,{type:i.types.TRIMESH}),this.vertices=new Float32Array(t),this.indices=new Int16Array(e),this.normals=new Float32Array(e.length),this.aabb=new r,this.edges=null,this.scale=new o(1,1,1),this.tree=new s,this.updateEdges(),this.updateNormals(),this.updateAABB(),this.updateBoundingSphereRadius(),this.updateTree()}l.prototype=new i,l.prototype.constructor=l;var h=new o;l.prototype.updateTree=function(){var t=this.tree;t.reset(),t.aabb.copy(this.aabb);var e=this.scale;t.aabb.lowerBound.x*=1/e.x,t.aabb.lowerBound.y*=1/e.y,t.aabb.lowerBound.z*=1/e.z,t.aabb.upperBound.x*=1/e.x,t.aabb.upperBound.y*=1/e.y,t.aabb.upperBound.z*=1/e.z;for(var i=new r,n=new o,s=new o,a=new o,l=[n,s,a],h=0;h<this.indices.length/3;h++){var c=3*h;this._getUnscaledVertex(this.indices[c],n),this._getUnscaledVertex(this.indices[c+1],s),this._getUnscaledVertex(this.indices[c+2],a),i.setFromPoints(l),t.insert(i,h)}t.removeEmptyNodes()};var c=new r;l.prototype.getTrianglesInAABB=function(t,e){c.copy(t);var i=this.scale,o=i.x,n=i.y,r=i.z,s=c.lowerBound,a=c.upperBound;return s.x/=o,s.y/=n,s.z/=r,a.x/=o,a.y/=n,a.z/=r,this.tree.aabbQuery(c,e)},l.prototype.setScale=function(t){var e=this.scale.x===this.scale.y===this.scale.z,i=t.x===t.y===t.z;e&&i||this.updateNormals(),this.scale.copy(t),this.updateAABB(),this.updateBoundingSphereRadius()},l.prototype.updateNormals=function(){for(var t=h,e=this.normals,i=0;i<this.indices.length/3;i++){var o=3*i,n=this.indices[o],r=this.indices[o+1],s=this.indices[o+2];this.getVertex(n,f),this.getVertex(r,v),this.getVertex(s,m),l.computeNormal(v,f,m,t),e[o]=t.x,e[o+1]=t.y,e[o+2]=t.z}},l.prototype.updateEdges=function(){for(var t={},e=function(){t[n<r?n+"_"+r:r+"_"+n]=!0},i=0;i<this.indices.length/3;i++){var o=3*i,n=this.indices[o],r=this.indices[o+1];this.indices[o+2],e(),e(),e()}var s=Object.keys(t);for(this.edges=new Int16Array(2*s.length),i=0;i<s.length;i++){var a=s[i].split("_");this.edges[2*i]=parseInt(a[0],10),this.edges[2*i+1]=parseInt(a[1],10)}},l.prototype.getEdgeVertex=function(t,e,i){var o=this.edges[2*t+(e?1:0)];this.getVertex(o,i)};var p=new o,u=new o;l.prototype.getEdgeVector=function(t,e){var i=p,o=u;this.getEdgeVertex(t,0,i),this.getEdgeVertex(t,1,o),o.vsub(i,e)};var d=new o,y=new o;l.computeNormal=function(t,e,i,o){e.vsub(t,y),i.vsub(e,d),d.cross(y,o),o.isZero()||o.normalize()};var f=new o,v=new o,m=new o;l.prototype.getVertex=function(t,e){var i=this.scale;return this._getUnscaledVertex(t,e),e.x*=i.x,e.y*=i.y,e.z*=i.z,e},l.prototype._getUnscaledVertex=function(t,e){var i=3*t,o=this.vertices;return e.set(o[i],o[i+1],o[i+2])},l.prototype.getWorldVertex=function(t,e,i,o){return this.getVertex(t,o),n.pointToWorldFrame(e,i,o,o),o},l.prototype.getTriangleVertices=function(t,e,i,o){var n=3*t;this.getVertex(this.indices[n],e),this.getVertex(this.indices[n+1],i),this.getVertex(this.indices[n+2],o)},l.prototype.getNormal=function(t,e){var i=3*t;return e.set(this.normals[i],this.normals[i+1],this.normals[i+2])};var g=new r;l.prototype.calculateLocalInertia=function(t,e){this.computeLocalAABB(g);var i=g.upperBound.x-g.lowerBound.x,o=g.upperBound.y-g.lowerBound.y,n=g.upperBound.z-g.lowerBound.z;return e.set(1/12*t*(4*o*o+4*n*n),1/12*t*(4*i*i+4*n*n),1/12*t*(4*o*o+4*i*i))};var w=new o;l.prototype.computeLocalAABB=function(t){var e=t.lowerBound,i=t.upperBound,o=this.vertices.length,n=(this.vertices,w);this.getVertex(0,n),e.copy(n),i.copy(n);for(var r=0;r!==o;r++)this.getVertex(r,n),n.x<e.x?e.x=n.x:n.x>i.x&&(i.x=n.x),n.y<e.y?e.y=n.y:n.y>i.y&&(i.y=n.y),n.z<e.z?e.z=n.z:n.z>i.z&&(i.z=n.z)},l.prototype.updateAABB=function(){this.computeLocalAABB(this.aabb)},l.prototype.updateBoundingSphereRadius=function(){for(var t=0,e=this.vertices,i=new o,n=0,r=e.length/3;n!==r;n++){this.getVertex(n,i);var s=i.norm2();s>t&&(t=s)}this.boundingSphereRadius=Math.sqrt(t)},new o;var b=new n,x=new r;l.prototype.calculateWorldAABB=function(t,e,i,o){var n=b,r=x;n.position=t,n.quaternion=e,this.aabb.toWorldFrame(n,r),i.copy(r.lowerBound),o.copy(r.upperBound)},l.prototype.volume=function(){return 4*Math.PI*this.boundingSphereRadius/3},l.createTorus=function(t,e,i,o,n){t=t||1,e=e||.5,i=i||8,o=o||6,n=n||2*Math.PI;for(var r=[],s=[],h=0;h<=i;h++)for(var c=0;c<=o;c++){var p=c/o*n,u=h/i*Math.PI*2,d=(t+e*a.cos(u))*a.cos(p),y=(t+e*a.cos(u))*a.sin(p),f=e*a.sin(u);r.push(d,y,f)}for(h=1;h<=i;h++)for(c=1;c<=o;c++){var v=(o+1)*h+c-1,m=(o+1)*(h-1)+c-1,g=(o+1)*(h-1)+c,w=(o+1)*h+c;s.push(v,m,w),s.push(m,g,w)}return new l(r,s)}},{"../collision/AABB":3,"../math/CMath":27,"../math/Quaternion":30,"../math/Transform":31,"../math/Vec3":32,"../utils/Octree":52,"./Shape":45}],48:[function(t,e){e.exports=o,t("../math/Vec3"),t("../math/Quaternion");var i=t("./Solver");function o(){i.call(this),this.iterations=10,this.tolerance=1e-7}o.prototype=new i;var n=[],r=[],s=[];o.prototype.solve=function(t,e){var i,o,a,l,h,c=0,p=this.iterations,u=this.tolerance*this.tolerance,d=this.equations,y=d.length,f=e.bodies,v=f.length,m=t;if(0!==y)for(var g=0;g!==v;g++)f[g].updateSolveMassProperties();var w=r,b=s,x=n;for(w.length=y,b.length=y,x.length=y,g=0;g!==y;g++){var _=d[g];x[g]=0,b[g]=_.computeB(m),w[g]=1/_.computeC()}if(0!==y){for(g=0;g!==v;g++){var B=(M=f[g]).vlambda,S=M.wlambda;B.set(0,0,0),S.set(0,0,0)}for(c=0;c!==p;c++){l=0;for(var E=0;E!==y;E++)_=d[E],i=b[E],o=w[E],(h=x[E])+(a=o*(i-_.computeGWlambda()-_.eps*h))<_.minForce?a=_.minForce-h:h+a>_.maxForce&&(a=_.maxForce-h),x[E]+=a,l+=a>0?a:-a,_.addToWlambda(a);if(l*l<u)break}for(g=0;g!==v;g++){var M,C=(M=f[g]).velocity,A=M.angularVelocity;M.vlambda.vmul(M.linearFactor,M.vlambda),C.vadd(M.vlambda,C),M.wlambda.vmul(M.angularFactor,M.wlambda),A.vadd(M.wlambda,A)}for(var z=d.length,F=1/m;z--;)d[z].multiplier=x[z]*F}return c}},{"../math/Quaternion":30,"../math/Vec3":32,"./Solver":49}],49:[function(t,e){function i(){this.equations=[]}e.exports=i,i.prototype.solve=function(){return 0},i.prototype.addEquation=function(t){t.enabled&&this.equations.push(t)},i.prototype.removeEquation=function(t){var e=this.equations,i=e.indexOf(t);-1!==i&&e.splice(i,1)},i.prototype.removeAllEquations=function(){this.equations.length=0}},{}],50:[function(t,e){e.exports=n,t("../math/Vec3"),t("../math/Quaternion");var i=t("./Solver"),o=t("../objects/Body");function n(t){for(i.call(this),this.iterations=10,this.tolerance=1e-7,this.subsolver=t,this.nodes=[],this.nodePool=[];this.nodePool.length<128;)this.nodePool.push(this.createNode())}n.prototype=new i;var r=[],s=[],a={bodies:[]},l=o.STATIC;function h(t){for(var e=t.length,i=0;i!==e;i++){var o=t[i];if(!(o.visited||o.body.type&l))return o}return!1}var c=[];function p(t,e,i,o){for(c.push(t),t.visited=!0,e(t,i,o);c.length;)for(var n,r=c.pop();n=h(r.children);)n.visited=!0,e(n,i,o),c.push(n)}function u(t,e,i){e.push(t.body);for(var o=t.eqs.length,n=0;n!==o;n++){var r=t.eqs[n];-1===i.indexOf(r)&&i.push(r)}}function d(t,e){return e.id-t.id}n.prototype.createNode=function(){return{body:null,children:[],eqs:[],visited:!1}},n.prototype.solve=function(t,e){for(var i=r,o=this.nodePool,n=e.bodies,l=this.equations,c=l.length,y=n.length,f=this.subsolver;o.length<y;)o.push(this.createNode());i.length=y;for(var v=0;v<y;v++)i[v]=o[v];for(v=0;v!==y;v++){var m=i[v];m.body=n[v],m.children.length=0,m.eqs.length=0,m.visited=!1}for(var g=0;g!==c;g++){var w=l[g],b=(v=n.indexOf(w.bi),n.indexOf(w.bj)),x=i[v],_=i[b];x.children.push(_),x.eqs.push(w),_.children.push(x),_.eqs.push(w)}var B,S=0,E=s;f.tolerance=this.tolerance,f.iterations=this.iterations;for(var M=a;B=h(i);){E.length=0,M.bodies.length=0,p(B,u,M.bodies,E);var C=E.length;for(E=E.sort(d),v=0;v!==C;v++)f.addEquation(E[v]);f.solve(t,M),f.removeAllEquations(),S++}return S}},{"../math/Quaternion":30,"../math/Vec3":32,"../objects/Body":33,"./Solver":49}],51:[function(t,e){var i=function(){};e.exports=i,i.prototype={constructor:i,addEventListener:function(t,e){void 0===this._listeners&&(this._listeners={});var i=this._listeners;return void 0===i[t]&&(i[t]=[]),-1===i[t].indexOf(e)&&i[t].push(e),this},hasEventListener:function(t,e){if(void 0===this._listeners)return!1;var i=this._listeners;return void 0!==i[t]&&-1!==i[t].indexOf(e)},hasAnyEventListener:function(t){return void 0!==this._listeners&&void 0!==this._listeners[t]},removeEventListener:function(t,e){if(void 0===this._listeners)return this;var i=this._listeners;if(void 0===i[t])return this;var o=i[t].indexOf(e);return-1!==o&&i[t].splice(o,1),this},dispatchEvent:function(t){if(void 0===this._listeners)return this;var e=this._listeners[t.type];if(void 0!==e){t.target=this;for(var i=0,o=e.length;i<o;i++)e[i].call(this,t)}return this}}},{}],52:[function(t,e){var i=t("../collision/AABB"),o=t("../math/Vec3");function n(t){t=t||{},this.root=t.root||null,this.aabb=t.aabb?t.aabb.clone():new i,this.data=[],this.children=[]}function r(t,e){(e=e||{}).root=null,e.aabb=t,n.call(this,e),this.maxDepth=void 0!==e.maxDepth?e.maxDepth:8}e.exports=r,r.prototype=new n,n.prototype.reset=function(){this.children.length=this.data.length=0},n.prototype.insert=function(t,e,i){var o=this.data;if(i=i||0,!this.aabb.contains(t))return!1;var n=this.children;if(i<(this.maxDepth||this.root.maxDepth)){var r=!1;n.length||(this.subdivide(),r=!0);for(var s=0;8!==s;s++)if(n[s].insert(t,e,i+1))return!0;r&&(n.length=0)}return o.push(e),!0};var s=new o;n.prototype.subdivide=function(){var t=this.aabb,e=t.lowerBound,r=t.upperBound,a=this.children;a.push(new n({aabb:new i({lowerBound:new o(0,0,0)})}),new n({aabb:new i({lowerBound:new o(1,0,0)})}),new n({aabb:new i({lowerBound:new o(1,1,0)})}),new n({aabb:new i({lowerBound:new o(1,1,1)})}),new n({aabb:new i({lowerBound:new o(0,1,1)})}),new n({aabb:new i({lowerBound:new o(0,0,1)})}),new n({aabb:new i({lowerBound:new o(1,0,1)})}),new n({aabb:new i({lowerBound:new o(0,1,0)})})),r.vsub(e,s),s.scale(.5,s);for(var l=this.root||this,h=0;8!==h;h++){var c=a[h];c.root=l;var p=c.aabb.lowerBound;p.x*=s.x,p.y*=s.y,p.z*=s.z,p.vadd(e,p),p.vadd(s,c.aabb.upperBound)}},n.prototype.aabbQuery=function(t,e){this.data,this.children;for(var i=[this];i.length;){var o=i.pop();o.aabb.overlaps(t)&&Array.prototype.push.apply(e,o.data),Array.prototype.push.apply(i,o.children)}return e};var a=new i;n.prototype.rayQuery=function(t,e,i){return t.getAABB(a),a.toLocalFrame(e,a),this.aabbQuery(a,i),i},n.prototype.removeEmptyNodes=function(){for(var t=this.children.length-1;t>=0;t--)this.children[t].removeEmptyNodes(),this.children[t].children.length||this.children[t].data.length||this.children.splice(t,1)}},{"../collision/AABB":3,"../math/Vec3":32}],53:[function(t,e){function i(){this.objects=[],this.type=Object}e.exports=i,i.prototype.release=function(){for(var t=arguments.length,e=0;e!==t;e++)this.objects.push(arguments[e]);return this},i.prototype.get=function(){return 0===this.objects.length?this.constructObject():this.objects.pop()},i.prototype.constructObject=function(){throw new Error("constructObject() not implemented in this Pool subclass yet!")},i.prototype.resize=function(t){for(var e=this.objects;e.length>t;)e.pop();for(;e.length<t;)e.push(this.constructObject());return this}},{}],54:[function(t,e){function i(){this.data={keys:[]}}e.exports=i,i.prototype.get=function(t,e){if(t>e){var i=e;e=t,t=i}return this.data[t+"-"+e]},i.prototype.set=function(t,e,i){if(t>e){var o=e;e=t,t=o}var n=t+"-"+e;return this.get(t,e)||this.data.keys.push(n),this.data[n]=i,this.data[n]},i.prototype.del=function(t,e){if(t>e){var i=e;e=t,t=i}var o=t+"-"+e,n=this.data.keys.indexOf(o);return n>=0&&(this.data.keys.splice(n,1),delete this.data[o],!0)},i.prototype.reset=function(){this.data={keys:[]}},i.prototype.getLength=function(){return this.data.keys.length},i.prototype.getKeyByIndex=function(t){return this.data.keys[t]},i.prototype.getDataByKey=function(t){return this.data[t]}},{}],55:[function(t,e){function i(){}e.exports=i,i.defaults=function(t,e){for(var i in t=t||{},e)i in t||(t[i]=e[i]);return t}},{}],56:[function(t,e){e.exports=n;var i=t("../math/Vec3"),o=t("./Pool");function n(){o.call(this),this.type=i}n.prototype=new o,n.prototype.constructObject=function(){return new i}},{"../math/Vec3":32,"./Pool":53}],57:[function(t,e){e.exports=u;var i=t("../collision/AABB"),o=t("../objects/Body"),n=t("../shapes/Shape"),r=t("../collision/Ray"),s=t("../math/Vec3"),a=t("../math/Transform"),l=(t("../shapes/ConvexPolyhedron"),t("../math/Quaternion")),h=(t("../solver/Solver"),t("../utils/Vec3Pool")),c=t("../equations/ContactEquation"),p=t("../equations/FrictionEquation");function u(t){this.contactPointPool=[],this.frictionEquationPool=[],this.result=[],this.frictionResult=[],this.v3pool=new h,this.world=t,this.currentContactMaterial=null,this.enableFrictionReduction=!1}u.prototype.createContactEquation=function(t,e,i,o,n,r){var s;this.contactPointPool.length?((s=this.contactPointPool.pop()).bi=t,s.bj=e):s=new c(t,e),s.enabled=t.collisionResponse&&e.collisionResponse&&i.collisionResponse&&o.collisionResponse;var a=this.currentContactMaterial;s.restitution=a.restitution,s.setSpookParams(a.contactEquationStiffness,a.contactEquationRelaxation,this.world.dt);var l=i.material||t.material,h=o.material||e.material;return l&&h&&l.restitution>=0&&h.restitution>=0&&(s.restitution=l.restitution*h.restitution),s.si=n||i,s.sj=r||o,s},u.prototype.createFrictionEquationsFromContact=function(t,e){var i=t.bi,o=t.bj,n=t.si,r=t.sj,s=this.world,a=this.currentContactMaterial,l=a.friction,h=n.material||i.material,c=r.material||o.material;if(h&&c&&h.friction>=0&&c.friction>=0&&(l=h.friction*c.friction),l>0){var u=l*s.gravity.length(),d=i.invMass+o.invMass;d>0&&(d=1/d);var y=this.frictionEquationPool,f=y.length?y.pop():new p(i,o,u*d),v=y.length?y.pop():new p(i,o,u*d);return f.bi=v.bi=i,f.bj=v.bj=o,f.minForce=v.minForce=-u*d,f.maxForce=v.maxForce=u*d,f.ri.copy(t.ri),f.rj.copy(t.rj),v.ri.copy(t.ri),v.rj.copy(t.rj),t.ni.tangents(f.t,v.t),f.setSpookParams(a.frictionEquationStiffness,a.frictionEquationRelaxation,s.dt),v.setSpookParams(a.frictionEquationStiffness,a.frictionEquationRelaxation,s.dt),f.enabled=v.enabled=t.enabled,e.push(f,v),!0}return!1};var d=new s,y=new s,f=new s;u.prototype.createFrictionFromAverage=function(t){var e=this.result[this.result.length-1];if(this.createFrictionEquationsFromContact(e,this.frictionResult)&&1!==t){var i=this.frictionResult[this.frictionResult.length-2],o=this.frictionResult[this.frictionResult.length-1];d.setZero(),y.setZero(),f.setZero();for(var n=e.bi,r=(e.bj,0);r!==t;r++)(e=this.result[this.result.length-1-r]).bodyA!==n?(d.vadd(e.ni,d),y.vadd(e.ri,y),f.vadd(e.rj,f)):(d.vsub(e.ni,d),y.vadd(e.rj,y),f.vadd(e.ri,f));var s=1/t;y.scale(s,i.ri),f.scale(s,i.rj),o.ri.copy(i.ri),o.rj.copy(i.rj),d.normalize(),d.tangents(i.t,o.t)}};var v=new s,m=new s,g=new l,w=new l;u.prototype.getContacts=function(t,e,i,n,r,s,a){this.contactPointPool=r,this.frictionEquationPool=a,this.result=n,this.frictionResult=s;for(var l=g,h=w,c=v,p=m,u=0,d=t.length;u!==d;u++){var y=t[u],f=e[u],b=null;y.material&&f.material&&(b=i.getContactMaterial(y.material,f.material)||null);for(var x=0==y.collisionResponse||0==f.collisionResponse||y.type&o.KINEMATIC&&f.type&o.STATIC||y.type&o.STATIC&&f.type&o.KINEMATIC||y.type&o.KINEMATIC&&f.type&o.KINEMATIC,_=0;_<y.shapes.length;_++){y.quaternion.mult(y.shapeOrientations[_],l),y.quaternion.vmult(y.shapeOffsets[_],c),c.vadd(y.position,c);for(var B=y.shapes[_],S=0;S<f.shapes.length;S++){f.quaternion.mult(f.shapeOrientations[S],h),f.quaternion.vmult(f.shapeOffsets[S],p),p.vadd(f.position,p);var E=f.shapes[S];if(B.collisionFilterMask&E.collisionFilterGroup&&E.collisionFilterMask&B.collisionFilterGroup&&!(c.distanceTo(p)>B.boundingSphereRadius+E.boundingSphereRadius)){x|=0==B.collisionResponse||0==E.collisionResponse;var M=null;B.material&&E.material&&(M=i.getContactMaterial(B.material,E.material)||null),this.currentContactMaterial=M||b||i.defaultContactMaterial;var C=this[B.type|E.type];if(C&&(B.type<E.type?C.call(this,B,E,c,p,l,h,y,f,B,E,x):C.call(this,E,B,p,c,h,l,f,y,B,E,x))&&x){i.shapeOverlapKeeper.set(B.id,E.id),i.bodyOverlapKeeper.set(y.id,f.id);var A={si:B,sj:E};i.triggerDic.set(B.id,E.id,A),i.oldTriggerDic.set(B.id,E.id,A)}}}}}},u.prototype[n.types.BOX|n.types.BOX]=u.prototype.boxBox=function(t,e,i,o,n,r,s,a,l,h,c){return t.convexPolyhedronRepresentation.material=t.material,e.convexPolyhedronRepresentation.material=e.material,t.convexPolyhedronRepresentation.collisionResponse=t.collisionResponse,e.convexPolyhedronRepresentation.collisionResponse=e.collisionResponse,this.convexConvex(t.convexPolyhedronRepresentation,e.convexPolyhedronRepresentation,i,o,n,r,s,a,t,e,c)},u.prototype[n.types.BOX|n.types.CONVEXPOLYHEDRON]=u.prototype.boxConvex=function(t,e,i,o,n,r,s,a,l,h,c){return t.convexPolyhedronRepresentation.material=t.material,t.convexPolyhedronRepresentation.collisionResponse=t.collisionResponse,this.convexConvex(t.convexPolyhedronRepresentation,e,i,o,n,r,s,a,t,e,c)},u.prototype[n.types.BOX|n.types.PARTICLE]=u.prototype.boxParticle=function(t,e,i,o,n,r,s,a,l,h,c){return t.convexPolyhedronRepresentation.material=t.material,t.convexPolyhedronRepresentation.collisionResponse=t.collisionResponse,this.convexParticle(t.convexPolyhedronRepresentation,e,i,o,n,r,s,a,t,e,c)},u.prototype[n.types.SPHERE]=u.prototype.sphereSphere=function(t,e,i,o,n,r,s,a,l,h,c){if(c)return i.distanceSquared(o)<Math.pow(t.radius+e.radius,2);var p=this.createContactEquation(s,a,t,e,l,h);o.vsub(i,p.ni),p.ni.normalize(),p.ri.copy(p.ni),p.rj.copy(p.ni),p.ri.mult(t.radius,p.ri),p.rj.mult(-e.radius,p.rj),p.ri.vadd(i,p.ri),p.ri.vsub(s.position,p.ri),p.rj.vadd(o,p.rj),p.rj.vsub(a.position,p.rj),this.result.push(p),this.createFrictionEquationsFromContact(p,this.frictionResult)};var b=new s,x=new s,_=new s;u.prototype[n.types.PLANE|n.types.TRIMESH]=u.prototype.planeTrimesh=function(t,e,i,o,n,r,l,h,c,p,u){var d=new s,y=b;y.set(0,0,1),n.vmult(y,y);for(var f=0;f<e.vertices.length/3;f++){e.getVertex(f,d);var v=new s;v.copy(d),a.pointToWorldFrame(o,r,v,d);var m=x;if(d.vsub(i,m),y.dot(m)<=0){if(u)return!0;var g=this.createContactEquation(l,h,t,e,c,p);g.ni.copy(y);var w=_;y.scale(m.dot(y),w),d.vsub(w,w),g.ri.copy(w),g.ri.vsub(l.position,g.ri),g.rj.copy(d),g.rj.vsub(h.position,g.rj),this.result.push(g),this.createFrictionEquationsFromContact(g,this.frictionResult)}}};var B=new s,S=new s,E=(new s,new s),M=new s,C=new s,A=new s,z=new s,F=new s,R=new s,T=new s,P=new s,q=new s,I=new s,V=new i,O=[];u.prototype[n.types.SPHERE|n.types.TRIMESH]=u.prototype.sphereTrimesh=function(t,e,i,o,n,s,l,h,c,p,u){var d=C,y=A,f=z,v=F,m=R,g=T,w=V,b=M,x=S,_=O;a.pointToLocalFrame(o,s,i,m);var k=t.radius;w.lowerBound.set(m.x-k,m.y-k,m.z-k),w.upperBound.set(m.x+k,m.y+k,m.z+k),e.getTrianglesInAABB(w,_);for(var N=E,j=t.radius*t.radius,L=0;L<_.length;L++)for(var W=0;W<3;W++)if(e.getVertex(e.indices[3*_[L]+W],N),N.vsub(m,x),x.norm2()<=j){if(b.copy(N),a.pointToWorldFrame(o,s,b,N),N.vsub(i,x),u)return!0;(G=this.createContactEquation(l,h,t,e,c,p)).ni.copy(x),G.ni.normalize(),G.ri.copy(G.ni),G.ri.scale(t.radius,G.ri),G.ri.vadd(i,G.ri),G.ri.vsub(l.position,G.ri),G.rj.copy(N),G.rj.vsub(h.position,G.rj),this.result.push(G),this.createFrictionEquationsFromContact(G,this.frictionResult)}for(L=0;L<_.length;L++)for(W=0;W<3;W++){e.getVertex(e.indices[3*_[L]+W],d),e.getVertex(e.indices[3*_[L]+(W+1)%3],y),y.vsub(d,f),m.vsub(y,g);var D=g.dot(f);m.vsub(d,g);var U=g.dot(f);if(U>0&&D<0&&(m.vsub(d,g),v.copy(f),v.normalize(),U=g.dot(v),v.scale(U,g),g.vadd(d,g),(Z=g.distanceTo(m))<t.radius)){if(u)return!0;var G=this.createContactEquation(l,h,t,e,c,p);g.vsub(m,G.ni),G.ni.normalize(),G.ni.scale(t.radius,G.ri),a.pointToWorldFrame(o,s,g,g),g.vsub(h.position,G.rj),a.vectorToWorldFrame(s,G.ni,G.ni),a.vectorToWorldFrame(s,G.ri,G.ri),this.result.push(G),this.createFrictionEquationsFromContact(G,this.frictionResult)}}for(var H=P,K=q,Q=I,X=B,Y=(L=0,_.length);L!==Y;L++){e.getTriangleVertices(_[L],H,K,Q),e.getNormal(_[L],X),m.vsub(H,g);var Z=g.dot(X);if(X.scale(Z,g),m.vsub(g,g),Z=g.distanceTo(m),r.pointInTriangle(g,H,K,Q)&&Z<t.radius){if(u)return!0;G=this.createContactEquation(l,h,t,e,c,p),g.vsub(m,G.ni),G.ni.normalize(),G.ni.scale(t.radius,G.ri),a.pointToWorldFrame(o,s,g,g),g.vsub(h.position,G.rj),a.vectorToWorldFrame(s,G.ni,G.ni),a.vectorToWorldFrame(s,G.ri,G.ri),this.result.push(G),this.createFrictionEquationsFromContact(G,this.frictionResult)}}_.length=0};var k=new s,N=new s,j=new s,L=new s,W=new s;u.prototype[n.types.SPHERE|n.types.PLANE]=u.prototype.spherePlane=function(t,e,i,o,n,r,s,a,l,h,c){if(j.set(0,0,1),r.vmult(j,j),j.negate(j),j.normalize(),j.mult(t.radius,L),i.vsub(o,k),j.mult(j.dot(k),N),k.vsub(N,W),-k.dot(j)<=t.radius){if(c)return!0;var p=this.createContactEquation(s,a,t,e,l,h);p.ni.copy(j),p.ri.copy(L),p.rj.copy(W);var u=p.ri,d=p.rj;u.vadd(i,u),u.vsub(s.position,u),d.vadd(o,d),d.vsub(a.position,d),this.result.push(p),this.createFrictionEquationsFromContact(p,this.frictionResult)}return!1};var D=new s,U=new s,G=new s;function H(t,e,i){for(var o=null,n=t.length,r=0;r!==n;r++){var s=t[r],a=D;t[(r+1)%n].vsub(s,a);var l=U;a.cross(e,l);var h=G;i.vsub(s,h);var c=l.dot(h);if(!(null===o||c>0&&!0===o||c<=0&&!1===o))return!1;null===o&&(o=c>0)}return!0}var K=new s,Q=new s,X=new s,Y=new s,Z=[new s,new s,new s,new s,new s,new s],J=new s,$=new s,tt=new s,et=new s;u.prototype[n.types.SPHERE|n.types.BOX]=u.prototype.sphereBox=function(t,e,i,o,n,r,s,a,l,h,c){var p=this.v3pool,u=Z;i.vsub(o,K),e.getSideNormals(u,r);for(var d=t.radius,y=!1,f=$,v=tt,m=et,g=null,w=0,b=0,x=0,_=null,B=0,S=u.length;B!==S&&!1===y;B++){var E=Q;E.copy(u[B]);var M=E.norm();E.normalize();var C=K.dot(E);if(C<M+d&&C>0){var A=X,z=Y;A.copy(u[(B+1)%3]),z.copy(u[(B+2)%3]);var F=A.norm(),R=z.norm();A.normalize(),z.normalize();var T=K.dot(A),P=K.dot(z);if(T<F&&T>-F&&P<R&&P>-R){var q=Math.abs(C-M-d);if((null===_||q<_)&&(_=q,b=T,x=P,g=M,f.copy(E),v.copy(A),m.copy(z),w++,c))return!0}}}if(w){y=!0;var I=this.createContactEquation(s,a,t,e,l,h);f.mult(-d,I.ri),I.ni.copy(f),I.ni.negate(I.ni),f.mult(g,f),v.mult(b,v),f.vadd(v,f),m.mult(x,m),f.vadd(m,I.rj),I.ri.vadd(i,I.ri),I.ri.vsub(s.position,I.ri),I.rj.vadd(o,I.rj),I.rj.vsub(a.position,I.rj),this.result.push(I),this.createFrictionEquationsFromContact(I,this.frictionResult)}for(var V=p.get(),O=J,k=0;2!==k&&!y;k++)for(var N=0;2!==N&&!y;N++)for(var j=0;2!==j&&!y;j++)if(V.set(0,0,0),k?V.vadd(u[0],V):V.vsub(u[0],V),N?V.vadd(u[1],V):V.vsub(u[1],V),j?V.vadd(u[2],V):V.vsub(u[2],V),o.vadd(V,O),O.vsub(i,O),O.norm2()<d*d){if(c)return!0;y=!0,(I=this.createContactEquation(s,a,t,e,l,h)).ri.copy(O),I.ri.normalize(),I.ni.copy(I.ri),I.ri.mult(d,I.ri),I.rj.copy(V),I.ri.vadd(i,I.ri),I.ri.vsub(s.position,I.ri),I.rj.vadd(o,I.rj),I.rj.vsub(a.position,I.rj),this.result.push(I),this.createFrictionEquationsFromContact(I,this.frictionResult)}p.release(V),V=null;var L=p.get(),W=p.get(),D=(I=p.get(),p.get()),U=(q=p.get(),u.length);for(k=0;k!==U&&!y;k++)for(N=0;N!==U&&!y;N++)if(k%3!=N%3){u[N].cross(u[k],L),L.normalize(),u[k].vadd(u[N],W),I.copy(i),I.vsub(W,I),I.vsub(o,I);var G=I.dot(L);for(L.mult(G,D),j=0;j===k%3||j===N%3;)j++;q.copy(i),q.vsub(D,q),q.vsub(W,q),q.vsub(o,q);var H=Math.abs(G),it=q.norm();if(H<u[j].norm()&&it<d){if(c)return!0;y=!0;var ot=this.createContactEquation(s,a,t,e,l,h);W.vadd(D,ot.rj),ot.rj.copy(ot.rj),q.negate(ot.ni),ot.ni.normalize(),ot.ri.copy(ot.rj),ot.ri.vadd(o,ot.ri),ot.ri.vsub(i,ot.ri),ot.ri.normalize(),ot.ri.mult(d,ot.ri),ot.ri.vadd(i,ot.ri),ot.ri.vsub(s.position,ot.ri),ot.rj.vadd(o,ot.rj),ot.rj.vsub(a.position,ot.rj),this.result.push(ot),this.createFrictionEquationsFromContact(ot,this.frictionResult)}}p.release(L,W,I,D,q)};var it=new s,ot=new s,nt=new s,rt=new s,st=new s,at=new s,lt=new s,ht=new s,ct=new s,pt=new s;u.prototype[n.types.SPHERE|n.types.CONVEXPOLYHEDRON]=u.prototype.sphereConvex=function(t,e,i,o,n,r,s,a,l,h,c){var p=this.v3pool;i.vsub(o,it);for(var u=e.faceNormals,d=e.faces,y=e.vertices,f=t.radius,v=0;v!==y.length;v++){var m=y[v],g=st;r.vmult(m,g),o.vadd(g,g);var w=rt;if(g.vsub(i,w),w.norm2()<f*f)return!!c||(b=!0,(q=this.createContactEquation(s,a,t,e,l,h)).ri.copy(w),q.ri.normalize(),q.ni.copy(q.ri),q.ri.mult(f,q.ri),g.vsub(o,q.rj),q.ri.vadd(i,q.ri),q.ri.vsub(s.position,q.ri),q.rj.vadd(o,q.rj),q.rj.vsub(a.position,q.rj),this.result.push(q),void this.createFrictionEquationsFromContact(q,this.frictionResult))}for(var b=!1,x=(v=0,d.length);v!==x&&!1===b;v++){var _=u[v],B=d[v],S=at;r.vmult(_,S);var E=lt;r.vmult(y[B[0]],E),E.vadd(o,E);var M=ht;S.mult(-f,M),i.vadd(M,M);var C=ct;M.vsub(E,C);var A=C.dot(S),z=pt;if(i.vsub(E,z),A<0&&z.dot(S)>0){for(var F=[],R=0,T=B.length;R!==T;R++){var P=p.get();r.vmult(y[B[R]],P),o.vadd(P,P),F.push(P)}if(H(F,S,i)){if(c)return!0;b=!0;var q=this.createContactEquation(s,a,t,e,l,h);S.mult(-f,q.ri),S.negate(q.ni);var I=p.get();S.mult(-A,I);var V=p.get();S.mult(-f,V),i.vsub(o,q.rj),q.rj.vadd(V,q.rj),q.rj.vadd(I,q.rj),q.rj.vadd(o,q.rj),q.rj.vsub(a.position,q.rj),q.ri.vadd(i,q.ri),q.ri.vsub(s.position,q.ri),p.release(I),p.release(V),this.result.push(q),this.createFrictionEquationsFromContact(q,this.frictionResult),R=0;for(var O=F.length;R!==O;R++)p.release(F[R]);return}for(R=0;R!==B.length;R++){var k=p.get(),N=p.get();r.vmult(y[B[(R+1)%B.length]],k),r.vmult(y[B[(R+2)%B.length]],N),o.vadd(k,k),o.vadd(N,N);var j=ot;N.vsub(k,j);var L=nt;j.unit(L);var W=p.get(),D=p.get();i.vsub(k,D);var U=D.dot(L);L.mult(U,W),W.vadd(k,W);var G=p.get();if(W.vsub(i,G),U>0&&U*U<j.norm2()&&G.norm2()<f*f){if(c)return!0;for(q=this.createContactEquation(s,a,t,e,l,h),W.vsub(o,q.rj),W.vsub(i,q.ni),q.ni.normalize(),q.ni.mult(f,q.ri),q.rj.vadd(o,q.rj),q.rj.vsub(a.position,q.rj),q.ri.vadd(i,q.ri),q.ri.vsub(s.position,q.ri),this.result.push(q),this.createFrictionEquationsFromContact(q,this.frictionResult),R=0,O=F.length;R!==O;R++)p.release(F[R]);return p.release(k),p.release(N),p.release(W),p.release(G),void p.release(D)}p.release(k),p.release(N),p.release(W),p.release(G),p.release(D)}for(R=0,O=F.length;R!==O;R++)p.release(F[R])}}},new s,new s,u.prototype[n.types.PLANE|n.types.BOX]=u.prototype.planeBox=function(t,e,i,o,n,r,s,a,l,h,c){return e.convexPolyhedronRepresentation.material=e.material,e.convexPolyhedronRepresentation.collisionResponse=e.collisionResponse,e.convexPolyhedronRepresentation.id=e.id,this.planeConvex(t,e.convexPolyhedronRepresentation,i,o,n,r,s,a,t,e,c)};var ut=new s,dt=new s,yt=new s,ft=new s;u.prototype[n.types.PLANE|n.types.CONVEXPOLYHEDRON]=u.prototype.planeConvex=function(t,e,i,o,n,r,s,a,l,h,c){var p=ut,u=dt;u.set(0,0,1),n.vmult(u,u);for(var d=0,y=yt,f=0;f!==e.vertices.length;f++)if(p.copy(e.vertices[f]),r.vmult(p,p),o.vadd(p,p),p.vsub(i,y),u.dot(y)<=0){if(c)return!0;var v=this.createContactEquation(s,a,t,e,l,h),m=ft;u.mult(u.dot(y),m),p.vsub(m,m),m.vsub(i,v.ri),v.ni.copy(u),p.vsub(o,v.rj),v.ri.vadd(i,v.ri),v.ri.vsub(s.position,v.ri),v.rj.vadd(o,v.rj),v.rj.vsub(a.position,v.rj),this.result.push(v),d++,this.enableFrictionReduction||this.createFrictionEquationsFromContact(v,this.frictionResult)}this.enableFrictionReduction&&d&&this.createFrictionFromAverage(d)};var vt=new s,mt=new s;u.prototype[n.types.CONVEXPOLYHEDRON]=u.prototype.convexConvex=function(t,e,i,o,n,r,s,a,l,h,c,p,u){var d=vt;if(!(i.distanceTo(o)>t.boundingSphereRadius+e.boundingSphereRadius)&&t.findSeparatingAxis(e,i,n,o,r,d,p,u)){var y=[],f=mt;t.clipAgainstHull(i,n,e,o,r,d,-100,100,y);for(var v=0,m=0;m!==y.length;m++){if(c)return!0;var g=this.createContactEquation(s,a,t,e,l,h),w=g.ri,b=g.rj;d.negate(g.ni),y[m].normal.negate(f),f.mult(y[m].depth,f),y[m].point.vadd(f,w),b.copy(y[m].point),w.vsub(i,w),b.vsub(o,b),w.vadd(i,w),w.vsub(s.position,w),b.vadd(o,b),b.vsub(a.position,b),this.result.push(g),v++,this.enableFrictionReduction||this.createFrictionEquationsFromContact(g,this.frictionResult)}this.enableFrictionReduction&&v&&this.createFrictionFromAverage(v)}};var gt=new s,wt=new s,bt=new s;u.prototype[n.types.PLANE|n.types.PARTICLE]=u.prototype.planeParticle=function(t,e,i,o,n,r,s,a,l,h,c){var p=gt;p.set(0,0,1),s.quaternion.vmult(p,p);var u=wt;if(o.vsub(s.position,u),p.dot(u)<=0){if(c)return!0;var d=this.createContactEquation(a,s,e,t,l,h);d.ni.copy(p),d.ni.negate(d.ni),d.ri.set(0,0,0);var y=bt;p.mult(p.dot(o),y),o.vsub(y,y),d.rj.copy(y),this.result.push(d),this.createFrictionEquationsFromContact(d,this.frictionResult)}};var xt=new s;u.prototype[n.types.PARTICLE|n.types.SPHERE]=u.prototype.sphereParticle=function(t,e,i,o,n,r,s,a,l,h,c){var p=xt;if(p.set(0,0,1),o.vsub(i,p),p.norm2()<=t.radius*t.radius){if(c)return!0;var u=this.createContactEquation(a,s,e,t,l,h);p.normalize(),u.rj.copy(p),u.rj.mult(t.radius,u.rj),u.ni.copy(p),u.ni.negate(u.ni),u.ri.set(0,0,0),this.result.push(u),this.createFrictionEquationsFromContact(u,this.frictionResult)}};var _t=new l,Bt=new s,St=(new s,new s),Et=new s,Mt=new s;u.prototype[n.types.PARTICLE|n.types.CONVEXPOLYHEDRON]=u.prototype.convexParticle=function(t,e,i,o,n,r,s,a,l,h,c){var p=-1,u=St,d=Mt,y=null,f=Bt;if(f.copy(o),f.vsub(i,f),n.conjugate(_t),_t.vmult(f,f),t.pointIsInside(f)){t.worldVerticesNeedsUpdate&&t.computeWorldVertices(i,n),t.worldFaceNormalsNeedsUpdate&&t.computeWorldFaceNormals(n);for(var v=0,m=t.faces.length;v!==m;v++){var g=[t.worldVertices[t.faces[v][0]]],w=t.worldFaceNormals[v];o.vsub(g[0],Et);var b=-w.dot(Et);if(null===y||Math.abs(b)<Math.abs(y)){if(c)return!0;y=b,p=v,u.copy(w)}}if(-1!==p){var x=this.createContactEquation(a,s,e,t,l,h);u.mult(y,d),d.vadd(o,d),d.vsub(i,d),x.rj.copy(d),u.negate(x.ni),x.ri.set(0,0,0);var _=x.ri,B=x.rj;_.vadd(o,_),_.vsub(a.position,_),B.vadd(i,B),B.vsub(s.position,B),this.result.push(x),this.createFrictionEquationsFromContact(x,this.frictionResult)}else console.warn("Point found inside convex, but did not find penetrating face!")}},u.prototype[n.types.BOX|n.types.HEIGHTFIELD]=u.prototype.boxHeightfield=function(t,e,i,o,n,r,s,a,l,h,c){return t.convexPolyhedronRepresentation.material=t.material,t.convexPolyhedronRepresentation.collisionResponse=t.collisionResponse,this.convexHeightfield(t.convexPolyhedronRepresentation,e,i,o,n,r,s,a,t,e,c)};var Ct=new s,At=new s,zt=[0];u.prototype[n.types.CONVEXPOLYHEDRON|n.types.HEIGHTFIELD]=u.prototype.convexHeightfield=function(t,e,i,o,n,r,s,l,h,c,p){var u=e.data,d=e.elementSize,y=t.boundingSphereRadius,f=At,v=zt,m=Ct;a.pointToLocalFrame(o,r,i,m);var g=Math.floor((m.x-y)/d)-1,w=Math.ceil((m.x+y)/d)+1,b=Math.floor((m.y-y)/d)-1,x=Math.ceil((m.y+y)/d)+1;if(!(w<0||x<0||g>u.length||b>u[0].length)){g<0&&(g=0),w<0&&(w=0),b<0&&(b=0),x<0&&(x=0),g>=u.length&&(g=u.length-1),w>=u.length&&(w=u.length-1),x>=u[0].length&&(x=u[0].length-1),b>=u[0].length&&(b=u[0].length-1);var _=[];e.getRectMinMax(g,b,w,x,_);var B=_[0],S=_[1];if(!(m.z-y>S||m.z+y<B))for(var E=g;E<w;E++)for(var M=b;M<x;M++){var C=!1;if(e.getConvexTrianglePillar(E,M,!1),a.pointToWorldFrame(o,r,e.pillarOffset,f),i.distanceTo(f)<e.pillarConvex.boundingSphereRadius+t.boundingSphereRadius&&(C=this.convexConvex(t,e.pillarConvex,i,f,n,r,s,l,h,c,p,v,null)),p&&C)return!0;if(e.getConvexTrianglePillar(E,M,!0),a.pointToWorldFrame(o,r,e.pillarOffset,f),i.distanceTo(f)<e.pillarConvex.boundingSphereRadius+t.boundingSphereRadius&&(C=this.convexConvex(t,e.pillarConvex,i,f,n,r,s,l,h,c,p,v,null)),p&&C)return!0}}};var Ft=new s,Rt=new s;u.prototype[n.types.SPHERE|n.types.HEIGHTFIELD]=u.prototype.sphereHeightfield=function(t,e,i,o,n,r,s,l,h,c,p){var u=e.data,d=t.radius,y=e.elementSize,f=Rt,v=Ft;a.pointToLocalFrame(o,r,i,v);var m=Math.floor((v.x-d)/y)-1,g=Math.ceil((v.x+d)/y)+1,w=Math.floor((v.y-d)/y)-1,b=Math.ceil((v.y+d)/y)+1;if(!(g<0||b<0||m>u.length||w>u[0].length)){m<0&&(m=0),g<0&&(g=0),w<0&&(w=0),b<0&&(b=0),m>=u.length&&(m=u.length-1),g>=u.length&&(g=u.length-1),b>=u[0].length&&(b=u[0].length-1),w>=u[0].length&&(w=u[0].length-1);var x=[];e.getRectMinMax(m,w,g,b,x);var _=x[0],B=x[1];if(!(v.z-d>B||v.z+d<_))for(var S=this.result,E=m;E<g;E++)for(var M=w;M<b;M++){var C=S.length,A=!1;if(e.getConvexTrianglePillar(E,M,!1),a.pointToWorldFrame(o,r,e.pillarOffset,f),i.distanceTo(f)<e.pillarConvex.boundingSphereRadius+t.boundingSphereRadius&&(A=this.sphereConvex(t,e.pillarConvex,i,f,n,r,s,l,t,e,p)),p&&A)return!0;if(e.getConvexTrianglePillar(E,M,!0),a.pointToWorldFrame(o,r,e.pillarOffset,f),i.distanceTo(f)<e.pillarConvex.boundingSphereRadius+t.boundingSphereRadius&&(A=this.sphereConvex(t,e.pillarConvex,i,f,n,r,s,l,t,e,p)),p&&A)return!0;if(S.length-C>2)return}}}},{"../collision/AABB":3,"../collision/Ray":10,"../equations/ContactEquation":20,"../equations/FrictionEquation":22,"../math/Quaternion":30,"../math/Transform":31,"../math/Vec3":32,"../objects/Body":33,"../shapes/ConvexPolyhedron":40,"../shapes/Shape":45,"../solver/Solver":49,"../utils/Vec3Pool":56}],58:[function(t,e){e.exports=g,t("../shapes/Shape");var i=t("../math/Vec3"),o=t("../math/Quaternion"),n=t("../solver/GSSolver"),r=(t("../equations/ContactEquation"),t("../equations/FrictionEquation"),t("./Narrowphase")),s=t("../utils/EventTarget"),a=t("../collision/ArrayCollisionMatrix"),l=t("../collision/ObjectCollisionMatrix"),h=t("../collision/OverlapKeeper"),c=t("../material/Material"),p=t("../material/ContactMaterial"),u=t("../objects/Body"),d=t("../utils/TupleDictionary"),y=t("../collision/RaycastResult"),f=t("../collision/AABB"),v=t("../collision/Ray"),m=t("../collision/NaiveBroadphase");function g(t){t=t||{},s.apply(this),this.dt=-1,this.allowSleep=!!t.allowSleep,this.contacts=[],this.frictionEquations=[],this.quatNormalizeSkip=void 0!==t.quatNormalizeSkip?t.quatNormalizeSkip:0,this.quatNormalizeFast=void 0!==t.quatNormalizeFast&&t.quatNormalizeFast,this.time=0,this.timeFixed=0,this.stepnumber=0,this.default_dt=1/60,this.nextId=0,this.gravity=new i,t.gravity&&this.gravity.copy(t.gravity),this.broadphase=void 0!==t.broadphase?t.broadphase:new m,this.bodies=[],this.solver=void 0!==t.solver?t.solver:new n,this.constraints=[],this.narrowphase=new r(this),this.collisionMatrix=new a,this.collisionMatrixPrevious=new a,this.bodyOverlapKeeper=new h,this.shapeOverlapKeeper=new h,this.materials=[],this.contactmaterials=[],this.contactMaterialTable=new d,this.defaultMaterial=new c("default"),this.defaultContactMaterial=new p(this.defaultMaterial,this.defaultMaterial,{friction:.3,restitution:0}),this.doProfiling=!1,this.profile={solve:0,makeContactConstraints:0,broadphase:0,integrate:0,narrowphase:0},this.accumulator=0,this.subsystems=[],this.addBodyEvent={type:"addBody",body:null},this.removeBodyEvent={type:"removeBody",body:null},this.idToBodyMap={},this.broadphase.setWorld(this),this.substeps=0,this.cm=new l,this.tm=new l,this.triggerDic=new d,this.oldTriggerDic=new d,this.contactsDic=new d,this.oldContactsDic=new d}g.idToBodyMap={},g.idToShapeMap={},g.prototype=new s,new f;var w=new v;if(g.prototype.getContactMaterial=function(t,e){return this.contactMaterialTable.get(t.id,e.id)},g.prototype.numObjects=function(){return this.bodies.length},g.prototype.collisionMatrixTick=function(){var t=this.collisionMatrixPrevious;this.collisionMatrixPrevious=this.collisionMatrix,this.collisionMatrix=t,this.collisionMatrix.reset(),this.bodyOverlapKeeper.tick(),this.shapeOverlapKeeper.tick()},g.prototype.add=g.prototype.addBody=function(t){g.SLEEPING=!1,-1===this.bodies.indexOf(t)&&(t.index=this.bodies.length,this.bodies.push(t),t.world=this,t.initPosition.copy(t.position),t.initVelocity.copy(t.velocity),t.timeLastSleepy=this.time,t instanceof u&&(t.initAngularVelocity.copy(t.angularVelocity),t.initQuaternion.copy(t.quaternion)),this.collisionMatrix.setNumObjects(this.bodies.length),this.addBodyEvent.body=t,this.cm.setNumObjects(this.bodies.length),g.idToBodyMap[t.id]=t,this.dispatchEvent(this.addBodyEvent))},g.prototype.addConstraint=function(t){g.SLEEPING=!1,this.constraints.push(t)},g.prototype.removeConstraint=function(t){g.SLEEPING=!1;var e=this.constraints.indexOf(t);-1!==e&&this.constraints.splice(e,1)},g.prototype.rayTest=function(t,e,i){i instanceof y?this.raycastClosest(t,e,{skipBackfaces:!0},i):this.raycastAll(t,e,{skipBackfaces:!0},i)},g.prototype.raycastAll=function(t,e,i,o){return i.mode=v.ALL,i.from=t,i.to=e,i.callback=o,w.intersectWorld(this,i)},g.prototype.raycastAny=function(t,e,i,o){return i.mode=v.ANY,i.from=t,i.to=e,i.result=o,w.intersectWorld(this,i)},g.prototype.raycastClosest=function(t,e,i,o){return i.mode=v.CLOSEST,i.from=t,i.to=e,i.result=o,w.intersectWorld(this,i)},g.prototype.remove=function(t){g.SLEEPING=!1,t.world=null;var e=this.bodies.length-1,i=this.bodies,o=i.indexOf(t);if(-1!==o){i.splice(o,1);for(var n=0;n!==i.length;n++)i[n].index=n;this.collisionMatrix.setNumObjects(e),this.removeBodyEvent.body=t,delete g.idToBodyMap[t.id],this.cm.setNumObjects(e),this.dispatchEvent(this.removeBodyEvent)}},g.prototype.removeBody=g.prototype.remove,g.prototype.getBodyById=function(t){return g.idToBodyMap[t]},g.prototype.getShapeById=function(t){return g.idToShapeMap[t]},g.prototype.addMaterial=function(t){this.materials.push(t)},g.prototype.addContactMaterial=function(t){this.contactmaterials.push(t),this.contactMaterialTable.set(t.materials[0].id,t.materials[1].id,t)},"undefined"==typeof performance&&(performance={}),!performance.now){var b=Date.now();performance.timing&&performance.timing.navigationStart&&(b=performance.timing.navigationStart),performance.now=function(){return Date.now()-b}}new i,g.prototype.step=function(t,e,i){if(i=i||10,0===(e=e||0))this.internalStep(t),this.time+=t,this.substeps=1;else{for(this.accumulator+=e,this.substeps=0;this.accumulator>=t&&this.substeps<i;)this.internalStep(t),this.accumulator-=t,this.substeps++;for(var o=this.accumulator%t/t,n=0;n!==this.bodies.length;n++){var r=this.bodies[n];r.previousPosition.lerp(r.position,o,r.interpolatedPosition),r.previousQuaternion.slerp(r.quaternion,o,r.interpolatedQuaternion),r.previousQuaternion.normalize()}this.time+=e}};var x,_,B,S,E,M,C={type:"postStep"},A={type:"preStep"},z={type:"collide",body:null,contact:null},F=[],R=[],T=[],P=[];new i,new i,new i,new i,new i,new i,new i,new i,new i,new o,new o,new o,new i,g.prototype.internalStep=function(t){this.dt=t;var e,i=this.contacts,o=T,n=P,r=this.numObjects(),s=this.bodies,a=this.solver,l=this.gravity,h=this.doProfiling,c=this.profile,p=u.DYNAMIC,d=this.constraints,y=R,f=(l.norm(),l.x),v=l.y,m=l.z,w=0;for(h&&(e=performance.now()),w=0;w!==r;w++)if((O=s[w]).useGravity&&O.type===p){var b=O.force,x=O.mass;b.x+=x*f,b.y+=x*v,b.z+=x*m}w=0;for(var _=this.subsystems.length;w!==_;w++)this.subsystems[w].update();h&&(e=performance.now()),o.length=0,n.length=0,this.broadphase.collisionPairs(this,o,n),h&&(c.broadphase=performance.now()-e);var B=d.length;for(w=0;w!==B;w++)if(!(L=d[w]).collideConnected)for(var S=o.length-1;S>=0;S-=1)(L.bodyA===o[S]&&L.bodyB===n[S]||L.bodyB===o[S]&&L.bodyA===n[S])&&(o.splice(S,1),n.splice(S,1));this.collisionMatrixTick(),h&&(e=performance.now());var E=F,M=i.length;for(w=0;w!==M;w++)E.push(i[w]);i.length=0;var q=this.frictionEquations.length;for(w=0;w!==q;w++)y.push(this.frictionEquations[w]);if(this.frictionEquations.length=0,this.narrowphase.getContacts(o,n,this,i,E,this.frictionEquations,y),0!=i.length||!g.SLEEPING){for(h&&(c.narrowphase=performance.now()-e),h&&(e=performance.now()),w=0;w<this.frictionEquations.length;w++)a.addEquation(this.frictionEquations[w]);for(var I=i.length,V=0;V!==I;V++){var O=(L=i[V]).bi,k=L.bj,N=L.si,j=L.sj;N.material&&j.material?N.material.restitution>=0&&j.material.restitution>=0&&(L.restitution=N.material.restitution*j.material.restitution):O.material&&k.material&&O.material.restitution>=0&&k.material.restitution>=0&&(L.restitution=O.material.restitution*k.material.restitution),a.addEquation(L),O.allowSleep&&O.type===u.DYNAMIC&&O.sleepState===u.SLEEPING&&k.sleepState===u.AWAKE&&k.type!==u.STATIC&&k.velocity.norm2()+k.angularVelocity.norm2()>=2*Math.pow(k.sleepSpeedLimit,2)&&(O._wakeUpAfterNarrowphase=!0),k.allowSleep&&k.type===u.DYNAMIC&&k.sleepState===u.SLEEPING&&O.sleepState===u.AWAKE&&O.type!==u.STATIC&&O.velocity.norm2()+O.angularVelocity.norm2()>=2*Math.pow(O.sleepSpeedLimit,2)&&(k._wakeUpAfterNarrowphase=!0),this.collisionMatrix.set(O,k,!0),this.collisionMatrixPrevious.get(O,k)||(z.body=k,z.contact=L,O.dispatchEvent(z),z.body=O,k.dispatchEvent(z)),this.bodyOverlapKeeper.set(O.id,k.id),this.shapeOverlapKeeper.set(N.id,j.id)}for(this.emitContactEvents(),h&&(c.makeContactConstraints=performance.now()-e,e=performance.now()),w=0;w!==r;w++)(O=s[w])._wakeUpAfterNarrowphase&&(O.wakeUp(),O._wakeUpAfterNarrowphase=!1);for(B=d.length,w=0;w!==B;w++){var L;(L=d[w]).update(),S=0;for(var W=L.equations.length;S!==W;S++){var D=L.equations[S];a.addEquation(D)}}a.solve(t,this),h&&(c.solve=performance.now()-e),a.removeAllEquations();var U=Math.pow;for(w=0;w!==r;w++)if((O=s[w]).type&p){var G=U(1-O.linearDamping,t),H=O.velocity;H.mult(G,H);var K=O.angularVelocity;if(K){var Q=U(1-O.angularDamping,t);K.mult(Q,K)}}for(this.dispatchEvent(A),w=0;w!==r;w++)(O=s[w]).preStep&&O.preStep.call(O);h&&(e=performance.now());var X=this.stepnumber%(this.quatNormalizeSkip+1)==0,Y=this.quatNormalizeFast;for(w=0;w!==r;w++)s[w].integrate(t,X,Y);for(this.clearForces(),this.broadphase.dirty=!0,h&&(c.integrate=performance.now()-e),this.time+=t,this.timeFixed+=t,this.stepnumber+=1,this.dispatchEvent(C),w=0;w!==r;w++){var Z=(O=s[w]).postStep;Z&&Z.call(O)}if(this.allowSleep){for(w=0;w!==r;w++)s[w].sleepTick(this.time);for(g.SLEEPING=!0,w=0;w!==r;w++)if((O=s[w]).type!=u.STATIC&&!O.isSleeping()){g.SLEEPING=!1;break}}else g.SLEEPING=!1}},g.prototype.emitContactEvents=(x=[],_=[],B={type:"beginContact",bodyA:null,bodyB:null},S={type:"endContact",bodyA:null,bodyB:null},E={type:"beginShapeContact",bodyA:null,bodyB:null,shapeA:null,shapeB:null},M={type:"endShapeContact",bodyA:null,bodyB:null,shapeA:null,shapeB:null},function(){var t=this.hasAnyEventListener("beginContact"),e=this.hasAnyEventListener("endContact");if((t||e)&&this.bodyOverlapKeeper.getDiff(x,_),t){for(var i=0,o=x.length;i<o;i+=2)B.bodyA=this.getBodyById(x[i]),B.bodyB=this.getBodyById(x[i+1]),this.dispatchEvent(B);B.bodyA=B.bodyB=null}if(e){for(i=0,o=_.length;i<o;i+=2)S.bodyA=this.getBodyById(_[i]),S.bodyB=this.getBodyById(_[i+1]),this.dispatchEvent(S);S.bodyA=S.bodyB=null}x.length=_.length=0;var n=this.hasAnyEventListener("beginShapeContact"),r=this.hasAnyEventListener("endShapeContact");if((n||r)&&this.shapeOverlapKeeper.getDiff(x,_),n){for(i=0,o=x.length;i<o;i+=2){var s=this.getShapeById(x[i]),a=this.getShapeById(x[i+1]);E.shapeA=s,E.shapeB=a,E.bodyA=s.body,E.bodyB=a.body,this.dispatchEvent(E)}E.bodyA=E.bodyB=E.shapeA=E.shapeB=null}if(r){for(i=0,o=_.length;i<o;i+=2)s=this.getShapeById(_[i]),a=this.getShapeById(_[i+1]),M.shapeA=s,M.shapeB=a,M.bodyA=s.body,M.bodyB=a.body,this.dispatchEvent(M);M.bodyA=M.bodyB=M.shapeA=M.shapeB=null}}),g.prototype.clearForces=function(){for(var t=this.bodies,e=t.length,i=0;i!==e;i++){var o=t[i];o.force,o.torque,o.force.set(0,0,0),o.torque.set(0,0,0)}};var q={type:"cc-trigger",event:"",selfBody:null,otherBody:null,selfShape:null,otherShape:null},I={type:"cc-collide",event:"",body:null,selfShape:null,otherShape:null,contacts:null},V=[];g.prototype.emitTriggeredEvents=function(){if(0!=this.substeps){for(var t,e,i=this.triggerDic.getLength();i--;)if(t=this.triggerDic.getKeyByIndex(i),null!=(e=this.triggerDic.getDataByKey(t))){var o=e.si,n=e.sj;this.tm.get(o,n)?q.event="onTriggerStay":(this.tm.set(o,n,!0),q.event="onTriggerEnter"),q.selfShape=o,q.otherShape=n,q.selfBody=o.body,q.otherBody=n.body,o.dispatchEvent(q),q.selfShape=n,q.otherShape=o,q.selfBody=n.body,q.otherBody=o.body,n.dispatchEvent(q)}for(i=this.oldTriggerDic.getLength();i>0;)i--,t=this.oldTriggerDic.getKeyByIndex(i),null==this.triggerDic.getDataByKey(t)&&null!=(e=this.oldTriggerDic.getDataByKey(t))&&(o=e.si,n=e.sj,this.tm.set(o,n,!1),this.oldTriggerDic.del(o.id,n.id)&&i--,q.event="onTriggerExit",q.selfShape=o,q.otherShape=n,q.selfBody=o.body,q.otherBody=n.body,o.dispatchEvent(q),q.selfShape=n,q.otherShape=o,q.selfBody=n.body,q.otherBody=o.body,n.dispatchEvent(q));this.triggerDic.reset()}},g.prototype.emitCollisionEvents=function(){if(0!=this.substeps){for(var t,e,i=this.contacts,o=this.contacts.length;o--;){var n=(c=i[o]).si,r=c.sj,s=this.contactsDic.get(n.id,r.id);null==s&&(s=this.contactsDic.set(n.id,r.id,[])),s.push(c)}for(o=this.contactsDic.getLength();o--;)if(t=this.contactsDic.getKeyByIndex(o),null!=(e=this.contactsDic.getDataByKey(t))){n=e[0].si,r=e[0].sj;var a=n.body,l=r.body;this.cm.get(a,l)?I.event="onCollisionStay":(this.cm.set(a,l,!0),I.event="onCollisionEnter"),I.bi=a,I.contact=e[0],I.contacts=e,I.body=l,I.selfShape=n,I.otherShape=r,a.dispatchEvent(I),I.body=a,I.selfShape=r,I.otherShape=n,l.dispatchEvent(I)}var h=V;for(o=h.length;o--;){var c;n=(c=h[o]).si,r=c.sj,null==this.oldContactsDic.get(n.id,r.id)&&this.oldContactsDic.set(n.id,r.id,c)}for(o=this.oldContactsDic.getLength();o--;)t=this.oldContactsDic.getKeyByIndex(o),null==this.contactsDic.getDataByKey(t)&&(n=(e=this.oldContactsDic.getDataByKey(t)).si,r=e.sj,a=n.body,l=r.body,this.cm.get(a,l)&&(a.isSleeping()&&l.isSleeping()||(this.cm.set(a,l,!1),I.bi=a,I.contact=e,I.event="onCollisionExit",I.body=l,I.selfShape=n,I.otherShape=r,I.contacts.length=0,I.contacts.push(e),a.dispatchEvent(I),I.body=a,I.selfShape=r,I.otherShape=n,l.dispatchEvent(I))));this.contactsDic.reset(),this.oldContactsDic.reset(),F=V,V=this.contacts.slice(),this.contacts.length=0}}},{"../collision/AABB":3,"../collision/ArrayCollisionMatrix":4,"../collision/NaiveBroadphase":7,"../collision/ObjectCollisionMatrix":8,"../collision/OverlapKeeper":9,"../collision/Ray":10,"../collision/RaycastResult":11,"../equations/ContactEquation":20,"../equations/FrictionEquation":22,"../material/ContactMaterial":25,"../material/Material":26,"../math/Quaternion":30,"../math/Vec3":32,"../objects/Body":33,"../shapes/Shape":45,"../solver/GSSolver":48,"../utils/EventTarget":51,"../utils/TupleDictionary":54,"./Narrowphase":57}]},{},[2])(2)})}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{}]},{},[10,9]);