var box2d=window.box2d=function(_){"use strict";class D{}class O{constructor(t=.5,e=.5,i=.5,n=1){this.r=t,this.g=e,this.b=i,this.a=n}Clone(){return new O().Copy(this)}Copy(t){return this.r=t.r,this.g=t.g,this.b=t.b,this.a=t.a,this}IsEqual(t){return this.r===t.r&&this.g===t.g&&this.b===t.b&&this.a===t.a}IsZero(){return this.r===0&&this.g===0&&this.b===0&&this.a===0}Set(t,e,i,n=this.a){this.SetRGBA(t,e,i,n)}SetByteRGB(t,e,i){return this.r=t/255,this.g=e/255,this.b=i/255,this}SetByteRGBA(t,e,i,n){return this.r=t/255,this.g=e/255,this.b=i/255,this.a=n/255,this}SetRGB(t,e,i){return this.r=t,this.g=e,this.b=i,this}SetRGBA(t,e,i,n){return this.r=t,this.g=e,this.b=i,this.a=n,this}SelfAdd(t){return this.r+=t.r,this.g+=t.g,this.b+=t.b,this.a+=t.a,this}Add(t,e){return e.r=this.r+t.r,e.g=this.g+t.g,e.b=this.b+t.b,e.a=this.a+t.a,e}SelfSub(t){return this.r-=t.r,this.g-=t.g,this.b-=t.b,this.a-=t.a,this}Sub(t,e){return e.r=this.r-t.r,e.g=this.g-t.g,e.b=this.b-t.b,e.a=this.a-t.a,e}SelfMul(t){return this.r*=t,this.g*=t,this.b*=t,this.a*=t,this}Mul(t,e){return e.r=this.r*t,e.g=this.g*t,e.b=this.b*t,e.a=this.a*t,e}Mix(t,e){O.MixColors(this,t,e)}static MixColors(t,e,i){const n=i*(e.r-t.r),o=i*(e.g-t.g),r=i*(e.b-t.b),h=i*(e.a-t.a);t.r+=n,t.g+=o,t.b+=r,t.a+=h,e.r-=n,e.g-=o,e.b-=r,e.a-=h}MakeStyleString(t=this.a){return O.MakeStyleString(this.r,this.g,this.b,t)}static MakeStyleString(t,e,i,n=1){return t*=255,e*=255,i*=255,n<1?`rgba(${t},${e},${i},${n})`:`rgb(${t},${e},${i})`}}O.ZERO=new O(0,0,0,0),O.RED=new O(1,0,0),O.GREEN=new O(0,1,0),O.BLUE=new O(0,0,1),_.b2DrawFlags=void 0,function(d){d[d.e_none=0]="e_none",d[d.e_shapeBit=1]="e_shapeBit",d[d.e_jointBit=2]="e_jointBit",d[d.e_aabbBit=4]="e_aabbBit",d[d.e_pairBit=8]="e_pairBit",d[d.e_centerOfMassBit=16]="e_centerOfMassBit",d[d.e_all=63]="e_all"}(_.b2DrawFlags||(_.b2DrawFlags={}));class zt{constructor(){this.m_drawFlags=0}SetFlags(t){this.m_drawFlags=t}GetFlags(){return this.m_drawFlags}AppendFlags(t){this.m_drawFlags|=t}ClearFlags(t){this.m_drawFlags&=~t}}function nt(d,...t){if(!d)throw new Error(...t)}function T(d,t){return d!==void 0?d:t}const M=1e37,ft=1e-5,rs=ft*ft,ut=3.14159265359,Ft=1,us=8,H=2,Kt=.1*Ft,xt=4,Q=.005*Ft,Dt=2/180*ut,Ct=2*Q,Qt=8,Nt=32,kt=.2*Ft,qt=8/180*ut,jt=2*Ft,Zt=jt*jt,Vt=.5*ut,p=Vt*Vt,w=.2,g=.75,L=.5,F=.01*Ft,K=2/180*ut;class wt{constructor(t=0,e=0,i=0){this.major=0,this.minor=0,this.revision=0,this.major=t,this.minor=e,this.revision=i}toString(){return this.major+"."+this.minor+"."+this.revision}}const Bt=new wt(2,4,1),hs="master",Js="9ebbbcd960ad424e03e5de6e66a40764c16f51bc";function Ne(d){return parseInt(d,10)}function Ze(d){return Math.abs(parseInt(d,10))}function Ut(d,t){const e=new Array(d);for(let i=0;i<d;++i)e[i]=t(i);return e}function Ue(d){const t=new Array(d);for(let e=0;e<d;++e)t[e]=null;return t}function Ss(d,t=0){const e=new Array(d);for(let i=0;i<d;++i)e[i]=t;return e}function Ye(d){return null}function Ke(d){}function Qe(d,...t){}class de{constructor(t){this.m_stack=[],this.m_count=0,this.m_stack=Ut(t,e=>null),this.m_count=0}Reset(){return this.m_count=0,this}Push(t){this.m_stack[this.m_count]=t,this.m_count++}Pop(){this.m_count--;const t=this.m_stack[this.m_count];return this.m_stack[this.m_count]=null,t}GetCount(){return this.m_count}}const pe=ut/180,ye=180/ut,Ns=2*ut,ot=Math.abs;function at(d,t){return d<t?d:t}function E(d,t){return d>t?d:t}function vt(d,t,e){return d<t?t:d>e?e:d}function We(d,t){const e=d[0];d[0]=t[0],t[0]=e}const He=isFinite;function ds(d){return d*d}function $e(d){return 1/Math.sqrt(d)}const ws=Math.sqrt,fe=Math.pow;function ti(d){return d*pe}function si(d){return d*ye}const ei=Math.cos,ii=Math.sin,ni=Math.acos,Ae=Math.asin,Gs=Math.atan2;function oi(d){return d|=d>>1&2147483647,d|=d>>2&1073741823,d|=d>>4&268435455,d|=d>>8&16777215,d|=d>>16&65535,d+1}function ri(d){return d>0&&(d&d-1)===0}function hi(){return Math.random()*2-1}function li(d,t){return(t-d)*Math.random()+d}class s{constructor(t=0,e=0){this.x=t,this.y=e}Clone(){return new s(this.x,this.y)}SetZero(){return this.x=0,this.y=0,this}Set(t,e){return this.x=t,this.y=e,this}Copy(t){return this.x=t.x,this.y=t.y,this}SelfAdd(t){return this.x+=t.x,this.y+=t.y,this}SelfAddXY(t,e){return this.x+=t,this.y+=e,this}SelfSub(t){return this.x-=t.x,this.y-=t.y,this}SelfSubXY(t,e){return this.x-=t,this.y-=e,this}SelfMul(t){return this.x*=t,this.y*=t,this}SelfMulAdd(t,e){return this.x+=t*e.x,this.y+=t*e.y,this}SelfMulSub(t,e){return this.x-=t*e.x,this.y-=t*e.y,this}Dot(t){return this.x*t.x+this.y*t.y}Cross(t){return this.x*t.y-this.y*t.x}Length(){const t=this.x,e=this.y;return Math.sqrt(t*t+e*e)}LengthSquared(){const t=this.x,e=this.y;return t*t+e*e}Normalize(){const t=this.Length();if(t>=ft){const e=1/t;this.x*=e,this.y*=e}return t}SelfNormalize(){const t=this.Length();if(t>=ft){const e=1/t;this.x*=e,this.y*=e}return this}SelfRotate(t){const e=Math.cos(t),i=Math.sin(t),n=this.x;return this.x=e*n-i*this.y,this.y=i*n+e*this.y,this}SelfRotateCosSin(t,e){const i=this.x;return this.x=t*i-e*this.y,this.y=e*i+t*this.y,this}IsValid(){return isFinite(this.x)&&isFinite(this.y)}SelfCrossVS(t){const e=this.x;return this.x=t*this.y,this.y=-t*e,this}SelfCrossSV(t){const e=this.x;return this.x=-t*this.y,this.y=t*e,this}SelfMinV(t){return this.x=at(this.x,t.x),this.y=at(this.y,t.y),this}SelfMaxV(t){return this.x=E(this.x,t.x),this.y=E(this.y,t.y),this}SelfAbs(){return this.x=ot(this.x),this.y=ot(this.y),this}SelfNeg(){return this.x=-this.x,this.y=-this.y,this}SelfSkew(){const t=this.x;return this.x=-this.y,this.y=t,this}static MakeArray(t){return Ut(t,e=>new s)}static AbsV(t,e){return e.x=ot(t.x),e.y=ot(t.y),e}static MinV(t,e,i){return i.x=at(t.x,e.x),i.y=at(t.y,e.y),i}static MaxV(t,e,i){return i.x=E(t.x,e.x),i.y=E(t.y,e.y),i}static ClampV(t,e,i,n){return n.x=vt(t.x,e.x,i.x),n.y=vt(t.y,e.y,i.y),n}static RotateV(t,e,i){const n=t.x,o=t.y,r=Math.cos(e),h=Math.sin(e);return i.x=r*n-h*o,i.y=h*n+r*o,i}static DotVV(t,e){return t.x*e.x+t.y*e.y}static CrossVV(t,e){return t.x*e.y-t.y*e.x}static CrossVS(t,e,i){const n=t.x;return i.x=e*t.y,i.y=-e*n,i}static CrossVOne(t,e){const i=t.x;return e.x=t.y,e.y=-i,e}static CrossSV(t,e,i){const n=e.x;return i.x=-t*e.y,i.y=t*n,i}static CrossOneV(t,e){const i=t.x;return e.x=-t.y,e.y=i,e}static AddVV(t,e,i){return i.x=t.x+e.x,i.y=t.y+e.y,i}static SubVV(t,e,i){return i.x=t.x-e.x,i.y=t.y-e.y,i}static MulSV(t,e,i){return i.x=e.x*t,i.y=e.y*t,i}static MulVS(t,e,i){return i.x=t.x*e,i.y=t.y*e,i}static AddVMulSV(t,e,i,n){return n.x=t.x+e*i.x,n.y=t.y+e*i.y,n}static SubVMulSV(t,e,i,n){return n.x=t.x-e*i.x,n.y=t.y-e*i.y,n}static AddVCrossSV(t,e,i,n){const o=i.x;return n.x=t.x-e*i.y,n.y=t.y+e*o,n}static MidVV(t,e,i){return i.x=(t.x+e.x)*.5,i.y=(t.y+e.y)*.5,i}static ExtVV(t,e,i){return i.x=(e.x-t.x)*.5,i.y=(e.y-t.y)*.5,i}static IsEqualToV(t,e){return t.x===e.x&&t.y===e.y}static DistanceVV(t,e){const i=t.x-e.x,n=t.y-e.y;return Math.sqrt(i*i+n*n)}static DistanceSquaredVV(t,e){const i=t.x-e.x,n=t.y-e.y;return i*i+n*n}static NegV(t,e){return e.x=-t.x,e.y=-t.y,e}}s.ZERO=new s(0,0),s.UNITX=new s(1,0),s.UNITY=new s(0,1),s.s_t0=new s,s.s_t1=new s,s.s_t2=new s,s.s_t3=new s;const _i=new s(0,0);class bt{constructor(...t){if(t[0]instanceof Float32Array){if(t[0].length!==3)throw new Error;this.data=t[0]}else{const e=typeof t[0]=="number"?t[0]:0,i=typeof t[1]=="number"?t[1]:0,n=typeof t[2]=="number"?t[2]:0;this.data=new Float32Array([e,i,n])}}get x(){return this.data[0]}set x(t){this.data[0]=t}get y(){return this.data[1]}set y(t){this.data[1]=t}get z(){return this.data[2]}set z(t){this.data[2]=t}Clone(){return new bt(this.x,this.y,this.z)}SetZero(){return this.x=0,this.y=0,this.z=0,this}SetXYZ(t,e,i){return this.x=t,this.y=e,this.z=i,this}Copy(t){return this.x=t.x,this.y=t.y,this.z=t.z,this}SelfNeg(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this}SelfAdd(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this}SelfAddXYZ(t,e,i){return this.x+=t,this.y+=e,this.z+=i,this}SelfSub(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this}SelfSubXYZ(t,e,i){return this.x-=t,this.y-=e,this.z-=i,this}SelfMul(t){return this.x*=t,this.y*=t,this.z*=t,this}static DotV3V3(t,e){return t.x*e.x+t.y*e.y+t.z*e.z}static CrossV3V3(t,e,i){const n=t.x,o=t.y,r=t.z,h=e.x,l=e.y,y=e.z;return i.x=o*y-r*l,i.y=r*h-n*y,i.z=n*l-o*h,i}}bt.ZERO=new bt(0,0,0),bt.s_t0=new bt;class lt{constructor(){this.ex=new s(1,0),this.ey=new s(0,1)}Clone(){return new lt().Copy(this)}static FromVV(t,e){return new lt().SetVV(t,e)}static FromSSSS(t,e,i,n){return new lt().SetSSSS(t,e,i,n)}static FromAngle(t){return new lt().SetAngle(t)}SetSSSS(t,e,i,n){return this.ex.Set(t,i),this.ey.Set(e,n),this}SetVV(t,e){return this.ex.Copy(t),this.ey.Copy(e),this}SetAngle(t){const e=Math.cos(t),i=Math.sin(t);return this.ex.Set(e,i),this.ey.Set(-i,e),this}Copy(t){return this.ex.Copy(t.ex),this.ey.Copy(t.ey),this}SetIdentity(){return this.ex.Set(1,0),this.ey.Set(0,1),this}SetZero(){return this.ex.SetZero(),this.ey.SetZero(),this}GetAngle(){return Math.atan2(this.ex.y,this.ex.x)}GetInverse(t){const e=this.ex.x,i=this.ey.x,n=this.ex.y,o=this.ey.y;let r=e*o-i*n;return r!==0&&(r=1/r),t.ex.x=r*o,t.ey.x=-r*i,t.ex.y=-r*n,t.ey.y=r*e,t}Solve(t,e,i){const n=this.ex.x,o=this.ey.x,r=this.ex.y,h=this.ey.y;let l=n*h-o*r;return l!==0&&(l=1/l),i.x=l*(h*t-o*e),i.y=l*(n*e-r*t),i}SelfAbs(){return this.ex.SelfAbs(),this.ey.SelfAbs(),this}SelfInv(){return this.GetInverse(this),this}SelfAddM(t){return this.ex.SelfAdd(t.ex),this.ey.SelfAdd(t.ey),this}SelfSubM(t){return this.ex.SelfSub(t.ex),this.ey.SelfSub(t.ey),this}static AbsM(t,e){const i=t.ex,n=t.ey;return e.ex.x=ot(i.x),e.ex.y=ot(i.y),e.ey.x=ot(n.x),e.ey.y=ot(n.y),e}static MulMV(t,e,i){const n=t.ex,o=t.ey,r=e.x,h=e.y;return i.x=n.x*r+o.x*h,i.y=n.y*r+o.y*h,i}static MulTMV(t,e,i){const n=t.ex,o=t.ey,r=e.x,h=e.y;return i.x=n.x*r+n.y*h,i.y=o.x*r+o.y*h,i}static AddMM(t,e,i){const n=t.ex,o=t.ey,r=e.ex,h=e.ey;return i.ex.x=n.x+r.x,i.ex.y=n.y+r.y,i.ey.x=o.x+h.x,i.ey.y=o.y+h.y,i}static MulMM(t,e,i){const n=t.ex.x,o=t.ex.y,r=t.ey.x,h=t.ey.y,l=e.ex.x,y=e.ex.y,c=e.ey.x,m=e.ey.y;return i.ex.x=n*l+r*y,i.ex.y=o*l+h*y,i.ey.x=n*c+r*m,i.ey.y=o*c+h*m,i}static MulTMM(t,e,i){const n=t.ex.x,o=t.ex.y,r=t.ey.x,h=t.ey.y,l=e.ex.x,y=e.ex.y,c=e.ey.x,m=e.ey.y;return i.ex.x=n*l+o*y,i.ex.y=r*l+h*y,i.ey.x=n*c+o*m,i.ey.y=r*c+h*m,i}}lt.IDENTITY=new lt;class Yt{constructor(){this.data=new Float32Array([1,0,0,0,1,0,0,0,1]),this.ex=new bt(this.data.subarray(0,3)),this.ey=new bt(this.data.subarray(3,6)),this.ez=new bt(this.data.subarray(6,9))}Clone(){return new Yt().Copy(this)}SetVVV(t,e,i){return this.ex.Copy(t),this.ey.Copy(e),this.ez.Copy(i),this}Copy(t){return this.ex.Copy(t.ex),this.ey.Copy(t.ey),this.ez.Copy(t.ez),this}SetIdentity(){return this.ex.SetXYZ(1,0,0),this.ey.SetXYZ(0,1,0),this.ez.SetXYZ(0,0,1),this}SetZero(){return this.ex.SetZero(),this.ey.SetZero(),this.ez.SetZero(),this}SelfAddM(t){return this.ex.SelfAdd(t.ex),this.ey.SelfAdd(t.ey),this.ez.SelfAdd(t.ez),this}Solve33(t,e,i,n){const o=this.ex.x,r=this.ex.y,h=this.ex.z,l=this.ey.x,y=this.ey.y,c=this.ey.z,m=this.ez.x,a=this.ez.y,u=this.ez.z;let f=o*(y*u-c*a)+r*(c*m-l*u)+h*(l*a-y*m);return f!==0&&(f=1/f),n.x=f*(t*(y*u-c*a)+e*(c*m-l*u)+i*(l*a-y*m)),n.y=f*(o*(e*u-i*a)+r*(i*m-t*u)+h*(t*a-e*m)),n.z=f*(o*(y*i-c*e)+r*(c*t-l*i)+h*(l*e-y*t)),n}Solve22(t,e,i){const n=this.ex.x,o=this.ey.x,r=this.ex.y,h=this.ey.y;let l=n*h-o*r;return l!==0&&(l=1/l),i.x=l*(h*t-o*e),i.y=l*(n*e-r*t),i}GetInverse22(t){const e=this.ex.x,i=this.ey.x,n=this.ex.y,o=this.ey.y;let r=e*o-i*n;r!==0&&(r=1/r),t.ex.x=r*o,t.ey.x=-r*i,t.ex.z=0,t.ex.y=-r*n,t.ey.y=r*e,t.ey.z=0,t.ez.x=0,t.ez.y=0,t.ez.z=0}GetSymInverse33(t){let e=bt.DotV3V3(this.ex,bt.CrossV3V3(this.ey,this.ez,bt.s_t0));e!==0&&(e=1/e);const i=this.ex.x,n=this.ey.x,o=this.ez.x,r=this.ey.y,h=this.ez.y,l=this.ez.z;t.ex.x=e*(r*l-h*h),t.ex.y=e*(o*h-n*l),t.ex.z=e*(n*h-o*r),t.ey.x=t.ex.y,t.ey.y=e*(i*l-o*o),t.ey.z=e*(o*n-i*h),t.ez.x=t.ex.z,t.ez.y=t.ey.z,t.ez.z=e*(i*r-n*n)}static MulM33V3(t,e,i){const n=e.x,o=e.y,r=e.z;return i.x=t.ex.x*n+t.ey.x*o+t.ez.x*r,i.y=t.ex.y*n+t.ey.y*o+t.ez.y*r,i.z=t.ex.z*n+t.ey.z*o+t.ez.z*r,i}static MulM33XYZ(t,e,i,n,o){return o.x=t.ex.x*e+t.ey.x*i+t.ez.x*n,o.y=t.ex.y*e+t.ey.y*i+t.ez.y*n,o.z=t.ex.z*e+t.ey.z*i+t.ez.z*n,o}static MulM33V2(t,e,i){const n=e.x,o=e.y;return i.x=t.ex.x*n+t.ey.x*o,i.y=t.ex.y*n+t.ey.y*o,i}static MulM33XY(t,e,i,n){return n.x=t.ex.x*e+t.ey.x*i,n.y=t.ex.y*e+t.ey.y*i,n}}Yt.IDENTITY=new Yt;class C{constructor(t=0){this.s=0,this.c=1,t&&(this.s=Math.sin(t),this.c=Math.cos(t))}Clone(){return new C().Copy(this)}Copy(t){return this.s=t.s,this.c=t.c,this}SetAngle(t){return this.s=Math.sin(t),this.c=Math.cos(t),this}SetIdentity(){return this.s=0,this.c=1,this}GetAngle(){return Math.atan2(this.s,this.c)}GetXAxis(t){return t.x=this.c,t.y=this.s,t}GetYAxis(t){return t.x=-this.s,t.y=this.c,t}static MulRR(t,e,i){const n=t.c,o=t.s,r=e.c,h=e.s;return i.s=o*r+n*h,i.c=n*r-o*h,i}static MulTRR(t,e,i){const n=t.c,o=t.s,r=e.c,h=e.s;return i.s=n*h-o*r,i.c=n*r+o*h,i}static MulRV(t,e,i){const n=t.c,o=t.s,r=e.x,h=e.y;return i.x=n*r-o*h,i.y=o*r+n*h,i}static MulTRV(t,e,i){const n=t.c,o=t.s,r=e.x,h=e.y;return i.x=n*r+o*h,i.y=-o*r+n*h,i}}C.IDENTITY=new C;class I{constructor(){this.p=new s,this.q=new C}Clone(){return new I().Copy(this)}Copy(t){return this.p.Copy(t.p),this.q.Copy(t.q),this}SetIdentity(){return this.p.SetZero(),this.q.SetIdentity(),this}SetPositionRotation(t,e){return this.p.Copy(t),this.q.Copy(e),this}SetPositionAngle(t,e){return this.p.Copy(t),this.q.SetAngle(e),this}SetPosition(t){return this.p.Copy(t),this}SetPositionXY(t,e){return this.p.Set(t,e),this}SetRotation(t){return this.q.Copy(t),this}SetRotationAngle(t){return this.q.SetAngle(t),this}GetPosition(){return this.p}GetRotation(){return this.q}GetRotationAngle(){return this.q.GetAngle()}GetAngle(){return this.q.GetAngle()}static MulXV(t,e,i){const n=t.q.c,o=t.q.s,r=e.x,h=e.y;return i.x=n*r-o*h+t.p.x,i.y=o*r+n*h+t.p.y,i}static MulTXV(t,e,i){const n=t.q.c,o=t.q.s,r=e.x-t.p.x,h=e.y-t.p.y;return i.x=n*r+o*h,i.y=-o*r+n*h,i}static MulXX(t,e,i){return C.MulRR(t.q,e.q,i.q),s.AddVV(C.MulRV(t.q,e.p,i.p),t.p,i.p),i}static MulTXX(t,e,i){return C.MulTRR(t.q,e.q,i.q),C.MulTRV(t.q,s.SubVV(e.p,t.p,i.p),i.p),i}}I.IDENTITY=new I;class Gt{constructor(){this.localCenter=new s,this.c0=new s,this.c=new s,this.a0=0,this.a=0,this.alpha0=0}Clone(){return new Gt().Copy(this)}Copy(t){return this.localCenter.Copy(t.localCenter),this.c0.Copy(t.c0),this.c.Copy(t.c),this.a0=t.a0,this.a=t.a,this.alpha0=t.alpha0,this}GetTransform(t,e){t.p.x=(1-e)*this.c0.x+e*this.c.x,t.p.y=(1-e)*this.c0.y+e*this.c.y;const i=(1-e)*this.a0+e*this.a;return t.q.SetAngle(i),t.p.SelfSub(C.MulRV(t.q,this.localCenter,s.s_t0)),t}Advance(t){const e=(t-this.alpha0)/(1-this.alpha0);this.c0.SelfMulAdd(e,this.c.Clone().SelfSub(this.c0)),this.a0+=e*(this.a-this.a0),this.alpha0=t}Normalize(){const t=Ns*Math.floor(this.a0/Ns);this.a0-=t,this.a-=t}}class ai{}class ps{constructor(){this.m_start=Date.now()}Reset(){return this.m_start=Date.now(),this}GetMilliseconds(){return Date.now()-this.m_start}}class mi{constructor(){this.m_count=0,this.m_min_count=0,this.m_max_count=0}GetCount(){return this.m_count}GetMinCount(){return this.m_min_count}GetMaxCount(){return this.m_max_count}ResetCount(){const t=this.m_count;return this.m_count=0,t}ResetMinCount(){this.m_min_count=0}ResetMaxCount(){this.m_max_count=0}Increment(){this.m_count++,this.m_max_count<this.m_count&&(this.m_max_count=this.m_count)}Decrement(){this.m_count--,this.m_min_count>this.m_count&&(this.m_min_count=this.m_count)}}class Ls{constructor(){this.mass=0,this.center=new s(0,0),this.I=0}}_.b2ShapeType=void 0,function(d){d[d.e_unknown=-1]="e_unknown",d[d.e_circleShape=0]="e_circleShape",d[d.e_edgeShape=1]="e_edgeShape",d[d.e_polygonShape=2]="e_polygonShape",d[d.e_chainShape=3]="e_chainShape",d[d.e_shapeTypeCount=4]="e_shapeTypeCount"}(_.b2ShapeType||(_.b2ShapeType={}));class ls{constructor(t,e){this.m_type=_.b2ShapeType.e_unknown,this.m_radius=0,this.m_type=t,this.m_radius=e}Copy(t){return this.m_radius=t.m_radius,this}GetType(){return this.m_type}}class _s{constructor(){this.m_buffer=s.MakeArray(2),this.m_vertices=this.m_buffer,this.m_count=0,this.m_radius=0}Copy(t){return t.m_vertices===t.m_buffer?(this.m_vertices=this.m_buffer,this.m_buffer[0].Copy(t.m_buffer[0]),this.m_buffer[1].Copy(t.m_buffer[1])):this.m_vertices=t.m_vertices,this.m_count=t.m_count,this.m_radius=t.m_radius,this}Reset(){return this.m_vertices=this.m_buffer,this.m_count=0,this.m_radius=0,this}SetShape(t,e){t.SetupDistanceProxy(this,e)}SetVerticesRadius(t,e,i){this.m_vertices=t,this.m_count=e,this.m_radius=i}Set(...t){t[0]instanceof ls?this.SetShape(t[0],t[1]):this.SetVerticesRadius(t[0],t[1],t[2])}GetSupport(t){let e=0,i=s.DotVV(this.m_vertices[0],t);for(let n=1;n<this.m_count;++n){const o=s.DotVV(this.m_vertices[n],t);o>i&&(e=n,i=o)}return e}GetSupportVertex(t){let e=0,i=s.DotVV(this.m_vertices[0],t);for(let n=1;n<this.m_count;++n){const o=s.DotVV(this.m_vertices[n],t);o>i&&(e=n,i=o)}return this.m_vertices[e]}GetVertexCount(){return this.m_count}GetVertex(t){return this.m_vertices[t]}}class Zs{constructor(){this.metric=0,this.count=0,this.indexA=[0,0,0],this.indexB=[0,0,0]}Reset(){return this.metric=0,this.count=0,this}}class Us{constructor(){this.proxyA=new _s,this.proxyB=new _s,this.transformA=new I,this.transformB=new I,this.useRadii=!1}Reset(){return this.proxyA.Reset(),this.proxyB.Reset(),this.transformA.SetIdentity(),this.transformB.SetIdentity(),this.useRadii=!1,this}}class Ys{constructor(){this.pointA=new s,this.pointB=new s,this.distance=0,this.iterations=0}Reset(){return this.pointA.SetZero(),this.pointB.SetZero(),this.distance=0,this.iterations=0,this}}class ci{constructor(){this.proxyA=new _s,this.proxyB=new _s,this.transformA=new I,this.transformB=new I,this.translationB=new s}}class ui{constructor(){this.point=new s,this.normal=new s,this.lambda=0,this.iterations=0}}_.b2_gjkCalls=0,_.b2_gjkIters=0,_.b2_gjkMaxIters=0;function di(){_.b2_gjkCalls=0,_.b2_gjkIters=0,_.b2_gjkMaxIters=0}class Rs{constructor(){this.wA=new s,this.wB=new s,this.w=new s,this.a=0,this.indexA=0,this.indexB=0}Copy(t){return this.wA.Copy(t.wA),this.wB.Copy(t.wB),this.w.Copy(t.w),this.a=t.a,this.indexA=t.indexA,this.indexB=t.indexB,this}}class Jt{constructor(){this.m_v1=new Rs,this.m_v2=new Rs,this.m_v3=new Rs,this.m_vertices=[],this.m_count=0,this.m_vertices[0]=this.m_v1,this.m_vertices[1]=this.m_v2,this.m_vertices[2]=this.m_v3}ReadCache(t,e,i,n,o){this.m_count=t.count;const r=this.m_vertices;for(let h=0;h<this.m_count;++h){const l=r[h];l.indexA=t.indexA[h],l.indexB=t.indexB[h];const y=e.GetVertex(l.indexA),c=n.GetVertex(l.indexB);I.MulXV(i,y,l.wA),I.MulXV(o,c,l.wB),s.SubVV(l.wB,l.wA,l.w),l.a=0}if(this.m_count>1){const h=t.metric,l=this.GetMetric();(l<.5*h||2*h<l||l<ft)&&(this.m_count=0)}if(this.m_count===0){const h=r[0];h.indexA=0,h.indexB=0;const l=e.GetVertex(0),y=n.GetVertex(0);I.MulXV(i,l,h.wA),I.MulXV(o,y,h.wB),s.SubVV(h.wB,h.wA,h.w),h.a=1,this.m_count=1}}WriteCache(t){t.metric=this.GetMetric(),t.count=this.m_count;const e=this.m_vertices;for(let i=0;i<this.m_count;++i)t.indexA[i]=e[i].indexA,t.indexB[i]=e[i].indexB}GetSearchDirection(t){switch(this.m_count){case 1:return s.NegV(this.m_v1.w,t);case 2:{const e=s.SubVV(this.m_v2.w,this.m_v1.w,t);return s.CrossVV(e,s.NegV(this.m_v1.w,s.s_t0))>0?s.CrossOneV(e,t):s.CrossVOne(e,t)}default:return t.SetZero()}}GetClosestPoint(t){switch(this.m_count){case 0:return t.SetZero();case 1:return t.Copy(this.m_v1.w);case 2:return t.Set(this.m_v1.a*this.m_v1.w.x+this.m_v2.a*this.m_v2.w.x,this.m_v1.a*this.m_v1.w.y+this.m_v2.a*this.m_v2.w.y);case 3:return t.SetZero();default:return t.SetZero()}}GetWitnessPoints(t,e){switch(this.m_count){case 0:break;case 1:t.Copy(this.m_v1.wA),e.Copy(this.m_v1.wB);break;case 2:t.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x,t.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y,e.x=this.m_v1.a*this.m_v1.wB.x+this.m_v2.a*this.m_v2.wB.x,e.y=this.m_v1.a*this.m_v1.wB.y+this.m_v2.a*this.m_v2.wB.y;break;case 3:e.x=t.x=this.m_v1.a*this.m_v1.wA.x+this.m_v2.a*this.m_v2.wA.x+this.m_v3.a*this.m_v3.wA.x,e.y=t.y=this.m_v1.a*this.m_v1.wA.y+this.m_v2.a*this.m_v2.wA.y+this.m_v3.a*this.m_v3.wA.y;break}}GetMetric(){switch(this.m_count){case 0:return 0;case 1:return 0;case 2:return s.DistanceVV(this.m_v1.w,this.m_v2.w);case 3:return s.CrossVV(s.SubVV(this.m_v2.w,this.m_v1.w,s.s_t0),s.SubVV(this.m_v3.w,this.m_v1.w,s.s_t1));default:return 0}}Solve2(){const t=this.m_v1.w,e=this.m_v2.w,i=s.SubVV(e,t,Jt.s_e12),n=-s.DotVV(t,i);if(n<=0){this.m_v1.a=1,this.m_count=1;return}const o=s.DotVV(e,i);if(o<=0){this.m_v2.a=1,this.m_count=1,this.m_v1.Copy(this.m_v2);return}const r=1/(o+n);this.m_v1.a=o*r,this.m_v2.a=n*r,this.m_count=2}Solve3(){const t=this.m_v1.w,e=this.m_v2.w,i=this.m_v3.w,n=s.SubVV(e,t,Jt.s_e12),o=s.DotVV(t,n),h=s.DotVV(e,n),l=-o,y=s.SubVV(i,t,Jt.s_e13),c=s.DotVV(t,y),a=s.DotVV(i,y),u=-c,f=s.SubVV(i,e,Jt.s_e23),A=s.DotVV(e,f),b=s.DotVV(i,f),B=-A,x=s.CrossVV(n,y),v=x*s.CrossVV(e,i),V=x*s.CrossVV(i,t),k=x*s.CrossVV(t,e);if(l<=0&&u<=0){this.m_v1.a=1,this.m_count=1;return}if(h>0&&l>0&&k<=0){const q=1/(h+l);this.m_v1.a=h*q,this.m_v2.a=l*q,this.m_count=2;return}if(a>0&&u>0&&V<=0){const q=1/(a+u);this.m_v1.a=a*q,this.m_v3.a=u*q,this.m_count=2,this.m_v2.Copy(this.m_v3);return}if(h<=0&&B<=0){this.m_v2.a=1,this.m_count=1,this.m_v1.Copy(this.m_v2);return}if(a<=0&&b<=0){this.m_v3.a=1,this.m_count=1,this.m_v1.Copy(this.m_v3);return}if(b>0&&B>0&&v<=0){const q=1/(b+B);this.m_v2.a=b*q,this.m_v3.a=B*q,this.m_count=2,this.m_v1.Copy(this.m_v3);return}const P=1/(v+V+k);this.m_v1.a=v*P,this.m_v2.a=V*P,this.m_v3.a=k*P,this.m_count=3}}Jt.s_e12=new s,Jt.s_e13=new s,Jt.s_e23=new s;const pi=new Jt,yi=[0,0,0],fi=[0,0,0],Ai=new s,Si=new s,wi=new s,Bi=new s,bi=new s;function Ks(d,t,e){++_.b2_gjkCalls;const i=e.proxyA,n=e.proxyB,o=e.transformA,r=e.transformB,h=pi;h.ReadCache(t,i,o,n,r);const l=h.m_vertices,y=20,c=yi,m=fi;let a=0,u=0;for(;u<y;){a=h.m_count;for(let b=0;b<a;++b)c[b]=l[b].indexA,m[b]=l[b].indexB;switch(h.m_count){case 1:break;case 2:h.Solve2();break;case 3:h.Solve3();break}if(h.m_count===3)break;const f=h.GetSearchDirection(Si);if(f.LengthSquared()<rs)break;const A=l[h.m_count];A.indexA=i.GetSupport(C.MulTRV(o.q,s.NegV(f,s.s_t0),Bi)),I.MulXV(o,i.GetVertex(A.indexA),A.wA),A.indexB=n.GetSupport(C.MulTRV(r.q,f,bi)),I.MulXV(r,n.GetVertex(A.indexB),A.wB),s.SubVV(A.wB,A.wA,A.w),++u,++_.b2_gjkIters;let S=!1;for(let b=0;b<a;++b)if(A.indexA===c[b]&&A.indexB===m[b]){S=!0;break}if(S)break;++h.m_count}if(_.b2_gjkMaxIters=E(_.b2_gjkMaxIters,u),h.GetWitnessPoints(d.pointA,d.pointB),d.distance=s.DistanceVV(d.pointA,d.pointB),d.iterations=u,h.WriteCache(t),e.useRadii){const f=i.m_radius,A=n.m_radius;if(d.distance>f+A&&d.distance>ft){d.distance-=f+A;const S=s.SubVV(d.pointB,d.pointA,wi);S.Normalize(),d.pointA.SelfMulAdd(f,S),d.pointB.SelfMulSub(A,S)}else{const S=s.MidVV(d.pointA,d.pointB,Ai);d.pointA.Copy(S),d.pointB.Copy(S),d.distance=0}}}const xi=new s,Ci=new Jt,Se=new s,we=new s,Vi=new s,vi=new s,gi=new s,Mi=new s;function Ii(d,t){d.iterations=0,d.lambda=1,d.normal.SetZero(),d.point.SetZero();const e=t.proxyA,i=t.proxyB,n=E(e.m_radius,Ct),o=E(i.m_radius,Ct),r=n+o,h=t.transformA,l=t.transformB,y=t.translationB,c=xi.Set(0,0);let m=0;const a=Ci;a.m_count=0;const u=a.m_vertices;let f=e.GetSupport(C.MulTRV(h.q,s.NegV(y,s.s_t1),s.s_t0)),A=I.MulXV(h,e.GetVertex(f),Se),S=i.GetSupport(C.MulTRV(l.q,y,s.s_t0)),b=I.MulXV(l,i.GetVertex(S),we);const B=s.SubVV(A,b,Vi),x=E(Ct,r-Ct),v=.5*Q,V=20;let k=0;for(;k<V&&B.Length()-x>v;){d.iterations+=1,f=e.GetSupport(C.MulTRV(h.q,s.NegV(B,s.s_t1),s.s_t0)),A=I.MulXV(h,e.GetVertex(f),Se),S=i.GetSupport(C.MulTRV(l.q,B,s.s_t0)),b=I.MulXV(l,i.GetVertex(S),we);const z=s.SubVV(A,b,vi);B.Normalize();const j=s.DotVV(B,z),Y=s.DotVV(B,y);if(j-x>m*Y){if(Y<=0||(m=(j-x)/Y,m>1))return!1;c.Copy(B).SelfNeg(),a.m_count=0}const R=u[a.m_count];switch(R.indexA=S,R.wA.Copy(b).SelfMulAdd(m,y),R.indexB=f,R.wB.Copy(A),R.w.Copy(R.wB).SelfSub(R.wA),R.a=1,a.m_count+=1,a.m_count){case 1:break;case 2:a.Solve2();break;case 3:a.Solve3();break}if(a.m_count===3)return!1;a.GetClosestPoint(B),++k}if(k===0)return!1;const P=gi,q=Mi;return a.GetWitnessPoints(P,q),B.LengthSquared()>0&&(c.Copy(B).SelfNeg(),c.Normalize()),d.normal.Copy(c),d.lambda=m,d.iterations=k,!0}_.b2ContactFeatureType=void 0,function(d){d[d.e_vertex=0]="e_vertex",d[d.e_face=1]="e_face"}(_.b2ContactFeatureType||(_.b2ContactFeatureType={}));class Be{constructor(){this._key=0,this._key_invalid=!1,this._indexA=0,this._indexB=0,this._typeA=0,this._typeB=0}get key(){return this._key_invalid&&(this._key_invalid=!1,this._key=this._indexA|this._indexB<<8|this._typeA<<16|this._typeB<<24),this._key}set key(t){this._key=t,this._key_invalid=!1,this._indexA=this._key&255,this._indexB=this._key>>8&255,this._typeA=this._key>>16&255,this._typeB=this._key>>24&255}get indexA(){return this._indexA}set indexA(t){this._indexA=t,this._key_invalid=!0}get indexB(){return this._indexB}set indexB(t){this._indexB=t,this._key_invalid=!0}get typeA(){return this._typeA}set typeA(t){this._typeA=t,this._key_invalid=!0}get typeB(){return this._typeB}set typeB(t){this._typeB=t,this._key_invalid=!0}}class ys{constructor(){this.cf=new Be}Copy(t){return this.key=t.key,this}Clone(){return new ys().Copy(this)}get key(){return this.cf.key}set key(t){this.cf.key=t}}class Fs{constructor(){this.localPoint=new s,this.normalImpulse=0,this.tangentImpulse=0,this.id=new ys}static MakeArray(t){return Ut(t,e=>new Fs)}Reset(){this.localPoint.SetZero(),this.normalImpulse=0,this.tangentImpulse=0,this.id.key=0}Copy(t){return this.localPoint.Copy(t.localPoint),this.normalImpulse=t.normalImpulse,this.tangentImpulse=t.tangentImpulse,this.id.Copy(t.id),this}}_.b2ManifoldType=void 0,function(d){d[d.e_unknown=-1]="e_unknown",d[d.e_circles=0]="e_circles",d[d.e_faceA=1]="e_faceA",d[d.e_faceB=2]="e_faceB"}(_.b2ManifoldType||(_.b2ManifoldType={}));class Bs{constructor(){this.points=Fs.MakeArray(H),this.localNormal=new s,this.localPoint=new s,this.type=_.b2ManifoldType.e_unknown,this.pointCount=0}Reset(){for(let t=0;t<H;++t)this.points[t].Reset();this.localNormal.SetZero(),this.localPoint.SetZero(),this.type=_.b2ManifoldType.e_unknown,this.pointCount=0}Copy(t){this.pointCount=t.pointCount;for(let e=0;e<H;++e)this.points[e].Copy(t.points[e]);return this.localNormal.Copy(t.localNormal),this.localPoint.Copy(t.localPoint),this.type=t.type,this}Clone(){return new Bs().Copy(this)}}class dt{constructor(){this.normal=new s,this.points=s.MakeArray(H),this.separations=Ss(H)}Initialize(t,e,i,n,o){if(t.pointCount!==0)switch(t.type){case _.b2ManifoldType.e_circles:{this.normal.Set(1,0);const r=I.MulXV(e,t.localPoint,dt.Initialize_s_pointA),h=I.MulXV(n,t.points[0].localPoint,dt.Initialize_s_pointB);s.DistanceSquaredVV(r,h)>rs&&s.SubVV(h,r,this.normal).SelfNormalize();const l=s.AddVMulSV(r,i,this.normal,dt.Initialize_s_cA),y=s.SubVMulSV(h,o,this.normal,dt.Initialize_s_cB);s.MidVV(l,y,this.points[0]),this.separations[0]=s.DotVV(s.SubVV(y,l,s.s_t0),this.normal);break}case _.b2ManifoldType.e_faceA:{C.MulRV(e.q,t.localNormal,this.normal);const r=I.MulXV(e,t.localPoint,dt.Initialize_s_planePoint);for(let h=0;h<t.pointCount;++h){const l=I.MulXV(n,t.points[h].localPoint,dt.Initialize_s_clipPoint),y=i-s.DotVV(s.SubVV(l,r,s.s_t0),this.normal),c=s.AddVMulSV(l,y,this.normal,dt.Initialize_s_cA),m=s.SubVMulSV(l,o,this.normal,dt.Initialize_s_cB);s.MidVV(c,m,this.points[h]),this.separations[h]=s.DotVV(s.SubVV(m,c,s.s_t0),this.normal)}break}case _.b2ManifoldType.e_faceB:{C.MulRV(n.q,t.localNormal,this.normal);const r=I.MulXV(n,t.localPoint,dt.Initialize_s_planePoint);for(let h=0;h<t.pointCount;++h){const l=I.MulXV(e,t.points[h].localPoint,dt.Initialize_s_clipPoint),y=o-s.DotVV(s.SubVV(l,r,s.s_t0),this.normal),c=s.AddVMulSV(l,y,this.normal,dt.Initialize_s_cB),m=s.SubVMulSV(l,i,this.normal,dt.Initialize_s_cA);s.MidVV(m,c,this.points[h]),this.separations[h]=s.DotVV(s.SubVV(m,c,s.s_t0),this.normal)}this.normal.SelfNeg();break}}}}dt.Initialize_s_pointA=new s,dt.Initialize_s_pointB=new s,dt.Initialize_s_cA=new s,dt.Initialize_s_cB=new s,dt.Initialize_s_planePoint=new s,dt.Initialize_s_clipPoint=new s,_.b2PointState=void 0,function(d){d[d.b2_nullState=0]="b2_nullState",d[d.b2_addState=1]="b2_addState",d[d.b2_persistState=2]="b2_persistState",d[d.b2_removeState=3]="b2_removeState"}(_.b2PointState||(_.b2PointState={}));function Di(d,t,e,i){let n;for(n=0;n<e.pointCount;++n){const r=e.points[n].id.key;d[n]=_.b2PointState.b2_removeState;for(let h=0,l=i.pointCount;h<l;++h)if(i.points[h].id.key===r){d[n]=_.b2PointState.b2_persistState;break}}for(;n<H;++n)d[n]=_.b2PointState.b2_nullState;for(n=0;n<i.pointCount;++n){const r=i.points[n].id.key;t[n]=_.b2PointState.b2_addState;for(let h=0,l=e.pointCount;h<l;++h)if(e.points[h].id.key===r){t[n]=_.b2PointState.b2_persistState;break}}for(;n<H;++n)t[n]=_.b2PointState.b2_nullState}class gt{constructor(){this.v=new s,this.id=new ys}static MakeArray(t){return Ut(t,e=>new gt)}Copy(t){return this.v.Copy(t.v),this.id.Copy(t.id),this}}class ks{constructor(){this.p1=new s,this.p2=new s,this.maxFraction=1}Copy(t){return this.p1.Copy(t.p1),this.p2.Copy(t.p2),this.maxFraction=t.maxFraction,this}}class be{constructor(){this.normal=new s,this.fraction=0}Copy(t){return this.normal.Copy(t.normal),this.fraction=t.fraction,this}}class Et{constructor(){this.lowerBound=new s,this.upperBound=new s,this.m_cache_center=new s,this.m_cache_extent=new s}Copy(t){return this.lowerBound.Copy(t.lowerBound),this.upperBound.Copy(t.upperBound),this}IsValid(){return!(!this.lowerBound.IsValid()||!this.upperBound.IsValid()||this.upperBound.x<this.lowerBound.x||this.upperBound.y<this.lowerBound.y)}GetCenter(){return s.MidVV(this.lowerBound,this.upperBound,this.m_cache_center)}GetExtents(){return s.ExtVV(this.lowerBound,this.upperBound,this.m_cache_extent)}GetPerimeter(){const t=this.upperBound.x-this.lowerBound.x,e=this.upperBound.y-this.lowerBound.y;return 2*(t+e)}Combine1(t){return this.lowerBound.x=at(this.lowerBound.x,t.lowerBound.x),this.lowerBound.y=at(this.lowerBound.y,t.lowerBound.y),this.upperBound.x=E(this.upperBound.x,t.upperBound.x),this.upperBound.y=E(this.upperBound.y,t.upperBound.y),this}Combine2(t,e){return this.lowerBound.x=at(t.lowerBound.x,e.lowerBound.x),this.lowerBound.y=at(t.lowerBound.y,e.lowerBound.y),this.upperBound.x=E(t.upperBound.x,e.upperBound.x),this.upperBound.y=E(t.upperBound.y,e.upperBound.y),this}static Combine(t,e,i){return i.Combine2(t,e),i}Contains(t){let e=!0;return e=e&&this.lowerBound.x<=t.lowerBound.x,e=e&&this.lowerBound.y<=t.lowerBound.y,e=e&&t.upperBound.x<=this.upperBound.x,e=e&&t.upperBound.y<=this.upperBound.y,e}RayCast(t,e){let i=-M,n=M;const o=e.p1.x,r=e.p1.y,h=e.p2.x-e.p1.x,l=e.p2.y-e.p1.y,y=ot(h),c=ot(l),m=t.normal;if(y<ft){if(o<this.lowerBound.x||this.upperBound.x<o)return!1}else{const a=1/h;let u=(this.lowerBound.x-o)*a,f=(this.upperBound.x-o)*a,A=-1;if(u>f){const S=u;u=f,f=S,A=1}if(u>i&&(m.x=A,m.y=0,i=u),n=at(n,f),i>n)return!1}if(c<ft){if(r<this.lowerBound.y||this.upperBound.y<r)return!1}else{const a=1/l;let u=(this.lowerBound.y-r)*a,f=(this.upperBound.y-r)*a,A=-1;if(u>f){const S=u;u=f,f=S,A=1}if(u>i&&(m.x=0,m.y=A,i=u),n=at(n,f),i>n)return!1}return i<0||e.maxFraction<i?!1:(t.fraction=i,!0)}TestContain(t){return!(t.x<this.lowerBound.x||this.upperBound.x<t.x||t.y<this.lowerBound.y||this.upperBound.y<t.y)}TestOverlap(t){return!(this.upperBound.x<t.lowerBound.x||this.upperBound.y<t.lowerBound.y||t.upperBound.x<this.lowerBound.x||t.upperBound.y<this.lowerBound.y)}}function Qs(d,t){return!(d.upperBound.x<t.lowerBound.x||d.upperBound.y<t.lowerBound.y||t.upperBound.x<d.lowerBound.x||t.upperBound.y<d.lowerBound.y)}function bs(d,t,e,i,n){let o=0;const r=t[0],h=t[1],l=s.DotVV(e,r.v)-i,y=s.DotVV(e,h.v)-i;if(l<=0&&d[o++].Copy(r),y<=0&&d[o++].Copy(h),l*y<0){const c=l/(l-y),m=d[o].v;m.x=r.v.x+c*(h.v.x-r.v.x),m.y=r.v.y+c*(h.v.y-r.v.y);const a=d[o].id;a.cf.indexA=n,a.cf.indexB=r.id.cf.indexB,a.cf.typeA=_.b2ContactFeatureType.e_vertex,a.cf.typeB=_.b2ContactFeatureType.e_face,++o}return o}const Ti=new Us,Pi=new Zs,Gi=new Ys;function Ws(d,t,e,i,n,o){const r=Ti.Reset();r.proxyA.SetShape(d,t),r.proxyB.SetShape(e,i),r.transformA.Copy(n),r.transformB.Copy(o),r.useRadii=!0;const h=Pi.Reset();h.count=0;const l=Gi.Reset();return Ks(l,h,r),l.distance<10*ft}function yt(d){if(d===null)throw new Error;return d}class xe{constructor(t=0){this.m_id=0,this.aabb=new Et,this._userData=null,this.parent=null,this.child1=null,this.child2=null,this.height=0,this.moved=!1,this.m_id=t}get userData(){if(this._userData===null)throw new Error;return this._userData}set userData(t){if(this._userData!==null)throw new Error;this._userData=t}Reset(){this._userData=null}IsLeaf(){return this.child1===null}}class et{constructor(){this.m_root=null,this.m_freeList=null,this.m_insertionCount=0,this.m_stack=new de(256)}Query(...t){let e,i;t[0]instanceof Et?(e=t[0],i=t[1]):(e=t[1],i=t[0]);const n=this.m_stack.Reset();for(n.Push(this.m_root);n.GetCount()>0;){const o=n.Pop();if(o!==null&&o.aabb.TestOverlap(e))if(o.IsLeaf()){if(!i(o))return}else n.Push(o.child1),n.Push(o.child2)}}QueryPoint(t,e){const i=this.m_stack.Reset();for(i.Push(this.m_root);i.GetCount()>0;){const n=i.Pop();if(n!==null&&n.aabb.TestContain(t))if(n.IsLeaf()){if(!e(n))return}else i.Push(n.child1),i.Push(n.child2)}}RayCast(...t){let e,i;t[0]instanceof ks?(i=t[0],e=t[1]):(i=t[1],e=t[0]);const n=i.p1,o=i.p2,r=s.SubVV(o,n,et.s_r);r.Normalize();const h=s.CrossOneV(r,et.s_v),l=s.AbsV(h,et.s_abs_v);let y=i.maxFraction;const c=et.s_segmentAABB;let m=n.x+y*(o.x-n.x),a=n.y+y*(o.y-n.y);c.lowerBound.x=at(n.x,m),c.lowerBound.y=at(n.y,a),c.upperBound.x=E(n.x,m),c.upperBound.y=E(n.y,a);const u=this.m_stack.Reset();for(u.Push(this.m_root);u.GetCount()>0;){const f=u.Pop();if(f===null||!Qs(f.aabb,c))continue;const A=f.aabb.GetCenter(),S=f.aabb.GetExtents();if(!(ot(s.DotVV(h,s.SubVV(n,A,s.s_t0)))-s.DotVV(l,S)>0))if(f.IsLeaf()){const B=et.s_subInput;B.p1.Copy(i.p1),B.p2.Copy(i.p2),B.maxFraction=y;const x=e(B,f);if(x===0)return;x>0&&(y=x,m=n.x+y*(o.x-n.x),a=n.y+y*(o.y-n.y),c.lowerBound.x=at(n.x,m),c.lowerBound.y=at(n.y,a),c.upperBound.x=E(n.x,m),c.upperBound.y=E(n.y,a))}else u.Push(f.child1),u.Push(f.child2)}}AllocateNode(){if(this.m_freeList!==null){const t=this.m_freeList;return this.m_freeList=t.parent,t.parent=null,t.child1=null,t.child2=null,t.height=0,t.moved=!1,t}return new xe(et.s_node_id++)}FreeNode(t){t.parent=this.m_freeList,t.child1=null,t.child2=null,t.height=-1,t.Reset(),this.m_freeList=t}CreateProxy(t,e){const i=this.AllocateNode(),n=Kt,o=Kt;return i.aabb.lowerBound.x=t.lowerBound.x-n,i.aabb.lowerBound.y=t.lowerBound.y-o,i.aabb.upperBound.x=t.upperBound.x+n,i.aabb.upperBound.y=t.upperBound.y+o,i.userData=e,i.height=0,i.moved=!0,this.InsertLeaf(i),i}DestroyProxy(t){this.RemoveLeaf(t),this.FreeNode(t)}MoveProxy(t,e,i){const n=et.MoveProxy_s_fatAABB,o=Kt,r=Kt;n.lowerBound.x=e.lowerBound.x-o,n.lowerBound.y=e.lowerBound.y-r,n.upperBound.x=e.upperBound.x+o,n.upperBound.y=e.upperBound.y+r;const h=xt*i.x,l=xt*i.y;h<0?n.lowerBound.x+=h:n.upperBound.x+=h,l<0?n.lowerBound.y+=l:n.upperBound.y+=l;const y=t.aabb;if(y.Contains(e)){const c=et.MoveProxy_s_hugeAABB;if(c.lowerBound.x=n.lowerBound.x-4*o,c.lowerBound.y=n.lowerBound.y-4*r,c.upperBound.x=n.upperBound.x+4*o,c.upperBound.y=n.upperBound.y+4*r,c.Contains(y))return!1}return this.RemoveLeaf(t),t.aabb.Copy(n),this.InsertLeaf(t),t.moved=!0,!0}InsertLeaf(t){if(++this.m_insertionCount,this.m_root===null){this.m_root=t,this.m_root.parent=null;return}const e=t.aabb;let i=this.m_root;for(;!i.IsLeaf();){const h=yt(i.child1),l=yt(i.child2),y=i.aabb.GetPerimeter(),c=et.s_combinedAABB;c.Combine2(i.aabb,e);const m=c.GetPerimeter(),a=2*m,u=2*(m-y);let f;const A=et.s_aabb;let S,b;h.IsLeaf()?(A.Combine2(e,h.aabb),f=A.GetPerimeter()+u):(A.Combine2(e,h.aabb),S=h.aabb.GetPerimeter(),b=A.GetPerimeter(),f=b-S+u);let B;if(l.IsLeaf()?(A.Combine2(e,l.aabb),B=A.GetPerimeter()+u):(A.Combine2(e,l.aabb),S=l.aabb.GetPerimeter(),b=A.GetPerimeter(),B=b-S+u),a<f&&a<B)break;f<B?i=h:i=l}const n=i.parent,o=this.AllocateNode();o.parent=n,o.aabb.Combine2(e,i.aabb),o.height=i.height+1,n!==null?(n.child1===i?n.child1=o:n.child2=o,o.child1=i,o.child2=t,i.parent=o,t.parent=o):(o.child1=i,o.child2=t,i.parent=o,t.parent=o,this.m_root=o);let r=t.parent;for(;r!==null;){r=this.Balance(r);const h=yt(r.child1),l=yt(r.child2);r.height=1+E(h.height,l.height),r.aabb.Combine2(h.aabb,l.aabb),r=r.parent}}RemoveLeaf(t){if(t===this.m_root){this.m_root=null;return}const e=yt(t.parent),i=e&&e.parent,n=yt(e.child1===t?e.child2:e.child1);if(i!==null){i.child1===e?i.child1=n:i.child2=n,n.parent=i,this.FreeNode(e);let o=i;for(;o!==null;){o=this.Balance(o);const r=yt(o.child1),h=yt(o.child2);o.aabb.Combine2(r.aabb,h.aabb),o.height=1+E(r.height,h.height),o=o.parent}}else this.m_root=n,n.parent=null,this.FreeNode(e)}Balance(t){if(t.IsLeaf()||t.height<2)return t;const e=yt(t.child1),i=yt(t.child2),n=i.height-e.height;if(n>1){const o=yt(i.child1),r=yt(i.child2);return i.child1=t,i.parent=t.parent,t.parent=i,i.parent!==null?i.parent.child1===t?i.parent.child1=i:i.parent.child2=i:this.m_root=i,o.height>r.height?(i.child2=o,t.child2=r,r.parent=t,t.aabb.Combine2(e.aabb,r.aabb),i.aabb.Combine2(t.aabb,o.aabb),t.height=1+E(e.height,r.height),i.height=1+E(t.height,o.height)):(i.child2=r,t.child2=o,o.parent=t,t.aabb.Combine2(e.aabb,o.aabb),i.aabb.Combine2(t.aabb,r.aabb),t.height=1+E(e.height,o.height),i.height=1+E(t.height,r.height)),i}if(n<-1){const o=yt(e.child1),r=yt(e.child2);return e.child1=t,e.parent=t.parent,t.parent=e,e.parent!==null?e.parent.child1===t?e.parent.child1=e:e.parent.child2=e:this.m_root=e,o.height>r.height?(e.child2=o,t.child1=r,r.parent=t,t.aabb.Combine2(i.aabb,r.aabb),e.aabb.Combine2(t.aabb,o.aabb),t.height=1+E(i.height,r.height),e.height=1+E(t.height,o.height)):(e.child2=r,t.child1=o,o.parent=t,t.aabb.Combine2(i.aabb,o.aabb),e.aabb.Combine2(t.aabb,r.aabb),t.height=1+E(i.height,o.height),e.height=1+E(t.height,r.height)),e}return t}GetHeight(){return this.m_root===null?0:this.m_root.height}static GetAreaNode(t){if(t===null||t.IsLeaf())return 0;let e=t.aabb.GetPerimeter();return e+=et.GetAreaNode(t.child1),e+=et.GetAreaNode(t.child2),e}GetAreaRatio(){if(this.m_root===null)return 0;const e=this.m_root.aabb.GetPerimeter();return et.GetAreaNode(this.m_root)/e}static ComputeHeightNode(t){if(t===null||t.IsLeaf())return 0;const e=et.ComputeHeightNode(t.child1),i=et.ComputeHeightNode(t.child2);return 1+E(e,i)}ComputeHeight(){return et.ComputeHeightNode(this.m_root)}ValidateStructure(t){if(t===null||(this.m_root,t.IsLeaf()))return;const e=yt(t.child1),i=yt(t.child2);this.ValidateStructure(e),this.ValidateStructure(i)}ValidateMetrics(t){if(t===null||t.IsLeaf())return;const e=yt(t.child1),i=yt(t.child2);et.s_aabb.Combine2(e.aabb,i.aabb),this.ValidateMetrics(e),this.ValidateMetrics(i)}Validate(){}static GetMaxBalanceNode(t,e){if(t===null||t.height<=1)return e;const i=yt(t.child1),n=yt(t.child2),o=ot(n.height-i.height);return E(e,o)}GetMaxBalance(){return et.GetMaxBalanceNode(this.m_root,0)}RebuildBottomUp(){this.Validate()}static ShiftOriginNode(t,e){if(t===null||t.height<=1)return;const i=t.child1,n=t.child2;et.ShiftOriginNode(i,e),et.ShiftOriginNode(n,e),t.aabb.lowerBound.SelfSub(e),t.aabb.upperBound.SelfSub(e)}ShiftOrigin(t){et.ShiftOriginNode(this.m_root,t)}}et.s_r=new s,et.s_v=new s,et.s_abs_v=new s,et.s_segmentAABB=new Et,et.s_subInput=new ks,et.s_combinedAABB=new Et,et.s_aabb=new Et,et.s_node_id=0,et.MoveProxy_s_fatAABB=new Et,et.MoveProxy_s_hugeAABB=new Et;class Ce{constructor(t,e){this.proxyA=t,this.proxyB=e}}class Ve{constructor(){this.m_tree=new et,this.m_proxyCount=0,this.m_moveCount=0,this.m_moveBuffer=[],this.m_pairCount=0,this.m_pairBuffer=[]}CreateProxy(t,e){const i=this.m_tree.CreateProxy(t,e);return++this.m_proxyCount,this.BufferMove(i),i}DestroyProxy(t){this.UnBufferMove(t),--this.m_proxyCount,this.m_tree.DestroyProxy(t)}MoveProxy(t,e,i){this.m_tree.MoveProxy(t,e,i)&&this.BufferMove(t)}TouchProxy(t){this.BufferMove(t)}GetProxyCount(){return this.m_proxyCount}UpdatePairs(t){this.m_pairCount=0;for(let e=0;e<this.m_moveCount;++e){const i=this.m_moveBuffer[e];if(i===null)continue;const n=i.aabb;this.m_tree.Query(n,o=>{if(o.m_id===i.m_id||o.moved&&o.m_id>i.m_id)return!0;let h,l;if(o.m_id<i.m_id?(h=o,l=i):(h=i,l=o),this.m_pairCount===this.m_pairBuffer.length)this.m_pairBuffer[this.m_pairCount]=new Ce(h,l);else{const y=this.m_pairBuffer[this.m_pairCount];y.proxyA=h,y.proxyB=l}return++this.m_pairCount,!0})}for(let e=0;e<this.m_pairCount;++e){const i=this.m_pairBuffer[e],n=i.proxyA.userData,o=i.proxyB.userData;t(n,o)}for(let e=0;e<this.m_moveCount;++e){const i=this.m_moveBuffer[e];i!==null&&(i.moved=!1)}this.m_moveCount=0}Query(...t){this.m_tree.Query(t[0],t[1])}QueryPoint(t,e){this.m_tree.QueryPoint(t,e)}RayCast(t,e){this.m_tree.RayCast(t,e)}GetTreeHeight(){return this.m_tree.GetHeight()}GetTreeBalance(){return this.m_tree.GetMaxBalance()}GetTreeQuality(){return this.m_tree.GetAreaRatio()}ShiftOrigin(t){this.m_tree.ShiftOrigin(t)}BufferMove(t){this.m_moveBuffer[this.m_moveCount]=t,++this.m_moveCount}UnBufferMove(t){for(let e=0;e<this.m_moveCount;e++)this.m_moveBuffer[e]==t&&(this.m_moveBuffer[e]=null)}}class mt extends ls{constructor(){super(_.b2ShapeType.e_edgeShape,Ct),this.m_vertex1=new s,this.m_vertex2=new s,this.m_vertex0=new s,this.m_vertex3=new s,this.m_oneSided=!1}SetOneSided(t,e,i,n){return this.m_vertex0.Copy(t),this.m_vertex1.Copy(e),this.m_vertex2.Copy(i),this.m_vertex3.Copy(n),this.m_oneSided=!0,this}SetTwoSided(t,e){return this.m_vertex1.Copy(t),this.m_vertex2.Copy(e),this.m_oneSided=!1,this}Clone(){return new mt().Copy(this)}Copy(t){return super.Copy(t),this.m_vertex1.Copy(t.m_vertex1),this.m_vertex2.Copy(t.m_vertex2),this.m_vertex0.Copy(t.m_vertex0),this.m_vertex3.Copy(t.m_vertex3),this.m_oneSided=t.m_oneSided,this}GetChildCount(){return 1}TestPoint(t,e){return!1}RayCast(t,e,i,n){const o=I.MulTXV(i,e.p1,mt.RayCast_s_p1),r=I.MulTXV(i,e.p2,mt.RayCast_s_p2),h=s.SubVV(r,o,mt.RayCast_s_d),l=this.m_vertex1,y=this.m_vertex2,c=s.SubVV(y,l,mt.RayCast_s_e),m=t.normal.Set(c.y,-c.x).SelfNormalize(),a=s.DotVV(m,s.SubVV(l,o,s.s_t0));if(this.m_oneSided&&a>0)return!1;const u=s.DotVV(m,h);if(u===0)return!1;const f=a/u;if(f<0||e.maxFraction<f)return!1;const A=s.AddVMulSV(o,f,h,mt.RayCast_s_q),S=s.SubVV(y,l,mt.RayCast_s_r),b=s.DotVV(S,S);if(b===0)return!1;const B=s.DotVV(s.SubVV(A,l,s.s_t0),S)/b;return B<0||1<B?!1:(t.fraction=f,C.MulRV(i.q,t.normal,t.normal),a>0&&t.normal.SelfNeg(),!0)}ComputeAABB(t,e,i){const n=I.MulXV(e,this.m_vertex1,mt.ComputeAABB_s_v1),o=I.MulXV(e,this.m_vertex2,mt.ComputeAABB_s_v2);s.MinV(n,o,t.lowerBound),s.MaxV(n,o,t.upperBound);const r=this.m_radius;t.lowerBound.SelfSubXY(r,r),t.upperBound.SelfAddXY(r,r)}ComputeMass(t,e){t.mass=0,s.MidVV(this.m_vertex1,this.m_vertex2,t.center),t.I=0}SetupDistanceProxy(t,e){t.m_vertices=t.m_buffer,t.m_vertices[0].Copy(this.m_vertex1),t.m_vertices[1].Copy(this.m_vertex2),t.m_count=2,t.m_radius=this.m_radius}ComputeSubmergedArea(t,e,i,n){return n.SetZero(),0}Dump(t){t(`    const shape: b2EdgeShape = new b2EdgeShape();
`),t(`    shape.m_radius = %.15f;
`,this.m_radius),t(`    shape.m_vertex0.Set(%.15f, %.15f);
`,this.m_vertex0.x,this.m_vertex0.y),t(`    shape.m_vertex1.Set(%.15f, %.15f);
`,this.m_vertex1.x,this.m_vertex1.y),t(`    shape.m_vertex2.Set(%.15f, %.15f);
`,this.m_vertex2.x,this.m_vertex2.y),t(`    shape.m_vertex3.Set(%.15f, %.15f);
`,this.m_vertex3.x,this.m_vertex3.y),t(`    shape.m_oneSided = %s;
`,this.m_oneSided)}}mt.RayCast_s_p1=new s,mt.RayCast_s_p2=new s,mt.RayCast_s_d=new s,mt.RayCast_s_e=new s,mt.RayCast_s_q=new s,mt.RayCast_s_r=new s,mt.ComputeAABB_s_v1=new s,mt.ComputeAABB_s_v2=new s;class Lt extends ls{constructor(){super(_.b2ShapeType.e_chainShape,Ct),this.m_vertices=[],this.m_count=0,this.m_prevVertex=new s,this.m_nextVertex=new s}CreateLoop(...t){if(typeof t[0][0]=="number"){const e=t[0];if(e.length%2!==0)throw new Error;return this._CreateLoop(i=>({x:e[i*2],y:e[i*2+1]}),e.length/2)}else{const e=t[0],i=t[1]||e.length;return this._CreateLoop(n=>e[n],i)}}_CreateLoop(t,e){if(e<3)return this;this.m_count=e+1,this.m_vertices=s.MakeArray(this.m_count);for(let i=0;i<e;++i)this.m_vertices[i].Copy(t(i));return this.m_vertices[e].Copy(this.m_vertices[0]),this.m_prevVertex.Copy(this.m_vertices[this.m_count-2]),this.m_nextVertex.Copy(this.m_vertices[1]),this}CreateChain(...t){if(typeof t[0][0]=="number"){const e=t[0],i=t[1],n=t[2];if(e.length%2!==0)throw new Error;return this._CreateChain(o=>({x:e[o*2],y:e[o*2+1]}),e.length/2,i,n)}else{const e=t[0],i=t[1]||e.length,n=t[2],o=t[3];return this._CreateChain(r=>e[r],i,n,o)}}_CreateChain(t,e,i,n){this.m_count=e,this.m_vertices=s.MakeArray(e);for(let o=0;o<e;++o)this.m_vertices[o].Copy(t(o));return this.m_prevVertex.Copy(i),this.m_nextVertex.Copy(n),this}Clone(){return new Lt().Copy(this)}Copy(t){return super.Copy(t),this._CreateChain(e=>t.m_vertices[e],t.m_count,t.m_prevVertex,t.m_nextVertex),this.m_prevVertex.Copy(t.m_prevVertex),this.m_nextVertex.Copy(t.m_nextVertex),this}GetChildCount(){return this.m_count-1}GetChildEdge(t,e){t.m_radius=this.m_radius,t.m_vertex1.Copy(this.m_vertices[e]),t.m_vertex2.Copy(this.m_vertices[e+1]),t.m_oneSided=!0,e>0?t.m_vertex0.Copy(this.m_vertices[e-1]):t.m_vertex0.Copy(this.m_prevVertex),e<this.m_count-2?t.m_vertex3.Copy(this.m_vertices[e+2]):t.m_vertex3.Copy(this.m_nextVertex)}TestPoint(t,e){return!1}RayCast(t,e,i,n){const o=Lt.RayCast_s_edgeShape;return o.m_vertex1.Copy(this.m_vertices[n]),o.m_vertex2.Copy(this.m_vertices[(n+1)%this.m_count]),o.RayCast(t,e,i,0)}ComputeAABB(t,e,i){const n=this.m_vertices[i],o=this.m_vertices[(i+1)%this.m_count],r=I.MulXV(e,n,Lt.ComputeAABB_s_v1),h=I.MulXV(e,o,Lt.ComputeAABB_s_v2),l=s.MinV(r,h,Lt.ComputeAABB_s_lower),y=s.MaxV(r,h,Lt.ComputeAABB_s_upper);t.lowerBound.x=l.x-this.m_radius,t.lowerBound.y=l.y-this.m_radius,t.upperBound.x=y.x+this.m_radius,t.upperBound.y=y.y+this.m_radius}ComputeMass(t,e){t.mass=0,t.center.SetZero(),t.I=0}SetupDistanceProxy(t,e){t.m_vertices=t.m_buffer,t.m_vertices[0].Copy(this.m_vertices[e]),e+1<this.m_count?t.m_vertices[1].Copy(this.m_vertices[e+1]):t.m_vertices[1].Copy(this.m_vertices[0]),t.m_count=2,t.m_radius=this.m_radius}ComputeSubmergedArea(t,e,i,n){return n.SetZero(),0}Dump(t){t(`    const shape: b2ChainShape = new b2ChainShape();
`),t(`    const vs: b2Vec2[] = [];
`);for(let e=0;e<this.m_count;++e)t(`    vs[%d] = new bVec2(%.15f, %.15f);
`,e,this.m_vertices[e].x,this.m_vertices[e].y);t(`    shape.CreateChain(vs, %d);
`,this.m_count),t(`    shape.m_prevVertex.Set(%.15f, %.15f);
`,this.m_prevVertex.x,this.m_prevVertex.y),t(`    shape.m_nextVertex.Set(%.15f, %.15f);
`,this.m_nextVertex.x,this.m_nextVertex.y)}}Lt.RayCast_s_edgeShape=new mt,Lt.ComputeAABB_s_v1=new s,Lt.ComputeAABB_s_v2=new s,Lt.ComputeAABB_s_lower=new s,Lt.ComputeAABB_s_upper=new s;class Mt extends ls{constructor(t=0){super(_.b2ShapeType.e_circleShape,t),this.m_p=new s}Set(t,e=this.m_radius){return this.m_p.Copy(t),this.m_radius=e,this}Clone(){return new Mt().Copy(this)}Copy(t){return super.Copy(t),this.m_p.Copy(t.m_p),this}GetChildCount(){return 1}TestPoint(t,e){const i=I.MulXV(t,this.m_p,Mt.TestPoint_s_center),n=s.SubVV(e,i,Mt.TestPoint_s_d);return s.DotVV(n,n)<=ds(this.m_radius)}RayCast(t,e,i,n){const o=I.MulXV(i,this.m_p,Mt.RayCast_s_position),r=s.SubVV(e.p1,o,Mt.RayCast_s_s),h=s.DotVV(r,r)-ds(this.m_radius),l=s.SubVV(e.p2,e.p1,Mt.RayCast_s_r),y=s.DotVV(r,l),c=s.DotVV(l,l),m=y*y-c*h;if(m<0||c<ft)return!1;let a=-(y+ws(m));return 0<=a&&a<=e.maxFraction*c?(a/=c,t.fraction=a,s.AddVMulSV(r,a,l,t.normal).SelfNormalize(),!0):!1}ComputeAABB(t,e,i){const n=I.MulXV(e,this.m_p,Mt.ComputeAABB_s_p);t.lowerBound.Set(n.x-this.m_radius,n.y-this.m_radius),t.upperBound.Set(n.x+this.m_radius,n.y+this.m_radius)}ComputeMass(t,e){const i=ds(this.m_radius);t.mass=e*ut*i,t.center.Copy(this.m_p),t.I=t.mass*(.5*i+s.DotVV(this.m_p,this.m_p))}SetupDistanceProxy(t,e){t.m_vertices=t.m_buffer,t.m_vertices[0].Copy(this.m_p),t.m_count=1,t.m_radius=this.m_radius}ComputeSubmergedArea(t,e,i,n){const o=I.MulXV(i,this.m_p,new s),r=-(s.DotVV(t,o)-e);if(r<-this.m_radius+ft)return 0;if(r>this.m_radius)return n.Copy(o),ut*this.m_radius*this.m_radius;const h=this.m_radius*this.m_radius,l=r*r,y=h*(Ae(r/this.m_radius)+ut/2)+r*ws(h-l),c=-2/3*fe(h-l,1.5)/y;return n.x=o.x+t.x*c,n.y=o.y+t.y*c,y}Dump(t){t(`    const shape: b2CircleShape = new b2CircleShape();
`),t(`    shape.m_radius = %.15f;
`,this.m_radius),t(`    shape.m_p.Set(%.15f, %.15f);
`,this.m_p.x,this.m_p.y)}}Mt.TestPoint_s_center=new s,Mt.TestPoint_s_d=new s,Mt.RayCast_s_position=new s,Mt.RayCast_s_s=new s,Mt.RayCast_s_r=new s,Mt.ComputeAABB_s_p=new s;const Li=new s,Ri=new s;function ve(d,t,e,i,n){d.pointCount=0;const o=I.MulXV(e,t.m_p,Li),r=I.MulXV(n,i.m_p,Ri),h=s.DistanceSquaredVV(o,r),l=t.m_radius+i.m_radius;h>l*l||(d.type=_.b2ManifoldType.e_circles,d.localPoint.Copy(t.m_p),d.localNormal.SetZero(),d.pointCount=1,d.points[0].localPoint.Copy(i.m_p),d.points[0].id.key=0)}const Fi=new s,ki=new s,qi=new s;function ge(d,t,e,i,n){d.pointCount=0;const o=I.MulXV(n,i.m_p,Fi),r=I.MulTXV(e,o,ki);let h=0,l=-M;const y=t.m_radius+i.m_radius,c=t.m_count,m=t.m_vertices,a=t.m_normals;for(let x=0;x<c;++x){const v=s.DotVV(a[x],s.SubVV(r,m[x],s.s_t0));if(v>y)return;v>l&&(l=v,h=x)}const u=h,f=(u+1)%c,A=m[u],S=m[f];if(l<ft){d.pointCount=1,d.type=_.b2ManifoldType.e_faceA,d.localNormal.Copy(a[h]),s.MidVV(A,S,d.localPoint),d.points[0].localPoint.Copy(i.m_p),d.points[0].id.key=0;return}const b=s.DotVV(s.SubVV(r,A,s.s_t0),s.SubVV(S,A,s.s_t1)),B=s.DotVV(s.SubVV(r,S,s.s_t0),s.SubVV(A,S,s.s_t1));if(b<=0){if(s.DistanceSquaredVV(r,A)>y*y)return;d.pointCount=1,d.type=_.b2ManifoldType.e_faceA,s.SubVV(r,A,d.localNormal).SelfNormalize(),d.localPoint.Copy(A),d.points[0].localPoint.Copy(i.m_p),d.points[0].id.key=0}else if(B<=0){if(s.DistanceSquaredVV(r,S)>y*y)return;d.pointCount=1,d.type=_.b2ManifoldType.e_faceA,s.SubVV(r,S,d.localNormal).SelfNormalize(),d.localPoint.Copy(S),d.points[0].localPoint.Copy(i.m_p),d.points[0].id.key=0}else{const x=s.MidVV(A,S,qi);if(s.DotVV(s.SubVV(r,x,s.s_t1),a[u])>y)return;d.pointCount=1,d.type=_.b2ManifoldType.e_faceA,d.localNormal.Copy(a[u]).SelfNormalize(),d.localPoint.Copy(x),d.points[0].localPoint.Copy(i.m_p),d.points[0].id.key=0}}const ji=new s,Ei=new s,Hs=new s,Oi=new s,Xi=new s,zi=new s,Ji=new s,Ni=new ys;function $s(d,t,e,i,n){d.pointCount=0;const o=I.MulTXV(e,I.MulXV(n,i.m_p,s.s_t0),ji),r=t.m_vertex1,h=t.m_vertex2,l=s.SubVV(h,r,Ei),y=Ji.Set(l.y,-l.x),c=s.DotVV(y,s.SubVV(o,r,s.s_t0));if(t.m_oneSided&&c<0)return;const a=s.DotVV(l,s.SubVV(h,o,s.s_t0)),u=s.DotVV(l,s.SubVV(o,r,s.s_t0)),f=t.m_radius+i.m_radius,A=Ni;if(A.cf.indexB=0,A.cf.typeB=_.b2ContactFeatureType.e_vertex,u<=0){const v=r,V=s.SubVV(o,v,Hs);if(s.DotVV(V,V)>f*f)return;if(t.m_oneSided){const P=t.m_vertex0,q=r,z=s.SubVV(q,P,Oi);if(s.DotVV(z,s.SubVV(q,o,s.s_t0))>0)return}A.cf.indexA=0,A.cf.typeA=_.b2ContactFeatureType.e_vertex,d.pointCount=1,d.type=_.b2ManifoldType.e_circles,d.localNormal.SetZero(),d.localPoint.Copy(v),d.points[0].id.Copy(A),d.points[0].localPoint.Copy(i.m_p);return}if(a<=0){const v=h,V=s.SubVV(o,v,Hs);if(s.DotVV(V,V)>f*f)return;if(t.m_oneSided){const P=t.m_vertex3,q=h,z=s.SubVV(P,q,Xi);if(s.DotVV(z,s.SubVV(o,q,s.s_t0))>0)return}A.cf.indexA=1,A.cf.typeA=_.b2ContactFeatureType.e_vertex,d.pointCount=1,d.type=_.b2ManifoldType.e_circles,d.localNormal.SetZero(),d.localPoint.Copy(v),d.points[0].id.Copy(A),d.points[0].localPoint.Copy(i.m_p);return}const S=s.DotVV(l,l),b=zi;b.x=1/S*(a*r.x+u*h.x),b.y=1/S*(a*r.y+u*h.y);const B=s.SubVV(o,b,Hs);s.DotVV(B,B)>f*f||(c<0&&y.Set(-y.x,-y.y),y.Normalize(),A.cf.indexA=0,A.cf.typeA=_.b2ContactFeatureType.e_face,d.pointCount=1,d.type=_.b2ManifoldType.e_faceA,d.localNormal.Copy(y),d.localPoint.Copy(r),d.points[0].id.Copy(A),d.points[0].localPoint.Copy(i.m_p))}var Wt;(function(d){d[d.e_unknown=0]="e_unknown",d[d.e_edgeA=1]="e_edgeA",d[d.e_edgeB=2]="e_edgeB"})(Wt||(Wt={}));class Me{constructor(){this.normal=new s,this.type=Wt.e_unknown,this.index=0,this.separation=0}}class Zi{constructor(){this.vertices=[],this.normals=[],this.count=0}}class Ui{constructor(){this.i1=0,this.i2=0,this.v1=new s,this.v2=new s,this.normal=new s,this.sideNormal1=new s,this.sideOffset1=0,this.sideNormal2=new s,this.sideOffset2=0}}const Yi=new Me,Ki=[new s,new s];function Qi(d,t,e){const i=Yi;i.type=Wt.e_edgeA,i.index=-1,i.separation=-Number.MAX_VALUE,i.normal.SetZero();const n=Ki;n[0].Copy(e),n[1].Copy(e).SelfNeg();for(let o=0;o<2;++o){let r=Number.MAX_VALUE;for(let h=0;h<d.count;++h){const l=s.DotVV(n[o],s.SubVV(d.vertices[h],t,s.s_t0));l<r&&(r=l)}r>i.separation&&(i.index=o,i.separation=r,i.normal.Copy(n[o]))}return i}const Wi=new Me,Hi=new s;function $i(d,t,e){const i=Wi;i.type=Wt.e_unknown,i.index=-1,i.separation=-Number.MAX_VALUE,i.normal.SetZero();for(let n=0;n<d.count;++n){const o=s.NegV(d.normals[n],Hi),r=s.DotVV(o,s.SubVV(d.vertices[n],t,s.s_t0)),h=s.DotVV(o,s.SubVV(d.vertices[n],e,s.s_t0)),l=at(r,h);l>i.separation&&(i.type=Wt.e_edgeB,i.index=n,i.separation=l,i.normal.Copy(o))}return i}const tn=new I,sn=new s,en=new s,nn=new s,on=new s,rn=new s,hn=new s,ln=new s,_n=new Zi,an=new Ui,mn=[new gt,new gt],cn=[new gt,new gt],un=[new gt,new gt];function te(d,t,e,i,n){d.pointCount=0;const o=I.MulTXX(e,n,tn),r=I.MulXV(o,i.m_centroid,sn),h=t.m_vertex1,l=t.m_vertex2,y=s.SubVV(l,h,en);y.Normalize();const c=nn.Set(y.y,-y.x),m=s.DotVV(c,s.SubVV(r,h,s.s_t0)),a=t.m_oneSided;if(a&&m<0)return;const u=_n;u.count=i.m_count;for(let j=0;j<i.m_count;++j)u.vertices.length<=j&&u.vertices.push(new s),u.normals.length<=j&&u.normals.push(new s),I.MulXV(o,i.m_vertices[j],u.vertices[j]),C.MulRV(o.q,i.m_normals[j],u.normals[j]);const f=i.m_radius+t.m_radius,A=Qi(u,h,c);if(A.separation>f)return;const S=$i(u,h,l);if(S.separation>f)return;const b=.98,B=.001;let x;if(S.separation-f>b*(A.separation-f)+B?x=S:x=A,a){const j=s.SubVV(h,t.m_vertex0,on);j.Normalize();const Y=rn.Set(j.y,-j.x),R=s.CrossVV(j,y)>=0,G=s.SubVV(t.m_vertex3,l,hn);G.Normalize();const Z=ln.Set(G.y,-G.x),U=s.CrossVV(y,G)>=0,it=.1;if(s.DotVV(x.normal,y)<=0)if(R){if(s.CrossVV(x.normal,Y)>it)return}else x=A;else if(U){if(s.CrossVV(Z,x.normal)>it)return}else x=A}const v=mn,V=an;if(x.type===Wt.e_edgeA){d.type=_.b2ManifoldType.e_faceA;let j=0,Y=s.DotVV(x.normal,u.normals[0]);for(let Z=1;Z<u.count;++Z){const U=s.DotVV(x.normal,u.normals[Z]);U<Y&&(Y=U,j=Z)}const R=j,G=R+1<u.count?R+1:0;v[0].v.Copy(u.vertices[R]),v[0].id.cf.indexA=0,v[0].id.cf.indexB=R,v[0].id.cf.typeA=_.b2ContactFeatureType.e_face,v[0].id.cf.typeB=_.b2ContactFeatureType.e_vertex,v[1].v.Copy(u.vertices[G]),v[1].id.cf.indexA=0,v[1].id.cf.indexB=G,v[1].id.cf.typeA=_.b2ContactFeatureType.e_face,v[1].id.cf.typeB=_.b2ContactFeatureType.e_vertex,V.i1=0,V.i2=1,V.v1.Copy(h),V.v2.Copy(l),V.normal.Copy(x.normal),V.sideNormal1.Copy(y).SelfNeg(),V.sideNormal2.Copy(y)}else d.type=_.b2ManifoldType.e_faceB,v[0].v.Copy(l),v[0].id.cf.indexA=1,v[0].id.cf.indexB=x.index,v[0].id.cf.typeA=_.b2ContactFeatureType.e_vertex,v[0].id.cf.typeB=_.b2ContactFeatureType.e_face,v[1].v.Copy(h),v[1].id.cf.indexA=0,v[1].id.cf.indexB=x.index,v[1].id.cf.typeA=_.b2ContactFeatureType.e_vertex,v[1].id.cf.typeB=_.b2ContactFeatureType.e_face,V.i1=x.index,V.i2=V.i1+1<u.count?V.i1+1:0,V.v1.Copy(u.vertices[V.i1]),V.v2.Copy(u.vertices[V.i2]),V.normal.Copy(u.normals[V.i1]),V.sideNormal1.Set(V.normal.y,-V.normal.x),V.sideNormal2.Copy(V.sideNormal1).SelfNeg();V.sideOffset1=s.DotVV(V.sideNormal1,V.v1),V.sideOffset2=s.DotVV(V.sideNormal2,V.v2);const k=cn,P=un;let q;if(q=bs(k,v,V.sideNormal1,V.sideOffset1,V.i1),q<H||(q=bs(P,k,V.sideNormal2,V.sideOffset2,V.i2),q<H))return;x.type===Wt.e_edgeA?(d.localNormal.Copy(V.normal),d.localPoint.Copy(V.v1)):(d.localNormal.Copy(i.m_normals[V.i1]),d.localPoint.Copy(i.m_vertices[V.i1]));let z=0;for(let j=0;j<H;++j)if(s.DotVV(V.normal,s.SubVV(P[j].v,V.v1,s.s_t0))<=f){const R=d.points[z];x.type===Wt.e_edgeA?(I.MulTXV(o,P[j].v,R.localPoint),R.id.Copy(P[j].id)):(R.localPoint.Copy(P[j].v),R.id.cf.typeA=P[j].id.cf.typeB,R.id.cf.typeB=P[j].id.cf.typeA,R.id.cf.indexA=P[j].id.cf.indexB,R.id.cf.indexB=P[j].id.cf.indexA),++z}d.pointCount=z}const dn=new I,pn=new s,yn=new s;function Ie(d,t,e,i,n){const o=t.m_count,r=i.m_count,h=t.m_normals,l=t.m_vertices,y=i.m_vertices,c=I.MulTXX(n,e,dn);let m=0,a=-M;for(let u=0;u<o;++u){const f=C.MulRV(c.q,h[u],pn),A=I.MulXV(c,l[u],yn);let S=M;for(let b=0;b<r;++b){const B=s.DotVV(f,s.SubVV(y[b],A,s.s_t0));B<S&&(S=B)}S>a&&(a=S,m=u)}return d[0]=m,a}const fn=new s;function An(d,t,e,i,n,o){const r=t.m_normals,h=n.m_count,l=n.m_vertices,y=n.m_normals,c=C.MulTRV(o.q,C.MulRV(e.q,r[i],s.s_t0),fn);let m=0,a=M;for(let x=0;x<h;++x){const v=s.DotVV(c,y[x]);v<a&&(a=v,m=x)}const u=m,f=u+1<h?u+1:0,A=d[0];I.MulXV(o,l[u],A.v);const S=A.id.cf;S.indexA=i,S.indexB=u,S.typeA=_.b2ContactFeatureType.e_face,S.typeB=_.b2ContactFeatureType.e_vertex;const b=d[1];I.MulXV(o,l[f],b.v);const B=b.id.cf;B.indexA=i,B.indexB=f,B.typeA=_.b2ContactFeatureType.e_face,B.typeB=_.b2ContactFeatureType.e_vertex}const Sn=[new gt,new gt],wn=[new gt,new gt],Bn=[new gt,new gt],bn=[0],xn=[0],Cn=new s,Vn=new s,vn=new s,gn=new s,Mn=new s,In=new s,Dn=new s,Tn=new s;function De(d,t,e,i,n){d.pointCount=0;const o=t.m_radius+i.m_radius,r=bn;r[0]=0;const h=Ie(r,t,e,i,n);if(h>o)return;const l=xn;l[0]=0;const y=Ie(l,i,n,t,e);if(y>o)return;let c,m,a,u,f=0,A=0;const S=.1*Q;y>h+S?(c=i,m=t,a=n,u=e,f=l[0],d.type=_.b2ManifoldType.e_faceB,A=1):(c=t,m=i,a=e,u=n,f=r[0],d.type=_.b2ManifoldType.e_faceA,A=0);const b=Sn;An(b,c,a,f,m,u);const B=c.m_count,x=c.m_vertices,v=f,V=f+1<B?f+1:0,k=x[v],P=x[V],q=s.SubVV(P,k,Cn);q.Normalize();const z=s.CrossVOne(q,Vn),j=s.MidVV(k,P,vn),Y=C.MulRV(a.q,q,Mn),R=s.CrossVOne(Y,gn),G=I.MulXV(a,k,Dn),Z=I.MulXV(a,P,Tn),U=s.DotVV(R,G),it=-s.DotVV(Y,G)+o,rt=s.DotVV(Y,Z)+o,St=wn,Tt=Bn;let Pt;const ns=s.NegV(Y,In);if(Pt=bs(St,b,ns,it,v),Pt<2||(Pt=bs(Tt,St,Y,rt,V),Pt<2))return;d.localNormal.Copy(z),d.localPoint.Copy(j);let me=0;for(let ce=0;ce<H;++ce){const ue=Tt[ce];if(s.DotVV(R,ue.v)-U<=o){const cs=d.points[me];if(I.MulTXV(u,ue.v,cs.localPoint),cs.id.Copy(ue.id),A){const zs=cs.id.cf;cs.id.cf.indexA=zs.indexB,cs.id.cf.indexB=zs.indexA,cs.id.cf.typeA=zs.typeB,cs.id.cf.typeB=zs.typeA}++me}}d.pointCount=me}class J extends ls{constructor(){super(_.b2ShapeType.e_polygonShape,Ct),this.m_centroid=new s(0,0),this.m_vertices=[],this.m_normals=[],this.m_count=0}Clone(){return new J().Copy(this)}Copy(t){super.Copy(t),this.m_centroid.Copy(t.m_centroid),this.m_count=t.m_count,this.m_vertices=s.MakeArray(this.m_count),this.m_normals=s.MakeArray(this.m_count);for(let e=0;e<this.m_count;++e)this.m_vertices[e].Copy(t.m_vertices[e]),this.m_normals[e].Copy(t.m_normals[e]);return this}GetChildCount(){return 1}Set(...t){if(typeof t[0][0]=="number"){const e=t[0];if(e.length%2!==0)throw new Error;return this._Set(i=>({x:e[i*2],y:e[i*2+1]}),e.length/2)}else{const e=t[0],i=t[1]||e.length;return this._Set(n=>e[n],i)}}_Set(t,e){if(e<3)return this.SetAsBox(1,1);let i=e;const n=[];for(let c=0;c<i;++c){const m=t(c);let a=!0;for(let u=0;u<n.length;++u)if(s.DistanceSquaredVV(m,n[u])<.5*Q*(.5*Q)){a=!1;break}a&&n.push(m)}if(i=n.length,i<3)return this.SetAsBox(1,1);let o=0,r=n[0].x;for(let c=1;c<i;++c){const m=n[c].x;(m>r||m===r&&n[c].y<n[o].y)&&(o=c,r=m)}const h=[];let l=0,y=o;for(;;){h[l]=y;let c=0;for(let m=1;m<i;++m){if(c===y){c=m;continue}const a=s.SubVV(n[c],n[h[l]],J.Set_s_r),u=s.SubVV(n[m],n[h[l]],J.Set_s_v),f=s.CrossVV(a,u);f<0&&(c=m),f===0&&u.LengthSquared()>a.LengthSquared()&&(c=m)}if(++l,y=c,c===o)break}this.m_count=l,this.m_vertices=s.MakeArray(this.m_count),this.m_normals=s.MakeArray(this.m_count);for(let c=0;c<l;++c)this.m_vertices[c].Copy(n[h[c]]);for(let c=0;c<l;++c){const m=this.m_vertices[c],a=this.m_vertices[(c+1)%l],u=s.SubVV(a,m,s.s_t0);s.CrossVOne(u,this.m_normals[c]).SelfNormalize()}return J.ComputeCentroid(this.m_vertices,l,this.m_centroid),this}SetAsBox(t,e,i,n=0){if(this.m_count=4,this.m_vertices=s.MakeArray(this.m_count),this.m_normals=s.MakeArray(this.m_count),this.m_vertices[0].Set(-t,-e),this.m_vertices[1].Set(t,-e),this.m_vertices[2].Set(t,e),this.m_vertices[3].Set(-t,e),this.m_normals[0].Set(0,-1),this.m_normals[1].Set(1,0),this.m_normals[2].Set(0,1),this.m_normals[3].Set(-1,0),this.m_centroid.SetZero(),i){this.m_centroid.Copy(i);const o=new I;o.SetPosition(i),o.SetRotationAngle(n);for(let r=0;r<this.m_count;++r)I.MulXV(o,this.m_vertices[r],this.m_vertices[r]),C.MulRV(o.q,this.m_normals[r],this.m_normals[r])}return this}TestPoint(t,e){const i=I.MulTXV(t,e,J.TestPoint_s_pLocal);for(let n=0;n<this.m_count;++n)if(s.DotVV(this.m_normals[n],s.SubVV(i,this.m_vertices[n],s.s_t0))>0)return!1;return!0}RayCast(t,e,i,n){const o=I.MulTXV(i,e.p1,J.RayCast_s_p1),r=I.MulTXV(i,e.p2,J.RayCast_s_p2),h=s.SubVV(r,o,J.RayCast_s_d);let l=0,y=e.maxFraction,c=-1;for(let m=0;m<this.m_count;++m){const a=s.DotVV(this.m_normals[m],s.SubVV(this.m_vertices[m],o,s.s_t0)),u=s.DotVV(this.m_normals[m],h);if(u===0){if(a<0)return!1}else u<0&&a<l*u?(l=a/u,c=m):u>0&&a<y*u&&(y=a/u);if(y<l)return!1}return c>=0?(t.fraction=l,C.MulRV(i.q,this.m_normals[c],t.normal),!0):!1}ComputeAABB(t,e,i){const n=I.MulXV(e,this.m_vertices[0],t.lowerBound),o=t.upperBound.Copy(n);for(let h=0;h<this.m_count;++h){const l=I.MulXV(e,this.m_vertices[h],J.ComputeAABB_s_v);s.MinV(l,n,n),s.MaxV(l,o,o)}const r=this.m_radius;n.SelfSubXY(r,r),o.SelfAddXY(r,r)}ComputeMass(t,e){const i=J.ComputeMass_s_center.SetZero();let n=0,o=0;const r=J.ComputeMass_s_s.Copy(this.m_vertices[0]),h=1/3;for(let l=0;l<this.m_count;++l){const y=s.SubVV(this.m_vertices[l],r,J.ComputeMass_s_e1),c=s.SubVV(this.m_vertices[(l+1)%this.m_count],r,J.ComputeMass_s_e2),m=s.CrossVV(y,c),a=.5*m;n+=a,i.SelfAdd(s.MulSV(a*h,s.AddVV(y,c,s.s_t0),s.s_t1));const u=y.x,f=y.y,A=c.x,S=c.y,b=u*u+A*u+A*A,B=f*f+S*f+S*S;o+=.25*h*m*(b+B)}t.mass=e*n,i.SelfMul(1/n),s.AddVV(i,r,t.center),t.I=e*o,t.I+=t.mass*(s.DotVV(t.center,t.center)-s.DotVV(i,i))}Validate(){for(let t=0;t<this.m_count;++t){const e=t,i=(t+1)%this.m_count,n=this.m_vertices[e],o=s.SubVV(this.m_vertices[i],n,J.Validate_s_e);for(let r=0;r<this.m_count;++r){if(r===e||r===i)continue;const h=s.SubVV(this.m_vertices[r],n,J.Validate_s_v);if(s.CrossVV(o,h)<0)return!1}}return!0}SetupDistanceProxy(t,e){t.m_vertices=this.m_vertices,t.m_count=this.m_count,t.m_radius=this.m_radius}ComputeSubmergedArea(t,e,i,n){const o=C.MulTRV(i.q,t,J.ComputeSubmergedArea_s_normalL),r=e-s.DotVV(t,i.p),h=[];let l=0,y=-1,c=-1,m=!1;for(let P=0;P<this.m_count;++P){h[P]=s.DotVV(o,this.m_vertices[P])-r;const q=h[P]<-ft;P>0&&(q?m||(y=P-1,l++):m&&(c=P-1,l++)),m=q}switch(l){case 0:if(m){const P=J.ComputeSubmergedArea_s_md;return this.ComputeMass(P,1),I.MulXV(i,P.center,n),P.mass}else return 0;case 1:y===-1?y=this.m_count-1:c=this.m_count-1;break}const a=(y+1)%this.m_count,u=(c+1)%this.m_count,f=(0-h[y])/(h[a]-h[y]),A=(0-h[c])/(h[u]-h[c]),S=J.ComputeSubmergedArea_s_intoVec.Set(this.m_vertices[y].x*(1-f)+this.m_vertices[a].x*f,this.m_vertices[y].y*(1-f)+this.m_vertices[a].y*f),b=J.ComputeSubmergedArea_s_outoVec.Set(this.m_vertices[c].x*(1-A)+this.m_vertices[u].x*A,this.m_vertices[c].y*(1-A)+this.m_vertices[u].y*A);let B=0;const x=J.ComputeSubmergedArea_s_center.SetZero();let v=this.m_vertices[a],V,k=a;for(;k!==u;){k=(k+1)%this.m_count,k===u?V=b:V=this.m_vertices[k];const P=.5*((v.x-S.x)*(V.y-S.y)-(v.y-S.y)*(V.x-S.x));B+=P,x.x+=P*(S.x+v.x+V.x)/3,x.y+=P*(S.y+v.y+V.y)/3,v=V}return x.SelfMul(1/B),I.MulXV(i,x,n),B}Dump(t){t(`    const shape: b2PolygonShape = new b2PolygonShape();
`),t(`    const vs: b2Vec2[] = [];
`);for(let e=0;e<this.m_count;++e)t(`    vs[%d] = new b2Vec2(%.15f, %.15f);
`,e,this.m_vertices[e].x,this.m_vertices[e].y);t(`    shape.Set(vs, %d);
`,this.m_count)}static ComputeCentroid(t,e,i){const n=i;n.SetZero();let o=0;const r=J.ComputeCentroid_s_s.Copy(t[0]),h=1/3;for(let l=0;l<e;++l){const y=s.SubVV(t[0],r,J.ComputeCentroid_s_p1),c=s.SubVV(t[l],r,J.ComputeCentroid_s_p2),m=s.SubVV(t[(l+1)%e],r,J.ComputeCentroid_s_p3),a=s.SubVV(c,y,J.ComputeCentroid_s_e1),u=s.SubVV(m,y,J.ComputeCentroid_s_e2),A=.5*s.CrossVV(a,u);o+=A,n.x+=A*h*(y.x+c.x+m.x),n.y+=A*h*(y.y+c.y+m.y)}return n.x=1/o*n.x+r.x,n.y=1/o*n.y+r.y,n}}J.Set_s_r=new s,J.Set_s_v=new s,J.TestPoint_s_pLocal=new s,J.RayCast_s_p1=new s,J.RayCast_s_p2=new s,J.RayCast_s_d=new s,J.ComputeAABB_s_v=new s,J.ComputeMass_s_center=new s,J.ComputeMass_s_s=new s,J.ComputeMass_s_e1=new s,J.ComputeMass_s_e2=new s,J.Validate_s_e=new s,J.Validate_s_v=new s,J.ComputeSubmergedArea_s_normalL=new s,J.ComputeSubmergedArea_s_md=new Ls,J.ComputeSubmergedArea_s_intoVec=new s,J.ComputeSubmergedArea_s_outoVec=new s,J.ComputeSubmergedArea_s_center=new s,J.ComputeCentroid_s_s=new s,J.ComputeCentroid_s_p1=new s,J.ComputeCentroid_s_p2=new s,J.ComputeCentroid_s_p3=new s,J.ComputeCentroid_s_e1=new s,J.ComputeCentroid_s_e2=new s,_.b2_toiTime=0,_.b2_toiMaxTime=0,_.b2_toiCalls=0,_.b2_toiIters=0,_.b2_toiMaxIters=0,_.b2_toiRootIters=0,_.b2_toiMaxRootIters=0;function Pn(){_.b2_toiTime=0,_.b2_toiMaxTime=0,_.b2_toiCalls=0,_.b2_toiIters=0,_.b2_toiMaxIters=0,_.b2_toiRootIters=0,_.b2_toiMaxRootIters=0}const qs=new I,js=new I,Ht=new s,$t=new s,fs=new s,Te=new s,Pe=new s;class se{constructor(){this.proxyA=new _s,this.proxyB=new _s,this.sweepA=new Gt,this.sweepB=new Gt,this.tMax=0}}_.b2TOIOutputState=void 0,function(d){d[d.e_unknown=0]="e_unknown",d[d.e_failed=1]="e_failed",d[d.e_overlapped=2]="e_overlapped",d[d.e_touching=3]="e_touching",d[d.e_separated=4]="e_separated"}(_.b2TOIOutputState||(_.b2TOIOutputState={}));class ee{constructor(){this.state=_.b2TOIOutputState.e_unknown,this.t=0}}_.b2SeparationFunctionType=void 0,function(d){d[d.e_unknown=-1]="e_unknown",d[d.e_points=0]="e_points",d[d.e_faceA=1]="e_faceA",d[d.e_faceB=2]="e_faceB"}(_.b2SeparationFunctionType||(_.b2SeparationFunctionType={}));class Ge{constructor(){this.m_sweepA=new Gt,this.m_sweepB=new Gt,this.m_type=_.b2SeparationFunctionType.e_unknown,this.m_localPoint=new s,this.m_axis=new s}Initialize(t,e,i,n,o,r){this.m_proxyA=e,this.m_proxyB=n;const h=t.count;this.m_sweepA.Copy(i),this.m_sweepB.Copy(o);const l=qs,y=js;if(this.m_sweepA.GetTransform(l,r),this.m_sweepB.GetTransform(y,r),h===1){this.m_type=_.b2SeparationFunctionType.e_points;const c=this.m_proxyA.GetVertex(t.indexA[0]),m=this.m_proxyB.GetVertex(t.indexB[0]),a=I.MulXV(l,c,Ht),u=I.MulXV(y,m,$t);return s.SubVV(u,a,this.m_axis),this.m_axis.Normalize()}else if(t.indexA[0]===t.indexA[1]){this.m_type=_.b2SeparationFunctionType.e_faceB;const c=this.m_proxyB.GetVertex(t.indexB[0]),m=this.m_proxyB.GetVertex(t.indexB[1]);s.CrossVOne(s.SubVV(m,c,s.s_t0),this.m_axis).SelfNormalize();const a=C.MulRV(y.q,this.m_axis,fs);s.MidVV(c,m,this.m_localPoint);const u=I.MulXV(y,this.m_localPoint,$t),f=this.m_proxyA.GetVertex(t.indexA[0]),A=I.MulXV(l,f,Ht);let S=s.DotVV(s.SubVV(A,u,s.s_t0),a);return S<0&&(this.m_axis.SelfNeg(),S=-S),S}else{this.m_type=_.b2SeparationFunctionType.e_faceA;const c=this.m_proxyA.GetVertex(t.indexA[0]),m=this.m_proxyA.GetVertex(t.indexA[1]);s.CrossVOne(s.SubVV(m,c,s.s_t0),this.m_axis).SelfNormalize();const a=C.MulRV(l.q,this.m_axis,fs);s.MidVV(c,m,this.m_localPoint);const u=I.MulXV(l,this.m_localPoint,Ht),f=this.m_proxyB.GetVertex(t.indexB[0]),A=I.MulXV(y,f,$t);let S=s.DotVV(s.SubVV(A,u,s.s_t0),a);return S<0&&(this.m_axis.SelfNeg(),S=-S),S}}FindMinSeparation(t,e,i){const n=qs,o=js;switch(this.m_sweepA.GetTransform(n,i),this.m_sweepB.GetTransform(o,i),this.m_type){case _.b2SeparationFunctionType.e_points:{const r=C.MulTRV(n.q,this.m_axis,Te),h=C.MulTRV(o.q,s.NegV(this.m_axis,s.s_t0),Pe);t[0]=this.m_proxyA.GetSupport(r),e[0]=this.m_proxyB.GetSupport(h);const l=this.m_proxyA.GetVertex(t[0]),y=this.m_proxyB.GetVertex(e[0]),c=I.MulXV(n,l,Ht),m=I.MulXV(o,y,$t);return s.DotVV(s.SubVV(m,c,s.s_t0),this.m_axis)}case _.b2SeparationFunctionType.e_faceA:{const r=C.MulRV(n.q,this.m_axis,fs),h=I.MulXV(n,this.m_localPoint,Ht),l=C.MulTRV(o.q,s.NegV(r,s.s_t0),Pe);t[0]=-1,e[0]=this.m_proxyB.GetSupport(l);const y=this.m_proxyB.GetVertex(e[0]),c=I.MulXV(o,y,$t);return s.DotVV(s.SubVV(c,h,s.s_t0),r)}case _.b2SeparationFunctionType.e_faceB:{const r=C.MulRV(o.q,this.m_axis,fs),h=I.MulXV(o,this.m_localPoint,$t),l=C.MulTRV(n.q,s.NegV(r,s.s_t0),Te);e[0]=-1,t[0]=this.m_proxyA.GetSupport(l);const y=this.m_proxyA.GetVertex(t[0]),c=I.MulXV(n,y,Ht);return s.DotVV(s.SubVV(c,h,s.s_t0),r)}default:return t[0]=-1,e[0]=-1,0}}Evaluate(t,e,i){const n=qs,o=js;switch(this.m_sweepA.GetTransform(n,i),this.m_sweepB.GetTransform(o,i),this.m_type){case _.b2SeparationFunctionType.e_points:{const r=this.m_proxyA.GetVertex(t),h=this.m_proxyB.GetVertex(e),l=I.MulXV(n,r,Ht),y=I.MulXV(o,h,$t);return s.DotVV(s.SubVV(y,l,s.s_t0),this.m_axis)}case _.b2SeparationFunctionType.e_faceA:{const r=C.MulRV(n.q,this.m_axis,fs),h=I.MulXV(n,this.m_localPoint,Ht),l=this.m_proxyB.GetVertex(e),y=I.MulXV(o,l,$t);return s.DotVV(s.SubVV(y,h,s.s_t0),r)}case _.b2SeparationFunctionType.e_faceB:{const r=C.MulRV(o.q,this.m_axis,fs),h=I.MulXV(o,this.m_localPoint,$t),l=this.m_proxyA.GetVertex(t),y=I.MulXV(n,l,Ht);return s.DotVV(s.SubVV(y,h,s.s_t0),r)}default:return 0}}}const Gn=new ps,Ln=new Zs,Rn=new Us,Fn=new Ys,kn=new Ge,qn=[0],jn=[0],En=new Gt,On=new Gt;function ie(d,t){const e=Gn.Reset();++_.b2_toiCalls,d.state=_.b2TOIOutputState.e_unknown,d.t=t.tMax;const i=t.proxyA,n=t.proxyB,o=E(us,E(i.m_count,n.m_count)),r=En.Copy(t.sweepA),h=On.Copy(t.sweepB);r.Normalize(),h.Normalize();const l=t.tMax,y=i.m_radius+n.m_radius,c=E(Q,y-3*Q),m=.25*Q;let a=0;const u=20;let f=0;const A=Ln;A.count=0;const S=Rn;for(S.proxyA.Copy(t.proxyA),S.proxyB.Copy(t.proxyB),S.useRadii=!1;;){const B=qs,x=js;r.GetTransform(B,a),h.GetTransform(x,a),S.transformA.Copy(B),S.transformB.Copy(x);const v=Fn;if(Ks(v,A,S),v.distance<=0){d.state=_.b2TOIOutputState.e_overlapped,d.t=0;break}if(v.distance<c+m){d.state=_.b2TOIOutputState.e_touching,d.t=a;break}const V=kn;V.Initialize(A,i,r,n,h,a);let k=!1,P=l,q=0;for(;;){const z=qn,j=jn;let Y=V.FindMinSeparation(z,j,P);if(Y>c+m){d.state=_.b2TOIOutputState.e_separated,d.t=l,k=!0;break}if(Y>c-m){a=P;break}let R=V.Evaluate(z[0],j[0],a);if(R<c-m){d.state=_.b2TOIOutputState.e_failed,d.t=a,k=!0;break}if(R<=c+m){d.state=_.b2TOIOutputState.e_touching,d.t=a,k=!0;break}let G=0,Z=a,U=P;for(;;){let it=0;G&1?it=Z+(c-R)*(U-Z)/(Y-R):it=.5*(Z+U),++G,++_.b2_toiRootIters;const rt=V.Evaluate(z[0],j[0],it);if(ot(rt-c)<m){P=it;break}if(rt>c?(Z=it,R=rt):(U=it,Y=rt),G===50)break}if(_.b2_toiMaxRootIters=E(_.b2_toiMaxRootIters,G),++q,q===o)break}if(++f,++_.b2_toiIters,k)break;if(f===u){d.state=_.b2TOIOutputState.e_failed,d.t=a;break}}_.b2_toiMaxIters=E(_.b2_toiMaxIters,f);const b=e.GetMilliseconds();_.b2_toiMaxTime=E(_.b2_toiMaxTime,b),_.b2_toiTime+=b}_.b2JointType=void 0,function(d){d[d.e_unknownJoint=0]="e_unknownJoint",d[d.e_revoluteJoint=1]="e_revoluteJoint",d[d.e_prismaticJoint=2]="e_prismaticJoint",d[d.e_distanceJoint=3]="e_distanceJoint",d[d.e_pulleyJoint=4]="e_pulleyJoint",d[d.e_mouseJoint=5]="e_mouseJoint",d[d.e_gearJoint=6]="e_gearJoint",d[d.e_wheelJoint=7]="e_wheelJoint",d[d.e_weldJoint=8]="e_weldJoint",d[d.e_frictionJoint=9]="e_frictionJoint",d[d.e_ropeJoint=10]="e_ropeJoint",d[d.e_motorJoint=11]="e_motorJoint",d[d.e_areaJoint=12]="e_areaJoint"}(_.b2JointType||(_.b2JointType={}));class Xn{constructor(){this.linear=new s,this.angularA=0,this.angularB=0}SetZero(){return this.linear.SetZero(),this.angularA=0,this.angularB=0,this}Set(t,e,i){return this.linear.Copy(t),this.angularA=e,this.angularB=i,this}}class ne{constructor(t){this._other=null,this.prev=null,this.next=null,this.joint=t}get other(){if(this._other===null)throw new Error;return this._other}set other(t){if(this._other!==null)throw new Error;this._other=t}Reset(){this._other=null,this.prev=null,this.next=null}}class Ot{constructor(t){this.type=_.b2JointType.e_unknownJoint,this.userData=null,this.collideConnected=!1,this.type=t}}function zn(d,t,e,i,n){const o=i.GetMass(),r=n.GetMass();let h;o>0&&r>0?h=o*r/(o+r):o>0?h=o:h=r;const l=2*ut*t;d.stiffness=h*l*l,d.damping=2*h*e*l}function Jn(d,t,e,i,n){const o=i.GetInertia(),r=n.GetInertia();let h;o>0&&r>0?h=o*r/(o+r):o>0?h=o:h=r;const l=2*ut*t;d.stiffness=h*l*l,d.damping=2*h*e*l}class pt{constructor(t){this.m_type=_.b2JointType.e_unknownJoint,this.m_prev=null,this.m_next=null,this.m_edgeA=new ne(this),this.m_edgeB=new ne(this),this.m_index=0,this.m_islandFlag=!1,this.m_collideConnected=!1,this.m_userData=null,this.m_type=t.type,this.m_edgeA.other=t.bodyB,this.m_edgeB.other=t.bodyA,this.m_bodyA=t.bodyA,this.m_bodyB=t.bodyB,this.m_collideConnected=T(t.collideConnected,!1),this.m_userData=T(t.userData,null)}GetType(){return this.m_type}GetBodyA(){return this.m_bodyA}GetBodyB(){return this.m_bodyB}GetNext(){return this.m_next}GetUserData(){return this.m_userData}SetUserData(t){this.m_userData=t}IsEnabled(){return this.m_bodyA.IsEnabled()&&this.m_bodyB.IsEnabled()}GetCollideConnected(){return this.m_collideConnected}Dump(t){t(`// Dump is not supported for this joint type.
`)}ShiftOrigin(t){}Draw(t){const e=this.m_bodyA.GetTransform(),i=this.m_bodyB.GetTransform(),n=e.p,o=i.p,r=this.GetAnchorA(pt.Draw_s_p1),h=this.GetAnchorB(pt.Draw_s_p2),l=pt.Draw_s_color.SetRGB(.5,.8,.8);switch(this.m_type){case _.b2JointType.e_distanceJoint:t.DrawSegment(r,h,l);break;case _.b2JointType.e_pulleyJoint:{const y=this,c=y.GetGroundAnchorA(),m=y.GetGroundAnchorB();t.DrawSegment(c,r,l),t.DrawSegment(m,h,l),t.DrawSegment(c,m,l)}break;case _.b2JointType.e_mouseJoint:{const y=pt.Draw_s_c;y.Set(0,1,0),t.DrawPoint(r,4,y),t.DrawPoint(h,4,y),y.Set(.8,.8,.8),t.DrawSegment(r,h,y)}break;default:t.DrawSegment(n,r,l),t.DrawSegment(r,h,l),t.DrawSegment(o,h,l)}}}pt.Draw_s_p1=new s,pt.Draw_s_p2=new s,pt.Draw_s_color=new O(.5,.8,.8),pt.Draw_s_c=new O;class Le extends Ot{constructor(){super(_.b2JointType.e_distanceJoint),this.localAnchorA=new s,this.localAnchorB=new s,this.length=1,this.minLength=0,this.maxLength=M,this.stiffness=0,this.damping=0}Initialize(t,e,i,n){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(n,this.localAnchorB),this.length=E(s.DistanceVV(i,n),Q),this.minLength=this.length,this.maxLength=this.length}}class W extends pt{constructor(t){super(t),this.m_stiffness=0,this.m_damping=0,this.m_bias=0,this.m_length=0,this.m_minLength=0,this.m_maxLength=0,this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_gamma=0,this.m_impulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0,this.m_indexA=0,this.m_indexB=0,this.m_u=new s,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_currentLength=0,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_softMass=0,this.m_mass=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_length=E(T(t.length,this.GetCurrentLength()),Q),this.m_minLength=E(T(t.minLength,this.m_length),Q),this.m_maxLength=E(T(t.maxLength,this.m_length),this.m_minLength),this.m_stiffness=T(t.stiffness,0),this.m_damping=T(t.damping,0)}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*(this.m_impulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_u.x,e.y=t*(this.m_impulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_u.y,e}GetReactionTorque(t){return 0}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}SetLength(t){return this.m_impulse=0,this.m_length=E(Q,t),this.m_length}GetLength(){return this.m_length}SetMinLength(t){return this.m_lowerImpulse=0,this.m_minLength=vt(t,Q,this.m_maxLength),this.m_minLength}SetMaxLength(t){return this.m_upperImpulse=0,this.m_maxLength=E(t,this.m_minLength),this.m_maxLength}GetCurrentLength(){const t=this.m_bodyA.GetWorldPoint(this.m_localAnchorA,new s),e=this.m_bodyB.GetWorldPoint(this.m_localAnchorB,new s);return s.DistanceVV(t,e)}SetStiffness(t){this.m_stiffness=t}GetStiffness(){return this.m_stiffness}SetDamping(t){this.m_damping=t}GetDamping(){return this.m_damping}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2DistanceJointDef = new b2DistanceJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.length = %.15f;
`,this.m_length),t(`  jd.minLength = %.15f;
`,this.m_minLength),t(`  jd.maxLength = %.15f;
`,this.m_maxLength),t(`  jd.stiffness = %.15f;
`,this.m_stiffness),t(`  jd.damping = %.15f;
`,this.m_damping),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].c,i=t.positions[this.m_indexA].a,n=t.velocities[this.m_indexA].v;let o=t.velocities[this.m_indexA].w;const r=t.positions[this.m_indexB].c,h=t.positions[this.m_indexB].a,l=t.velocities[this.m_indexB].v;let y=t.velocities[this.m_indexB].w;const c=this.m_qA.SetAngle(i),m=this.m_qB.SetAngle(h);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),C.MulRV(c,this.m_lalcA,this.m_rA),s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),C.MulRV(m,this.m_lalcB,this.m_rB),this.m_u.x=r.x+this.m_rB.x-e.x-this.m_rA.x,this.m_u.y=r.y+this.m_rB.y-e.y-this.m_rA.y,this.m_currentLength=this.m_u.Length(),this.m_currentLength>Q?this.m_u.SelfMul(1/this.m_currentLength):(this.m_u.SetZero(),this.m_mass=0,this.m_impulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0);const a=s.CrossVV(this.m_rA,this.m_u),u=s.CrossVV(this.m_rB,this.m_u);let f=this.m_invMassA+this.m_invIA*a*a+this.m_invMassB+this.m_invIB*u*u;if(this.m_mass=f!==0?1/f:0,this.m_stiffness>0&&this.m_minLength<this.m_maxLength){const A=this.m_currentLength-this.m_length,S=this.m_damping,b=this.m_stiffness,B=t.step.dt;this.m_gamma=B*(S+B*b),this.m_gamma=this.m_gamma!==0?1/this.m_gamma:0,this.m_bias=A*B*b*this.m_gamma,f+=this.m_gamma,this.m_softMass=f!==0?1/f:0}else this.m_gamma=0,this.m_bias=0,this.m_softMass=this.m_mass;if(t.step.warmStarting){this.m_impulse*=t.step.dtRatio,this.m_lowerImpulse*=t.step.dtRatio,this.m_upperImpulse*=t.step.dtRatio;const A=s.MulSV(this.m_impulse+this.m_lowerImpulse-this.m_upperImpulse,this.m_u,W.InitVelocityConstraints_s_P);n.SelfMulSub(this.m_invMassA,A),o-=this.m_invIA*s.CrossVV(this.m_rA,A),l.SelfMulAdd(this.m_invMassB,A),y+=this.m_invIB*s.CrossVV(this.m_rB,A)}else this.m_impulse=0;t.velocities[this.m_indexA].w=o,t.velocities[this.m_indexB].w=y}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;if(this.m_minLength<this.m_maxLength){if(this.m_stiffness>0){const r=s.AddVCrossSV(e,i,this.m_rA,W.SolveVelocityConstraints_s_vpA),h=s.AddVCrossSV(n,o,this.m_rB,W.SolveVelocityConstraints_s_vpB),l=s.DotVV(this.m_u,s.SubVV(h,r,s.s_t0)),y=-this.m_softMass*(l+this.m_bias+this.m_gamma*this.m_impulse);this.m_impulse+=y;const c=s.MulSV(y,this.m_u,W.SolveVelocityConstraints_s_P);e.SelfMulSub(this.m_invMassA,c),i-=this.m_invIA*s.CrossVV(this.m_rA,c),n.SelfMulAdd(this.m_invMassB,c),o+=this.m_invIB*s.CrossVV(this.m_rB,c)}{const r=this.m_currentLength-this.m_minLength,h=E(0,r)*t.step.inv_dt,l=s.AddVCrossSV(e,i,this.m_rA,W.SolveVelocityConstraints_s_vpA),y=s.AddVCrossSV(n,o,this.m_rB,W.SolveVelocityConstraints_s_vpB),c=s.DotVV(this.m_u,s.SubVV(y,l,s.s_t0));let m=-this.m_mass*(c+h);const a=this.m_lowerImpulse;this.m_lowerImpulse=E(0,this.m_lowerImpulse+m),m=this.m_lowerImpulse-a;const u=s.MulSV(m,this.m_u,W.SolveVelocityConstraints_s_P);e.SelfMulSub(this.m_invMassA,u),i-=this.m_invIA*s.CrossVV(this.m_rA,u),n.SelfMulAdd(this.m_invMassB,u),o+=this.m_invIB*s.CrossVV(this.m_rB,u)}{const r=this.m_maxLength-this.m_currentLength,h=E(0,r)*t.step.inv_dt,l=s.AddVCrossSV(e,i,this.m_rA,W.SolveVelocityConstraints_s_vpA),y=s.AddVCrossSV(n,o,this.m_rB,W.SolveVelocityConstraints_s_vpB),c=s.DotVV(this.m_u,s.SubVV(l,y,s.s_t0));let m=-this.m_mass*(c+h);const a=this.m_upperImpulse;this.m_upperImpulse=E(0,this.m_upperImpulse+m),m=this.m_upperImpulse-a;const u=s.MulSV(-m,this.m_u,W.SolveVelocityConstraints_s_P);e.SelfMulSub(this.m_invMassA,u),i-=this.m_invIA*s.CrossVV(this.m_rA,u),n.SelfMulAdd(this.m_invMassB,u),o+=this.m_invIB*s.CrossVV(this.m_rB,u)}}else{const r=s.AddVCrossSV(e,i,this.m_rA,W.SolveVelocityConstraints_s_vpA),h=s.AddVCrossSV(n,o,this.m_rB,W.SolveVelocityConstraints_s_vpB),l=s.DotVV(this.m_u,s.SubVV(h,r,s.s_t0)),y=-this.m_mass*l;this.m_impulse+=y;const c=s.MulSV(y,this.m_u,W.SolveVelocityConstraints_s_P);e.SelfMulSub(this.m_invMassA,c),i-=this.m_invIA*s.CrossVV(this.m_rA,c),n.SelfMulAdd(this.m_invMassB,c),o+=this.m_invIB*s.CrossVV(this.m_rB,c)}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=this.m_qA.SetAngle(i),h=this.m_qB.SetAngle(o),l=C.MulRV(r,this.m_lalcA,this.m_rA),y=C.MulRV(h,this.m_lalcB,this.m_rB),c=this.m_u;c.x=n.x+y.x-e.x-l.x,c.y=n.y+y.y-e.y-l.y;const m=this.m_u.Normalize();let a;if(this.m_minLength==this.m_maxLength)a=m-this.m_minLength;else if(m<this.m_minLength)a=m-this.m_minLength;else if(this.m_maxLength<m)a=m-this.m_maxLength;else return!0;const u=-this.m_mass*a,f=s.MulSV(u,c,W.SolvePositionConstraints_s_P);return e.SelfMulSub(this.m_invMassA,f),i-=this.m_invIA*s.CrossVV(l,f),n.SelfMulAdd(this.m_invMassB,f),o+=this.m_invIB*s.CrossVV(y,f),t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,ot(a)<Q}Draw(t){const e=this.m_bodyA.GetTransform(),i=this.m_bodyB.GetTransform(),n=I.MulXV(e,this.m_localAnchorA,W.Draw_s_pA),o=I.MulXV(i,this.m_localAnchorB,W.Draw_s_pB),r=s.SubVV(o,n,W.Draw_s_axis);r.Normalize();const h=W.Draw_s_c1,l=W.Draw_s_c2,y=W.Draw_s_c3,c=W.Draw_s_c4;t.DrawSegment(n,o,c);const m=s.AddVMulSV(n,this.m_length,r,W.Draw_s_pRest);if(t.DrawPoint(m,8,h),this.m_minLength!=this.m_maxLength){if(this.m_minLength>Q){const a=s.AddVMulSV(n,this.m_minLength,r,W.Draw_s_pMin);t.DrawPoint(a,4,l)}if(this.m_maxLength<M){const a=s.AddVMulSV(n,this.m_maxLength,r,W.Draw_s_pMax);t.DrawPoint(a,4,y)}}}}W.InitVelocityConstraints_s_P=new s,W.SolveVelocityConstraints_s_vpA=new s,W.SolveVelocityConstraints_s_vpB=new s,W.SolveVelocityConstraints_s_P=new s,W.SolvePositionConstraints_s_P=new s,W.Draw_s_pA=new s,W.Draw_s_pB=new s,W.Draw_s_axis=new s,W.Draw_s_c1=new O(.7,.7,.7),W.Draw_s_c2=new O(.3,.9,.3),W.Draw_s_c3=new O(.9,.3,.3),W.Draw_s_c4=new O(.4,.4,.4),W.Draw_s_pRest=new s,W.Draw_s_pMin=new s,W.Draw_s_pMax=new s;class Nn extends Ot{constructor(){super(_.b2JointType.e_areaJoint),this.bodies=[],this.stiffness=0,this.damping=0}AddBody(t){this.bodies.push(t),this.bodies.length===1?this.bodyA=t:this.bodies.length===2&&(this.bodyB=t)}}class Re extends pt{constructor(t){super(t),this.m_stiffness=0,this.m_damping=0,this.m_impulse=0,this.m_targetArea=0,this.m_delta=new s,this.m_bodies=t.bodies,this.m_stiffness=T(t.stiffness,0),this.m_damping=T(t.damping,0),this.m_targetLengths=Ss(t.bodies.length),this.m_normals=s.MakeArray(t.bodies.length),this.m_joints=[],this.m_deltas=s.MakeArray(t.bodies.length);const e=new Le;e.stiffness=this.m_stiffness,e.damping=this.m_damping,this.m_targetArea=0;for(let i=0;i<this.m_bodies.length;++i){const n=this.m_bodies[i],o=this.m_bodies[(i+1)%this.m_bodies.length],r=n.GetWorldCenter(),h=o.GetWorldCenter();this.m_targetLengths[i]=s.DistanceVV(r,h),this.m_targetArea+=s.CrossVV(r,h),e.Initialize(n,o,r,h),this.m_joints[i]=n.GetWorld().CreateJoint(e)}this.m_targetArea*=.5}GetAnchorA(t){return t}GetAnchorB(t){return t}GetReactionForce(t,e){return e}GetReactionTorque(t){return 0}SetStiffness(t){this.m_stiffness=t;for(let e=0;e<this.m_joints.length;++e)this.m_joints[e].SetStiffness(t)}GetStiffness(){return this.m_stiffness}SetDamping(t){this.m_damping=t;for(let e=0;e<this.m_joints.length;++e)this.m_joints[e].SetDamping(t)}GetDamping(){return this.m_damping}Dump(t){t(`Area joint dumping is not supported.
`)}InitVelocityConstraints(t){for(let e=0;e<this.m_bodies.length;++e){const i=this.m_bodies[(e+this.m_bodies.length-1)%this.m_bodies.length],n=this.m_bodies[(e+1)%this.m_bodies.length],o=t.positions[i.m_islandIndex].c,r=t.positions[n.m_islandIndex].c,h=this.m_deltas[e];s.SubVV(r,o,h)}if(t.step.warmStarting){this.m_impulse*=t.step.dtRatio;for(let e=0;e<this.m_bodies.length;++e){const i=this.m_bodies[e],n=t.velocities[i.m_islandIndex].v,o=this.m_deltas[e];n.x+=i.m_invMass*o.y*.5*this.m_impulse,n.y+=i.m_invMass*-o.x*.5*this.m_impulse}}else this.m_impulse=0}SolveVelocityConstraints(t){let e=0,i=0;for(let o=0;o<this.m_bodies.length;++o){const r=this.m_bodies[o],h=t.velocities[r.m_islandIndex].v,l=this.m_deltas[o];e+=l.LengthSquared()/r.GetMass(),i+=s.CrossVV(h,l)}const n=-2*i/e;this.m_impulse+=n;for(let o=0;o<this.m_bodies.length;++o){const r=this.m_bodies[o],h=t.velocities[r.m_islandIndex].v,l=this.m_deltas[o];h.x+=r.m_invMass*l.y*.5*n,h.y+=r.m_invMass*-l.x*.5*n}}SolvePositionConstraints(t){let e=0,i=0;for(let h=0;h<this.m_bodies.length;++h){const l=this.m_bodies[h],y=this.m_bodies[(h+1)%this.m_bodies.length],c=t.positions[l.m_islandIndex].c,m=t.positions[y.m_islandIndex].c,a=s.SubVV(m,c,this.m_delta);let u=a.Length();u<ft&&(u=1),this.m_normals[h].x=a.y/u,this.m_normals[h].y=-a.x/u,e+=u,i+=s.CrossVV(c,m)}i*=.5;const o=.5*(this.m_targetArea-i)/e;let r=!0;for(let h=0;h<this.m_bodies.length;++h){const l=this.m_bodies[h],y=t.positions[l.m_islandIndex].c,c=(h+1)%this.m_bodies.length,m=s.AddVV(this.m_normals[h],this.m_normals[c],this.m_delta);m.SelfMul(o);const a=m.LengthSquared();a>ds(kt)&&m.SelfMul(kt/ws(a)),a>ds(Q)&&(r=!1),y.x+=m.x,y.y+=m.y}return r}}class os{constructor(){this.categoryBits=1,this.maskBits=65535,this.groupIndex=0}Clone(){return new os().Copy(this)}Copy(t){return this.categoryBits=t.categoryBits,this.maskBits=t.maskBits,this.groupIndex=t.groupIndex||0,this}}os.DEFAULT=new os;class Fe{constructor(){this.userData=null,this.friction=.2,this.restitution=0,this.restitutionThreshold=1*Ft,this.density=0,this.isSensor=!1,this.filter=new os}}class ts{constructor(t,e){this.aabb=new Et,this.childIndex=0,this.fixture=t,this.childIndex=e,this.fixture.m_shape.ComputeAABB(this.aabb,this.fixture.m_body.GetTransform(),e),this.treeNode=this.fixture.m_body.m_world.m_contactManager.m_broadPhase.CreateProxy(this.aabb,this)}Reset(){this.fixture.m_body.m_world.m_contactManager.m_broadPhase.DestroyProxy(this.treeNode)}Touch(){this.fixture.m_body.m_world.m_contactManager.m_broadPhase.TouchProxy(this.treeNode)}Synchronize(t,e){if(t===e)this.fixture.m_shape.ComputeAABB(this.aabb,t,this.childIndex),this.fixture.m_body.m_world.m_contactManager.m_broadPhase.MoveProxy(this.treeNode,this.aabb,s.ZERO);else{const i=ts.Synchronize_s_aabb1,n=ts.Synchronize_s_aabb2;this.fixture.m_shape.ComputeAABB(i,t,this.childIndex),this.fixture.m_shape.ComputeAABB(n,e,this.childIndex),this.aabb.Combine2(i,n);const o=ts.Synchronize_s_displacement;o.Copy(n.GetCenter()).SelfSub(i.GetCenter()),this.fixture.m_body.m_world.m_contactManager.m_broadPhase.MoveProxy(this.treeNode,this.aabb,o)}}}ts.Synchronize_s_aabb1=new Et,ts.Synchronize_s_aabb2=new Et,ts.Synchronize_s_displacement=new s;class ke{constructor(t,e){this.m_density=0,this.m_next=null,this.m_friction=0,this.m_restitution=0,this.m_restitutionThreshold=1*Ft,this.m_proxies=[],this.m_filter=new os,this.m_isSensor=!1,this.m_userData=null,this.m_body=t,this.m_shape=e.shape.Clone(),this.m_userData=T(e.userData,null),this.m_friction=T(e.friction,.2),this.m_restitution=T(e.restitution,0),this.m_restitutionThreshold=T(e.restitutionThreshold,0),this.m_filter.Copy(T(e.filter,os.DEFAULT)),this.m_isSensor=T(e.isSensor,!1),this.m_density=T(e.density,0)}get m_proxyCount(){return this.m_proxies.length}Create(t,e,i){}Destroy(){}Reset(){}GetType(){return this.m_shape.GetType()}GetShape(){return this.m_shape}SetSensor(t){t!==this.m_isSensor&&(this.m_body.SetAwake(!0),this.m_isSensor=t)}IsSensor(){return this.m_isSensor}SetFilterData(t){this.m_filter.Copy(t),this.Refilter()}GetFilterData(){return this.m_filter}Refilter(){let t=this.m_body.GetContactList();for(;t;){const e=t.contact,i=e.GetFixtureA(),n=e.GetFixtureB();(i===this||n===this)&&e.FlagForFiltering(),t=t.next}this.TouchProxies()}GetBody(){return this.m_body}GetNext(){return this.m_next}GetUserData(){return this.m_userData}SetUserData(t){this.m_userData=t}TestPoint(t){return this.m_shape.TestPoint(this.m_body.GetTransform(),t)}RayCast(t,e,i){return this.m_shape.RayCast(t,e,this.m_body.GetTransform(),i)}GetMassData(t=new Ls){return this.m_shape.ComputeMass(t,this.m_density),t}SetDensity(t){this.m_density=t}GetDensity(){return this.m_density}GetFriction(){return this.m_friction}SetFriction(t){this.m_friction=t}GetRestitution(){return this.m_restitution}SetRestitution(t){this.m_restitution=t}GetRestitutionThreshold(){return this.m_restitutionThreshold}SetRestitutionThreshold(t){this.m_restitutionThreshold=t}GetAABB(t){return this.m_proxies[t].aabb}Dump(t,e){t(`    const fd: b2FixtureDef = new b2FixtureDef();
`),t(`    fd.friction = %.15f;
`,this.m_friction),t(`    fd.restitution = %.15f;
`,this.m_restitution),t(`    fd.restitutionThreshold = %.15f;
`,this.m_restitutionThreshold),t(`    fd.density = %.15f;
`,this.m_density),t(`    fd.isSensor = %s;
`,this.m_isSensor?"true":"false"),t(`    fd.filter.categoryBits = %d;
`,this.m_filter.categoryBits),t(`    fd.filter.maskBits = %d;
`,this.m_filter.maskBits),t(`    fd.filter.groupIndex = %d;
`,this.m_filter.groupIndex),this.m_shape.Dump(t),t(`
`),t(`    fd.shape = shape;
`),t(`
`),t(`    bodies[%d].CreateFixture(fd);
`,e)}CreateProxies(){if(this.m_proxies.length!==0)throw new Error;for(let t=0;t<this.m_shape.GetChildCount();++t)this.m_proxies[t]=new ts(this,t)}DestroyProxies(){for(const t of this.m_proxies)t.Reset();this.m_proxies.length=0}TouchProxies(){for(const t of this.m_proxies)t.Touch()}Synchronize(t,e,i){this.SynchronizeProxies(e,i)}SynchronizeProxies(t,e){for(const i of this.m_proxies)i.Synchronize(t,e)}}_.b2BodyType=void 0,function(d){d[d.b2_unknown=-1]="b2_unknown",d[d.b2_staticBody=0]="b2_staticBody",d[d.b2_kinematicBody=1]="b2_kinematicBody",d[d.b2_dynamicBody=2]="b2_dynamicBody"}(_.b2BodyType||(_.b2BodyType={}));class Zn{constructor(){this.type=_.b2BodyType.b2_staticBody,this.position=new s(0,0),this.angle=0,this.linearVelocity=new s(0,0),this.angularVelocity=0,this.linearDamping=0,this.angularDamping=0,this.allowSleep=!0,this.awake=!0,this.fixedRotation=!1,this.bullet=!1,this.enabled=!0,this.userData=null,this.gravityScale=1}}class It{constructor(t,e){this.m_type=_.b2BodyType.b2_staticBody,this.m_islandFlag=!1,this.m_awakeFlag=!1,this.m_autoSleepFlag=!1,this.m_bulletFlag=!1,this.m_fixedRotationFlag=!1,this.m_enabledFlag=!1,this.m_toiFlag=!1,this.m_islandIndex=0,this.m_xf=new I,this.m_sweep=new Gt,this.m_linearVelocity=new s,this.m_angularVelocity=0,this.m_force=new s,this.m_torque=0,this.m_prev=null,this.m_next=null,this.m_fixtureList=null,this.m_fixtureCount=0,this.m_jointList=null,this.m_contactList=null,this.m_mass=1,this.m_invMass=1,this.m_I=0,this.m_invI=0,this.m_linearDamping=0,this.m_angularDamping=0,this.m_gravityScale=1,this.m_sleepTime=0,this.m_userData=null,this.m_bulletFlag=T(t.bullet,!1),this.m_fixedRotationFlag=T(t.fixedRotation,!1),this.m_autoSleepFlag=T(t.allowSleep,!0),T(t.awake,!1)&&T(t.type,_.b2BodyType.b2_staticBody)!==_.b2BodyType.b2_staticBody&&(this.m_awakeFlag=!0),this.m_enabledFlag=T(t.enabled,!0),this.m_world=e,this.m_xf.p.Copy(T(t.position,s.ZERO)),this.m_xf.q.SetAngle(T(t.angle,0)),this.m_sweep.localCenter.SetZero(),this.m_sweep.c0.Copy(this.m_xf.p),this.m_sweep.c.Copy(this.m_xf.p),this.m_sweep.a0=this.m_sweep.a=this.m_xf.q.GetAngle(),this.m_sweep.alpha0=0,this.m_linearVelocity.Copy(T(t.linearVelocity,s.ZERO)),this.m_angularVelocity=T(t.angularVelocity,0),this.m_linearDamping=T(t.linearDamping,0),this.m_angularDamping=T(t.angularDamping,0),this.m_gravityScale=T(t.gravityScale,1),this.m_force.SetZero(),this.m_torque=0,this.m_sleepTime=0,this.m_type=T(t.type,_.b2BodyType.b2_staticBody),this.m_mass=0,this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_userData=t.userData,this.m_fixtureList=null,this.m_fixtureCount=0}CreateFixture(t,e=0){return t instanceof ls?this.CreateFixtureShapeDensity(t,e):this.CreateFixtureDef(t)}CreateFixtureDef(t){if(this.m_world.IsLocked())throw new Error;const e=new ke(this,t);return this.m_enabledFlag&&e.CreateProxies(),e.m_next=this.m_fixtureList,this.m_fixtureList=e,++this.m_fixtureCount,e.m_density>0&&this.ResetMassData(),this.m_world.m_newContacts=!0,e}CreateFixtureShapeDensity(t,e=0){const i=It.CreateFixtureShapeDensity_s_def;return i.shape=t,i.density=e,this.CreateFixtureDef(i)}DestroyFixture(t){if(this.m_world.IsLocked())throw new Error;let e=this.m_fixtureList,i=null;for(;e!==null;){if(e===t){i?i.m_next=t.m_next:this.m_fixtureList=t.m_next;break}i=e,e=e.m_next}let n=this.m_contactList;for(;n;){const o=n.contact;n=n.next;const r=o.GetFixtureA(),h=o.GetFixtureB();(t===r||t===h)&&this.m_world.m_contactManager.Destroy(o)}this.m_enabledFlag&&t.DestroyProxies(),t.m_next=null,t.Reset(),--this.m_fixtureCount,this.ResetMassData()}SetTransformVec(t,e){this.SetTransformXY(t.x,t.y,e)}SetTransformXY(t,e,i){if(this.m_world.IsLocked())throw new Error;this.m_xf.q.SetAngle(i),this.m_xf.p.Set(t,e),I.MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.a=i,this.m_sweep.c0.Copy(this.m_sweep.c),this.m_sweep.a0=i;for(let n=this.m_fixtureList;n;n=n.m_next)n.SynchronizeProxies(this.m_xf,this.m_xf);this.m_world.m_newContacts=!0}SetTransform(t,e){this.SetTransformXY(t.x,t.y,e)}GetTransform(){return this.m_xf}GetPosition(){return this.m_xf.p}SetPosition(t){this.SetTransformVec(t,this.GetAngle())}SetPositionXY(t,e){this.SetTransformXY(t,e,this.GetAngle())}GetAngle(){return this.m_sweep.a}SetAngle(t){this.SetTransformVec(this.GetPosition(),t)}GetWorldCenter(){return this.m_sweep.c}GetLocalCenter(){return this.m_sweep.localCenter}SetLinearVelocity(t){this.m_type!==_.b2BodyType.b2_staticBody&&(s.DotVV(t,t)>0&&this.SetAwake(!0),this.m_linearVelocity.Copy(t))}GetLinearVelocity(){return this.m_linearVelocity}SetAngularVelocity(t){this.m_type!==_.b2BodyType.b2_staticBody&&(t*t>0&&this.SetAwake(!0),this.m_angularVelocity=t)}GetAngularVelocity(){return this.m_angularVelocity}GetDefinition(t){return t.type=this.GetType(),t.allowSleep=this.m_autoSleepFlag,t.angle=this.GetAngle(),t.angularDamping=this.m_angularDamping,t.gravityScale=this.m_gravityScale,t.angularVelocity=this.m_angularVelocity,t.fixedRotation=this.m_fixedRotationFlag,t.bullet=this.m_bulletFlag,t.awake=this.m_awakeFlag,t.linearDamping=this.m_linearDamping,t.linearVelocity.Copy(this.GetLinearVelocity()),t.position.Copy(this.GetPosition()),t.userData=this.GetUserData(),t}ApplyForce(t,e,i=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(i&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_force.x+=t.x,this.m_force.y+=t.y,this.m_torque+=(e.x-this.m_sweep.c.x)*t.y-(e.y-this.m_sweep.c.y)*t.x))}ApplyForceToCenter(t,e=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(e&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_force.x+=t.x,this.m_force.y+=t.y))}ApplyTorque(t,e=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(e&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_torque+=t))}ApplyLinearImpulse(t,e,i=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(i&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_linearVelocity.x+=this.m_invMass*t.x,this.m_linearVelocity.y+=this.m_invMass*t.y,this.m_angularVelocity+=this.m_invI*((e.x-this.m_sweep.c.x)*t.y-(e.y-this.m_sweep.c.y)*t.x)))}ApplyLinearImpulseToCenter(t,e=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(e&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_linearVelocity.x+=this.m_invMass*t.x,this.m_linearVelocity.y+=this.m_invMass*t.y))}ApplyAngularImpulse(t,e=!0){this.m_type===_.b2BodyType.b2_dynamicBody&&(e&&!this.m_awakeFlag&&this.SetAwake(!0),this.m_awakeFlag&&(this.m_angularVelocity+=this.m_invI*t))}GetMass(){return this.m_mass}GetInertia(){return this.m_I+this.m_mass*s.DotVV(this.m_sweep.localCenter,this.m_sweep.localCenter)}GetMassData(t){return t.mass=this.m_mass,t.I=this.m_I+this.m_mass*s.DotVV(this.m_sweep.localCenter,this.m_sweep.localCenter),t.center.Copy(this.m_sweep.localCenter),t}SetMassData(t){if(this.m_world.IsLocked())throw new Error;if(this.m_type!==_.b2BodyType.b2_dynamicBody)return;this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_mass=t.mass,this.m_mass<=0&&(this.m_mass=1),this.m_invMass=1/this.m_mass,t.I>0&&!this.m_fixedRotationFlag&&(this.m_I=t.I-this.m_mass*s.DotVV(t.center,t.center),this.m_invI=1/this.m_I);const e=It.SetMassData_s_oldCenter.Copy(this.m_sweep.c);this.m_sweep.localCenter.Copy(t.center),I.MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.c0.Copy(this.m_sweep.c),s.AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,s.SubVV(this.m_sweep.c,e,s.s_t0),this.m_linearVelocity)}ResetMassData(){if(this.m_mass=0,this.m_invMass=0,this.m_I=0,this.m_invI=0,this.m_sweep.localCenter.SetZero(),this.m_type===_.b2BodyType.b2_staticBody||this.m_type===_.b2BodyType.b2_kinematicBody){this.m_sweep.c0.Copy(this.m_xf.p),this.m_sweep.c.Copy(this.m_xf.p),this.m_sweep.a0=this.m_sweep.a;return}const t=It.ResetMassData_s_localCenter.SetZero();for(let i=this.m_fixtureList;i;i=i.m_next){if(i.m_density===0)continue;const n=i.GetMassData(It.ResetMassData_s_massData);this.m_mass+=n.mass,t.x+=n.center.x*n.mass,t.y+=n.center.y*n.mass,this.m_I+=n.I}this.m_mass>0&&(this.m_invMass=1/this.m_mass,t.x*=this.m_invMass,t.y*=this.m_invMass),this.m_I>0&&!this.m_fixedRotationFlag?(this.m_I-=this.m_mass*s.DotVV(t,t),this.m_invI=1/this.m_I):(this.m_I=0,this.m_invI=0);const e=It.ResetMassData_s_oldCenter.Copy(this.m_sweep.c);this.m_sweep.localCenter.Copy(t),I.MulXV(this.m_xf,this.m_sweep.localCenter,this.m_sweep.c),this.m_sweep.c0.Copy(this.m_sweep.c),s.AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,s.SubVV(this.m_sweep.c,e,s.s_t0),this.m_linearVelocity)}GetWorldPoint(t,e){return I.MulXV(this.m_xf,t,e)}GetWorldVector(t,e){return C.MulRV(this.m_xf.q,t,e)}GetLocalPoint(t,e){return I.MulTXV(this.m_xf,t,e)}GetLocalVector(t,e){return C.MulTRV(this.m_xf.q,t,e)}GetLinearVelocityFromWorldPoint(t,e){return s.AddVCrossSV(this.m_linearVelocity,this.m_angularVelocity,s.SubVV(t,this.m_sweep.c,s.s_t0),e)}GetLinearVelocityFromLocalPoint(t,e){return this.GetLinearVelocityFromWorldPoint(this.GetWorldPoint(t,e),e)}GetLinearDamping(){return this.m_linearDamping}SetLinearDamping(t){this.m_linearDamping=t}GetAngularDamping(){return this.m_angularDamping}SetAngularDamping(t){this.m_angularDamping=t}GetGravityScale(){return this.m_gravityScale}SetGravityScale(t){this.m_gravityScale=t}SetType(t){if(this.m_world.IsLocked())throw new Error;if(this.m_type===t)return;this.m_type=t,this.ResetMassData(),this.m_type===_.b2BodyType.b2_staticBody&&(this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_sweep.a0=this.m_sweep.a,this.m_sweep.c0.Copy(this.m_sweep.c),this.m_awakeFlag=!1,this.SynchronizeFixtures()),this.SetAwake(!0),this.m_force.SetZero(),this.m_torque=0;let e=this.m_contactList;for(;e;){const i=e;e=e.next,this.m_world.m_contactManager.Destroy(i.contact)}this.m_contactList=null;for(let i=this.m_fixtureList;i;i=i.m_next)i.TouchProxies()}GetType(){return this.m_type}SetBullet(t){this.m_bulletFlag=t}IsBullet(){return this.m_bulletFlag}SetSleepingAllowed(t){this.m_autoSleepFlag=t,t||this.SetAwake(!0)}IsSleepingAllowed(){return this.m_autoSleepFlag}SetAwake(t){this.m_type!==_.b2BodyType.b2_staticBody&&(t?(this.m_awakeFlag=!0,this.m_sleepTime=0):(this.m_awakeFlag=!1,this.m_sleepTime=0,this.m_linearVelocity.SetZero(),this.m_angularVelocity=0,this.m_force.SetZero(),this.m_torque=0))}IsAwake(){return this.m_awakeFlag}SetEnabled(t){if(this.m_world.IsLocked())throw new Error;if(t!==this.IsEnabled())if(this.m_enabledFlag=t,t){for(let e=this.m_fixtureList;e;e=e.m_next)e.CreateProxies();this.m_world.m_newContacts=!0}else{for(let i=this.m_fixtureList;i;i=i.m_next)i.DestroyProxies();let e=this.m_contactList;for(;e;){const i=e;e=e.next,this.m_world.m_contactManager.Destroy(i.contact)}this.m_contactList=null}}IsEnabled(){return this.m_enabledFlag}SetFixedRotation(t){this.m_fixedRotationFlag!==t&&(this.m_fixedRotationFlag=t,this.m_angularVelocity=0,this.ResetMassData())}IsFixedRotation(){return this.m_fixedRotationFlag}GetFixtureList(){return this.m_fixtureList}GetJointList(){return this.m_jointList}GetContactList(){return this.m_contactList}GetNext(){return this.m_next}GetUserData(){return this.m_userData}SetUserData(t){this.m_userData=t}GetWorld(){return this.m_world}Dump(t){const e=this.m_islandIndex;t(`{
`),t(`  const bd: b2BodyDef = new b2BodyDef();
`);let i="";switch(this.m_type){case _.b2BodyType.b2_staticBody:i="b2BodyType.b2_staticBody";break;case _.b2BodyType.b2_kinematicBody:i="b2BodyType.b2_kinematicBody";break;case _.b2BodyType.b2_dynamicBody:i="b2BodyType.b2_dynamicBody";break}t(`  bd.type = %s;
`,i),t(`  bd.position.Set(%.15f, %.15f);
`,this.m_xf.p.x,this.m_xf.p.y),t(`  bd.angle = %.15f;
`,this.m_sweep.a),t(`  bd.linearVelocity.Set(%.15f, %.15f);
`,this.m_linearVelocity.x,this.m_linearVelocity.y),t(`  bd.angularVelocity = %.15f;
`,this.m_angularVelocity),t(`  bd.linearDamping = %.15f;
`,this.m_linearDamping),t(`  bd.angularDamping = %.15f;
`,this.m_angularDamping),t(`  bd.allowSleep = %s;
`,this.m_autoSleepFlag?"true":"false"),t(`  bd.awake = %s;
`,this.m_awakeFlag?"true":"false"),t(`  bd.fixedRotation = %s;
`,this.m_fixedRotationFlag?"true":"false"),t(`  bd.bullet = %s;
`,this.m_bulletFlag?"true":"false"),t(`  bd.active = %s;
`,this.m_enabledFlag?"true":"false"),t(`  bd.gravityScale = %.15f;
`,this.m_gravityScale),t(`
`),t(`  bodies[%d] = this.m_world.CreateBody(bd);
`,this.m_islandIndex),t(`
`);for(let n=this.m_fixtureList;n;n=n.m_next)t(`  {
`),n.Dump(t,e),t(`  }
`);t(`}
`)}SynchronizeFixtures(){if(this.m_awakeFlag){const t=It.SynchronizeFixtures_s_xf1;t.q.SetAngle(this.m_sweep.a0),C.MulRV(t.q,this.m_sweep.localCenter,t.p),s.SubVV(this.m_sweep.c0,t.p,t.p);for(let e=this.m_fixtureList;e;e=e.m_next)e.SynchronizeProxies(t,this.m_xf)}else for(let t=this.m_fixtureList;t;t=t.m_next)t.SynchronizeProxies(this.m_xf,this.m_xf)}SynchronizeTransform(){this.m_xf.q.SetAngle(this.m_sweep.a),C.MulRV(this.m_xf.q,this.m_sweep.localCenter,this.m_xf.p),s.SubVV(this.m_sweep.c,this.m_xf.p,this.m_xf.p)}ShouldCollide(t){return this.m_type===_.b2BodyType.b2_staticBody&&t.m_type===_.b2BodyType.b2_staticBody?!1:this.ShouldCollideConnected(t)}ShouldCollideConnected(t){for(let e=this.m_jointList;e;e=e.next)if(e.other===t&&!e.joint.m_collideConnected)return!1;return!0}Advance(t){this.m_sweep.Advance(t),this.m_sweep.c.Copy(this.m_sweep.c0),this.m_sweep.a=this.m_sweep.a0,this.m_xf.q.SetAngle(this.m_sweep.a),C.MulRV(this.m_xf.q,this.m_sweep.localCenter,this.m_xf.p),s.SubVV(this.m_sweep.c,this.m_xf.p,this.m_xf.p)}}It.CreateFixtureShapeDensity_s_def=new Fe,It.SetMassData_s_oldCenter=new s,It.ResetMassData_s_localCenter=new s,It.ResetMassData_s_oldCenter=new s,It.ResetMassData_s_massData=new Ls,It.SynchronizeFixtures_s_xf1=new I;function oe(d,t){return ws(d*t)}function re(d,t){return d>t?d:t}function he(d,t){return d<t?d:t}class le{constructor(t){this._other=null,this.prev=null,this.next=null,this.contact=t}get other(){if(this._other===null)throw new Error;return this._other}set other(t){if(this._other!==null)throw new Error;this._other=t}Reset(){this._other=null,this.prev=null,this.next=null}}class Rt{constructor(){this.m_islandFlag=!1,this.m_touchingFlag=!1,this.m_enabledFlag=!1,this.m_filterFlag=!1,this.m_bulletHitFlag=!1,this.m_toiFlag=!1,this.m_prev=null,this.m_next=null,this.m_nodeA=new le(this),this.m_nodeB=new le(this),this.m_indexA=0,this.m_indexB=0,this.m_manifold=new Bs,this.m_toiCount=0,this.m_toi=0,this.m_friction=0,this.m_restitution=0,this.m_restitutionThreshold=0,this.m_tangentSpeed=0,this.m_oldManifold=new Bs}GetManifold(){return this.m_manifold}GetWorldManifold(t){const e=this.m_fixtureA.GetBody(),i=this.m_fixtureB.GetBody(),n=this.GetShapeA(),o=this.GetShapeB();t.Initialize(this.m_manifold,e.GetTransform(),n.m_radius,i.GetTransform(),o.m_radius)}IsTouching(){return this.m_touchingFlag}SetEnabled(t){this.m_enabledFlag=t}IsEnabled(){return this.m_enabledFlag}GetNext(){return this.m_next}GetFixtureA(){return this.m_fixtureA}GetChildIndexA(){return this.m_indexA}GetShapeA(){return this.m_fixtureA.GetShape()}GetFixtureB(){return this.m_fixtureB}GetChildIndexB(){return this.m_indexB}GetShapeB(){return this.m_fixtureB.GetShape()}FlagForFiltering(){this.m_filterFlag=!0}SetFriction(t){this.m_friction=t}GetFriction(){return this.m_friction}ResetFriction(){this.m_friction=oe(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction)}SetRestitution(t){this.m_restitution=t}GetRestitution(){return this.m_restitution}ResetRestitution(){this.m_restitution=re(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution)}SetRestitutionThreshold(t){this.m_restitutionThreshold=t}GetRestitutionThreshold(){return this.m_restitutionThreshold}ResetRestitutionThreshold(){this.m_restitutionThreshold=he(this.m_fixtureA.m_restitutionThreshold,this.m_fixtureB.m_restitutionThreshold)}SetTangentSpeed(t){this.m_tangentSpeed=t}GetTangentSpeed(){return this.m_tangentSpeed}Reset(t,e,i,n){this.m_islandFlag=!1,this.m_touchingFlag=!1,this.m_enabledFlag=!0,this.m_filterFlag=!1,this.m_bulletHitFlag=!1,this.m_toiFlag=!1,this.m_fixtureA=t,this.m_fixtureB=i,this.m_indexA=e,this.m_indexB=n,this.m_manifold.pointCount=0,this.m_prev=null,this.m_next=null,this.m_nodeA.Reset(),this.m_nodeB.Reset(),this.m_toiCount=0,this.m_friction=oe(this.m_fixtureA.m_friction,this.m_fixtureB.m_friction),this.m_restitution=re(this.m_fixtureA.m_restitution,this.m_fixtureB.m_restitution),this.m_restitutionThreshold=he(this.m_fixtureA.m_restitutionThreshold,this.m_fixtureB.m_restitutionThreshold)}Update(t){const e=this.m_oldManifold;this.m_oldManifold=this.m_manifold,this.m_manifold=e,this.m_enabledFlag=!0;let i=!1;const n=this.m_touchingFlag,o=this.m_fixtureA.IsSensor(),r=this.m_fixtureB.IsSensor(),h=o||r,l=this.m_fixtureA.GetBody(),y=this.m_fixtureB.GetBody(),c=l.GetTransform(),m=y.GetTransform();if(h){const a=this.GetShapeA(),u=this.GetShapeB();i=Ws(a,this.m_indexA,u,this.m_indexB,c,m),this.m_manifold.pointCount=0}else{this.Evaluate(this.m_manifold,c,m),i=this.m_manifold.pointCount>0;for(let a=0;a<this.m_manifold.pointCount;++a){const u=this.m_manifold.points[a];u.normalImpulse=0,u.tangentImpulse=0;const f=u.id;for(let A=0;A<this.m_oldManifold.pointCount;++A){const S=this.m_oldManifold.points[A];if(S.id.key===f.key){u.normalImpulse=S.normalImpulse,u.tangentImpulse=S.tangentImpulse;break}}}i!==n&&(l.SetAwake(!0),y.SetAwake(!0))}this.m_touchingFlag=i,!n&&i&&t&&t.BeginContact(this),n&&!i&&t&&t.EndContact(this),!h&&i&&t&&t.PreSolve(this,this.m_oldManifold)}ComputeTOI(t,e){const i=Rt.ComputeTOI_s_input;i.proxyA.SetShape(this.GetShapeA(),this.m_indexA),i.proxyB.SetShape(this.GetShapeB(),this.m_indexB),i.sweepA.Copy(t),i.sweepB.Copy(e),i.tMax=Q;const n=Rt.ComputeTOI_s_output;return ie(n,i),n.t}}Rt.ComputeTOI_s_input=new se,Rt.ComputeTOI_s_output=new ee;class as extends Rt{static Create(){return new as}static Destroy(t){}Evaluate(t,e,i){const n=as.Evaluate_s_edge;this.GetShapeA().GetChildEdge(n,this.m_indexA),$s(t,n,e,this.GetShapeB(),i)}}as.Evaluate_s_edge=new mt;class ms extends Rt{static Create(){return new ms}static Destroy(t){}Evaluate(t,e,i){const n=ms.Evaluate_s_edge;this.GetShapeA().GetChildEdge(n,this.m_indexA),te(t,n,e,this.GetShapeB(),i)}}ms.Evaluate_s_edge=new mt;class xs extends Rt{static Create(){return new xs}static Destroy(t){}Evaluate(t,e,i){ve(t,this.GetShapeA(),e,this.GetShapeB(),i)}}class Cs extends Rt{static Create(){return new Cs}static Destroy(t){}Evaluate(t,e,i){De(t,this.GetShapeA(),e,this.GetShapeB(),i)}}class Vs extends Rt{static Create(){return new Vs}static Destroy(t){}Evaluate(t,e,i){ge(t,this.GetShapeA(),e,this.GetShapeB(),i)}}class vs extends Rt{static Create(){return new vs}static Destroy(t){}Evaluate(t,e,i){$s(t,this.GetShapeA(),e,this.GetShapeB(),i)}}class gs extends Rt{static Create(){return new gs}static Destroy(t){}Evaluate(t,e,i){te(t,this.GetShapeA(),e,this.GetShapeB(),i)}}class qe{constructor(){this.pool=[],this.createFcn=null,this.destroyFcn=null,this.primary=!1}}class je{constructor(){this.m_registers=[],this.InitializeRegisters()}AddType(t,e,i,n){const o=[];function r(){return o.pop()||t()}function h(l){o.push(l)}this.m_registers[i][n].pool=o,this.m_registers[i][n].createFcn=r,this.m_registers[i][n].destroyFcn=h,this.m_registers[i][n].primary=!0,i!==n&&(this.m_registers[n][i].pool=o,this.m_registers[n][i].createFcn=r,this.m_registers[n][i].destroyFcn=h,this.m_registers[n][i].primary=!1)}InitializeRegisters(){for(let t=0;t<_.b2ShapeType.e_shapeTypeCount;t++){this.m_registers[t]=[];for(let e=0;e<_.b2ShapeType.e_shapeTypeCount;e++)this.m_registers[t][e]=new qe}this.AddType(xs.Create,xs.Destroy,_.b2ShapeType.e_circleShape,_.b2ShapeType.e_circleShape),this.AddType(Vs.Create,Vs.Destroy,_.b2ShapeType.e_polygonShape,_.b2ShapeType.e_circleShape),this.AddType(Cs.Create,Cs.Destroy,_.b2ShapeType.e_polygonShape,_.b2ShapeType.e_polygonShape),this.AddType(vs.Create,vs.Destroy,_.b2ShapeType.e_edgeShape,_.b2ShapeType.e_circleShape),this.AddType(gs.Create,gs.Destroy,_.b2ShapeType.e_edgeShape,_.b2ShapeType.e_polygonShape),this.AddType(as.Create,as.Destroy,_.b2ShapeType.e_chainShape,_.b2ShapeType.e_circleShape),this.AddType(ms.Create,ms.Destroy,_.b2ShapeType.e_chainShape,_.b2ShapeType.e_polygonShape)}Create(t,e,i,n){const o=t.GetType(),r=i.GetType(),h=this.m_registers[o][r];if(h.createFcn){const l=h.createFcn();return h.primary?l.Reset(t,e,i,n):l.Reset(i,n,t,e),l}else return null}Destroy(t){const e=t.m_fixtureA.GetType(),i=t.m_fixtureB.GetType(),n=this.m_registers[e][i];n.destroyFcn&&n.destroyFcn(t)}}class Un{SayGoodbyeJoint(t){}SayGoodbyeFixture(t){}}class Es{ShouldCollide(t,e){const i=t.GetBody(),n=e.GetBody();if(n.GetType()===_.b2BodyType.b2_staticBody&&i.GetType()===_.b2BodyType.b2_staticBody||!n.ShouldCollideConnected(i))return!1;const o=t.GetFilterData(),r=e.GetFilterData();return o.groupIndex===r.groupIndex&&o.groupIndex!==0?o.groupIndex>0:(o.maskBits&r.categoryBits)!==0&&(o.categoryBits&r.maskBits)!==0}}Es.b2_defaultFilter=new Es;class Ee{constructor(){this.normalImpulses=Ss(H),this.tangentImpulses=Ss(H),this.count=0}}class Os{BeginContact(t){}EndContact(t){}PreSolve(t,e){}PostSolve(t,e){}}Os.b2_defaultListener=new Os;class Ms{ReportFixture(t){return!0}}class Oe{ReportFixture(t,e,i,n){return n}}class Xe{constructor(){this.m_broadPhase=new Ve,this.m_contactList=null,this.m_contactCount=0,this.m_contactFilter=Es.b2_defaultFilter,this.m_contactListener=Os.b2_defaultListener,this.m_contactFactory=new je}AddPair(t,e){let i=t.fixture,n=e.fixture,o=t.childIndex,r=e.childIndex,h=i.GetBody(),l=n.GetBody();if(h===l)return;let y=l.GetContactList();for(;y;){if(y.other===h){const m=y.contact.GetFixtureA(),a=y.contact.GetFixtureB(),u=y.contact.GetChildIndexA(),f=y.contact.GetChildIndexB();if(m===i&&a===n&&u===o&&f===r||m===n&&a===i&&u===r&&f===o)return}y=y.next}if(this.m_contactFilter&&!this.m_contactFilter.ShouldCollide(i,n))return;const c=this.m_contactFactory.Create(i,o,n,r);c!==null&&(i=c.GetFixtureA(),n=c.GetFixtureB(),o=c.GetChildIndexA(),r=c.GetChildIndexB(),h=i.m_body,l=n.m_body,c.m_prev=null,c.m_next=this.m_contactList,this.m_contactList!==null&&(this.m_contactList.m_prev=c),this.m_contactList=c,c.m_nodeA.other=l,c.m_nodeA.prev=null,c.m_nodeA.next=h.m_contactList,h.m_contactList!==null&&(h.m_contactList.prev=c.m_nodeA),h.m_contactList=c.m_nodeA,c.m_nodeB.other=h,c.m_nodeB.prev=null,c.m_nodeB.next=l.m_contactList,l.m_contactList!==null&&(l.m_contactList.prev=c.m_nodeB),l.m_contactList=c.m_nodeB,++this.m_contactCount)}FindNewContacts(){this.m_broadPhase.UpdatePairs((t,e)=>{this.AddPair(t,e)})}Destroy(t){const e=t.GetFixtureA(),i=t.GetFixtureB(),n=e.GetBody(),o=i.GetBody();this.m_contactListener&&t.IsTouching()&&this.m_contactListener.EndContact(t),t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t===this.m_contactList&&(this.m_contactList=t.m_next),t.m_nodeA.prev&&(t.m_nodeA.prev.next=t.m_nodeA.next),t.m_nodeA.next&&(t.m_nodeA.next.prev=t.m_nodeA.prev),t.m_nodeA===n.m_contactList&&(n.m_contactList=t.m_nodeA.next),t.m_nodeB.prev&&(t.m_nodeB.prev.next=t.m_nodeB.next),t.m_nodeB.next&&(t.m_nodeB.next.prev=t.m_nodeB.prev),t.m_nodeB===o.m_contactList&&(o.m_contactList=t.m_nodeB.next),t.m_manifold.pointCount>0&&!e.IsSensor()&&!i.IsSensor()&&(e.GetBody().SetAwake(!0),i.GetBody().SetAwake(!0)),this.m_contactFactory.Destroy(t),--this.m_contactCount}Collide(){let t=this.m_contactList;for(;t;){const e=t.GetFixtureA(),i=t.GetFixtureB(),n=t.GetChildIndexA(),o=t.GetChildIndexB(),r=e.GetBody(),h=i.GetBody();if(t.m_filterFlag){if(this.m_contactFilter&&!this.m_contactFilter.ShouldCollide(e,i)){const u=t;t=u.m_next,this.Destroy(u);continue}t.m_filterFlag=!1}const l=r.IsAwake()&&r.m_type!==_.b2BodyType.b2_staticBody,y=h.IsAwake()&&h.m_type!==_.b2BodyType.b2_staticBody;if(!l&&!y){t=t.m_next;continue}const c=e.m_proxies[n].treeNode,m=i.m_proxies[o].treeNode;if(!Qs(c.aabb,m.aabb)){const u=t;t=u.m_next,this.Destroy(u);continue}t.Update(this.m_contactListener),t=t.m_next}}}class _e{constructor(){this.step=0,this.collide=0,this.solve=0,this.solveInit=0,this.solveVelocity=0,this.solvePosition=0,this.broadphase=0,this.solveTOI=0}Reset(){return this.step=0,this.collide=0,this.solve=0,this.solveInit=0,this.solveVelocity=0,this.solvePosition=0,this.broadphase=0,this.solveTOI=0,this}}class As{constructor(){this.dt=0,this.inv_dt=0,this.dtRatio=0,this.velocityIterations=0,this.positionIterations=0,this.warmStarting=!1}Copy(t){return this.dt=t.dt,this.inv_dt=t.inv_dt,this.dtRatio=t.dtRatio,this.positionIterations=t.positionIterations,this.velocityIterations=t.velocityIterations,this.warmStarting=t.warmStarting,this}}class Is{constructor(){this.c=new s,this.a=0}static MakeArray(t){return Ut(t,e=>new Is)}}class Ds{constructor(){this.v=new s,this.w=0}static MakeArray(t){return Ut(t,e=>new Ds)}}class ze{constructor(){this.step=new As}}_.g_blockSolve=!0;function Yn(){return _.g_blockSolve}function Kn(d){_.g_blockSolve=d}class Xs{constructor(){this.rA=new s,this.rB=new s,this.normalImpulse=0,this.tangentImpulse=0,this.normalMass=0,this.tangentMass=0,this.velocityBias=0}static MakeArray(t){return Ut(t,e=>new Xs)}}class Ts{constructor(){this.points=Xs.MakeArray(H),this.normal=new s,this.tangent=new s,this.normalMass=new lt,this.K=new lt,this.indexA=0,this.indexB=0,this.invMassA=0,this.invMassB=0,this.invIA=0,this.invIB=0,this.friction=0,this.restitution=0,this.threshold=0,this.tangentSpeed=0,this.pointCount=0,this.contactIndex=0}static MakeArray(t){return Ut(t,e=>new Ts)}}class Ps{constructor(){this.localPoints=s.MakeArray(H),this.localNormal=new s,this.localPoint=new s,this.indexA=0,this.indexB=0,this.invMassA=0,this.invMassB=0,this.localCenterA=new s,this.localCenterB=new s,this.invIA=0,this.invIB=0,this.type=_.b2ManifoldType.e_unknown,this.radiusA=0,this.radiusB=0,this.pointCount=0}static MakeArray(t){return Ut(t,e=>new Ps)}}class Je{constructor(){this.step=new As,this.count=0}}class Xt{constructor(){this.normal=new s,this.point=new s,this.separation=0}Initialize(t,e,i,n){const o=Xt.Initialize_s_pointA,r=Xt.Initialize_s_pointB,h=Xt.Initialize_s_planePoint,l=Xt.Initialize_s_clipPoint;switch(t.type){case _.b2ManifoldType.e_circles:{I.MulXV(e,t.localPoint,o),I.MulXV(i,t.localPoints[0],r),s.SubVV(r,o,this.normal).SelfNormalize(),s.MidVV(o,r,this.point),this.separation=s.DotVV(s.SubVV(r,o,s.s_t0),this.normal)-t.radiusA-t.radiusB;break}case _.b2ManifoldType.e_faceA:{C.MulRV(e.q,t.localNormal,this.normal),I.MulXV(e,t.localPoint,h),I.MulXV(i,t.localPoints[n],l),this.separation=s.DotVV(s.SubVV(l,h,s.s_t0),this.normal)-t.radiusA-t.radiusB,this.point.Copy(l);break}case _.b2ManifoldType.e_faceB:{C.MulRV(i.q,t.localNormal,this.normal),I.MulXV(i,t.localPoint,h),I.MulXV(e,t.localPoints[n],l),this.separation=s.DotVV(s.SubVV(l,h,s.s_t0),this.normal)-t.radiusA-t.radiusB,this.point.Copy(l),this.normal.SelfNeg();break}}}}Xt.Initialize_s_pointA=new s,Xt.Initialize_s_pointB=new s,Xt.Initialize_s_planePoint=new s,Xt.Initialize_s_clipPoint=new s;class X{constructor(){this.m_step=new As,this.m_positionConstraints=Ps.MakeArray(1024),this.m_velocityConstraints=Ts.MakeArray(1024),this.m_count=0}Initialize(t){if(this.m_step.Copy(t.step),this.m_count=t.count,this.m_positionConstraints.length<this.m_count){const e=E(this.m_positionConstraints.length*2,this.m_count);for(;this.m_positionConstraints.length<e;)this.m_positionConstraints[this.m_positionConstraints.length]=new Ps}if(this.m_velocityConstraints.length<this.m_count){const e=E(this.m_velocityConstraints.length*2,this.m_count);for(;this.m_velocityConstraints.length<e;)this.m_velocityConstraints[this.m_velocityConstraints.length]=new Ts}this.m_positions=t.positions,this.m_velocities=t.velocities,this.m_contacts=t.contacts;for(let e=0;e<this.m_count;++e){const i=this.m_contacts[e],n=i.m_fixtureA,o=i.m_fixtureB,r=n.GetShape(),h=o.GetShape(),l=r.m_radius,y=h.m_radius,c=n.GetBody(),m=o.GetBody(),a=i.GetManifold(),u=a.pointCount,f=this.m_velocityConstraints[e];f.friction=i.m_friction,f.restitution=i.m_restitution,f.threshold=i.m_restitutionThreshold,f.tangentSpeed=i.m_tangentSpeed,f.indexA=c.m_islandIndex,f.indexB=m.m_islandIndex,f.invMassA=c.m_invMass,f.invMassB=m.m_invMass,f.invIA=c.m_invI,f.invIB=m.m_invI,f.contactIndex=e,f.pointCount=u,f.K.SetZero(),f.normalMass.SetZero();const A=this.m_positionConstraints[e];A.indexA=c.m_islandIndex,A.indexB=m.m_islandIndex,A.invMassA=c.m_invMass,A.invMassB=m.m_invMass,A.localCenterA.Copy(c.m_sweep.localCenter),A.localCenterB.Copy(m.m_sweep.localCenter),A.invIA=c.m_invI,A.invIB=m.m_invI,A.localNormal.Copy(a.localNormal),A.localPoint.Copy(a.localPoint),A.pointCount=u,A.radiusA=l,A.radiusB=y,A.type=a.type;for(let S=0;S<u;++S){const b=a.points[S],B=f.points[S];this.m_step.warmStarting?(B.normalImpulse=this.m_step.dtRatio*b.normalImpulse,B.tangentImpulse=this.m_step.dtRatio*b.tangentImpulse):(B.normalImpulse=0,B.tangentImpulse=0),B.rA.SetZero(),B.rB.SetZero(),B.normalMass=0,B.tangentMass=0,B.velocityBias=0,A.localPoints[S].Copy(b.localPoint)}}return this}InitializeVelocityConstraints(){const t=X.InitializeVelocityConstraints_s_xfA,e=X.InitializeVelocityConstraints_s_xfB,i=X.InitializeVelocityConstraints_s_worldManifold,n=1e3;for(let o=0;o<this.m_count;++o){const r=this.m_velocityConstraints[o],h=this.m_positionConstraints[o],l=h.radiusA,y=h.radiusB,c=this.m_contacts[r.contactIndex].GetManifold(),m=r.indexA,a=r.indexB,u=r.invMassA,f=r.invMassB,A=r.invIA,S=r.invIB,b=h.localCenterA,B=h.localCenterB,x=this.m_positions[m].c,v=this.m_positions[m].a,V=this.m_velocities[m].v,k=this.m_velocities[m].w,P=this.m_positions[a].c,q=this.m_positions[a].a,z=this.m_velocities[a].v,j=this.m_velocities[a].w;t.q.SetAngle(v),e.q.SetAngle(q),s.SubVV(x,C.MulRV(t.q,b,s.s_t0),t.p),s.SubVV(P,C.MulRV(e.q,B,s.s_t0),e.p),i.Initialize(c,t,l,e,y),r.normal.Copy(i.normal),s.CrossVOne(r.normal,r.tangent);const Y=r.pointCount;for(let R=0;R<Y;++R){const G=r.points[R];s.SubVV(i.points[R],x,G.rA),s.SubVV(i.points[R],P,G.rB);const Z=s.CrossVV(G.rA,r.normal),U=s.CrossVV(G.rB,r.normal),it=u+f+A*Z*Z+S*U*U;G.normalMass=it>0?1/it:0;const rt=r.tangent,St=s.CrossVV(G.rA,rt),Tt=s.CrossVV(G.rB,rt),Pt=u+f+A*St*St+S*Tt*Tt;G.tangentMass=Pt>0?1/Pt:0,G.velocityBias=0;const ns=s.DotVV(r.normal,s.SubVV(s.AddVCrossSV(z,j,G.rB,s.s_t0),s.AddVCrossSV(V,k,G.rA,s.s_t1),s.s_t0));ns<-r.threshold&&(G.velocityBias+=-r.restitution*ns)}if(r.pointCount===2&&_.g_blockSolve){const R=r.points[0],G=r.points[1],Z=s.CrossVV(R.rA,r.normal),U=s.CrossVV(R.rB,r.normal),it=s.CrossVV(G.rA,r.normal),rt=s.CrossVV(G.rB,r.normal),St=u+f+A*Z*Z+S*U*U,Tt=u+f+A*it*it+S*rt*rt,Pt=u+f+A*Z*it+S*U*rt;St*St<n*(St*Tt-Pt*Pt)?(r.K.ex.Set(St,Pt),r.K.ey.Set(Pt,Tt),r.K.GetInverse(r.normalMass)):r.pointCount=1}}}WarmStart(){const t=X.WarmStart_s_P;for(let e=0;e<this.m_count;++e){const i=this.m_velocityConstraints[e],n=i.indexA,o=i.indexB,r=i.invMassA,h=i.invIA,l=i.invMassB,y=i.invIB,c=i.pointCount,m=this.m_velocities[n].v;let a=this.m_velocities[n].w;const u=this.m_velocities[o].v;let f=this.m_velocities[o].w;const A=i.normal,S=i.tangent;for(let b=0;b<c;++b){const B=i.points[b];s.AddVV(s.MulSV(B.normalImpulse,A,s.s_t0),s.MulSV(B.tangentImpulse,S,s.s_t1),t),a-=h*s.CrossVV(B.rA,t),m.SelfMulSub(r,t),f+=y*s.CrossVV(B.rB,t),u.SelfMulAdd(l,t)}this.m_velocities[n].w=a,this.m_velocities[o].w=f}}SolveVelocityConstraints(){const t=X.SolveVelocityConstraints_s_dv,e=X.SolveVelocityConstraints_s_dv1,i=X.SolveVelocityConstraints_s_dv2,n=X.SolveVelocityConstraints_s_P,o=X.SolveVelocityConstraints_s_a,r=X.SolveVelocityConstraints_s_b,h=X.SolveVelocityConstraints_s_x,l=X.SolveVelocityConstraints_s_d,y=X.SolveVelocityConstraints_s_P1,c=X.SolveVelocityConstraints_s_P2,m=X.SolveVelocityConstraints_s_P1P2;for(let a=0;a<this.m_count;++a){const u=this.m_velocityConstraints[a],f=u.indexA,A=u.indexB,S=u.invMassA,b=u.invIA,B=u.invMassB,x=u.invIB,v=u.pointCount,V=this.m_velocities[f].v;let k=this.m_velocities[f].w;const P=this.m_velocities[A].v;let q=this.m_velocities[A].w;const z=u.normal,j=u.tangent,Y=u.friction;for(let R=0;R<v;++R){const G=u.points[R];s.SubVV(s.AddVCrossSV(P,q,G.rB,s.s_t0),s.AddVCrossSV(V,k,G.rA,s.s_t1),t);const Z=s.DotVV(t,j)-u.tangentSpeed;let U=G.tangentMass*-Z;const it=Y*G.normalImpulse,rt=vt(G.tangentImpulse+U,-it,it);U=rt-G.tangentImpulse,G.tangentImpulse=rt,s.MulSV(U,j,n),V.SelfMulSub(S,n),k-=b*s.CrossVV(G.rA,n),P.SelfMulAdd(B,n),q+=x*s.CrossVV(G.rB,n)}if(u.pointCount===1||_.g_blockSolve===!1)for(let R=0;R<v;++R){const G=u.points[R];s.SubVV(s.AddVCrossSV(P,q,G.rB,s.s_t0),s.AddVCrossSV(V,k,G.rA,s.s_t1),t);const Z=s.DotVV(t,z);let U=-G.normalMass*(Z-G.velocityBias);const it=E(G.normalImpulse+U,0);U=it-G.normalImpulse,G.normalImpulse=it,s.MulSV(U,z,n),V.SelfMulSub(S,n),k-=b*s.CrossVV(G.rA,n),P.SelfMulAdd(B,n),q+=x*s.CrossVV(G.rB,n)}else{const R=u.points[0],G=u.points[1];o.Set(R.normalImpulse,G.normalImpulse),s.SubVV(s.AddVCrossSV(P,q,R.rB,s.s_t0),s.AddVCrossSV(V,k,R.rA,s.s_t1),e),s.SubVV(s.AddVCrossSV(P,q,G.rB,s.s_t0),s.AddVCrossSV(V,k,G.rA,s.s_t1),i);let Z=s.DotVV(e,z),U=s.DotVV(i,z);for(r.x=Z-R.velocityBias,r.y=U-G.velocityBias,r.SelfSub(lt.MulMV(u.K,o,s.s_t0));;){if(lt.MulMV(u.normalMass,r,h).SelfNeg(),h.x>=0&&h.y>=0){s.SubVV(h,o,l),s.MulSV(l.x,z,y),s.MulSV(l.y,z,c),s.AddVV(y,c,m),V.SelfMulSub(S,m),k-=b*(s.CrossVV(R.rA,y)+s.CrossVV(G.rA,c)),P.SelfMulAdd(B,m),q+=x*(s.CrossVV(R.rB,y)+s.CrossVV(G.rB,c)),R.normalImpulse=h.x,G.normalImpulse=h.y;break}if(h.x=-R.normalMass*r.x,h.y=0,Z=0,U=u.K.ex.y*h.x+r.y,h.x>=0&&U>=0){s.SubVV(h,o,l),s.MulSV(l.x,z,y),s.MulSV(l.y,z,c),s.AddVV(y,c,m),V.SelfMulSub(S,m),k-=b*(s.CrossVV(R.rA,y)+s.CrossVV(G.rA,c)),P.SelfMulAdd(B,m),q+=x*(s.CrossVV(R.rB,y)+s.CrossVV(G.rB,c)),R.normalImpulse=h.x,G.normalImpulse=h.y;break}if(h.x=0,h.y=-G.normalMass*r.y,Z=u.K.ey.x*h.y+r.x,U=0,h.y>=0&&Z>=0){s.SubVV(h,o,l),s.MulSV(l.x,z,y),s.MulSV(l.y,z,c),s.AddVV(y,c,m),V.SelfMulSub(S,m),k-=b*(s.CrossVV(R.rA,y)+s.CrossVV(G.rA,c)),P.SelfMulAdd(B,m),q+=x*(s.CrossVV(R.rB,y)+s.CrossVV(G.rB,c)),R.normalImpulse=h.x,G.normalImpulse=h.y;break}if(h.x=0,h.y=0,Z=r.x,U=r.y,Z>=0&&U>=0){s.SubVV(h,o,l),s.MulSV(l.x,z,y),s.MulSV(l.y,z,c),s.AddVV(y,c,m),V.SelfMulSub(S,m),k-=b*(s.CrossVV(R.rA,y)+s.CrossVV(G.rA,c)),P.SelfMulAdd(B,m),q+=x*(s.CrossVV(R.rB,y)+s.CrossVV(G.rB,c)),R.normalImpulse=h.x,G.normalImpulse=h.y;break}break}}this.m_velocities[f].w=k,this.m_velocities[A].w=q}}StoreImpulses(){for(let t=0;t<this.m_count;++t){const e=this.m_velocityConstraints[t],i=this.m_contacts[e.contactIndex].GetManifold();for(let n=0;n<e.pointCount;++n)i.points[n].normalImpulse=e.points[n].normalImpulse,i.points[n].tangentImpulse=e.points[n].tangentImpulse}}SolvePositionConstraints(){const t=X.SolvePositionConstraints_s_xfA,e=X.SolvePositionConstraints_s_xfB,i=X.SolvePositionConstraints_s_psm,n=X.SolvePositionConstraints_s_rA,o=X.SolvePositionConstraints_s_rB,r=X.SolvePositionConstraints_s_P;let h=0;for(let l=0;l<this.m_count;++l){const y=this.m_positionConstraints[l],c=y.indexA,m=y.indexB,a=y.localCenterA,u=y.invMassA,f=y.invIA,A=y.localCenterB,S=y.invMassB,b=y.invIB,B=y.pointCount,x=this.m_positions[c].c;let v=this.m_positions[c].a;const V=this.m_positions[m].c;let k=this.m_positions[m].a;for(let P=0;P<B;++P){t.q.SetAngle(v),e.q.SetAngle(k),s.SubVV(x,C.MulRV(t.q,a,s.s_t0),t.p),s.SubVV(V,C.MulRV(e.q,A,s.s_t0),e.p),i.Initialize(y,t,e,P);const q=i.normal,z=i.point,j=i.separation;s.SubVV(z,x,n),s.SubVV(z,V,o),h=at(h,j);const Y=vt(w*(j+Q),-kt,0),R=s.CrossVV(n,q),G=s.CrossVV(o,q),Z=u+S+f*R*R+b*G*G,U=Z>0?-Y/Z:0;s.MulSV(U,q,r),x.SelfMulSub(u,r),v-=f*s.CrossVV(n,r),V.SelfMulAdd(S,r),k+=b*s.CrossVV(o,r)}this.m_positions[c].a=v,this.m_positions[m].a=k}return h>-3*Q}SolveTOIPositionConstraints(t,e){const i=X.SolveTOIPositionConstraints_s_xfA,n=X.SolveTOIPositionConstraints_s_xfB,o=X.SolveTOIPositionConstraints_s_psm,r=X.SolveTOIPositionConstraints_s_rA,h=X.SolveTOIPositionConstraints_s_rB,l=X.SolveTOIPositionConstraints_s_P;let y=0;for(let c=0;c<this.m_count;++c){const m=this.m_positionConstraints[c],a=m.indexA,u=m.indexB,f=m.localCenterA,A=m.localCenterB,S=m.pointCount;let b=0,B=0;(a===t||a===e)&&(b=m.invMassA,B=m.invIA);let x=0,v=0;(u===t||u===e)&&(x=m.invMassB,v=m.invIB);const V=this.m_positions[a].c;let k=this.m_positions[a].a;const P=this.m_positions[u].c;let q=this.m_positions[u].a;for(let z=0;z<S;++z){i.q.SetAngle(k),n.q.SetAngle(q),s.SubVV(V,C.MulRV(i.q,f,s.s_t0),i.p),s.SubVV(P,C.MulRV(n.q,A,s.s_t0),n.p),o.Initialize(m,i,n,z);const j=o.normal,Y=o.point,R=o.separation;s.SubVV(Y,V,r),s.SubVV(Y,P,h),y=at(y,R);const G=vt(g*(R+Q),-kt,0),Z=s.CrossVV(r,j),U=s.CrossVV(h,j),it=b+x+B*Z*Z+v*U*U,rt=it>0?-G/it:0;s.MulSV(rt,j,l),V.SelfMulSub(b,l),k-=B*s.CrossVV(r,l),P.SelfMulAdd(x,l),q+=v*s.CrossVV(h,l)}this.m_positions[a].a=k,this.m_positions[u].a=q}return y>=-1.5*Q}}X.InitializeVelocityConstraints_s_xfA=new I,X.InitializeVelocityConstraints_s_xfB=new I,X.InitializeVelocityConstraints_s_worldManifold=new dt,X.WarmStart_s_P=new s,X.SolveVelocityConstraints_s_dv=new s,X.SolveVelocityConstraints_s_dv1=new s,X.SolveVelocityConstraints_s_dv2=new s,X.SolveVelocityConstraints_s_P=new s,X.SolveVelocityConstraints_s_a=new s,X.SolveVelocityConstraints_s_b=new s,X.SolveVelocityConstraints_s_x=new s,X.SolveVelocityConstraints_s_d=new s,X.SolveVelocityConstraints_s_P1=new s,X.SolveVelocityConstraints_s_P2=new s,X.SolveVelocityConstraints_s_P1P2=new s,X.SolvePositionConstraints_s_xfA=new I,X.SolvePositionConstraints_s_xfB=new I,X.SolvePositionConstraints_s_psm=new Xt,X.SolvePositionConstraints_s_rA=new s,X.SolvePositionConstraints_s_rB=new s,X.SolvePositionConstraints_s_P=new s,X.SolveTOIPositionConstraints_s_xfA=new I,X.SolveTOIPositionConstraints_s_xfB=new I,X.SolveTOIPositionConstraints_s_psm=new Xt,X.SolveTOIPositionConstraints_s_rA=new s,X.SolveTOIPositionConstraints_s_rB=new s,X.SolveTOIPositionConstraints_s_P=new s;class Qn extends Ot{constructor(){super(_.b2JointType.e_frictionJoint),this.localAnchorA=new s,this.localAnchorB=new s,this.maxForce=0,this.maxTorque=0}Initialize(t,e,i){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(i,this.localAnchorB)}}class ss extends pt{constructor(t){super(t),this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_linearImpulse=new s,this.m_angularImpulse=0,this.m_maxForce=0,this.m_maxTorque=0,this.m_indexA=0,this.m_indexB=0,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_linearMass=new lt,this.m_angularMass=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_K=new lt,this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_linearImpulse.SetZero(),this.m_maxForce=T(t.maxForce,0),this.m_maxTorque=T(t.maxTorque,0),this.m_linearMass.SetZero()}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].a,i=t.velocities[this.m_indexA].v;let n=t.velocities[this.m_indexA].w;const o=t.positions[this.m_indexB].a,r=t.velocities[this.m_indexB].v;let h=t.velocities[this.m_indexB].w;const l=this.m_qA.SetAngle(e),y=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const c=C.MulRV(l,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const m=C.MulRV(y,this.m_lalcB,this.m_rB),a=this.m_invMassA,u=this.m_invMassB,f=this.m_invIA,A=this.m_invIB,S=this.m_K;if(S.ex.x=a+u+f*c.y*c.y+A*m.y*m.y,S.ex.y=-f*c.x*c.y-A*m.x*m.y,S.ey.x=S.ex.y,S.ey.y=a+u+f*c.x*c.x+A*m.x*m.x,S.GetInverse(this.m_linearMass),this.m_angularMass=f+A,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),t.step.warmStarting){this.m_linearImpulse.SelfMul(t.step.dtRatio),this.m_angularImpulse*=t.step.dtRatio;const b=this.m_linearImpulse;i.SelfMulSub(a,b),n-=f*(s.CrossVV(this.m_rA,b)+this.m_angularImpulse),r.SelfMulAdd(u,b),h+=A*(s.CrossVV(this.m_rB,b)+this.m_angularImpulse)}else this.m_linearImpulse.SetZero(),this.m_angularImpulse=0;t.velocities[this.m_indexA].w=n,t.velocities[this.m_indexB].w=h}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_invMassA,h=this.m_invMassB,l=this.m_invIA,y=this.m_invIB,c=t.step.dt;{const m=o-i;let a=-this.m_angularMass*m;const u=this.m_angularImpulse,f=c*this.m_maxTorque;this.m_angularImpulse=vt(this.m_angularImpulse+a,-f,f),a=this.m_angularImpulse-u,i-=l*a,o+=y*a}{const m=s.SubVV(s.AddVCrossSV(n,o,this.m_rB,s.s_t0),s.AddVCrossSV(e,i,this.m_rA,s.s_t1),ss.SolveVelocityConstraints_s_Cdot_v2),a=lt.MulMV(this.m_linearMass,m,ss.SolveVelocityConstraints_s_impulseV).SelfNeg(),u=ss.SolveVelocityConstraints_s_oldImpulseV.Copy(this.m_linearImpulse);this.m_linearImpulse.SelfAdd(a);const f=c*this.m_maxForce;this.m_linearImpulse.LengthSquared()>f*f&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.SelfMul(f)),s.SubVV(this.m_linearImpulse,u,a),e.SelfMulSub(r,a),i-=l*s.CrossVV(this.m_rA,a),n.SelfMulAdd(h,a),o+=y*s.CrossVV(this.m_rB,a)}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){return!0}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*this.m_linearImpulse.x,e.y=t*this.m_linearImpulse.y,e}GetReactionTorque(t){return t*this.m_angularImpulse}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}SetMaxForce(t){this.m_maxForce=t}GetMaxForce(){return this.m_maxForce}SetMaxTorque(t){this.m_maxTorque=t}GetMaxTorque(){return this.m_maxTorque}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2FrictionJointDef = new b2FrictionJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.maxForce = %.15f;
`,this.m_maxForce),t(`  jd.maxTorque = %.15f;
`,this.m_maxTorque),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}}ss.SolveVelocityConstraints_s_Cdot_v2=new s,ss.SolveVelocityConstraints_s_impulseV=new s,ss.SolveVelocityConstraints_s_oldImpulseV=new s;class Wn extends Ot{constructor(){super(_.b2JointType.e_gearJoint),this.ratio=1}}class ht extends pt{constructor(t){super(t),this.m_typeA=_.b2JointType.e_unknownJoint,this.m_typeB=_.b2JointType.e_unknownJoint,this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_localAnchorC=new s,this.m_localAnchorD=new s,this.m_localAxisC=new s,this.m_localAxisD=new s,this.m_referenceAngleA=0,this.m_referenceAngleB=0,this.m_constant=0,this.m_ratio=0,this.m_impulse=0,this.m_indexA=0,this.m_indexB=0,this.m_indexC=0,this.m_indexD=0,this.m_lcA=new s,this.m_lcB=new s,this.m_lcC=new s,this.m_lcD=new s,this.m_mA=0,this.m_mB=0,this.m_mC=0,this.m_mD=0,this.m_iA=0,this.m_iB=0,this.m_iC=0,this.m_iD=0,this.m_JvAC=new s,this.m_JvBD=new s,this.m_JwA=0,this.m_JwB=0,this.m_JwC=0,this.m_JwD=0,this.m_mass=0,this.m_qA=new C,this.m_qB=new C,this.m_qC=new C,this.m_qD=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_lalcC=new s,this.m_lalcD=new s,this.m_joint1=t.joint1,this.m_joint2=t.joint2,this.m_typeA=this.m_joint1.GetType(),this.m_typeB=this.m_joint2.GetType();let e,i;this.m_bodyC=this.m_joint1.GetBodyA(),this.m_bodyA=this.m_joint1.GetBodyB();const n=this.m_bodyA.m_xf,o=this.m_bodyA.m_sweep.a,r=this.m_bodyC.m_xf,h=this.m_bodyC.m_sweep.a;if(this.m_typeA===_.b2JointType.e_revoluteJoint){const a=t.joint1;this.m_localAnchorC.Copy(a.m_localAnchorA),this.m_localAnchorA.Copy(a.m_localAnchorB),this.m_referenceAngleA=a.m_referenceAngle,this.m_localAxisC.SetZero(),e=o-h-this.m_referenceAngleA}else{const a=t.joint1;this.m_localAnchorC.Copy(a.m_localAnchorA),this.m_localAnchorA.Copy(a.m_localAnchorB),this.m_referenceAngleA=a.m_referenceAngle,this.m_localAxisC.Copy(a.m_localXAxisA);const u=this.m_localAnchorC,f=C.MulTRV(r.q,s.AddVV(C.MulRV(n.q,this.m_localAnchorA,s.s_t0),s.SubVV(n.p,r.p,s.s_t1),s.s_t0),s.s_t0);e=s.DotVV(s.SubVV(f,u,s.s_t0),this.m_localAxisC)}this.m_bodyD=this.m_joint2.GetBodyA(),this.m_bodyB=this.m_joint2.GetBodyB();const l=this.m_bodyB.m_xf,y=this.m_bodyB.m_sweep.a,c=this.m_bodyD.m_xf,m=this.m_bodyD.m_sweep.a;if(this.m_typeB===_.b2JointType.e_revoluteJoint){const a=t.joint2;this.m_localAnchorD.Copy(a.m_localAnchorA),this.m_localAnchorB.Copy(a.m_localAnchorB),this.m_referenceAngleB=a.m_referenceAngle,this.m_localAxisD.SetZero(),i=y-m-this.m_referenceAngleB}else{const a=t.joint2;this.m_localAnchorD.Copy(a.m_localAnchorA),this.m_localAnchorB.Copy(a.m_localAnchorB),this.m_referenceAngleB=a.m_referenceAngle,this.m_localAxisD.Copy(a.m_localXAxisA);const u=this.m_localAnchorD,f=C.MulTRV(c.q,s.AddVV(C.MulRV(l.q,this.m_localAnchorB,s.s_t0),s.SubVV(l.p,c.p,s.s_t1),s.s_t0),s.s_t0);i=s.DotVV(s.SubVV(f,u,s.s_t0),this.m_localAxisD)}this.m_ratio=T(t.ratio,1),this.m_constant=e+this.m_ratio*i,this.m_impulse=0}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_indexC=this.m_bodyC.m_islandIndex,this.m_indexD=this.m_bodyD.m_islandIndex,this.m_lcA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_lcB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_lcC.Copy(this.m_bodyC.m_sweep.localCenter),this.m_lcD.Copy(this.m_bodyD.m_sweep.localCenter),this.m_mA=this.m_bodyA.m_invMass,this.m_mB=this.m_bodyB.m_invMass,this.m_mC=this.m_bodyC.m_invMass,this.m_mD=this.m_bodyD.m_invMass,this.m_iA=this.m_bodyA.m_invI,this.m_iB=this.m_bodyB.m_invI,this.m_iC=this.m_bodyC.m_invI,this.m_iD=this.m_bodyD.m_invI;const e=t.positions[this.m_indexA].a,i=t.velocities[this.m_indexA].v;let n=t.velocities[this.m_indexA].w;const o=t.positions[this.m_indexB].a,r=t.velocities[this.m_indexB].v;let h=t.velocities[this.m_indexB].w;const l=t.positions[this.m_indexC].a,y=t.velocities[this.m_indexC].v;let c=t.velocities[this.m_indexC].w;const m=t.positions[this.m_indexD].a,a=t.velocities[this.m_indexD].v;let u=t.velocities[this.m_indexD].w;const f=this.m_qA.SetAngle(e),A=this.m_qB.SetAngle(o),S=this.m_qC.SetAngle(l),b=this.m_qD.SetAngle(m);if(this.m_mass=0,this.m_typeA===_.b2JointType.e_revoluteJoint)this.m_JvAC.SetZero(),this.m_JwA=1,this.m_JwC=1,this.m_mass+=this.m_iA+this.m_iC;else{const B=C.MulRV(S,this.m_localAxisC,ht.InitVelocityConstraints_s_u);s.SubVV(this.m_localAnchorC,this.m_lcC,this.m_lalcC);const x=C.MulRV(S,this.m_lalcC,ht.InitVelocityConstraints_s_rC);s.SubVV(this.m_localAnchorA,this.m_lcA,this.m_lalcA);const v=C.MulRV(f,this.m_lalcA,ht.InitVelocityConstraints_s_rA);this.m_JvAC.Copy(B),this.m_JwC=s.CrossVV(x,B),this.m_JwA=s.CrossVV(v,B),this.m_mass+=this.m_mC+this.m_mA+this.m_iC*this.m_JwC*this.m_JwC+this.m_iA*this.m_JwA*this.m_JwA}if(this.m_typeB===_.b2JointType.e_revoluteJoint)this.m_JvBD.SetZero(),this.m_JwB=this.m_ratio,this.m_JwD=this.m_ratio,this.m_mass+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD);else{const B=C.MulRV(b,this.m_localAxisD,ht.InitVelocityConstraints_s_u);s.SubVV(this.m_localAnchorD,this.m_lcD,this.m_lalcD);const x=C.MulRV(b,this.m_lalcD,ht.InitVelocityConstraints_s_rD);s.SubVV(this.m_localAnchorB,this.m_lcB,this.m_lalcB);const v=C.MulRV(A,this.m_lalcB,ht.InitVelocityConstraints_s_rB);s.MulSV(this.m_ratio,B,this.m_JvBD),this.m_JwD=this.m_ratio*s.CrossVV(x,B),this.m_JwB=this.m_ratio*s.CrossVV(v,B),this.m_mass+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*this.m_JwD*this.m_JwD+this.m_iB*this.m_JwB*this.m_JwB}this.m_mass=this.m_mass>0?1/this.m_mass:0,t.step.warmStarting?(i.SelfMulAdd(this.m_mA*this.m_impulse,this.m_JvAC),n+=this.m_iA*this.m_impulse*this.m_JwA,r.SelfMulAdd(this.m_mB*this.m_impulse,this.m_JvBD),h+=this.m_iB*this.m_impulse*this.m_JwB,y.SelfMulSub(this.m_mC*this.m_impulse,this.m_JvAC),c-=this.m_iC*this.m_impulse*this.m_JwC,a.SelfMulSub(this.m_mD*this.m_impulse,this.m_JvBD),u-=this.m_iD*this.m_impulse*this.m_JwD):this.m_impulse=0,t.velocities[this.m_indexA].w=n,t.velocities[this.m_indexB].w=h,t.velocities[this.m_indexC].w=c,t.velocities[this.m_indexD].w=u}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=t.velocities[this.m_indexC].v;let h=t.velocities[this.m_indexC].w;const l=t.velocities[this.m_indexD].v;let y=t.velocities[this.m_indexD].w,c=s.DotVV(this.m_JvAC,s.SubVV(e,r,s.s_t0))+s.DotVV(this.m_JvBD,s.SubVV(n,l,s.s_t0));c+=this.m_JwA*i-this.m_JwC*h+(this.m_JwB*o-this.m_JwD*y);const m=-this.m_mass*c;this.m_impulse+=m,e.SelfMulAdd(this.m_mA*m,this.m_JvAC),i+=this.m_iA*m*this.m_JwA,n.SelfMulAdd(this.m_mB*m,this.m_JvBD),o+=this.m_iB*m*this.m_JwB,r.SelfMulSub(this.m_mC*m,this.m_JvAC),h-=this.m_iC*m*this.m_JwC,l.SelfMulSub(this.m_mD*m,this.m_JvBD),y-=this.m_iD*m*this.m_JwD,t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o,t.velocities[this.m_indexC].w=h,t.velocities[this.m_indexD].w=y}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=t.positions[this.m_indexC].c;let h=t.positions[this.m_indexC].a;const l=t.positions[this.m_indexD].c;let y=t.positions[this.m_indexD].a;const c=this.m_qA.SetAngle(i),m=this.m_qB.SetAngle(o),a=this.m_qC.SetAngle(h),u=this.m_qD.SetAngle(y),f=0;let A,S;const b=this.m_JvAC,B=this.m_JvBD;let x,v,V,k,P=0;if(this.m_typeA===_.b2JointType.e_revoluteJoint)b.SetZero(),x=1,V=1,P+=this.m_iA+this.m_iC,A=i-h-this.m_referenceAngleA;else{const j=C.MulRV(a,this.m_localAxisC,ht.SolvePositionConstraints_s_u),Y=C.MulRV(a,this.m_lalcC,ht.SolvePositionConstraints_s_rC),R=C.MulRV(c,this.m_lalcA,ht.SolvePositionConstraints_s_rA);b.Copy(j),V=s.CrossVV(Y,j),x=s.CrossVV(R,j),P+=this.m_mC+this.m_mA+this.m_iC*V*V+this.m_iA*x*x;const G=this.m_lalcC,Z=C.MulTRV(a,s.AddVV(R,s.SubVV(e,r,s.s_t0),s.s_t0),s.s_t0);A=s.DotVV(s.SubVV(Z,G,s.s_t0),this.m_localAxisC)}if(this.m_typeB===_.b2JointType.e_revoluteJoint)B.SetZero(),v=this.m_ratio,k=this.m_ratio,P+=this.m_ratio*this.m_ratio*(this.m_iB+this.m_iD),S=o-y-this.m_referenceAngleB;else{const j=C.MulRV(u,this.m_localAxisD,ht.SolvePositionConstraints_s_u),Y=C.MulRV(u,this.m_lalcD,ht.SolvePositionConstraints_s_rD),R=C.MulRV(m,this.m_lalcB,ht.SolvePositionConstraints_s_rB);s.MulSV(this.m_ratio,j,B),k=this.m_ratio*s.CrossVV(Y,j),v=this.m_ratio*s.CrossVV(R,j),P+=this.m_ratio*this.m_ratio*(this.m_mD+this.m_mB)+this.m_iD*k*k+this.m_iB*v*v;const G=this.m_lalcD,Z=C.MulTRV(u,s.AddVV(R,s.SubVV(n,l,s.s_t0),s.s_t0),s.s_t0);S=s.DotVV(s.SubVV(Z,G,s.s_t0),this.m_localAxisD)}const q=A+this.m_ratio*S-this.m_constant;let z=0;return P>0&&(z=-q/P),e.SelfMulAdd(this.m_mA*z,b),i+=this.m_iA*z*x,n.SelfMulAdd(this.m_mB*z,B),o+=this.m_iB*z*v,r.SelfMulSub(this.m_mC*z,b),h-=this.m_iC*z*V,l.SelfMulSub(this.m_mD*z,B),y-=this.m_iD*z*k,t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,t.positions[this.m_indexC].a=h,t.positions[this.m_indexD].a=y,f<Q}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return s.MulSV(t*this.m_impulse,this.m_JvAC,e)}GetReactionTorque(t){return t*this.m_impulse*this.m_JwA}GetJoint1(){return this.m_joint1}GetJoint2(){return this.m_joint2}GetRatio(){return this.m_ratio}SetRatio(t){this.m_ratio=t}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex,n=this.m_joint1.m_index,o=this.m_joint2.m_index;t(`  const jd: b2GearJointDef = new b2GearJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.joint1 = joints[%d];
`,n),t(`  jd.joint2 = joints[%d];
`,o),t(`  jd.ratio = %.15f;
`,this.m_ratio),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}}ht.InitVelocityConstraints_s_u=new s,ht.InitVelocityConstraints_s_rA=new s,ht.InitVelocityConstraints_s_rB=new s,ht.InitVelocityConstraints_s_rC=new s,ht.InitVelocityConstraints_s_rD=new s,ht.SolvePositionConstraints_s_u=new s,ht.SolvePositionConstraints_s_rA=new s,ht.SolvePositionConstraints_s_rB=new s,ht.SolvePositionConstraints_s_rC=new s,ht.SolvePositionConstraints_s_rD=new s;class At{constructor(){this.m_bodies=[],this.m_contacts=[],this.m_joints=[],this.m_positions=Is.MakeArray(1024),this.m_velocities=Ds.MakeArray(1024),this.m_bodyCount=0,this.m_jointCount=0,this.m_contactCount=0,this.m_bodyCapacity=0,this.m_contactCapacity=0,this.m_jointCapacity=0}Initialize(t,e,i,n){if(this.m_bodyCapacity=t,this.m_contactCapacity=e,this.m_jointCapacity=i,this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0,this.m_listener=n,this.m_positions.length<t){const o=E(this.m_positions.length*2,t);for(;this.m_positions.length<o;)this.m_positions[this.m_positions.length]=new Is}if(this.m_velocities.length<t){const o=E(this.m_velocities.length*2,t);for(;this.m_velocities.length<o;)this.m_velocities[this.m_velocities.length]=new Ds}}Clear(){this.m_bodyCount=0,this.m_contactCount=0,this.m_jointCount=0}AddBody(t){t.m_islandIndex=this.m_bodyCount,this.m_bodies[this.m_bodyCount++]=t}AddContact(t){this.m_contacts[this.m_contactCount++]=t}AddJoint(t){this.m_joints[this.m_jointCount++]=t}Solve(t,e,i,n){const o=At.s_timer.Reset(),r=e.dt;for(let m=0;m<this.m_bodyCount;++m){const a=this.m_bodies[m];this.m_positions[m].c.Copy(a.m_sweep.c);const u=a.m_sweep.a,f=this.m_velocities[m].v.Copy(a.m_linearVelocity);let A=a.m_angularVelocity;a.m_sweep.c0.Copy(a.m_sweep.c),a.m_sweep.a0=a.m_sweep.a,a.m_type===_.b2BodyType.b2_dynamicBody&&(f.x+=r*a.m_invMass*(a.m_gravityScale*a.m_mass*i.x+a.m_force.x),f.y+=r*a.m_invMass*(a.m_gravityScale*a.m_mass*i.y+a.m_force.y),A+=r*a.m_invI*a.m_torque,f.SelfMul(1/(1+r*a.m_linearDamping)),A*=1/(1+r*a.m_angularDamping)),this.m_positions[m].a=u,this.m_velocities[m].w=A}o.Reset();const h=At.s_solverData;h.step.Copy(e),h.positions=this.m_positions,h.velocities=this.m_velocities;const l=At.s_contactSolverDef;l.step.Copy(e),l.contacts=this.m_contacts,l.count=this.m_contactCount,l.positions=this.m_positions,l.velocities=this.m_velocities;const y=At.s_contactSolver.Initialize(l);y.InitializeVelocityConstraints(),e.warmStarting&&y.WarmStart();for(let m=0;m<this.m_jointCount;++m)this.m_joints[m].InitVelocityConstraints(h);t.solveInit=o.GetMilliseconds(),o.Reset();for(let m=0;m<e.velocityIterations;++m){for(let a=0;a<this.m_jointCount;++a)this.m_joints[a].SolveVelocityConstraints(h);y.SolveVelocityConstraints()}y.StoreImpulses(),t.solveVelocity=o.GetMilliseconds();for(let m=0;m<this.m_bodyCount;++m){const a=this.m_positions[m].c;let u=this.m_positions[m].a;const f=this.m_velocities[m].v;let A=this.m_velocities[m].w;const S=s.MulSV(r,f,At.s_translation);if(s.DotVV(S,S)>Zt){const B=jt/S.Length();f.SelfMul(B)}const b=r*A;if(b*b>p){const B=Vt/ot(b);A*=B}a.x+=r*f.x,a.y+=r*f.y,u+=r*A,this.m_positions[m].a=u,this.m_velocities[m].w=A}o.Reset();let c=!1;for(let m=0;m<e.positionIterations;++m){const a=y.SolvePositionConstraints();let u=!0;for(let f=0;f<this.m_jointCount;++f){const A=this.m_joints[f].SolvePositionConstraints(h);u=u&&A}if(a&&u){c=!0;break}}for(let m=0;m<this.m_bodyCount;++m){const a=this.m_bodies[m];a.m_sweep.c.Copy(this.m_positions[m].c),a.m_sweep.a=this.m_positions[m].a,a.m_linearVelocity.Copy(this.m_velocities[m].v),a.m_angularVelocity=this.m_velocities[m].w,a.SynchronizeTransform()}if(t.solvePosition=o.GetMilliseconds(),this.Report(y.m_velocityConstraints),n){let m=M;const a=F*F,u=K*K;for(let f=0;f<this.m_bodyCount;++f){const A=this.m_bodies[f];A.GetType()!==_.b2BodyType.b2_staticBody&&(!A.m_autoSleepFlag||A.m_angularVelocity*A.m_angularVelocity>u||s.DotVV(A.m_linearVelocity,A.m_linearVelocity)>a?(A.m_sleepTime=0,m=0):(A.m_sleepTime+=r,m=at(m,A.m_sleepTime)))}if(m>=L&&c)for(let f=0;f<this.m_bodyCount;++f)this.m_bodies[f].SetAwake(!1)}}SolveTOI(t,e,i){for(let h=0;h<this.m_bodyCount;++h){const l=this.m_bodies[h];this.m_positions[h].c.Copy(l.m_sweep.c),this.m_positions[h].a=l.m_sweep.a,this.m_velocities[h].v.Copy(l.m_linearVelocity),this.m_velocities[h].w=l.m_angularVelocity}const n=At.s_contactSolverDef;n.contacts=this.m_contacts,n.count=this.m_contactCount,n.step.Copy(t),n.positions=this.m_positions,n.velocities=this.m_velocities;const o=At.s_contactSolver.Initialize(n);for(let h=0;h<t.positionIterations&&!o.SolveTOIPositionConstraints(e,i);++h);this.m_bodies[e].m_sweep.c0.Copy(this.m_positions[e].c),this.m_bodies[e].m_sweep.a0=this.m_positions[e].a,this.m_bodies[i].m_sweep.c0.Copy(this.m_positions[i].c),this.m_bodies[i].m_sweep.a0=this.m_positions[i].a,o.InitializeVelocityConstraints();for(let h=0;h<t.velocityIterations;++h)o.SolveVelocityConstraints();const r=t.dt;for(let h=0;h<this.m_bodyCount;++h){const l=this.m_positions[h].c;let y=this.m_positions[h].a;const c=this.m_velocities[h].v;let m=this.m_velocities[h].w;const a=s.MulSV(r,c,At.s_translation);if(s.DotVV(a,a)>Zt){const A=jt/a.Length();c.SelfMul(A)}const u=r*m;if(u*u>p){const A=Vt/ot(u);m*=A}l.SelfMulAdd(r,c),y+=r*m,this.m_positions[h].a=y,this.m_velocities[h].w=m;const f=this.m_bodies[h];f.m_sweep.c.Copy(l),f.m_sweep.a=y,f.m_linearVelocity.Copy(c),f.m_angularVelocity=m,f.SynchronizeTransform()}this.Report(o.m_velocityConstraints)}Report(t){if(this.m_listener!==null)for(let e=0;e<this.m_contactCount;++e){const i=this.m_contacts[e];if(!i)continue;const n=t[e],o=At.s_impulse;o.count=n.pointCount;for(let r=0;r<n.pointCount;++r)o.normalImpulses[r]=n.points[r].normalImpulse,o.tangentImpulses[r]=n.points[r].tangentImpulse;this.m_listener.PostSolve(i,o)}}}At.s_timer=new ps,At.s_solverData=new ze,At.s_contactSolverDef=new Je,At.s_contactSolver=new X,At.s_translation=new s,At.s_impulse=new Ee;class Hn extends Ot{constructor(){super(_.b2JointType.e_motorJoint),this.linearOffset=new s(0,0),this.angularOffset=0,this.maxForce=1,this.maxTorque=1,this.correctionFactor=.3}Initialize(t,e){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(this.bodyB.GetPosition(),this.linearOffset);const i=this.bodyA.GetAngle(),n=this.bodyB.GetAngle();this.angularOffset=n-i}}class es extends pt{constructor(t){super(t),this.m_linearOffset=new s,this.m_angularOffset=0,this.m_linearImpulse=new s,this.m_angularImpulse=0,this.m_maxForce=0,this.m_maxTorque=0,this.m_correctionFactor=.3,this.m_indexA=0,this.m_indexB=0,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_linearError=new s,this.m_angularError=0,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_linearMass=new lt,this.m_angularMass=0,this.m_qA=new C,this.m_qB=new C,this.m_K=new lt,this.m_linearOffset.Copy(T(t.linearOffset,s.ZERO)),this.m_angularOffset=T(t.angularOffset,0),this.m_linearImpulse.SetZero(),this.m_maxForce=T(t.maxForce,0),this.m_maxTorque=T(t.maxTorque,0),this.m_correctionFactor=T(t.correctionFactor,.3)}GetAnchorA(t){const e=this.m_bodyA.GetPosition();return t.x=e.x,t.y=e.y,t}GetAnchorB(t){const e=this.m_bodyB.GetPosition();return t.x=e.x,t.y=e.y,t}GetReactionForce(t,e){return s.MulSV(t,this.m_linearImpulse,e)}GetReactionTorque(t){return t*this.m_angularImpulse}SetLinearOffset(t){s.IsEqualToV(t,this.m_linearOffset)||(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_linearOffset.Copy(t))}GetLinearOffset(){return this.m_linearOffset}SetAngularOffset(t){t!==this.m_angularOffset&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_angularOffset=t)}GetAngularOffset(){return this.m_angularOffset}SetMaxForce(t){this.m_maxForce=t}GetMaxForce(){return this.m_maxForce}SetMaxTorque(t){this.m_maxTorque=t}GetMaxTorque(){return this.m_maxTorque}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].c,i=t.positions[this.m_indexA].a,n=t.velocities[this.m_indexA].v;let o=t.velocities[this.m_indexA].w;const r=t.positions[this.m_indexB].c,h=t.positions[this.m_indexB].a,l=t.velocities[this.m_indexB].v;let y=t.velocities[this.m_indexB].w;const c=this.m_qA.SetAngle(i),m=this.m_qB.SetAngle(h),a=C.MulRV(c,s.SubVV(this.m_linearOffset,this.m_localCenterA,s.s_t0),this.m_rA),u=C.MulRV(m,s.NegV(this.m_localCenterB,s.s_t0),this.m_rB),f=this.m_invMassA,A=this.m_invMassB,S=this.m_invIA,b=this.m_invIB,B=this.m_K;if(B.ex.x=f+A+S*a.y*a.y+b*u.y*u.y,B.ex.y=-S*a.x*a.y-b*u.x*u.y,B.ey.x=B.ex.y,B.ey.y=f+A+S*a.x*a.x+b*u.x*u.x,B.GetInverse(this.m_linearMass),this.m_angularMass=S+b,this.m_angularMass>0&&(this.m_angularMass=1/this.m_angularMass),s.SubVV(s.AddVV(r,u,s.s_t0),s.AddVV(e,a,s.s_t1),this.m_linearError),this.m_angularError=h-i-this.m_angularOffset,t.step.warmStarting){this.m_linearImpulse.SelfMul(t.step.dtRatio),this.m_angularImpulse*=t.step.dtRatio;const x=this.m_linearImpulse;n.SelfMulSub(f,x),o-=S*(s.CrossVV(a,x)+this.m_angularImpulse),l.SelfMulAdd(A,x),y+=b*(s.CrossVV(u,x)+this.m_angularImpulse)}else this.m_linearImpulse.SetZero(),this.m_angularImpulse=0;t.velocities[this.m_indexA].w=o,t.velocities[this.m_indexB].w=y}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_invMassA,h=this.m_invMassB,l=this.m_invIA,y=this.m_invIB,c=t.step.dt,m=t.step.inv_dt;{const a=o-i+m*this.m_correctionFactor*this.m_angularError;let u=-this.m_angularMass*a;const f=this.m_angularImpulse,A=c*this.m_maxTorque;this.m_angularImpulse=vt(this.m_angularImpulse+u,-A,A),u=this.m_angularImpulse-f,i-=l*u,o+=y*u}{const a=this.m_rA,u=this.m_rB,f=s.AddVV(s.SubVV(s.AddVV(n,s.CrossSV(o,u,s.s_t0),s.s_t0),s.AddVV(e,s.CrossSV(i,a,s.s_t1),s.s_t1),s.s_t2),s.MulSV(m*this.m_correctionFactor,this.m_linearError,s.s_t3),es.SolveVelocityConstraints_s_Cdot_v2),A=lt.MulMV(this.m_linearMass,f,es.SolveVelocityConstraints_s_impulse_v2).SelfNeg(),S=es.SolveVelocityConstraints_s_oldImpulse_v2.Copy(this.m_linearImpulse);this.m_linearImpulse.SelfAdd(A);const b=c*this.m_maxForce;this.m_linearImpulse.LengthSquared()>b*b&&(this.m_linearImpulse.Normalize(),this.m_linearImpulse.SelfMul(b)),s.SubVV(this.m_linearImpulse,S,A),e.SelfMulSub(r,A),i-=l*s.CrossVV(a,A),n.SelfMulAdd(h,A),o+=y*s.CrossVV(u,A)}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){return!0}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2MotorJointDef = new b2MotorJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.linearOffset.Set(%.15f, %.15f);
`,this.m_linearOffset.x,this.m_linearOffset.y),t(`  jd.angularOffset = %.15f;
`,this.m_angularOffset),t(`  jd.maxForce = %.15f;
`,this.m_maxForce),t(`  jd.maxTorque = %.15f;
`,this.m_maxTorque),t(`  jd.correctionFactor = %.15f;
`,this.m_correctionFactor),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}}es.SolveVelocityConstraints_s_Cdot_v2=new s,es.SolveVelocityConstraints_s_impulse_v2=new s,es.SolveVelocityConstraints_s_oldImpulse_v2=new s;class $n extends Ot{constructor(){super(_.b2JointType.e_mouseJoint),this.target=new s,this.maxForce=0,this.stiffness=5,this.damping=.7}}class is extends pt{constructor(t){super(t),this.m_localAnchorB=new s,this.m_targetA=new s,this.m_stiffness=0,this.m_damping=0,this.m_beta=0,this.m_impulse=new s,this.m_maxForce=0,this.m_gamma=0,this.m_indexA=0,this.m_indexB=0,this.m_rB=new s,this.m_localCenterB=new s,this.m_invMassB=0,this.m_invIB=0,this.m_mass=new lt,this.m_C=new s,this.m_qB=new C,this.m_lalcB=new s,this.m_K=new lt,this.m_targetA.Copy(T(t.target,s.ZERO)),I.MulTXV(this.m_bodyB.GetTransform(),this.m_targetA,this.m_localAnchorB),this.m_maxForce=T(t.maxForce,0),this.m_impulse.SetZero(),this.m_stiffness=T(t.stiffness,0),this.m_damping=T(t.damping,0),this.m_beta=0,this.m_gamma=0}SetTarget(t){this.m_bodyB.IsAwake()||this.m_bodyB.SetAwake(!0),this.m_targetA.Copy(t)}GetTarget(){return this.m_targetA}SetMaxForce(t){this.m_maxForce=t}GetMaxForce(){return this.m_maxForce}SetStiffness(t){this.m_stiffness=t}GetStiffness(){return this.m_stiffness}SetDamping(t){this.m_damping=t}GetDamping(){return this.m_damping}InitVelocityConstraints(t){this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexB].c,i=t.positions[this.m_indexB].a,n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_qB.SetAngle(i),h=this.m_bodyB.GetMass(),l=2*ut*this.m_stiffness,y=2*h*this.m_damping*l,c=h*(l*l),m=t.step.dt;this.m_gamma=m*(y+m*c),this.m_gamma!==0&&(this.m_gamma=1/this.m_gamma),this.m_beta=m*c*this.m_gamma,s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),C.MulRV(r,this.m_lalcB,this.m_rB);const a=this.m_K;a.ex.x=this.m_invMassB+this.m_invIB*this.m_rB.y*this.m_rB.y+this.m_gamma,a.ex.y=-this.m_invIB*this.m_rB.x*this.m_rB.y,a.ey.x=a.ex.y,a.ey.y=this.m_invMassB+this.m_invIB*this.m_rB.x*this.m_rB.x+this.m_gamma,a.GetInverse(this.m_mass),this.m_C.x=e.x+this.m_rB.x-this.m_targetA.x,this.m_C.y=e.y+this.m_rB.y-this.m_targetA.y,this.m_C.SelfMul(this.m_beta),o*=.98,t.step.warmStarting?(this.m_impulse.SelfMul(t.step.dtRatio),n.x+=this.m_invMassB*this.m_impulse.x,n.y+=this.m_invMassB*this.m_impulse.y,o+=this.m_invIB*s.CrossVV(this.m_rB,this.m_impulse)):this.m_impulse.SetZero(),t.velocities[this.m_indexB].w=o}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexB].v;let i=t.velocities[this.m_indexB].w;const n=s.AddVCrossSV(e,i,this.m_rB,is.SolveVelocityConstraints_s_Cdot),o=lt.MulMV(this.m_mass,s.AddVV(n,s.AddVV(this.m_C,s.MulSV(this.m_gamma,this.m_impulse,s.s_t0),s.s_t0),s.s_t0).SelfNeg(),is.SolveVelocityConstraints_s_impulse),r=is.SolveVelocityConstraints_s_oldImpulse.Copy(this.m_impulse);this.m_impulse.SelfAdd(o);const h=t.step.dt*this.m_maxForce;this.m_impulse.LengthSquared()>h*h&&this.m_impulse.SelfMul(h/this.m_impulse.Length()),s.SubVV(this.m_impulse,r,o),e.SelfMulAdd(this.m_invMassB,o),i+=this.m_invIB*s.CrossVV(this.m_rB,o),t.velocities[this.m_indexB].w=i}SolvePositionConstraints(t){return!0}GetAnchorA(t){return t.x=this.m_targetA.x,t.y=this.m_targetA.y,t}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return s.MulSV(t,this.m_impulse,e)}GetReactionTorque(t){return 0}Dump(t){t(`Mouse joint dumping is not supported.
`)}ShiftOrigin(t){this.m_targetA.SelfSub(t)}}is.SolveVelocityConstraints_s_Cdot=new s,is.SolveVelocityConstraints_s_impulse=new s,is.SolveVelocityConstraints_s_oldImpulse=new s;class to extends Ot{constructor(){super(_.b2JointType.e_prismaticJoint),this.localAnchorA=new s,this.localAnchorB=new s,this.localAxisA=new s(1,0),this.referenceAngle=0,this.enableLimit=!1,this.lowerTranslation=0,this.upperTranslation=0,this.enableMotor=!1,this.maxMotorForce=0,this.motorSpeed=0}Initialize(t,e,i,n){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(i,this.localAnchorB),this.bodyA.GetLocalVector(n,this.localAxisA),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}}class N extends pt{constructor(t){super(t),this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_localXAxisA=new s,this.m_localYAxisA=new s,this.m_referenceAngle=0,this.m_impulse=new s(0,0),this.m_motorImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0,this.m_lowerTranslation=0,this.m_upperTranslation=0,this.m_maxMotorForce=0,this.m_motorSpeed=0,this.m_enableLimit=!1,this.m_enableMotor=!1,this.m_indexA=0,this.m_indexB=0,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_axis=new s(0,0),this.m_perp=new s(0,0),this.m_s1=0,this.m_s2=0,this.m_a1=0,this.m_a2=0,this.m_K=new lt,this.m_K3=new Yt,this.m_K2=new lt,this.m_translation=0,this.m_axialMass=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_rA=new s,this.m_rB=new s,this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_localXAxisA.Copy(T(t.localAxisA,new s(1,0))).SelfNormalize(),s.CrossOneV(this.m_localXAxisA,this.m_localYAxisA),this.m_referenceAngle=T(t.referenceAngle,0),this.m_lowerTranslation=T(t.lowerTranslation,0),this.m_upperTranslation=T(t.upperTranslation,0),this.m_maxMotorForce=T(t.maxMotorForce,0),this.m_motorSpeed=T(t.motorSpeed,0),this.m_enableLimit=T(t.enableLimit,!1),this.m_enableMotor=T(t.enableMotor,!1)}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].c,i=t.positions[this.m_indexA].a,n=t.velocities[this.m_indexA].v;let o=t.velocities[this.m_indexA].w;const r=t.positions[this.m_indexB].c,h=t.positions[this.m_indexB].a,l=t.velocities[this.m_indexB].v;let y=t.velocities[this.m_indexB].w;const c=this.m_qA.SetAngle(i),m=this.m_qB.SetAngle(h);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const a=C.MulRV(c,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const u=C.MulRV(m,this.m_lalcB,this.m_rB),f=s.AddVV(s.SubVV(r,e,s.s_t0),s.SubVV(u,a,s.s_t1),N.InitVelocityConstraints_s_d),A=this.m_invMassA,S=this.m_invMassB,b=this.m_invIA,B=this.m_invIB;if(C.MulRV(c,this.m_localXAxisA,this.m_axis),this.m_a1=s.CrossVV(s.AddVV(f,a,s.s_t0),this.m_axis),this.m_a2=s.CrossVV(u,this.m_axis),this.m_axialMass=A+S+b*this.m_a1*this.m_a1+B*this.m_a2*this.m_a2,this.m_axialMass>0&&(this.m_axialMass=1/this.m_axialMass),C.MulRV(c,this.m_localYAxisA,this.m_perp),this.m_s1=s.CrossVV(s.AddVV(f,a,s.s_t0),this.m_perp),this.m_s2=s.CrossVV(u,this.m_perp),this.m_K.ex.x=A+S+b*this.m_s1*this.m_s1+B*this.m_s2*this.m_s2,this.m_K.ex.y=b*this.m_s1+B*this.m_s2,this.m_K.ey.x=this.m_K.ex.y,this.m_K.ey.y=b+B,this.m_K.ey.y===0&&(this.m_K.ey.y=1),this.m_enableLimit?this.m_translation=s.DotVV(this.m_axis,f):(this.m_lowerImpulse=0,this.m_upperImpulse=0),this.m_enableMotor||(this.m_motorImpulse=0),t.step.warmStarting){this.m_impulse.SelfMul(t.step.dtRatio),this.m_motorImpulse*=t.step.dtRatio,this.m_lowerImpulse*=t.step.dtRatio,this.m_upperImpulse*=t.step.dtRatio;const x=this.m_motorImpulse+this.m_lowerImpulse-this.m_upperImpulse,v=s.AddVV(s.MulSV(this.m_impulse.x,this.m_perp,s.s_t0),s.MulSV(x,this.m_axis,s.s_t1),N.InitVelocityConstraints_s_P),V=this.m_impulse.x*this.m_s1+this.m_impulse.y+x*this.m_a1,k=this.m_impulse.x*this.m_s2+this.m_impulse.y+x*this.m_a2;n.SelfMulSub(A,v),o-=b*V,l.SelfMulAdd(S,v),y+=B*k}else this.m_impulse.SetZero(),this.m_motorImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0;t.velocities[this.m_indexA].w=o,t.velocities[this.m_indexB].w=y}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_invMassA,h=this.m_invMassB,l=this.m_invIA,y=this.m_invIB;if(this.m_enableMotor){const c=s.DotVV(this.m_axis,s.SubVV(n,e,s.s_t0))+this.m_a2*o-this.m_a1*i;let m=this.m_axialMass*(this.m_motorSpeed-c);const a=this.m_motorImpulse,u=t.step.dt*this.m_maxMotorForce;this.m_motorImpulse=vt(this.m_motorImpulse+m,-u,u),m=this.m_motorImpulse-a;const f=s.MulSV(m,this.m_axis,N.SolveVelocityConstraints_s_P),A=m*this.m_a1,S=m*this.m_a2;e.SelfMulSub(r,f),i-=l*A,n.SelfMulAdd(h,f),o+=y*S}if(this.m_enableLimit){{const c=this.m_translation-this.m_lowerTranslation,m=s.DotVV(this.m_axis,s.SubVV(n,e,s.s_t0))+this.m_a2*o-this.m_a1*i;let a=-this.m_axialMass*(m+E(c,0)*t.step.inv_dt);const u=this.m_lowerImpulse;this.m_lowerImpulse=E(this.m_lowerImpulse+a,0),a=this.m_lowerImpulse-u;const f=s.MulSV(a,this.m_axis,N.SolveVelocityConstraints_s_P),A=a*this.m_a1,S=a*this.m_a2;e.SelfMulSub(r,f),i-=l*A,n.SelfMulAdd(h,f),o+=y*S}{const c=this.m_upperTranslation-this.m_translation,m=s.DotVV(this.m_axis,s.SubVV(e,n,s.s_t0))+this.m_a1*i-this.m_a2*o;let a=-this.m_axialMass*(m+E(c,0)*t.step.inv_dt);const u=this.m_upperImpulse;this.m_upperImpulse=E(this.m_upperImpulse+a,0),a=this.m_upperImpulse-u;const f=s.MulSV(a,this.m_axis,N.SolveVelocityConstraints_s_P),A=a*this.m_a1,S=a*this.m_a2;e.SelfMulAdd(r,f),i+=l*A,n.SelfMulSub(h,f),o-=y*S}}{const c=s.DotVV(this.m_perp,s.SubVV(n,e,s.s_t0))+this.m_s2*o-this.m_s1*i,m=o-i,a=this.m_K.Solve(-c,-m,N.SolveVelocityConstraints_s_df);this.m_impulse.SelfAdd(a);const u=s.MulSV(a.x,this.m_perp,N.SolveVelocityConstraints_s_P),f=a.x*this.m_s1+a.y,A=a.x*this.m_s2+a.y;e.SelfMulSub(r,u),i-=l*f,n.SelfMulAdd(h,u),o+=y*A}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=this.m_qA.SetAngle(i),h=this.m_qB.SetAngle(o),l=this.m_invMassA,y=this.m_invMassB,c=this.m_invIA,m=this.m_invIB,a=C.MulRV(r,this.m_lalcA,this.m_rA),u=C.MulRV(h,this.m_lalcB,this.m_rB),f=s.SubVV(s.AddVV(n,u,s.s_t0),s.AddVV(e,a,s.s_t1),N.SolvePositionConstraints_s_d),A=C.MulRV(r,this.m_localXAxisA,this.m_axis),S=s.CrossVV(s.AddVV(f,a,s.s_t0),A),b=s.CrossVV(u,A),B=C.MulRV(r,this.m_localYAxisA,this.m_perp),x=s.CrossVV(s.AddVV(f,a,s.s_t0),B),v=s.CrossVV(u,B);let V=N.SolvePositionConstraints_s_impulse;const k=s.DotVV(B,f),P=o-i-this.m_referenceAngle;let q=ot(k);const z=ot(P);let j=!1,Y=0;if(this.m_enableLimit){const U=s.DotVV(A,f);ot(this.m_upperTranslation-this.m_lowerTranslation)<2*Q?(Y=U,q=E(q,ot(U)),j=!0):U<=this.m_lowerTranslation?(Y=at(U-this.m_lowerTranslation,0),q=E(q,this.m_lowerTranslation-U),j=!0):U>=this.m_upperTranslation&&(Y=E(U-this.m_upperTranslation,0),q=E(q,U-this.m_upperTranslation),j=!0)}if(j){const U=l+y+c*x*x+m*v*v,it=c*x+m*v,rt=c*x*S+m*v*b;let St=c+m;St===0&&(St=1);const Tt=c*S+m*b,Pt=l+y+c*S*S+m*b*b,ns=this.m_K3;ns.ex.SetXYZ(U,it,rt),ns.ey.SetXYZ(it,St,Tt),ns.ez.SetXYZ(rt,Tt,Pt),V=ns.Solve33(-k,-P,-Y,V)}else{const U=l+y+c*x*x+m*v*v,it=c*x+m*v;let rt=c+m;rt===0&&(rt=1);const St=this.m_K2;St.ex.Set(U,it),St.ey.Set(it,rt);const Tt=St.Solve(-k,-P,N.SolvePositionConstraints_s_impulse1);V.x=Tt.x,V.y=Tt.y,V.z=0}const R=s.AddVV(s.MulSV(V.x,B,s.s_t0),s.MulSV(V.z,A,s.s_t1),N.SolvePositionConstraints_s_P),G=V.x*x+V.y+V.z*S,Z=V.x*v+V.y+V.z*b;return e.SelfMulSub(l,R),i-=c*G,n.SelfMulAdd(y,R),o+=m*Z,t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,q<=Q&&z<=Dt}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*(this.m_impulse.x*this.m_perp.x+(this.m_motorImpulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_axis.x),e.y=t*(this.m_impulse.y*this.m_perp.y+(this.m_motorImpulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_axis.y),e}GetReactionTorque(t){return t*this.m_impulse.y}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}GetLocalAxisA(){return this.m_localXAxisA}GetReferenceAngle(){return this.m_referenceAngle}GetJointTranslation(){const t=this.m_bodyA.GetWorldPoint(this.m_localAnchorA,N.GetJointTranslation_s_pA),e=this.m_bodyB.GetWorldPoint(this.m_localAnchorB,N.GetJointTranslation_s_pB),i=s.SubVV(e,t,N.GetJointTranslation_s_d),n=this.m_bodyA.GetWorldVector(this.m_localXAxisA,N.GetJointTranslation_s_axis);return s.DotVV(i,n)}GetJointSpeed(){const t=this.m_bodyA,e=this.m_bodyB;s.SubVV(this.m_localAnchorA,t.m_sweep.localCenter,this.m_lalcA);const i=C.MulRV(t.m_xf.q,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,e.m_sweep.localCenter,this.m_lalcB);const n=C.MulRV(e.m_xf.q,this.m_lalcB,this.m_rB),o=s.AddVV(t.m_sweep.c,i,s.s_t0),r=s.AddVV(e.m_sweep.c,n,s.s_t1),h=s.SubVV(r,o,s.s_t2),l=t.GetWorldVector(this.m_localXAxisA,this.m_axis),y=t.m_linearVelocity,c=e.m_linearVelocity,m=t.m_angularVelocity,a=e.m_angularVelocity;return s.DotVV(h,s.CrossSV(m,l,s.s_t0))+s.DotVV(l,s.SubVV(s.AddVCrossSV(c,a,n,s.s_t0),s.AddVCrossSV(y,m,i,s.s_t1),s.s_t0))}IsLimitEnabled(){return this.m_enableLimit}EnableLimit(t){t!==this.m_enableLimit&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=t,this.m_lowerImpulse=0,this.m_upperImpulse=0)}GetLowerLimit(){return this.m_lowerTranslation}GetUpperLimit(){return this.m_upperTranslation}SetLimits(t,e){(t!==this.m_lowerTranslation||e!==this.m_upperTranslation)&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerTranslation=t,this.m_upperTranslation=e,this.m_lowerImpulse=0,this.m_upperImpulse=0)}IsMotorEnabled(){return this.m_enableMotor}EnableMotor(t){t!==this.m_enableMotor&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=t)}SetMotorSpeed(t){t!==this.m_motorSpeed&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=t)}GetMotorSpeed(){return this.m_motorSpeed}SetMaxMotorForce(t){t!==this.m_maxMotorForce&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorForce=t)}GetMaxMotorForce(){return this.m_maxMotorForce}GetMotorForce(t){return t*this.m_motorImpulse}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2PrismaticJointDef = new b2PrismaticJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.localAxisA.Set(%.15f, %.15f);
`,this.m_localXAxisA.x,this.m_localXAxisA.y),t(`  jd.referenceAngle = %.15f;
`,this.m_referenceAngle),t(`  jd.enableLimit = %s;
`,this.m_enableLimit?"true":"false"),t(`  jd.lowerTranslation = %.15f;
`,this.m_lowerTranslation),t(`  jd.upperTranslation = %.15f;
`,this.m_upperTranslation),t(`  jd.enableMotor = %s;
`,this.m_enableMotor?"true":"false"),t(`  jd.motorSpeed = %.15f;
`,this.m_motorSpeed),t(`  jd.maxMotorForce = %.15f;
`,this.m_maxMotorForce),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}Draw(t){const e=this.m_bodyA.GetTransform(),i=this.m_bodyB.GetTransform(),n=I.MulXV(e,this.m_localAnchorA,N.Draw_s_pA),o=I.MulXV(i,this.m_localAnchorB,N.Draw_s_pB),r=C.MulRV(e.q,this.m_localXAxisA,N.Draw_s_axis),h=N.Draw_s_c1,l=N.Draw_s_c2,y=N.Draw_s_c3,c=N.Draw_s_c4,m=N.Draw_s_c5;if(t.DrawSegment(n,o,m),this.m_enableLimit){const a=s.AddVMulSV(n,this.m_lowerTranslation,r,N.Draw_s_lower),u=s.AddVMulSV(n,this.m_upperTranslation,r,N.Draw_s_upper),f=C.MulRV(e.q,this.m_localYAxisA,N.Draw_s_perp);t.DrawSegment(a,u,h),t.DrawSegment(s.AddVMulSV(a,-.5,f,s.s_t0),s.AddVMulSV(a,.5,f,s.s_t1),l),t.DrawSegment(s.AddVMulSV(u,-.5,f,s.s_t0),s.AddVMulSV(u,.5,f,s.s_t1),y)}else t.DrawSegment(s.AddVMulSV(n,-1,r,s.s_t0),s.AddVMulSV(n,1,r,s.s_t1),h);t.DrawPoint(n,5,h),t.DrawPoint(o,5,c)}}N.InitVelocityConstraints_s_d=new s,N.InitVelocityConstraints_s_P=new s,N.SolveVelocityConstraints_s_P=new s,N.SolveVelocityConstraints_s_df=new s,N.SolvePositionConstraints_s_d=new s,N.SolvePositionConstraints_s_impulse=new bt,N.SolvePositionConstraints_s_impulse1=new s,N.SolvePositionConstraints_s_P=new s,N.GetJointTranslation_s_pA=new s,N.GetJointTranslation_s_pB=new s,N.GetJointTranslation_s_d=new s,N.GetJointTranslation_s_axis=new s,N.Draw_s_pA=new s,N.Draw_s_pB=new s,N.Draw_s_axis=new s,N.Draw_s_c1=new O(.7,.7,.7),N.Draw_s_c2=new O(.3,.9,.3),N.Draw_s_c3=new O(.9,.3,.3),N.Draw_s_c4=new O(.3,.3,.9),N.Draw_s_c5=new O(.4,.4,.4),N.Draw_s_lower=new s,N.Draw_s_upper=new s,N.Draw_s_perp=new s;const so=2;class eo extends Ot{constructor(){super(_.b2JointType.e_pulleyJoint),this.groundAnchorA=new s(-1,1),this.groundAnchorB=new s(1,1),this.localAnchorA=new s(-1,0),this.localAnchorB=new s(1,0),this.lengthA=0,this.lengthB=0,this.ratio=1,this.collideConnected=!0}Initialize(t,e,i,n,o,r,h){this.bodyA=t,this.bodyB=e,this.groundAnchorA.Copy(i),this.groundAnchorB.Copy(n),this.bodyA.GetLocalPoint(o,this.localAnchorA),this.bodyB.GetLocalPoint(r,this.localAnchorB),this.lengthA=s.DistanceVV(o,i),this.lengthB=s.DistanceVV(r,n),this.ratio=h}}class _t extends pt{constructor(t){super(t),this.m_groundAnchorA=new s,this.m_groundAnchorB=new s,this.m_lengthA=0,this.m_lengthB=0,this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_constant=0,this.m_ratio=0,this.m_impulse=0,this.m_indexA=0,this.m_indexB=0,this.m_uA=new s,this.m_uB=new s,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_mass=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_groundAnchorA.Copy(T(t.groundAnchorA,new s(-1,1))),this.m_groundAnchorB.Copy(T(t.groundAnchorB,new s(1,0))),this.m_localAnchorA.Copy(T(t.localAnchorA,new s(-1,0))),this.m_localAnchorB.Copy(T(t.localAnchorB,new s(1,0))),this.m_lengthA=T(t.lengthA,0),this.m_lengthB=T(t.lengthB,0),this.m_ratio=T(t.ratio,1),this.m_constant=T(t.lengthA,0)+this.m_ratio*T(t.lengthB,0),this.m_impulse=0}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].c,i=t.positions[this.m_indexA].a,n=t.velocities[this.m_indexA].v;let o=t.velocities[this.m_indexA].w;const r=t.positions[this.m_indexB].c,h=t.positions[this.m_indexB].a,l=t.velocities[this.m_indexB].v;let y=t.velocities[this.m_indexB].w;const c=this.m_qA.SetAngle(i),m=this.m_qB.SetAngle(h);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),C.MulRV(c,this.m_lalcA,this.m_rA),s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),C.MulRV(m,this.m_lalcB,this.m_rB),this.m_uA.Copy(e).SelfAdd(this.m_rA).SelfSub(this.m_groundAnchorA),this.m_uB.Copy(r).SelfAdd(this.m_rB).SelfSub(this.m_groundAnchorB);const a=this.m_uA.Length(),u=this.m_uB.Length();a>10*Q?this.m_uA.SelfMul(1/a):this.m_uA.SetZero(),u>10*Q?this.m_uB.SelfMul(1/u):this.m_uB.SetZero();const f=s.CrossVV(this.m_rA,this.m_uA),A=s.CrossVV(this.m_rB,this.m_uB),S=this.m_invMassA+this.m_invIA*f*f,b=this.m_invMassB+this.m_invIB*A*A;if(this.m_mass=S+this.m_ratio*this.m_ratio*b,this.m_mass>0&&(this.m_mass=1/this.m_mass),t.step.warmStarting){this.m_impulse*=t.step.dtRatio;const B=s.MulSV(-this.m_impulse,this.m_uA,_t.InitVelocityConstraints_s_PA),x=s.MulSV(-this.m_ratio*this.m_impulse,this.m_uB,_t.InitVelocityConstraints_s_PB);n.SelfMulAdd(this.m_invMassA,B),o+=this.m_invIA*s.CrossVV(this.m_rA,B),l.SelfMulAdd(this.m_invMassB,x),y+=this.m_invIB*s.CrossVV(this.m_rB,x)}else this.m_impulse=0;t.velocities[this.m_indexA].w=o,t.velocities[this.m_indexB].w=y}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=s.AddVCrossSV(e,i,this.m_rA,_t.SolveVelocityConstraints_s_vpA),h=s.AddVCrossSV(n,o,this.m_rB,_t.SolveVelocityConstraints_s_vpB),l=-s.DotVV(this.m_uA,r)-this.m_ratio*s.DotVV(this.m_uB,h),y=-this.m_mass*l;this.m_impulse+=y;const c=s.MulSV(-y,this.m_uA,_t.SolveVelocityConstraints_s_PA),m=s.MulSV(-this.m_ratio*y,this.m_uB,_t.SolveVelocityConstraints_s_PB);e.SelfMulAdd(this.m_invMassA,c),i+=this.m_invIA*s.CrossVV(this.m_rA,c),n.SelfMulAdd(this.m_invMassB,m),o+=this.m_invIB*s.CrossVV(this.m_rB,m),t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=this.m_qA.SetAngle(i),h=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const l=C.MulRV(r,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const y=C.MulRV(h,this.m_lalcB,this.m_rB),c=this.m_uA.Copy(e).SelfAdd(l).SelfSub(this.m_groundAnchorA),m=this.m_uB.Copy(n).SelfAdd(y).SelfSub(this.m_groundAnchorB),a=c.Length(),u=m.Length();a>10*Q?c.SelfMul(1/a):c.SetZero(),u>10*Q?m.SelfMul(1/u):m.SetZero();const f=s.CrossVV(l,c),A=s.CrossVV(y,m),S=this.m_invMassA+this.m_invIA*f*f,b=this.m_invMassB+this.m_invIB*A*A;let B=S+this.m_ratio*this.m_ratio*b;B>0&&(B=1/B);const x=this.m_constant-a-this.m_ratio*u,v=ot(x),V=-B*x,k=s.MulSV(-V,c,_t.SolvePositionConstraints_s_PA),P=s.MulSV(-this.m_ratio*V,m,_t.SolvePositionConstraints_s_PB);return e.SelfMulAdd(this.m_invMassA,k),i+=this.m_invIA*s.CrossVV(l,k),n.SelfMulAdd(this.m_invMassB,P),o+=this.m_invIB*s.CrossVV(y,P),t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,v<Q}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*this.m_impulse*this.m_uB.x,e.y=t*this.m_impulse*this.m_uB.y,e}GetReactionTorque(t){return 0}GetGroundAnchorA(){return this.m_groundAnchorA}GetGroundAnchorB(){return this.m_groundAnchorB}GetLengthA(){return this.m_lengthA}GetLengthB(){return this.m_lengthB}GetRatio(){return this.m_ratio}GetCurrentLengthA(){const t=this.m_bodyA.GetWorldPoint(this.m_localAnchorA,_t.GetCurrentLengthA_s_p),e=this.m_groundAnchorA;return s.DistanceVV(t,e)}GetCurrentLengthB(){const t=this.m_bodyB.GetWorldPoint(this.m_localAnchorB,_t.GetCurrentLengthB_s_p),e=this.m_groundAnchorB;return s.DistanceVV(t,e)}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2PulleyJointDef = new b2PulleyJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.groundAnchorA.Set(%.15f, %.15f);
`,this.m_groundAnchorA.x,this.m_groundAnchorA.y),t(`  jd.groundAnchorB.Set(%.15f, %.15f);
`,this.m_groundAnchorB.x,this.m_groundAnchorB.y),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.lengthA = %.15f;
`,this.m_lengthA),t(`  jd.lengthB = %.15f;
`,this.m_lengthB),t(`  jd.ratio = %.15f;
`,this.m_ratio),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}ShiftOrigin(t){this.m_groundAnchorA.SelfSub(t),this.m_groundAnchorB.SelfSub(t)}}_t.InitVelocityConstraints_s_PA=new s,_t.InitVelocityConstraints_s_PB=new s,_t.SolveVelocityConstraints_s_vpA=new s,_t.SolveVelocityConstraints_s_vpB=new s,_t.SolveVelocityConstraints_s_PA=new s,_t.SolveVelocityConstraints_s_PB=new s,_t.SolvePositionConstraints_s_PA=new s,_t.SolvePositionConstraints_s_PB=new s,_t.GetCurrentLengthA_s_p=new s,_t.GetCurrentLengthB_s_p=new s;class io extends Ot{constructor(){super(_.b2JointType.e_revoluteJoint),this.localAnchorA=new s(0,0),this.localAnchorB=new s(0,0),this.referenceAngle=0,this.enableLimit=!1,this.lowerAngle=0,this.upperAngle=0,this.enableMotor=!1,this.motorSpeed=0,this.maxMotorTorque=0}Initialize(t,e,i){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(i,this.localAnchorB),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}}class st extends pt{constructor(t){super(t),this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_impulse=new s,this.m_motorImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0,this.m_enableMotor=!1,this.m_maxMotorTorque=0,this.m_motorSpeed=0,this.m_enableLimit=!1,this.m_referenceAngle=0,this.m_lowerAngle=0,this.m_upperAngle=0,this.m_indexA=0,this.m_indexB=0,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_K=new lt,this.m_angle=0,this.m_axialMass=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_referenceAngle=T(t.referenceAngle,0),this.m_impulse.SetZero(),this.m_motorImpulse=0,this.m_lowerAngle=T(t.lowerAngle,0),this.m_upperAngle=T(t.upperAngle,0),this.m_maxMotorTorque=T(t.maxMotorTorque,0),this.m_motorSpeed=T(t.motorSpeed,0),this.m_enableLimit=T(t.enableLimit,!1),this.m_enableMotor=T(t.enableMotor,!1)}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].a,i=t.velocities[this.m_indexA].v;let n=t.velocities[this.m_indexA].w;const o=t.positions[this.m_indexB].a,r=t.velocities[this.m_indexB].v;let h=t.velocities[this.m_indexB].w;const l=this.m_qA.SetAngle(e),y=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),C.MulRV(l,this.m_lalcA,this.m_rA),s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),C.MulRV(y,this.m_lalcB,this.m_rB);const c=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,u=this.m_invIB;this.m_K.ex.x=c+m+this.m_rA.y*this.m_rA.y*a+this.m_rB.y*this.m_rB.y*u,this.m_K.ey.x=-this.m_rA.y*this.m_rA.x*a-this.m_rB.y*this.m_rB.x*u,this.m_K.ex.y=this.m_K.ey.x,this.m_K.ey.y=c+m+this.m_rA.x*this.m_rA.x*a+this.m_rB.x*this.m_rB.x*u,this.m_axialMass=a+u;let f;if(this.m_axialMass>0?(this.m_axialMass=1/this.m_axialMass,f=!1):f=!0,this.m_angle=o-e-this.m_referenceAngle,(this.m_enableLimit===!1||f)&&(this.m_lowerImpulse=0,this.m_upperImpulse=0),(this.m_enableMotor===!1||f)&&(this.m_motorImpulse=0),t.step.warmStarting){this.m_impulse.SelfMul(t.step.dtRatio),this.m_motorImpulse*=t.step.dtRatio,this.m_lowerImpulse*=t.step.dtRatio,this.m_upperImpulse*=t.step.dtRatio;const A=this.m_motorImpulse+this.m_lowerImpulse-this.m_upperImpulse,S=st.InitVelocityConstraints_s_P.Set(this.m_impulse.x,this.m_impulse.y);i.SelfMulSub(c,S),n-=a*(s.CrossVV(this.m_rA,S)+A),r.SelfMulAdd(m,S),h+=u*(s.CrossVV(this.m_rB,S)+A)}else this.m_impulse.SetZero(),this.m_motorImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0;t.velocities[this.m_indexA].w=n,t.velocities[this.m_indexB].w=h}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_invMassA,h=this.m_invMassB,l=this.m_invIA,y=this.m_invIB,c=l+y===0;if(this.m_enableMotor&&!c){const m=o-i-this.m_motorSpeed;let a=-this.m_axialMass*m;const u=this.m_motorImpulse,f=t.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=vt(this.m_motorImpulse+a,-f,f),a=this.m_motorImpulse-u,i-=l*a,o+=y*a}if(this.m_enableLimit&&!c){{const m=this.m_angle-this.m_lowerAngle,a=o-i;let u=-this.m_axialMass*(a+E(m,0)*t.step.inv_dt);const f=this.m_lowerImpulse;this.m_lowerImpulse=E(this.m_lowerImpulse+u,0),u=this.m_lowerImpulse-f,i-=l*u,o+=y*u}{const m=this.m_upperAngle-this.m_angle,a=i-o;let u=-this.m_axialMass*(a+E(m,0)*t.step.inv_dt);const f=this.m_upperImpulse;this.m_upperImpulse=E(this.m_upperImpulse+u,0),u=this.m_upperImpulse-f,i+=l*u,o-=y*u}}{const m=s.SubVV(s.AddVCrossSV(n,o,this.m_rB,s.s_t0),s.AddVCrossSV(e,i,this.m_rA,s.s_t1),st.SolveVelocityConstraints_s_Cdot_v2),a=this.m_K.Solve(-m.x,-m.y,st.SolveVelocityConstraints_s_impulse_v2);this.m_impulse.x+=a.x,this.m_impulse.y+=a.y,e.SelfMulSub(r,a),i-=l*s.CrossVV(this.m_rA,a),n.SelfMulAdd(h,a),o+=y*s.CrossVV(this.m_rB,a)}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=this.m_qA.SetAngle(i),h=this.m_qB.SetAngle(o);let l=0,y=0;const c=this.m_invIA+this.m_invIB===0;if(this.m_enableLimit&&!c){const m=o-i-this.m_referenceAngle;let a=0;ot(this.m_upperAngle-this.m_lowerAngle)<2*Dt?a=vt(m-this.m_lowerAngle,-qt,qt):m<=this.m_lowerAngle?a=vt(m-this.m_lowerAngle+Dt,-qt,0):m>=this.m_upperAngle&&(a=vt(m-this.m_upperAngle-Dt,0,qt));const u=-this.m_axialMass*a;i-=this.m_invIA*u,o+=this.m_invIB*u,l=ot(a)}{r.SetAngle(i),h.SetAngle(o),s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const m=C.MulRV(r,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const a=C.MulRV(h,this.m_lalcB,this.m_rB),u=s.SubVV(s.AddVV(n,a,s.s_t0),s.AddVV(e,m,s.s_t1),st.SolvePositionConstraints_s_C_v2);y=u.Length();const f=this.m_invMassA,A=this.m_invMassB,S=this.m_invIA,b=this.m_invIB,B=this.m_K;B.ex.x=f+A+S*m.y*m.y+b*a.y*a.y,B.ex.y=-S*m.x*m.y-b*a.x*a.y,B.ey.x=B.ex.y,B.ey.y=f+A+S*m.x*m.x+b*a.x*a.x;const x=B.Solve(u.x,u.y,st.SolvePositionConstraints_s_impulse).SelfNeg();e.SelfMulSub(f,x),i-=S*s.CrossVV(m,x),n.SelfMulAdd(A,x),o+=b*s.CrossVV(a,x)}return t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,y<=Q&&l<=Dt}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*this.m_impulse.x,e.y=t*this.m_impulse.y,e}GetReactionTorque(t){return t*(this.m_lowerImpulse-this.m_upperImpulse)}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}GetReferenceAngle(){return this.m_referenceAngle}GetJointAngle(){return this.m_bodyB.m_sweep.a-this.m_bodyA.m_sweep.a-this.m_referenceAngle}GetJointSpeed(){return this.m_bodyB.m_angularVelocity-this.m_bodyA.m_angularVelocity}IsMotorEnabled(){return this.m_enableMotor}EnableMotor(t){t!==this.m_enableMotor&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=t)}GetMotorTorque(t){return t*this.m_motorImpulse}GetMotorSpeed(){return this.m_motorSpeed}SetMaxMotorTorque(t){t!==this.m_maxMotorTorque&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorTorque=t)}GetMaxMotorTorque(){return this.m_maxMotorTorque}IsLimitEnabled(){return this.m_enableLimit}EnableLimit(t){t!==this.m_enableLimit&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=t,this.m_lowerImpulse=0,this.m_upperImpulse=0)}GetLowerLimit(){return this.m_lowerAngle}GetUpperLimit(){return this.m_upperAngle}SetLimits(t,e){(t!==this.m_lowerAngle||e!==this.m_upperAngle)&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerImpulse=0,this.m_upperImpulse=0,this.m_lowerAngle=t,this.m_upperAngle=e)}SetMotorSpeed(t){t!==this.m_motorSpeed&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=t)}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2RevoluteJointDef = new b2RevoluteJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.referenceAngle = %.15f;
`,this.m_referenceAngle),t(`  jd.enableLimit = %s;
`,this.m_enableLimit?"true":"false"),t(`  jd.lowerAngle = %.15f;
`,this.m_lowerAngle),t(`  jd.upperAngle = %.15f;
`,this.m_upperAngle),t(`  jd.enableMotor = %s;
`,this.m_enableMotor?"true":"false"),t(`  jd.motorSpeed = %.15f;
`,this.m_motorSpeed),t(`  jd.maxMotorTorque = %.15f;
`,this.m_maxMotorTorque),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}Draw(t){const e=this.m_bodyA.GetTransform(),i=this.m_bodyB.GetTransform(),n=I.MulXV(e,this.m_localAnchorA,st.Draw_s_pA),o=I.MulXV(i,this.m_localAnchorB,st.Draw_s_pB),r=st.Draw_s_c1,h=st.Draw_s_c2,l=st.Draw_s_c3,y=st.Draw_s_c4,c=st.Draw_s_c5;t.DrawPoint(n,5,y),t.DrawPoint(o,5,c);const m=this.m_bodyA.GetAngle(),u=this.m_bodyB.GetAngle()-m-this.m_referenceAngle,f=.5,A=st.Draw_s_r.Set(f*Math.cos(u),f*Math.sin(u));if(t.DrawSegment(o,s.AddVV(o,A,s.s_t0),r),t.DrawCircle(o,f,r),this.m_enableLimit){const b=st.Draw_s_rlo.Set(f*Math.cos(this.m_lowerAngle),f*Math.sin(this.m_lowerAngle)),B=st.Draw_s_rhi.Set(f*Math.cos(this.m_upperAngle),f*Math.sin(this.m_upperAngle));t.DrawSegment(o,s.AddVV(o,b,s.s_t0),h),t.DrawSegment(o,s.AddVV(o,B,s.s_t0),l)}const S=st.Draw_s_color_;t.DrawSegment(e.p,n,S),t.DrawSegment(n,o,S),t.DrawSegment(i.p,o,S)}}st.InitVelocityConstraints_s_P=new s,st.SolveVelocityConstraints_s_Cdot_v2=new s,st.SolveVelocityConstraints_s_impulse_v2=new s,st.SolvePositionConstraints_s_C_v2=new s,st.SolvePositionConstraints_s_impulse=new s,st.Draw_s_pA=new s,st.Draw_s_pB=new s,st.Draw_s_c1=new O(.7,.7,.7),st.Draw_s_c2=new O(.3,.9,.3),st.Draw_s_c3=new O(.9,.3,.3),st.Draw_s_c4=new O(.3,.3,.9),st.Draw_s_c5=new O(.4,.4,.4),st.Draw_s_color_=new O(.5,.8,.8),st.Draw_s_r=new s,st.Draw_s_rlo=new s,st.Draw_s_rhi=new s;class no extends Ot{constructor(){super(_.b2JointType.e_weldJoint),this.localAnchorA=new s,this.localAnchorB=new s,this.referenceAngle=0,this.stiffness=0,this.damping=0}Initialize(t,e,i){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(i,this.localAnchorB),this.referenceAngle=this.bodyB.GetAngle()-this.bodyA.GetAngle()}}class ct extends pt{constructor(t){super(t),this.m_stiffness=0,this.m_damping=0,this.m_bias=0,this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_referenceAngle=0,this.m_gamma=0,this.m_impulse=new bt(0,0,0),this.m_indexA=0,this.m_indexB=0,this.m_rA=new s,this.m_rB=new s,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_mass=new Yt,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_K=new Yt,this.m_stiffness=T(t.stiffness,0),this.m_damping=T(t.damping,0),this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_referenceAngle=T(t.referenceAngle,0),this.m_impulse.SetZero()}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=t.positions[this.m_indexA].a,i=t.velocities[this.m_indexA].v;let n=t.velocities[this.m_indexA].w;const o=t.positions[this.m_indexB].a,r=t.velocities[this.m_indexB].v;let h=t.velocities[this.m_indexB].w;const l=this.m_qA.SetAngle(e),y=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA),C.MulRV(l,this.m_lalcA,this.m_rA),s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB),C.MulRV(y,this.m_lalcB,this.m_rB);const c=this.m_invMassA,m=this.m_invMassB,a=this.m_invIA,u=this.m_invIB,f=this.m_K;if(f.ex.x=c+m+this.m_rA.y*this.m_rA.y*a+this.m_rB.y*this.m_rB.y*u,f.ey.x=-this.m_rA.y*this.m_rA.x*a-this.m_rB.y*this.m_rB.x*u,f.ez.x=-this.m_rA.y*a-this.m_rB.y*u,f.ex.y=f.ey.x,f.ey.y=c+m+this.m_rA.x*this.m_rA.x*a+this.m_rB.x*this.m_rB.x*u,f.ez.y=this.m_rA.x*a+this.m_rB.x*u,f.ex.z=f.ez.x,f.ey.z=f.ez.y,f.ez.z=a+u,this.m_stiffness>0){f.GetInverse22(this.m_mass);let A=a+u;const S=o-e-this.m_referenceAngle,b=this.m_damping,B=this.m_stiffness,x=t.step.dt;this.m_gamma=x*(b+x*B),this.m_gamma=this.m_gamma!==0?1/this.m_gamma:0,this.m_bias=S*x*B*this.m_gamma,A+=this.m_gamma,this.m_mass.ez.z=A!==0?1/A:0}else f.GetSymInverse33(this.m_mass),this.m_gamma=0,this.m_bias=0;if(t.step.warmStarting){this.m_impulse.SelfMul(t.step.dtRatio);const A=ct.InitVelocityConstraints_s_P.Set(this.m_impulse.x,this.m_impulse.y);i.SelfMulSub(c,A),n-=a*(s.CrossVV(this.m_rA,A)+this.m_impulse.z),r.SelfMulAdd(m,A),h+=u*(s.CrossVV(this.m_rB,A)+this.m_impulse.z)}else this.m_impulse.SetZero();t.velocities[this.m_indexA].w=n,t.velocities[this.m_indexB].w=h}SolveVelocityConstraints(t){const e=t.velocities[this.m_indexA].v;let i=t.velocities[this.m_indexA].w;const n=t.velocities[this.m_indexB].v;let o=t.velocities[this.m_indexB].w;const r=this.m_invMassA,h=this.m_invMassB,l=this.m_invIA,y=this.m_invIB;if(this.m_stiffness>0){const c=o-i,m=-this.m_mass.ez.z*(c+this.m_bias+this.m_gamma*this.m_impulse.z);this.m_impulse.z+=m,i-=l*m,o+=y*m;const a=s.SubVV(s.AddVCrossSV(n,o,this.m_rB,s.s_t0),s.AddVCrossSV(e,i,this.m_rA,s.s_t1),ct.SolveVelocityConstraints_s_Cdot1),u=Yt.MulM33XY(this.m_mass,a.x,a.y,ct.SolveVelocityConstraints_s_impulse1).SelfNeg();this.m_impulse.x+=u.x,this.m_impulse.y+=u.y;const f=u;e.SelfMulSub(r,f),i-=l*s.CrossVV(this.m_rA,f),n.SelfMulAdd(h,f),o+=y*s.CrossVV(this.m_rB,f)}else{const c=s.SubVV(s.AddVCrossSV(n,o,this.m_rB,s.s_t0),s.AddVCrossSV(e,i,this.m_rA,s.s_t1),ct.SolveVelocityConstraints_s_Cdot1),m=o-i,a=Yt.MulM33XYZ(this.m_mass,c.x,c.y,m,ct.SolveVelocityConstraints_s_impulse).SelfNeg();this.m_impulse.SelfAdd(a);const u=ct.SolveVelocityConstraints_s_P.Set(a.x,a.y);e.SelfMulSub(r,u),i-=l*(s.CrossVV(this.m_rA,u)+a.z),n.SelfMulAdd(h,u),o+=y*(s.CrossVV(this.m_rB,u)+a.z)}t.velocities[this.m_indexA].w=i,t.velocities[this.m_indexB].w=o}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a;const r=this.m_qA.SetAngle(i),h=this.m_qB.SetAngle(o),l=this.m_invMassA,y=this.m_invMassB,c=this.m_invIA,m=this.m_invIB;s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const a=C.MulRV(r,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const u=C.MulRV(h,this.m_lalcB,this.m_rB);let f,A;const S=this.m_K;if(S.ex.x=l+y+a.y*a.y*c+u.y*u.y*m,S.ey.x=-a.y*a.x*c-u.y*u.x*m,S.ez.x=-a.y*c-u.y*m,S.ex.y=S.ey.x,S.ey.y=l+y+a.x*a.x*c+u.x*u.x*m,S.ez.y=a.x*c+u.x*m,S.ex.z=S.ez.x,S.ey.z=S.ez.y,S.ez.z=c+m,this.m_stiffness>0){const b=s.SubVV(s.AddVV(n,u,s.s_t0),s.AddVV(e,a,s.s_t1),ct.SolvePositionConstraints_s_C1);f=b.Length(),A=0;const B=S.Solve22(b.x,b.y,ct.SolvePositionConstraints_s_P).SelfNeg();e.SelfMulSub(l,B),i-=c*s.CrossVV(a,B),n.SelfMulAdd(y,B),o+=m*s.CrossVV(u,B)}else{const b=s.SubVV(s.AddVV(n,u,s.s_t0),s.AddVV(e,a,s.s_t1),ct.SolvePositionConstraints_s_C1),B=o-i-this.m_referenceAngle;f=b.Length(),A=ot(B);const x=S.Solve33(b.x,b.y,B,ct.SolvePositionConstraints_s_impulse).SelfNeg(),v=ct.SolvePositionConstraints_s_P.Set(x.x,x.y);e.SelfMulSub(l,v),i-=c*(s.CrossVV(this.m_rA,v)+x.z),n.SelfMulAdd(y,v),o+=m*(s.CrossVV(this.m_rB,v)+x.z)}return t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,f<=Q&&A<=Dt}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*this.m_impulse.x,e.y=t*this.m_impulse.y,e}GetReactionTorque(t){return t*this.m_impulse.z}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}GetReferenceAngle(){return this.m_referenceAngle}SetStiffness(t){this.m_stiffness=t}GetStiffness(){return this.m_stiffness}SetDamping(t){this.m_damping=t}GetDamping(){return this.m_damping}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2WeldJointDef = new b2WeldJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.referenceAngle = %.15f;
`,this.m_referenceAngle),t(`  jd.stiffness = %.15f;
`,this.m_stiffness),t(`  jd.damping = %.15f;
`,this.m_damping),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}}ct.InitVelocityConstraints_s_P=new s,ct.SolveVelocityConstraints_s_Cdot1=new s,ct.SolveVelocityConstraints_s_impulse1=new s,ct.SolveVelocityConstraints_s_impulse=new bt,ct.SolveVelocityConstraints_s_P=new s,ct.SolvePositionConstraints_s_C1=new s,ct.SolvePositionConstraints_s_P=new s,ct.SolvePositionConstraints_s_impulse=new bt;class oo extends Ot{constructor(){super(_.b2JointType.e_wheelJoint),this.localAnchorA=new s(0,0),this.localAnchorB=new s(0,0),this.localAxisA=new s(1,0),this.enableLimit=!1,this.lowerTranslation=0,this.upperTranslation=0,this.enableMotor=!1,this.maxMotorTorque=0,this.motorSpeed=0,this.stiffness=0,this.damping=0}Initialize(t,e,i,n){this.bodyA=t,this.bodyB=e,this.bodyA.GetLocalPoint(i,this.localAnchorA),this.bodyB.GetLocalPoint(i,this.localAnchorB),this.bodyA.GetLocalVector(n,this.localAxisA)}}class $ extends pt{constructor(t){super(t),this.m_localAnchorA=new s,this.m_localAnchorB=new s,this.m_localXAxisA=new s,this.m_localYAxisA=new s,this.m_impulse=0,this.m_motorImpulse=0,this.m_springImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0,this.m_translation=0,this.m_lowerTranslation=0,this.m_upperTranslation=0,this.m_maxMotorTorque=0,this.m_motorSpeed=0,this.m_enableLimit=!1,this.m_enableMotor=!1,this.m_stiffness=0,this.m_damping=0,this.m_indexA=0,this.m_indexB=0,this.m_localCenterA=new s,this.m_localCenterB=new s,this.m_invMassA=0,this.m_invMassB=0,this.m_invIA=0,this.m_invIB=0,this.m_ax=new s,this.m_ay=new s,this.m_sAx=0,this.m_sBx=0,this.m_sAy=0,this.m_sBy=0,this.m_mass=0,this.m_motorMass=0,this.m_axialMass=0,this.m_springMass=0,this.m_bias=0,this.m_gamma=0,this.m_qA=new C,this.m_qB=new C,this.m_lalcA=new s,this.m_lalcB=new s,this.m_rA=new s,this.m_rB=new s,this.m_localAnchorA.Copy(T(t.localAnchorA,s.ZERO)),this.m_localAnchorB.Copy(T(t.localAnchorB,s.ZERO)),this.m_localXAxisA.Copy(T(t.localAxisA,s.UNITX)),s.CrossOneV(this.m_localXAxisA,this.m_localYAxisA),this.m_lowerTranslation=T(t.lowerTranslation,0),this.m_upperTranslation=T(t.upperTranslation,0),this.m_enableLimit=T(t.enableLimit,!1),this.m_maxMotorTorque=T(t.maxMotorTorque,0),this.m_motorSpeed=T(t.motorSpeed,0),this.m_enableMotor=T(t.enableMotor,!1),this.m_ax.SetZero(),this.m_ay.SetZero(),this.m_stiffness=T(t.stiffness,0),this.m_damping=T(t.damping,0)}GetMotorSpeed(){return this.m_motorSpeed}GetMaxMotorTorque(){return this.m_maxMotorTorque}SetStiffness(t){this.m_stiffness=t}GetStiffness(){return this.m_stiffness}SetDamping(t){this.m_damping=t}GetDamping(){return this.m_damping}InitVelocityConstraints(t){this.m_indexA=this.m_bodyA.m_islandIndex,this.m_indexB=this.m_bodyB.m_islandIndex,this.m_localCenterA.Copy(this.m_bodyA.m_sweep.localCenter),this.m_localCenterB.Copy(this.m_bodyB.m_sweep.localCenter),this.m_invMassA=this.m_bodyA.m_invMass,this.m_invMassB=this.m_bodyB.m_invMass,this.m_invIA=this.m_bodyA.m_invI,this.m_invIB=this.m_bodyB.m_invI;const e=this.m_invMassA,i=this.m_invMassB,n=this.m_invIA,o=this.m_invIB,r=t.positions[this.m_indexA].c,h=t.positions[this.m_indexA].a,l=t.velocities[this.m_indexA].v;let y=t.velocities[this.m_indexA].w;const c=t.positions[this.m_indexB].c,m=t.positions[this.m_indexB].a,a=t.velocities[this.m_indexB].v;let u=t.velocities[this.m_indexB].w;const f=this.m_qA.SetAngle(h),A=this.m_qB.SetAngle(m);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const S=C.MulRV(f,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const b=C.MulRV(A,this.m_lalcB,this.m_rB),B=s.SubVV(s.AddVV(c,b,s.s_t0),s.AddVV(r,S,s.s_t1),$.InitVelocityConstraints_s_d);C.MulRV(f,this.m_localYAxisA,this.m_ay),this.m_sAy=s.CrossVV(s.AddVV(B,S,s.s_t0),this.m_ay),this.m_sBy=s.CrossVV(b,this.m_ay),this.m_mass=e+i+n*this.m_sAy*this.m_sAy+o*this.m_sBy*this.m_sBy,this.m_mass>0&&(this.m_mass=1/this.m_mass),C.MulRV(f,this.m_localXAxisA,this.m_ax),this.m_sAx=s.CrossVV(s.AddVV(B,S,s.s_t0),this.m_ax),this.m_sBx=s.CrossVV(b,this.m_ax);const x=e+i+n*this.m_sAx*this.m_sAx+o*this.m_sBx*this.m_sBx;if(x>0?this.m_axialMass=1/x:this.m_axialMass=0,this.m_springMass=0,this.m_bias=0,this.m_gamma=0,this.m_stiffness>0&&x>0){this.m_springMass=1/x;const v=s.DotVV(B,this.m_ax),V=t.step.dt;this.m_gamma=V*(this.m_damping+V*this.m_stiffness),this.m_gamma>0&&(this.m_gamma=1/this.m_gamma),this.m_bias=v*V*this.m_stiffness*this.m_gamma,this.m_springMass=x+this.m_gamma,this.m_springMass>0&&(this.m_springMass=1/this.m_springMass)}else this.m_springImpulse=0;if(this.m_enableLimit?this.m_translation=s.DotVV(this.m_ax,B):(this.m_lowerImpulse=0,this.m_upperImpulse=0),this.m_enableMotor?(this.m_motorMass=n+o,this.m_motorMass>0&&(this.m_motorMass=1/this.m_motorMass)):(this.m_motorMass=0,this.m_motorImpulse=0),t.step.warmStarting){this.m_impulse*=t.step.dtRatio,this.m_springImpulse*=t.step.dtRatio,this.m_motorImpulse*=t.step.dtRatio;const v=this.m_springImpulse+this.m_lowerImpulse-this.m_upperImpulse,V=s.AddVV(s.MulSV(this.m_impulse,this.m_ay,s.s_t0),s.MulSV(v,this.m_ax,s.s_t1),$.InitVelocityConstraints_s_P),k=this.m_impulse*this.m_sAy+v*this.m_sAx+this.m_motorImpulse,P=this.m_impulse*this.m_sBy+v*this.m_sBx+this.m_motorImpulse;l.SelfMulSub(this.m_invMassA,V),y-=this.m_invIA*k,a.SelfMulAdd(this.m_invMassB,V),u+=this.m_invIB*P}else this.m_impulse=0,this.m_springImpulse=0,this.m_motorImpulse=0,this.m_lowerImpulse=0,this.m_upperImpulse=0;t.velocities[this.m_indexA].w=y,t.velocities[this.m_indexB].w=u}SolveVelocityConstraints(t){const e=this.m_invMassA,i=this.m_invMassB,n=this.m_invIA,o=this.m_invIB,r=t.velocities[this.m_indexA].v;let h=t.velocities[this.m_indexA].w;const l=t.velocities[this.m_indexB].v;let y=t.velocities[this.m_indexB].w;{const c=s.DotVV(this.m_ax,s.SubVV(l,r,s.s_t0))+this.m_sBx*y-this.m_sAx*h,m=-this.m_springMass*(c+this.m_bias+this.m_gamma*this.m_springImpulse);this.m_springImpulse+=m;const a=s.MulSV(m,this.m_ax,$.SolveVelocityConstraints_s_P),u=m*this.m_sAx,f=m*this.m_sBx;r.SelfMulSub(e,a),h-=n*u,l.SelfMulAdd(i,a),y+=o*f}{const c=y-h-this.m_motorSpeed;let m=-this.m_motorMass*c;const a=this.m_motorImpulse,u=t.step.dt*this.m_maxMotorTorque;this.m_motorImpulse=vt(this.m_motorImpulse+m,-u,u),m=this.m_motorImpulse-a,h-=n*m,y+=o*m}if(this.m_enableLimit){{const c=this.m_translation-this.m_lowerTranslation,m=s.DotVV(this.m_ax,s.SubVV(l,r,s.s_t0))+this.m_sBx*y-this.m_sAx*h;let a=-this.m_axialMass*(m+E(c,0)*t.step.inv_dt);const u=this.m_lowerImpulse;this.m_lowerImpulse=E(this.m_lowerImpulse+a,0),a=this.m_lowerImpulse-u;const f=s.MulSV(a,this.m_ax,$.SolveVelocityConstraints_s_P),A=a*this.m_sAx,S=a*this.m_sBx;r.SelfMulSub(e,f),h-=n*A,l.SelfMulAdd(i,f),y+=o*S}{const c=this.m_upperTranslation-this.m_translation,m=s.DotVV(this.m_ax,s.SubVV(r,l,s.s_t0))+this.m_sAx*h-this.m_sBx*y;let a=-this.m_axialMass*(m+E(c,0)*t.step.inv_dt);const u=this.m_upperImpulse;this.m_upperImpulse=E(this.m_upperImpulse+a,0),a=this.m_upperImpulse-u;const f=s.MulSV(a,this.m_ax,$.SolveVelocityConstraints_s_P),A=a*this.m_sAx,S=a*this.m_sBx;r.SelfMulAdd(e,f),h+=n*A,l.SelfMulSub(i,f),y-=o*S}}{const c=s.DotVV(this.m_ay,s.SubVV(l,r,s.s_t0))+this.m_sBy*y-this.m_sAy*h,m=-this.m_mass*c;this.m_impulse+=m;const a=s.MulSV(m,this.m_ay,$.SolveVelocityConstraints_s_P),u=m*this.m_sAy,f=m*this.m_sBy;r.SelfMulSub(e,a),h-=n*u,l.SelfMulAdd(i,a),y+=o*f}t.velocities[this.m_indexA].w=h,t.velocities[this.m_indexB].w=y}SolvePositionConstraints(t){const e=t.positions[this.m_indexA].c;let i=t.positions[this.m_indexA].a;const n=t.positions[this.m_indexB].c;let o=t.positions[this.m_indexB].a,r=0;if(this.m_enableLimit){const h=this.m_qA.SetAngle(i),l=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const y=C.MulRV(h,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const c=C.MulRV(l,this.m_lalcB,this.m_rB),m=s.AddVV(s.SubVV(n,e,s.s_t0),s.SubVV(c,y,s.s_t1),$.SolvePositionConstraints_s_d),a=C.MulRV(h,this.m_localXAxisA,this.m_ax),u=s.CrossVV(s.AddVV(m,y,s.s_t0),this.m_ax),f=s.CrossVV(c,this.m_ax);let A=0;const S=s.DotVV(a,m);if(ot(this.m_upperTranslation-this.m_lowerTranslation)<2*Q?A=S:S<=this.m_lowerTranslation?A=at(S-this.m_lowerTranslation,0):S>=this.m_upperTranslation&&(A=E(S-this.m_upperTranslation,0)),A!==0){const b=this.m_invMassA+this.m_invMassB+this.m_invIA*u*u+this.m_invIB*f*f;let B=0;b!==0&&(B=-A/b);const x=s.MulSV(B,a,$.SolvePositionConstraints_s_P),v=B*u,V=B*f;e.SelfMulSub(this.m_invMassA,x),i-=this.m_invIA*v,n.SelfMulAdd(this.m_invMassB,x),o+=this.m_invIB*V,r=ot(A)}}{const h=this.m_qA.SetAngle(i),l=this.m_qB.SetAngle(o);s.SubVV(this.m_localAnchorA,this.m_localCenterA,this.m_lalcA);const y=C.MulRV(h,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,this.m_localCenterB,this.m_lalcB);const c=C.MulRV(l,this.m_lalcB,this.m_rB),m=s.AddVV(s.SubVV(n,e,s.s_t0),s.SubVV(c,y,s.s_t1),$.SolvePositionConstraints_s_d),a=C.MulRV(h,this.m_localYAxisA,this.m_ay),u=s.CrossVV(s.AddVV(m,y,s.s_t0),a),f=s.CrossVV(c,a),A=s.DotVV(m,a),S=this.m_invMassA+this.m_invMassB+this.m_invIA*this.m_sAy*this.m_sAy+this.m_invIB*this.m_sBy*this.m_sBy;let b=0;S!==0&&(b=-A/S);const B=s.MulSV(b,a,$.SolvePositionConstraints_s_P),x=b*u,v=b*f;e.SelfMulSub(this.m_invMassA,B),i-=this.m_invIA*x,n.SelfMulAdd(this.m_invMassB,B),o+=this.m_invIB*v,r=E(r,ot(A))}return t.positions[this.m_indexA].a=i,t.positions[this.m_indexB].a=o,r<=Q}GetDefinition(t){return t}GetAnchorA(t){return this.m_bodyA.GetWorldPoint(this.m_localAnchorA,t)}GetAnchorB(t){return this.m_bodyB.GetWorldPoint(this.m_localAnchorB,t)}GetReactionForce(t,e){return e.x=t*(this.m_impulse*this.m_ay.x+(this.m_springImpulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_ax.x),e.y=t*(this.m_impulse*this.m_ay.y+(this.m_springImpulse+this.m_lowerImpulse-this.m_upperImpulse)*this.m_ax.y),e}GetReactionTorque(t){return t*this.m_motorImpulse}GetLocalAnchorA(){return this.m_localAnchorA}GetLocalAnchorB(){return this.m_localAnchorB}GetLocalAxisA(){return this.m_localXAxisA}GetJointTranslation(){return this.GetPrismaticJointTranslation()}GetJointLinearSpeed(){return this.GetPrismaticJointSpeed()}GetJointAngle(){return this.GetRevoluteJointAngle()}GetJointAngularSpeed(){return this.GetRevoluteJointSpeed()}GetPrismaticJointTranslation(){const t=this.m_bodyA,e=this.m_bodyB,i=t.GetWorldPoint(this.m_localAnchorA,new s),n=e.GetWorldPoint(this.m_localAnchorB,new s),o=s.SubVV(n,i,new s),r=t.GetWorldVector(this.m_localXAxisA,new s);return s.DotVV(o,r)}GetPrismaticJointSpeed(){const t=this.m_bodyA,e=this.m_bodyB;s.SubVV(this.m_localAnchorA,t.m_sweep.localCenter,this.m_lalcA);const i=C.MulRV(t.m_xf.q,this.m_lalcA,this.m_rA);s.SubVV(this.m_localAnchorB,e.m_sweep.localCenter,this.m_lalcB);const n=C.MulRV(e.m_xf.q,this.m_lalcB,this.m_rB),o=s.AddVV(t.m_sweep.c,i,s.s_t0),r=s.AddVV(e.m_sweep.c,n,s.s_t1),h=s.SubVV(r,o,s.s_t2),l=t.GetWorldVector(this.m_localXAxisA,new s),y=t.m_linearVelocity,c=e.m_linearVelocity,m=t.m_angularVelocity,a=e.m_angularVelocity;return s.DotVV(h,s.CrossSV(m,l,s.s_t0))+s.DotVV(l,s.SubVV(s.AddVCrossSV(c,a,n,s.s_t0),s.AddVCrossSV(y,m,i,s.s_t1),s.s_t0))}GetRevoluteJointAngle(){return this.m_bodyB.m_sweep.a-this.m_bodyA.m_sweep.a}GetRevoluteJointSpeed(){const t=this.m_bodyA.m_angularVelocity;return this.m_bodyB.m_angularVelocity-t}IsMotorEnabled(){return this.m_enableMotor}EnableMotor(t){t!==this.m_enableMotor&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableMotor=t)}SetMotorSpeed(t){t!==this.m_motorSpeed&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_motorSpeed=t)}SetMaxMotorTorque(t){t!==this.m_maxMotorTorque&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_maxMotorTorque=t)}GetMotorTorque(t){return t*this.m_motorImpulse}IsLimitEnabled(){return this.m_enableLimit}EnableLimit(t){t!==this.m_enableLimit&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_enableLimit=t,this.m_lowerImpulse=0,this.m_upperImpulse=0)}GetLowerLimit(){return this.m_lowerTranslation}GetUpperLimit(){return this.m_upperTranslation}SetLimits(t,e){(t!==this.m_lowerTranslation||e!==this.m_upperTranslation)&&(this.m_bodyA.SetAwake(!0),this.m_bodyB.SetAwake(!0),this.m_lowerTranslation=t,this.m_upperTranslation=e,this.m_lowerImpulse=0,this.m_upperImpulse=0)}Dump(t){const e=this.m_bodyA.m_islandIndex,i=this.m_bodyB.m_islandIndex;t(`  const jd: b2WheelJointDef = new b2WheelJointDef();
`),t(`  jd.bodyA = bodies[%d];
`,e),t(`  jd.bodyB = bodies[%d];
`,i),t(`  jd.collideConnected = %s;
`,this.m_collideConnected?"true":"false"),t(`  jd.localAnchorA.Set(%.15f, %.15f);
`,this.m_localAnchorA.x,this.m_localAnchorA.y),t(`  jd.localAnchorB.Set(%.15f, %.15f);
`,this.m_localAnchorB.x,this.m_localAnchorB.y),t(`  jd.localAxisA.Set(%.15f, %.15f);
`,this.m_localXAxisA.x,this.m_localXAxisA.y),t(`  jd.enableMotor = %s;
`,this.m_enableMotor?"true":"false"),t(`  jd.motorSpeed = %.15f;
`,this.m_motorSpeed),t(`  jd.maxMotorTorque = %.15f;
`,this.m_maxMotorTorque),t(`  jd.stiffness = %.15f;
`,this.m_stiffness),t(`  jd.damping = %.15f;
`,this.m_damping),t(`  joints[%d] = this.m_world.CreateJoint(jd);
`,this.m_index)}Draw(t){const e=this.m_bodyA.GetTransform(),i=this.m_bodyB.GetTransform(),n=I.MulXV(e,this.m_localAnchorA,$.Draw_s_pA),o=I.MulXV(i,this.m_localAnchorB,$.Draw_s_pB),r=C.MulRV(e.q,this.m_localXAxisA,$.Draw_s_axis),h=$.Draw_s_c1,l=$.Draw_s_c2,y=$.Draw_s_c3,c=$.Draw_s_c4,m=$.Draw_s_c5;if(t.DrawSegment(n,o,m),this.m_enableLimit){const a=s.AddVMulSV(n,this.m_lowerTranslation,r,$.Draw_s_lower),u=s.AddVMulSV(n,this.m_upperTranslation,r,$.Draw_s_upper),f=C.MulRV(e.q,this.m_localYAxisA,$.Draw_s_perp);t.DrawSegment(a,u,h),t.DrawSegment(s.AddVMulSV(a,-.5,f,s.s_t0),s.AddVMulSV(a,.5,f,s.s_t1),l),t.DrawSegment(s.AddVMulSV(u,-.5,f,s.s_t0),s.AddVMulSV(u,.5,f,s.s_t1),y)}else t.DrawSegment(s.AddVMulSV(n,-1,r,s.s_t0),s.AddVMulSV(n,1,r,s.s_t1),h);t.DrawPoint(n,5,h),t.DrawPoint(o,5,c)}}$.InitVelocityConstraints_s_d=new s,$.InitVelocityConstraints_s_P=new s,$.SolveVelocityConstraints_s_P=new s,$.SolvePositionConstraints_s_d=new s,$.SolvePositionConstraints_s_P=new s,$.Draw_s_pA=new s,$.Draw_s_pB=new s,$.Draw_s_axis=new s,$.Draw_s_c1=new O(.7,.7,.7),$.Draw_s_c2=new O(.3,.9,.3),$.Draw_s_c3=new O(.9,.3,.3),$.Draw_s_c4=new O(.3,.3,.9),$.Draw_s_c5=new O(.4,.4,.4),$.Draw_s_lower=new s,$.Draw_s_upper=new s,$.Draw_s_perp=new s;class tt{constructor(t){this.m_contactManager=new Xe,this.m_bodyList=null,this.m_jointList=null,this.m_bodyCount=0,this.m_jointCount=0,this.m_gravity=new s,this.m_allowSleep=!0,this.m_destructionListener=null,this.m_debugDraw=null,this.m_inv_dt0=0,this.m_newContacts=!1,this.m_locked=!1,this.m_clearForces=!0,this.m_warmStarting=!0,this.m_continuousPhysics=!0,this.m_subStepping=!1,this.m_stepComplete=!0,this.m_profile=new _e,this.m_island=new At,this.s_stack=[],this.m_gravity.Copy(t)}SetDestructionListener(t){this.m_destructionListener=t}SetContactFilter(t){this.m_contactManager.m_contactFilter=t}SetContactListener(t){this.m_contactManager.m_contactListener=t}SetDebugDraw(t){this.m_debugDraw=t}CreateBody(t={}){if(this.IsLocked())throw new Error;const e=new It(t,this);return e.m_prev=null,e.m_next=this.m_bodyList,this.m_bodyList&&(this.m_bodyList.m_prev=e),this.m_bodyList=e,++this.m_bodyCount,e}DestroyBody(t){if(this.IsLocked())throw new Error;let e=t.m_jointList;for(;e;){const o=e;e=e.next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeJoint(o.joint),this.DestroyJoint(o.joint),t.m_jointList=e}t.m_jointList=null;let i=t.m_contactList;for(;i;){const o=i;i=i.next,this.m_contactManager.Destroy(o.contact)}t.m_contactList=null;let n=t.m_fixtureList;for(;n;){const o=n;n=n.m_next,this.m_destructionListener&&this.m_destructionListener.SayGoodbyeFixture(o),o.DestroyProxies(),o.Reset(),t.m_fixtureList=n,t.m_fixtureCount-=1}t.m_fixtureList=null,t.m_fixtureCount=0,t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t===this.m_bodyList&&(this.m_bodyList=t.m_next),--this.m_bodyCount}static _Joint_Create(t){switch(t.type){case _.b2JointType.e_distanceJoint:return new W(t);case _.b2JointType.e_mouseJoint:return new is(t);case _.b2JointType.e_prismaticJoint:return new N(t);case _.b2JointType.e_revoluteJoint:return new st(t);case _.b2JointType.e_pulleyJoint:return new _t(t);case _.b2JointType.e_gearJoint:return new ht(t);case _.b2JointType.e_wheelJoint:return new $(t);case _.b2JointType.e_weldJoint:return new ct(t);case _.b2JointType.e_frictionJoint:return new ss(t);case _.b2JointType.e_motorJoint:return new es(t);case _.b2JointType.e_areaJoint:return new Re(t)}throw new Error}static _Joint_Destroy(t){}CreateJoint(t){if(this.IsLocked())throw new Error;const e=tt._Joint_Create(t);e.m_prev=null,e.m_next=this.m_jointList,this.m_jointList&&(this.m_jointList.m_prev=e),this.m_jointList=e,++this.m_jointCount,e.m_edgeA.prev=null,e.m_edgeA.next=e.m_bodyA.m_jointList,e.m_bodyA.m_jointList&&(e.m_bodyA.m_jointList.prev=e.m_edgeA),e.m_bodyA.m_jointList=e.m_edgeA,e.m_edgeB.prev=null,e.m_edgeB.next=e.m_bodyB.m_jointList,e.m_bodyB.m_jointList&&(e.m_bodyB.m_jointList.prev=e.m_edgeB),e.m_bodyB.m_jointList=e.m_edgeB;const i=e.m_bodyA,n=e.m_bodyB;if(!e.m_collideConnected){let r=n.GetContactList();for(;r;)r.other===i&&r.contact.FlagForFiltering(),r=r.next}return e}DestroyJoint(t){if(this.IsLocked())throw new Error;t.m_prev&&(t.m_prev.m_next=t.m_next),t.m_next&&(t.m_next.m_prev=t.m_prev),t===this.m_jointList&&(this.m_jointList=t.m_next);const e=t.m_bodyA,i=t.m_bodyB,n=t.m_collideConnected;if(e.SetAwake(!0),i.SetAwake(!0),t.m_edgeA.prev&&(t.m_edgeA.prev.next=t.m_edgeA.next),t.m_edgeA.next&&(t.m_edgeA.next.prev=t.m_edgeA.prev),t.m_edgeA===e.m_jointList&&(e.m_jointList=t.m_edgeA.next),t.m_edgeA.Reset(),t.m_edgeB.prev&&(t.m_edgeB.prev.next=t.m_edgeB.next),t.m_edgeB.next&&(t.m_edgeB.next.prev=t.m_edgeB.prev),t.m_edgeB===i.m_jointList&&(i.m_jointList=t.m_edgeB.next),t.m_edgeB.Reset(),tt._Joint_Destroy(t),--this.m_jointCount,!n){let o=i.GetContactList();for(;o;)o.other===e&&o.contact.FlagForFiltering(),o=o.next}}Step(t,e,i){const n=tt.Step_s_stepTimer.Reset();this.m_newContacts&&(this.m_contactManager.FindNewContacts(),this.m_newContacts=!1),this.m_locked=!0;const o=tt.Step_s_step;o.dt=t,o.velocityIterations=e,o.positionIterations=i,t>0?o.inv_dt=1/t:o.inv_dt=0,o.dtRatio=this.m_inv_dt0*t,o.warmStarting=this.m_warmStarting;const r=tt.Step_s_timer.Reset();if(this.m_contactManager.Collide(),this.m_profile.collide=r.GetMilliseconds(),this.m_stepComplete&&o.dt>0){const h=tt.Step_s_timer.Reset();this.Solve(o),this.m_profile.solve=h.GetMilliseconds()}if(this.m_continuousPhysics&&o.dt>0){const h=tt.Step_s_timer.Reset();this.SolveTOI(o),this.m_profile.solveTOI=h.GetMilliseconds()}o.dt>0&&(this.m_inv_dt0=o.inv_dt),this.m_clearForces&&this.ClearForces(),this.m_locked=!1,this.m_profile.step=n.GetMilliseconds()}ClearForces(){for(let t=this.m_bodyList;t;t=t.m_next)t.m_force.SetZero(),t.m_torque=0}DebugDraw(){if(this.m_debugDraw===null)return;const t=this.m_debugDraw.GetFlags(),e=tt.DebugDraw_s_color.SetRGB(0,0,0);if(t&_.b2DrawFlags.e_shapeBit)for(let i=this.m_bodyList;i;i=i.m_next){const n=i.m_xf;this.m_debugDraw.PushTransform(n);for(let o=i.GetFixtureList();o;o=o.m_next)i.GetType()===_.b2BodyType.b2_dynamicBody&&i.m_mass===0?this.DrawShape(o,new O(1,0,0)):i.IsEnabled()?i.GetType()===_.b2BodyType.b2_staticBody?(e.SetRGB(.5,.9,.5),this.DrawShape(o,e)):i.GetType()===_.b2BodyType.b2_kinematicBody?(e.SetRGB(.5,.5,.9),this.DrawShape(o,e)):i.IsAwake()?(e.SetRGB(.9,.7,.7),this.DrawShape(o,e)):(e.SetRGB(.6,.6,.6),this.DrawShape(o,e)):(e.SetRGB(.5,.5,.3),this.DrawShape(o,e));this.m_debugDraw.PopTransform(n)}if(t&_.b2DrawFlags.e_jointBit)for(let i=this.m_jointList;i;i=i.m_next)i.Draw(this.m_debugDraw);if(t&_.b2DrawFlags.e_pairBit){e.SetRGB(.3,.9,.9);for(let i=this.m_contactManager.m_contactList;i;i=i.m_next){const n=i.GetFixtureA(),o=i.GetFixtureB(),r=i.GetChildIndexA(),h=i.GetChildIndexB(),l=n.GetAABB(r).GetCenter(),y=o.GetAABB(h).GetCenter();this.m_debugDraw.DrawSegment(l,y,e)}}if(t&_.b2DrawFlags.e_aabbBit){e.SetRGB(.9,.3,.9);const i=tt.DebugDraw_s_vs;for(let n=this.m_bodyList;n;n=n.m_next)if(n.IsEnabled())for(let o=n.GetFixtureList();o;o=o.m_next)for(let r=0;r<o.m_proxyCount;++r){const l=o.m_proxies[r].treeNode.aabb;i[0].Set(l.lowerBound.x,l.lowerBound.y),i[1].Set(l.upperBound.x,l.lowerBound.y),i[2].Set(l.upperBound.x,l.upperBound.y),i[3].Set(l.lowerBound.x,l.upperBound.y),this.m_debugDraw.DrawPolygon(i,4,e)}}if(t&_.b2DrawFlags.e_centerOfMassBit)for(let i=this.m_bodyList;i;i=i.m_next){const n=tt.DebugDraw_s_xf;n.q.Copy(i.m_xf.q),n.p.Copy(i.GetWorldCenter()),this.m_debugDraw.DrawTransform(n)}}QueryAABB(...t){t[0]instanceof Ms?this._QueryAABB(t[0],t[1]):this._QueryAABB(null,t[0],t[1])}_QueryAABB(t,e,i){this.m_contactManager.m_broadPhase.Query(e,n=>{const r=n.userData.fixture;return t?t.ReportFixture(r):i?i(r):!0})}QueryAllAABB(t,e=[]){return this.QueryAABB(t,i=>(e.push(i),!0)),e}QueryPointAABB(...t){t[0]instanceof Ms?this._QueryPointAABB(t[0],t[1]):this._QueryPointAABB(null,t[0],t[1])}_QueryPointAABB(t,e,i){this.m_contactManager.m_broadPhase.QueryPoint(e,n=>{const r=n.userData.fixture;return t?t.ReportFixture(r):i?i(r):!0})}QueryAllPointAABB(t,e=[]){return this.QueryPointAABB(t,i=>(e.push(i),!0)),e}QueryFixtureShape(...t){t[0]instanceof Ms?this._QueryFixtureShape(t[0],t[1],t[2],t[3]):this._QueryFixtureShape(null,t[0],t[1],t[2],t[3])}_QueryFixtureShape(t,e,i,n,o){const r=tt.QueryFixtureShape_s_aabb;e.ComputeAABB(r,n,i),this.m_contactManager.m_broadPhase.Query(r,h=>{const l=h.userData,y=l.fixture;if(Ws(e,i,y.GetShape(),l.childIndex,n,y.GetBody().GetTransform())){if(t)return t.ReportFixture(y);if(o)return o(y)}return!0})}QueryAllFixtureShape(t,e,i,n=[]){return this.QueryFixtureShape(t,e,i,o=>(n.push(o),!0)),n}QueryFixturePoint(...t){t[0]instanceof Ms?this._QueryFixturePoint(t[0],t[1]):this._QueryFixturePoint(null,t[0],t[1])}_QueryFixturePoint(t,e,i){this.m_contactManager.m_broadPhase.QueryPoint(e,n=>{const r=n.userData.fixture;if(r.TestPoint(e)){if(t)return t.ReportFixture(r);if(i)return i(r)}return!0})}QueryAllFixturePoint(t,e=[]){return this.QueryFixturePoint(t,i=>(e.push(i),!0)),e}RayCast(...t){t[0]instanceof Oe?this._RayCast(t[0],t[1],t[2]):this._RayCast(null,t[0],t[1],t[2])}_RayCast(t,e,i,n){const o=tt.RayCast_s_input;o.maxFraction=1,o.p1.Copy(e),o.p2.Copy(i),this.m_contactManager.m_broadPhase.RayCast(o,(r,h)=>{const l=h.userData,y=l.fixture,c=l.childIndex,m=tt.RayCast_s_output;if(y.RayCast(m,r,c)){const u=m.fraction,f=tt.RayCast_s_point;if(f.Set((1-u)*e.x+u*i.x,(1-u)*e.y+u*i.y),t)return t.ReportFixture(y,f,m.normal,u);if(n)return n(y,f,m.normal,u)}return r.maxFraction})}RayCastOne(t,e){let i=null,n=1;return this.RayCast(t,e,(o,r,h,l)=>(l<n&&(n=l,i=o),n)),i}RayCastAll(t,e,i=[]){return this.RayCast(t,e,(n,o,r,h)=>(i.push(n),1)),i}GetBodyList(){return this.m_bodyList}GetJointList(){return this.m_jointList}GetContactList(){return this.m_contactManager.m_contactList}SetAllowSleeping(t){if(t!==this.m_allowSleep&&(this.m_allowSleep=t,!this.m_allowSleep))for(let e=this.m_bodyList;e;e=e.m_next)e.SetAwake(!0)}GetAllowSleeping(){return this.m_allowSleep}SetWarmStarting(t){this.m_warmStarting=t}GetWarmStarting(){return this.m_warmStarting}SetContinuousPhysics(t){this.m_continuousPhysics=t}GetContinuousPhysics(){return this.m_continuousPhysics}SetSubStepping(t){this.m_subStepping=t}GetSubStepping(){return this.m_subStepping}GetProxyCount(){return this.m_contactManager.m_broadPhase.GetProxyCount()}GetBodyCount(){return this.m_bodyCount}GetJointCount(){return this.m_jointCount}GetContactCount(){return this.m_contactManager.m_contactCount}GetTreeHeight(){return this.m_contactManager.m_broadPhase.GetTreeHeight()}GetTreeBalance(){return this.m_contactManager.m_broadPhase.GetTreeBalance()}GetTreeQuality(){return this.m_contactManager.m_broadPhase.GetTreeQuality()}SetGravity(t,e=!0){if(!s.IsEqualToV(this.m_gravity,t)&&(this.m_gravity.Copy(t),e))for(let i=this.m_bodyList;i;i=i.m_next)i.SetAwake(!0)}GetGravity(){return this.m_gravity}IsLocked(){return this.m_locked}SetAutoClearForces(t){this.m_clearForces=t}GetAutoClearForces(){return this.m_clearForces}ShiftOrigin(t){if(this.IsLocked())throw new Error;for(let e=this.m_bodyList;e;e=e.m_next)e.m_xf.p.SelfSub(t),e.m_sweep.c0.SelfSub(t),e.m_sweep.c.SelfSub(t);for(let e=this.m_jointList;e;e=e.m_next)e.ShiftOrigin(t);this.m_contactManager.m_broadPhase.ShiftOrigin(t)}GetContactManager(){return this.m_contactManager}GetProfile(){return this.m_profile}Dump(t){if(this.m_locked)return;t(`const g: b2Vec2 = new b2Vec2(%.15f, %.15f);
`,this.m_gravity.x,this.m_gravity.y),t(`this.m_world.SetGravity(g);
`),t(`const bodies: b2Body[] = [];
`),t(`const joints: b2Joint[] = [];
`);let e=0;for(let i=this.m_bodyList;i;i=i.m_next)i.m_islandIndex=e,i.Dump(t),++e;e=0;for(let i=this.m_jointList;i;i=i.m_next)i.m_index=e,++e;for(let i=this.m_jointList;i;i=i.m_next)i.m_type!==_.b2JointType.e_gearJoint&&(t(`{
`),i.Dump(t),t(`}
`));for(let i=this.m_jointList;i;i=i.m_next)i.m_type===_.b2JointType.e_gearJoint&&(t(`{
`),i.Dump(t),t(`}
`))}DrawShape(t,e){if(this.m_debugDraw===null)return;const i=t.GetShape();switch(i.m_type){case _.b2ShapeType.e_circleShape:{const n=i,o=n.m_p,r=n.m_radius,h=s.UNITX;this.m_debugDraw.DrawSolidCircle(o,r,h,e);break}case _.b2ShapeType.e_edgeShape:{const n=i,o=n.m_vertex1,r=n.m_vertex2;this.m_debugDraw.DrawSegment(o,r,e),n.m_oneSided===!1&&(this.m_debugDraw.DrawPoint(o,4,e),this.m_debugDraw.DrawPoint(r,4,e));break}case _.b2ShapeType.e_chainShape:{const n=i,o=n.m_count,r=n.m_vertices;let h=r[0];for(let l=1;l<o;++l){const y=r[l];this.m_debugDraw.DrawSegment(h,y,e),h=y}break}case _.b2ShapeType.e_polygonShape:{const n=i,o=n.m_count,r=n.m_vertices;this.m_debugDraw.DrawSolidPolygon(r,o,e);break}}}Solve(t){this.m_profile.solveInit=0,this.m_profile.solveVelocity=0,this.m_profile.solvePosition=0;const e=this.m_island;e.Initialize(this.m_bodyCount,this.m_contactManager.m_contactCount,this.m_jointCount,this.m_contactManager.m_contactListener);for(let o=this.m_bodyList;o;o=o.m_next)o.m_islandFlag=!1;for(let o=this.m_contactManager.m_contactList;o;o=o.m_next)o.m_islandFlag=!1;for(let o=this.m_jointList;o;o=o.m_next)o.m_islandFlag=!1;const i=this.s_stack;for(let o=this.m_bodyList;o;o=o.m_next){if(o.m_islandFlag||!o.IsAwake()||!o.IsEnabled()||o.GetType()===_.b2BodyType.b2_staticBody)continue;e.Clear();let r=0;for(i[r++]=o,o.m_islandFlag=!0;r>0;){const l=i[--r];if(!l)throw new Error;if(e.AddBody(l),l.GetType()!==_.b2BodyType.b2_staticBody){l.m_awakeFlag=!0;for(let y=l.m_contactList;y;y=y.next){const c=y.contact;if(c.m_islandFlag||!c.IsEnabled()||!c.IsTouching())continue;const m=c.m_fixtureA.m_isSensor,a=c.m_fixtureB.m_isSensor;if(m||a)continue;e.AddContact(c),c.m_islandFlag=!0;const u=y.other;u.m_islandFlag||(i[r++]=u,u.m_islandFlag=!0)}for(let y=l.m_jointList;y;y=y.next){if(y.joint.m_islandFlag)continue;const c=y.other;c.IsEnabled()&&(e.AddJoint(y.joint),y.joint.m_islandFlag=!0,!c.m_islandFlag&&(i[r++]=c,c.m_islandFlag=!0))}}}const h=new _e;e.Solve(h,t,this.m_gravity,this.m_allowSleep),this.m_profile.solveInit+=h.solveInit,this.m_profile.solveVelocity+=h.solveVelocity,this.m_profile.solvePosition+=h.solvePosition;for(let l=0;l<e.m_bodyCount;++l){const y=e.m_bodies[l];y.GetType()===_.b2BodyType.b2_staticBody&&(y.m_islandFlag=!1)}}for(let o=0;o<i.length&&i[o];++o)i[o]=null;const n=new ps;for(let o=this.m_bodyList;o;o=o.m_next)o.m_islandFlag&&o.GetType()!==_.b2BodyType.b2_staticBody&&o.SynchronizeFixtures();this.m_contactManager.FindNewContacts(),this.m_profile.broadphase=n.GetMilliseconds()}SolveTOI(t){const e=this.m_island;if(e.Initialize(2*Nt,Nt,0,this.m_contactManager.m_contactListener),this.m_stepComplete){for(let i=this.m_bodyList;i;i=i.m_next)i.m_islandFlag=!1,i.m_sweep.alpha0=0;for(let i=this.m_contactManager.m_contactList;i;i=i.m_next)i.m_toiFlag=!1,i.m_islandFlag=!1,i.m_toiCount=0,i.m_toi=1}for(;;){let i=null,n=1;for(let a=this.m_contactManager.m_contactList;a;a=a.m_next){if(!a.IsEnabled()||a.m_toiCount>Qt)continue;let u=1;if(a.m_toiFlag)u=a.m_toi;else{const f=a.GetFixtureA(),A=a.GetFixtureB();if(f.IsSensor()||A.IsSensor())continue;const S=f.GetBody(),b=A.GetBody(),B=S.m_type,x=b.m_type,v=S.IsAwake()&&B!==_.b2BodyType.b2_staticBody,V=b.IsAwake()&&x!==_.b2BodyType.b2_staticBody;if(!v&&!V)continue;const k=S.IsBullet()||B!==_.b2BodyType.b2_dynamicBody,P=b.IsBullet()||x!==_.b2BodyType.b2_dynamicBody;if(!k&&!P)continue;let q=S.m_sweep.alpha0;S.m_sweep.alpha0<b.m_sweep.alpha0?(q=b.m_sweep.alpha0,S.m_sweep.Advance(q)):b.m_sweep.alpha0<S.m_sweep.alpha0&&(q=S.m_sweep.alpha0,b.m_sweep.Advance(q));const z=a.GetChildIndexA(),j=a.GetChildIndexB(),Y=tt.SolveTOI_s_toi_input;Y.proxyA.SetShape(f.GetShape(),z),Y.proxyB.SetShape(A.GetShape(),j),Y.sweepA.Copy(S.m_sweep),Y.sweepB.Copy(b.m_sweep),Y.tMax=1;const R=tt.SolveTOI_s_toi_output;ie(R,Y);const G=R.t;R.state===_.b2TOIOutputState.e_touching?u=at(q+(1-q)*G,1):u=1,a.m_toi=u,a.m_toiFlag=!0}u<n&&(i=a,n=u)}if(i===null||1-10*ft<n){this.m_stepComplete=!0;break}const o=i.GetFixtureA(),r=i.GetFixtureB(),h=o.GetBody(),l=r.GetBody(),y=tt.SolveTOI_s_backup1.Copy(h.m_sweep),c=tt.SolveTOI_s_backup2.Copy(l.m_sweep);if(h.Advance(n),l.Advance(n),i.Update(this.m_contactManager.m_contactListener),i.m_toiFlag=!1,++i.m_toiCount,!i.IsEnabled()||!i.IsTouching()){i.SetEnabled(!1),h.m_sweep.Copy(y),l.m_sweep.Copy(c),h.SynchronizeTransform(),l.SynchronizeTransform();continue}h.SetAwake(!0),l.SetAwake(!0),e.Clear(),e.AddBody(h),e.AddBody(l),e.AddContact(i),h.m_islandFlag=!0,l.m_islandFlag=!0,i.m_islandFlag=!0;for(let a=0;a<2;++a){const u=a===0?h:l;if(u.m_type===_.b2BodyType.b2_dynamicBody)for(let f=u.m_contactList;f&&!(e.m_bodyCount===e.m_bodyCapacity||e.m_contactCount===e.m_contactCapacity);f=f.next){const A=f.contact;if(A.m_islandFlag)continue;const S=f.other;if(S.m_type===_.b2BodyType.b2_dynamicBody&&!u.IsBullet()&&!S.IsBullet())continue;const b=A.m_fixtureA.m_isSensor,B=A.m_fixtureB.m_isSensor;if(b||B)continue;const x=tt.SolveTOI_s_backup.Copy(S.m_sweep);if(S.m_islandFlag||S.Advance(n),A.Update(this.m_contactManager.m_contactListener),!A.IsEnabled()){S.m_sweep.Copy(x),S.SynchronizeTransform();continue}if(!A.IsTouching()){S.m_sweep.Copy(x),S.SynchronizeTransform();continue}A.m_islandFlag=!0,e.AddContact(A),!S.m_islandFlag&&(S.m_islandFlag=!0,S.m_type!==_.b2BodyType.b2_staticBody&&S.SetAwake(!0),e.AddBody(S))}}const m=tt.SolveTOI_s_subStep;m.dt=(1-n)*t.dt,m.inv_dt=1/m.dt,m.dtRatio=1,m.positionIterations=20,m.velocityIterations=t.velocityIterations,m.warmStarting=!1,e.SolveTOI(m,h.m_islandIndex,l.m_islandIndex);for(let a=0;a<e.m_bodyCount;++a){const u=e.m_bodies[a];if(u.m_islandFlag=!1,u.m_type===_.b2BodyType.b2_dynamicBody){u.SynchronizeFixtures();for(let f=u.m_contactList;f;f=f.next)f.contact.m_toiFlag=!1,f.contact.m_islandFlag=!1}}if(this.m_contactManager.FindNewContacts(),this.m_subStepping){this.m_stepComplete=!1;break}}}}tt.Step_s_step=new As,tt.Step_s_stepTimer=new ps,tt.Step_s_timer=new ps,tt.DebugDraw_s_color=new O(0,0,0),tt.DebugDraw_s_vs=s.MakeArray(4),tt.DebugDraw_s_xf=new I,tt.QueryFixtureShape_s_aabb=new Et,tt.RayCast_s_input=new ks,tt.RayCast_s_output=new be,tt.RayCast_s_point=new s,tt.SolveTOI_s_subStep=new As,tt.SolveTOI_s_backup=new Gt,tt.SolveTOI_s_backup1=new Gt,tt.SolveTOI_s_backup2=new Gt,tt.SolveTOI_s_toi_input=new se,tt.SolveTOI_s_toi_output=new ee,_.b2StretchingModel=void 0,function(d){d[d.b2_pbdStretchingModel=0]="b2_pbdStretchingModel",d[d.b2_xpbdStretchingModel=1]="b2_xpbdStretchingModel"}(_.b2StretchingModel||(_.b2StretchingModel={})),_.b2BendingModel=void 0,function(d){d[d.b2_springAngleBendingModel=0]="b2_springAngleBendingModel",d[d.b2_pbdAngleBendingModel=1]="b2_pbdAngleBendingModel",d[d.b2_xpbdAngleBendingModel=2]="b2_xpbdAngleBendingModel",d[d.b2_pbdDistanceBendingModel=3]="b2_pbdDistanceBendingModel",d[d.b2_pbdHeightBendingModel=4]="b2_pbdHeightBendingModel",d[d.b2_pbdTriangleBendingModel=5]="b2_pbdTriangleBendingModel"}(_.b2BendingModel||(_.b2BendingModel={}));class ae{constructor(){this.stretchingModel=_.b2StretchingModel.b2_pbdStretchingModel,this.bendingModel=_.b2BendingModel.b2_pbdAngleBendingModel,this.damping=0,this.stretchStiffness=1,this.stretchHertz=0,this.stretchDamping=0,this.bendStiffness=.5,this.bendHertz=1,this.bendDamping=0,this.isometric=!1,this.fixedEffectiveMass=!1,this.warmStart=!1}Copy(t){return this.stretchingModel=t.stretchingModel,this.bendingModel=t.bendingModel,this.damping=t.damping,this.stretchStiffness=t.stretchStiffness,this.stretchHertz=t.stretchHertz,this.stretchDamping=t.stretchDamping,this.bendStiffness=t.bendStiffness,this.bendHertz=t.bendHertz,this.bendDamping=t.bendDamping,this.isometric=t.isometric,this.fixedEffectiveMass=t.fixedEffectiveMass,this.warmStart=t.warmStart,this}}class ro{constructor(){this.position=new s,this.vertices=[],this.count=0,this.masses=[],this.gravity=new s,this.tuning=new ae}}class ho{constructor(){this.i1=0,this.i2=0,this.invMass1=0,this.invMass2=0,this.L=0,this.lambda=0,this.spring=0,this.damper=0}}class lo{constructor(){this.i1=0,this.i2=0,this.i3=0,this.invMass1=0,this.invMass2=0,this.invMass3=0,this.invEffectiveMass=0,this.lambda=0,this.L1=0,this.L2=0,this.alpha1=0,this.alpha2=0,this.spring=0,this.damper=0}}class _o{constructor(){this.m_position=new s,this.m_count=0,this.m_stretchCount=0,this.m_bendCount=0,this.m_stretchConstraints=[],this.m_bendConstraints=[],this.m_bindPositions=[],this.m_ps=[],this.m_p0s=[],this.m_vs=[],this.m_invMasses=[],this.m_gravity=new s,this.m_tuning=new ae}Create(t){this.m_position.Copy(t.position),this.m_count=t.count;function e(i,n,o){for(let r=0;r<n;++r)i[r]=o(r)}e(this.m_bindPositions,this.m_count,()=>new s),e(this.m_ps,this.m_count,()=>new s),e(this.m_p0s,this.m_count,()=>new s),e(this.m_vs,this.m_count,()=>new s),e(this.m_invMasses,this.m_count,()=>0);for(let i=0;i<this.m_count;++i){this.m_bindPositions[i].Copy(t.vertices[i]),this.m_ps[i].Copy(t.vertices[i]).SelfAdd(this.m_position),this.m_p0s[i].Copy(t.vertices[i]).SelfAdd(this.m_position),this.m_vs[i].SetZero();const n=t.masses[i];n>0?this.m_invMasses[i]=1/n:this.m_invMasses[i]=0}this.m_stretchCount=this.m_count-1,this.m_bendCount=this.m_count-2,e(this.m_stretchConstraints,this.m_stretchCount,()=>new ho),e(this.m_bendConstraints,this.m_bendCount,()=>new lo);for(let i=0;i<this.m_stretchCount;++i){const n=this.m_stretchConstraints[i],o=this.m_ps[i],r=this.m_ps[i+1];n.i1=i,n.i2=i+1,n.L=s.DistanceVV(o,r),n.invMass1=this.m_invMasses[i],n.invMass2=this.m_invMasses[i+1],n.lambda=0,n.damper=0,n.spring=0}for(let i=0;i<this.m_bendCount;++i){const n=this.m_bendConstraints[i],o=this.m_ps[i],r=this.m_ps[i+1],h=this.m_ps[i+2];n.i1=i,n.i2=i+1,n.i3=i+2,n.invMass1=this.m_invMasses[i],n.invMass2=this.m_invMasses[i+1],n.invMass3=this.m_invMasses[i+2],n.invEffectiveMass=0,n.L1=s.DistanceVV(o,r),n.L2=s.DistanceVV(r,h),n.lambda=0;const l=s.SubVV(r,o,new s),y=s.SubVV(h,r,new s),c=l.LengthSquared(),m=y.LengthSquared();if(c*m===0)continue;const a=new s().Copy(l).SelfSkew().SelfMul(-1/c),u=new s().Copy(y).SelfSkew().SelfMul(1/m),f=a.Clone().SelfNeg(),A=a.Clone().SelfSub(u),S=u.Clone();n.invEffectiveMass=n.invMass1*s.DotVV(f,f)+n.invMass2*s.DotVV(A,A)+n.invMass3*s.DotVV(S,S);const b=s.SubVV(h,o,new s),B=b.LengthSquared();B!==0&&(n.alpha1=s.DotVV(y,b)/B,n.alpha2=s.DotVV(l,b)/B)}this.m_gravity.Copy(t.gravity),this.SetTuning(t.tuning)}SetTuning(t){this.m_tuning.Copy(t);const e=2*ut*this.m_tuning.bendHertz;for(let n=0;n<this.m_bendCount;++n){const o=this.m_bendConstraints[n],r=o.L1*o.L1,h=o.L2*o.L2;if(r*h===0){o.spring=0,o.damper=0;continue}const l=1/o.L1+1/o.L2,y=o.invMass1/r+o.invMass2*l*l+o.invMass3/h;if(y===0){o.spring=0,o.damper=0;continue}const c=1/y;o.spring=c*e*e,o.damper=2*c*this.m_tuning.bendDamping*e}const i=2*ut*this.m_tuning.stretchHertz;for(let n=0;n<this.m_stretchCount;++n){const o=this.m_stretchConstraints[n],r=o.invMass1+o.invMass2;if(r===0)continue;const h=1/r;o.spring=h*i*i,o.damper=2*h*this.m_tuning.stretchDamping*i}}Step(t,e,i){if(t===0)return;const n=1/t,o=Math.exp(-t*this.m_tuning.damping);for(let r=0;r<this.m_count;++r)this.m_invMasses[r]>0?(this.m_vs[r].x*=o,this.m_vs[r].y*=o,this.m_vs[r].x+=t*this.m_gravity.x,this.m_vs[r].y+=t*this.m_gravity.y):(this.m_vs[r].x=n*(this.m_bindPositions[r].x+i.x-this.m_p0s[r].x),this.m_vs[r].y=n*(this.m_bindPositions[r].y+i.y-this.m_p0s[r].y));this.m_tuning.bendingModel===_.b2BendingModel.b2_springAngleBendingModel&&this.ApplyBendForces(t);for(let r=0;r<this.m_bendCount;++r)this.m_bendConstraints[r].lambda=0;for(let r=0;r<this.m_stretchCount;++r)this.m_stretchConstraints[r].lambda=0;for(let r=0;r<this.m_count;++r)this.m_ps[r].x+=t*this.m_vs[r].x,this.m_ps[r].y+=t*this.m_vs[r].y;for(let r=0;r<e;++r)this.m_tuning.bendingModel===_.b2BendingModel.b2_pbdAngleBendingModel?this.SolveBend_PBD_Angle():this.m_tuning.bendingModel===_.b2BendingModel.b2_xpbdAngleBendingModel?this.SolveBend_XPBD_Angle(t):this.m_tuning.bendingModel===_.b2BendingModel.b2_pbdDistanceBendingModel?this.SolveBend_PBD_Distance():this.m_tuning.bendingModel===_.b2BendingModel.b2_pbdHeightBendingModel?this.SolveBend_PBD_Height():this.m_tuning.bendingModel===_.b2BendingModel.b2_pbdTriangleBendingModel&&this.SolveBend_PBD_Triangle(),this.m_tuning.stretchingModel===_.b2StretchingModel.b2_pbdStretchingModel?this.SolveStretch_PBD():this.m_tuning.stretchingModel===_.b2StretchingModel.b2_xpbdStretchingModel&&this.SolveStretch_XPBD(t);for(let r=0;r<this.m_count;++r)this.m_vs[r].x=n*(this.m_ps[r].x-this.m_p0s[r].x),this.m_vs[r].y=n*(this.m_ps[r].y-this.m_p0s[r].y),this.m_p0s[r].Copy(this.m_ps[r])}Reset(t){this.m_position.Copy(t);for(let e=0;e<this.m_count;++e)this.m_ps[e].x=this.m_bindPositions[e].x+this.m_position.x,this.m_ps[e].y=this.m_bindPositions[e].y+this.m_position.y,this.m_p0s[e].x=this.m_bindPositions[e].x+this.m_position.x,this.m_p0s[e].y=this.m_bindPositions[e].y+this.m_position.y,this.m_vs[e].SetZero();for(let e=0;e<this.m_bendCount;++e)this.m_bendConstraints[e].lambda=0;for(let e=0;e<this.m_stretchCount;++e)this.m_stretchConstraints[e].lambda=0}Draw(t){const e=new O(.4,.5,.7),i=new O(.1,.8,.1),n=new O(.7,.2,.4);for(let r=0;r<this.m_count-1;++r){t.DrawSegment(this.m_ps[r],this.m_ps[r+1],e);const h=this.m_invMasses[r]>0?n:i;t.DrawPoint(this.m_ps[r],5,h)}const o=this.m_invMasses[this.m_count-1]>0?n:i;t.DrawPoint(this.m_ps[this.m_count-1],5,o)}SolveStretch_PBD(){const t=this.m_tuning.stretchStiffness;for(let e=0;e<this.m_stretchCount;++e){const i=this.m_stretchConstraints[e],n=this.m_ps[i.i1].Clone(),o=this.m_ps[i.i2].Clone(),r=o.Clone().SelfSub(n),h=r.Normalize(),l=i.invMass1+i.invMass2;if(l===0)continue;const y=i.invMass1/l,c=i.invMass2/l;n.x-=t*y*(i.L-h)*r.x,n.y-=t*y*(i.L-h)*r.y,o.x+=t*c*(i.L-h)*r.x,o.y+=t*c*(i.L-h)*r.y,this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o)}}SolveStretch_XPBD(t){for(let e=0;e<this.m_stretchCount;++e){const i=this.m_stretchConstraints[e],n=this.m_ps[i.i1].Clone(),o=this.m_ps[i.i2].Clone(),r=n.Clone().SelfSub(this.m_p0s[i.i1]),h=o.Clone().SelfSub(this.m_p0s[i.i2]),l=o.Clone().SelfSub(n),y=l.Normalize(),c=l.Clone().SelfNeg(),m=l,a=i.invMass1+i.invMass2;if(a===0)continue;const u=1/(i.spring*t*t),f=t*t*i.damper,A=u*f/t,S=y-i.L,b=s.DotVV(c,r)+s.DotVV(m,h),B=S+u*i.lambda+A*b,x=(1+A)*a+u,v=-B/x;n.x+=i.invMass1*v*c.x,n.y+=i.invMass1*v*c.y,o.x+=i.invMass2*v*m.x,o.y+=i.invMass2*v*m.y,this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o),i.lambda+=v}}SolveBend_PBD_Angle(){const t=this.m_tuning.bendStiffness;for(let e=0;e<this.m_bendCount;++e){const i=this.m_bendConstraints[e],n=this.m_ps[i.i1],o=this.m_ps[i.i2],r=this.m_ps[i.i3],h=o.Clone().SelfSub(n),l=r.Clone().SelfSub(o),y=s.CrossVV(h,l),c=s.DotVV(h,l),m=Gs(y,c);let a=0,u=0;if(this.m_tuning.isometric?(a=i.L1*i.L1,u=i.L2*i.L2):(a=h.LengthSquared(),u=l.LengthSquared()),a*u===0)continue;const f=new s().Copy(h).SelfSkew().SelfMul(-1/a),A=new s().Copy(l).SelfSkew().SelfMul(1/u),S=f.Clone().SelfNeg(),b=f.Clone().SelfSub(A),B=A;let x=0;this.m_tuning.fixedEffectiveMass?x=i.invEffectiveMass:x=i.invMass1*s.DotVV(S,S)+i.invMass2*s.DotVV(b,b)+i.invMass3*s.DotVV(B,B),x===0&&(x=i.invEffectiveMass);const v=-t*m/x;n.x+=i.invMass1*v*S.x,n.y+=i.invMass1*v*S.y,o.x+=i.invMass2*v*b.x,o.y+=i.invMass2*v*b.y,r.x+=i.invMass3*v*B.x,r.y+=i.invMass3*v*B.y,this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o),this.m_ps[i.i3].Copy(r)}}SolveBend_XPBD_Angle(t){for(let e=0;e<this.m_bendCount;++e){const i=this.m_bendConstraints[e],n=this.m_ps[i.i1],o=this.m_ps[i.i2],r=this.m_ps[i.i3],h=n.Clone().SelfSub(this.m_p0s[i.i1]),l=o.Clone().SelfSub(this.m_p0s[i.i2]),y=r.Clone().SelfSub(this.m_p0s[i.i3]),c=o.Clone().SelfSub(n),m=r.Clone().SelfSub(o);let a,u;if(this.m_tuning.isometric?(a=i.L1*i.L1,u=i.L2*i.L2):(a=c.LengthSquared(),u=m.LengthSquared()),a*u===0)continue;const f=s.CrossVV(c,m),A=s.DotVV(c,m),S=Gs(f,A),b=new s().Copy(c).SelfSkew().SelfMul(-1/a),B=new s().Copy(m).SelfSkew().SelfMul(1/u),x=b.Clone().SelfNeg(),v=b.Clone().SelfSub(B),V=B;let k;if(this.m_tuning.fixedEffectiveMass?k=i.invEffectiveMass:k=i.invMass1*s.DotVV(x,x)+i.invMass2*s.DotVV(v,v)+i.invMass3*s.DotVV(V,V),k===0)continue;const P=1/(i.spring*t*t),q=t*t*i.damper,z=P*q/t,j=S,Y=s.DotVV(x,h)+s.DotVV(v,l)+s.DotVV(V,y),R=j+P*i.lambda+z*Y,G=(1+z)*k+P,Z=-R/G;n.x+=i.invMass1*Z*x.x,n.y+=i.invMass1*Z*x.y,o.x+=i.invMass2*Z*v.x,o.y+=i.invMass2*Z*v.y,r.x+=i.invMass3*Z*V.x,r.y+=i.invMass3*Z*V.y,this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o),this.m_ps[i.i3].Copy(r),i.lambda+=Z}}SolveBend_PBD_Distance(){const t=this.m_tuning.bendStiffness;for(let e=0;e<this.m_bendCount;++e){const i=this.m_bendConstraints[e],n=i.i1,o=i.i3,r=this.m_ps[n].Clone(),h=this.m_ps[o].Clone(),l=h.Clone().SelfSub(r),y=l.Normalize(),c=i.invMass1+i.invMass3;if(c===0)continue;const m=i.invMass1/c,a=i.invMass3/c;r.x-=t*m*(i.L1+i.L2-y)*l.x,r.y-=t*m*(i.L1+i.L2-y)*l.y,h.x+=t*a*(i.L1+i.L2-y)*l.x,h.y+=t*a*(i.L1+i.L2-y)*l.y,this.m_ps[n].Copy(r),this.m_ps[o].Copy(h)}}SolveBend_PBD_Height(){const t=this.m_tuning.bendStiffness;for(let e=0;e<this.m_bendCount;++e){const i=this.m_bendConstraints[e],n=this.m_ps[i.i1].Clone(),o=this.m_ps[i.i2].Clone(),r=this.m_ps[i.i3].Clone(),h=new s;h.x=i.alpha1*n.x+i.alpha2*r.x-o.x,h.y=i.alpha1*n.y+i.alpha2*r.y-o.y;const l=h.Length();if(l===0)continue;const y=h.Clone().SelfMul(1/l),c=y.Clone().SelfMul(i.alpha1),m=y.Clone().SelfNeg(),a=y.Clone().SelfMul(i.alpha2),u=i.invMass1*i.alpha1*i.alpha1+i.invMass2+i.invMass3*i.alpha2*i.alpha2;if(u===0)continue;const f=l,A=1/u,S=-t*A*f;n.x+=i.invMass1*S*c.x,n.y+=i.invMass1*S*c.y,o.x+=i.invMass2*S*m.x,o.y+=i.invMass2*S*m.y,r.x+=i.invMass3*S*a.x,r.y+=i.invMass3*S*a.y,this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o),this.m_ps[i.i3].Copy(r)}}SolveBend_PBD_Triangle(){const t=this.m_tuning.bendStiffness;for(let e=0;e<this.m_bendCount;++e){const i=this.m_bendConstraints[e],n=this.m_ps[i.i1].Clone(),o=this.m_ps[i.i2].Clone(),r=this.m_ps[i.i3].Clone(),h=i.invMass1,l=i.invMass2,y=i.invMass3,c=h+y+2*l,m=t/c,a=new s;a.x=o.x-.3333333333333333*(n.x+o.x+r.x),a.y=o.y-.3333333333333333*(n.y+o.y+r.y);const u=new s;u.x=2*h*m*a.x,u.y=2*h*m*a.y;const f=new s;f.x=-4*l*m*a.x,f.y=-4*l*m*a.y;const A=new s;A.x=2*y*m*a.x,A.y=2*y*m*a.y,n.SelfAdd(u),o.SelfAdd(f),r.SelfAdd(A),this.m_ps[i.i1].Copy(n),this.m_ps[i.i2].Copy(o),this.m_ps[i.i3].Copy(r)}}ApplyBendForces(t){const e=2*ut*this.m_tuning.bendHertz;for(let i=0;i<this.m_bendCount;++i){const n=this.m_bendConstraints[i],o=this.m_ps[n.i1].Clone(),r=this.m_ps[n.i2].Clone(),h=this.m_ps[n.i3].Clone(),l=this.m_vs[n.i1],y=this.m_vs[n.i2],c=this.m_vs[n.i3],m=o.Clone().SelfSub(o),a=h.Clone().SelfSub(r);let u,f;if(this.m_tuning.isometric?(u=n.L1*n.L1,f=n.L2*n.L2):(u=m.LengthSquared(),f=a.LengthSquared()),u*f===0)continue;const A=s.CrossVV(m,a),S=s.DotVV(m,a),b=Gs(A,S),B=new s().Copy(m).SelfSkew().SelfMul(-1/u),x=new s().Copy(a).SelfSkew().SelfMul(1/f),v=B.Clone().SelfNeg(),V=B.Clone().SelfSub(x),k=x;let P=0;if(this.m_tuning.fixedEffectiveMass?P=n.invEffectiveMass:P=n.invMass1*s.DotVV(v,v)+n.invMass2*s.DotVV(V,V)+n.invMass3*s.DotVV(k,k),P===0)continue;const q=1/P,z=q*e*e,j=2*q*this.m_tuning.bendDamping*e,Y=b,R=s.DotVV(v,l)+s.DotVV(V,y)+s.DotVV(k,c),G=-t*(z*Y+j*R);this.m_vs[n.i1].x+=n.invMass1*G*v.x,this.m_vs[n.i1].y+=n.invMass1*G*v.y,this.m_vs[n.i2].x+=n.invMass2*G*V.x,this.m_vs[n.i2].y+=n.invMass2*G*V.y,this.m_vs[n.i3].x+=n.invMass3*G*k.x,this.m_vs[n.i3].y+=n.invMass3*G*k.y}}}const ao=_.b2BodyType.b2_staticBody,mo=_.b2BodyType.b2_kinematicBody,co=_.b2BodyType.b2_dynamicBody,uo=_.b2BendingModel.b2_springAngleBendingModel,po=_.b2BendingModel.b2_pbdAngleBendingModel,yo=_.b2BendingModel.b2_xpbdAngleBendingModel,fo=_.b2BendingModel.b2_pbdDistanceBendingModel,Ao=_.b2BendingModel.b2_pbdHeightBendingModel,So=_.b2BendingModel.b2_pbdTriangleBendingModel,wo=_.b2StretchingModel.b2_pbdStretchingModel,Bo=_.b2StretchingModel.b2_xpbdStretchingModel;return _.b2AABB=Et,_.b2Abs=ot,_.b2Acos=ni,_.b2Alloc=Ye,_.b2AngularStiffness=Jn,_.b2AreaJoint=Re,_.b2AreaJointDef=Nn,_.b2Asin=Ae,_.b2Assert=nt,_.b2Atan2=Gs,_.b2BlockAllocator=D,_.b2Body=It,_.b2BodyDef=Zn,_.b2BroadPhase=Ve,_.b2ChainAndCircleContact=as,_.b2ChainAndPolygonContact=ms,_.b2ChainShape=Lt,_.b2CircleContact=xs,_.b2CircleShape=Mt,_.b2Clamp=vt,_.b2ClipSegmentToLine=bs,_.b2ClipVertex=gt,_.b2CollideCircles=ve,_.b2CollideEdgeAndCircle=$s,_.b2CollideEdgeAndPolygon=te,_.b2CollidePolygonAndCircle=ge,_.b2CollidePolygons=De,_.b2Color=O,_.b2Contact=Rt,_.b2ContactEdge=le,_.b2ContactFactory=je,_.b2ContactFeature=Be,_.b2ContactFilter=Es,_.b2ContactID=ys,_.b2ContactImpulse=Ee,_.b2ContactListener=Os,_.b2ContactManager=Xe,_.b2ContactPositionConstraint=Ps,_.b2ContactRegister=qe,_.b2ContactSolver=X,_.b2ContactSolverDef=Je,_.b2ContactVelocityConstraint=Ts,_.b2Cos=ei,_.b2Counter=mi,_.b2DegToRad=ti,_.b2DestructionListener=Un,_.b2Distance=Ks,_.b2DistanceInput=Us,_.b2DistanceJoint=W,_.b2DistanceJointDef=Le,_.b2DistanceOutput=Ys,_.b2DistanceProxy=_s,_.b2Draw=zt,_.b2DynamicTree=et,_.b2EdgeAndCircleContact=vs,_.b2EdgeAndPolygonContact=gs,_.b2EdgeShape=mt,_.b2Filter=os,_.b2Fixture=ke,_.b2FixtureDef=Fe,_.b2FixtureProxy=ts,_.b2Free=Ke,_.b2FrictionJoint=ss,_.b2FrictionJointDef=Qn,_.b2GearJoint=ht,_.b2GearJointDef=Wn,_.b2GetPointStates=Di,_.b2GrowableStack=de,_.b2InvSqrt=$e,_.b2IsPowerOfTwo=ri,_.b2IsValid=He,_.b2Island=At,_.b2Jacobian=Xn,_.b2Joint=pt,_.b2JointDef=Ot,_.b2JointEdge=ne,_.b2LinearStiffness=zn,_.b2Log=Qe,_.b2MakeArray=Ut,_.b2MakeNullArray=Ue,_.b2MakeNumberArray=Ss,_.b2Manifold=Bs,_.b2ManifoldPoint=Fs,_.b2MassData=Ls,_.b2Mat22=lt,_.b2Mat33=Yt,_.b2Max=E,_.b2Maybe=T,_.b2Min=at,_.b2MixFriction=oe,_.b2MixRestitution=re,_.b2MixRestitutionThreshold=he,_.b2MotorJoint=es,_.b2MotorJointDef=Hn,_.b2MouseJoint=is,_.b2MouseJointDef=$n,_.b2NextPowerOfTwo=oi,_.b2Pair=Ce,_.b2ParseInt=Ne,_.b2ParseUInt=Ze,_.b2PolygonAndCircleContact=Vs,_.b2PolygonContact=Cs,_.b2PolygonShape=J,_.b2Position=Is,_.b2PositionSolverManifold=Xt,_.b2Pow=fe,_.b2PrismaticJoint=N,_.b2PrismaticJointDef=to,_.b2Profile=_e,_.b2PulleyJoint=_t,_.b2PulleyJointDef=eo,_.b2QueryCallback=Ms,_.b2RadToDeg=si,_.b2Random=hi,_.b2RandomRange=li,_.b2RayCastCallback=Oe,_.b2RayCastInput=ks,_.b2RayCastOutput=be,_.b2RevoluteJoint=st,_.b2RevoluteJointDef=io,_.b2Rope=_o,_.b2RopeDef=ro,_.b2RopeTuning=ae,_.b2Rot=C,_.b2SeparationFunction=Ge,_.b2Shape=ls,_.b2ShapeCast=Ii,_.b2ShapeCastInput=ci,_.b2ShapeCastOutput=ui,_.b2Simplex=Jt,_.b2SimplexCache=Zs,_.b2SimplexVertex=Rs,_.b2Sin=ii,_.b2SolverData=ze,_.b2Sq=ds,_.b2Sqrt=ws,_.b2StackAllocator=ai,_.b2Swap=We,_.b2Sweep=Gt,_.b2TOIInput=se,_.b2TOIOutput=ee,_.b2TestOverlapAABB=Qs,_.b2TestOverlapShape=Ws,_.b2TimeOfImpact=ie,_.b2TimeStep=As,_.b2Timer=ps,_.b2Transform=I,_.b2TreeNode=xe,_.b2Vec2=s,_.b2Vec2_zero=_i,_.b2Vec3=bt,_.b2Velocity=Ds,_.b2VelocityConstraintPoint=Xs,_.b2Version=wt,_.b2WeldJoint=ct,_.b2WeldJointDef=no,_.b2WheelJoint=$,_.b2WheelJointDef=oo,_.b2World=tt,_.b2WorldManifold=dt,_.b2_180_over_pi=ye,_.b2_aabbExtension=Kt,_.b2_aabbMultiplier=xt,_.b2_angularSleepTolerance=K,_.b2_angularSlop=Dt,_.b2_baumgarte=w,_.b2_branch=hs,_.b2_commit=Js,_.b2_epsilon=ft,_.b2_epsilon_sq=rs,_.b2_gjk_reset=di,_.b2_lengthUnitsPerMeter=Ft,_.b2_linearSleepTolerance=F,_.b2_linearSlop=Q,_.b2_maxAngularCorrection=qt,_.b2_maxFloat=M,_.b2_maxLinearCorrection=kt,_.b2_maxManifoldPoints=H,_.b2_maxPolygonVertices=us,_.b2_maxRotation=Vt,_.b2_maxRotationSquared=p,_.b2_maxSubSteps=Qt,_.b2_maxTOIContacts=Nt,_.b2_maxTranslation=jt,_.b2_maxTranslationSquared=Zt,_.b2_minPulleyLength=so,_.b2_pi=ut,_.b2_pi_over_180=pe,_.b2_polygonRadius=Ct,_.b2_timeToSleep=L,_.b2_toiBaumgarte=g,_.b2_toi_reset=Pn,_.b2_two_pi=Ns,_.b2_version=Bt,_.dynamicBody=co,_.get_g_blockSolve=Yn,_.kinematicBody=mo,_.pbdAngleBendingModel=po,_.pbdDistanceBendingModel=fo,_.pbdHeightBendingModel=Ao,_.pbdStretchingModel=wo,_.pbdTriangleBendingModel=So,_.set_g_blockSolve=Kn,_.springAngleBendingModel=uo,_.staticBody=ao,_.xpbdAngleBendingModel=yo,_.xpbdStretchingModel=Bo,Object.defineProperty(_,"__esModule",{value:!0}),_}({});(function(_,D){"use strict";class O{}O.RigidBody=null,O.Physics=null;class zt extends D.Component{constructor(){super(...arguments),this._isSensor=!1,this._density=10,this._friction=.2,this._restitution=0}getDef(){if(!this._def){var p=new window.box2d.b2FixtureDef;p.density=this.density,p.friction=this.friction,p.isSensor=this.isSensor,p.restitution=this.restitution,p.shape=this._shape,this._def=p}return this._def}_onEnable(){this.rigidBody?this.refresh():D.Laya.systemTimer.callLater(this,this._checkRigidBody)}_checkRigidBody(){if(!this.rigidBody){var p=this.owner.getComponent(O.RigidBody);p&&(this.rigidBody=p,this.refresh())}}_onDestroy(){this.rigidBody&&(this.fixture&&(this.fixture.GetBody()==this.rigidBody._getOriBody()&&this.rigidBody.body.DestroyFixture(this.fixture),this.fixture=null),this.rigidBody=null,this._shape=null,this._def=null)}get isSensor(){return this._isSensor}set isSensor(p){this._isSensor=p,this._def&&(this._def.isSensor=p,this.refresh())}get density(){return this._density}set density(p){this._density=p,this._def&&(this._def.density=p,this.refresh())}get friction(){return this._friction}set friction(p){this._friction=p,this._def&&(this._def.friction=p,this.refresh())}get restitution(){return this._restitution}set restitution(p){this._restitution=p,this._def&&(this._def.restitution=p,this.refresh())}refresh(){if(this.enabled&&this.rigidBody){var p=this.rigidBody.body;this.fixture&&(this.fixture.GetBody()==this.rigidBody.body&&this.rigidBody.body.DestroyFixture(this.fixture),this.fixture.Destroy(),this.fixture=null);var w=this.getDef();w.filter.groupIndex=this.rigidBody.group,w.filter.categoryBits=this.rigidBody.category,w.filter.maskBits=this.rigidBody.mask,this.fixture=p.CreateFixture(w),this.fixture.collider=this}}resetShape(p=!0){}get isSingleton(){return!1}}D.ClassUtils.regClass("laya.physics.ColliderBase",zt),D.ClassUtils.regClass("Laya.ColliderBase",zt);class nt extends D.Component{constructor(){super(...arguments),this._type="dynamic",this._allowSleep=!0,this._angularVelocity=0,this._angularDamping=0,this._linearVelocity={x:0,y:0},this._linearDamping=0,this._bullet=!1,this._allowRotation=!0,this._gravityScale=1,this.group=0,this.category=1,this.mask=-1,this.label="RigidBody"}_createBody(){if(!(this._body||!this.owner)){var p=this.owner,w=window.box2d,g=new w.b2BodyDef,L=p.localToGlobal(D.Point.TEMP.setTo(0,0),!1,O.Physics.I.worldRoot);g.position.Set(L.x/O.Physics.PIXEL_RATIO,L.y/O.Physics.PIXEL_RATIO),g.angle=D.Utils.toRadian(p.rotation),g.allowSleep=this._allowSleep,g.angularDamping=this._angularDamping,g.angularVelocity=this._angularVelocity,g.bullet=this._bullet,g.fixedRotation=!this._allowRotation,g.gravityScale=this._gravityScale,g.linearDamping=this._linearDamping;var F=this._linearVelocity;(F&&F.x!=0||F.y!=0)&&(g.linearVelocity=new w.b2Vec2(F.x,F.y)),g.type=w.b2BodyType["b2_"+this._type+"Body"],this._body=O.Physics.I._createBody(g),this.resetCollider(!1)}}_onAwake(){this._createBody()}_onEnable(){var p=this;this._createBody(),D.Laya.physicsTimer.frameLoop(1,this,this._sysPhysicToNode);var w=this.owner;if(this.accessGetSetFunc(w,"x","set")&&!w._changeByRigidBody){let g=function(Bt){p.accessGetSetFunc(w,"x","set")(Bt),p._sysPosToPhysic()},L=function(Bt){p.accessGetSetFunc(w,"y","set")(Bt),p._sysPosToPhysic()},F=function(Bt){p.accessGetSetFunc(w,"rotation","set")(Bt),p._sysNodeToPhysic()},K=function(Bt){p.accessGetSetFunc(w,"scaleX","set")(Bt),p.resetCollider(!0)},wt=function(Bt){p.accessGetSetFunc(w,"scaleY","set")(Bt),p.resetCollider(!0)};w._changeByRigidBody=!0,this._overSet(w,"x",g),this._overSet(w,"y",L),this._overSet(w,"rotation",F),this._overSet(w,"scaleX",K),this._overSet(w,"scaleY",wt)}}accessGetSetFunc(p,w,g){if(["get","set"].indexOf(g)===-1)return;let L=`_$${g}_${w}`;if(p[L])return p[L];let F=p.constructor,K;for(;F;){if(K=Object.getOwnPropertyDescriptor(F.prototype,w),K&&K[g]){p[L]=K[g].bind(p);break}F=Object.getPrototypeOf(F)}return p[L]}resetCollider(p){var w=this.owner.getComponents(zt);if(w)for(var g=0,L=w.length;g<L;g++){var F=w[g];F.rigidBody=this,p?F.resetShape():F.refresh()}}_sysPhysicToNode(){if(this.type!="static"&&this._body.IsAwake()){var p=this._body.GetPosition(),w=this._body.GetAngle(),g=this.owner;this.accessGetSetFunc(g,"rotation","set")(D.Utils.toAngle(w)-g.parent.globalRotation);var L=g.globalToLocal(D.Point.TEMP.setTo(p.x*O.Physics.PIXEL_RATIO,p.y*O.Physics.PIXEL_RATIO),!1,O.Physics.I.worldRoot);L.x+=g.pivotX,L.y+=g.pivotY,L=g.toParentPoint(L),this.accessGetSetFunc(g,"x","set")(L.x),this.accessGetSetFunc(g,"y","set")(L.y)}}_sysNodeToPhysic(){var p=this.owner;this._body.SetAngle(D.Utils.toRadian(p.rotation));var w=p.localToGlobal(D.Point.TEMP.setTo(0,0),!1,O.Physics.I.worldRoot);this._body.SetPositionXY(w.x/O.Physics.PIXEL_RATIO,w.y/O.Physics.PIXEL_RATIO)}_sysPosToPhysic(){var p=this.owner,w=p.localToGlobal(D.Point.TEMP.setTo(0,0),!1,O.Physics.I.worldRoot);this._body.SetPositionXY(w.x/O.Physics.PIXEL_RATIO,w.y/O.Physics.PIXEL_RATIO)}_overSet(p,w,g){Object.defineProperty(p,w,{get:this.accessGetSetFunc(p,w,"get"),set:g,enumerable:!1,configurable:!0})}_onDisable(){D.Laya.physicsTimer.clear(this,this._sysPhysicToNode),this._body&&O.Physics.I._removeBody(this._body),this._body=null;var p=this.owner;p._changeByRigidBody&&(this._overSet(p,"x",this.accessGetSetFunc(p,"x","set")),this._overSet(p,"y",this.accessGetSetFunc(p,"y","set")),this._overSet(p,"rotation",this.accessGetSetFunc(p,"rotation","set")),this._overSet(p,"scaleX",this.accessGetSetFunc(p,"scaleX","set")),this._overSet(p,"scaleY",this.accessGetSetFunc(p,"scaleY","set")),p._changeByRigidBody=!1)}getBody(){return this._body||this._onAwake(),this._body}_getOriBody(){return this._body}get body(){return this._body||this._onAwake(),this._body}applyForce(p,w){this._body||this._onAwake(),this._body.ApplyForce(w,p)}applyForceToCenter(p){this._body||this._onAwake(),this._body.ApplyForceToCenter(p)}applyLinearImpulse(p,w){this._body||this._onAwake(),this._body.ApplyLinearImpulse(w,p)}applyLinearImpulseToCenter(p){this._body||this._onAwake(),this._body.ApplyLinearImpulseToCenter(p)}applyTorque(p){this._body||this._onAwake(),this._body.ApplyTorque(p)}setVelocity(p){this._body||this._onAwake(),this._body.SetLinearVelocity(p)}setAngle(p){this._body||this._onAwake(),this._body.SetAngle(p),this._body.SetAwake(!0)}getMass(){return this._body?this._body.GetMass():0}getCenter(){this._body||this._onAwake();var p=this._body.GetLocalCenter();return nt._tempPoint.copy(p),nt._tempPoint.x=nt._tempPoint.x*O.Physics.PIXEL_RATIO,nt._tempPoint.y=nt._tempPoint.y*O.Physics.PIXEL_RATIO,nt._tempPoint}getWorldCenter(){this._body||this._onAwake();var p=this._body.GetWorldCenter();return nt._tempPoint.copy(p),nt._tempPoint.x=nt._tempPoint.x*O.Physics.PIXEL_RATIO,nt._tempPoint.y=nt._tempPoint.y*O.Physics.PIXEL_RATIO,nt._tempPoint}get type(){return this._type}set type(p){this._type=p,this._body&&this._body.SetType(window.box2d.b2BodyType["b2_"+this._type+"Body"])}get gravityScale(){return this._gravityScale}set gravityScale(p){this._gravityScale=p,this._body&&this._body.SetGravityScale(p)}get allowRotation(){return this._allowRotation}set allowRotation(p){this._allowRotation=p,this._body&&this._body.SetFixedRotation(!p)}get allowSleep(){return this._allowSleep}set allowSleep(p){this._allowSleep=p,this._body&&this._body.SetSleepingAllowed(p)}get angularDamping(){return this._angularDamping}set angularDamping(p){this._angularDamping=p,this._body&&this._body.SetAngularDamping(p)}get angularVelocity(){return this._body?this._body.GetAngularVelocity():this._angularVelocity}set angularVelocity(p){this._angularVelocity=p,this._body&&this._body.SetAngularVelocity(p)}get linearDamping(){return this._linearDamping}set linearDamping(p){this._linearDamping=p,this._body&&this._body.SetLinearDamping(p)}get linearVelocity(){if(this._body){var p=this._body.GetLinearVelocity();return{x:p.x,y:p.y}}return this._linearVelocity}set linearVelocity(p){p&&(p instanceof Array&&(p={x:p[0],y:p[1]}),this._linearVelocity=p,this._body&&this._body.SetLinearVelocity(new window.box2d.b2Vec2(p.x,p.y)))}get bullet(){return this._bullet}set bullet(p){this._bullet=p,this._body&&this._body.SetBullet(p)}}nt._tempPoint=new D.Point,D.ClassUtils.regClass("laya.physics.RigidBody",nt),D.ClassUtils.regClass("Laya.RigidBody",nt);class T{SayGoodbyeJoint(p){p.m_userData&&(p.m_userData.isDestroy=!0)}SayGoodbyeFixture(p){}SayGoodbyeParticleGroup(p){}SayGoodbyeParticle(p){}}class M extends D.EventDispatcher{constructor(){super(),this.box2d=window.box2d,this.velocityIterations=8,this.positionIterations=3,this._eventList=[]}static get I(){return M._I||(M._I=new M)}static enable(p=null){M.I.start(p),O.RigidBody=nt,O.Physics=this}start(p=null){if(!this._enabled){this._enabled=!0,p||(p={});var w=window.box2d;if(w==null){console.error("Can not find box2d libs, you should request box2d.js first.");return}var g=new w.b2Vec2(0,p.gravity||500/M.PIXEL_RATIO);this.world=new w.b2World(g),this.world.SetDestructionListener(new T),this.world.SetContactListener(new ft),this.allowSleeping=p.allowSleeping==null?!0:p.allowSleeping,p.customUpdate||D.Laya.physicsTimer.frameLoop(1,this,this._update),this._emptyBody=this._createBody(new window.box2d.b2BodyDef)}}_update(){var p=D.Laya.timer.delta/1e3;p>.033&&(p=.033),this.world.Step(p,this.velocityIterations,this.positionIterations,3);var w=this._eventList.length;if(w>0){for(var g=0;g<w;g+=2)this._sendEvent(this._eventList[g],this._eventList[g+1]);this._eventList.length=0}}_sendEvent(p,w){var g=w.GetFixtureA().collider,L=w.GetFixtureB().collider,F=g.owner,K=L.owner;if(w.getHitInfo=function(){var Bt=new this.box2d.b2WorldManifold;this.GetWorldManifold(Bt);var hs=Bt.points[0];return hs.x*=M.PIXEL_RATIO,hs.y*=M.PIXEL_RATIO,Bt},F){var wt=[L,g,w];p===0?(F.event(D.Event.TRIGGER_ENTER,wt),F._triggered?F.event(D.Event.TRIGGER_STAY,wt):F._triggered=!0):(F._triggered=!1,F.event(D.Event.TRIGGER_EXIT,wt))}K&&(wt=[g,L,w],p===0?(K.event(D.Event.TRIGGER_ENTER,wt),K._triggered?K.event(D.Event.TRIGGER_STAY,wt):K._triggered=!0):(K._triggered=!1,K.event(D.Event.TRIGGER_EXIT,wt)))}_createBody(p){return this.world?this.world.CreateBody(p):(console.error('The physical engine should be initialized first.use "Physics.enable()"'),null)}_removeBody(p){this.world?this.world.DestroyBody(p):console.error('The physical engine should be initialized first.use "Physics.enable()"')}_createJoint(p){if(this.world){let w=this.world.CreateJoint(p);return w.m_userData={},w.m_userData.isDestroy=!1,w}else return console.error('The physical engine should be initialized first.use "Physics.enable()"'),null}_removeJoint(p){this.world?this.world.DestroyJoint(p):console.error('The physical engine should be initialized first.use "Physics.enable()"')}stop(){D.Laya.physicsTimer.clear(this,this._update)}get allowSleeping(){return this.world.GetAllowSleeping()}set allowSleeping(p){this.world.SetAllowSleeping(p)}get gravity(){return this.world.GetGravity()}set gravity(p){this.world.SetGravity(p)}getBodyCount(){return this.world.GetBodyCount()}getContactCount(){return this.world.GetContactCount()}getJointCount(){return this.world.GetJointCount()}get worldRoot(){return this._worldRoot||D.Laya.stage}set worldRoot(p){if(this._worldRoot=p,p){var w=p.localToGlobal(D.Point.TEMP.setTo(0,0));this.world.ShiftOrigin({x:-w.x/M.PIXEL_RATIO,y:-w.y/M.PIXEL_RATIO})}}updatePhysicsByWorldRoot(){if(this.worldRoot){var p=this.worldRoot.localToGlobal(D.Point.TEMP.setTo(0,0));this.world.ShiftOrigin({x:-p.x/M.PIXEL_RATIO,y:-p.y/M.PIXEL_RATIO})}}}M.PIXEL_RATIO=50,D.ClassUtils.regClass("laya.physics.Physics",M),D.ClassUtils.regClass("Laya.Physics",M);class ft{BeginContact(p){M.I._eventList.push(0,p)}EndContact(p){M.I._eventList.push(1,p)}PreSolve(p,w){}PostSolve(p,w){}}class rs extends zt{constructor(){super(...arguments),this._x=0,this._y=0,this._width=100,this._height=100}getDef(){return this._shape||(this._shape=new window.box2d.b2PolygonShape,this._setShape(!1)),this.label=this.label||"BoxCollider",super.getDef()}_setShape(p=!0){var w=this.owner.scaleX||1,g=this.owner.scaleY||1;this._shape.SetAsBox(this._width/2/M.PIXEL_RATIO*w,this._height/2/M.PIXEL_RATIO*g,new window.box2d.b2Vec2((this._width/2+this._x)/M.PIXEL_RATIO*w,(this._height/2+this._y)/M.PIXEL_RATIO*g)),p&&this.refresh()}get x(){return this._x}set x(p){this._x=p,this._shape&&this._setShape()}get y(){return this._y}set y(p){this._y=p,this._shape&&this._setShape()}get width(){return this._width}set width(p){if(p<=0)throw"BoxCollider size cannot be less than 0";this._width=p,this._shape&&this._setShape()}get height(){return this._height}set height(p){if(p<=0)throw"BoxCollider size cannot be less than 0";this._height=p,this._shape&&this._setShape()}resetShape(p=!0){this._setShape()}}D.ClassUtils.regClass("laya.physics.BoxCollider",rs),D.ClassUtils.regClass("Laya.BoxCollider",rs);class ut extends zt{constructor(){super(...arguments),this._x=0,this._y=0,this._points="0,0,100,0",this._loop=!1}getDef(){return this._shape||(this._shape=new window.box2d.b2ChainShape,this._setShape(!1)),this.label=this.label||"ChainCollider",super.getDef()}_setShape(p=!0){var w=this._points.split(","),g=w.length;if(g%2==1)throw"ChainCollider points lenth must a multiplier of 2";for(var L=[],F=0,K=g;F<K;F+=2)L.push(new window.box2d.b2Vec2((this._x+parseInt(w[F]))/M.PIXEL_RATIO,(this._y+parseInt(w[F+1]))/M.PIXEL_RATIO));this._loop?this._shape.CreateLoop(L,g/2):this._shape.CreateChain(L,g/2,new window.box2d.b2Vec2(0,0),new window.box2d.b2Vec2(0,0)),p&&this.refresh()}get x(){return this._x}set x(p){this._x=p,this._shape&&this._setShape()}get y(){return this._y}set y(p){this._y=p,this._shape&&this._setShape()}get points(){return this._points}set points(p){if(!p)throw"ChainCollider points cannot be empty";this._points=p,this._shape&&this._setShape()}get loop(){return this._loop}set loop(p){this._loop=p,this._shape&&this._setShape()}}D.ClassUtils.regClass("laya.physics.ChainCollider",ut),D.ClassUtils.regClass("Laya.ChainCollider",ut);class Ft extends zt{constructor(){super(...arguments),this._x=0,this._y=0,this._radius=50}getDef(){return this._shape||(this._shape=new window.box2d.b2CircleShape,this._setShape(!1)),this.label=this.label||"CircleCollider",super.getDef()}_setShape(p=!0){var w=this.owner.scaleX||1;this._shape.m_radius=this._radius/M.PIXEL_RATIO*w,this._shape.m_p.Set((this._radius+this._x)/M.PIXEL_RATIO*w,(this._radius+this._y)/M.PIXEL_RATIO*w),p&&this.refresh()}get x(){return this._x}set x(p){this._x=p,this._shape&&this._setShape()}get y(){return this._y}set y(p){this._y=p,this._shape&&this._setShape()}get radius(){return this._radius}set radius(p){if(p<=0)throw"CircleCollider radius cannot be less than 0";this._radius=p,this._shape&&this._setShape()}resetShape(p=!0){this._setShape()}}D.ClassUtils.regClass("laya.physics.CircleCollider",Ft),D.ClassUtils.regClass("Laya.CircleCollider",Ft);class us extends zt{constructor(){super(...arguments),this._x=0,this._y=0,this._points="0,0,100,0"}getDef(){return this._shape||(this._shape=new window.box2d.b2EdgeShape,this._setShape(!1)),this.label=this.label||"EdgeCollider",super.getDef()}_setShape(p=!0){var w=this._points.split(","),g=w.length;if(g%2==1)throw"EdgeCollider points lenth must a multiplier of 2";for(var L=[],F=0,K=g;F<K;F+=2)L.push(new window.box2d.b2Vec2((this._x+parseInt(w[F]))/M.PIXEL_RATIO,(this._y+parseInt(w[F+1]))/M.PIXEL_RATIO));this._shape.SetTwoSided(L[0],L[1]),p&&this.refresh()}get x(){return this._x}set x(p){this._x=p,this._shape&&this._setShape()}get y(){return this._y}set y(p){this._y=p,this._shape&&this._setShape()}get points(){return this._points}set points(p){if(!p)throw"EdgeCollider points cannot be empty";this._points=p,this._shape&&this._setShape()}}D.ClassUtils.regClass("laya.physics.EdgeCollider",us),D.ClassUtils.regClass("Laya.EdgeCollider",us);class H extends D.Sprite{constructor(){super(),this.m_drawFlags=99,H._inited||(H._inited=!0,H.init()),this._camera={},this._camera.m_center=new H.box2d.b2Vec2(0,0),this._camera.m_extent=25,this._camera.m_zoom=1,this._camera.m_width=1280,this._camera.m_height=800,this._mG=new D.Graphics,this.graphics=this._mG,this._textSp=new D.Sprite,this._textG=this._textSp.graphics,this.addChild(this._textSp)}static init(){H.box2d=D.Browser.window.box2d,H.DrawString_s_color=new H.box2d.b2Color(.9,.6,.6),H.DrawStringWorld_s_p=new H.box2d.b2Vec2,H.DrawStringWorld_s_cc=new H.box2d.b2Vec2,H.DrawStringWorld_s_color=new H.box2d.b2Color(.5,.9,.5)}render(p,w,g){this._renderToGraphic(),super.render(p,w,g)}_renderToGraphic(){this.world&&(this._textG.clear(),this._mG.clear(),this._mG.save(),this._mG.scale(M.PIXEL_RATIO,M.PIXEL_RATIO),this.lineWidth=1/M.PIXEL_RATIO,this.world.DebugDraw?this.world.DebugDraw():this.world.DrawDebugData(),this._mG.restore())}SetFlags(p){this.m_drawFlags=p}GetFlags(){return this.m_drawFlags}AppendFlags(p){this.m_drawFlags|=p}ClearFlags(p){this.m_drawFlags&=~p}PushTransform(p){this._mG.save(),this._mG.translate(p.p.x,p.p.y),this._mG.rotate(p.q.GetAngle())}PopTransform(p){this._mG.restore()}DrawPolygon(p,w,g){var L,F;F=p.length;var K;for(K=[],L=0;L<w;L++)K.push(p[L].x,p[L].y);this._mG.drawPoly(0,0,K,null,g.MakeStyleString(1),this.lineWidth)}DrawSolidPolygon(p,w,g){var L,F;F=p.length;var K;for(K=[],L=0;L<w;L++)K.push(p[L].x,p[L].y);this._mG.drawPoly(0,0,K,g.MakeStyleString(.5),g.MakeStyleString(1),this.lineWidth)}DrawCircle(p,w,g){this._mG.drawCircle(p.x,p.y,w,null,g.MakeStyleString(1),this.lineWidth)}DrawSolidCircle(p,w,g,L){var F=p.x,K=p.y;this._mG.drawCircle(F,K,w,L.MakeStyleString(.5),L.MakeStyleString(1),this.lineWidth),this._mG.drawLine(F,K,F+g.x*w,K+g.y*w,L.MakeStyleString(1),this.lineWidth)}DrawParticles(p,w,g,L){if(g!==null)for(var F=0;F<L;++F){var K=p[F],wt=g[F];this._mG.drawCircle(K.x,K.y,w,wt.MakeStyleString(),null,this.lineWidth)}else for(F=0;F<L;++F)K=p[F],this._mG.drawCircle(K.x,K.y,w,"#ffff00",null,this.lineWidth)}DrawSegment(p,w,g){this._mG.drawLine(p.x,p.y,w.x,w.y,g.MakeStyleString(1),this.lineWidth)}DrawTransform(p){this.PushTransform(p),this._mG.drawLine(0,0,1,0,H.box2d.b2Color.RED.MakeStyleString(1),this.lineWidth),this._mG.drawLine(0,0,0,1,H.box2d.b2Color.GREEN.MakeStyleString(1),this.lineWidth),this.PopTransform(p)}DrawPoint(p,w,g){w*=this._camera.m_zoom,w/=this._camera.m_extent;var L=w/2;this._mG.drawRect(p.x-L,p.y-L,w,w,g.MakeStyleString(),null)}DrawString(p,w,g){this._textG.fillText(g,p,w,"15px DroidSans",H.DrawString_s_color.MakeStyleString(),"left")}DrawStringWorld(p,w,g){this.DrawString(p,w,g)}DrawAABB(p,w){var g=p.lowerBound.x,L=p.lowerBound.y,F=p.upperBound.x-p.lowerBound.x,K=p.upperBound.y-p.lowerBound.y;this._mG.drawRect(g,L,F,K,null,w.MakeStyleString(),this.lineWidth)}static enable(p=99){if(!H.I){var w=new H;w.world=M.I.world,w.world.SetDebugDraw(w),w.zOrder=1e3,w.m_drawFlags=p,D.Laya.stage.addChild(w),H.I=w}return w}}H._inited=!1,D.ClassUtils.regClass("laya.physics.PhysicsDebugDraw",H),D.ClassUtils.regClass("Laya.PhysicsDebugDraw",H);class Kt extends zt{constructor(){super(...arguments),this._x=0,this._y=0,this._points="50,0,100,100,0,100"}getDef(){return this._shape||(this._shape=new window.box2d.b2PolygonShape,this._setShape(!1)),this.label=this.label||"PolygonCollider",super.getDef()}_setShape(p=!0){var w=this._points.split(","),g=w.length;if(g<6)throw"PolygonCollider points must be greater than 3";if(g%2==1)throw"PolygonCollider points lenth must a multiplier of 2";for(var L=[],F=0,K=g;F<K;F+=2)L.push(new window.box2d.b2Vec2((this._x+parseInt(w[F]))/M.PIXEL_RATIO,(this._y+parseInt(w[F+1]))/M.PIXEL_RATIO));this._shape.Set(L,g/2),p&&this.refresh()}get x(){return this._x}set x(p){this._x=p,this._shape&&this._setShape()}get y(){return this._y}set y(p){this._y=p,this._shape&&this._setShape()}get points(){return this._points}set points(p){if(!p)throw"PolygonCollider points cannot be empty";this._points=p,this._shape&&this._setShape()}}D.ClassUtils.regClass("laya.physics.PolygonCollider",Kt),D.ClassUtils.regClass("Laya.PolygonCollider",Kt);class xt extends D.Component{get joint(){return this._joint||this._createJoint(),this._joint}_onEnable(){this._createJoint()}_onAwake(){this._createJoint()}_createJoint(){}_onDisable(){this._joint&&this._joint.m_userData&&!this._joint.m_userData.isDestroy&&M.I._removeJoint(this._joint),this._joint=null}get isSingleton(){return!1}}D.ClassUtils.regClass("laya.physics.joint.JointBase",xt),D.ClassUtils.regClass("Laya.JointBase",xt);class Q extends xt{constructor(){super(...arguments),this.selfAnchor=[0,0],this.otherAnchor=[0,0],this.collideConnected=!1,this._length=0,this._maxLength=-1,this._minLength=-1,this._frequency=1,this._dampingRatio=0}_createJoint(){if(!this._joint){if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=Q._temp||(Q._temp=new p.b2DistanceJointDef);w.bodyA=this.otherBody?this.otherBody.getBody():M.I._emptyBody,w.bodyB=this.selfBody.getBody(),w.localAnchorA.Set(this.otherAnchor[0]/M.PIXEL_RATIO,this.otherAnchor[1]/M.PIXEL_RATIO),w.localAnchorB.Set(this.selfAnchor[0]/M.PIXEL_RATIO,this.selfAnchor[1]/M.PIXEL_RATIO),p.b2LinearStiffness(w,this._frequency,this._dampingRatio,w.bodyA,w.bodyB),w.collideConnected=this.collideConnected;var g=w.bodyA.GetWorldPoint(w.localAnchorA,new p.b2Vec2),L=w.bodyB.GetWorldPoint(w.localAnchorB,new p.b2Vec2);w.length=this._length/M.PIXEL_RATIO||p.b2Vec2.SubVV(L,g,new p.b2Vec2).Length(),w.maxLength=p.b2_maxFloat,w.minLength=0,this._maxLength>=0&&(w.maxLength=this._maxLength/M.PIXEL_RATIO),this._minLength>=0&&(w.minLength=this._minLength/M.PIXEL_RATIO),this._joint=M.I._createJoint(w)}}get length(){return this._length}set length(p){this._length=p,this._joint&&this._joint.SetLength(p/M.PIXEL_RATIO)}get minLength(){return this._minLength}set minLength(p){this._minLength=p,this._joint&&this._joint.SetMinLength(p/M.PIXEL_RATIO)}get maxLength(){return this._maxLength}set maxLength(p){this._maxLength=p,this._joint&&this._joint.SetMaxLength(p/M.PIXEL_RATIO)}get frequency(){return this._frequency}set frequency(p){if(this._frequency=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetStiffness(w.stiffness),this._joint.SetDamping(w.damping)}}get damping(){return this._dampingRatio}set damping(p){if(this._dampingRatio=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetDamping(w.damping)}}}D.ClassUtils.regClass("laya.physics.joint.DistanceJoint",Q),D.ClassUtils.regClass("Laya.DistanceJoint",Q);class Dt extends xt{constructor(){super(...arguments),this.collideConnected=!1,this._ratio=1}_createJoint(){if(!this._joint){if(!this.joint1)throw"Joint1 can not be empty";if(!this.joint2)throw"Joint2 can not be empty";var p=window.box2d,w=Dt._temp||(Dt._temp=new p.b2GearJointDef);w.bodyA=this.joint1.owner.getComponent(nt).getBody(),w.bodyB=this.joint2.owner.getComponent(nt).getBody(),w.joint1=this.joint1.joint,w.joint2=this.joint2.joint,w.ratio=this._ratio,w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}get ratio(){return this._ratio}set ratio(p){this._ratio=p,this._joint&&this._joint.SetRatio(p)}}D.ClassUtils.regClass("laya.physics.joint.GearJoint",Dt),D.ClassUtils.regClass("Laya.GearJoint",Dt);class Ct extends xt{constructor(){super(...arguments),this.collideConnected=!1,this._linearOffset=[0,0],this._angularOffset=0,this._maxForce=1e3,this._maxTorque=1e3,this._correctionFactor=.3}_createJoint(){if(!this._joint){if(!this.otherBody)throw"otherBody can not be empty";if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=Ct._temp||(Ct._temp=new p.b2MotorJointDef);w.Initialize(this.otherBody.getBody(),this.selfBody.getBody()),w.linearOffset=new p.b2Vec2(this._linearOffset[0]/M.PIXEL_RATIO,this._linearOffset[1]/M.PIXEL_RATIO),w.angularOffset=this._angularOffset,w.maxForce=this._maxForce,w.maxTorque=this._maxTorque,w.correctionFactor=this._correctionFactor,w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}get linearOffset(){return this._linearOffset}set linearOffset(p){this._linearOffset=p,this._joint&&this._joint.SetLinearOffset(new window.box2d.b2Vec2(p[0]/M.PIXEL_RATIO,p[1]/M.PIXEL_RATIO))}get angularOffset(){return this._angularOffset}set angularOffset(p){this._angularOffset=p,this._joint&&this._joint.SetAngularOffset(p)}get maxForce(){return this._maxForce}set maxForce(p){this._maxForce=p,this._joint&&this._joint.SetMaxForce(p)}get maxTorque(){return this._maxTorque}set maxTorque(p){this._maxTorque=p,this._joint&&this._joint.SetMaxTorque(p)}get correctionFactor(){return this._correctionFactor}set correctionFactor(p){this._correctionFactor=p,this._joint&&this._joint.SetCorrectionFactor(p)}}D.ClassUtils.regClass("laya.physics.joint.MotorJoint",Ct),D.ClassUtils.regClass("Laya.MotorJoint",Ct);class Qt extends xt{constructor(){super(...arguments),this._maxForce=1e4,this._frequency=5,this._dampingRatio=.7}_onEnable(){this.owner.on(D.Event.MOUSE_DOWN,this,this.onMouseDown)}_onAwake(){}onMouseDown(){this._createJoint(),D.Laya.stage.on(D.Event.MOUSE_MOVE,this,this.onMouseMove),D.Laya.stage.once(D.Event.MOUSE_UP,this,this.onStageMouseUp),D.Laya.stage.once(D.Event.MOUSE_OUT,this,this.onStageMouseUp)}_createJoint(){if(!this._joint){if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=Qt._temp||(Qt._temp=new p.b2MouseJointDef);if(this.anchor)var g=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.anchor[0],this.anchor[1]),!1,M.I.worldRoot);else g=M.I.worldRoot.globalToLocal(D.Point.TEMP.setTo(D.Laya.stage.mouseX,D.Laya.stage.mouseY));var L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO);w.bodyA=M.I._emptyBody,w.bodyB=this.selfBody.getBody(),w.target=L,p.b2LinearStiffness(w,this._frequency,this._dampingRatio,w.bodyA,w.bodyB),w.maxForce=this._maxForce,this._joint=M.I._createJoint(w)}}onStageMouseUp(){D.Laya.stage.off(D.Event.MOUSE_MOVE,this,this.onMouseMove),D.Laya.stage.off(D.Event.MOUSE_UP,this,this.onStageMouseUp),D.Laya.stage.off(D.Event.MOUSE_OUT,this,this.onStageMouseUp),super._onDisable()}onMouseMove(){this._joint.SetTarget(new window.box2d.b2Vec2(M.I.worldRoot.mouseX/M.PIXEL_RATIO,M.I.worldRoot.mouseY/M.PIXEL_RATIO))}_onDisable(){this.owner.off(D.Event.MOUSE_DOWN,this,this.onMouseDown),super._onDisable()}get maxForce(){return this._maxForce}set maxForce(p){this._maxForce=p,this._joint&&this._joint.SetMaxForce(p)}get frequency(){return this._frequency}set frequency(p){if(this._frequency=p,this._joint){let w={},g=window.box2d,L=M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetStiffness(w.stiffness),this._joint.SetDamping(w.damping)}}get damping(){return this._dampingRatio}set damping(p){if(this._dampingRatio=p,this._joint){let w={},g=window.box2d,L=M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetDamping(w.damping)}}}D.ClassUtils.regClass("laya.physics.joint.MouseJoint",Qt),D.ClassUtils.regClass("Laya.MouseJoint",Qt);class Nt extends xt{constructor(){super(...arguments),this.anchor=[0,0],this.axis=[1,0],this.collideConnected=!1,this._enableMotor=!1,this._motorSpeed=0,this._maxMotorForce=1e4,this._enableLimit=!1,this._lowerTranslation=0,this._upperTranslation=0}_createJoint(){if(!this._joint){if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=Nt._temp||(Nt._temp=new p.b2PrismaticJointDef),g=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.anchor[0],this.anchor[1]),!1,M.I.worldRoot),L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO);w.Initialize(this.otherBody?this.otherBody.getBody():M.I._emptyBody,this.selfBody.getBody(),L,new p.b2Vec2(this.axis[0],this.axis[1])),w.enableMotor=this._enableMotor,w.motorSpeed=this._motorSpeed,w.maxMotorForce=this._maxMotorForce,w.enableLimit=this._enableLimit,w.lowerTranslation=this._lowerTranslation/M.PIXEL_RATIO,w.upperTranslation=this._upperTranslation/M.PIXEL_RATIO,w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}get enableMotor(){return this._enableMotor}set enableMotor(p){this._enableMotor=p,this._joint&&this._joint.EnableMotor(p)}get motorSpeed(){return this._motorSpeed}set motorSpeed(p){this._motorSpeed=p,this._joint&&this._joint.SetMotorSpeed(p)}get maxMotorForce(){return this._maxMotorForce}set maxMotorForce(p){this._maxMotorForce=p,this._joint&&this._joint.SetMaxMotorForce(p)}get enableLimit(){return this._enableLimit}set enableLimit(p){this._enableLimit=p,this._joint&&this._joint.EnableLimit(p)}get lowerTranslation(){return this._lowerTranslation}set lowerTranslation(p){this._lowerTranslation=p,this._joint&&this._joint.SetLimits(p,this._upperTranslation)}get upperTranslation(){return this._upperTranslation}set upperTranslation(p){this._upperTranslation=p,this._joint&&this._joint.SetLimits(this._lowerTranslation,p)}}D.ClassUtils.regClass("laya.physics.joint.PrismaticJoint",Nt),D.ClassUtils.regClass("Laya.PrismaticJoint",Nt);class kt extends xt{constructor(){super(...arguments),this.selfAnchor=[0,0],this.otherAnchor=[0,0],this.selfGroundPoint=[0,0],this.otherGroundPoint=[0,0],this.ratio=1.5,this.collideConnected=!1}_createJoint(){if(!this._joint){if(!this.otherBody)throw"otherBody can not be empty";if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=kt._temp||(kt._temp=new p.b2PulleyJointDef),g=this.otherBody.owner.localToGlobal(D.Point.TEMP.setTo(this.otherAnchor[0],this.otherAnchor[1]),!1,M.I.worldRoot),L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO),F=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.selfAnchor[0],this.selfAnchor[1]),!1,M.I.worldRoot),K=new p.b2Vec2(F.x/M.PIXEL_RATIO,F.y/M.PIXEL_RATIO),wt=this.otherBody.owner.localToGlobal(D.Point.TEMP.setTo(this.otherGroundPoint[0],this.otherGroundPoint[1]),!1,M.I.worldRoot),Bt=new p.b2Vec2(wt.x/M.PIXEL_RATIO,wt.y/M.PIXEL_RATIO),hs=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.selfGroundPoint[0],this.selfGroundPoint[1]),!1,M.I.worldRoot),Js=new p.b2Vec2(hs.x/M.PIXEL_RATIO,hs.y/M.PIXEL_RATIO);w.Initialize(this.otherBody.getBody(),this.selfBody.getBody(),Bt,Js,L,K,this.ratio),w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}}D.ClassUtils.regClass("laya.physics.joint.PulleyJoint",kt),D.ClassUtils.regClass("Laya.PulleyJoint",kt);class qt extends xt{constructor(){super(...arguments),this.anchor=[0,0],this.collideConnected=!1,this._enableMotor=!1,this._motorSpeed=0,this._maxMotorTorque=1e4,this._enableLimit=!1,this._lowerAngle=0,this._upperAngle=0}_createJoint(){if(!this._joint){if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=qt._temp||(qt._temp=new p.b2RevoluteJointDef),g=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.anchor[0],this.anchor[1]),!1,M.I.worldRoot),L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO);w.Initialize(this.otherBody?this.otherBody.getBody():M.I._emptyBody,this.selfBody.getBody(),L),w.enableMotor=this._enableMotor,w.motorSpeed=this._motorSpeed,w.maxMotorTorque=this._maxMotorTorque,w.enableLimit=this._enableLimit,w.lowerAngle=this._lowerAngle,w.upperAngle=this._upperAngle,w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}get enableMotor(){return this._enableMotor}set enableMotor(p){this._enableMotor=p,this._joint&&this._joint.EnableMotor(p)}get motorSpeed(){return this._motorSpeed}set motorSpeed(p){this._motorSpeed=p,this._joint&&this._joint.SetMotorSpeed(p)}get maxMotorTorque(){return this._maxMotorTorque}set maxMotorTorque(p){this._maxMotorTorque=p,this._joint&&this._joint.SetMaxMotorTorque(p)}get enableLimit(){return this._enableLimit}set enableLimit(p){this._enableLimit=p,this._joint&&this._joint.EnableLimit(p)}get lowerAngle(){return this._lowerAngle}set lowerAngle(p){this._lowerAngle=p,this._joint&&this._joint.SetLimits(p,this._upperAngle)}get upperAngle(){return this._upperAngle}set upperAngle(p){this._upperAngle=p,this._joint&&this._joint.SetLimits(this._lowerAngle,p)}}D.ClassUtils.regClass("laya.physics.joint.RevoluteJoint",qt),D.ClassUtils.regClass("Laya.RevoluteJoint",qt);class jt extends xt{constructor(){super(...arguments),this.anchor=[0,0],this.collideConnected=!1,this._frequency=5,this._dampingRatio=.7}_createJoint(){if(!this._joint){if(!this.otherBody)throw"otherBody can not be empty";if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=jt._temp||(jt._temp=new p.b2WeldJointDef),g=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.anchor[0],this.anchor[1]),!1,M.I.worldRoot),L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO);w.Initialize(this.otherBody.getBody(),this.selfBody.getBody(),L),p.b2AngularStiffness(w,this._frequency,this._dampingRatio,w.bodyA,w.bodyB),w.collideConnected=this.collideConnected,this._joint=M.I._createJoint(w)}}get frequency(){return this._frequency}set frequency(p){if(this._frequency=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2AngularStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetStiffness(w.stiffness),this._joint.SetDamping(w.damping)}}get damping(){return this._dampingRatio}set damping(p){if(this._dampingRatio=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2AngularStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetDamping(w.damping)}}}D.ClassUtils.regClass("laya.physics.joint.WeldJoint",jt),D.ClassUtils.regClass("Laya.WeldJoint",jt);class Zt extends xt{constructor(){super(...arguments),this.anchor=[0,0],this.collideConnected=!1,this.axis=[1,0],this._frequency=5,this._dampingRatio=.7,this._enableMotor=!1,this._motorSpeed=0,this._maxMotorTorque=1e4,this._enableLimit=!0,this._lowerTranslation=0,this._upperTranslation=0}_createJoint(){if(!this._joint){if(!this.otherBody)throw"otherBody can not be empty";if(this.selfBody=this.selfBody||this.owner.getComponent(nt),!this.selfBody)throw"selfBody can not be empty";var p=window.box2d,w=Zt._temp||(Zt._temp=new p.b2WheelJointDef),g=this.selfBody.owner.localToGlobal(D.Point.TEMP.setTo(this.anchor[0],this.anchor[1]),!1,M.I.worldRoot),L=new p.b2Vec2(g.x/M.PIXEL_RATIO,g.y/M.PIXEL_RATIO);w.Initialize(this.otherBody.getBody(),this.selfBody.getBody(),L,new p.b2Vec2(this.axis[0],this.axis[1])),w.enableMotor=this._enableMotor,w.motorSpeed=this._motorSpeed,w.maxMotorTorque=this._maxMotorTorque,p.b2LinearStiffness(w,this._frequency,this._dampingRatio,w.bodyA,w.bodyB),w.collideConnected=this.collideConnected,w.enableLimit=this._enableLimit,w.lowerTranslation=this._lowerTranslation/M.PIXEL_RATIO,w.upperTranslation=this._upperTranslation/M.PIXEL_RATIO,this._joint=M.I._createJoint(w)}}get frequency(){return this._frequency}set frequency(p){if(this._frequency=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetStiffness(w.stiffness),this._joint.SetDamping(w.damping)}}get damping(){return this._dampingRatio}set damping(p){if(this._dampingRatio=p,this._joint){let w={},g=window.box2d,L=this.otherBody?this.otherBody.getBody():M.I._emptyBody,F=this.selfBody.getBody();g.b2LinearStiffness(w,this._frequency,this._dampingRatio,L,F),this._joint.SetDamping(w.damping)}}get enableMotor(){return this._enableMotor}set enableMotor(p){this._enableMotor=p,this._joint&&this._joint.EnableMotor(p)}get motorSpeed(){return this._motorSpeed}set motorSpeed(p){this._motorSpeed=p,this._joint&&this._joint.SetMotorSpeed(p)}get maxMotorTorque(){return this._maxMotorTorque}set maxMotorTorque(p){this._maxMotorTorque=p,this._joint&&this._joint.SetMaxMotorTorque(p)}get enableLimit(){return this._enableLimit}set enableLimit(p){this._enableLimit=p,this._joint&&this._joint.EnableLimit(p)}get lowerTranslation(){return this._lowerTranslation}set lowerTranslation(p){this._lowerTranslation=p,this._joint&&this._joint.SetLimits(p,this._upperTranslation)}get upperTranslation(){return this._upperTranslation}set upperTranslation(p){this._upperTranslation=p,this._joint&&this._joint.SetLimits(this._lowerTranslation,p)}}D.ClassUtils.regClass("laya.physics.joint.WheelJoint",Zt),D.ClassUtils.regClass("Laya.WheelJoint",Zt),_.BoxCollider=rs,_.ChainCollider=ut,_.CircleCollider=Ft,_.ColliderBase=zt,_.DestructionListener=T,_.DistanceJoint=Q,_.EdgeCollider=us,_.GearJoint=Dt,_.IPhysics=O,_.JointBase=xt,_.MotorJoint=Ct,_.MouseJoint=Qt,_.Physics=M,_.PhysicsDebugDraw=H,_.PolygonCollider=Kt,_.PrismaticJoint=Nt,_.PulleyJoint=kt,_.RevoluteJoint=qt,_.RigidBody=nt,_.WeldJoint=jt,_.WheelJoint=Zt})(window.Laya=window.Laya||{},Laya);