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cannon.min.js
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/**
* @license
* Copyright (c) 2015 cannon.js Authors
*
* Permission is hereby granted, free of charge, to any person
* obtaining a copy of this software and associated documentation
* files (the "Software"), to deal in the Software without
* restriction, including without limitation the rights to use, copy,
* modify, merge, publish, distribute, sublicense, and/or sell copies
* of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
! function (e) {
if ("object" == typeof exports && "undefined" != typeof module) module.exports = e(); else if ("function" == typeof define && false) define([], e); else {
var f;
"undefined" != typeof window ? f = window : "undefined" != typeof global ? f = global : "undefined" != typeof self && (f = self), f.CANNON = e()
}
}(function () {
return function e(f, n, o) {
function d(t, l) {
if ( ! n[t]) {
if ( ! f[t]) {
var u = "function" == typeof require && require;
if ( ! l && u) return u(t, ! 0);
if (i) return i(t, ! 0);
throw new Error("Cannot find module '" + t + "'")
}
var p = n[t] = {exports: {}};
f[t][0].call(p.exports, function (e) {
var n = f[t][1][e];
return d(n ? n : e)
}, p, p.exports, e, f, n, o)
}
return n[t].exports
}
for (var i = "function" == typeof require && require, t = 0; t < o.length; t++) d(o[t]);
return d
}({
1: [function (e, f) {
f.exports = {
name: "cannon",
version: "0.6.2",
description: "A lightweight 3D physics engine written in JavaScript.",
homepage: "https://github.com/schteppe/cannon.js",
author: "Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",
keywords: ["cannon.js", "cannon", "physics", "engine", "3d"],
main: "./build/cannon.js",
engines: {node: "*"},
repository: {type: "git", url: "https://github.com/schteppe/cannon.js.git"},
bugs: {url: "https://github.com/schteppe/cannon.js/issues"},
licenses: [{type: "MIT"}],
devDependencies: {
jshint: "latest",
"uglify-js": "latest",
nodeunit: "^0.9.0",
grunt: "~0.4.0",
"grunt-contrib-jshint": "~0.1.1",
"grunt-contrib-nodeunit": "^0.4.1",
"grunt-contrib-concat": "~0.1.3",
"grunt-contrib-uglify": "^0.5.1",
"grunt-browserify": "^2.1.4",
"grunt-contrib-yuidoc": "^0.5.2",
browserify: "*"
},
dependencies: {}
}
}, {}],
2: [function (e, f) {
f.exports = {
version: e("../package.json").version,
AABB: e("./collision/AABB"),
ArrayCollisionMatrix: e("./collision/ArrayCollisionMatrix"),
Body: e("./objects/Body"),
Box: e("./shapes/Box"),
Broadphase: e("./collision/Broadphase"),
Constraint: e("./constraints/Constraint"),
ContactEquation: e("./equations/ContactEquation"),
Narrowphase: e("./world/Narrowphase"),
ConeTwistConstraint: e("./constraints/ConeTwistConstraint"),
ContactMaterial: e("./material/ContactMaterial"),
ConvexPolyhedron: e("./shapes/ConvexPolyhedron"),
Cylinder: e("./shapes/Cylinder"),
DistanceConstraint: e("./constraints/DistanceConstraint"),
Equation: e("./equations/Equation"),
EventTarget: e("./utils/EventTarget"),
FrictionEquation: e("./equations/FrictionEquation"),
GSSolver: e("./solver/GSSolver"),
GridBroadphase: e("./collision/GridBroadphase"),
Heightfield: e("./shapes/Heightfield"),
HingeConstraint: e("./constraints/HingeConstraint"),
LockConstraint: e("./constraints/LockConstraint"),
Mat3: e("./math/Mat3"),
Material: e("./material/Material"),
NaiveBroadphase: e("./collision/NaiveBroadphase"),
ObjectCollisionMatrix: e("./collision/ObjectCollisionMatrix"),
Pool: e("./utils/Pool"),
Particle: e("./shapes/Particle"),
Plane: e("./shapes/Plane"),
PointToPointConstraint: e("./constraints/PointToPointConstraint"),
Quaternion: e("./math/Quaternion"),
Ray: e("./collision/Ray"),
RaycastVehicle: e("./objects/RaycastVehicle"),
RaycastResult: e("./collision/RaycastResult"),
RigidVehicle: e("./objects/RigidVehicle"),
RotationalEquation: e("./equations/RotationalEquation"),
RotationalMotorEquation: e("./equations/RotationalMotorEquation"),
SAPBroadphase: e("./collision/SAPBroadphase"),
SPHSystem: e("./objects/SPHSystem"),
Shape: e("./shapes/Shape"),
Solver: e("./solver/Solver"),
Sphere: e("./shapes/Sphere"),
SplitSolver: e("./solver/SplitSolver"),
Spring: e("./objects/Spring"),
Trimesh: e("./shapes/Trimesh"),
Vec3: e("./math/Vec3"),
Vec3Pool: e("./utils/Vec3Pool"),
World: e("./world/World")
}
}, {
"../package.json": 1,
"./collision/AABB": 3,
"./collision/ArrayCollisionMatrix": 4,
"./collision/Broadphase": 5,
"./collision/GridBroadphase": 6,
"./collision/NaiveBroadphase": 7,
"./collision/ObjectCollisionMatrix": 8,
"./collision/Ray": 9,
"./collision/RaycastResult": 10,
"./collision/SAPBroadphase": 11,
"./constraints/ConeTwistConstraint": 12,
"./constraints/Constraint": 13,
"./constraints/DistanceConstraint": 14,
"./constraints/HingeConstraint": 15,
"./constraints/LockConstraint": 16,
"./constraints/PointToPointConstraint": 17,
"./equations/ContactEquation": 19,
"./equations/Equation": 20,
"./equations/FrictionEquation": 21,
"./equations/RotationalEquation": 22,
"./equations/RotationalMotorEquation": 23,
"./material/ContactMaterial": 24,
"./material/Material": 25,
"./math/Mat3": 27,
"./math/Quaternion": 28,
"./math/Vec3": 30,
"./objects/Body": 31,
"./objects/RaycastVehicle": 32,
"./objects/RigidVehicle": 33,
"./objects/SPHSystem": 34,
"./objects/Spring": 35,
"./shapes/Box": 37,
"./shapes/ConvexPolyhedron": 38,
"./shapes/Cylinder": 39,
"./shapes/Heightfield": 40,
"./shapes/Particle": 41,
"./shapes/Plane": 42,
"./shapes/Shape": 43,
"./shapes/Sphere": 44,
"./shapes/Trimesh": 45,
"./solver/GSSolver": 46,
"./solver/Solver": 47,
"./solver/SplitSolver": 48,
"./utils/EventTarget": 49,
"./utils/Pool": 51,
"./utils/Vec3Pool": 54,
"./world/Narrowphase": 55,
"./world/World": 56
}],
3: [function (e, f) {
function n(e) {
e = e || {}, this.lowerBound = new o, e.lowerBound && this.lowerBound.copy(e.lowerBound), this.upperBound = new o, e.upperBound && this.upperBound.copy(e.upperBound)
}
{
var o = e("../math/Vec3");
e("../utils/Utils")
}
f.exports = n;
var d = new o;
n.prototype.setFromPoints = function (e, f, n, o) {
var i = this.lowerBound, t = this.upperBound, l = n;
i.copy(e[0]), l && l.vmult(i, i), t.copy(i);
for (var u = 1; u < e.length; u++) {
var p = e[u];
l && (l.vmult(p, d), p = d), p.x > t.x && (t.x = p.x), p.x < i.x && (i.x = p.x), p.y > t.y && (t.y = p.y), p.y < i.y && (i.y = p.y), p.z > t.z && (t.z = p.z), p.z < i.z && (i.z = p.z)
}
return f && (f.vadd(i, i), f.vadd(t, t)), o && (i.x -= o, i.y -= o, i.z -= o, t.x += o, t.y += o, t.z += o), this
}, n.prototype.copy = function (e) {
return this.lowerBound.copy(e.lowerBound), this.upperBound.copy(e.upperBound), this
}, n.prototype.clone = function () {
return (new n).copy(this)
}, n.prototype.extend = function (e) {
var f = e.lowerBound.x;
this.lowerBound.x > f && (this.lowerBound.x = f);
var n = e.upperBound.x;
this.upperBound.x < n && (this.upperBound.x = n);
var f = e.lowerBound.y;
this.lowerBound.y > f && (this.lowerBound.y = f);
var n = e.upperBound.y;
this.upperBound.y < n && (this.upperBound.y = n);
var f = e.lowerBound.z;
this.lowerBound.z > f && (this.lowerBound.z = f);
var n = e.upperBound.z;
this.upperBound.z < n && (this.upperBound.z = n)
}, n.prototype.overlaps = function (e) {
var f = this.lowerBound, n = this.upperBound, o = e.lowerBound, d = e.upperBound;
return (o.x <= n.x && n.x <= d.x || f.x <= d.x && d.x <= n.x) && (o.y <= n.y && n.y <= d.y || f.y <= d.y && d.y <= n.y) && (o.z <= n.z && n.z <= d.z || f.z <= d.z && d.z <= n.z)
}, n.prototype.contains = function (e) {
var f = this.lowerBound, n = this.upperBound, o = e.lowerBound, d = e.upperBound;
return f.x <= o.x && n.x >= d.x && f.y <= o.y && n.y >= d.y && f.z <= o.z && n.z >= d.z
}, n.prototype.getCorners = function (e, f, n, o, d, i, t, l) {
var u = this.lowerBound, p = this.upperBound;
e.copy(u), f.set(p.x, u.y, u.z), n.set(p.x, p.y, u.z), o.set(u.x, p.y, p.z), d.set(p.x, u.y, u.z), i.set(u.x, p.y, u.z), t.set(u.x, u.y, p.z), l.copy(p)
};
var i = [new o, new o, new o, new o, new o, new o, new o, new o];
n.prototype.toLocalFrame = function (e, f) {
var n = i, o = n[0], d = n[1], t = n[2], l = n[3], u = n[4], p = n[5], s = n[6], y = n[7];
this.getCorners(o, d, t, l, u, p, s, y);
for (var c = 0; 8 !== c; c++) {
var a = n[c];
e.pointToLocal(a, a)
}
return f.setFromPoints(n)
}, n.prototype.toWorldFrame = function (e, f) {
var n = i, o = n[0], d = n[1], t = n[2], l = n[3], u = n[4], p = n[5], s = n[6], y = n[7];
this.getCorners(o, d, t, l, u, p, s, y);
for (var c = 0; 8 !== c; c++) {
var a = n[c];
e.pointToWorld(a, a)
}
return f.setFromPoints(n)
}
}, {"../math/Vec3": 30, "../utils/Utils": 53}],
4: [function (e, f) {
function n() {
this.matrix = []
}
f.exports = n, n.prototype.get = function (e, f) {
if (e = e.index, f = f.index, f > e) {
var n = f;
f = e, e = n
}
return this.matrix[(e * (e + 1) >> 1) + f - 1]
}, n.prototype.set = function (e, f, n) {
if (e = e.index, f = f.index, f > e) {
var o = f;
f = e, e = o
}
this.matrix[(e * (e + 1) >> 1) + f - 1] = n ? 1 : 0
}, n.prototype.reset = function () {
for (var e = 0, f = this.matrix.length; e !== f; e++) this.matrix[e] = 0
}, n.prototype.setNumObjects = function (e) {
this.matrix.length = e * (e - 1) >> 1
}
}, {}],
5: [function (e, f) {
function n() {
this.world = null, this.useBoundingBoxes = ! 1, this.dirty = ! 0
}
{
var o = e("../objects/Body"), d = e("../math/Vec3"), i = e("../math/Quaternion");
e("../shapes/Shape"), e("../shapes/Plane")
}
f.exports = n, n.prototype.collisionPairs = function () {
throw new Error("collisionPairs not implemented for this BroadPhase class!")
};
var t = o.STATIC | o.KINEMATIC;
n.prototype.needBroadphaseCollision = function (e, f) {
return 0 === (e.collisionFilterGroup & f.collisionFilterMask) || 0 === (f.collisionFilterGroup & e.collisionFilterMask) ? ! 1 : 0 === (e.type & t) && e.sleepState !== o.SLEEPING || 0 === (f.type & t) && f.sleepState !== o.SLEEPING ? ! 0 : ! 1
}, n.prototype.intersectionTest = function (e, f, n, o) {
this.useBoundingBoxes ? this.doBoundingBoxBroadphase(e, f, n, o) : this.doBoundingSphereBroadphase(e, f, n, o)
};
{
var l = new d;
new d, new i, new d
}
n.prototype.doBoundingSphereBroadphase = function (e, f, n, o) {
var d = l;
f.position.vsub(e.position, d);
var i = Math.pow(e.boundingRadius + f.boundingRadius, 2), t = d.norm2();
i > t && (n.push(e), o.push(f))
}, n.prototype.doBoundingBoxBroadphase = function (e, f, n, o) {
e.aabbNeedsUpdate && e.computeAABB(), f.aabbNeedsUpdate && f.computeAABB(), e.aabb.overlaps(f.aabb) && (n.push(e), o.push(f))
};
var u = {keys: []}, p = [], s = [];
n.prototype.makePairsUnique = function (e, f) {
for (var n = u, o = p, d = s, i = e.length, t = 0; t !== i; t++) o[t] = e[t], d[t] = f[t];
e.length = 0, f.length = 0;
for (var t = 0; t !== i; t++) {
var l = o[t].id, y = d[t].id, c = y > l ? l + "," + y : y + "," + l;
n[c] = t, n.keys.push(c)
}
for (var t = 0; t !== n.keys.length; t++) {
var c = n.keys.pop(), a = n[c];
e.push(o[a]), f.push(d[a]), delete n[c]
}
}, n.prototype.setWorld = function () {
};
var y = new d;
n.boundingSphereCheck = function (e, f) {
var n = y;
return e.position.vsub(f.position, n), Math.pow(e.shape.boundingSphereRadius + f.shape.boundingSphereRadius, 2) > n.norm2()
}, n.prototype.aabbQuery = function () {
return console.warn(".aabbQuery is not implemented in this Broadphase subclass."), []
}
}, {
"../math/Quaternion": 28,
"../math/Vec3": 30,
"../objects/Body": 31,
"../shapes/Plane": 42,
"../shapes/Shape": 43
}],
6: [function (e, f) {
function n(e, f, n, i, t) {
o.apply(this), this.nx = n || 10, this.ny = i || 10, this.nz = t || 10, this.aabbMin = e || new d(100, 100, 100), this.aabbMax = f || new d(-100, -100, -100);
var l = this.nx * this.ny * this.nz;
if (0 >= l) throw"GridBroadphase: Each dimension's n must be >0";
this.bins = [], this.binLengths = [], this.bins.length = l, this.binLengths.length = l;
for (var u = 0; l > u; u++) this.bins[u] = [], this.binLengths[u] = 0
}
f.exports = n;
var o = e("./Broadphase"), d = e("../math/Vec3"), i = e("../shapes/Shape");
n.prototype = new o, n.prototype.constructor = n;
{
var t = new d;
new d
}
n.prototype.collisionPairs = function (e, f, n) {
function o(e, f, n, o, d, i, t) {
var l = (e - g) * v | 0, u = (f - x) * A | 0, p = (n - j) * C | 0, b = I((o - g) * v), m = I((d - x) * A),
N = I((i - j) * C);
0 > l ? l = 0 : l >= s && (l = s - 1), 0 > u ? u = 0 : u >= y && (u = y - 1), 0 > p ? p = 0 : p >= c && (p = c - 1), 0 > b ? b = 0 : b >= s && (b = s - 1), 0 > m ? m = 0 : m >= y && (m = y - 1), 0 > N ? N = 0 : N >= c && (N = c - 1), l *= a, u *= r, p *= w, b *= a, m *= r, N *= w;
for (var O = l; b >= O; O += a) for (var h = u; m >= h; h += r) for (var k = p; N >= k; k += w) {
var q = O + h + k;
E[q][F[q]++] = t
}
}
for (var d = e.numObjects(), l = e.bodies, u = this.aabbMax, p = this.aabbMin, s = this.nx, y = this.ny, c = this.nz, a = y * c, r = c, w = 1, b = u.x, m = u.y, N = u.z, g = p.x, x = p.y, j = p.z, v = s / (b - g), A = y / (m - x), C = c / (N - j), O = (b - g) / s, h = (m - x) / y, k = (N - j) / c, q = .5 * Math.sqrt(O * O + h * h + k * k), z = i.types, B = z.SPHERE, D = z.PLANE, E = (z.BOX, z.COMPOUND, z.CONVEXPOLYHEDRON, this.bins), F = this.binLengths, G = this.bins.length, H = 0; H !== G; H++) F[H] = 0;
for (var I = Math.ceil, p = Math.min, u = Math.max, H = 0; H !== d; H++) {
var J = l[H], K = J.shape;
switch (K.type) {
case B:
var L = J.position.x, M = J.position.y, P = J.position.z, Q = K.radius;
o(L - Q, M - Q, P - Q, L + Q, M + Q, P + Q, J);
break;
case D:
K.worldNormalNeedsUpdate && K.computeWorldNormal(J.quaternion);
var R = K.worldNormal, S = g + .5 * O - J.position.x, T = x + .5 * h - J.position.y,
U = j + .5 * k - J.position.z, V = t;
V.set(S, T, U);
for (var W = 0, X = 0; W !== s; W++, X += a, V.y = T, V.x += O) for (var Y = 0, Z = 0; Y !== y; Y++, Z += r, V.z = U, V.y += h) for (var $ = 0, _ = 0; $ !== c; $++, _ += w, V.z += k) if (V.dot(R) < q) {
var ef = X + Z + _;
E[ef][F[ef]++] = J
}
break;
default:
J.aabbNeedsUpdate && J.computeAABB(), o(J.aabb.lowerBound.x, J.aabb.lowerBound.y, J.aabb.lowerBound.z, J.aabb.upperBound.x, J.aabb.upperBound.y, J.aabb.upperBound.z, J)
}
}
for (var H = 0; H !== G; H++) {
var ff = F[H];
if (ff > 1) for (var nf = E[H], W = 0; W !== ff; W++) for (var J = nf[W], Y = 0; Y !== W; Y++) {
var of = nf[Y];
this.needBroadphaseCollision(J, of) && this.intersectionTest(J, of, f, n)
}
}
this.makePairsUnique(f, n)
}
}, {"../math/Vec3": 30, "../shapes/Shape": 43, "./Broadphase": 5}],
7: [function (e, f) {
function n() {
o.apply(this)
}
f.exports = n;
var o = e("./Broadphase"), d = e("./AABB");
n.prototype = new o, n.prototype.constructor = n, n.prototype.collisionPairs = function (e, f, n) {
var o, d, i, t, l = e.bodies, u = l.length;
for (o = 0; o !== u; o++) for (d = 0; d !== o; d++) i = l[o], t = l[d], this.needBroadphaseCollision(i, t) && this.intersectionTest(i, t, f, n)
};
new d;
n.prototype.aabbQuery = function (e, f, n) {
n = n || [];
for (var o = 0; o < e.bodies.length; o++) {
var d = e.bodies[o];
d.aabbNeedsUpdate && d.computeAABB(), d.aabb.overlaps(f) && n.push(d)
}
return n
}
}, {"./AABB": 3, "./Broadphase": 5}],
8: [function (e, f) {
function n() {
this.matrix = {}
}
f.exports = n, n.prototype.get = function (e, f) {
if (e = e.id, f = f.id, f > e) {
var n = f;
f = e, e = n
}
return e + "-" + f in this.matrix
}, n.prototype.set = function (e, f, n) {
if (e = e.id, f = f.id, f > e) {
var o = f;
f = e, e = o
}
n ? this.matrix[e + "-" + f] = ! 0 : delete this.matrix[e + "-" + f]
}, n.prototype.reset = function () {
this.matrix = {}
}, n.prototype.setNumObjects = function () {
}
}, {}],
9: [function (e, f) {
function n(e, f) {
this.from = e ? e.clone() : new i, this.to = f ? f.clone() : new i, this._direction = new i, this.precision = 1e-4, this.checkCollisionResponse = ! 0, this.skipBackfaces = ! 1, this.collisionFilterMask = -1, this.collisionFilterGroup = -1, this.mode = n.ANY, this.result = new u, this.hasHit = ! 1, this.callback = function () {
}
}
function o(e, f, n, o) {
o.vsub(f, G), n.vsub(f, a), e.vsub(f, r);
var d, i, t = G.dot(G), l = G.dot(a), u = G.dot(r), p = a.dot(a), s = a.dot(r);
return (d = p * u - l * s) >= 0 && (i = t * s - l * u) >= 0 && t * p - l * l > d + i
}
function d(e, f, n) {
n.vsub(e, G);
var o = G.dot(f);
f.mult(o, H), H.vadd(e, H);
var d = n.distanceTo(H);
return d
}
f.exports = n;
var i = e("../math/Vec3"), t = e("../math/Quaternion"), l = e("../math/Transform"),
u = (e("../shapes/ConvexPolyhedron"), e("../shapes/Box"), e("../collision/RaycastResult")),
p = e("../shapes/Shape"), s = e("../collision/AABB");
n.prototype.constructor = n, n.CLOSEST = 1, n.ANY = 2, n.ALL = 4;
var y = new s, c = [];
n.prototype.intersectWorld = function (e, f) {
return this.mode = f.mode || n.ANY, this.result = f.result || new u, this.skipBackfaces = !! f.skipBackfaces, this.collisionFilterMask = "undefined" != typeof f.collisionFilterMask ? f.collisionFilterMask : -1, this.collisionFilterGroup = "undefined" != typeof f.collisionFilterGroup ? f.collisionFilterGroup : -1, f.from && this.from.copy(f.from), f.to && this.to.copy(f.to), this.callback = f.callback || function () {
}, this.hasHit = ! 1, this.result.reset(), this._updateDirection(), this.getAABB(y), c.length = 0, e.broadphase.aabbQuery(e, y, c), this.intersectBodies(c), this.hasHit
};
var a = new i, r = new i;
n.pointInTriangle = o;
var w = new i, b = new t;
n.prototype.intersectBody = function (e, f) {
f && (this.result = f, this._updateDirection());
var n = this.checkCollisionResponse;
if (( ! n || e.collisionResponse) && 0 !== (this.collisionFilterGroup & e.collisionFilterMask) && 0 !== (e.collisionFilterGroup & this.collisionFilterMask)) for (var o = w, d = b, i = 0, t = e.shapes.length; t > i; i++) {
var l = e.shapes[i];
if (( ! n || l.collisionResponse) && (e.quaternion.mult(e.shapeOrientations[i], d), e.quaternion.vmult(e.shapeOffsets[i], o), o.vadd(e.position, o), this.intersectShape(l, d, o, e), this.result._shouldStop)) break
}
}, n.prototype.intersectBodies = function (e, f) {
f && (this.result = f, this._updateDirection());
for (var n = 0, o = e.length; ! this.result._shouldStop && o > n; n++) this.intersectBody(e[n])
}, n.prototype._updateDirection = function () {
this.to.vsub(this.from, this._direction), this._direction.normalize()
}, n.prototype.intersectShape = function (e, f, n, o) {
var i = this.from, t = d(i, this._direction, n);
if ( ! (t > e.boundingSphereRadius)) {
var l = this[e.type];
l && l.call(this, e, f, n, o)
}
};
{
var m = (new i, new i, new i), N = new i, g = new i, x = new i;
new i, new u
}
n.prototype.intersectBox = function (e, f, n, o) {
return this.intersectConvex(e.convexPolyhedronRepresentation, f, n, o)
}, n.prototype[p.types.BOX] = n.prototype.intersectBox, n.prototype.intersectPlane = function (e, f, n, o) {
var d = this.from, t = this.to, l = this._direction, u = new i(0, 0, 1);
f.vmult(u, u);
var p = new i;
d.vsub(n, p);
var s = p.dot(u);
t.vsub(n, p);
var y = p.dot(u);
if ( ! (s * y > 0 || d.distanceTo(t) < s)) {
var c = u.dot(l);
if ( ! (Math.abs(c) < this.precision)) {
var a = new i, r = new i, w = new i;
d.vsub(n, a);
var b = -u.dot(a) / c;
l.scale(b, r), d.vadd(r, w), this.reportIntersection(u, w, e, o, -1)
}
}
}, n.prototype[p.types.PLANE] = n.prototype.intersectPlane, n.prototype.getAABB = function (e) {
var f = this.to, n = this.from;
e.lowerBound.x = Math.min(f.x, n.x), e.lowerBound.y = Math.min(f.y, n.y), e.lowerBound.z = Math.min(f.z, n.z), e.upperBound.x = Math.max(f.x, n.x), e.upperBound.y = Math.max(f.y, n.y), e.upperBound.z = Math.max(f.z, n.z)
};
var j = {faceList: [0]};
n.prototype.intersectHeightfield = function (e, f, o, d) {
var t = (e.data, e.elementSize, new i), u = new n(this.from, this.to);
l.pointToLocalFrame(o, f, u.from, u.from), l.pointToLocalFrame(o, f, u.to, u.to);
var p = [], s = null, y = null, c = null, a = null, r = e.getIndexOfPosition(u.from.x, u.from.y, p, ! 1);
if (r && (s = p[0], y = p[1], c = p[0], a = p[1]), r = e.getIndexOfPosition(u.to.x, u.to.y, p, ! 1), r && ((null === s || p[0] < s) && (s = p[0]), (null === c || p[0] > c) && (c = p[0]), (null === y || p[1] < y) && (y = p[1]), (null === a || p[1] > a) && (a = p[1])), null !== s) {
var w = [];
e.getRectMinMax(s, y, c, a, w);
for (var b = (w[0], w[1], s); c >= b; b++) for (var m = y; a >= m; m++) {
if (this.result._shouldStop) return;
if (e.getConvexTrianglePillar(b, m, ! 1), l.pointToWorldFrame(o, f, e.pillarOffset, t), this.intersectConvex(e.pillarConvex, f, t, d, j), this.result._shouldStop) return;
e.getConvexTrianglePillar(b, m, ! 0), l.pointToWorldFrame(o, f, e.pillarOffset, t), this.intersectConvex(e.pillarConvex, f, t, d, j)
}
}
}, n.prototype[p.types.HEIGHTFIELD] = n.prototype.intersectHeightfield;
var v = new i, A = new i;
n.prototype.intersectSphere = function (e, f, n, o) {
var d = this.from, i = this.to, t = e.radius,
l = Math.pow(i.x - d.x, 2) + Math.pow(i.y - d.y, 2) + Math.pow(i.z - d.z, 2),
u = 2 * ((i.x - d.x) * (d.x - n.x) + (i.y - d.y) * (d.y - n.y) + (i.z - d.z) * (d.z - n.z)),
p = Math.pow(d.x - n.x, 2) + Math.pow(d.y - n.y, 2) + Math.pow(d.z - n.z, 2) - Math.pow(t, 2),
s = Math.pow(u, 2) - 4 * l * p, y = v, c = A;
if ( ! (0 > s)) if (0 === s) d.lerp(i, s, y), y.vsub(n, c), c.normalize(), this.reportIntersection(c, y, e, o, -1); else {
var a = (-u - Math.sqrt(s)) / (2 * l), r = (-u + Math.sqrt(s)) / (2 * l);
if (a >= 0 && 1 >= a && (d.lerp(i, a, y), y.vsub(n, c), c.normalize(), this.reportIntersection(c, y, e, o, -1)), this.result._shouldStop) return;
r >= 0 && 1 >= r && (d.lerp(i, r, y), y.vsub(n, c), c.normalize(), this.reportIntersection(c, y, e, o, -1))
}
}, n.prototype[p.types.SPHERE] = n.prototype.intersectSphere;
var C = new i, O = (new i, new i, new i);
n.prototype.intersectConvex = function (e, f, n, d, i) {
for (var t = C, l = O, u = i && i.faceList || null, p = e.faces, s = e.vertices, y = e.faceNormals, c = this._direction, a = this.from, r = this.to, w = a.distanceTo(r), b = u ? u.length : p.length, j = this.result, v = 0; ! j._shouldStop && b > v; v++) {
var A = u ? u[v] : v, h = p[A], k = y[A], q = f, z = n;
l.copy(s[h[0]]), q.vmult(l, l), l.vadd(z, l), l.vsub(a, l), q.vmult(k, t);
var B = c.dot(t);
if ( ! (Math.abs(B) < this.precision)) {
var D = t.dot(l) / B;
if ( ! (0 > D)) {
c.mult(D, m), m.vadd(a, m), N.copy(s[h[0]]), q.vmult(N, N), z.vadd(N, N);
for (var E = 1; ! j._shouldStop && E < h.length - 1; E++) {
g.copy(s[h[E]]), x.copy(s[h[E + 1]]), q.vmult(g, g), q.vmult(x, x), z.vadd(g, g), z.vadd(x, x);
var F = m.distanceTo(a);
! o(m, N, g, x) && ! o(m, g, N, x) || F > w || this.reportIntersection(t, m, e, d, A)
}
}
}
}
}, n.prototype[p.types.CONVEXPOLYHEDRON] = n.prototype.intersectConvex;
var h = new i, k = new i, q = new i, z = new i, B = new i, D = new i, E = (new s, []), F = new l;
n.prototype.intersectTrimesh = function (e, f, n, d, i) {
var t = h, u = E, p = F, s = O, y = k, c = q, a = z, r = D, w = B, b = (i && i.faceList || null, e.indices),
j = (e.vertices, e.faceNormals, this.from), v = this.to, A = this._direction;
p.position.copy(n), p.quaternion.copy(f), l.vectorToLocalFrame(n, f, A, y), l.pointToLocalFrame(n, f, j, c), l.pointToLocalFrame(n, f, v, a);
var C = c.distanceSquared(a);
e.tree.rayQuery(this, p, u);
for (var G = 0, H = u.length; ! this.result._shouldStop && G !== H; G++) {
var I = u[G];
e.getNormal(I, t), e.getVertex(b[3 * I], N), N.vsub(c, s);
var J = y.dot(t), K = t.dot(s) / J;
if ( ! (0 > K)) {
y.scale(K, m), m.vadd(c, m), e.getVertex(b[3 * I + 1], g), e.getVertex(b[3 * I + 2], x);
var L = m.distanceSquared(c);
! o(m, g, N, x) && ! o(m, N, g, x) || L > C || (l.vectorToWorldFrame(f, t, w), l.pointToWorldFrame(n, f, m, r), this.reportIntersection(w, r, e, d, I))
}
}
u.length = 0
}, n.prototype[p.types.TRIMESH] = n.prototype.intersectTrimesh, n.prototype.reportIntersection = function (e, f, o, d, i) {
var t = this.from, l = this.to, u = t.distanceTo(f), p = this.result;
if ( ! (this.skipBackfaces && e.dot(this._direction) > 0)) switch (p.hitFaceIndex = "undefined" != typeof i ? i : -1, this.mode) {
case n.ALL:
this.hasHit = ! 0, p.set(t, l, e, f, o, d, u), p.hasHit = ! 0, this.callback(p);
break;
case n.CLOSEST:
(u < p.distance || ! p.hasHit) && (this.hasHit = ! 0, p.hasHit = ! 0, p.set(t, l, e, f, o, d, u));
break;
case n.ANY:
this.hasHit = ! 0, p.hasHit = ! 0, p.set(t, l, e, f, o, d, u), p._shouldStop = ! 0
}
};
var G = new i, H = new i
}, {
"../collision/AABB": 3,
"../collision/RaycastResult": 10,
"../math/Quaternion": 28,
"../math/Transform": 29,
"../math/Vec3": 30,
"../shapes/Box": 37,
"../shapes/ConvexPolyhedron": 38,
"../shapes/Shape": 43
}],
10: [function (e, f) {
function n() {
this.rayFromWorld = new o, this.rayToWorld = new o, this.hitNormalWorld = new o, this.hitPointWorld = new o, this.hasHit = ! 1, this.shape = null, this.body = null, this.hitFaceIndex = -1, this.distance = -1, this._shouldStop = ! 1
}
var o = e("../math/Vec3");
f.exports = n, n.prototype.reset = function () {
this.rayFromWorld.setZero(), this.rayToWorld.setZero(), this.hitNormalWorld.setZero(), this.hitPointWorld.setZero(), this.hasHit = ! 1, this.shape = null, this.body = null, this.hitFaceIndex = -1, this.distance = -1, this._shouldStop = ! 1
}, n.prototype.abort = function () {
this._shouldStop = ! 0
}, n.prototype.set = function (e, f, n, o, d, i, t) {
this.rayFromWorld.copy(e), this.rayToWorld.copy(f), this.hitNormalWorld.copy(n), this.hitPointWorld.copy(o), this.shape = d, this.body = i, this.distance = t
}
}, {"../math/Vec3": 30}],
11: [function (e, f) {
function n(e) {
o.apply(this), this.axisList = [], this.world = null, this.axisIndex = 0;
var f = this.axisList;
this._addBodyHandler = function (e) {
f.push(e.body)
}, this._removeBodyHandler = function (e) {
var n = f.indexOf(e.body);
-1 !== n && f.splice(n, 1)
}, e && this.setWorld(e)
}
var o = (e("../shapes/Shape"), e("../collision/Broadphase"));
f.exports = n, n.prototype = new o, n.prototype.setWorld = function (e) {
this.axisList.length = 0;
for (var f = 0; f < e.bodies.length; f++) this.axisList.push(e.bodies[f]);
e.removeEventListener("addBody", this._addBodyHandler), e.removeEventListener("removeBody", this._removeBodyHandler), e.addEventListener("addBody", this._addBodyHandler), e.addEventListener("removeBody", this._removeBodyHandler), this.world = e, this.dirty = ! 0
}, n.insertionSortX = function (e) {
for (var f = 1, n = e.length; n > f; f++) {
for (var o = e[f], d = f - 1; d >= 0 && ! (e[d].aabb.lowerBound.x <= o.aabb.lowerBound.x); d--) e[d + 1] = e[d];
e[d + 1] = o
}
return e
}, n.insertionSortY = function (e) {
for (var f = 1, n = e.length; n > f; f++) {
for (var o = e[f], d = f - 1; d >= 0 && ! (e[d].aabb.lowerBound.y <= o.aabb.lowerBound.y); d--) e[d + 1] = e[d];
e[d + 1] = o
}
return e
}, n.insertionSortZ = function (e) {
for (var f = 1, n = e.length; n > f; f++) {
for (var o = e[f], d = f - 1; d >= 0 && ! (e[d].aabb.lowerBound.z <= o.aabb.lowerBound.z); d--) e[d + 1] = e[d];
e[d + 1] = o
}
return e
}, n.prototype.collisionPairs = function (e, f, o) {
var d, i, t = this.axisList, l = t.length, u = this.axisIndex;
for (this.dirty && (this.sortList(), this.dirty = ! 1), d = 0; d !== l; d++) {
var p = t[d];
for (i = d + 1; l > i; i++) {
var s = t[i];
if (this.needBroadphaseCollision(p, s)) {
if ( ! n.checkBounds(p, s, u)) break;
this.intersectionTest(p, s, f, o)
}
}
}
}, n.prototype.sortList = function () {
for (var e = this.axisList, f = this.axisIndex, o = e.length, d = 0; d !== o; d++) {
var i = e[d];
i.aabbNeedsUpdate && i.computeAABB()
}
0 === f ? n.insertionSortX(e) : 1 === f ? n.insertionSortY(e) : 2 === f && n.insertionSortZ(e)
}, n.checkBounds = function (e, f, n) {
var o, d;
0 === n ? (o = e.position.x, d = f.position.x) : 1 === n ? (o = e.position.y, d = f.position.y) : 2 === n && (o = e.position.z, d = f.position.z);
var i = e.boundingRadius, t = f.boundingRadius, l = o + i, u = d - t;
return l > u
}, n.prototype.autoDetectAxis = function () {
for (var e = 0, f = 0, n = 0, o = 0, d = 0, i = 0, t = this.axisList, l = t.length, u = 1 / l, p = 0; p !== l; p++) {
var s = t[p], y = s.position.x;
e += y, f += y * y;
var c = s.position.y;
n += c, o += c * c;
var a = s.position.z;
d += a, i += a * a
}
var r = f - e * e * u, w = o - n * n * u, b = i - d * d * u;
this.axisIndex = r > w ? r > b ? 0 : 2 : w > b ? 1 : 2
}, n.prototype.aabbQuery = function (e, f, n) {
n = n || [], this.dirty && (this.sortList(), this.dirty = ! 1);
var o = this.axisIndex, d = "x";
1 === o && (d = "y"), 2 === o && (d = "z");
for (var i = this.axisList, t = (f.lowerBound[d], f.upperBound[d], 0); t < i.length; t++) {
var l = i[t];
l.aabbNeedsUpdate && l.computeAABB(), l.aabb.overlaps(f) && n.push(l)
}
return n
}
}, {"../collision/Broadphase": 5, "../shapes/Shape": 43}],
12: [function (e, f) {
function n(e, f, n) {
n = n || {};
var l = "undefined" != typeof n.maxForce ? n.maxForce : 1e6, u = n.pivotA ? n.pivotA.clone() : new t,
p = n.pivotB ? n.pivotB.clone() : new t;
this.axisA = n.axisA ? n.axisA.clone() : new t, this.axisB = n.axisB ? n.axisB.clone() : new t, o.call(this, e, u, f, p, l), this.collideConnected = !! n.collideConnected, this.angle = "undefined" != typeof n.angle ? n.angle : 0;
var s = this.coneEquation = new d(e, f, n), y = this.twistEquation = new i(e, f, n);
this.twistAngle = "undefined" != typeof n.twistAngle ? n.twistAngle : 0, s.maxForce = 0, s.minForce = -l, y.maxForce = 0, y.minForce = -l, this.equations.push(s, y)
}
f.exports = n;
var o = (e("./Constraint"), e("./PointToPointConstraint")), d = e("../equations/ConeEquation"),
i = e("../equations/RotationalEquation"), t = (e("../equations/ContactEquation"), e("../math/Vec3"));
n.prototype = new o, n.constructor = n;
new t, new t;
n.prototype.update = function () {
var e = this.bodyA, f = this.bodyB, n = this.coneEquation, d = this.twistEquation;
o.prototype.update.call(this), e.vectorToWorldFrame(this.axisA, n.axisA), f.vectorToWorldFrame(this.axisB, n.axisB), this.axisA.tangents(d.axisA, d.axisA), e.vectorToWorldFrame(d.axisA, d.axisA), this.axisB.tangents(d.axisB, d.axisB), f.vectorToWorldFrame(d.axisB, d.axisB), n.angle = this.angle, d.maxAngle = this.twistAngle
}
}, {
"../equations/ConeEquation": 18,
"../equations/ContactEquation": 19,
"../equations/RotationalEquation": 22,
"../math/Vec3": 30,
"./Constraint": 13,
"./PointToPointConstraint": 17
}],
13: [function (e, f) {
function n(e, f, d) {
d = o.defaults(d, {
collideConnected: ! 0,
wakeUpBodies: ! 0
}), this.equations = [], this.bodyA = e, this.bodyB = f, this.id = n.idCounter++, this.collideConnected = d.collideConnected, d.wakeUpBodies && (e && e.wakeUp(), f && f.wakeUp())
}
f.exports = n;
var o = e("../utils/Utils");
n.prototype.update = function () {
throw new Error("method update() not implmemented in this Constraint subclass!")
}, n.prototype.enable = function () {
for (var e = this.equations, f = 0; f < e.length; f++) e[f].enabled = ! 0
}, n.prototype.disable = function () {
for (var e = this.equations, f = 0; f < e.length; f++) e[f].enabled = ! 1
}, n.idCounter = 0
}, {"../utils/Utils": 53}],
14: [function (e, f) {
function n(e, f, n, i) {
o.call(this, e, f), "undefined" == typeof n && (n = e.position.distanceTo(f.position)), "undefined" == typeof i && (i = 1e6), this.distance = n;
var t = this.distanceEquation = new d(e, f);
this.equations.push(t), t.minForce = -i, t.maxForce = i
}
f.exports = n;
var o = e("./Constraint"), d = e("../equations/ContactEquation");
n.prototype = new o, n.prototype.update = function () {
var e = this.bodyA, f = this.bodyB, n = this.distanceEquation, o = .5 * this.distance, d = n.ni;
f.position.vsub(e.position, d), d.normalize(), d.mult(o, n.ri), d.mult(-o, n.rj)
}
}, {"../equations/ContactEquation": 19, "./Constraint": 13}],
15: [function (e, f) {
function n(e, f, n) {
n = n || {};
var l = "undefined" != typeof n.maxForce ? n.maxForce : 1e6, u = n.pivotA ? n.pivotA.clone() : new t,
p = n.pivotB ? n.pivotB.clone() : new t;
o.call(this, e, u, f, p, l);
var s = this.axisA = n.axisA ? n.axisA.clone() : new t(1, 0, 0);
s.normalize();
var y = this.axisB = n.axisB ? n.axisB.clone() : new t(1, 0, 0);
y.normalize();
var c = this.rotationalEquation1 = new d(e, f, n), a = this.rotationalEquation2 = new d(e, f, n),
r = this.motorEquation = new i(e, f, l);
r.enabled = ! 1, this.equations.push(c, a, r)
}
f.exports = n;
var o = (e("./Constraint"), e("./PointToPointConstraint")), d = e("../equations/RotationalEquation"),
i = e("../equations/RotationalMotorEquation"), t = (e("../equations/ContactEquation"), e("../math/Vec3"));
n.prototype = new o, n.constructor = n, n.prototype.enableMotor = function () {
this.motorEquation.enabled = ! 0
}, n.prototype.disableMotor = function () {
this.motorEquation.enabled = ! 1
}, n.prototype.setMotorSpeed = function (e) {
this.motorEquation.targetVelocity = e
}, n.prototype.setMotorMaxForce = function (e) {
this.motorEquation.maxForce = e, this.motorEquation.minForce = -e
};
var l = new t, u = new t;
n.prototype.update = function () {
var e = this.bodyA, f = this.bodyB, n = this.motorEquation, d = this.rotationalEquation1,
i = this.rotationalEquation2, t = l, p = u, s = this.axisA, y = this.axisB;
o.prototype.update.call(this), e.quaternion.vmult(s, t), f.quaternion.vmult(y, p), t.tangents(d.axisA, i.axisA), d.axisB.copy(p), i.axisB.copy(p), this.motorEquation.enabled && (e.quaternion.vmult(this.axisA, n.axisA), f.quaternion.vmult(this.axisB, n.axisB))
}
}, {
"../equations/ContactEquation": 19,
"../equations/RotationalEquation": 22,
"../equations/RotationalMotorEquation": 23,
"../math/Vec3": 30,
"./Constraint": 13,
"./PointToPointConstraint": 17
}],
16: [function (e, f) {
function n(e, f, n) {
n = n || {};
var t = "undefined" != typeof n.maxForce ? n.maxForce : 1e6, l = new i, u = new i, p = new i;
e.position.vadd(f.position, p), p.scale(.5, p), f.pointToLocalFrame(p, u), e.pointToLocalFrame(p, l), o.call(this, e, l, f, u, t);
var s = this.rotationalEquation1 = new d(e, f, n), y = this.rotationalEquation2 = new d(e, f, n),
c = this.rotationalEquation3 = new d(e, f, n);
this.equations.push(s, y, c)
}
f.exports = n;
var o = (e("./Constraint"), e("./PointToPointConstraint")), d = e("../equations/RotationalEquation"),
i = (e("../equations/RotationalMotorEquation"), e("../equations/ContactEquation"), e("../math/Vec3"));
n.prototype = new o, n.constructor = n;
new i, new i;
n.prototype.update = function () {
var e = this.bodyA, f = this.bodyB, n = (this.motorEquation, this.rotationalEquation1),
d = this.rotationalEquation2, t = this.rotationalEquation3;
o.prototype.update.call(this), e.vectorToWorldFrame(i.UNIT_X, n.axisA), f.vectorToWorldFrame(i.UNIT_Y, n.axisB), e.vectorToWorldFrame(i.UNIT_Y, d.axisA), f.vectorToWorldFrame(i.UNIT_Z, d.axisB), e.vectorToWorldFrame(i.UNIT_Z, t.axisA), f.vectorToWorldFrame(i.UNIT_X, t.axisB)
}
}, {
"../equations/ContactEquation": 19,
"../equations/RotationalEquation": 22,
"../equations/RotationalMotorEquation": 23,
"../math/Vec3": 30,
"./Constraint": 13,
"./PointToPointConstraint": 17
}],
17: [function (e, f) {
function n(e, f, n, t, l) {
o.call(this, e, n), l = "undefined" != typeof l ? l : 1e6, this.pivotA = f ? f.clone() : new i, this.pivotB = t ? t.clone() : new i;
var u = this.equationX = new d(e, n), p = this.equationY = new d(e, n), s = this.equationZ = new d(e, n);
this.equations.push(u, p, s), u.minForce = p.minForce = s.minForce = -l, u.maxForce = p.maxForce = s.maxForce = l, u.ni.set(1, 0, 0), p.ni.set(0, 1, 0), s.ni.set(0, 0, 1)
}
f.exports = n;
var o = e("./Constraint"), d = e("../equations/ContactEquation"), i = e("../math/Vec3");
n.prototype = new o, n.prototype.update = function () {
var e = this.bodyA, f = this.bodyB, n = this.equationX, o = this.equationY, d = this.equationZ;
e.quaternion.vmult(this.pivotA, n.ri), f.quaternion.vmult(this.pivotB, n.rj), o.ri.copy(n.ri), o.rj.copy(n.rj), d.ri.copy(n.ri), d.rj.copy(n.rj)
}
}, {"../equations/ContactEquation": 19, "../math/Vec3": 30, "./Constraint": 13}],
18: [function (e, f) {
function n(e, f, n) {
n = n || {};
var i = "undefined" != typeof n.maxForce ? n.maxForce : 1e6;
d.call(this, e, f, -i, i), this.axisA = n.axisA ? n.axisA.clone() : new o(1, 0, 0), this.axisB = n.axisB ? n.axisB.clone() : new o(0, 1, 0), this.angle = "undefined" != typeof n.angle ? n.angle : 0
}
f.exports = n;
var o = e("../math/Vec3"), d = (e("../math/Mat3"), e("./Equation"));
n.prototype = new d, n.prototype.constructor = n;
var i = new o, t = new o;
n.prototype.computeB = function (e) {
var f = this.a, n = this.b, o = this.axisA, d = this.axisB, l = i, u = t, p = this.jacobianElementA,
s = this.jacobianElementB;
o.cross(d, l), d.cross(o, u), p.rotational.copy(u), s.rotational.copy(l);
var y = Math.cos(this.angle) - o.dot(d), c = this.computeGW(), a = this.computeGiMf(),
r = -y * f - c * n - e * a;
return r
}
}, {"../math/Mat3": 27, "../math/Vec3": 30, "./Equation": 20}],
19: [function (e, f) {
function n(e, f, n) {
n = "undefined" != typeof n ? n : 1e6, o.call(this, e, f, 0, n), this.restitution = 0, this.ri = new d, this.rj = new d, this.ni = new d
}
f.exports = n;
{
var o = e("./Equation"), d = e("../math/Vec3");
e("../math/Mat3")
}
n.prototype = new o, n.prototype.constructor = n;
var i = new d, t = new d, l = new d;
n.prototype.computeB = function (e) {
var f = this.a, n = this.b, o = this.bi, d = this.bj, u = this.ri, p = this.rj, s = i, y = t, c = o.velocity,
a = o.angularVelocity, r = (o.force, o.torque, d.velocity), w = d.angularVelocity, b = (d.force, d.torque, l),
m = this.jacobianElementA, N = this.jacobianElementB, g = this.ni;
u.cross(g, s), p.cross(g, y), g.negate(m.spatial), s.negate(m.rotational), N.spatial.copy(g), N.rotational.copy(y), b.copy(d.position), b.vadd(p, b), b.vsub(o.position, b), b.vsub(u, b);
var x = g.dot(b), j = this.restitution + 1, v = j * r.dot(g) - j * c.dot(g) + w.dot(y) - a.dot(s),
A = this.computeGiMf(), C = -x * f - v * n - e * A;
return C
};
var u = new d, p = new d, s = new d, y = new d, c = new d;
n.prototype.getImpactVelocityAlongNormal = function () {
var e = u, f = p, n = s, o = y, d = c;
return this.bi.position.vadd(this.ri, n), this.bj.position.vadd(this.rj, o), this.bi.getVelocityAtWorldPoint(n, e), this.bj.getVelocityAtWorldPoint(o, f), e.vsub(f, d), this.ni.dot(d)
}
}, {"../math/Mat3": 27, "../math/Vec3": 30, "./Equation": 20}],
20: [function (e, f) {
function n(e, f, d, i) {
this.id = n.id++, this.minForce = "undefined" == typeof d ? -1e6 : d, this.maxForce = "undefined" == typeof i ? 1e6 : i, this.bi = e, this.bj = f, this.a = 0, this.b = 0, this.eps = 0, this.jacobianElementA = new o, this.jacobianElementB = new o, this.enabled = ! 0, this.setSpookParams(1e7, 4, 1 / 60)
}
f.exports = n;
var o = e("../math/JacobianElement"), d = e("../math/Vec3");
n.prototype.constructor = n, n.id = 0, n.prototype.setSpookParams = function (e, f, n) {
var o = f, d = e, i = n;
this.a = 4 / (i * (1 + 4 * o)), this.b = 4 * o / (1 + 4 * o), this.eps = 4 / (i * i * d * (1 + 4 * o))
}, n.prototype.computeB = function (e, f, n) {
var o = this.computeGW(), d = this.computeGq(), i = this.computeGiMf();
return -d * e - o * f - i * n
}, n.prototype.computeGq = function () {
var e = this.jacobianElementA, f = this.jacobianElementB, n = this.bi, o = this.bj, d = n.position,
i = o.position;
return e.spatial.dot(d) + f.spatial.dot(i)
};
var i = new d;
n.prototype.computeGW = function () {
var e = this.jacobianElementA, f = this.jacobianElementB, n = this.bi, o = this.bj, d = n.velocity,
t = o.velocity, l = n.angularVelocity || i, u = o.angularVelocity || i;
return e.multiplyVectors(d, l) + f.multiplyVectors(t, u)
}, n.prototype.computeGWlambda = function () {
var e = this.jacobianElementA, f = this.jacobianElementB, n = this.bi, o = this.bj, d = n.vlambda,
t = o.vlambda, l = n.wlambda || i, u = o.wlambda || i;
return e.multiplyVectors(d, l) + f.multiplyVectors(t, u)
};
var t = new d, l = new d, u = new d, p = new d;
n.prototype.computeGiMf = function () {
var e = this.jacobianElementA, f = this.jacobianElementB, n = this.bi, o = this.bj, d = n.force, i = n.torque,
s = o.force, y = o.torque, c = n.invMassSolve, a = o.invMassSolve;
return n.invInertiaWorldSolve ? n.invInertiaWorldSolve.vmult(i, u) : u.set(0, 0, 0), o.invInertiaWorldSolve ? o.invInertiaWorldSolve.vmult(y, p) : p.set(0, 0, 0), d.mult(c, t), s.mult(a, l), e.multiplyVectors(t, u) + f.multiplyVectors(l, p)
};
var s = new d;
n.prototype.computeGiMGt = function () {
var e = this.jacobianElementA, f = this.jacobianElementB, n = this.bi, o = this.bj, d = n.invMassSolve,
i = o.invMassSolve, t = n.invInertiaWorldSolve, l = o.invInertiaWorldSolve, u = d + i;
return t && (t.vmult(e.rotational, s), u += s.dot(e.rotational)), l && (l.vmult(f.rotational, s), u += s.dot(f.rotational)), u
};
{
var y = new d;
new d, new d, new d, new d, new d
}
n.prototype.addToWlambda = function (e) {
var f = this.jacobianElementA, n = this.jacobianElementB, o = this.bi, d = this.bj, i = y;
f.spatial.mult(o.invMassSolve * e, i), o.vlambda.vadd(i, o.vlambda), n.spatial.mult(d.invMassSolve * e, i), d.vlambda.vadd(i, d.vlambda), o.invInertiaWorldSolve && (o.invInertiaWorldSolve.vmult(f.rotational, i), i.mult(e, i), o.wlambda.vadd(i, o.wlambda)), d.invInertiaWorldSolve && (d.invInertiaWorldSolve.vmult(n.rotational, i), i.mult(e, i), d.wlambda.vadd(i, d.wlambda))
}, n.prototype.computeC = function () {
return this.computeGiMGt() + this.eps
}
}, {"../math/JacobianElement": 26, "../math/Vec3": 30}],
21: [function (e, f) {
function n(e, f, n) {
o.call(this, e, f, -n, n), this.ri = new d, this.rj = new d, this.t = new d
}
f.exports = n;
{
var o = e("./Equation"), d = e("../math/Vec3");
e("../math/Mat3")
}
n.prototype = new o, n.prototype.constructor = n;
var i = new d, t = new d;
n.prototype.computeB = function (e) {
var f = (this.a, this.b), n = (this.bi, this.bj, this.ri), o = this.rj, d = i, l = t, u = this.t;
n.cross(u, d), o.cross(u, l);
var p = this.jacobianElementA, s = this.jacobianElementB;
u.negate(p.spatial), d.negate(p.rotational), s.spatial.copy(u), s.rotational.copy(l);
var y = this.computeGW(), c = this.computeGiMf(), a = -y * f - e * c;
return a
}
}, {"../math/Mat3": 27, "../math/Vec3": 30, "./Equation": 20}],
22: [function (e, f) {
function n(e, f, n) {
n = n || {};
var i = "undefined" != typeof n.maxForce ? n.maxForce : 1e6;
d.call(this, e, f, -i, i), this.axisA = n.axisA ? n.axisA.clone() : new o(1, 0, 0), this.axisB = n.axisB ? n.axisB.clone() : new o(0, 1, 0), this.maxAngle = Math.PI / 2
}
f.exports = n;
var o = e("../math/Vec3"), d = (e("../math/Mat3"), e("./Equation"));
n.prototype = new d, n.prototype.constructor = n;
var i = new o, t = new o;
n.prototype.computeB = function (e) {
var f = this.a, n = this.b, o = this.axisA, d = this.axisB, l = i, u = t, p = this.jacobianElementA,
s = this.jacobianElementB;
o.cross(d, l), d.cross(o, u), p.rotational.copy(u), s.rotational.copy(l);
var y = Math.cos(this.maxAngle) - o.dot(d), c = this.computeGW(), a = this.computeGiMf(),
r = -y * f - c * n - e * a;
return r
}
}, {"../math/Mat3": 27, "../math/Vec3": 30, "./Equation": 20}],
23: [function (e, f) {
function n(e, f, n) {
n = "undefined" != typeof n ? n : 1e6, d.call(this, e, f, -n, n), this.axisA = new o, this.axisB = new o, this.targetVelocity = 0
}
f.exports = n;
var o = e("../math/Vec3"), d = (e("../math/Mat3"), e("./Equation"));
n.prototype = new d, n.prototype.constructor = n, n.prototype.computeB = function (e) {
var f = (this.a, this.b), n = (this.bi, this.bj, this.axisA), o = this.axisB, d = this.jacobianElementA,
i = this.jacobianElementB;
d.rotational.copy(n), o.negate(i.rotational);
var t = this.computeGW() - this.targetVelocity, l = this.computeGiMf(), u = -t * f - e * l;
return u
}
}, {"../math/Mat3": 27, "../math/Vec3": 30, "./Equation": 20}],
24: [function (e, f) {
function n(e, f, d) {
d = o.defaults(d, {
friction: .3,
restitution: .3,
contactEquationStiffness: 1e7,
contactEquationRelaxation: 3,
frictionEquationStiffness: 1e7,
frictionEquationRelaxation: 3
}), this.id = n.idCounter++, this.materials = [e, f], this.friction = d.friction, this.restitution = d.restitution, this.contactEquationStiffness = d.contactEquationStiffness, this.contactEquationRelaxation = d.contactEquationRelaxation, this.frictionEquationStiffness = d.frictionEquationStiffness, this.frictionEquationRelaxation = d.frictionEquationRelaxation
}
var o = e("../utils/Utils");