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