KitsuneOffline/gstatic/external_hosted/cannonjs/cannon.min.js

/**
 * @license
 * Copyright (c) 2015 cannon.js Authors
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use, copy,
 * modify, merge, publish, distribute, sublicense, and/or sell copies
 * of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

!function(e){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=e();else if("function"==typeof define&&false)define([],e);else{var f;"undefined"!=typeof window?f=window:"undefined"!=typeof global?f=global:"undefined"!=typeof self&&(f=self),f.CANNON=e()}}(function(){return function e(f,n,o){function d(t,l){if(!n[t]){if(!f[t]){var u="function"==typeof require&&require;if(!l&&u)return u(t,!0);if(i)return i(t,!0);throw new Error("Cannot find module '"+t+"'")}var p=n[t]={exports:{}};f[t][0].call(p.exports,function(e){var n=f[t][1][e];return d(n?n:e)},p,p.exports,e,f,n,o)}return n[t].exports}for(var i="function"==typeof require&&require,t=0;t<o.length;t++)d(o[t]);return d}({1:[function(e,f){f.exports={name:"cannon",version:"0.6.2",description:"A lightweight 3D physics engine written in JavaScript.",homepage:"https://github.com/schteppe/cannon.js",author:"Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",keywords:["cannon.js","cannon","physics","engine","3d"],main:"./build/cannon.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/cannon.js.git"},bugs:{url:"https://github.com/schteppe/cannon.js/issues"},licenses:[{type:"MIT"}],devDependencies:{jshint:"latest","uglify-js":"latest",nodeunit:"^0.9.0",grunt:"~0.4.0","grunt-contrib-jshint":"~0.1.1","grunt-contrib-nodeunit":"^0.4.1","grunt-contrib-concat":"~0.1.3","grunt-contrib-uglify":"^0.5.1","grunt-browserify":"^2.1.4","grunt-contrib-yuidoc":"^0.5.2",browserify:"*"},dependencies:{}}},{}],2:[function(e,f){f.exports={version:e("../package.json").version,AABB:e("./collision/AABB"),ArrayCollisionMatrix:e("./collision/ArrayCollisionMatrix"),Body:e("./objects/Body"),Box:e("./shapes/Box"),Broadphase:e("./collision/Broadphase"),Constraint:e("./constraints/Constraint"),ContactEquation:e("./equations/ContactEquation"),Narrowphase:e("./world/Narrowphase"),ConeTwistConstraint:e("./constraints/ConeTwistConstraint"),ContactMaterial:e("./material/ContactMaterial"),ConvexPolyhedron:e("./shapes/ConvexPolyhedron"),Cylinder:e("./shapes/Cylinder"),DistanceConstraint:e("./constraints/DistanceConstraint"),Equation:e("./equations/Equation"),EventTarget:e("./utils/EventTarget"),FrictionEquation:e("./equations/FrictionEquation"),GSSolver:e("./solver/GSSolver"),GridBroadphase:e("./collision/GridBroadphase"),Heightfield:e("./shapes/Heightfield"),HingeConstraint:e("./constraints/HingeConstraint"),LockConstraint:e("./constraints/LockConstraint"),Mat3:e("./math/Mat3"),Material:e("./material/Material"),NaiveBroadphase:e("./collision/NaiveBroadphase"),ObjectCollisionMatrix:e("./collision/ObjectCollisionMatrix"),Pool:e("./utils/Pool"),Particle:e("./shapes/Particle"),Plane:e("./shapes/Plane"),PointToPointConstraint:e("./constraints/PointToPointConstraint"),Quaternion:e("./math/Quaternion"),Ray:e("./collision/Ray"),RaycastVehicle:e("./objects/RaycastVehicle"),RaycastResult:e("./collision/RaycastResult"),RigidVehicle:e("./objects/RigidVehicle"),RotationalEquation:e("./equations/RotationalEquation"),RotationalMotorEquation:e("./equations/RotationalMotorEquation"),SAPBroadphase:e("./collision/SAPBroadphase"),SPHSystem:e("./objects/SPHSystem"),Shape:e("./shapes/Shape"),Solver:e("./solver/Solver"),Sphere:e("./shapes/Sphere"),SplitSolver:e("./solver/SplitSolver"),Spring:e("./objects/Spring"),Trimesh:e("./shapes/Trimesh"),Vec3:e("./math/Vec3"),Vec3Pool:e("./utils/Vec3Pool"),World:e("./world/World")}},{"../package.json":1,"./collision/AABB":3,"./collision/ArrayCollisionMatrix":4,"./collision/Broadphase":5,"./collision/GridBroadphase":6,"./collision/NaiveBroadphase":7,"./collision/ObjectCollisionMatrix":8,"./collision/Ray":9,"./collision/RaycastResult":10,"./collision/SAPBroadphase":11,"./constraints/ConeTwistConstraint":12,"./constraints/Constraint":13,"./constraints/DistanceConstraint":14,"./constraints/HingeConstraint":15,"./constraints/LockConstraint":16,"./constraints/PointToPointConstraint":17,"./equations/ContactEquation":19,"./equations/Equation":20,"./equations/FrictionEquation":21,"./equations/RotationalEquation":22,"./equations/RotationalMotorEquation":23,"./m
}f.exports=n;var o=e("../math/JacobianElement"),d=e("../math/Vec3");n.prototype.constructor=n,n.id=0,n.prototype.setSpookParams=function(e,f,n){var o=f,d=e,i=n;this.a=4/(i*(1+4*o)),this.b=4*o/(1+4*o),this.eps=4/(i*i*d*(1+4*o))},n.prototype.computeB=function(e,f,n){var o=this.computeGW(),d=this.computeGq(),i=this.computeGiMf();return-d*e-o*f-i*n},n.prototype.computeGq=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.position,i=o.position;return e.spatial.dot(d)+f.spatial.dot(i)};var i=new d;n.prototype.computeGW=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.velocity,t=o.velocity,l=n.angularVelocity||i,u=o.angularVelocity||i;return e.multiplyVectors(d,l)+f.multiplyVectors(t,u)},n.prototype.computeGWlambda=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.vlambda,t=o.vlambda,l=n.wlambda||i,u=o.wlambda||i;return e.multiplyVectors(d,l)+f.multiplyVectors(t,u)};var t=new d,l=new d,u=new d,p=new d;n.prototype.computeGiMf=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.force,i=n.torque,s=o.force,y=o.torque,c=n.invMassSolve,a=o.invMassSolve;return n.invInertiaWorldSolve?n.invInertiaWorldSolve.vmult(i,u):u.set(0,0,0),o.invInertiaWorldSolve?o.invInertiaWorldSolve.vmult(y,p):p.set(0,0,0),d.mult(c,t),s.mult(a,l),e.multiplyVectors(t,u)+f.multiplyVectors(l,p)};var s=new d;n.prototype.computeGiMGt=function(){var e=this.jacobianElementA,f=this.jacobianElementB,n=this.bi,o=this.bj,d=n.invMassSolve,i=o.invMassSolve,t=n.invInertiaWorldSolve,l=o.invInertiaWorldSolve,u=d+i;return t&&(t.vmult(e.rotational,s),u+=s.dot(e.rotational)),l&&(l.vmult(f.rotational,s),u+=s.dot(f.rotational)),u};{var y=new d;new d,new d,new d,new d,new d}n.prototype.addToWlambda=function(e){var f=this.jacobianElementA,n=this.jacobianElementB,o=this.bi,d=this.bj,i=y;f.spatial.mult(o.invMassSolve*e,i),o.vlambda.vadd(i,o.vlambda),n.spatial.mult(d.invMassSolve*e,i),d.vlambda.vadd(i,d.vlambda),o.invInertiaWorldSolve&&(o.invInertiaWorldSolve.vmult(f.rotational,i),i.mult(e,i),o.wlambda.vadd(i,o.wlambda)),d.invInertiaWorldSolve&&(d.invInertiaWorldSolve.vmult(n.rotational,i),i.mult(e,i),d.wlambda.vadd(i,d.wlambda))},n.prototype.computeC=function(){return this.computeGiMGt()+this.eps}},{"../math/JacobianElement":26,"../math/Vec3":30}],21:[function(e,f){function n(e,f,n){o.call(this,e,f,-n,n),this.ri=new d,this.rj=new d,this.t=new d}f.exports=n;{var o=e("./Equation"),d=e("../math/Vec3");e("../math/Mat3")}n.prototype=new o,n.prototype.constructor=n;var i=new d,t=new d;n.prototype.computeB=function(e){var f=(this.a,this.b),n=(this.bi,this.bj,this.ri),o=this.rj,d=i,l=t,u=this.t;n.cross(u,d),o.cross(u,l);var p=this.jacobianElementA,s=this.jacobianElementB;u.negate(p.spatial),d.negate(p.rotational),s.spatial.copy(u),s.rotational.copy(l);var y=this.computeGW(),c=this.computeGiMf(),a=-y*f-e*c;return a}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],22:[function(e,f){function n(e,f,n){n=n||{};var i="undefined"!=typeof n.maxForce?n.maxForce:1e6;d.call(this,e,f,-i,i),this.axisA=n.axisA?n.axisA.clone():new o(1,0,0),this.axisB=n.axisB?n.axisB.clone():new o(0,1,0),this.maxAngle=Math.PI/2}f.exports=n;var o=e("../math/Vec3"),d=(e("../math/Mat3"),e("./Equation"));n.prototype=new d,n.prototype.constructor=n;var i=new o,t=new o;n.prototype.computeB=function(e){var f=this.a,n=this.b,o=this.axisA,d=this.axisB,l=i,u=t,p=this.jacobianElementA,s=this.jacobianElementB;o.cross(d,l),d.cross(o,u),p.rotational.copy(u),s.rotational.copy(l);var y=Math.cos(this.maxAngle)-o.dot(d),c=this.computeGW(),a=this.computeGiMf(),r=-y*f-c*n-e*a;return r}},{"../math/Mat3":27,"../math/Vec3":30,"./Equation":20}],23:[function(e,f){function n(e,f,n){n="undefined"!=typeof n?n:1e6,d.call(this,e,f,-n,n),this.axisA=new o,this.axisB=new o,this.targetVelocity=0}f.exports=n;var o=e("../math/Vec3"),d=(e("../math/Mat3"),e("./Equation"));n.prototype=new d,n.prototype.constructor=n,n.prototype.computeB=function(e){var f=(this.a,this.b),n=(this.bi,this.bj,this.axisA),o=this.axi
f.disableMotor()};var u=new t;n.prototype.setWheelForce=function(e,f){this.wheelForces[f]=e},n.prototype.applyWheelForce=function(e,f){var n=this.wheelAxes[f],o=this.wheelBodies[f],d=o.torque;n.scale(e,u),o.vectorToWorldFrame(u,u),d.vadd(u,d)},n.prototype.addToWorld=function(e){for(var f=this.constraints,n=this.wheelBodies.concat([this.chassisBody]),o=0;o<n.length;o++)e.add(n[o]);for(var o=0;o<f.length;o++)e.addConstraint(f[o]);e.addEventListener("preStep",this._update.bind(this))},n.prototype._update=function(){for(var e=this.wheelForces,f=0;f<e.length;f++)this.applyWheelForce(e[f],f)},n.prototype.removeFromWorld=function(e){for(var f=this.constraints,n=this.wheelBodies.concat([this.chassisBody]),o=0;o<n.length;o++)e.remove(n[o]);for(var o=0;o<f.length;o++)e.removeConstraint(f[o])};var p=new t;n.prototype.getWheelSpeed=function(e){var f=this.wheelAxes[e],n=this.wheelBodies[e],o=n.angularVelocity;return this.chassisBody.vectorToWorldFrame(f,p),o.dot(p)}},{"../constraints/HingeConstraint":15,"../math/Vec3":30,"../shapes/Box":37,"../shapes/Sphere":44,"./Body":31}],34:[function(e,f){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=[]}f.exports=n;{var o=(e("../shapes/Shape"),e("../math/Vec3"));e("../math/Quaternion"),e("../shapes/Particle"),e("../objects/Body"),e("../material/Material")}n.prototype.add=function(e){this.particles.push(e),this.neighbors.length<this.particles.length&&this.neighbors.push([])},n.prototype.remove=function(e){var f=this.particles.indexOf(e);-1!==f&&(this.particles.splice(f,1),this.neighbors.length>this.particles.length&&this.neighbors.pop())};var d=new o;n.prototype.getNeighbors=function(e,f){for(var n=this.particles.length,o=e.id,i=this.smoothingRadius*this.smoothingRadius,t=d,l=0;l!==n;l++){var u=this.particles[l];u.position.vsub(e.position,t),o!==u.id&&t.norm2()<i&&f.push(u)}};var i=new o,t=new o,l=new o,u=new o,p=new o,s=new o;n.prototype.update=function(){for(var e=this.particles.length,f=i,n=this.speedOfSound,o=this.eps,d=0;d!==e;d++){var y=this.particles[d],c=this.neighbors[d];c.length=0,this.getNeighbors(y,c),c.push(this.particles[d]);for(var a=c.length,r=0,w=0;w!==a;w++){y.position.vsub(c[w].position,f);var b=f.norm(),m=this.w(b);r+=c[w].mass*m}this.densities[d]=r,this.pressures[d]=n*n*(this.densities[d]-this.density)}for(var N=t,g=l,x=u,j=p,v=s,d=0;d!==e;d++){var A=this.particles[d];N.set(0,0,0),g.set(0,0,0);for(var C,O,c=this.neighbors[d],a=c.length,w=0;w!==a;w++){var h=c[w];A.position.vsub(h.position,j);var k=j.norm();C=-h.mass*(this.pressures[d]/(this.densities[d]*this.densities[d]+o)+this.pressures[w]/(this.densities[w]*this.densities[w]+o)),this.gradw(j,x),x.mult(C,x),N.vadd(x,N),h.velocity.vsub(A.velocity,v),v.mult(1/(1e-4+this.densities[d]*this.densities[w])*this.viscosity*h.mass,v),O=this.nablaw(k),v.mult(O,v),g.vadd(v,g)}g.mult(A.mass,g),N.mult(A.mass,N),A.force.vadd(g,A.force),A.force.vadd(N,A.force)}},n.prototype.w=function(e){var f=this.smoothingRadius;return 315/(64*Math.PI*Math.pow(f,9))*Math.pow(f*f-e*e,3)},n.prototype.gradw=function(e,f){var n=e.norm(),o=this.smoothingRadius;e.mult(945/(32*Math.PI*Math.pow(o,9))*Math.pow(o*o-n*n,2),f)},n.prototype.nablaw=function(e){var f=this.smoothingRadius,n=945/(32*Math.PI*Math.pow(f,9))*(f*f-e*e)*(7*e*e-3*f*f);return n}},{"../material/Material":25,"../math/Quaternion":28,"../math/Vec3":30,"../objects/Body":31,"../shapes/Particle":41,"../shapes/Shape":43}],35:[function(e,f){function n(e,f,n){n=n||{},this.restLength="number"==typeof n.restLength?n.restLength:1,this.stiffness=n.stiffness||100,this.damping=n.damping||1,this.bodyA=e,this.bodyB=f,this.localAnchorA=new o,this.localAnchorB=new o,n.localAnchorA&&this.localAnchorA.copy(n.localAnchorA),n.localAnchorB&&this.localAnchorB.copy(n.localAnchorB),n.worldAnchorA&&this.setWorldAnchorA(n.worldAnchorA),n.worldAnchorB&&this.setWorldAnchorB(n.worldAnchorB)}var o=e("../math/Vec3");f.exports=n,n.prototype.setWorldAnchorA=function(e){this.bodyA.pointToLocalFrame(e,this.lo
x.length=w,j.length=w,v.length=w;for(var g=0;g!==w;g++){var A=r[g];v[g]=0,j[g]=A.computeB(N),x[g]=1/A.computeC()}if(0!==w){for(var g=0;g!==m;g++){var C=b[g],O=C.vlambda,h=C.wlambda;O.set(0,0,0),h&&h.set(0,0,0)}for(y=0;y!==c;y++){u=0;for(var k=0;k!==w;k++){var A=r[k];n=j[k],o=x[k],s=v[k],p=A.computeGWlambda(),l=o*(n-p-A.eps*s),s+l<A.minForce?l=A.minForce-s:s+l>A.maxForce&&(l=A.maxForce-s),v[k]+=l,u+=l>0?l:-l,A.addToWlambda(l)}if(a>u*u)break}for(var g=0;g!==m;g++){var C=b[g],q=C.velocity,z=C.angularVelocity;q.vadd(C.vlambda,q),z&&z.vadd(C.wlambda,z)}}return y}},{"../math/Quaternion":28,"../math/Vec3":30,"./Solver":47}],47:[function(e,f){function n(){this.equations=[]}f.exports=n,n.prototype.solve=function(){return 0},n.prototype.addEquation=function(e){e.enabled&&this.equations.push(e)},n.prototype.removeEquation=function(e){var f=this.equations,n=f.indexOf(e);-1!==n&&f.splice(n,1)},n.prototype.removeAllEquations=function(){this.equations.length=0}},{}],48:[function(e,f){function n(e){for(l.call(this),this.iterations=10,this.tolerance=1e-7,this.subsolver=e,this.nodes=[],this.nodePool=[];this.nodePool.length<128;)this.nodePool.push(this.createNode())}function o(e){for(var f=e.length,n=0;n!==f;n++){var o=e[n];if(!(o.visited||o.body.type&c))return o}return!1}function d(e,f,n,d){for(a.push(e),e.visited=!0,f(e,n,d);a.length;)for(var i,t=a.pop();i=o(t.children);)i.visited=!0,f(i,n,d),a.push(i)}function i(e,f,n){f.push(e.body);for(var o=e.eqs.length,d=0;d!==o;d++){var i=e.eqs[d];-1===n.indexOf(i)&&n.push(i)}}function t(e,f){return f.id-e.id}f.exports=n;var l=(e("../math/Vec3"),e("../math/Quaternion"),e("./Solver")),u=e("../objects/Body");n.prototype=new l;var p=[],s=[],y={bodies:[]},c=u.STATIC,a=[];n.prototype.createNode=function(){return{body:null,children:[],eqs:[],visited:!1}},n.prototype.solve=function(e,f){for(var n=p,l=this.nodePool,u=f.bodies,c=this.equations,a=c.length,r=u.length,w=this.subsolver;l.length<r;)l.push(this.createNode());n.length=r;for(var b=0;r>b;b++)n[b]=l[b];for(var b=0;b!==r;b++){var m=n[b];m.body=u[b],m.children.length=0,m.eqs.length=0,m.visited=!1}for(var N=0;N!==a;N++){var g=c[N],b=u.indexOf(g.bi),x=u.indexOf(g.bj),j=n[b],v=n[x];j.children.push(v),j.eqs.push(g),v.children.push(j),v.eqs.push(g)}var A,C=0,O=s;w.tolerance=this.tolerance,w.iterations=this.iterations;for(var h=y;A=o(n);){O.length=0,h.bodies.length=0,d(A,i,h.bodies,O);var k=O.length;O=O.sort(t);for(var b=0;b!==k;b++)w.addEquation(O[b]);{w.solve(e,h)}w.removeAllEquations(),C++}return C}},{"../math/Quaternion":28,"../math/Vec3":30,"../objects/Body":31,"./Solver":47}],49:[function(e,f){var n=function(){};f.exports=n,n.prototype={constructor:n,addEventListener:function(e,f){void 0===this._listeners&&(this._listeners={});var n=this._listeners;return void 0===n[e]&&(n[e]=[]),-1===n[e].indexOf(f)&&n[e].push(f),this},hasEventListener:function(e,f){if(void 0===this._listeners)return!1;var n=this._listeners;return void 0!==n[e]&&-1!==n[e].indexOf(f)?!0:!1},removeEventListener:function(e,f){if(void 0===this._listeners)return this;var n=this._listeners;if(void 0===n[e])return this;var o=n[e].indexOf(f);return-1!==o&&n[e].splice(o,1),this},dispatchEvent:function(e){if(void 0===this._listeners)return this;var f=this._listeners,n=f[e.type];if(void 0!==n){e.target=this;for(var o=0,d=n.length;d>o;o++)n[o].call(this,e)}return this}}},{}],50:[function(e,f){function n(e){e=e||{},this.root=e.root||null,this.aabb=e.aabb?e.aabb.clone():new d,this.data=[],this.children=[]}function o(e,f){f=f||{},f.root=null,f.aabb=e,n.call(this,f),this.maxDepth="undefined"!=typeof f.maxDepth?f.maxDepth:8}var d=e("../collision/AABB"),i=e("../math/Vec3");f.exports=o,o.prototype=new n,n.prototype.reset=function(){this.children.length=this.data.length=0},n.prototype.insert=function(e,f,n){var o=this.data;if(n=n||0,!this.aabb.contains(e))return!1;var d=this.children;if(n<(this.maxDepth||this.root.maxDepth)){var i=!1;d.length||(this.subdivide(),i=!0);for(var t=0;8!==t;t++)if(d[t].insert(e,f,n+1))return!0;i&&(d.length=0)}return o.push(f),!0};var t=new i;n.prototype.subdivide=function(){v
T>=2*U&&(x._wakeUpAfterNarrowphase=!0)}if(R.allowSleep&&R.type===c.DYNAMIC&&R.sleepState===c.SLEEPING&&x.sleepState===c.AWAKE&&x.type!==c.STATIC){var V=x.velocity.norm2()+x.angularVelocity.norm2(),W=Math.pow(x.sleepSpeedLimit,2);V>=2*W&&(R._wakeUpAfterNarrowphase=!0)}this.collisionMatrix.set(x,R,!0),this.collisionMatrixPrevious.get(x,R)||(A.body=R,A.contact=H,x.dispatchEvent(A),A.body=x,R.dispatchEvent(A))}for(s&&(y.makeContactConstraints=performance.now()-f,f=performance.now()),g=0;g!==t;g++){var x=l[g];x._wakeUpAfterNarrowphase&&(x.wakeUp(),x._wakeUpAfterNarrowphase=!1)}var G=r.length;for(g=0;g!==G;g++){var H=r[g];H.update();for(var I=0,X=H.equations.length;I!==X;I++){var Y=H.equations[I];u.addEquation(Y)}}u.solve(e,this),s&&(y.solve=performance.now()-f),u.removeAllEquations();var Z=Math.pow;for(g=0;g!==t;g++){var x=l[g];if(x.type&a){var $=Z(1-x.linearDamping,e),_=x.velocity;_.mult($,_);var ef=x.angularVelocity;if(ef){var ff=Z(1-x.angularDamping,e);ef.mult(ff,ef)}}}for(this.dispatchEvent(v),g=0;g!==t;g++){var x=l[g];x.preStep&&x.preStep.call(x)}s&&(f=performance.now());{var nf=q,of=z,df=this.stepnumber,tf=c.DYNAMIC|c.KINEMATIC,lf=df%(this.quatNormalizeSkip+1)===0,uf=this.quatNormalizeFast,pf=.5*e;o.types.PLANE,o.types.CONVEXPOLYHEDRON}for(g=0;g!==t;g++){var sf=l[g],yf=sf.force,cf=sf.torque;if(sf.type&tf&&sf.sleepState!==c.SLEEPING){var af=sf.velocity,rf=sf.angularVelocity,wf=sf.position,bf=sf.quaternion,mf=sf.invMass,Nf=sf.invInertiaWorld;af.x+=yf.x*mf*e,af.y+=yf.y*mf*e,af.z+=yf.z*mf*e,sf.angularVelocity&&(Nf.vmult(cf,B),B.mult(e,B),B.vadd(rf,rf)),wf.x+=af.x*e,wf.y+=af.y*e,wf.z+=af.z*e,sf.angularVelocity&&(nf.set(rf.x,rf.y,rf.z,0),nf.mult(bf,of),bf.x+=pf*of.x,bf.y+=pf*of.y,bf.z+=pf*of.z,bf.w+=pf*of.w,lf&&(uf?bf.normalizeFast():bf.normalize())),sf.aabb&&(sf.aabbNeedsUpdate=!0),sf.updateInertiaWorld&&sf.updateInertiaWorld()}}for(this.clearForces(),this.broadphase.dirty=!0,s&&(y.integrate=performance.now()-f),this.time+=e,this.stepnumber+=1,this.dispatchEvent(j),g=0;g!==t;g++){var x=l[g],gf=x.postStep;gf&&gf.call(x)}if(this.allowSleep)for(g=0;g!==t;g++)l[g].sleepTick(this.time)},n.prototype.clearForces=function(){for(var e=this.bodies,f=e.length,n=0;n!==f;n++){{var o=e[n];o.force,o.torque}o.force.set(0,0,0),o.torque.set(0,0,0)}}},{"../collision/AABB":3,"../collision/ArrayCollisionMatrix":4,"../collision/NaiveBroadphase":7,"../collision/Ray":9,"../collision/RaycastResult":10,"../equations/ContactEquation":19,"../equations/FrictionEquation":21,"../material/ContactMaterial":24,"../material/Material":25,"../math/Quaternion":28,"../math/Vec3":30,"../objects/Body":31,"../shapes/Shape":43,"../solver/GSSolver":46,"../utils/EventTarget":49,"../utils/TupleDictionary":52,"../utils/Vec3Pool":54,"./Narrowphase":55}]},{},[2])(2)});