Babylon.js/dist/preview release/Oimo.js

!function(t,i){"object"==typeof exports&&"undefined"!=typeof module?i(exports):"function"==typeof define&&define.amd?define(["exports"],i):i((t=t||self).OIMO={})}(this,function(t){"use strict";void 0===Number.EPSILON&&(Number.EPSILON=Math.pow(2,-52)),void 0===Math.sign&&(Math.sign=function(t){return t<0?-1:0<t?1:+t}),void 0===Function.prototype.name&&Object.defineProperty(Function.prototype,"name",{get:function(){return this.toString().match(/^\s*function\s*([^\(\s]*)/)[1]}}),void 0===Object.assign&&(Object.assign=function(t){if(null==t)throw new TypeError("Cannot convert undefined or null to object");for(var i=Object(t),s=1;s<arguments.length;s++){var h=arguments[s];if(null!=h)for(var e in h)Object.prototype.hasOwnProperty.call(h,e)&&(i[e]=h[e])}return i});var s,h,e,a,o="1.0.9",n=0,r=1,l=2,c=3,m=0,p=0,v=.005,Bs={sqrt:Math.sqrt,abs:Math.abs,floor:Math.floor,cos:Math.cos,sin:Math.sin,acos:Math.acos,asin:Math.asin,atan2:Math.atan2,round:Math.round,pow:Math.pow,max:Math.max,min:Math.min,random:Math.random,degtorad:.017453292519943295,radtodeg:57.29577951308232,PI:3.141592653589793,TwoPI:6.283185307179586,PI90:1.570796326794896,PI270:4.712388980384689,INF:1/0,EPZ:1e-5,EPZ2:1e-6,lerp:function(t,i,s){return(1-s)*t+s*i},randInt:function(t,i){return t+Bs.floor(Bs.random()*(i-t+1))},rand:function(t,i){return t+Bs.random()*(i-t)},generateUUID:(h="0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz".split(""),e=new Array(36),a=0,function(){for(var t=0;t<36;t++)e[t]=8===t||13===t||18===t||23===t?"-":14===t?"4":(a<=2&&(a=33554432+16777216*Math.random()|0),s=15&a,a>>=4,h[19===t?3&s|8:s]);return e.join("")}),int:function(t){return Bs.floor(t)},fix:function(t,i){return t.toFixed(i||3,10)},clamp:function(t,i,s){return Bs.max(i,Bs.min(s,t))},distance:function(t,i){var s=i[0]-t[0],h=i[1]-t[1],e=i[2]-t[2];return Bs.sqrt(s*s+h*h+e*e)},acosClamp:function(t){return 1<t?0:t<-1?Bs.PI:Bs.acos(t)},distanceVector:function(t,i){var s=t.x-i.x,h=t.y-i.y,e=t.z-i.z;return s*s+h*h+e*e},dotVectors:function(t,i){return t.x*i.x+t.y*i.y+t.z*i.z}};function d(t,i){console.error("[OIMO] "+t+": "+i)}function u(t){this.parent=t,this.infos=new Float32Array(13),this.f=[0,0,0],this.times=[0,0,0,0],this.broadPhase=this.parent.broadPhaseType,this.version=o,this.fps=0,this.tt=0,this.broadPhaseTime=0,this.narrowPhaseTime=0,this.solvingTime=0,this.totalTime=0,this.updateTime=0,this.MaxBroadPhaseTime=0,this.MaxNarrowPhaseTime=0,this.MaxSolvingTime=0,this.MaxTotalTime=0,this.MaxUpdateTime=0}function yi(t,i,s){this.x=t||0,this.y=i||0,this.z=s||0}function x(t,i,s,h){this.x=t||0,this.y=i||0,this.z=s||0,this.w=void 0!==h?h:1}function y(t,i,s,h,e,a,o,n,r){this.elements=[1,0,0,0,1,0,0,0,1],0<arguments.length&&console.error("OIMO.Mat33: the constructor no longer reads arguments. use .set() instead.")}function f(t,i,s,h,e,a){this.elements=new Float32Array(6);var o=this.elements;o[0]=t||0,o[1]=s||0,o[2]=e||0,o[3]=i||0,o[4]=h||0,o[5]=a||0}Object.assign(u.prototype,{setTime:function(t){this.times[t||0]=performance.now()},resetMax:function(){this.MaxBroadPhaseTime=0,this.MaxNarrowPhaseTime=0,this.MaxSolvingTime=0,this.MaxTotalTime=0,this.MaxUpdateTime=0},calcBroadPhase:function(){this.setTime(2),this.broadPhaseTime=this.times[2]-this.times[1]},calcNarrowPhase:function(){this.setTime(3),this.narrowPhaseTime=this.times[3]-this.times[2]},calcEnd:function(){this.setTime(2),this.solvingTime=this.times[2]-this.times[1],this.totalTime=this.times[2]-this.times[0],this.updateTime=this.totalTime-(this.broadPhaseTime+this.narrowPhaseTime+this.solvingTime),100===this.tt&&this.resetMax(),100<this.tt&&(this.broadPhaseTime>this.MaxBroadPhaseTime&&(this.MaxBroadPhaseTime=this.broadPhaseTime),this.narrowPhaseTime>this.MaxNarrowPhaseTime&&(this.MaxNarrowPhaseTime=this.narrowPhaseTime),this.solvingTime>this.MaxSolvingTime&&(this.MaxSolvingTime=this.solvingTime),this.totalTime>this.MaxTotalTime&&(this.MaxTotalTime=this.totalTime),this.updateTime>this.MaxUpdateTime&&(this.MaxUpdateTime=this.updateTime)),this.upfps(),this.tt++,500<this.tt&&(this.tt=0)},upfps:function(){this.f[1]=Date.now(),this.f[1]-1e3>this.f[0]&&(this.f[0]=this.f[1],this.fps=this.f[2],this.f[2]=0),this.f[2]++},show:function(){return["Oimo.js "+this.version+"<br>",this.broadPhase+"<br><br>","FPS: "+this.fps+" fps<br><br>","rigidbody "+this.parent.numRigidBodies+"<br>","contact &nbsp;&nbsp;"+this.parent.numContacts+"<br>","ct-point &nbsp;"+this.parent.numContactPoints+"<br>","paircheck "+this.parent.broadPhase.numPairChecks+"<br>","island &nbsp;&nbsp;&nbsp;"+this.parent.numIslands+"<br><br>","Time in milliseconds<br><br>","broadphase &nbsp;"+Bs.fix(this.broadPhaseTime)+" | "+Bs.fix(this.MaxBroadPhaseTime)+"<br>","narrowphase "+Bs.fix(this.narrowPhaseTime)+" | "+Bs.fix(this.MaxNarrowPhaseTime)+"<br>","solving &nbsp;&nbsp;&nbsp;&nbsp;"+Bs.fix(this.solvingTime)+" | "+Bs.fix(this.MaxSolvingTime)+"<br>","total &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;"+Bs.fix(this.totalTime)+" | "+Bs.fix(this.MaxTotalTime)+"<br>","updating &nbsp;&nbsp;&nbsp;"+Bs.fix(this.updateTime)+" | "+Bs.fix(this.MaxUpdateTime)+"<br>"].join("\n")},toArray:function(){return this.infos[0]=this.parent.broadPhase.types,this.infos[1]=this.parent.numRigidBodies,this.infos[2]=this.parent.numContacts,this.infos[3]=this.parent.broadPhase.numPairChecks,this.infos[4]=this.parent.numContactPoints,this.infos[5]=this.parent.numIslands,this.infos[6]=this.broadPhaseTime,this.infos[7]=this.narrowPhaseTime,this.infos[8]=this.solvingTime,this.infos[9]=this.updateTime,this.infos[10]=this.totalTime,this.infos[11]=this.fps,this.infos}}),Object.assign(yi.prototype,{Vec3:!0,set:function(t,i,s){return this.x=t,this.y=i,this.z=s,this},add:function(t,i){return void 0!==i?this.addVectors(t,i):(this.x+=t.x,this.y+=t.y,this.z+=t.z,this)},addVectors:function(t,i){return this.x=t.x+i.x,this.y=t.y+i.y,this.z=t.z+i.z,this},addEqual:function(t){return this.x+=t.x,this.y+=t.y,this.z+=t.z,this},sub:function(t,i){return void 0!==i?this.subVectors(t,i):(this.x-=t.x,this.y-=t.y,this.z-=t.z,this)},subVectors:function(t,i){return this.x=t.x-i.x,this.y=t.y-i.y,this.z=t.z-i.z,this},subEqual:function(t){return this.x-=t.x,this.y-=t.y,this.z-=t.z,this},scale:function(t,i){return this.x=t.x*i,this.y=t.y*i,this.z=t.z*i,this},scaleEqual:function(t){return this.x*=t,this.y*=t,this.z*=t,this},multiply:function(t){return this.x*=t.x,this.y*=t.y,this.z*=t.z,this},addScaledVector:function(t,i){return this.x+=t.x*i,this.y+=t.y*i,this.z+=t.z*i,this},subScaledVector:function(t,i){return this.x-=t.x*i,this.y-=t.y*i,this.z-=t.z*i,this},cross:function(t,i){if(void 0!==i)return this.crossVectors(t,i);var s=this.x,h=this.y,e=this.z;return this.x=h*t.z-e*t.y,this.y=e*t.x-s*t.z,this.z=s*t.y-h*t.x,this},crossVectors:function(t,i){var s=t.x,h=t.y,e=t.z,a=i.x,o=i.y,n=i.z;return this.x=h*n-e*o,this.y=e*a-s*n,this.z=s*o-h*a,this},tangent:function(t){var i=t.x,s=t.y,h=t.z;return this.x=s*i-h*h,this.y=-h*s-i*i,this.z=i*h+s*s,this},invert:function(t){return this.x=-t.x,this.y=-t.y,this.z=-t.z,this},negate:function(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this},dot:function(t){return this.x*t.x+this.y*t.y+this.z*t.z},addition:function(){return this.x+this.y+this.z},lengthSq:function(){return this.x*this.x+this.y*this.y+this.z*this.z},length:function(){return Bs.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)},copy:function(t){return this.x=t.x,this.y=t.y,this.z=t.z,this},applyMatrix3:function(t,i){var s=this.x,h=this.y,e=this.z,a=t.elements;return this.z=i?(this.x=a[0]*s+a[1]*h+a[2]*e,this.y=a[3]*s+a[4]*h+a[5]*e,a[6]*s+a[7]*h+a[8]*e):(this.x=a[0]*s+a[3]*h+a[6]*e,this.y=a[1]*s+a[4]*h+a[7]*e,a[2]*s+a[5]*h+a[8]*e),this},applyQuaternion:function(t){var i=this.x,s=this.y,h=this.z,e=t.x,a=t.y,o=t.z,n=t.w,r=n*i+a*h-o*s,l=n*s+o*i-e*h,c=n*h+e*s-a*i,m=-e*i-a*s-o*h;return this.x=r*n+m*-e+l*-o-c*-a,this.y=l*n+m*-a+c*-e-r*-o,this.z=c*n+m*-o+r*-a-l*-e,this},testZero:function(){return 0!==this.x||0!==this.y||0!==this.z},testDiff:function(t){return!this.equals(t)},equals:function(t){return t.x===this.x&&t.y===this.y&&t.z===this.z},clone:function(){return new this.constructor(this.x,this.y,this.z)},toString:function(){return"Vec3["+this.x.toFixed(4)+", "+this.y.toFixed(4)+", "+this.z.toFixed(4)+"]"},multiplyScalar:function(t){return isFinite(t)?(this.x*=t,this.y*=t,this.z*=t):(this.x=0,this.y=0,this.z=0),this},divideScalar:function(t){return this.multiplyScalar(1/t)},normalize:function(){return this.divideScalar(this.length())},toArray:function(t,i){void 0===i&&(i=0),t[i]=this.x,t[i+1]=this.y,t[i+2]=this.z},fromArray:function(t,i){return void 0===i&&(i=0),this.x=t[i],this.y=t[i+1],this.z=t[i+2],this}}),Object.assign(x.prototype,{Quat:!0,set:function(t,i,s,h){return this.x=t,this.y=i,this.z=s,this.w=h,this},addTime:function(t,i){var s=t.x,h=t.y,e=t.z,a=this.w,o=this.x,n=this.y,r=this.z;return i*=.5,this.x+=i*(s*a+h*r-e*n),this.y+=i*(h*a+e*o-s*r),this.z+=i*(e*a+s*n-h*o),this.w+=i*(-s*o-h*n-e*r),this.normalize(),this},multiply:function(t,i){return void 0!==i?this.multiplyQuaternions(t,i):this.multiplyQuaternions(this,t)},multiplyQuaternions:function(t,i){var s=t.x,h=t.y,e=t.z,a=t.w,o=i.x,n=i.y,r=i.z,l=i.w;return this.x=s*l+a*o+h*r-e*n,this.y=h*l+a*n+e*o-s*r,this.z=e*l+a*r+s*n-h*o,this.w=a*l-s*o-h*n-e*r,this},setFromUnitVectors:function(t,i){var s=new yi,h=t.dot(i)+1;return h<Bs.EPS2?(h=0,Bs.abs(t.x)>Bs.abs(t.z)?s.set(-t.y,t.x,0):s.set(0,-t.z,t.y)):s.crossVectors(t,i),this._x=s.x,this._y=s.y,this._z=s.z,this._w=h,this.normalize()},arc:function(t,i){var s=t.x,h=t.y,e=t.z,a=i.x,o=i.y,n=i.z,r=s*a+h*o+e*n;if(-1==r)return a=h*s-e*e,o=-e*h-s*s,n=s*e+h*h,r=1/Bs.sqrt(a*a+o*o+n*n),this.w=0,this.x=a*r,this.y=o*r,this.z=n*r,this;var l=h*n-e*o,c=e*a-s*n,m=s*o-h*a;return this.w=Bs.sqrt(.5*(1+r)),r=.5/this.w,this.x=l*r,this.y=c*r,this.z=m*r,this},normalize:function(){var t=this.length();return 0===t?this.set(0,0,0,1):(t=1/t,this.x=this.x*t,this.y=this.y*t,this.z=this.z*t,this.w=this.w*t),this},inverse:function(){return this.conjugate().normalize()},invert:function(t){return this.x=t.x,this.y=t.y,this.z=t.z,this.w=t.w,this.conjugate().normalize(),this},conjugate:function(){return this.x*=-1,this.y*=-1,this.z*=-1,this},length:function(){return Bs.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},lengthSq:function(){return this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w},copy:function(t){return this.x=t.x,this.y=t.y,this.z=t.z,this.w=t.w,this},clone:function(t){return new x(this.x,this.y,this.z,this.w)},testDiff:function(t){return!this.equals(t)},equals:function(t){return this.x===t.x&&this.y===t.y&&this.z===t.z&&this.w===t.w},toString:function(){return"Quat["+this.x.toFixed(4)+", ("+this.y.toFixed(4)+", "+this.z.toFixed(4)+", "+this.w.toFixed(4)+")]"},setFromEuler:function(t,i,s){var h=Math.cos(.5*t),e=Math.cos(.5*i),a=Math.cos(.5*s),o=Math.sin(.5*t),n=Math.sin(.5*i),r=Math.sin(.5*s);return this.x=o*e*a+h*n*r,this.y=h*n*a-o*e*r,this.z=h*e*r+o*n*a,this.w=h*e*a-o*n*r,this},setFromAxis:function(t,i){t.normalize(),i*=.5;var s=Bs.sin(i);return this.x=s*t.x,this.y=s*t.y,this.z=s*t.z,this.w=Bs.cos(i),this},setFromMat33:function(t){var i,s=t[0]+t[4]+t[8];if(0<s)i=Bs.sqrt(s+1),this.w=.5/i,i=.5/i,this.x=(t[5]-t[7])*i,this.y=(t[6]-t[2])*i,this.z=(t[1]-t[3])*i;else{var h=[],e=0;t[4]>t[0]&&(e=1),t[8]>t[3*e+e]&&(e=2);var a=(e+1)%3,o=(e+2)%3;i=Bs.sqrt(t[3*e+e]-t[3*a+a]-t[3*o+o]+1),h[e]=.5*fRoot,i=.5/fRoot,this.w=(t[3*a+o]-t[3*o+a])*i,h[a]=(t[3*a+e]+t[3*e+a])*i,h[o]=(t[3*o+e]+t[3*e+o])*i,this.x=h[1],this.y=h[2],this.z=h[3]}return this},toArray:function(t,i){t[i=i||0]=this.x,t[i+1]=this.y,t[i+2]=this.z,t[i+3]=this.w},fromArray:function(t,i){return i=i||0,this.set(t[i],t[i+1],t[i+2],t[i+3]),this}}),Object.assign(y.prototype,{Mat33:!0,set:function(t,i,s,h,e,a,o,n,r){var l=this.elements;return l[0]=t,l[1]=i,l[2]=s,l[3]=h,l[4]=e,l[5]=a,l[6]=o,l[7]=n,l[8]=r,this},add:function(t,i){if(void 0!==i)return this.addMatrixs(t,i);var s=this.elements,h=t.elements;return s[0]+=h[0],s[1]+=h[1],s[2]+=h[2],s[3]+=h[3],s[4]+=h[4],s[5]+=h[5],s[6]+=h[6],s[7]+=h[7],s[8]+=h[8],this},addMatrixs:function(t,i){var s=this.elements,h=t.elements,e=i.elements;return s[0]=h[0]+e[0],s[1]=h[1]+e[1],s[2]=h[2]+e[2],s[3]=h[3]+e[3],s[4]=h[4]+e[4],s[5]=h[5]+e[5],s[6]=h[6]+e[6],s[7]=h[7]+e[7],s[8]=h[8]+e[8],this},addEqual:function(t){var i=this.elements,s=t.elements;return i[0]+=s[0],i[1]+=s[1],i[2]+=s[2],i[3]+=s[3],i[4]+=s[4],i[5]+=s[5],i[6]+=s[6],i[7]+=s[7],i[8]+=s[8],this},sub:function(t,i){if(void 0!==i)return this.subMatrixs(t,i);var s=this.elements,h=t.elements;return s[0]-=h[0],s[1]-=h[1],s[2]-=h[2],s[3]-=h[3],s[4]-=h[4],s[5]-=h[5],s[6]-=h[6],s[7]-=h[7],s[8]-=h[8],this},subMatrixs:function(t,i){var s=this.elements,h=t.elements,e=i.elements;return s[0]=h[0]-e[0],s[1]=h[1]-e[1],s[2]=h[2]-e[2],s[3]=h[3]-e[3],s[4]=h[4]-e[4],s[5]=h[5]-e[5],s[6]=h[6]-e[6],s[7]=h[7]-e[7],s[8]=h[8]-e[8],this},subEqual:function(t){var i=this.elements,s=t.elements;return i[0]-=s[0],i[1]-=s[1],i[2]-=s[2],i[3]-=s[3],i[4]-=s[4],i[5]-=s[5],i[6]-=s[6],i[7]-=s[7],i[8]-=s[8],this},scale:function(t,i){var s=this.elements,h=t.elements;return s[0]=h[0]*i,s[1]=h[1]*i,s[2]=h[2]*i,s[3]=h[3]*i,s[4]=h[4]*i,s[5]=h[5]*i,s[6]=h[6]*i,s[7]=h[7]*i,s[8]=h[8]*i,this},scaleEqual:function(t){var i=this.elements;return i[0]*=t,i[1]*=t,i[2]*=t,i[3]*=t,i[4]*=t,i[5]*=t,i[6]*=t,i[7]*=t,i[8]*=t,this},multiplyMatrices:function(t,i,s){s&&(i=i.clone().transpose());var h=this.elements,e=t.elements,a=i.elements,o=e[0],n=e[3],r=e[6],l=e[1],c=e[4],m=e[7],p=e[2],u=e[5],y=e[8],x=a[0],d=a[3],f=a[6],b=a[1],v=a[4],z=a[7],N=a[2],k=a[5],w=a[8];return h[0]=o*x+l*d+p*f,h[1]=o*b+l*v+p*z,h[2]=o*N+l*k+p*w,h[3]=n*x+c*d+u*f,h[4]=n*b+c*v+u*z,h[5]=n*N+c*k+u*w,h[6]=r*x+m*d+y*f,h[7]=r*b+m*v+y*z,h[8]=r*N+m*k+y*w,this},transpose:function(t){if(void 0!==t){var i=t.elements;return this.set(i[0],i[3],i[6],i[1],i[4],i[7],i[2],i[5],i[8]),this}var s=this.elements,h=s[1],e=s[2],a=s[5];return s[1]=s[3],s[2]=s[6],s[3]=h,s[5]=s[7],s[6]=e,s[7]=a,this},setQuat:function(t){var i=this.elements,s=t.x,h=t.y,e=t.z,a=t.w,o=s+s,n=h+h,r=e+e,l=s*o,c=s*n,m=s*r,p=h*n,u=h*r,y=e*r,x=a*o,d=a*n,f=a*r;return i[0]=1-(p+y),i[1]=c-f,i[2]=m+d,i[3]=c+f,i[4]=1-(l+y),i[5]=u-x,i[6]=m-d,i[7]=u+x,i[8]=1-(l+p),this},invert:function(t){var i=this.elements,s=t.elements,h=s[0],e=s[3],a=s[6],o=s[1],n=s[4],r=s[7],l=s[2],c=s[5],m=s[8],p=m*n-c*r,u=-m*e+c*a,y=r*e-n*a,x=h*p+o*u+l*y;return 0===x?(console.log("can't invert matrix, determinant is 0"),this.identity()):(x=1/x,i[0]=p*x,i[1]=(-m*o+l*r)*x,i[2]=(c*o-l*n)*x,i[3]=u*x,i[4]=(m*h-l*a)*x,i[5]=(-c*h+l*e)*x,i[6]=y*x,i[7]=(-r*h+o*a)*x,i[8]=(n*h-o*e)*x,this)},addOffset:function(t,i){var s=i.x,h=i.y,e=i.z,a=this.elements;a[0]+=t*(h*h+e*e),a[4]+=t*(s*s+e*e),a[8]+=t*(s*s+h*h);var o=t*s*h,n=t*h*e,r=t*e*s;return a[1]-=o,a[3]-=o,a[2]-=n,a[6]-=n,a[5]-=r,a[7]-=r,this},subOffset:function(t,i){var s=i.x,h=i.y,e=i.z,a=this.elements;a[0]-=t*(h*h+e*e),a[4]-=t*(s*s+e*e),a[8]-=t*(s*s+h*h);var o=t*s*h,n=t*h*e,r=t*e*s;return a[1]+=o,a[3]+=o,a[2]+=n,a[6]+=n,a[5]+=r,a[7]+=r,this},multiplyScalar:function(t){var i=this.elements;return i[0]*=t,i[3]*=t,i[6]*=t,i[1]*=t,i[4]*=t,i[7]*=t,i[2]*=t,i[5]*=t,i[8]*=t,this},identity:function(){return this.set(1,0,0,0,1,0,0,0,1),this},clone:function(){return(new y).fromArray(this.elements)},copy:function(t){for(var i=0;i<9;i++)this.elements[i]=t.elements[i];return this},determinant:function(){var t=this.elements,i=t[0],s=t[1],h=t[2],e=t[3],a=t[4],o=t[5],n=t[6],r=t[7],l=t[8];return i*a*l-i*o*r-s*e*l+s*o*n+h*e*r-h*a*n},fromArray:function(t,i){void 0===i&&(i=0);for(var s=0;s<9;s++)this.elements[s]=t[s+i];return this},toArray:function(t,i){void 0===t&&(t=[]),void 0===i&&(i=0);var s=this.elements;return t[i]=s[0],t[i+1]=s[1],t[i+2]=s[2],t[i+3]=s[3],t[i+4]=s[4],t[i+5]=s[5],t[i+6]=s[6],t[i+7]=s[7],t[i+8]=s[8],t}}),Object.assign(f.prototype,{AABB:!0,set:function(t,i,s,h,e,a){var o=this.elements;return o[0]=t,o[3]=i,o[1]=s,o[4]=h,o[2]=e,o[5]=a,this},intersectTest:function(t){var i=this.elements,s=t.elements;return i[0]>s[3]||i[1]>s[4]||i[2]>s[5]||i[3]<s[0]||i[4]<s[1]||i[5]<s[2]},intersectTestTwo:function(t){var i=this.elements,s=t.elements;return i[0]<s[0]||i[1]<s[1]||i[2]<s[2]||i[3]>s[3]||i[4]>s[4]||i[5]>s[5]},clone:function(){return(new this.constructor).fromArray(this.elements)},copy:function(t,i){var s=i||0,h=t.elements;return this.set(h[0]-s,h[3]+s,h[1]-s,h[4]+s,h[2]-s,h[5]+s),this},fromArray:function(t){return this.elements.set(t),this},combine:function(t,i){var s=t.elements,h=i.elements,e=this.elements;return e[0]=s[0]<h[0]?s[0]:h[0],e[1]=s[1]<h[1]?s[1]:h[1],e[2]=s[2]<h[2]?s[2]:h[2],e[3]=s[3]>h[3]?s[3]:h[3],e[4]=s[4]>h[4]?s[4]:h[4],e[5]=s[5]>h[5]?s[5]:h[5],this},surfaceArea:function(){var t=this.elements,i=t[3]-t[0],s=t[4]-t[1],h=t[5]-t[2];return 2*(i*(s+h)+s*h)},intersectsWithPoint:function(t,i,s){var h=this.elements;return t>=h[0]&&t<=h[3]&&i>=h[1]&&i<=h[4]&&s>=h[2]&&s<=h[5]},setFromPoints:function(t){this.makeEmpty();for(var i=0;i<t.length;i++)this.expandByPoint(t[i])},makeEmpty:function(){this.set(-1/0,-1/0,-1/0,1/0,1/0,1/0)},expandByPoint:function(t){var i=this.elements;this.set(Bs.min(i[0],t.x),Bs.min(i[1],t.y),Bs.min(i[2],t.z),Bs.max(i[3],t.x),Bs.max(i[4],t.y),Bs.max(i[5],t.z))},expandByScalar:function(t){var i=this.elements;i[0]+=-t,i[1]+=-t,i[2]+=-t,i[3]+=t,i[4]+=t,i[5]+=t}});var b=0;function z(t){this.type=m,this.id=b++,this.prev=null,this.next=null,this.proxy=null,this.parent=null,this.contactLink=null,this.numContacts=0,this.position=new yi,this.rotation=new y,this.relativePosition=(new yi).copy(t.relativePosition),this.relativeRotation=(new y).copy(t.relativeRotation),this.aabb=new f,this.density=t.density,this.friction=t.friction,this.restitution=t.restitution,this.belongsTo=t.belongsTo,this.collidesWith=t.collidesWith}function N(t,i,s,h){z.call(this,t),this.type=2,this.width=i,this.height=s,this.depth=h,this.halfWidth=.5*i,this.halfHeight=.5*s,this.halfDepth=.5*h,this.dimentions=new Float32Array(18),this.elements=new Float32Array(24)}function k(t,i){z.call(this,t),this.type=1,this.radius=i}function w(t,i,s){z.call(this,t),this.type=3,this.radius=i,this.height=s,this.halfHeight=.5*s,this.normalDirection=new yi,this.halfDirection=new yi}function M(t,i){z.call(this,t),this.type=4,this.normal=new yi(0,1,0)}function g(t,i){z.call(this,t),this.type=5}function I(){this.relativePosition=new yi,this.relativeRotation=new y,this.friction=.2,this.restitution=.2,this.density=1,this.belongsTo=1,this.collidesWith=4294967295}function V(t,i){i=i||!1,this.axis=t,this.angle=0,this.lowerLimit=i?0:1,this.upperLimit=0,this.motorSpeed=0,this.maxMotorForce=0,this.frequency=0,this.dampingRatio=0}function L(){this.parent=null,this.body1=null,this.body2=null,this.addedToIsland=!1}function S(t){this.prev=null,this.next=null,this.body=null,this.joint=t}function P(t){L.call(this),this.scale=1,this.invScale=1,this.name="",this.id=NaN,this.type=p,this.prev=null,this.next=null,this.body1=t.body1,this.body2=t.body2,this.localAnchorPoint1=(new yi).copy(t.localAnchorPoint1),this.localAnchorPoint2=(new yi).copy(t.localAnchorPoint2),this.relativeAnchorPoint1=new yi,this.relativeAnchorPoint2=new yi,this.anchorPoint1=new yi,this.anchorPoint2=new yi,this.allowCollision=t.allowCollision,this.b1Link=new S(this),this.b2Link=new S(this)}function T(t){this.m1=NaN,this.m2=NaN,this.ii1=null,this.ii2=null,this.dd=null,this.r1x=NaN,this.r1y=NaN,this.r1z=NaN,this.r2x=NaN,this.r2y=NaN,this.r2z=NaN,this.ax1x=NaN,this.ax1y=NaN,this.ax1z=NaN,this.ay1x=NaN,this.ay1y=NaN,this.ay1z=NaN,this.az1x=NaN,this.az1y=NaN,this.az1z=NaN,this.ax2x=NaN,this.ax2y=NaN,this.ax2z=NaN,this.ay2x=NaN,this.ay2y=NaN,this.ay2z=NaN,this.az2x=NaN,this.az2y=NaN,this.az2z=NaN,this.vel=NaN,this.velx=NaN,this.vely=NaN,this.velz=NaN,this.joint=t,this.r1=t.relativeAnchorPoint1,this.r2=t.relativeAnchorPoint2,this.p1=t.anchorPoint1,this.p2=t.anchorPoint2,this.b1=t.body1,this.b2=t.body2,this.l1=this.b1.linearVelocity,this.l2=this.b2.linearVelocity,this.a1=this.b1.angularVelocity,this.a2=this.b2.angularVelocity,this.i1=this.b1.inverseInertia,this.i2=this.b2.inverseInertia,this.impx=0,this.impy=0,this.impz=0}function A(t,i,s,h){this.cfm1=NaN,this.cfm2=NaN,this.cfm3=NaN,this.i1e00=NaN,this.i1e01=NaN,this.i1e02=NaN,this.i1e10=NaN,this.i1e11=NaN,this.i1e12=NaN,this.i1e20=NaN,this.i1e21=NaN,this.i1e22=NaN,this.i2e00=NaN,this.i2e01=NaN,this.i2e02=NaN,this.i2e10=NaN,this.i2e11=NaN,this.i2e12=NaN,this.i2e20=NaN,this.i2e21=NaN,this.i2e22=NaN,this.ax1=NaN,this.ay1=NaN,this.az1=NaN,this.ax2=NaN,this.ay2=NaN,this.az2=NaN,this.ax3=NaN,this.ay3=NaN,this.az3=NaN,this.a1x1=NaN,this.a1y1=NaN,this.a1z1=NaN,this.a2x1=NaN,this.a2y1=NaN,this.a2z1=NaN,this.a1x2=NaN,this.a1y2=NaN,this.a1z2=NaN,this.a2x2=NaN,this.a2y2=NaN,this.a2z2=NaN,this.a1x3=NaN,this.a1y3=NaN,this.a1z3=NaN,this.a2x3=NaN,this.a2y3=NaN,this.a2z3=NaN,this.lowerLimit1=NaN,this.upperLimit1=NaN,this.limitVelocity1=NaN,this.limitState1=0,this.enableMotor1=!1,this.motorSpeed1=NaN,this.maxMotorForce1=NaN,this.maxMotorImpulse1=NaN,this.lowerLimit2=NaN,this.upperLimit2=NaN,this.limitVelocity2=NaN,this.limitState2=0,this.enableMotor2=!1,this.motorSpeed2=NaN,this.maxMotorForce2=NaN,this.maxMotorImpulse2=NaN,this.lowerLimit3=NaN,this.upperLimit3=NaN,this.limitVelocity3=NaN,this.limitState3=0,this.enableMotor3=!1,this.motorSpeed3=NaN,this.maxMotorForce3=NaN,this.maxMotorImpulse3=NaN,this.k00=NaN,this.k01=NaN,this.k02=NaN,this.k10=NaN,this.k11=NaN,this.k12=NaN,this.k20=NaN,this.k21=NaN,this.k22=NaN,this.kv00=NaN,this.kv11=NaN,this.kv22=NaN,this.dv00=NaN,this.dv11=NaN,this.dv22=NaN,this.d00=NaN,this.d01=NaN,this.d02=NaN,this.d10=NaN,this.d11=NaN,this.d12=NaN,this.d20=NaN,this.d21=NaN,this.d22=NaN,this.limitMotor1=i,this.limitMotor2=s,this.limitMotor3=h,this.b1=t.body1,this.b2=t.body2,this.a1=this.b1.angularVelocity,this.a2=this.b2.angularVelocity,this.i1=this.b1.inverseInertia,this.i2=this.b2.inverseInertia,this.limitImpulse1=0,this.motorImpulse1=0,this.limitImpulse2=0,this.motorImpulse2=0,this.limitImpulse3=0,this.motorImpulse3=0}function j(t,i,s){P.call(this,t),this.type=3,this.localAxis1=t.localAxis1.clone().normalize(),this.localAxis2=t.localAxis2.clone().normalize();var h=(new y).setQuat((new x).setFromUnitVectors(this.localAxis1,this.localAxis2));this.localAngle1=(new yi).tangent(this.localAxis1).normalize(),this.localAngle2=this.localAngle1.clone().applyMatrix3(h,!0),this.ax1=new yi,this.ax2=new yi,this.an1=new yi,this.an2=new yi,this.tmp=new yi,this.nor=new yi,this.tan=new yi,this.bin=new yi,this.limitMotor=new V(this.nor,!1),this.limitMotor.lowerLimit=i,this.limitMotor.upperLimit=s,this.lc=new T(this),this.r3=new A(this,this.limitMotor,new V(this.tan,!0),new V(this.bin,!0))}function C(t){P.call(this,t),this.type=2,this.lc=new T(this)}function O(t,i){this.cfm=NaN,this.m1=NaN,this.m2=NaN,this.i1e00=NaN,this.i1e01=NaN,this.i1e02=NaN,this.i1e10=NaN,this.i1e11=NaN,this.i1e12=NaN,this.i1e20=NaN,this.i1e21=NaN,this.i1e22=NaN,this.i2e00=NaN,this.i2e01=NaN,this.i2e02=NaN,this.i2e10=NaN,this.i2e11=NaN,this.i2e12=NaN,this.i2e20=NaN,this.i2e21=NaN,this.i2e22=NaN,this.motorDenom=NaN,this.invMotorDenom=NaN,this.invDenom=NaN,this.ax=NaN,this.ay=NaN,this.az=NaN,this.r1x=NaN,this.r1y=NaN,this.r1z=NaN,this.r2x=NaN,this.r2y=NaN,this.r2z=NaN,this.t1x=NaN,this.t1y=NaN,this.t1z=NaN,this.t2x=NaN,this.t2y=NaN,this.t2z=NaN,this.l1x=NaN,this.l1y=NaN,this.l1z=NaN,this.l2x=NaN,this.l2y=NaN,this.l2z=NaN,this.a1x=NaN,this.a1y=NaN,this.a1z=NaN,this.a2x=NaN,this.a2y=NaN,this.a2z=NaN,this.lowerLimit=NaN,this.upperLimit=NaN,this.limitVelocity=NaN,this.limitState=0,this.enableMotor=!1,this.motorSpeed=NaN,this.maxMotorForce=NaN,this.maxMotorImpulse=NaN,this.limitMotor=i,this.b1=t.body1,this.b2=t.body2,this.p1=t.anchorPoint1,this.p2=t.anchorPoint2,this.r1=t.relativeAnchorPoint1,this.r2=t.relativeAnchorPoint2,this.l1=this.b1.linearVelocity,this.l2=this.b2.linearVelocity,this.a1=this.b1.angularVelocity,this.a2=this.b2.angularVelocity,this.i1=this.b1.inverseInertia,this.i2=this.b2.inverseInertia,this.limitImpulse=0,this.motorImpulse=0}function D(t,i,s){P.call(this,t),this.type=1,this.nor=new yi,this.limitMotor=new V(this.nor,!0),this.limitMotor.lowerLimit=i,this.limitMotor.upperLimit=s,this.t=new O(this,this.limitMotor)}function E(t,i){this.joint=t,this.targetOrientation=(new x).invert(i),this.relativeOrientation=new x,this.ii1=null,this.ii2=null,this.dd=null,this.vel=new yi,this.imp=new yi,this.rn0=new yi,this.rn1=new yi,this.rn2=new yi,this.b1=t.body1,this.b2=t.body2,this.a1=this.b1.angularVelocity,this.a2=this.b2.angularVelocity,this.i1=this.b1.inverseInertia,this.i2=this.b2.inverseInertia}function B(t,i,s,h){this.m1=NaN,this.m2=NaN,this.i1e00=NaN,this.i1e01=NaN,this.i1e02=NaN,this.i1e10=NaN,this.i1e11=NaN,this.i1e12=NaN,this.i1e20=NaN,this.i1e21=NaN,this.i1e22=NaN,this.i2e00=NaN,this.i2e01=NaN,this.i2e02=NaN,this.i2e10=NaN,this.i2e11=NaN,this.i2e12=NaN,this.i2e20=NaN,this.i2e21=NaN,this.i2e22=NaN,this.ax1=NaN,this.ay1=NaN,this.az1=NaN,this.ax2=NaN,this.ay2=NaN,this.az2=NaN,this.ax3=NaN,this.ay3=NaN,this.az3=NaN,this.r1x=NaN,this.r1y=NaN,this.r1z=NaN,this.r2x=NaN,this.r2y=NaN,this.r2z=NaN,this.t1x1=NaN,this.t1y1=NaN,this.t1z1=NaN,this.t2x1=NaN,this.t2y1=NaN,this.t2z1=NaN,this.l1x1=NaN,this.l1y1=NaN,this.l1z1=NaN,this.l2x1=NaN,this.l2y1=NaN,this.l2z1=NaN,this.a1x1=NaN,this.a1y1=NaN,this.a1z1=NaN,this.a2x1=NaN,this.a2y1=NaN,this.a2z1=NaN,this.t1x2=NaN,this.t1y2=NaN,this.t1z2=NaN,this.t2x2=NaN,this.t2y2=NaN,this.t2z2=NaN,this.l1x2=NaN,this.l1y2=NaN,this.l1z2=NaN,this.l2x2=NaN,this.l2y2=NaN,this.l2z2=NaN,this.a1x2=NaN,this.a1y2=NaN,this.a1z2=NaN,this.a2x2=NaN,this.a2y2=NaN,this.a2z2=NaN,this.t1x3=NaN,this.t1y3=NaN,this.t1z3=NaN,this.t2x3=NaN,this.t2y3=NaN,this.t2z3=NaN,this.l1x3=NaN,this.l1y3=NaN,this.l1z3=NaN,this.l2x3=NaN,this.l2y3=NaN,this.l2z3=NaN,this.a1x3=NaN,this.a1y3=NaN,this.a1z3=NaN,this.a2x3=NaN,this.a2y3=NaN,this.a2z3=NaN,this.lowerLimit1=NaN,this.upperLimit1=NaN,this.limitVelocity1=NaN,this.limitState1=0,this.enableMotor1=!1,this.motorSpeed1=NaN,this.maxMotorForce1=NaN,this.maxMotorImpulse1=NaN,this.lowerLimit2=NaN,this.upperLimit2=NaN,this.limitVelocity2=NaN,this.limitState2=0,this.enableMotor2=!1,this.motorSpeed2=NaN,this.maxMotorForce2=NaN,this.maxMotorImpulse2=NaN,this.lowerLimit3=NaN,this.upperLimit3=NaN,this.limitVelocity3=NaN,this.limitState3=0,this.enableMotor3=!1,this.motorSpeed3=NaN,this.maxMotorForce3=NaN,this.maxMotorImpulse3=NaN,this.k00=NaN,this.k01=NaN,this.k02=NaN,this.k10=NaN,this.k11=NaN,this.k12=NaN,this.k20=NaN,this.k21=NaN,this.k22=NaN,this.kv00=NaN,this.kv11=NaN,this.kv22=NaN,this.dv00=NaN,this.dv11=NaN,this.dv22=NaN,this.d00=NaN,this.d01=NaN,this.d02=NaN,this.d10=NaN,this.d11=NaN,this.d12=NaN,this.d20=NaN,this.d21=NaN,this.d22=NaN,this.limitMotor1=i,this.limitMotor2=s,this.limitMotor3=h,this.b1=t.body1,this.b2=t.body2,this.p1=t.anchorPoint1,this.p2=t.anchorPoint2,this.r1=t.relativeAnchorPoint1,this.r2=t.relativeAnchorPoint2,this.l1=this.b1.linearVelocity,this.l2=this.b2.linearVelocity,this.a1=this.b1.angularVelocity,this.a2=this.b2.angularVelocity,this.i1=this.b1.inverseInertia,this.i2=this.b2.inverseInertia,this.limitImpulse1=0,this.motorImpulse1=0,this.limitImpulse2=0,this.motorImpulse2=0,this.limitImpulse3=0,this.motorImpulse3=0,this.cfm1=0,this.cfm2=0,this.cfm3=0,this.weight=-1}function F(t,i,s){P.call(this,t),this.type=6,this.localAxis1=t.localAxis1.clone().normalize(),this.localAxis2=t.localAxis2.clone().normalize(),this.ax1=new yi,this.ax2=new yi,this.nor=new yi,this.tan=new yi,this.bin=new yi,this.ac=new E(this,(new x).setFromUnitVectors(this.localAxis1,this.localAxis2)),this.limitMotor=new V(this.nor,!0),this.limitMotor.lowerLimit=i,this.limitMotor.upperLimit=s,this.t3=new B(this,this.limitMotor,new V(this.tan,!0),new V(this.bin,!0))}function q(t,i,s){P.call(this,t),this.type=5,this.localAxis1=t.localAxis1.clone().normalize(),this.localAxis2=t.localAxis2.clone().normalize();var h=(new y).setQuat((new x).setFromUnitVectors(this.localAxis1,this.localAxis2));this.localAngle1=(new yi).tangent(this.localAxis1).normalize(),this.localAngle2=this.localAngle1.clone().applyMatrix3(h,!0),this.ax1=new yi,this.ax2=new yi,this.an1=new yi,this.an2=new yi,this.tmp=new yi,this.nor=new yi,this.tan=new yi,this.bin=new yi,this.rotationalLimitMotor=new V(this.nor,!1),this.r3=new A(this,this.rotationalLimitMotor,new V(this.tan,!0),new V(this.bin,!0)),this.translationalLimitMotor=new V(this.nor,!0),this.translationalLimitMotor.lowerLimit=i,this.translationalLimitMotor.upperLimit=s,this.t3=new B(this,this.translationalLimitMotor,new V(this.tan,!0),new V(this.bin,!0))}function U(t){P.call(this,t),this.type=4,this.localAxis1=t.localAxis1.clone().normalize(),this.localAxis2=t.localAxis2.clone().normalize(),this.localAngle1=new yi,this.localAngle2=new yi;var i=Bs.dotVectors(this.localAxis1,this.localAxis2);if(-1<i&&i<1)this.localAngle1.set(this.localAxis2.x-i*this.localAxis1.x,this.localAxis2.y-i*this.localAxis1.y,this.localAxis2.z-i*this.localAxis1.z).normalize(),this.localAngle2.set(this.localAxis1.x-i*this.localAxis2.x,this.localAxis1.y-i*this.localAxis2.y,this.localAxis1.z-i*this.localAxis2.z).normalize();else{var s=(new y).setQuat((new x).setFromUnitVectors(this.localAxis1,this.localAxis2));this.localAngle1.tangent(this.localAxis1).normalize(),this.localAngle2=this.localAngle1.clone().applyMatrix3(s,!0)}this.ax1=new yi,this.ax2=new yi,this.an1=new yi,this.an2=new yi,this.tmp=new yi,this.nor=new yi,this.tan=new yi,this.bin=new yi,this.translationalLimitMotor=new V(this.tan,!0),this.translationalLimitMotor.frequency=8,this.translationalLimitMotor.dampingRatio=1,this.rotationalLimitMotor1=new V(this.tan,!1),this.rotationalLimitMotor2=new V(this.bin,!1),this.t3=new B(this,new V(this.nor,!0),this.translationalLimitMotor,new V(this.bin,!0)),this.t3.weight=1,this.r3=new A(this,new V(this.nor,!0),this.rotationalLimitMotor1,this.rotationalLimitMotor2)}function R(){this.scale=1,this.invScale=1,this.body1=null,this.body2=null,this.localAnchorPoint1=new yi,this.localAnchorPoint2=new yi,this.localAxis1=new yi,this.localAxis2=new yi,this.allowCollision=!1}function _(){this.mass=0,this.inertia=new y}function J(t){this.prev=null,this.next=null,this.shape=null,this.body=null,this.contact=t}function W(){this.lp1X=NaN,this.lp1Y=NaN,this.lp1Z=NaN,this.lp2X=NaN,this.lp2Y=NaN,this.lp2Z=NaN,this.impulse=NaN}function H(){this.warmStarted=!1,this.position=new yi,this.localPoint1=new yi,this.localPoint2=new yi,this.normal=new yi,this.tangent=new yi,this.binormal=new yi,this.normalImpulse=0,this.tangentImpulse=0,this.binormalImpulse=0,this.normalDenominator=0,this.tangentDenominator=0,this.binormalDenominator=0,this.penetration=0}function Q(){this.body1=null,this.body2=null,this.numPoints=0,this.points=[new H,new H,new H,new H]}function X(){this.nor=new yi,this.tan=new yi,this.bin=new yi,this.norU1=new yi,this.tanU1=new yi,this.binU1=new yi,this.norU2=new yi,this.tanU2=new yi,this.binU2=new yi,this.norT1=new yi,this.tanT1=new yi,this.binT1=new yi,this.norT2=new yi,this.tanT2=new yi,this.binT2=new yi,this.norTU1=new yi,this.tanTU1=new yi,this.binTU1=new yi,this.norTU2=new yi,this.tanTU2=new yi,this.binTU2=new yi,this.norImp=0,this.tanImp=0,this.binImp=0,this.norDen=0,this.tanDen=0,this.binDen=0,this.norTar=0,this.next=null,this.last=!1}function Y(t){L.call(this),this.manifold=t,this.restitution=NaN,this.friction=NaN,this.p1=null,this.p2=null,this.lv1=null,this.lv2=null,this.av1=null,this.av2=null,this.i1=null,this.i2=null,this.tmp=new yi,this.tmpC1=new yi,this.tmpC2=new yi,this.tmpP1=new yi,this.tmpP2=new yi,this.tmplv1=new yi,this.tmplv2=new yi,this.tmpav1=new yi,this.tmpav2=new yi,this.m1=NaN,this.m2=NaN,this.num=0,this.ps=t.points,this.cs=new X,this.cs.next=new X,this.cs.next.next=new X,this.cs.next.next.next=new X}function Z(){this.shape1=null,this.shape2=null,this.body1=null,this.body2=null,this.prev=null,this.next=null,this.persisting=!1,this.sleeping=!1,this.detector=null,this.constraint=null,this.touching=!1,this.close=!1,this.dist=Bs.INF,this.b1Link=new J(this),this.b2Link=new J(this),this.s1Link=new J(this),this.s2Link=new J(this),this.manifold=new Q,this.buffer=[new W,new W,new W,new W],this.points=this.manifold.points,this.constraint=new Y(this.manifold)}function K(t,i){this.position=t||new yi,this.orientation=i||new x,this.scale=1,this.invScale=1,this.mesh=null,this.id=NaN,this.name="",this.prev=null,this.next=null,this.type=0,this.massInfo=new _,this.newPosition=new yi,this.controlPos=!1,this.newOrientation=new x,this.newRotation=new yi,this.currentRotation=new yi,this.controlRot=!1,this.controlRotInTime=!1,this.quaternion=new x,this.pos=new yi,this.linearVelocity=new yi,this.angularVelocity=new yi,this.parent=null,this.contactLink=null,this.numContacts=0,this.shapes=null,this.numShapes=0,this.jointLink=null,this.numJoints=0,this.sleepPosition=new yi,this.sleepOrientation=new x,this.isStatic=!1,this.isDynamic=!1,this.isKinematic=!1,this.rotation=new y,this.mass=0,this.inverseMass=0,this.inverseInertia=new y,this.localInertia=new y,this.inverseLocalInertia=new y,this.tmpInertia=new y,this.addedToIsland=!1,this.allowSleep=!0,this.sleepTime=0,this.sleeping=!1}function G(t,i){this.shape1=t||null,this.shape2=i||null}function $(){this.types=n,this.numPairChecks=0,this.numPairs=0,this.pairs=[]}Object.assign(z.prototype,{Shape:!0,calculateMassInfo:function(t){d("Shape","Inheritance error.")},updateProxy:function(){d("Shape","Inheritance error.")}}),N.prototype=Object.assign(Object.create(z.prototype),{constructor:N,calculateMassInfo:function(t){var i=this.width*this.height*this.depth*this.density;t.mass=i,t.inertia.set(i*(this.height*this.height+this.depth*this.depth)*(1/12),0,0,0,i*(this.width*this.width+this.depth*this.depth)*(1/12),0,0,0,i*(this.width*this.width+this.height*this.height)*(1/12))},updateProxy:function(){var t=this.rotation.elements,i=this.dimentions;i[0]=t[0],i[1]=t[3],i[2]=t[6],i[3]=t[1],i[4]=t[4],i[5]=t[7],i[6]=t[2],i[7]=t[5],i[8]=t[8],i[9]=t[0]*this.halfWidth,i[10]=t[3]*this.halfWidth,i[11]=t[6]*this.halfWidth,i[12]=t[1]*this.halfHeight,i[13]=t[4]*this.halfHeight,i[14]=t[7]*this.halfHeight,i[15]=t[2]*this.halfDepth,i[16]=t[5]*this.halfDepth,i[17]=t[8]*this.halfDepth;var s=i[9],h=i[10],e=i[11],a=i[12],o=i[13],n=i[14],r=i[15],l=i[16],c=i[17],m=this.position.x,p=this.position.y,u=this.position.z,y=this.elements;y[0]=m+s+a+r,y[1]=p+h+o+l,y[2]=u+e+n+c,y[3]=m+s+a-r,y[4]=p+h+o-l,y[5]=u+e+n-c,y[6]=m+s-a+r,y[7]=p+h-o+l,y[8]=u+e-n+c,y[9]=m+s-a-r,y[10]=p+h-o-l,y[11]=u+e-n-c,y[12]=m-s+a+r,y[13]=p-h+o+l,y[14]=u-e+n+c,y[15]=m-s+a-r,y[16]=p-h+o-l,y[17]=u-e+n-c,y[18]=m-s-a+r,y[19]=p-h-o+l,y[20]=u-e-n+c,y[21]=m-s-a-r,y[22]=p-h-o-l,y[23]=u-e-n-c;var x=i[9]<0?-i[9]:i[9],d=i[10]<0?-i[10]:i[10],f=i[11]<0?-i[11]:i[11];x=i[12]<0?x-i[12]:x+i[12],d=i[13]<0?d-i[13]:d+i[13],f=i[14]<0?f-i[14]:f+i[14],x=i[15]<0?x-i[15]:x+i[15],d=i[16]<0?d-i[16]:d+i[16],f=i[17]<0?f-i[17]:f+i[17];var b=v;this.aabb.set(this.position.x-x-b,this.position.x+x+b,this.position.y-d-b,this.position.y+d+b,this.position.z-f-b,this.position.z+f+b),null!=this.proxy&&this.proxy.update()}}),k.prototype=Object.assign(Object.create(z.prototype),{constructor:k,volume:function(){return Bs.PI*this.radius*1.333333},calculateMassInfo:function(t){var i=this.volume()*this.radius*this.radius*this.density,s=(t.mass=i)*this.radius*this.radius*.4;t.inertia.set(s,0,0,0,s,0,0,0,s)},updateProxy:function(){var t=v;this.aabb.set(this.position.x-this.radius-t,this.position.x+this.radius+t,this.position.y-this.radius-t,this.position.y+this.radius+t,this.position.z-this.radius-t,this.position.z+this.radius+t),null!=this.proxy&&this.proxy.update()}}),w.prototype=Object.assign(Object.create(z.prototype),{constructor:w,calculateMassInfo:function(t){var i=this.radius*this.radius,s=Bs.PI*i*this.height*this.density,h=(.25*i+.0833*this.height*this.height)*s,e=.5*i;t.mass=s,t.inertia.set(h,0,0,0,e,0,0,0,h)},updateProxy:function(){var t,i,s,h,e,a,o,n,r,l,c,m=this.rotation.elements;e=m[1]*m[1],a=m[4]*m[4],o=m[7]*m[7],this.normalDirection.set(m[1],m[4],m[7]),this.halfDirection.scale(this.normalDirection,this.halfHeight),i=1-e,0<(t=Bs.sqrt(i*i+e*a+e*o))&&(t=this.radius/t),i*=t,s=1-a,0<(t=Bs.sqrt(a*e+s*s+a*o))&&(t=this.radius/t),s*=t,h=1-o,0<(t=Bs.sqrt(o*e+o*a+h*h))&&(t=this.radius/t),h*=t,n=this.halfDirection.x<0?-this.halfDirection.x:this.halfDirection.x,r=this.halfDirection.y<0?-this.halfDirection.y:this.halfDirection.y,l=this.halfDirection.z<0?-this.halfDirection.z:this.halfDirection.z,n=i<0?n-i:n+i,r=s<0?r-s:r+s,l=h<0?l-h:l+h,c=v,this.aabb.set(this.position.x-n-c,this.position.x+n+c,this.position.y-r-c,this.position.y+r+c,this.position.z-l-c,this.position.z+l+c),null!=this.proxy&&this.proxy.update()}}),M.prototype=Object.assign(Object.create(z.prototype),{constructor:M,volume:function(){return Number.MAX_VALUE},calculateMassInfo:function(t){t.mass=this.density;t.inertia.set(1,0,0,0,1,0,0,0,1)},updateProxy:function(){var t=v,i=-Bs.INF,s=Bs.INF,h=this.normal;this.aabb.set(-1===h.x?this.position.x-t:i,1===h.x?this.position.x+t:s,-1===h.y?this.position.y-t:i,1===h.y?this.position.y+t:s,-1===h.z?this.position.z-t:i,1===h.z?this.position.z+t:s),null!=this.proxy&&this.proxy.update()}}),g.prototype=Object.assign(Object.create(z.prototype),{constructor:g,volume:function(){return Number.MAX_VALUE},calculateMassInfo:function(t){t.inertia.set(0,0,0,0,0,0,0,0,0)},updateProxy:function(){this.aabb.set(this.position.x-0,this.position.x+0,this.position.y-0,this.position.y+0,this.position.z-0,this.position.z+0),null!=this.proxy&&this.proxy.update()}}),Object.assign(V.prototype,{LimitMotor:!0,setLimit:function(t,i){this.lowerLimit=t,this.upperLimit=i},setMotor:function(t,i){this.motorSpeed=t,this.maxMotorForce=i},setSpring:function(t,i){this.frequency=t,this.dampingRatio=i}}),Object.assign(L.prototype,{Constraint:!0,preSolve:function(t,i){d("Constraint","Inheritance error.")},solve:function(){d("Constraint","Inheritance error.")},postSolve:function(){d("Constraint","Inheritance error.")}}),P.prototype=Object.assign(Object.create(L.prototype),{constructor:P,setId:function(t){this.id=i},setParent:function(t){this.parent=t,this.scale=this.parent.scale,this.invScale=this.parent.invScale,this.id=this.parent.numJoints,this.name||(this.name="J"+this.id)},updateAnchorPoints:function(){this.relativeAnchorPoint1.copy(this.localAnchorPoint1).applyMatrix3(this.body1.rotation,!0),this.relativeAnchorPoint2.copy(this.localAnchorPoint2).applyMatrix3(this.body2.rotation,!0),this.anchorPoint1.add(this.relativeAnchorPoint1,this.body1.position),this.anchorPoint2.add(this.relativeAnchorPoint2,this.body2.position)},attach:function(t){this.b1Link.body=this.body2,this.b2Link.body=this.body1,t?(this.body1.jointLink.push(this.b1Link),this.body2.jointLink.push(this.b2Link)):(null!=this.body1.jointLink?(this.b1Link.next=this.body1.jointLink).prev=this.b1Link:this.b1Link.next=null,this.body1.jointLink=this.b1Link,this.body1.numJoints++,null!=this.body2.jointLink?(this.b2Link.next=this.body2.jointLink).prev=this.b2Link:this.b2Link.next=null,this.body2.jointLink=this.b2Link,this.body2.numJoints++)},detach:function(t){if(t)this.body1.jointLink.splice(this.body1.jointLink.indexOf(this.b1Link),1),this.body2.jointLink.splice(this.body2.jointLink.indexOf(this.b2Link),1);else{var i=this.b1Link.prev,s=this.b1Link.next;null!=i&&(i.next=s),null!=s&&(s.prev=i),this.body1.jointLink==this.b1Link&&(this.body1.jointLink=s),this.b1Link.prev=null,this.b1Link.next=null,this.b1Link.body=null,this.body1.numJoints--,i=this.b2Link.prev,s=this.b2Link.next,null!=i&&(i.next=s),null!=s&&(s.prev=i),this.body2.jointLink==this.b2Link&&(this.body2.jointLink=s),this.b2Link.prev=null,this.b2Link.next=null,this.b2Link.body=null,this.body2.numJoints--}this.b1Link.body=null,this.b2Link.body=null},awake:function(){this.body1.awake(),this.body2.awake()},preSolve:function(t,i){},solve:function(){},postSolve:function(){},remove:function(){this.dispose()},dispose:function(){this.parent.removeJoint(this)},getPosition:function(){return[(new yi).scale(this.anchorPoint1,this.scale),(new yi).scale(this.anchorPoint2,this.scale)]}}),Object.assign(T.prototype,{LinearConstraint:!0,preSolve:function(t,i){this.r1x=this.r1.x,this.r1y=this.r1.y,this.r1z=this.r1.z,this.r2x=this.r2.x,this.r2y=this.r2.y,this.r2z=this.r2.z,this.m1=this.b1.inverseMass,this.m2=this.b2.inverseMass,this.ii1=this.i1.clone(),this.ii2=this.i2.clone();var s=this.ii1.elements,h=this.ii2.elements;this.ax1x=this.r1z*s[1]+-this.r1y*s[2],this.ax1y=this.r1z*s[4]+-this.r1y*s[5],this.ax1z=this.r1z*s[7]+-this.r1y*s[8],this.ay1x=-this.r1z*s[0]+this.r1x*s[2],this.ay1y=-this.r1z*s[3]+this.r1x*s[5],this.ay1z=-this.r1z*s[6]+this.r1x*s[8],this.az1x=this.r1y*s[0]+-this.r1x*s[1],this.az1y=this.r1y*s[3]+-this.r1x*s[4],this.az1z=this.r1y*s[6]+-this.r1x*s[7],this.ax2x=this.r2z*h[1]+-this.r2y*h[2],this.ax2y=this.r2z*h[4]+-this.r2y*h[5],this.ax2z=this.r2z*h[7]+-this.r2y*h[8],this.ay2x=-this.r2z*h[0]+this.r2x*h[2],this.ay2y=-this.r2z*h[3]+this.r2x*h[5],this.ay2z=-this.r2z*h[6]+this.r2x*h[8],this.az2x=this.r2y*h[0]+-this.r2x*h[1],this.az2y=this.r2y*h[3]+-this.r2x*h[4],this.az2z=this.r2y*h[6]+-this.r2x*h[7];var e=this.m1+this.m2,a=(new y).set(e,0,0,0,e,0,0,0,e).elements;a[0]+=s[4]*this.r1z*this.r1z-(s[7]+s[5])*this.r1y*this.r1z+s[8]*this.r1y*this.r1y,a[1]+=(s[6]*this.r1y+s[5]*this.r1x)*this.r1z-s[3]*this.r1z*this.r1z-s[8]*this.r1x*this.r1y,a[2]+=(s[3]*this.r1y-s[4]*this.r1x)*this.r1z-s[6]*this.r1y*this.r1y+s[7]*this.r1x*this.r1y,a[3]+=(s[2]*this.r1y+s[7]*this.r1x)*this.r1z-s[1]*this.r1z*this.r1z-s[8]*this.r1x*this.r1y,a[4]+=s[0]*this.r1z*this.r1z-(s[6]+s[2])*this.r1x*this.r1z+s[8]*this.r1x*this.r1x,a[5]+=(s[1]*this.r1x-s[0]*this.r1y)*this.r1z-s[7]*this.r1x*this.r1x+s[6]*this.r1x*this.r1y,a[6]+=(s[1]*this.r1y-s[4]*this.r1x)*this.r1z-s[2]*this.r1y*this.r1y+s[5]*this.r1x*this.r1y,a[7]+=(s[3]*this.r1x-s[0]*this.r1y)*this.r1z-s[5]*this.r1x*this.r1x+s[2]*this.r1x*this.r1y,a[8]+=s[0]*this.r1y*this.r1y-(s[3]+s[1])*this.r1x*this.r1y+s[4]*this.r1x*this.r1x,a[0]+=h[4]*this.r2z*this.r2z-(h[7]+h[5])*this.r2y*this.r2z+h[8]*this.r2y*this.r2y,a[1]+=(h[6]*this.r2y+h[5]*this.r2x)*this.r2z-h[3]*this.r2z*this.r2z-h[8]*this.r2x*this.r2y,a[2]+=(h[3]*this.r2y-h[4]*this.r2x)*this.r2z-h[6]*this.r2y*this.r2y+h[7]*this.r2x*this.r2y,a[3]+=(h[2]*this.r2y+h[7]*this.r2x)*this.r2z-h[1]*this.r2z*this.r2z-h[8]*this.r2x*this.r2y,a[4]+=h[0]*this.r2z*this.r2z-(h[6]+h[2])*this.r2x*this.r2z+h[8]*this.r2x*this.r2x,a[5]+=(h[1]*this.r2x-h[0]*this.r2y)*this.r2z-h[7]*this.r2x*this.r2x+h[6]*this.r2x*this.r2y,a[6]+=(h[1]*this.r2y-h[4]*this.r2x)*this.r2z-h[2]*this.r2y*this.r2y+h[5]*this.r2x*this.r2y,a[7]+=(h[3]*this.r2x-h[0]*this.r2y)*this.r2z-h[5]*this.r2x*this.r2x+h[2]*this.r2x*this.r2y,a[8]+=h[0]*this.r2y*this.r2y-(h[3]+h[1])*this.r2x*this.r2y+h[4]*this.r2x*this.r2x;var o=1/(a[0]*(a[4]*a[8]-a[7]*a[5])+a[3]*(a[7]*a[2]-a[1]*a[8])+a[6]*(a[1]*a[5]-a[4]*a[2]));this.dd=(new y).set(a[4]*a[8]-a[5]*a[7],a[2]*a[7]-a[1]*a[8],a[1]*a[5]-a[2]*a[4],a[5]*a[6]-a[3]*a[8],a[0]*a[8]-a[2]*a[6],a[2]*a[3]-a[0]*a[5],a[3]*a[7]-a[4]*a[6],a[1]*a[6]-a[0]*a[7],a[0]*a[4]-a[1]*a[3]).scaleEqual(o),this.velx=this.p2.x-this.p1.x,this.vely=this.p2.y-this.p1.y,this.velz=this.p2.z-this.p1.z;var n=Bs.sqrt(this.velx*this.velx+this.vely*this.vely+this.velz*this.velz);.005<n?(n=(.005-n)/n*i*.05,this.velx*=n,this.vely*=n,this.velz*=n):(this.velx=0,this.vely=0,this.velz=0),this.impx*=.95,this.impy*=.95,this.impz*=.95,this.l1.x+=this.impx*this.m1,this.l1.y+=this.impy*this.m1,this.l1.z+=this.impz*this.m1,this.a1.x+=this.impx*this.ax1x+this.impy*this.ay1x+this.impz*this.az1x,this.a1.y+=this.impx*this.ax1y+this.impy*this.ay1y+this.impz*this.az1y,this.a1.z+=this.impx*this.ax1z+this.impy*this.ay1z+this.impz*this.az1z,this.l2.x-=this.impx*this.m2,this.l2.y-=this.impy*this.m2,this.l2.z-=this.impz*this.m2,this.a2.x-=this.impx*this.ax2x+this.impy*this.ay2x+this.impz*this.az2x,this.a2.y-=this.impx*this.ax2y+this.impy*this.ay2y+this.impz*this.az2y,this.a2.z-=this.impx*this.ax2z+this.impy*this.ay2z+this.impz*this.az2z},solve:function(){var t=this.dd.elements,i=this.l2.x-this.l1.x+this.a2.y*this.r2z-this.a2.z*this.r2y-this.a1.y*this.r1z+this.a1.z*this.r1y-this.velx,s=this.l2.y-this.l1.y+this.a2.z*this.r2x-this.a2.x*this.r2z-this.a1.z*this.r1x+this.a1.x*this.r1z-this.vely,h=this.l2.z-this.l1.z+this.a2.x*this.r2y-this.a2.y*this.r2x-this.a1.x*this.r1y+this.a1.y*this.r1x-this.velz,e=i*t[0]+s*t[1]+h*t[2],a=i*t[3]+s*t[4]+h*t[5],o=i*t[6]+s*t[7]+h*t[8];this.impx+=e,this.impy+=a,this.impz+=o,this.l1.x+=e*this.m1,this.l1.y+=a*this.m1,this.l1.z+=o*this.m1,this.a1.x+=e*this.ax1x+a*this.ay1x+o*this.az1x,this.a1.y+=e*this.ax1y+a*this.ay1y+o*this.az1y,this.a1.z+=e*this.ax1z+a*this.ay1z+o*this.az1z,this.l2.x-=e*this.m2,this.l2.y-=a*this.m2,this.l2.z-=o*this.m2,this.a2.x-=e*this.ax2x+a*this.ay2x+o*this.az2x,this.a2.y-=e*this.ax2y+a*this.ay2y+o*this.az2y,this.a2.z-=e*this.ax2z+a*this.ay2z+o*this.az2z}}),Object.assign(A.prototype,{Rotational3Constraint:!0,preSolve:function(t,i){this.ax1=this.limitMotor1.axis.x,this.ay1=this.limitMotor1.axis.y,this.az1=this.limitMotor1.axis.z,this.ax2=this.limitMotor2.axis.x,this.ay2=this.limitMotor2.axis.y,this.az2=this.limitMotor2.axis.z,this.ax3=this.limitMotor3.axis.x,this.ay3=this.limitMotor3.axis.y,this.az3=this.limitMotor3.axis.z,this.lowerLimit1=this.limitMotor1.lowerLimit,this.upperLimit1=this.limitMotor1.upperLimit,this.motorSpeed1=this.limitMotor1.motorSpeed,this.maxMotorForce1=this.limitMotor1.maxMotorForce,this.enableMotor1=0<this.maxMotorForce1,this.lowerLimit2=this.limitMotor2.lowerLimit,this.upperLimit2=this.limitMotor2.upperLimit,this.motorSpeed2=this.limitMotor2.motorSpeed,this.maxMotorForce2=this.limitMotor2.maxMotorForce,this.enableMotor2=0<this.maxMotorForce2,this.lowerLimit3=this.limitMotor3.lowerLimit,this.upperLimit3=this.limitMotor3.upperLimit,this.motorSpeed3=this.limitMotor3.motorSpeed,this.maxMotorForce3=this.limitMotor3.maxMotorForce,this.enableMotor3=0<this.maxMotorForce3;var s=this.i1.elements,h=this.i2.elements;this.i1e00=s[0],this.i1e01=s[1],this.i1e02=s[2],this.i1e10=s[3],this.i1e11=s[4],this.i1e12=s[5],this.i1e20=s[6],this.i1e21=s[7],this.i1e22=s[8],this.i2e00=h[0],this.i2e01=h[1],this.i2e02=h[2],this.i2e10=h[3],this.i2e11=h[4],this.i2e12=h[5],this.i2e20=h[6],this.i2e21=h[7],this.i2e22=h[8];var e=this.limitMotor1.frequency,a=this.limitMotor2.frequency,o=this.limitMotor3.frequency,n=0<e,r=0<a,l=0<o,c=this.lowerLimit1<=this.upperLimit1,m=this.lowerLimit2<=this.upperLimit2,p=this.lowerLimit3<=this.upperLimit3,u=this.limitMotor1.angle;c?(this.lowerLimit1==this.upperLimit1?(0!=this.limitState1&&(this.limitState1=0,this.limitImpulse1=0),this.limitVelocity1=this.lowerLimit1-u):u<this.lowerLimit1?(-1!=this.limitState1&&(this.limitState1=-1,this.limitImpulse1=0),this.limitVelocity1=this.lowerLimit1-u):u>this.upperLimit1?(1!=this.limitState1&&(this.limitState1=1,this.limitImpulse1=0),this.limitVelocity1=this.upperLimit1-u):(this.limitState1=2,this.limitImpulse1=0,this.limitVelocity1=0),n||(.02<this.limitVelocity1?this.limitVelocity1-=.02:this.limitVelocity1<-.02?this.limitVelocity1+=.02:this.limitVelocity1=0)):(this.limitState1=2,this.limitImpulse1=0);var y=this.limitMotor2.angle;m?(this.lowerLimit2==this.upperLimit2?(0!=this.limitState2&&(this.limitState2=0,this.limitImpulse2=0),this.limitVelocity2=this.lowerLimit2-y):y<this.lowerLimit2?(-1!=this.limitState2&&(this.limitState2=-1,this.limitImpulse2=0),this.limitVelocity2=this.lowerLimit2-y):y>this.upperLimit2?(1!=this.limitState2&&(this.limitState2=1,this.limitImpulse2=0),this.limitVelocity2=this.upperLimit2-y):(this.limitState2=2,this.limitImpulse2=0,this.limitVelocity2=0),r||(.02<this.limitVelocity2?this.limitVelocity2-=.02:this.limitVelocity2<-.02?this.limitVelocity2+=.02:this.limitVelocity2=0)):(this.limitState2=2,this.limitImpulse2=0);var x=this.limitMotor3.angle;if(p?(this.lowerLimit3==this.upperLimit3?(0!=this.limitState3&&(this.limitState3=0,this.limitImpulse3=0),this.limitVelocity3=this.lowerLimit3-x):x<this.lowerLimit3?(-1!=this.limitState3&&(this.limitState3=-1,this.limitImpulse3=0),this.limitVelocity3=this.lowerLimit3-x):x>this.upperLimit3?(1!=this.limitState3&&(this.limitState3=1,this.limitImpulse3=0),this.limitVelocity3=this.upperLimit3-x):(this.limitState3=2,this.limitImpulse3=0,this.limitVelocity3=0),l||(.02<this.limitVelocity3?this.limitVelocity3-=.02:this.limitVelocity3<-.02?this.limitVelocity3+=.02:this.limitVelocity3=0)):(this.limitState3=2,this.limitImpulse3=0),this.enableMotor1&&(0!=this.limitState1||n)?this.maxMotorImpulse1=this.maxMotorForce1*t:(this.motorImpulse1=0,this.maxMotorImpulse1=0),this.enableMotor2&&(0!=this.limitState2||r)?this.maxMotorImpulse2=this.maxMotorForce2*t:(this.motorImpulse2=0,this.maxMotorImpulse2=0),this.enableMotor3&&(0!=this.limitState3||l)?this.maxMotorImpulse3=this.maxMotorForce3*t:(this.motorImpulse3=0,this.maxMotorImpulse3=0),this.a1x1=this.ax1*this.i1e00+this.ay1*this.i1e01+this.az1*this.i1e02,this.a1y1=this.ax1*this.i1e10+this.ay1*this.i1e11+this.az1*this.i1e12,this.a1z1=this.ax1*this.i1e20+this.ay1*this.i1e21+this.az1*this.i1e22,this.a2x1=this.ax1*this.i2e00+this.ay1*this.i2e01+this.az1*this.i2e02,this.a2y1=this.ax1*this.i2e10+this.ay1*this.i2e11+this.az1*this.i2e12,this.a2z1=this.ax1*this.i2e20+this.ay1*this.i2e21+this.az1*this.i2e22,this.a1x2=this.ax2*this.i1e00+this.ay2*this.i1e01+this.az2*this.i1e02,this.a1y2=this.ax2*this.i1e10+this.ay2*this.i1e11+this.az2*this.i1e12,this.a1z2=this.ax2*this.i1e20+this.ay2*this.i1e21+this.az2*this.i1e22,this.a2x2=this.ax2*this.i2e00+this.ay2*this.i2e01+this.az2*this.i2e02,this.a2y2=this.ax2*this.i2e10+this.ay2*this.i2e11+this.az2*this.i2e12,this.a2z2=this.ax2*this.i2e20+this.ay2*this.i2e21+this.az2*this.i2e22,this.a1x3=this.ax3*this.i1e00+this.ay3*this.i1e01+this.az3*this.i1e02,this.a1y3=this.ax3*this.i1e10+this.ay3*this.i1e11+this.az3*this.i1e12,this.a1z3=this.ax3*this.i1e20+this.ay3*this.i1e21+this.az3*this.i1e22,this.a2x3=this.ax3*this.i2e00+this.ay3*this.i2e01+this.az3*this.i2e02,this.a2y3=this.ax3*this.i2e10+this.ay3*this.i2e11+this.az3*this.i2e12,this.a2z3=this.ax3*this.i2e20+this.ay3*this.i2e21+this.az3*this.i2e22,this.k00=this.ax1*(this.a1x1+this.a2x1)+this.ay1*(this.a1y1+this.a2y1)+this.az1*(this.a1z1+this.a2z1),this.k01=this.ax1*(this.a1x2+this.a2x2)+this.ay1*(this.a1y2+this.a2y2)+this.az1*(this.a1z2+this.a2z2),this.k02=this.ax1*(this.a1x3+this.a2x3)+this.ay1*(this.a1y3+this.a2y3)+this.az1*(this.a1z3+this.a2z3),this.k10=this.ax2*(this.a1x1+this.a2x1)+this.ay2*(this.a1y1+this.a2y1)+this.az2*(this.a1z1+this.a2z1),this.k11=this.ax2*(this.a1x2+this.a2x2)+this.ay2*(this.a1y2+this.a2y2)+this.az2*(this.a1z2+this.a2z2),this.k12=this.ax2*(this.a1x3+this.a2x3)+this.ay2*(this.a1y3+this.a2y3)+this.az2*(this.a1z3+this.a2z3),this.k20=this.ax3*(this.a1x1+this.a2x1)+this.ay3*(this.a1y1+this.a2y1)+this.az3*(this.a1z1+this.a2z1),this.k21=this.ax3*(this.a1x2+this.a2x2)+this.ay3*(this.a1y2+this.a2y2)+this.az3*(this.a1z2+this.a2z2),this.k22=this.ax3*(this.a1x3+this.a2x3)+this.ay3*(this.a1y3+this.a2y3)+this.az3*(this.a1z3+this.a2z3),this.kv00=this.k00,this.kv11=this.k11,this.kv22=this.k22,this.dv00=1/this.kv00,this.dv11=1/this.kv11,this.dv22=1/this.kv22,n&&2!=this.limitState1){var d=6.2831853*e,f=d*d*t,b=i/(f+2*this.limitMotor1.dampingRatio*d);this.cfm1=this.kv00*b,this.limitVelocity1*=f*b}else this.cfm1=0,this.limitVelocity1*=.05*i;r&&2!=this.limitState2?(b=i/((f=(d=6.2831853*a)*d*t)+2*this.limitMotor2.dampingRatio*d),this.cfm2=this.kv11*b,this.limitVelocity2*=f*b):(this.cfm2=0,this.limitVelocity2*=.05*i),l&&2!=this.limitState3?(b=i/((f=(d=6.2831853*o)*d*t)+2*this.limitMotor3.dampingRatio*d),this.cfm3=this.kv22*b,this.limitVelocity3*=f*b):(this.cfm3=0,this.limitVelocity3*=.05*i),this.k00+=this.cfm1,this.k11+=this.cfm2,this.k22+=this.cfm3;var v=1/(this.k00*(this.k11*this.k22-this.k21*this.k12)+this.k10*(this.k21*this.k02-this.k01*this.k22)+this.k20*(this.k01*this.k12-this.k11*this.k02));this.d00=(this.k11*this.k22-this.k12*this.k21)*v,this.d01=(this.k02*this.k21-this.k01*this.k22)*v,this.d02=(this.k01*this.k12-this.k02*this.k11)*v,this.d10=(this.k12*this.k20-this.k10*this.k22)*v,this.d11=(this.k00*this.k22-this.k02*this.k20)*v,this.d12=(this.k02*this.k10-this.k00*this.k12)*v,this.d20=(this.k10*this.k21-this.k11*this.k20)*v,this.d21=(this.k01*this.k20-this.k00*this.k21)*v,this.d22=(this.k00*this.k11-this.k01*this.k10)*v,this.limitImpulse1*=.95,this.motorImpulse1*=.95,this.limitImpulse2*=.95,this.motorImpulse2*=.95,this.limitImpulse3*=.95,this.motorImpulse3*=.95;var z=this.limitImpulse1+this.motorImpulse1,N=this.limitImpulse2+this.motorImpulse2,k=this.limitImpulse3+this.motorImpulse3;this.a1.x+=z*this.a1x1+N*this.a1x2+k*this.a1x3,this.a1.y+=z*this.a1y1+N*this.a1y2+k*this.a1y3,this.a1.z+=z*this.a1z1+N*this.a1z2+k*this.a1z3,this.a2.x-=z*this.a2x1+N*this.a2x2+k*this.a2x3,this.a2.y-=z*this.a2y1+N*this.a2y2+k*this.a2y3,this.a2.z-=z*this.a2z1+N*this.a2z2+k*this.a2z3},solve_:function(){var t=this.a2.x-this.a1.x,i=this.a2.y-this.a1.y,s=this.a2.z-this.a1.z;this.limitVelocity3=30;var h=t*this.ax1+i*this.ay1+s*this.az1-this.limitVelocity1,e=t*this.ax2+i*this.ay2+s*this.az2-this.limitVelocity2,a=t*this.ax3+i*this.ay3+s*this.az3-this.limitVelocity3,o=h*this.d00+e*this.d01+a*this.d02,n=h*this.d10+e*this.d11+a*this.d12,r=h*this.d20+e*this.d21+a*this.d22;this.limitImpulse1+=o,this.limitImpulse2+=n,this.limitImpulse3+=r,this.a1.x+=o*this.a1x1+n*this.a1x2+r*this.a1x3,this.a1.y+=o*this.a1y1+n*this.a1y2+r*this.a1y3,this.a1.z+=o*this.a1z1+n*this.a1z2+r*this.a1z3,this.a2.x-=o*this.a2x1+n*this.a2x2+r*this.a2x3,this.a2.y-=o*this.a2y1+n*this.a2y2+r*this.a2y3,this.a2.z-=o*this.a2z1+n*this.a2z2+r*this.a2z3},solve:function(){var t=this.a2.x-this.a1.x,i=this.a2.y-this.a1.y,s=this.a2.z-this.a1.z,h=t*this.ax1+i*this.ay1+s*this.az1,e=t*this.ax2+i*this.ay2+s*this.az2,a=t*this.ax3+i*this.ay3+s*this.az3,o=this.motorImpulse1,n=this.motorImpulse2,r=this.motorImpulse3,l=0,c=0,m=0;this.enableMotor1&&(l=(h-this.motorSpeed1)*this.dv00,this.motorImpulse1+=l,this.motorImpulse1>this.maxMotorImpulse1?this.motorImpulse1=this.maxMotorImpulse1:this.motorImpulse1<-this.maxMotorImpulse1&&(this.motorImpulse1=-this.maxMotorImpulse1),l=this.motorImpulse1-o),this.enableMotor2&&(c=(e-this.motorSpeed2)*this.dv11,this.motorImpulse2+=c,this.motorImpulse2>this.maxMotorImpulse2?this.motorImpulse2=this.maxMotorImpulse2:this.motorImpulse2<-this.maxMotorImpulse2&&(this.motorImpulse2=-this.maxMotorImpulse2),c=this.motorImpulse2-n),this.enableMotor3&&(m=(a-this.motorSpeed3)*this.dv22,this.motorImpulse3+=m,this.motorImpulse3>this.maxMotorImpulse3?this.motorImpulse3=this.maxMotorImpulse3:this.motorImpulse3<-this.maxMotorImpulse3&&(this.motorImpulse3=-this.maxMotorImpulse3),m=this.motorImpulse3-r),h+=l*this.kv00+c*this.k01+m*this.k02,e+=l*this.k10+c*this.kv11+m*this.k12,a+=l*this.k20+c*this.k21+m*this.kv22,h-=this.limitVelocity1+this.limitImpulse1*this.cfm1,e-=this.limitVelocity2+this.limitImpulse2*this.cfm2,a-=this.limitVelocity3+this.limitImpulse3*this.cfm3;var p=this.limitImpulse1,u=this.limitImpulse2,y=this.limitImpulse3,x=h*this.d00+e*this.d01+a*this.d02,d=h*this.d10+e*this.d11+a*this.d12,f=h*this.d20+e*this.d21+a*this.d22;this.limitImpulse1+=x,this.limitImpulse2+=d,this.limitImpulse3+=f;var b,v=0;switch((2==this.limitState1||this.limitImpulse1*this.limitState1<0)&&(e+=(x=-p)*this.k10,a+=x*this.k20,v|=1),(2==this.limitState2||this.limitImpulse2*this.limitState2<0)&&(h+=(d=-u)*this.k01,a+=d*this.k21,v|=2),(2==this.limitState3||this.limitImpulse3*this.limitState3<0)&&(h+=(f=-y)*this.k02,e+=f*this.k12,v|=4),v){case 1:b=1/(this.k11*this.k22-this.k12*this.k21),d=(this.k22*e+-this.k12*a)*b,f=(-this.k21*e+this.k11*a)*b;break;case 2:b=1/(this.k00*this.k22-this.k02*this.k20),x=(this.k22*h+-this.k02*a)*b,f=(-this.k20*h+this.k00*a)*b;break;case 3:f=a/this.k22;break;case 4:b=1/(this.k00*this.k11-this.k01*this.k10),x=(this.k11*h+-this.k01*e)*b,d=(-this.k10*h+this.k00*e)*b;break;case 5:d=e/this.k11;break;case 6:x=h/this.k00}this.limitImpulse1=x+p,this.limitImpulse2=d+u,this.limitImpulse3=f+y;var z=l+x,N=c+d,k=m+f;this.a1.x+=z*this.a1x1+N*this.a1x2+k*this.a1x3,this.a1.y+=z*this.a1y1+N*this.a1y2+k*this.a1y3,this.a1.z+=z*this.a1z1+N*this.a1z2+k*this.a1z3,this.a2.x-=z*this.a2x1+N*this.a2x2+k*this.a2x3,this.a2.y-=z*this.a2y1+N*this.a2y2+k*this.a2y3,this.a2.z-=z*this.a2z1+N*this.a2z2+k*this.a2z3,t=this.a2.x-this.a1.x,i=this.a2.y-this.a1.y,s=this.a2.z-this.a1.z,e=t*this.ax2+i*this.ay2+s*this.az2}}),j.prototype=Object.assign(Object.create(P.prototype),{constructor:j,preSolve:function(t,i){this.updateAnchorPoints(),this.ax1.copy(this.localAxis1).applyMatrix3(this.body1.rotation,!0),this.ax2.copy(this.localAxis2).applyMatrix3(this.body2.rotation,!0),this.an1.copy(this.localAngle1).applyMatrix3(this.body1.rotation,!0),this.an2.copy(this.localAngle2).applyMatrix3(this.body2.rotation,!0),this.nor.set(this.ax1.x*this.body2.inverseMass+this.ax2.x*this.body1.inverseMass,this.ax1.y*this.body2.inverseMass+this.ax2.y*this.body1.inverseMass,this.ax1.z*this.body2.inverseMass+this.ax2.z*this.body1.inverseMass).normalize(),this.tan.tangent(this.nor).normalize(),this.bin.crossVectors(this.nor,this.tan);var s=Bs.acosClamp(Bs.dotVectors(this.an1,this.an2));this.tmp.crossVectors(this.an1,this.an2),Bs.dotVectors(this.nor,this.tmp)<0?this.limitMotor.angle=-s:this.limitMotor.angle=s,this.tmp.crossVectors(this.ax1,this.ax2),this.r3.limitMotor2.angle=Bs.dotVectors(this.tan,this.tmp),this.r3.limitMotor3.angle=Bs.dotVectors(this.bin,this.tmp),this.r3.preSolve(t,i),this.lc.preSolve(t,i)},solve:function(){this.r3.solve(),this.lc.solve()},postSolve:function(){}}),C.prototype=Object.assign(Object.create(P.prototype),{constructor:C,preSolve:function(t,i){this.updateAnchorPoints(),this.lc.preSolve(t,i)},solve:function(){this.lc.solve()},postSolve:function(){}}),Object.assign(O.prototype,{TranslationalConstraint:!0,preSolve:function(t,i){this.ax=this.limitMotor.axis.x,this.ay=this.limitMotor.axis.y,this.az=this.limitMotor.axis.z,this.lowerLimit=this.limitMotor.lowerLimit,this.upperLimit=this.limitMotor.upperLimit,this.motorSpeed=this.limitMotor.motorSpeed,this.maxMotorForce=this.limitMotor.maxMotorForce,this.enableMotor=0<this.maxMotorForce,this.m1=this.b1.inverseMass,this.m2=this.b2.inverseMass;var s=this.i1.elements,h=this.i2.elements;this.i1e00=s[0],this.i1e01=s[1],this.i1e02=s[2],this.i1e10=s[3],this.i1e11=s[4],this.i1e12=s[5],this.i1e20=s[6],this.i1e21=s[7],this.i1e22=s[8],this.i2e00=h[0],this.i2e01=h[1],this.i2e02=h[2],this.i2e10=h[3],this.i2e11=h[4],this.i2e12=h[5],this.i2e20=h[6],this.i2e21=h[7],this.i2e22=h[8];var e=this.p2.x-this.p1.x,a=this.p2.y-this.p1.y,o=this.p2.z-this.p1.z,n=e*this.ax+a*this.ay+o*this.az,r=this.limitMotor.frequency,l=0<r;(l&&20<n||n<-20)&&(l=!1),this.lowerLimit<=this.upperLimit?(this.lowerLimit==this.upperLimit?(0!=this.limitState&&(this.limitState=0,this.limitImpulse=0),this.limitVelocity=this.lowerLimit-n,l||(n=this.lowerLimit)):n<this.lowerLimit?(-1!=this.limitState&&(this.limitState=-1,this.limitImpulse=0),this.limitVelocity=this.lowerLimit-n,l||(n=this.lowerLimit)):n>this.upperLimit?(1!=this.limitState&&(this.limitState=1,this.limitImpulse=0),this.limitVelocity=this.upperLimit-n,l||(n=this.upperLimit)):(this.limitState=2,this.limitImpulse=0,this.limitVelocity=0),l||(.005<this.limitVelocity?this.limitVelocity-=.005:this.limitVelocity<-.005?this.limitVelocity+=.005:this.limitVelocity=0)):(this.limitState=2,this.limitImpulse=0),this.enableMotor&&(0!=this.limitState||l)?this.maxMotorImpulse=this.maxMotorForce*t:(this.motorImpulse=0,this.maxMotorImpulse=0);var c=n*this.ax,m=n*this.ay,p=n*this.az,u=this.m1/(this.m1+this.m2),y=1-u;if(this.r1x=this.r1.x+c*u,this.r1y=this.r1.y+m*u,this.r1z=this.r1.z+p*u,this.r2x=this.r2.x-c*y,this.r2y=this.r2.y-m*y,this.r2z=this.r2.z-p*y,this.t1x=this.r1y*this.az-this.r1z*this.ay,this.t1y=this.r1z*this.ax-this.r1x*this.az,this.t1z=this.r1x*this.ay-this.r1y*this.ax,this.t2x=this.r2y*this.az-this.r2z*this.ay,this.t2y=this.r2z*this.ax-this.r2x*this.az,this.t2z=this.r2x*this.ay-this.r2y*this.ax,this.l1x=this.ax*this.m1,this.l1y=this.ay*this.m1,this.l1z=this.az*this.m1,this.l2x=this.ax*this.m2,this.l2y=this.ay*this.m2,this.l2z=this.az*this.m2,this.a1x=this.t1x*this.i1e00+this.t1y*this.i1e01+this.t1z*this.i1e02,this.a1y=this.t1x*this.i1e10+this.t1y*this.i1e11+this.t1z*this.i1e12,this.a1z=this.t1x*this.i1e20+this.t1y*this.i1e21+this.t1z*this.i1e22,this.a2x=this.t2x*this.i2e00+this.t2y*this.i2e01+this.t2z*this.i2e02,this.a2y=this.t2x*this.i2e10+this.t2y*this.i2e11+this.t2z*this.i2e12,this.a2z=this.t2x*this.i2e20+this.t2y*this.i2e21+this.t2z*this.i2e22,this.motorDenom=this.m1+this.m2+this.ax*(this.a1y*this.r1z-this.a1z*this.r1y+this.a2y*this.r2z-this.a2z*this.r2y)+this.ay*(this.a1z*this.r1x-this.a1x*this.r1z+this.a2z*this.r2x-this.a2x*this.r2z)+this.az*(this.a1x*this.r1y-this.a1y*this.r1x+this.a2x*this.r2y-this.a2y*this.r2x),this.invMotorDenom=1/this.motorDenom,l&&2!=this.limitState){var x=6.2831853*r,d=x*x*t,f=i/(d+2*this.limitMotor.dampingRatio*x);this.cfm=this.motorDenom*f,this.limitVelocity*=d*f}else this.cfm=0,this.limitVelocity*=.05*i;this.invDenom=1/(this.motorDenom+this.cfm);var b=this.limitImpulse+this.motorImpulse;this.l1.x+=b*this.l1x,this.l1.y+=b*this.l1y,this.l1.z+=b*this.l1z,this.a1.x+=b*this.a1x,this.a1.y+=b*this.a1y,this.a1.z+=b*this.a1z,this.l2.x-=b*this.l2x,this.l2.y-=b*this.l2y,this.l2.z-=b*this.l2z,this.a2.x-=b*this.a2x,this.a2.y-=b*this.a2y,this.a2.z-=b*this.a2z},solve:function(){var t,i,s=this.ax*(this.l2.x-this.l1.x)+this.ay*(this.l2.y-this.l1.y)+this.az*(this.l2.z-this.l1.z)+this.t2x*this.a2.x-this.t1x*this.a1.x+this.t2y*this.a2.y-this.t1y*this.a1.y+this.t2z*this.a2.z-this.t1z*this.a1.z;if(this.enableMotor){t=(s-this.motorSpeed)*this.invMotorDenom;var h=this.motorImpulse;this.motorImpulse+=t,this.motorImpulse>this.maxMotorImpulse?this.motorImpulse=this.maxMotorImpulse:this.motorImpulse<-this.maxMotorImpulse&&(this.motorImpulse=-this.maxMotorImpulse),s-=(t=this.motorImpulse-h)*this.motorDenom}else t=0;if(2!=this.limitState){i=(s-this.limitVelocity-this.limitImpulse*this.cfm)*this.invDenom;var e=this.limitImpulse;this.limitImpulse+=i,this.limitImpulse*this.limitState<0&&(this.limitImpulse=0),i=this.limitImpulse-e}else i=0;var a=i+t;this.l1.x+=a*this.l1x,this.l1.y+=a*this.l1y,this.l1.z+=a*this.l1z,this.a1.x+=a*this.a1x,this.a1.y+=a*this.a1y,this.a1.z+=a*this.a1z,this.l2.x-=a*this.l2x,this.l2.y-=a*this.l2y,this.l2.z-=a*this.l2z,this.a2.x-=a*this.a2x,this.a2.y-=a*this.a2y,this.a2.z-=a*this.a2z}}),D.prototype=Object.assign(Object.create(P.prototype),{constructor:D,preSolve:function(t,i){this.updateAnchorPoints(),this.nor.sub(this.anchorPoint2,this.anchorPoint1).normalize(),this.t.preSolve(t,i)},solve:function(){this.t.solve()},postSolve:function(){}}),Object.assign(E.prototype,{AngularConstraint:!0,preSolve:function(t,i){var s,h,e;this.ii1=this.i1.clone(),this.ii2=this.i2.clone(),s=1/((e=(new y).add(this.ii1,this.ii2).elements)[0]*(e[4]*e[8]-e[7]*e[5])+e[3]*(e[7]*e[2]-e[1]*e[8])+e[6]*(e[1]*e[5]-e[4]*e[2])),this.dd=(new y).set(e[4]*e[8]-e[5]*e[7],e[2]*e[7]-e[1]*e[8],e[1]*e[5]-e[2]*e[4],e[5]*e[6]-e[3]*e[8],e[0]*e[8]-e[2]*e[6],e[2]*e[3]-e[0]*e[5],e[3]*e[7]-e[4]*e[6],e[1]*e[6]-e[0]*e[7],e[0]*e[4]-e[1]*e[3]).multiplyScalar(s),this.relativeOrientation.invert(this.b1.orientation).multiply(this.targetOrientation).multiply(this.b2.orientation),s=2*this.relativeOrientation.w,this.vel.copy(this.relativeOrientation).multiplyScalar(s),.02<(h=this.vel.length())?(h=(.02-h)/h*i*.05,this.vel.multiplyScalar(h)):this.vel.set(0,0,0),this.rn1.copy(this.imp).applyMatrix3(this.ii1,!0),this.rn2.copy(this.imp).applyMatrix3(this.ii2,!0),this.a1.add(this.rn1),this.a2.sub(this.rn2)},solve:function(){var t=this.a2.clone().sub(this.a1).sub(this.vel);this.rn0.copy(t).applyMatrix3(this.dd,!0),this.rn1.copy(this.rn0).applyMatrix3(this.ii1,!0),this.rn2.copy(this.rn0).applyMatrix3(this.ii2,!0),this.imp.add(this.rn0),this.a1.add(this.rn1),this.a2.sub(this.rn2)}}),Object.assign(B.prototype,{Translational3Constraint:!0,preSolve:function(t,i){this.ax1=this.limitMotor1.axis.x,this.ay1=this.limitMotor1.axis.y,this.az1=this.limitMotor1.axis.z,this.ax2=this.limitMotor2.axis.x,this.ay2=this.limitMotor2.axis.y,this.az2=this.limitMotor2.axis.z,this.ax3=this.limitMotor3.axis.x,this.ay3=this.limitMotor3.axis.y,this.az3=this.limitMotor3.axis.z,this.lowerLimit1=this.limitMotor1.lowerLimit,this.upperLimit1=this.limitMotor1.upperLimit,this.motorSpeed1=this.limitMotor1.motorSpeed,this.maxMotorForce1=this.limitMotor1.maxMotorForce,this.enableMotor1=0<this.maxMotorForce1,this.lowerLimit2=this.limitMotor2.lowerLimit,this.upperLimit2=this.limitMotor2.upperLimit,this.motorSpeed2=this.limitMotor2.motorSpeed,this.maxMotorForce2=this.limitMotor2.maxMotorForce,this.enableMotor2=0<this.maxMotorForce2,this.lowerLimit3=this.limitMotor3.lowerLimit,this.upperLimit3=this.limitMotor3.upperLimit,this.motorSpeed3=this.limitMotor3.motorSpeed,this.maxMotorForce3=this.limitMotor3.maxMotorForce,this.enableMotor3=0<this.maxMotorForce3,this.m1=this.b1.inverseMass,this.m2=this.b2.inverseMass;var s=this.i1.elements,h=this.i2.elements;this.i1e00=s[0],this.i1e01=s[1],this.i1e02=s[2],this.i1e10=s[3],this.i1e11=s[4],this.i1e12=s[5],this.i1e20=s[6],this.i1e21=s[7],this.i1e22=s[8],this.i2e00=h[0],this.i2e01=h[1],this.i2e02=h[2],this.i2e10=h[3],this.i2e11=h[4],this.i2e12=h[5],this.i2e20=h[6],this.i2e21=h[7],this.i2e22=h[8];var e=this.p2.x-this.p1.x,a=this.p2.y-this.p1.y,o=this.p2.z-this.p1.z,n=e*this.ax1+a*this.ay1+o*this.az1,r=e*this.ax2+a*this.ay2+o*this.az2,l=e*this.ax3+a*this.ay3+o*this.az3,c=this.limitMotor1.frequency,m=this.limitMotor2.frequency,p=this.limitMotor3.frequency,u=0<c,y=0<m,x=0<p,d=this.lowerLimit1<=this.upperLimit1,f=this.lowerLimit2<=this.upperLimit2,b=this.lowerLimit3<=this.upperLimit3;(u&&20<n||n<-20)&&(u=!1),(y&&20<r||r<-20)&&(y=!1),(x&&20<l||l<-20)&&(x=!1),d?(this.lowerLimit1==this.upperLimit1?(0!=this.limitState1&&(this.limitState1=0,this.limitImpulse1=0),this.limitVelocity1=this.lowerLimit1-n,u||(n=this.lowerLimit1)):n<this.lowerLimit1?(-1!=this.limitState1&&(this.limitState1=-1,this.limitImpulse1=0),this.limitVelocity1=this.lowerLimit1-n,u||(n=this.lowerLimit1)):n>this.upperLimit1?(1!=this.limitState1&&(this.limitState1=1,this.limitImpulse1=0),this.limitVelocity1=this.upperLimit1-n,u||(n=this.upperLimit1)):(this.limitState1=2,this.limitImpulse1=0,this.limitVelocity1=0),u||(.005<this.limitVelocity1?this.limitVelocity1-=.005:this.limitVelocity1<-.005?this.limitVelocity1+=.005:this.limitVelocity1=0)):(this.limitState1=2,this.limitImpulse1=0),f?(this.lowerLimit2==this.upperLimit2?(0!=this.limitState2&&(this.limitState2=0,this.limitImpulse2=0),this.limitVelocity2=this.lowerLimit2-r,y||(r=this.lowerLimit2)):r<this.lowerLimit2?(-1!=this.limitState2&&(this.limitState2=-1,this.limitImpulse2=0),this.limitVelocity2=this.lowerLimit2-r,y||(r=this.lowerLimit2)):r>this.upperLimit2?(1!=this.limitState2&&(this.limitState2=1,this.limitImpulse2=0),this.limitVelocity2=this.upperLimit2-r,y||(r=this.upperLimit2)):(this.limitState2=2,this.limitImpulse2=0,this.limitVelocity2=0),y||(.005<this.limitVelocity2?this.limitVelocity2-=.005:this.limitVelocity2<-.005?this.limitVelocity2+=.005:this.limitVelocity2=0)):(this.limitState2=2,this.limitImpulse2=0),b?(this.lowerLimit3==this.upperLimit3?(0!=this.limitState3&&(this.limitState3=0,this.limitImpulse3=0),this.limitVelocity3=this.lowerLimit3-l,x||(l=this.lowerLimit3)):l<this.lowerLimit3?(-1!=this.limitState3&&(this.limitState3=-1,this.limitImpulse3=0),this.limitVelocity3=this.lowerLimit3-l,x||(l=this.lowerLimit3)):l>this.upperLimit3?(1!=this.limitState3&&(this.limitState3=1,this.limitImpulse3=0),this.limitVelocity3=this.upperLimit3-l,x||(l=this.upperLimit3)):(this.limitState3=2,this.limitImpulse3=0,this.limitVelocity3=0),x||(.005<this.limitVelocity3?this.limitVelocity3-=.005:this.limitVelocity3<-.005?this.limitVelocity3+=.005:this.limitVelocity3=0)):(this.limitState3=2,this.limitImpulse3=0),this.enableMotor1&&(0!=this.limitState1||u)?this.maxMotorImpulse1=this.maxMotorForce1*t:(this.motorImpulse1=0,this.maxMotorImpulse1=0),this.enableMotor2&&(0!=this.limitState2||y)?this.maxMotorImpulse2=this.maxMotorForce2*t:(this.motorImpulse2=0,this.maxMotorImpulse2=0),this.enableMotor3&&(0!=this.limitState3||x)?this.maxMotorImpulse3=this.maxMotorForce3*t:(this.motorImpulse3=0,this.maxMotorImpulse3=0);var v=n*this.ax1+r*this.ax2+l*this.ax2,z=n*this.ay1+r*this.ay2+l*this.ay2,N=n*this.az1+r*this.az2+l*this.az2,k=this.m2/(this.m1+this.m2);0<=this.weight&&(k=this.weight);var w=1-k;this.r1x=this.r1.x+v*k,this.r1y=this.r1.y+z*k,this.r1z=this.r1.z+N*k,this.r2x=this.r2.x-v*w,this.r2y=this.r2.y-z*w,this.r2z=this.r2.z-N*w,this.t1x1=this.r1y*this.az1-this.r1z*this.ay1,this.t1y1=this.r1z*this.ax1-this.r1x*this.az1,this.t1z1=this.r1x*this.ay1-this.r1y*this.ax1,this.t2x1=this.r2y*this.az1-this.r2z*this.ay1,this.t2y1=this.r2z*this.ax1-this.r2x*this.az1,this.t2z1=this.r2x*this.ay1-this.r2y*this.ax1,this.l1x1=this.ax1*this.m1,this.l1y1=this.ay1*this.m1,this.l1z1=this.az1*this.m1,this.l2x1=this.ax1*this.m2,this.l2y1=this.ay1*this.m2,this.l2z1=this.az1*this.m2,this.a1x1=this.t1x1*this.i1e00+this.t1y1*this.i1e01+this.t1z1*this.i1e02,this.a1y1=this.t1x1*this.i1e10+this.t1y1*this.i1e11+this.t1z1*this.i1e12,this.a1z1=this.t1x1*this.i1e20+this.t1y1*this.i1e21+this.t1z1*this.i1e22,this.a2x1=this.t2x1*this.i2e00+this.t2y1*this.i2e01+this.t2z1*this.i2e02,this.a2y1=this.t2x1*this.i2e10+this.t2y1*this.i2e11+this.t2z1*this.i2e12,this.a2z1=this.t2x1*this.i2e20+this.t2y1*this.i2e21+this.t2z1*this.i2e22,this.t1x2=this.r1y*this.az2-this.r1z*this.ay2,this.t1y2=this.r1z*this.ax2-this.r1x*this.az2,this.t1z2=this.r1x*this.ay2-this.r1y*this.ax2,this.t2x2=this.r2y*this.az2-this.r2z*this.ay2,this.t2y2=this.r2z*this.ax2-this.r2x*this.az2,this.t2z2=this.r2x*this.ay2-this.r2y*this.ax2,this.l1x2=this.ax2*this.m1,this.l1y2=this.ay2*this.m1,this.l1z2=this.az2*this.m1,this.l2x2=this.ax2*this.m2,this.l2y2=this.ay2*this.m2,this.l2z2=this.az2*this.m2,this.a1x2=this.t1x2*this.i1e00+this.t1y2*this.i1e01+this.t1z2*this.i1e02,this.a1y2=this.t1x2*this.i1e10+this.t1y2*this.i1e11+this.t1z2*this.i1e12,this.a1z2=this.t1x2*this.i1e20+this.t1y2*this.i1e21+this.t1z2*this.i1e22,this.a2x2=this.t2x2*this.i2e00+this.t2y2*this.i2e01+this.t2z2*this.i2e02,this.a2y2=this.t2x2*this.i2e10+this.t2y2*this.i2e11+this.t2z2*this.i2e12,this.a2z2=this.t2x2*this.i2e20+this.t2y2*this.i2e21+this.t2z2*this.i2e22,this.t1x3=this.r1y*this.az3-this.r1z*this.ay3,this.t1y3=this.r1z*this.ax3-this.r1x*this.az3,this.t1z3=this.r1x*this.ay3-this.r1y*this.ax3,this.t2x3=this.r2y*this.az3-this.r2z*this.ay3,this.t2y3=this.r2z*this.ax3-this.r2x*this.az3,this.t2z3=this.r2x*this.ay3-this.r2y*this.ax3,this.l1x3=this.ax3*this.m1,this.l1y3=this.ay3*this.m1,this.l1z3=this.az3*this.m1,this.l2x3=this.ax3*this.m2,this.l2y3=this.ay3*this.m2,this.l2z3=this.az3*this.m2,this.a1x3=this.t1x3*this.i1e00+this.t1y3*this.i1e01+this.t1z3*this.i1e02,this.a1y3=this.t1x3*this.i1e10+this.t1y3*this.i1e11+this.t1z3*this.i1e12,this.a1z3=this.t1x3*this.i1e20+this.t1y3*this.i1e21+this.t1z3*this.i1e22,this.a2x3=this.t2x3*this.i2e00+this.t2y3*this.i2e01+this.t2z3*this.i2e02,this.a2y3=this.t2x3*this.i2e10+this.t2y3*this.i2e11+this.t2z3*this.i2e12,this.a2z3=this.t2x3*this.i2e20+this.t2y3*this.i2e21+this.t2z3*this.i2e22;var M=this.m1+this.m2;if(this.k00=(this.ax1*this.ax1+this.ay1*this.ay1+this.az1*this.az1)*M,this.k01=(this.ax1*this.ax2+this.ay1*this.ay2+this.az1*this.az2)*M,this.k02=(this.ax1*this.ax3+this.ay1*this.ay3+this.az1*this.az3)*M,this.k10=(this.ax2*this.ax1+this.ay2*this.ay1+this.az2*this.az1)*M,this.k11=(this.ax2*this.ax2+this.ay2*this.ay2+this.az2*this.az2)*M,this.k12=(this.ax2*this.ax3+this.ay2*this.ay3+this.az2*this.az3)*M,this.k20=(this.ax3*this.ax1+this.ay3*this.ay1+this.az3*this.az1)*M,this.k21=(this.ax3*this.ax2+this.ay3*this.ay2+this.az3*this.az2)*M,this.k22=(this.ax3*this.ax3+this.ay3*this.ay3+this.az3*this.az3)*M,this.k00+=this.t1x1*this.a1x1+this.t1y1*this.a1y1+this.t1z1*this.a1z1,this.k01+=this.t1x1*this.a1x2+this.t1y1*this.a1y2+this.t1z1*this.a1z2,this.k02+=this.t1x1*this.a1x3+this.t1y1*this.a1y3+this.t1z1*this.a1z3,this.k10+=this.t1x2*this.a1x1+this.t1y2*this.a1y1+this.t1z2*this.a1z1,this.k11+=this.t1x2*this.a1x2+this.t1y2*this.a1y2+this.t1z2*this.a1z2,this.k12+=this.t1x2*this.a1x3+this.t1y2*this.a1y3+this.t1z2*this.a1z3,this.k20+=this.t1x3*this.a1x1+this.t1y3*this.a1y1+this.t1z3*this.a1z1,this.k21+=this.t1x3*this.a1x2+this.t1y3*this.a1y2+this.t1z3*this.a1z2,this.k22+=this.t1x3*this.a1x3+this.t1y3*this.a1y3+this.t1z3*this.a1z3,this.k00+=this.t2x1*this.a2x1+this.t2y1*this.a2y1+this.t2z1*this.a2z1,this.k01+=this.t2x1*this.a2x2+this.t2y1*this.a2y2+this.t2z1*this.a2z2,this.k02+=this.t2x1*this.a2x3+this.t2y1*this.a2y3+this.t2z1*this.a2z3,this.k10+=this.t2x2*this.a2x1+this.t2y2*this.a2y1+this.t2z2*this.a2z1,this.k11+=this.t2x2*this.a2x2+this.t2y2*this.a2y2+this.t2z2*this.a2z2,this.k12+=this.t2x2*this.a2x3+this.t2y2*this.a2y3+this.t2z2*this.a2z3,this.k20+=this.t2x3*this.a2x1+this.t2y3*this.a2y1+this.t2z3*this.a2z1,this.k21+=this.t2x3*this.a2x2+this.t2y3*this.a2y2+this.t2z3*this.a2z2,this.k22+=this.t2x3*this.a2x3+this.t2y3*this.a2y3+this.t2z3*this.a2z3,this.kv00=this.k00,this.kv11=this.k11,this.kv22=this.k22,this.dv00=1/this.kv00,this.dv11=1/this.kv11,this.dv22=1/this.kv22,u&&2!=this.limitState1){var g=6.2831853*c,I=g*g*t,V=i/(I+2*this.limitMotor1.dampingRatio*g);this.cfm1=this.kv00*V,this.limitVelocity1*=I*V}else this.cfm1=0,this.limitVelocity1*=.05*i;y&&2!=this.limitState2?(V=i/((I=(g=6.2831853*m)*g*t)+2*this.limitMotor2.dampingRatio*g),this.cfm2=this.kv11*V,this.limitVelocity2*=I*V):(this.cfm2=0,this.limitVelocity2*=.05*i),x&&2!=this.limitState3?(V=i/((I=(g=6.2831853*p)*g*t)+2*this.limitMotor3.dampingRatio*g),this.cfm3=this.kv22*V,this.limitVelocity3*=I*V):(this.cfm3=0,this.limitVelocity3*=.05*i),this.k00+=this.cfm1,this.k11+=this.cfm2,this.k22+=this.cfm3;var L=1/(this.k00*(this.k11*this.k22-this.k21*this.k12)+this.k10*(this.k21*this.k02-this.k01*this.k22)+this.k20*(this.k01*this.k12-this.k11*this.k02));this.d00=(this.k11*this.k22-this.k12*this.k21)*L,this.d01=(this.k02*this.k21-this.k01*this.k22)*L,this.d02=(this.k01*this.k12-this.k02*this.k11)*L,this.d10=(this.k12*this.k20-this.k10*this.k22)*L,this.d11=(this.k00*this.k22-this.k02*this.k20)*L,this.d12=(this.k02*this.k10-this.k00*this.k12)*L,this.d20=(this.k10*this.k21-this.k11*this.k20)*L,this.d21=(this.k01*this.k20-this.k00*this.k21)*L,this.d22=(this.k00*this.k11-this.k01*this.k10)*L;var S=this.limitImpulse1+this.motorImpulse1,P=this.limitImpulse2+this.motorImpulse2,T=this.limitImpulse3+this.motorImpulse3;this.l1.x+=S*this.l1x1+P*this.l1x2+T*this.l1x3,this.l1.y+=S*this.l1y1+P*this.l1y2+T*this.l1y3,this.l1.z+=S*this.l1z1+P*this.l1z2+T*this.l1z3,this.a1.x+=S*this.a1x1+P*this.a1x2+T*this.a1x3,this.a1.y+=S*this.a1y1+P*this.a1y2+T*this.a1y3,this.a1.z+=S*this.a1z1+P*this.a1z2+T*this.a1z3,this.l2.x-=S*this.l2x1+P*this.l2x2+T*this.l2x3,this.l2.y-=S*this.l2y1+P*this.l2y2+T*this.l2y3,this.l2.z-=S*this.l2z1+P*this.l2z2+T*this.l2z3,this.a2.x-=S*this.a2x1+P*this.a2x2+T*this.a2x3,this.a2.y-=S*this.a2y1+P*this.a2y2+T*this.a2y3,this.a2.z-=S*this.a2z1+P*this.a2z2+T*this.a2z3},solve:function(){var t=this.l2.x-this.l1.x+this.a2.y*this.r2z-this.a2.z*this.r2y-this.a1.y*this.r1z+this.a1.z*this.r1y,i=this.l2.y-this.l1.y+this.a2.z*this.r2x-this.a2.x*this.r2z-this.a1.z*this.r1x+this.a1.x*this.r1z,s=this.l2.z-this.l1.z+this.a2.x*this.r2y-this.a2.y*this.r2x-this.a1.x*this.r1y+this.a1.y*this.r1x,h=t*this.ax1+i*this.ay1+s*this.az1,e=t*this.ax2+i*this.ay2+s*this.az2,a=t*this.ax3+i*this.ay3+s*this.az3,o=this.motorImpulse1,n=this.motorImpulse2,r=this.motorImpulse3,l=0,c=0,m=0;this.enableMotor1&&(l=(h-this.motorSpeed1)*this.dv00,this.motorImpulse1+=l,this.motorImpulse1>this.maxMotorImpulse1?this.motorImpulse1=this.maxMotorImpulse1:this.motorImpulse1<-this.maxMotorImpulse1&&(this.motorImpulse1=-this.maxMotorImpulse1),l=this.motorImpulse1-o),this.enableMotor2&&(c=(e-this.motorSpeed2)*this.dv11,this.motorImpulse2+=c,this.motorImpulse2>this.maxMotorImpulse2?this.motorImpulse2=this.maxMotorImpulse2:this.motorImpulse2<-this.maxMotorImpulse2&&(this.motorImpulse2=-this.maxMotorImpulse2),c=this.motorImpulse2-n),this.enableMotor3&&(m=(a-this.motorSpeed3)*this.dv22,this.motorImpulse3+=m,this.motorImpulse3>this.maxMotorImpulse3?this.motorImpulse3=this.maxMotorImpulse3:this.motorImpulse3<-this.maxMotorImpulse3&&(this.motorImpulse3=-this.maxMotorImpulse3),m=this.motorImpulse3-r),h+=l*this.kv00+c*this.k01+m*this.k02,e+=l*this.k10+c*this.kv11+m*this.k12,a+=l*this.k20+c*this.k21+m*this.kv22,h-=this.limitVelocity1+this.limitImpulse1*this.cfm1,e-=this.limitVelocity2+this.limitImpulse2*this.cfm2,a-=this.limitVelocity3+this.limitImpulse3*this.cfm3;var p=this.limitImpulse1,u=this.limitImpulse2,y=this.limitImpulse3,x=h*this.d00+e*this.d01+a*this.d02,d=h*this.d10+e*this.d11+a*this.d12,f=h*this.d20+e*this.d21+a*this.d22;this.limitImpulse1+=x,this.limitImpulse2+=d,this.limitImpulse3+=f;var b,v=0;switch((2==this.limitState1||this.limitImpulse1*this.limitState1<0)&&(e+=(x=-p)*this.k10,a+=x*this.k20,v|=1),(2==this.limitState2||this.limitImpulse2*this.limitState2<0)&&(h+=(d=-u)*this.k01,a+=d*this.k21,v|=2),(2==this.limitState3||this.limitImpulse3*this.limitState3<0)&&(h+=(f=-y)*this.k02,e+=f*this.k12,v|=4),v){case 1:b=1/(this.k11*this.k22-this.k12*this.k21),d=(this.k22*e+-this.k12*a)*b,f=(-this.k21*e+this.k11*a)*b;break;case 2:b=1/(this.k00*this.k22-this.k02*this.k20),x=(this.k22*h+-this.k02*a)*b,f=(-this.k20*h+this.k00*a)*b;break;case 3:f=a/this.k22;break;case 4:b=1/(this.k00*this.k11-this.k01*this.k10),x=(this.k11*h+-this.k01*e)*b,d=(-this.k10*h+this.k00*e)*b;break;case 5:d=e/this.k11;break;case 6:x=h/this.k00}this.limitImpulse1=p+x,this.limitImpulse2=u+d,this.limitImpulse3=y+f;var z=l+x,N=c+d,k=m+f;this.l1.x+=z*this.l1x1+N*this.l1x2+k*this.l1x3,this.l1.y+=z*this.l1y1+N*this.l1y2+k*this.l1y3,this.l1.z+=z*this.l1z1+N*this.l1z2+k*this.l1z3,this.a1.x+=z*this.a1x1+N*this.a1x2+k*this.a1x3,this.a1.y+=z*this.a1y1+N*this.a1y2+k*this.a1y3,this.a1.z+=z*this.a1z1+N*this.a1z2+k*this.a1z3,this.l2.x-=z*this.l2x1+N*this.l2x2+k*this.l2x3,this.l2.y-=z*this.l2y1+N*this.l2y2+k*this.l2y3,this.l2.z-=z*this.l2z1+N*this.l2z2+k*this.l2z3,this.a2.x-=z*this.a2x1+N*this.a2x2+k*this.a2x3,this.a2.y-=z*this.a2y1+N*this.a2y2+k*this.a2y3,this.a2.z-=z*this.a2z1+N*this.a2z2+k*this.a2z3}}),F.prototype=Object.assign(Object.create(P.prototype),{constructor:F,preSolve:function(t,i){this.updateAnchorPoints(),this.ax1.copy(this.localAxis1).applyMatrix3(this.body1.rotation,!0),this.ax2.copy(this.localAxis2).applyMatrix3(this.body2.rotation,!0),this.nor.set(this.ax1.x*this.body2.inverseMass+this.ax2.x*this.body1.inverseMass,this.ax1.y*this.body2.inverseMass+this.ax2.y*this.body1.inverseMass,this.ax1.z*this.body2.inverseMass+this.ax2.z*this.body1.inverseMass).normalize(),this.tan.tangent(this.nor).normalize(),this.bin.crossVectors(this.nor,this.tan),this.ac.preSolve(t,i),this.t3.preSolve(t,i)},solve:function(){this.ac.solve(),this.t3.solve()},postSolve:function(){}}),q.prototype=Object.assign(Object.create(P.prototype),{constructor:q,preSolve:function(t,i){this.updateAnchorPoints(),this.ax1.copy(this.localAxis1).applyMatrix3(this.body1.rotation,!0),this.an1.copy(this.localAngle1).applyMatrix3(this.body1.rotation,!0),this.ax2.copy(this.localAxis2).applyMatrix3(this.body2.rotation,!0),this.an2.copy(this.localAngle2).applyMatrix3(this.body2.rotation,!0),this.nor.set(this.ax1.x*this.body2.inverseMass+this.ax2.x*this.body1.inverseMass,this.ax1.y*this.body2.inverseMass+this.ax2.y*this.body1.inverseMass,this.ax1.z*this.body2.inverseMass+this.ax2.z*this.body1.inverseMass).normalize(),this.tan.tangent(this.nor).normalize(),this.bin.crossVectors(this.nor,this.tan),this.tmp.crossVectors(this.an1,this.an2);var s=Bs.acosClamp(Bs.dotVectors(this.an1,this.an2));Bs.dotVectors(this.nor,this.tmp)<0?this.rotationalLimitMotor.angle=-s:this.rotationalLimitMotor.angle=s,this.tmp.crossVectors(this.ax1,this.ax2),this.r3.limitMotor2.angle=Bs.dotVectors(this.tan,this.tmp),this.r3.limitMotor3.angle=Bs.dotVectors(this.bin,this.tmp),this.r3.preSolve(t,i),this.t3.preSolve(t,i)},solve:function(){this.r3.solve(),this.t3.solve()},postSolve:function(){}}),U.prototype=Object.assign(Object.create(P.prototype),{constructor:U,preSolve:function(t,i){this.updateAnchorPoints(),this.ax1.copy(this.localAxis1).applyMatrix3(this.body1.rotation,!0),this.an1.copy(this.localAngle1).applyMatrix3(this.body1.rotation,!0),this.ax2.copy(this.localAxis2).applyMatrix3(this.body2.rotation,!0),this.an2.copy(this.localAngle2).applyMatrix3(this.body2.rotation,!0),this.r3.limitMotor1.angle=Bs.dotVectors(this.ax1,this.ax2);var s=Bs.dotVectors(this.an1,this.ax2);Bs.dotVectors(this.ax1,this.tmp.crossVectors(this.an1,this.ax2))<0?this.rotationalLimitMotor1.angle=-s:this.rotationalLimitMotor1.angle=s,s=Bs.dotVectors(this.an2,this.ax1),Bs.dotVectors(this.ax2,this.tmp.crossVectors(this.an2,this.ax1))<0?this.rotationalLimitMotor2.angle=-s:this.rotationalLimitMotor2.angle=s,this.nor.crossVectors(this.ax1,this.ax2).normalize(),this.tan.crossVectors(this.nor,this.ax2).normalize(),this.bin.crossVectors(this.nor,this.ax1).normalize(),this.r3.preSolve(t,i),this.t3.preSolve(t,i)},solve:function(){this.r3.solve(),this.t3.solve()},postSolve:function(){}}),Q.prototype={constructor:Q,reset:function(t,i){this.body1=t.parent,this.body2=i.parent,this.numPoints=0},addPointVec:function(t,i,s,h){var e=this.points[this.numPoints++];e.position.copy(t),e.localPoint1.sub(t,this.body1.position).applyMatrix3(this.body1.rotation),e.localPoint2.sub(t,this.body2.position).applyMatrix3(this.body2.rotation),e.normal.copy(i),h&&e.normal.negate(),e.normalImpulse=0,e.penetration=s,e.warmStarted=!1},addPoint:function(t,i,s,h,e,a,o,n){var r=this.points[this.numPoints++];r.position.set(t,i,s),r.localPoint1.sub(r.position,this.body1.position).applyMatrix3(this.body1.rotation),r.localPoint2.sub(r.position,this.body2.position).applyMatrix3(this.body2.rotation),r.normalImpulse=0,r.normal.set(h,e,a),n&&r.normal.negate(),r.penetration=o,r.warmStarted=!1}},Y.prototype=Object.assign(Object.create(L.prototype),{constructor:Y,attach:function(){this.p1=this.body1.position,this.p2=this.body2.position,this.lv1=this.body1.linearVelocity,this.av1=this.body1.angularVelocity,this.lv2=this.body2.linearVelocity,this.av2=this.body2.angularVelocity,this.i1=this.body1.inverseInertia,this.i2=this.body2.inverseInertia},detach:function(){this.p1=null,this.p2=null,this.lv1=null,this.lv2=null,this.av1=null,this.av2=null,this.i1=null,this.i2=null},preSolve:function(t,i){this.m1=this.body1.inverseMass,this.m2=this.body2.inverseMass;var s=this.m1+this.m2;this.num=this.manifold.numPoints;for(var h,e,a,o,n,r,l,c=this.cs,m=0;m<this.num;m++)h=this.ps[m],this.tmpP1.sub(h.position,this.p1),this.tmpP2.sub(h.position,this.p2),this.tmpC1.crossVectors(this.av1,this.tmpP1),this.tmpC2.crossVectors(this.av2,this.tmpP2),c.norImp=h.normalImpulse,c.tanImp=h.tangentImpulse,c.binImp=h.binormalImpulse,c.nor.copy(h.normal),this.tmp.set(this.lv2.x+this.tmpC2.x-(this.lv1.x+this.tmpC1.x),this.lv2.y+this.tmpC2.y-(this.lv1.y+this.tmpC1.y),this.lv2.z+this.tmpC2.z-(this.lv1.z+this.tmpC1.z)),e=Bs.dotVectors(c.nor,this.tmp),c.tan.set(this.tmp.x-e*c.nor.x,this.tmp.y-e*c.nor.y,this.tmp.z-e*c.nor.z),Bs.dotVectors(c.tan,c.tan)<=.04&&c.tan.tangent(c.nor),c.tan.normalize(),c.bin.crossVectors(c.nor,c.tan),c.norU1.scale(c.nor,this.m1),c.norU2.scale(c.nor,this.m2),c.tanU1.scale(c.tan,this.m1),c.tanU2.scale(c.tan,this.m2),c.binU1.scale(c.bin,this.m1),c.binU2.scale(c.bin,this.m2),c.norT1.crossVectors(this.tmpP1,c.nor),c.tanT1.crossVectors(this.tmpP1,c.tan),c.binT1.crossVectors(this.tmpP1,c.bin),c.norT2.crossVectors(this.tmpP2,c.nor),c.tanT2.crossVectors(this.tmpP2,c.tan),c.binT2.crossVectors(this.tmpP2,c.bin),r=this.i1,l=this.i2,c.norTU1.copy(c.norT1).applyMatrix3(r,!0),c.tanTU1.copy(c.tanT1).applyMatrix3(r,!0),c.binTU1.copy(c.binT1).applyMatrix3(r,!0),c.norTU2.copy(c.norT2).applyMatrix3(l,!0),c.tanTU2.copy(c.tanT2).applyMatrix3(l,!0),c.binTU2.copy(c.binT2).applyMatrix3(l,!0),this.tmpC1.crossVectors(c.norTU1,this.tmpP1),this.tmpC2.crossVectors(c.norTU2,this.tmpP2),this.tmp.add(this.tmpC1,this.tmpC2),c.norDen=1/(s+Bs.dotVectors(c.nor,this.tmp)),this.tmpC1.crossVectors(c.tanTU1,this.tmpP1),this.tmpC2.crossVectors(c.tanTU2,this.tmpP2),this.tmp.add(this.tmpC1,this.tmpC2),c.tanDen=1/(s+Bs.dotVectors(c.tan,this.tmp)),this.tmpC1.crossVectors(c.binTU1,this.tmpP1),this.tmpC2.crossVectors(c.binTU2,this.tmpP2),this.tmp.add(this.tmpC1,this.tmpC2),c.binDen=1/(s+Bs.dotVectors(c.bin,this.tmp)),h.warmStarted?(a=h.normalImpulse,this.lv1.addScaledVector(c.norU1,a),this.av1.addScaledVector(c.norTU1,a),this.lv2.subScaledVector(c.norU2,a),this.av2.subScaledVector(c.norTU2,a),c.norImp=a,c.tanImp=0,e=c.binImp=0):(c.norImp=0,c.tanImp=0,c.binImp=0),-1<e&&(e=0),(o=this.restitution*-e)<(n=-(h.penetration+.005)*i*.05)&&(o=n),c.norTar=o,c.last=m==this.num-1,c=c.next},solve:function(){var t,i,s,h,e,a,o,n,r;this.tmplv1.copy(this.lv1),this.tmplv2.copy(this.lv2),this.tmpav1.copy(this.av1),this.tmpav2.copy(this.av2);for(var l=this.cs;e=l.norImp,a=l.tanImp,o=l.binImp,n=-e*this.friction,this.tmp.sub(this.tmplv2,this.tmplv1),t=a,s=o,n*n<(r=(a+=i=(Bs.dotVectors(this.tmp,l.tan)+Bs.dotVectors(this.tmpav2,l.tanT2)-Bs.dotVectors(this.tmpav1,l.tanT1))*l.tanDen)*a+(o+=h=(Bs.dotVectors(this.tmp,l.bin)+Bs.dotVectors(this.tmpav2,l.binT2)-Bs.dotVectors(this.tmpav1,l.binT1))*l.binDen)*o)&&(a*=r=n/Bs.sqrt(r),o*=r),i=a-t,h=o-s,this.tmp.set(l.tanU1.x*i+l.binU1.x*h,l.tanU1.y*i+l.binU1.y*h,l.tanU1.z*i+l.binU1.z*h),this.tmplv1.addEqual(this.tmp),this.tmp.set(l.tanTU1.x*i+l.binTU1.x*h,l.tanTU1.y*i+l.binTU1.y*h,l.tanTU1.z*i+l.binTU1.z*h),this.tmpav1.addEqual(this.tmp),this.tmp.set(l.tanU2.x*i+l.binU2.x*h,l.tanU2.y*i+l.binU2.y*h,l.tanU2.z*i+l.binU2.z*h),this.tmplv2.subEqual(this.tmp),this.tmp.set(l.tanTU2.x*i+l.binTU2.x*h,l.tanTU2.y*i+l.binTU2.y*h,l.tanTU2.z*i+l.binTU2.z*h),this.tmpav2.subEqual(this.tmp),this.tmp.sub(this.tmplv2,this.tmplv1),t=e,0<(e+=i=(Bs.dotVectors(this.tmp,l.nor)+Bs.dotVectors(this.tmpav2,l.norT2)-Bs.dotVectors(this.tmpav1,l.norT1)-l.norTar)*l.norDen)&&(e=0),i=e-t,this.tmplv1.addScaledVector(l.norU1,i),this.tmpav1.addScaledVector(l.norTU1,i),this.tmplv2.subScaledVector(l.norU2,i),this.tmpav2.subScaledVector(l.norTU2,i),l.norImp=e,l.tanImp=a,l.binImp=o,!l.last;)l=l.next;this.lv1.copy(this.tmplv1),this.lv2.copy(this.tmplv2),this.av1.copy(this.tmpav1),this.av2.copy(this.tmpav2)},postSolve:function(){for(var t,i=this.cs,s=this.num;s--;)(t=this.ps[s]).normal.copy(i.nor),t.tangent.copy(i.tan),t.binormal.copy(i.bin),t.normalImpulse=i.norImp,t.tangentImpulse=i.tanImp,t.binormalImpulse=i.binImp,t.normalDenominator=i.norDen,t.tangentDenominator=i.tanDen,t.binormalDenominator=i.binDen,i=i.next}}),Object.assign(Z.prototype,{Contact:!0,mixRestitution:function(t,i){return Bs.sqrt(t*i)},mixFriction:function(t,i){return Bs.sqrt(t*i)},updateManifold:function(){this.constraint.restitution=this.mixRestitution(this.shape1.restitution,this.shape2.restitution),this.constraint.friction=this.mixFriction(this.shape1.friction,this.shape2.friction);for(var t=this.manifold.numPoints,i=t;i--;){var s=this.buffer[i],h=this.points[i];s.lp1X=h.localPoint1.x,s.lp1Y=h.localPoint1.y,s.lp1Z=h.localPoint1.z,s.lp2X=h.localPoint2.x,s.lp2Y=h.localPoint2.y,s.lp2Z=h.localPoint2.z,s.impulse=h.normalImpulse}this.manifold.numPoints=0,this.detector.detectCollision(this.shape1,this.shape2,this.manifold);var e=this.manifold.numPoints;if(0==e)return this.touching=!1,this.close=!1,void(this.dist=Bs.INF);for((this.touching||this.dist<.001)&&(this.close=!0),this.touching=!0,i=e;i--;){for(var a=(h=this.points[i]).localPoint1.x,o=h.localPoint1.y,n=h.localPoint1.z,r=h.localPoint2.x,l=h.localPoint2.y,c=h.localPoint2.z,m=-1,p=4e-4,u=t;u--;){var y=(s=this.buffer[u]).lp1X-a,x=s.lp1Y-o,d=s.lp1Z-n,f=y*y+x*x+d*d,b=(y=s.lp2X-r)*y+(x=s.lp2Y-l)*x+(d=s.lp2Z-c)*d;f<b?f<p&&(p=f,m=u):b<p&&(p=b,m=u),p<this.dist&&(this.dist=p)}if(-1!=m){var v=this.buffer[m];this.buffer[m]=this.buffer[--t],this.buffer[t]=v,h.normalImpulse=v.impulse,h.warmStarted=!0}else h.normalImpulse=0,h.warmStarted=!1}},attach:function(t,i){this.shape1=t,this.shape2=i,this.body1=t.parent,this.body2=i.parent,this.manifold.body1=this.body1,this.manifold.body2=this.body2,this.constraint.body1=this.body1,this.constraint.body2=this.body2,this.constraint.attach(),this.s1Link.shape=i,this.s1Link.body=this.body2,this.s2Link.shape=t,this.s2Link.body=this.body1,null!=t.contactLink?(this.s1Link.next=t.contactLink).prev=this.s1Link:this.s1Link.next=null,t.contactLink=this.s1Link,t.numContacts++,null!=i.contactLink?(this.s2Link.next=i.contactLink).prev=this.s2Link:this.s2Link.next=null,i.contactLink=this.s2Link,i.numContacts++,this.b1Link.shape=i,this.b1Link.body=this.body2,this.b2Link.shape=t,this.b2Link.body=this.body1,null!=this.body1.contactLink?(this.b1Link.next=this.body1.contactLink).prev=this.b1Link:this.b1Link.next=null,this.body1.contactLink=this.b1Link,this.body1.numContacts++,null!=this.body2.contactLink?(this.b2Link.next=this.body2.contactLink).prev=this.b2Link:this.b2Link.next=null,this.body2.contactLink=this.b2Link,this.body2.numContacts++,this.prev=null,this.next=null,this.persisting=!0,this.sleeping=this.body1.sleeping&&this.body2.sleeping,this.manifold.numPoints=0},detach:function(){var t=this.s1Link.prev,i=this.s1Link.next;null!==t&&(t.next=i),null!==i&&(i.prev=t),this.shape1.contactLink==this.s1Link&&(this.shape1.contactLink=i),this.s1Link.prev=null,this.s1Link.next=null,this.s1Link.shape=null,this.s1Link.body=null,this.shape1.numContacts--,t=this.s2Link.prev,i=this.s2Link.next,null!==t&&(t.next=i),null!==i&&(i.prev=t),this.shape2.contactLink==this.s2Link&&(this.shape2.contactLink=i),this.s2Link.prev=null,this.s2Link.next=null,this.s2Link.shape=null,this.s2Link.body=null,this.shape2.numContacts--,t=this.b1Link.prev,i=this.b1Link.next,null!==t&&(t.next=i),null!==i&&(i.prev=t),this.body1.contactLink==this.b1Link&&(this.body1.contactLink=i),this.b1Link.prev=null,this.b1Link.next=null,this.b1Link.shape=null,this.b1Link.body=null,this.body1.numContacts--,t=this.b2Link.prev,i=this.b2Link.next,null!==t&&(t.next=i),null!==i&&(i.prev=t),this.body2.contactLink==this.b2Link&&(this.body2.contactLink=i),this.b2Link.prev=null,this.b2Link.next=null,this.b2Link.shape=null,this.b2Link.body=null,this.body2.numContacts--,this.manifold.body1=null,this.manifold.body2=null,this.constraint.body1=null,this.constraint.body2=null,this.constraint.detach(),this.shape1=null,this.shape2=null,this.body1=null,this.body2=null}}),Object.assign(K.prototype,{setParent:function(t){this.parent=t,this.scale=this.parent.scale,this.invScale=this.parent.invScale,this.id=this.parent.numRigidBodies,this.name||(this.name=this.id),this.updateMesh()},addShape:function(t){t.parent&&d("RigidBody","It is not possible that you add a shape which already has an associated body."),null!=this.shapes&&((this.shapes.prev=t).next=this.shapes),((this.shapes=t).parent=this).parent&&this.parent.addShape(t),this.numShapes++},removeShape:function(t){var i=t;if(i.parent==this){var s=i.prev,h=i.next;null!=s&&(s.next=h),null!=h&&(h.prev=s),this.shapes==i&&(this.shapes=h),i.prev=null,i.next=null,i.parent=null,this.parent&&this.parent.removeShape(i),this.numShapes--}},remove:function(){this.dispose()},dispose:function(){this.parent.removeRigidBody(this)},checkContact:function(t){this.parent.checkContact(this.name,t)},setupMass:function(t,i){var s=void 0===i||i;this.type=t||2,this.isDynamic=1===this.type,this.isStatic=2===this.type,this.mass=0,this.localInertia.set(0,0,0,0,0,0,0,0,0);for(var h=new y,e=new yi,a=this.shapes;null!==a;a=a.next){a.calculateMassInfo(this.massInfo);var o=this.massInfo.mass;e.addScaledVector(a.relativePosition,o),this.mass+=o,this.rotateInertia(a.relativeRotation,this.massInfo.inertia,h),this.localInertia.add(h),this.localInertia.addOffset(o,a.relativePosition)}if(this.inverseMass=1/this.mass,e.scaleEqual(this.inverseMass),s){for(this.position.add(e),a=this.shapes;null!==a;a=a.next)a.relativePosition.subEqual(e);this.localInertia.subOffset(this.mass,e)}this.inverseLocalInertia.invert(this.localInertia),2===this.type&&(this.inverseMass=0,this.inverseLocalInertia.set(0,0,0,0,0,0,0,0,0)),this.syncShapes(),this.awake()},awake:function(){if(this.allowSleep&&this.sleeping){this.sleeping=!1,this.sleepTime=0;for(var t=this.contactLink;null!=t;)t.body.sleepTime=0,t.body.sleeping=!1,t=t.next;for(var i=this.jointLink;null!=i;)i.body.sleepTime=0,i.body.sleeping=!1,i=i.next;for(var s=this.shapes;null!=s;s=s.next)s.updateProxy()}},sleep:function(){if(this.allowSleep&&!this.sleeping){this.linearVelocity.set(0,0,0),this.angularVelocity.set(0,0,0),this.sleepPosition.copy(this.position),this.sleepOrientation.copy(this.orientation),this.sleepTime=0,this.sleeping=!0;for(var t=this.shapes;null!=t;t=t.next)t.updateProxy()}},testWakeUp:function(){(this.linearVelocity.testZero()||this.angularVelocity.testZero()||this.position.testDiff(this.sleepPosition)||this.orientation.testDiff(this.sleepOrientation))&&this.awake()},isLonely:function(){return 0==this.numJoints&&0==this.numContacts},updatePosition:function(t){switch(this.type){case 2:this.linearVelocity.set(0,0,0),this.angularVelocity.set(0,0,0),this.controlPos&&(this.position.copy(this.newPosition),this.controlPos=!1),this.controlRot&&(this.orientation.copy(this.newOrientation),this.controlRot=!1);break;case 1:this.isKinematic&&(this.linearVelocity.set(0,0,0),this.angularVelocity.set(0,0,0)),this.controlPos&&(this.linearVelocity.subVectors(this.newPosition,this.position).multiplyScalar(1/t),this.controlPos=!1),this.controlRot&&(this.angularVelocity.copy(this.getAxis()),this.orientation.copy(this.newOrientation),this.controlRot=!1),this.position.addScaledVector(this.linearVelocity,t),this.orientation.addTime(this.angularVelocity,t),this.updateMesh();break;default:d("RigidBody","Invalid type.")}this.syncShapes(),this.updateMesh()},getAxis:function(){return new yi(0,1,0).applyMatrix3(this.inverseLocalInertia,!0).normalize()},rotateInertia:function(t,i,s){this.tmpInertia.multiplyMatrices(t,i),s.multiplyMatrices(this.tmpInertia,t,!0)},syncShapes:function(){this.rotation.setQuat(this.orientation),this.rotateInertia(this.rotation,this.inverseLocalInertia,this.inverseInertia);for(var t=this.shapes;null!=t;t=t.next)t.position.copy(t.relativePosition).applyMatrix3(this.rotation,!0).add(this.position),t.rotation.multiplyMatrices(this.rotation,t.relativeRotation),t.updateProxy()},applyImpulse:function(t,i){this.linearVelocity.addScaledVector(i,this.inverseMass);var s=(new yi).copy(t).sub(this.position).cross(i).applyMatrix3(this.inverseInertia,!0);this.angularVelocity.add(s)},setPosition:function(t){this.newPosition.copy(t).multiplyScalar(this.invScale),this.controlPos=!0,this.isKinematic||(this.isKinematic=!0)},setQuaternion:function(t){this.newOrientation.set(t.x,t.y,t.z,t.w),this.controlRot=!0,this.isKinematic||(this.isKinematic=!0)},setRotation:function(t){this.newOrientation=(new x).setFromEuler(t.x*Bs.degtorad,t.y*Bs.degtorad,t.z*Bs.degtorad),this.controlRot=!0},resetPosition:function(t,i,s){this.linearVelocity.set(0,0,0),this.angularVelocity.set(0,0,0),this.position.set(t,i,s).multiplyScalar(this.invScale),this.awake()},resetQuaternion:function(t){this.angularVelocity.set(0,0,0),this.orientation=new x(t.x,t.y,t.z,t.w),this.awake()},resetRotation:function(t,i,s){this.angularVelocity.set(0,0,0),this.orientation=(new x).setFromEuler(t*Bs.degtorad,i*Bs.degtorad,s*Bs.degtorad),this.awake()},getPosition:function(){return this.pos},getQuaternion:function(){return this.quaternion},connectMesh:function(t){this.mesh=t,this.updateMesh()},updateMesh:function(){this.pos.scale(this.position,this.scale),this.quaternion.copy(this.orientation),null!==this.mesh&&(this.mesh.position.copy(this.getPosition()),this.mesh.quaternion.copy(this.getQuaternion()))}}),Object.assign($.prototype,{BroadPhase:!0,createProxy:function(t){d("BroadPhase","Inheritance error.")},addProxy:function(t){d("BroadPhase","Inheritance error.")},removeProxy:function(t){d("BroadPhase","Inheritance error.")},isAvailablePair:function(t,i){var s,h=t.parent,e=i.parent;if(h==e||!h.isDynamic&&!e.isDynamic||0==(t.belongsTo&i.collidesWith)||0==(i.belongsTo&t.collidesWith))return!1;for(s=h.numJoints<e.numJoints?h.jointLink:e.jointLink;null!==s;){var a=s.joint;if(!a.allowCollision&&(a.body1==h&&a.body2==e||a.body1==e&&a.body2==h))return!1;s=s.next}return!0},detectPairs:function(){this.pairs=[],this.numPairs=0,this.numPairChecks=0,this.collectPairs()},collectPairs:function(){},addPair:function(t,i){var s=new G(t,i);this.pairs.push(s),this.numPairs++}});var tt=0;function it(t){this.shape=t,this.aabb=t.aabb}function st(t){it.call(this,t),this.id=tt++}function ht(){$.call(this),this.types=r,this.proxies=[]}function et(){this.numElements=0,this.bufferSize=256,this.elements=[],this.elements.length=this.bufferSize,this.stack=new Float32Array(64)}function at(t,i){this.proxy=t,this.pair=null,this.min1=null,this.max1=null,this.min2=null,this.max2=null,this.max=i,this.value=0}function ot(t,i){it.call(this,i),this.belongsTo=0,this.max=[],this.min=[],this.sap=t,this.min[0]=new at(this,!1),this.max[0]=new at(this,!0),this.min[1]=new at(this,!1),this.max[1]=new at(this,!0),this.min[2]=new at(this,!1),this.max[2]=new at(this,!0),this.max[0].pair=this.min[0],this.max[1].pair=this.min[1],this.max[2].pair=this.min[2],this.min[0].min1=this.min[1],this.min[0].max1=this.max[1],this.min[0].min2=this.min[2],this.min[0].max2=this.max[2],this.min[1].min1=this.min[0],this.min[1].max1=this.max[0],this.min[1].min2=this.min[2],this.min[1].max2=this.max[2],this.min[2].min1=this.min[0],this.min[2].max1=this.max[0],this.min[2].min2=this.min[1],this.min[2].max2=this.max[1]}function nt(){$.call(this),this.types=l,this.numElementsD=0,this.numElementsS=0,this.axesD=[new et,new et,new et],this.axesS=[new et,new et,new et],this.index1=0,this.index2=1}function rt(){this.child1=null,this.child2=null,this.parent=null,this.proxy=null,this.height=0,this.aabb=new f}function lt(){this.root=null,this.freeNodes=[],this.freeNodes.length=16384,this.numFreeNodes=0,this.aabb=new f}function ct(t){it.call(this,t),this.leaf=new rt,this.leaf.proxy=this}function mt(){$.call(this),this.types=c,this.tree=new lt,this.stack=[],this.leaves=[],this.numLeaves=0}function pt(){this.flip=!1}function ut(){pt.call(this),this.clipVertices1=new Float32Array(24),this.clipVertices2=new Float32Array(24),this.used=new Float32Array(8),this.INF=1/0}function yt(t){pt.call(this),this.flip=t}function xt(){pt.call(this)}function dt(t){pt.call(this),this.flip=t}function ft(t){pt.call(this),this.flip=t}function bt(){pt.call(this)}function vt(t){pt.call(this),this.flip=t,this.n=new yi,this.p=new yi}function zt(t){pt.call(this),this.flip=t,this.n=new yi,this.p=new yi,this.dix=new yi,this.diy=new yi,this.diz=new yi,this.cc=new yi,this.cc2=new yi}function Nt(t){switch(t instanceof Object||(t={}),this.scale=t.worldscale||1,this.invScale=1/this.scale,this.timeStep=t.timestep||.01666,this.timerate=1e3*this.timeStep,this.timer=null,this.preLoop=null,this.postLoop=null,this.numIterations=t.iterations||8,t.broadphase||2){case 1:this.broadPhase=new ht;break;case 2:default:this.broadPhase=new nt;break;case 3:this.broadPhase=new mt}this.Btypes=["None","BruteForce","Sweep & Prune","Bounding Volume Tree"],this.broadPhaseType=this.Btypes[t.broadphase||2],this.performance=null,this.isStat=void 0!==t.info&&t.info,this.isStat&&(this.performance=new u(this)),this.enableRandomizer=void 0===t.random||t.random,this.rigidBodies=null,this.numRigidBodies=0,this.contacts=null,this.unusedContacts=null,this.numContacts=0,this.numContactPoints=0,this.joints=null,this.numJoints=0,this.numIslands=0,this.gravity=new yi(0,-9.8,0),void 0!==t.gravity&&this.gravity.fromArray(t.gravity);this.detectors=[];for(var i=this.detectors.length=5;i--;)this.detectors[i]=[],this.detectors[i].length=5;this.detectors[1][1]=new bt,this.detectors[1][2]=new dt(!1),this.detectors[2][1]=new dt(!0),this.detectors[2][2]=new ut,this.detectors[3][3]=new xt,this.detectors[3][2]=new yt(!0),this.detectors[2][3]=new yt(!1),this.detectors[3][1]=new ft(!0),this.detectors[1][3]=new ft(!1),this.detectors[4][1]=new vt(!0),this.detectors[1][4]=new vt(!1),this.detectors[4][2]=new zt(!0),this.detectors[2][4]=new zt(!1),this.randX=65535,this.randA=98765,this.randB=123456789,this.islandRigidBodies=[],this.islandStack=[],this.islandConstraints=[]}Object.assign(it.prototype,{Proxy:!0,update:function(){d("Proxy","Inheritance error.")}}),st.prototype=Object.assign(Object.create(it.prototype),{constructor:st,update:function(){}}),ht.prototype=Object.assign(Object.create($.prototype),{constructor:ht,createProxy:function(t){return new st(t)},addProxy:function(t){this.proxies.push(t)},removeProxy:function(t){var i=this.proxies.indexOf(t);-1<i&&this.proxies.splice(i,1)},collectPairs:function(){var t,i,s,h=0,e=this.proxies,a=e.length;for(this.numPairChecks=a*(a-1)>>1;h<a;)for(i=e[h++],t=h+1;t<a;)s=e[t++],!i.aabb.intersectTest(s.aabb)&&this.isAvailablePair(i.shape,s.shape)&&this.addPair(i.shape,s.shape)}}),Object.assign(et.prototype,{SAPAxis:!0,addElements:function(t,i){if(this.numElements+2>=this.bufferSize){this.bufferSize*=2;for(var s=[],h=this.numElements;h--;)s[h]=this.elements[h]}this.elements[this.numElements++]=t,this.elements[this.numElements++]=i},removeElements:function(t,i){for(var s=-1,h=-1,e=0,a=this.numElements;e<a;e++){var o=this.elements[e];if(o==t||o==i){if(-1!=s){h=e;break}s=e}}for(e=s+1,a=h;e<a;e++)this.elements[e-1]=this.elements[e];for(e=h+1,a=this.numElements;e<a;e++)this.elements[e-2]=this.elements[e];this.elements[--this.numElements]=null,this.elements[--this.numElements]=null},sort:function(){for(var t=0,i=1;this.numElements>>i!=0;)i++;i=i*this.numElements>>2,t=0;for(var s=!1,h=this.elements,e=1,a=this.numElements;e<a;e++){var o=h[e],n=o.value,r=h[e-1];if(r.value>n){var l=e;do{if(h[l]=r,0==--l)break;r=h[l-1]}while(r.value>n);if(h[l]=o,i<(t+=e-l)){s=!0;break}}}if(s){t=2;var c=this.stack;for(c[0]=0,c[1]=this.numElements-1;0<t;){var m=c[--t],p=c[--t],u=m-p;if(16<u){var y=p+Bs.floor(.5*u);for(o=h[y],h[y]=h[m],n=(h[m]=o).value,e=p-1,l=m;;){for(var x,d;(x=h[++e]).value<n;);for(;n<(d=h[--l]).value&&l!=p;);if(l<=e)break;h[e]=d,h[l]=x}h[m]=h[e],h[e]=o,c[t++]=m-e<e-p?(c[t++]=p,c[t++]=e-1,c[t++]=e+1,m):(c[t++]=e+1,c[t++]=m,c[t++]=p,e-1)}else for(e=p+1;e<=m;e++)if(n=(o=h[e]).value,(r=h[e-1]).value>n){l=e;do{if(h[l]=r,0==--l)break;r=h[l-1]}while(r.value>n);h[l]=o}}}},calculateTestCount:function(){for(var t=1,i=0,s=1,h=this.numElements;s<h;s++)this.elements[s].max?t--:(i+=t,t++);return i}}),ot.prototype=Object.assign(Object.create(it.prototype),{constructor:ot,isDynamic:function(){var t=this.shape.parent;return t.isDynamic&&!t.sleeping},update:function(){var t=this.aabb.elements;this.min[0].value=t[0],this.min[1].value=t[1],this.min[2].value=t[2],this.max[0].value=t[3],this.max[1].value=t[4],this.max[2].value=t[5],(1==this.belongsTo&&!this.isDynamic()||2==this.belongsTo&&this.isDynamic())&&(this.sap.removeProxy(this),this.sap.addProxy(this))}}),nt.prototype=Object.assign(Object.create($.prototype),{constructor:nt,createProxy:function(t){return new ot(this,t)},addProxy:function(t){var i=t;i.isDynamic()?(this.axesD[0].addElements(i.min[0],i.max[0]),this.axesD[1].addElements(i.min[1],i.max[1]),this.axesD[2].addElements(i.min[2],i.max[2]),i.belongsTo=1,this.numElementsD+=2):(this.axesS[0].addElements(i.min[0],i.max[0]),this.axesS[1].addElements(i.min[1],i.max[1]),this.axesS[2].addElements(i.min[2],i.max[2]),i.belongsTo=2,this.numElementsS+=2)},removeProxy:function(t){var i=t;if(0!=i.belongsTo){switch(i.belongsTo){case 1:this.axesD[0].removeElements(i.min[0],i.max[0]),this.axesD[1].removeElements(i.min[1],i.max[1]),this.axesD[2].removeElements(i.min[2],i.max[2]),this.numElementsD-=2;break;case 2:this.axesS[0].removeElements(i.min[0],i.max[0]),this.axesS[1].removeElements(i.min[1],i.max[1]),this.axesS[2].removeElements(i.min[2],i.max[2]),this.numElementsS-=2}i.belongsTo=0}},collectPairs:function(){if(0!=this.numElementsD){var t,i,s,h,e=this.axesD[this.index1],a=this.axesD[this.index2];e.sort(),a.sort(),e.calculateTestCount()<=a.calculateTestCount()?((a=this.axesS[this.index1]).sort(),t=e.elements,i=a.elements):((e=this.axesS[this.index2]).sort(),t=a.elements,i=e.elements,this.index1^=this.index2,this.index2^=this.index1,this.index1^=this.index2);for(var o=0,n=0;o<this.numElementsD;){var r,l;if(n==this.numElementsS)r=t[o],l=!0,o++;else{var c=t[o],m=i[n];c.value<m.value?(r=c,l=!0,o++):(r=m,l=!1,n++)}if(r.max){var p=r.pair;if(l){if(p==s){s=s.pair;continue}r=s}else{if(p==h){h=h.pair;continue}r=h}do{if((b=r.pair)==p){r.pair=b.pair;break}r=b}while(null!=r)}else{for(var u=r.proxy.shape,y=r.min1.value,x=r.max1.value,d=r.min2.value,f=r.max2.value,b=s;null!=b;b=b.pair){var v=b.proxy.shape;this.numPairChecks++,y>b.max1.value||x<b.min1.value||d>b.max2.value||f<b.min2.value||!this.isAvailablePair(u,v)||this.addPair(u,v)}if(l){for(b=h;null!=b;b=b.pair)v=b.proxy.shape,this.numPairChecks++,y>b.max1.value||x<b.min1.value||d>b.max2.value||f<b.min2.value||!this.isAvailablePair(u,v)||this.addPair(u,v);r.pair=s,s=r}else r.pair=h,h=r}}this.index2=3^(this.index1|this.index2)}}}),Object.assign(lt.prototype,{DBVT:!0,moveLeaf:function(t){this.deleteLeaf(t),this.insertLeaf(t)},insertLeaf:function(t){if(null!=this.root){for(var i,s,h=t.aabb,e=this.root;null==e.proxy;){var a=e.child1,o=e.child2,n=e.aabb,r=a.aabb,l=o.aabb;i=n.surfaceArea(),this.aabb.combine(h,n);var c=2*(s=this.aabb.surfaceArea()),m=2*(s-i),p=m;this.aabb.combine(h,r),null!=a.proxy?p+=this.aabb.surfaceArea():p+=this.aabb.surfaceArea()-r.surfaceArea();var u=m;if(this.aabb.combine(h,l),null!=o.proxy?u+=this.aabb.surfaceArea():u+=this.aabb.surfaceArea()-l.surfaceArea(),p<u){if(c<p)break;e=a}else{if(c<u)break;e=o}}var y,x=e.parent;for((y=0<this.numFreeNodes?this.freeNodes[--this.numFreeNodes]:new rt).parent=x,y.child1=t,y.child2=e,y.aabb.combine(t.aabb,e.aabb),y.height=e.height+1,e.parent=y,t.parent=y,e==this.root?this.root=y:x.child1==e?x.child1=y:x.child2=y;y=this.balance(y),this.fix(y),null!=(y=y.parent););}else this.root=t},getBalance:function(t){return null!=t.proxy?0:t.child1.height-t.child2.height},deleteLeaf:function(t){if(t!=this.root){var i,s=t.parent;if(i=s.child1==t?s.child2:s.child1,s!=this.root){var h=s.parent;for((i.parent=h).child1==s?h.child1=i:h.child2=i,this.numFreeNodes<16384&&(this.freeNodes[this.numFreeNodes++]=s);h=this.balance(h),this.fix(h),null!=(h=h.parent););}else(this.root=i).parent=null}else this.root=null},balance:function(t){var i=t.height;if(i<2)return t;var s,h=t.parent,e=t.child1,a=t.child2,o=e.height,n=a.height,r=o-n;if(1<r){var l=e.child1,c=e.child2,m=l.height,p=c.height;return e.height=p<m?((e.child2=t).parent=e,((t.child1=c).parent=t).aabb.combine(c.aabb,a.aabb),s=p-n,t.height=p-(s&s>>31)+1,e.aabb.combine(l.aabb,t.aabb),m-((s=m-i)&s>>31)+1):((e.child1=t).parent=e,((t.child1=l).parent=t).aabb.combine(l.aabb,a.aabb),s=m-n,t.height=m-(s&s>>31)+1,e.aabb.combine(t.aabb,c.aabb),i-((s=i-p)&s>>31)+1),null!=h?h.child1==t?h.child1=e:h.child2=e:this.root=e,e.parent=h,e}if(r<-1){var u=a.child1,y=a.child2,x=u.height,d=y.height;return a.height=d<x?((a.child2=t).parent=a,((t.child2=y).parent=t).aabb.combine(e.aabb,y.aabb),s=o-d,t.height=o-(s&s>>31)+1,a.aabb.combine(u.aabb,t.aabb),x-((s=x-i)&s>>31)+1):((a.child1=t).parent=a,((t.child2=u).parent=t).aabb.combine(e.aabb,u.aabb),s=o-x,t.height=o-(s&s>>31)+1,a.aabb.combine(t.aabb,y.aabb),i-((s=i-d)&s>>31)+1),null!=h?h.child1==t?h.child1=a:h.child2=a:this.root=a,a.parent=h,a}return t},fix:function(t){var i=t.child1,s=t.child2;t.aabb.combine(i.aabb,s.aabb),t.height=i.height<s.height?s.height+1:i.height+1}}),ct.prototype=Object.assign(Object.create(it.prototype),{constructor:ct,update:function(){}}),mt.prototype=Object.assign(Object.create($.prototype),{constructor:mt,createProxy:function(t){return new ct(t)},addProxy:function(t){this.tree.insertLeaf(t.leaf),this.leaves.push(t.leaf),this.numLeaves++},removeProxy:function(t){this.tree.deleteLeaf(t.leaf);var i=this.leaves.indexOf(t.leaf);-1<i&&(this.leaves.splice(i,1),this.numLeaves--)},collectPairs:function(){if(!(this.numLeaves<2))for(var t,i=this.numLeaves;i--;)(t=this.leaves[i]).proxy.aabb.intersectTestTwo(t.aabb)&&(t.aabb.copy(t.proxy.aabb,.1),this.tree.deleteLeaf(t),this.tree.insertLeaf(t),this.collide(t,this.tree.root))},collide:function(t,i){var s,h,e,a,o,n,r=2;for(this.stack[0]=t,this.stack[1]=i;0<r;)if(e=this.stack[--r],a=this.stack[--r],o=null!=e.proxy,n=null!=a.proxy,this.numPairChecks++,o&&n){if((s=e.proxy.shape)==(h=a.proxy.shape)||s.aabb.intersectTest(h.aabb)||!this.isAvailablePair(s,h))continue;this.addPair(s,h)}else{if(e.aabb.intersectTest(a.aabb))continue;n||!o&&e.aabb.surfaceArea()>a.aabb.surfaceArea()?(this.stack[r++]=e.child1,this.stack[r++]=a,this.stack[r++]=e.child2,this.stack[r++]=a):(this.stack[r++]=e,this.stack[r++]=a.child1,this.stack[r++]=e,this.stack[r++]=a.child2)}}}),Object.assign(pt.prototype,{CollisionDetector:!0,detectCollision:function(t,i,s){d("CollisionDetector","Inheritance error.")}}),ut.prototype=Object.assign(Object.create(pt.prototype),{constructor:ut,detectCollision:function(t,i,s){var h,e;e=t.id<i.id?(h=t,i):(h=i,t);var a,o,n,r,l,c,m,p,u,y,x,d,f,b,v,z,N,k,w,M,g,I,V,L,S,P,T,A,j,C,O,D,E,B,F,q=h.elements,U=e.elements,R=h.dimentions,_=e.dimentions,J=h.position,W=e.position,H=J.x,Q=J.y,X=J.z,Y=W.x,Z=W.y,K=W.z,G=Y-H,$=Z-Q,tt=K-X,it=h.halfWidth,st=h.halfHeight,ht=h.halfDepth,et=e.halfWidth,at=e.halfHeight,ot=e.halfDepth,nt=R[0],rt=R[1],lt=R[2],ct=R[3],mt=R[4],pt=R[5],ut=R[6],yt=R[7],xt=R[8],dt=R[9],ft=R[10],bt=R[11],vt=R[12],zt=R[13],Nt=R[14],kt=R[15],wt=R[16],Mt=R[17],gt=_[0],It=_[1],Vt=_[2],Lt=_[3],St=_[4],Pt=_[5],Tt=_[6],At=_[7],jt=_[8],Ct=_[9],Ot=_[10],Dt=_[11],Et=_[12],Bt=_[13],Ft=_[14],qt=_[15],Ut=_[16],Rt=_[17],_t=rt*Vt-lt*It,Jt=lt*gt-nt*Vt,Wt=nt*It-rt*gt,Ht=rt*Pt-lt*St,Qt=lt*Lt-nt*Pt,Xt=nt*St-rt*Lt,Yt=rt*jt-lt*At,Zt=lt*Tt-nt*jt,Kt=nt*At-rt*Tt,Gt=mt*Vt-pt*It,$t=pt*gt-ct*Vt,ti=ct*It-mt*gt,ii=mt*Pt-pt*St,si=pt*Lt-ct*Pt,hi=ct*St-mt*Lt,ei=mt*jt-pt*At,ai=pt*Tt-ct*jt,oi=ct*At-mt*Tt,ni=yt*Vt-xt*It,ri=xt*gt-ut*Vt,li=ut*It-yt*gt,ci=yt*Pt-xt*St,mi=xt*Lt-ut*Pt,pi=ut*St-yt*Lt,ui=yt*jt-xt*At,yi=xt*Tt-ut*jt,xi=ut*At-yt*Tt,di=!1,fi=!1,bi=!1,vi=!1,zi=!1,Ni=!1,ki=!1,wi=!1,Mi=!1;if((a=0<(O=nt*G+rt*$+lt*tt))||(O=-O),(E=nt*gt+rt*It+lt*Vt)<0&&(E=-E),(B=nt*Lt+rt*St+lt*Pt)<0&&(B=-B),(F=nt*Tt+rt*At+lt*jt)<0&&(F=-F),!(0<(z=O-(D=it)-(E*et+B*at+F*ot))||((o=0<(O=ct*G+mt*$+pt*tt))||(O=-O),(E=ct*gt+mt*It+pt*Vt)<0&&(E=-E),(B=ct*Lt+mt*St+pt*Pt)<0&&(B=-B),(F=ct*Tt+mt*At+pt*jt)<0&&(F=-F),0<(N=O-(D=st)-(E*et+B*at+F*ot))||((n=0<(O=ut*G+yt*$+xt*tt))||(O=-O),(E=ut*gt+yt*It+xt*Vt)<0&&(E=-E),(B=ut*Lt+yt*St+xt*Pt)<0&&(B=-B),(F=ut*Tt+yt*At+xt*jt)<0&&(F=-F),0<(k=O-(D=ht)-(E*et+B*at+F*ot))||((r=0<(O=gt*G+It*$+Vt*tt))||(O=-O),(E=gt*nt+It*rt+Vt*lt)<0&&(E=-E),(B=gt*ct+It*mt+Vt*pt)<0&&(B=-B),(F=gt*ut+It*yt+Vt*xt)<0&&(F=-F),0<(w=1*(O-(D=E*it+B*st+F*ht)-et))||((l=0<(O=Lt*G+St*$+Pt*tt))||(O=-O),(E=Lt*nt+St*rt+Pt*lt)<0&&(E=-E),(B=Lt*ct+St*mt+Pt*pt)<0&&(B=-B),(F=Lt*ut+St*yt+Pt*xt)<0&&(F=-F),0<(M=1*(O-(D=E*it+B*st+F*ht)-at))||((c=0<(O=Tt*G+At*$+jt*tt))||(O=-O),(E=Tt*nt+At*rt+jt*lt)<0&&(E=-E),(B=Tt*ct+At*mt+jt*pt)<0&&(B=-B),(F=Tt*ut+At*yt+jt*xt)<0&&(F=-F),0<(g=1*(O-(D=E*it+B*st+F*ht)-ot))))))))){if(1e-5<(O=_t*_t+Jt*Jt+Wt*Wt)){if((m=0<(O=(_t*=O=1/Bs.sqrt(O))*G+(Jt*=O)*$+(Wt*=O)*tt))||(O=-O),(E=_t*ct+Jt*mt+Wt*pt)<0&&(E=-E),(B=_t*ut+Jt*yt+Wt*xt)<0&&(B=-B),D=E*st+B*ht,(E=_t*Lt+Jt*St+Wt*Pt)<0&&(E=-E),(B=_t*Tt+Jt*At+Wt*jt)<0&&(B=-B),0<(I=O-D-(E*at+B*ot)))return}else m=!1,di=!(I=0);if(1e-5<(O=Ht*Ht+Qt*Qt+Xt*Xt)){if((p=0<(O=(Ht*=O=1/Bs.sqrt(O))*G+(Qt*=O)*$+(Xt*=O)*tt))||(O=-O),(E=Ht*ct+Qt*mt+Xt*pt)<0&&(E=-E),(B=Ht*ut+Qt*yt+Xt*xt)<0&&(B=-B),D=E*st+B*ht,(E=Ht*gt+Qt*It+Xt*Vt)<0&&(E=-E),(B=Ht*Tt+Qt*At+Xt*jt)<0&&(B=-B),0<(V=O-D-(E*et+B*ot)))return}else p=!1,fi=!(V=0);if(1e-5<(O=Yt*Yt+Zt*Zt+Kt*Kt)){if((u=0<(O=(Yt*=O=1/Bs.sqrt(O))*G+(Zt*=O)*$+(Kt*=O)*tt))||(O=-O),(E=Yt*ct+Zt*mt+Kt*pt)<0&&(E=-E),(B=Yt*ut+Zt*yt+Kt*xt)<0&&(B=-B),D=E*st+B*ht,(E=Yt*gt+Zt*It+Kt*Vt)<0&&(E=-E),(B=Yt*Lt+Zt*St+Kt*Pt)<0&&(B=-B),0<(L=O-D-(E*et+B*at)))return}else u=!1,bi=!(L=0);if(1e-5<(O=Gt*Gt+$t*$t+ti*ti)){if((y=0<(O=(Gt*=O=1/Bs.sqrt(O))*G+($t*=O)*$+(ti*=O)*tt))||(O=-O),(E=Gt*nt+$t*rt+ti*lt)<0&&(E=-E),(B=Gt*ut+$t*yt+ti*xt)<0&&(B=-B),D=E*it+B*ht,(E=Gt*Lt+$t*St+ti*Pt)<0&&(E=-E),(B=Gt*Tt+$t*At+ti*jt)<0&&(B=-B),0<(S=O-D-(E*at+B*ot)))return}else y=!1,vi=!(S=0);if(1e-5<(O=ii*ii+si*si+hi*hi)){if((x=0<(O=(ii*=O=1/Bs.sqrt(O))*G+(si*=O)*$+(hi*=O)*tt))||(O=-O),(E=ii*nt+si*rt+hi*lt)<0&&(E=-E),(B=ii*ut+si*yt+hi*xt)<0&&(B=-B),D=E*it+B*ht,(E=ii*gt+si*It+hi*Vt)<0&&(E=-E),(B=ii*Tt+si*At+hi*jt)<0&&(B=-B),0<(P=O-D-(E*et+B*ot)))return}else x=!1,zi=!(P=0);if(1e-5<(O=ei*ei+ai*ai+oi*oi)){if((d=0<(O=(ei*=O=1/Bs.sqrt(O))*G+(ai*=O)*$+(oi*=O)*tt))||(O=-O),(E=ei*nt+ai*rt+oi*lt)<0&&(E=-E),(B=ei*ut+ai*yt+oi*xt)<0&&(B=-B),D=E*it+B*ht,(E=ei*gt+ai*It+oi*Vt)<0&&(E=-E),(B=ei*Lt+ai*St+oi*Pt)<0&&(B=-B),0<(T=O-D-(E*et+B*at)))return}else d=!1,Ni=!(T=0);if(1e-5<(O=ni*ni+ri*ri+li*li)){if((f=0<(O=(ni*=O=1/Bs.sqrt(O))*G+(ri*=O)*$+(li*=O)*tt))||(O=-O),(E=ni*nt+ri*rt+li*lt)<0&&(E=-E),(B=ni*ct+ri*mt+li*pt)<0&&(B=-B),D=E*it+B*st,(E=ni*Lt+ri*St+li*Pt)<0&&(E=-E),(B=ni*Tt+ri*At+li*jt)<0&&(B=-B),0<(A=O-D-(E*at+B*ot)))return}else f=!1,ki=!(A=0);if(1e-5<(O=ci*ci+mi*mi+pi*pi)){if((b=0<(O=(ci*=O=1/Bs.sqrt(O))*G+(mi*=O)*$+(pi*=O)*tt))||(O=-O),(E=ci*nt+mi*rt+pi*lt)<0&&(E=-E),(B=ci*ct+mi*mt+pi*pt)<0&&(B=-B),D=E*it+B*st,(E=ci*gt+mi*It+pi*Vt)<0&&(E=-E),(B=ci*Tt+mi*At+pi*jt)<0&&(B=-B),0<(j=O-D-(E*et+B*ot)))return}else b=!1,wi=!(j=0);if(1e-5<(O=ui*ui+yi*yi+xi*xi)){if((v=0<(O=(ui*=O=1/Bs.sqrt(O))*G+(yi*=O)*$+(xi*=O)*tt))||(O=-O),(E=ui*nt+yi*rt+xi*lt)<0&&(E=-E),(B=ui*ct+yi*mt+xi*pt)<0&&(B=-B),D=E*it+B*st,(E=ui*gt+yi*It+xi*Vt)<0&&(E=-E),(B=ui*Lt+yi*St+xi*Pt)<0&&(B=-B),0<(C=O-D-(E*et+B*at)))return}else v=!1,Mi=!(C=0);var gi=z,Ii=z,Vi=0,Li=a;Ii<N&&(Ii=gi=N,Vi=1,Li=o),Ii<k&&(Ii=gi=k,Vi=2,Li=n),Ii<w&&(Ii=gi=w,Vi=3,Li=r),Ii<M&&(Ii=gi=M,Vi=4,Li=l),Ii<g&&(Ii=gi=g,Vi=5,Li=c),Ii<I-.01&&!di&&(Ii=(gi=I)-.01,Vi=6,Li=m),Ii<V-.01&&!fi&&(Ii=(gi=V)-.01,Vi=7,Li=p),Ii<L-.01&&!bi&&(Ii=(gi=L)-.01,Vi=8,Li=u),Ii<S-.01&&!vi&&(Ii=(gi=S)-.01,Vi=9,Li=y),Ii<P-.01&&!zi&&(Ii=(gi=P)-.01,Vi=10,Li=x),Ii<T-.01&&!Ni&&(Ii=(gi=T)-.01,Vi=11,Li=d),Ii<A-.01&&!ki&&(Ii=(gi=A)-.01,Vi=12,Li=f),Ii<j-.01&&!wi&&(Ii=(gi=j)-.01,Vi=13,Li=b),Ii<C-.01&&!Mi&&(gi=C,Vi=14,Li=v);var Si=0,Pi=0,Ti=0,Ai=0,ji=0,Ci=0,Oi=0,Di=0,Ei=0,Bi=0,Fi=0,qi=0,Ui=0,Ri=0,_i=0,Ji=0,Wi=0,Hi=0,Qi=!1;if(0==Vi?(Ti=Li?(Bi=H+dt,Fi=Q+ft,qi=X+bt,Si=nt,Pi=rt,lt):(Bi=H-dt,Fi=Q-ft,qi=X-bt,Si=-nt,Pi=-rt,-lt),Ui=vt,Ri=zt,_i=Nt,Ai=-ct,ji=-mt,Ci=-pt,Ji=kt,Wi=wt,Hi=Mt,Oi=-ut,Di=-yt,Ei=-xt):1==Vi?(Ti=Li?(Bi=H+vt,Fi=Q+zt,qi=X+Nt,Si=ct,Pi=mt,pt):(Bi=H-vt,Fi=Q-zt,qi=X-Nt,Si=-ct,Pi=-mt,-pt),Ui=dt,Ri=ft,_i=bt,Ai=-nt,ji=-rt,Ci=-lt,Ji=kt,Wi=wt,Hi=Mt,Oi=-ut,Di=-yt,Ei=-xt):2==Vi?(Ti=Li?(Bi=H+kt,Fi=Q+wt,qi=X+Mt,Si=ut,Pi=yt,xt):(Bi=H-kt,Fi=Q-wt,qi=X-Mt,Si=-ut,Pi=-yt,-xt),Ui=dt,Ri=ft,_i=bt,Ai=-nt,ji=-rt,Ci=-lt,Ji=vt,Wi=zt,Hi=Nt,Oi=-ct,Di=-mt,Ei=-pt):3==Vi?(Qi=!0,Ti=Li?(Bi=Y-Ct,Fi=Z-Ot,qi=K-Dt,Si=-gt,Pi=-It,-Vt):(Bi=Y+Ct,Fi=Z+Ot,qi=K+Dt,Si=gt,Pi=It,Vt),Ui=Et,Ri=Bt,_i=Ft,Ai=-Lt,ji=-St,Ci=-Pt,Ji=qt,Wi=Ut,Hi=Rt,Oi=-Tt,Di=-At,Ei=-jt):4==Vi?(Qi=!0,Ti=Li?(Bi=Y-Et,Fi=Z-Bt,qi=K-Ft,Si=-Lt,Pi=-St,-Pt):(Bi=Y+Et,Fi=Z+Bt,qi=K+Ft,Si=Lt,Pi=St,Pt),Ui=Ct,Ri=Ot,_i=Dt,Ai=-gt,ji=-It,Ci=-Vt,Ji=qt,Wi=Ut,Hi=Rt,Oi=-Tt,Di=-At,Ei=-jt):5==Vi?(Qi=!0,Ti=Li?(Bi=Y-qt,Fi=Z-Ut,qi=K-Rt,Si=-Tt,Pi=-At,-jt):(Bi=Y+qt,Fi=Z+Ut,qi=K+Rt,Si=Tt,Pi=At,jt),Ui=Ct,Ri=Ot,_i=Dt,Ai=-gt,ji=-It,Ci=-Vt,Ji=Et,Wi=Bt,Hi=Ft,Oi=-Lt,Di=-St,Ei=-Pt):6==Vi?(Si=_t,Pi=Jt,Ti=Wt,Ai=nt,ji=rt,Ci=lt,Oi=gt,Di=It,Ei=Vt):7==Vi?(Si=Ht,Pi=Qt,Ti=Xt,Ai=nt,ji=rt,Ci=lt,Oi=Lt,Di=St,Ei=Pt):8==Vi?(Si=Yt,Pi=Zt,Ti=Kt,Ai=nt,ji=rt,Ci=lt,Oi=Tt,Di=At,Ei=jt):9==Vi?(Si=Gt,Pi=$t,Ti=ti,Ai=ct,ji=mt,Ci=pt,Oi=gt,Di=It,Ei=Vt):10==Vi?(Si=ii,Pi=si,Ti=hi,Ai=ct,ji=mt,Ci=pt,Oi=Lt,Di=St,Ei=Pt):11==Vi?(Si=ei,Pi=ai,Ti=oi,Ai=ct,ji=mt,Ci=pt,Oi=Tt,Di=At,Ei=jt):12==Vi?(Si=ni,Pi=ri,Ti=li,Ai=ut,ji=yt,Ci=xt,Oi=gt,Di=It,Ei=Vt):13==Vi?(Si=ci,Pi=mi,Ti=pi,Ai=ut,ji=yt,Ci=xt,Oi=Lt,Di=St,Ei=Pt):14==Vi&&(Si=ui,Pi=yi,Ti=xi,Ai=ut,ji=yt,Ci=xt,Oi=Tt,Di=At,Ei=jt),5<Vi){var Xi,Yi,Zi,Ki,Gi,$i,ts,is,ss,hs,es;Li||(Si=-Si,Pi=-Pi,Ti=-Ti),(Yi=Si*($i=q[0])+Pi*(ts=q[1])+Ti*(is=q[2]))<(Xi=Si*(Zi=q[3])+Pi*(Ki=q[4])+Ti*(Gi=q[5]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[6])+Pi*(Ki=q[7])+Ti*(Gi=q[8]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[9])+Pi*(Ki=q[10])+Ti*(Gi=q[11]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[12])+Pi*(Ki=q[13])+Ti*(Gi=q[14]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[15])+Pi*(Ki=q[16])+Ti*(Gi=q[17]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[18])+Pi*(Ki=q[19])+Ti*(Gi=q[20]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi<(Xi=Si*(Zi=q[21])+Pi*(Ki=q[22])+Ti*(Gi=q[23]))&&(Yi=Xi,$i=Zi,ts=Ki,is=Gi),Yi=Si*(ss=U[0])+Pi*(hs=U[1])+Ti*(es=U[2]),(Xi=Si*(Zi=U[3])+Pi*(Ki=U[4])+Ti*(Gi=U[5]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[6])+Pi*(Ki=U[7])+Ti*(Gi=U[8]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[9])+Pi*(Ki=U[10])+Ti*(Gi=U[11]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[12])+Pi*(Ki=U[13])+Ti*(Gi=U[14]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[15])+Pi*(Ki=U[16])+Ti*(Gi=U[17]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[18])+Pi*(Ki=U[19])+Ti*(Gi=U[20]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi),(Xi=Si*(Zi=U[21])+Pi*(Ki=U[22])+Ti*(Gi=U[23]))<Yi&&(Yi=Xi,ss=Zi,hs=Ki,es=Gi);var as=((Zi=ss-$i)*(Ai-Oi*(E=Ai*Oi+ji*Di+Ci*Ei))+(Ki=hs-ts)*(ji-Di*E)+(Gi=es-is)*(Ci-Ei*E))/(1-E*E);s.addPoint($i+Ai*as+Si*gi*.5,ts+ji*as+Pi*gi*.5,is+Ci*as+Ti*gi*.5,Si,Pi,Ti,gi,!1)}else{var os,ns,rs,ls,cs,ms,ps,us,ys,xs,ds,fs,bs,vs,zs,Ns,ks,ws,Ms,gs,Is,Vs=1,Ls=0,Ss=0;Qi?((Ls=nt*Si+rt*Pi+lt*Ti)<Vs&&(Vs=Ls,Ss=0),-Ls<Vs&&(Vs=-Ls,Ss=1),(Ls=ct*Si+mt*Pi+pt*Ti)<Vs&&(Vs=Ls,Ss=2),-Ls<Vs&&(Vs=-Ls,Ss=3),(Ls=ut*Si+yt*Pi+xt*Ti)<Vs&&(Vs=Ls,Ss=4),-Ls<Vs&&(Vs=-Ls,Ss=5),0==Ss?(os=q[0],ns=q[1],rs=q[2],ls=q[6],cs=q[7],ms=q[8],ps=q[9],us=q[10],ys=q[11],xs=q[3],ds=q[4],fs=q[5]):1==Ss?(os=q[15],ns=q[16],rs=q[17],ls=q[21],cs=q[22],ms=q[23],ps=q[18],us=q[19],ys=q[20],xs=q[12],ds=q[13],fs=q[14]):2==Ss?(os=q[12],ns=q[13],rs=q[14],ls=q[0],cs=q[1],ms=q[2],ps=q[3],us=q[4],ys=q[5],xs=q[15],ds=q[16],fs=q[17]):3==Ss?(os=q[21],ns=q[22],rs=q[23],ls=q[9],cs=q[10],ms=q[11],ps=q[6],us=q[7],ys=q[8],xs=q[18],ds=q[19],fs=q[20]):4==Ss?(os=q[12],ns=q[13],rs=q[14],ls=q[18],cs=q[19],ms=q[20],ps=q[6],us=q[7],ys=q[8],xs=q[0],ds=q[1],fs=q[2]):5==Ss&&(os=q[3],ns=q[4],rs=q[5],ls=U[9],cs=U[10],ms=U[11],ps=q[21],us=q[22],ys=q[23],xs=q[15],ds=q[16],fs=q[17])):((Ls=gt*Si+It*Pi+Vt*Ti)<Vs&&(Vs=Ls,Ss=0),-Ls<Vs&&(Vs=-Ls,Ss=1),(Ls=Lt*Si+St*Pi+Pt*Ti)<Vs&&(Vs=Ls,Ss=2),-Ls<Vs&&(Vs=-Ls,Ss=3),(Ls=Tt*Si+At*Pi+jt*Ti)<Vs&&(Vs=Ls,Ss=4),-Ls<Vs&&(Vs=-Ls,Ss=5),0==Ss?(os=U[0],ns=U[1],rs=U[2],ls=U[6],cs=U[7],ms=U[8],ps=U[9],us=U[10],ys=U[11],xs=U[3],ds=U[4],fs=U[5]):1==Ss?(os=U[15],ns=U[16],rs=U[17],ls=U[21],cs=U[22],ms=U[23],ps=U[18],us=U[19],ys=U[20],xs=U[12],ds=U[13],fs=U[14]):2==Ss?(os=U[12],ns=U[13],rs=U[14],ls=U[0],cs=U[1],ms=U[2],ps=U[3],us=U[4],ys=U[5],xs=U[15],ds=U[16],fs=U[17]):3==Ss?(os=U[21],ns=U[22],rs=U[23],ls=U[9],cs=U[10],ms=U[11],ps=U[6],us=U[7],ys=U[8],xs=U[18],ds=U[19],fs=U[20]):4==Ss?(os=U[12],ns=U[13],rs=U[14],ls=U[18],cs=U[19],ms=U[20],ps=U[6],us=U[7],ys=U[8],xs=U[0],ds=U[1],fs=U[2]):5==Ss&&(os=U[3],ns=U[4],rs=U[5],ls=U[9],cs=U[10],ms=U[11],ps=U[21],us=U[22],ys=U[23],xs=U[15],ds=U[16],fs=U[17])),this.clipVertices1[0]=os,this.clipVertices1[1]=ns,this.clipVertices1[2]=rs,this.clipVertices1[3]=ls,this.clipVertices1[4]=cs,this.clipVertices1[5]=ms,this.clipVertices1[6]=ps,this.clipVertices1[7]=us,this.clipVertices1[8]=ys,this.clipVertices1[9]=xs,this.clipVertices1[10]=ds,this.clipVertices1[11]=fs,vs=0,E=((Ns=this.clipVertices1[9])-Bi-Ui)*Ai+((ks=this.clipVertices1[10])-Fi-Ri)*ji+((ws=this.clipVertices1[11])-qi-_i)*Ci;for(var Ps=0;Ps<4;Ps++)zs=3*Ps,B=((Ms=this.clipVertices1[zs])-Bi-Ui)*Ai+((gs=this.clipVertices1[zs+1])-Fi-Ri)*ji+((Is=this.clipVertices1[zs+2])-qi-_i)*Ci,0<E?this.clipVertices2[zs+2]=0<B?(zs=3*vs,vs++,this.clipVertices2[zs]=Ms,this.clipVertices2[zs+1]=gs,Is):(zs=3*vs,vs++,as=E/(E-B),this.clipVertices2[zs]=Ns+(Ms-Ns)*as,this.clipVertices2[zs+1]=ks+(gs-ks)*as,ws+(Is-ws)*as):0<B&&(zs=3*vs,vs++,as=E/(E-B),this.clipVertices2[zs]=Ns+(Ms-Ns)*as,this.clipVertices2[zs+1]=ks+(gs-ks)*as,this.clipVertices2[zs+2]=ws+(Is-ws)*as,zs=3*vs,vs++,this.clipVertices2[zs]=Ms,this.clipVertices2[zs+1]=gs,this.clipVertices2[zs+2]=Is),Ns=Ms,ks=gs,ws=Is,E=B;if(0!=(bs=vs)){for(vs=0,zs=3*(bs-1),E=((Ns=this.clipVertices2[zs])-Bi-Ji)*Oi+((ks=this.clipVertices2[zs+1])-Fi-Wi)*Di+((ws=this.clipVertices2[zs+2])-qi-Hi)*Ei,Ps=0;Ps<bs;Ps++)zs=3*Ps,B=((Ms=this.clipVertices2[zs])-Bi-Ji)*Oi+((gs=this.clipVertices2[zs+1])-Fi-Wi)*Di+((Is=this.clipVertices2[zs+2])-qi-Hi)*Ei,0<E?this.clipVertices1[zs+2]=0<B?(zs=3*vs,vs++,this.clipVertices1[zs]=Ms,this.clipVertices1[zs+1]=gs,Is):(zs=3*vs,vs++,as=E/(E-B),this.clipVertices1[zs]=Ns+(Ms-Ns)*as,this.clipVertices1[zs+1]=ks+(gs-ks)*as,ws+(Is-ws)*as):0<B&&(zs=3*vs,vs++,as=E/(E-B),this.clipVertices1[zs]=Ns+(Ms-Ns)*as,this.clipVertices1[zs+1]=ks+(gs-ks)*as,this.clipVertices1[zs+2]=ws+(Is-ws)*as,zs=3*vs,vs++,this.clipVertices1[zs]=Ms,this.clipVertices1[zs+1]=gs,this.clipVertices1[zs+2]=Is),Ns=Ms,ks=gs,ws=Is,E=B;if(0!=(bs=vs)){for(vs=0,zs=3*(bs-1),E=((Ns=this.clipVertices1[zs])-Bi+Ui)*-Ai+((ks=this.clipVertices1[zs+1])-Fi+Ri)*-ji+((ws=this.clipVertices1[zs+2])-qi+_i)*-Ci,Ps=0;Ps<bs;Ps++)zs=3*Ps,B=((Ms=this.clipVertices1[zs])-Bi+Ui)*-Ai+((gs=this.clipVertices1[zs+1])-Fi+Ri)*-ji+((Is=this.clipVertices1[zs+2])-qi+_i)*-Ci,0<E?this.clipVertices2[zs+2]=0<B?(zs=3*vs,vs++,this.clipVertices2[zs]=Ms,this.clipVertices2[zs+1]=gs,Is):(zs=3*vs,vs++,as=E/(E-B),this.clipVertices2[zs]=Ns+(Ms-Ns)*as,this.clipVertices2[zs+1]=ks+(gs-ks)*as,ws+(Is-ws)*as):0<B&&(zs=3*vs,vs++,as=E/(E-B),this.clipVertices2[zs]=Ns+(Ms-Ns)*as,this.clipVertices2[zs+1]=ks+(gs-ks)*as,this.clipVertices2[zs+2]=ws+(Is-ws)*as,zs=3*vs,vs++,this.clipVertices2[zs]=Ms,this.clipVertices2[zs+1]=gs,this.clipVertices2[zs+2]=Is),Ns=Ms,ks=gs,ws=Is,E=B;if(0!=(bs=vs)){for(vs=0,zs=3*(bs-1),E=((Ns=this.clipVertices2[zs])-Bi+Ji)*-Oi+((ks=this.clipVertices2[zs+1])-Fi+Wi)*-Di+((ws=this.clipVertices2[zs+2])-qi+Hi)*-Ei,Ps=0;Ps<bs;Ps++)zs=3*Ps,B=((Ms=this.clipVertices2[zs])-Bi+Ji)*-Oi+((gs=this.clipVertices2[zs+1])-Fi+Wi)*-Di+((Is=this.clipVertices2[zs+2])-qi+Hi)*-Ei,0<E?this.clipVertices1[zs+2]=0<B?(zs=3*vs,vs++,this.clipVertices1[zs]=Ms,this.clipVertices1[zs+1]=gs,Is):(zs=3*vs,vs++,as=E/(E-B),this.clipVertices1[zs]=Ns+(Ms-Ns)*as,this.clipVertices1[zs+1]=ks+(gs-ks)*as,ws+(Is-ws)*as):0<B&&(zs=3*vs,vs++,as=E/(E-B),this.clipVertices1[zs]=Ns+(Ms-Ns)*as,this.clipVertices1[zs+1]=ks+(gs-ks)*as,this.clipVertices1[zs+2]=ws+(Is-ws)*as,zs=3*vs,vs++,this.clipVertices1[zs]=Ms,this.clipVertices1[zs+1]=gs,this.clipVertices1[zs+2]=Is),Ns=Ms,ks=gs,ws=Is,E=B;if(Qi){var Ts=h;h=e,e=Ts}if(0!=(bs=vs)){var As=h!=t;if(4<bs){Ai=os-(Ns=.25*(os+ls+ps+xs)),ji=ns-(ks=.25*(ns+cs+us+ds)),Ci=rs-(ws=.25*(rs+ms+ys+fs)),Oi=ls-Ns,Di=cs-ks,Ei=ms-ws;var js=0,Cs=0,Os=0,Ds=0,Es=-this.INF;for(Vs=this.INF,Ps=0;Ps<bs;Ps++)this.used[Ps]=!1,zs=3*Ps,(Ls=(Ns=this.clipVertices1[zs])*Ai+(ks=this.clipVertices1[zs+1])*ji+(ws=this.clipVertices1[zs+2])*Ci)<Vs&&(Vs=Ls,js=Ps),Es<Ls&&(Es=Ls,Os=Ps);for(this.used[js]=!0,this.used[Os]=!0,Es=-this.INF,Vs=this.INF,Ps=0;Ps<bs;Ps++)this.used[Ps]||(zs=3*Ps,(Ls=(Ns=this.clipVertices1[zs])*Oi+(ks=this.clipVertices1[zs+1])*Di+(ws=this.clipVertices1[zs+2])*Ei)<Vs&&(Vs=Ls,Cs=Ps),Es<Ls&&(Es=Ls,Ds=Ps));zs=3*js,(Ls=((Ns=this.clipVertices1[zs])-Bi)*Si+((ks=this.clipVertices1[zs+1])-Fi)*Pi+((ws=this.clipVertices1[zs+2])-qi)*Ti)<0&&s.addPoint(Ns,ks,ws,Si,Pi,Ti,Ls,As),zs=3*Cs,(Ls=((Ns=this.clipVertices1[zs])-Bi)*Si+((ks=this.clipVertices1[zs+1])-Fi)*Pi+((ws=this.clipVertices1[zs+2])-qi)*Ti)<0&&s.addPoint(Ns,ks,ws,Si,Pi,Ti,Ls,As),zs=3*Os,(Ls=((Ns=this.clipVertices1[zs])-Bi)*Si+((ks=this.clipVertices1[zs+1])-Fi)*Pi+((ws=this.clipVertices1[zs+2])-qi)*Ti)<0&&s.addPoint(Ns,ks,ws,Si,Pi,Ti,Ls,As),zs=3*Ds,(Ls=((Ns=this.clipVertices1[zs])-Bi)*Si+((ks=this.clipVertices1[zs+1])-Fi)*Pi+((ws=this.clipVertices1[zs+2])-qi)*Ti)<0&&s.addPoint(Ns,ks,ws,Si,Pi,Ti,Ls,As)}else for(Ps=0;Ps<bs;Ps++)zs=3*Ps,(Ls=((Ns=this.clipVertices1[zs])-Bi)*Si+((ks=this.clipVertices1[zs+1])-Fi)*Pi+((ws=this.clipVertices1[zs+2])-qi)*Ti)<0&&s.addPoint(Ns,ks,ws,Si,Pi,Ti,Ls,As)}}}}}}}}),yt.prototype=Object.assign(Object.create(pt.prototype),{constructor:yt,getSep:function(t,i,s,h,e){var a,o,n,r,l,c,m,p,u,y,x,d,f,b=new yi,v=t.position.x,z=t.position.y,N=t.position.z,k=i.position.x,w=i.position.y,M=i.position.z,g=k-v,I=w-z,V=M-N;g*g+I*I+V*V==0&&(I=.001);var L=-g,S=-I,P=-V;this.supportPointB(t,-L,-S,-P,b);var T=b.x,A=b.y,j=b.z;this.supportPointC(i,L,S,P,b);var C=b.x,O=b.y,D=b.z,E=C-T,B=O-A,F=D-j;if(E*L+B*S+F*P<=0)return!1;if((L=B*V-F*I)*L+(S=F*g-E*V)*S+(P=E*I-B*g)*P==0)return s.set(E-g,B-I,F-V).normalize(),h.set(.5*(T+C),.5*(A+O),.5*(j+D)),!0;this.supportPointB(t,-L,-S,-P,b);var q=b.x,U=b.y,R=b.z;this.supportPointC(i,L,S,P,b);var _=b.x,J=b.y,W=b.z,H=_-q,Q=J-U,X=W-R;if(H*L+Q*S+X*P<=0)return!1;0<(L=(o=B-I)*(c=X-V)-(n=F-V)*(l=Q-I))*g+(S=n*(r=H-g)-(a=E-g)*c)*I+(P=a*l-o*r)*V&&(a=E,o=B,n=F,E=H,B=Q,F=X,H=a,Q=o,X=n,a=T,o=A,n=j,T=q,A=U,j=R,q=a,U=o,R=n,a=C,o=O,n=D,C=_,O=J,D=W,_=a,J=o,W=n,L=-L,S=-S,P=-P);for(var Y=0;;){if(100<++Y)return!1;this.supportPointB(t,-L,-S,-P,b);var Z=b.x,K=b.y,G=b.z;this.supportPointC(i,L,S,P,b);var $=b.x,tt=b.y,it=b.z,st=$-Z,ht=tt-K,et=it-G;if(st*L+ht*S+et*P<=0)return!1;if((B*et-F*ht)*g+(F*st-E*et)*I+(E*ht-B*st)*V<0)q=Z,U=K,R=G,_=$,J=tt,W=it,L=(o=B-I)*(c=(X=et)-V)-(n=F-V)*(l=(Q=ht)-I),S=n*(r=(H=st)-g)-(a=E-g)*c,P=a*l-o*r;else if((ht*X-et*Q)*g+(et*H-st*X)*I+(st*Q-ht*H)*V<0)T=Z,A=K,j=G,C=$,O=tt,D=it,L=(o=(B=ht)-I)*(c=X-V)-(n=(F=et)-V)*(l=Q-I),S=n*(r=H-g)-(a=(E=st)-g)*c,P=a*l-o*r;else for(var at=!1;;){if(L=(o=Q-B)*(c=et-F)-(n=X-F)*(l=ht-B),S=n*(r=st-E)-(a=H-E)*c,P=a*l-o*r,0<=(L*=m=1/Bs.sqrt(L*L+S*S+P*P))*E+(S*=m)*B+(P*=m)*F&&!at){var ot=(B*X-F*Q)*st+(F*H-E*X)*ht+(E*Q-B*H)*et,nt=(ht*X-et*Q)*g+(et*H-st*X)*I+(st*Q-ht*H)*V,rt=(I*F-V*B)*st+(V*E-g*F)*ht+(g*B-I*E)*et,lt=(Q*F-X*B)*g+(X*E-H*F)*I+(H*B-Q*E)*V,ct=ot+nt+rt+lt;ct<=0&&(ot=0,ct=(nt=(Q*et-X*ht)*L+(X*st-H*et)*S+(H*ht-Q*st)*P)+(rt=(ht*X-et*Q)*L+(et*H-st*X)*S+(st*Q-ht*H)*P)+(lt=(B*X-F*Q)*L+(F*H-E*X)*S+(E*Q-B*H)*P));var mt=1/ct;p=(v*ot+T*nt+q*rt+Z*lt)*mt,u=(z*ot+A*nt+U*rt+K*lt)*mt,y=(N*ot+j*nt+R*rt+G*lt)*mt,x=(k*ot+C*nt+_*rt+$*lt)*mt,d=(w*ot+O*nt+J*rt+tt*lt)*mt,f=(M*ot+D*nt+W*rt+it*lt)*mt,at=!0}this.supportPointB(t,-L,-S,-P,b);var pt=b.x,ut=b.y,yt=b.z;this.supportPointC(i,L,S,P,b);var xt=b.x,dt=b.y,ft=b.z,bt=xt-pt,vt=dt-ut,zt=ft-yt,Nt=-(bt*L+vt*S+zt*P);if((bt-st)*L+(vt-ht)*S+(zt-et)*P<=.01||0<=Nt)return!!at&&(s.set(-L,-S,-P),h.set(.5*(p+x),.5*(u+d),.5*(y+f)),e.x=Nt,!0);(vt*F-zt*B)*g+(zt*E-bt*F)*I+(bt*B-vt*E)*V<0?(vt*X-zt*Q)*g+(zt*H-bt*X)*I+(bt*Q-vt*H)*V<0?(E=bt,B=vt,F=zt,T=pt,A=ut,j=yt,C=xt,O=dt,D=ft):(st=bt,ht=vt,et=zt,Z=pt,K=ut,G=yt,$=xt,tt=dt,it=ft):(vt*et-zt*ht)*g+(zt*st-bt*et)*I+(bt*ht-vt*st)*V<0?(H=bt,Q=vt,X=zt,q=pt,U=ut,R=yt,_=xt,J=dt,W=ft):(E=bt,B=vt,F=zt,T=pt,A=ut,j=yt,C=xt,O=dt,D=ft)}}},supportPointB:function(t,i,s,h,e){var a,o,n,r=t.rotation.elements,l=r[0]*i+r[3]*s+r[6]*h,c=r[1]*i+r[4]*s+r[7]*h,m=r[2]*i+r[5]*s+r[8]*h,p=t.halfWidth,u=t.halfHeight,y=t.halfDepth;a=l<0?-p:p,o=c<0?-u:u,n=m<0?-y:y,l=r[0]*a+r[1]*o+r[2]*n+t.position.x,c=r[3]*a+r[4]*o+r[5]*n+t.position.y,m=r[6]*a+r[7]*o+r[8]*n+t.position.z,e.set(l,c,m)},supportPointC:function(t,i,s,h,e){var a,o,n,r=t.rotation.elements,l=r[0]*i+r[3]*s+r[6]*h,c=r[1]*i+r[4]*s+r[7]*h,m=r[2]*i+r[5]*s+r[8]*h,p=l,u=m,y=p*p+u*u,x=t.radius,d=t.halfHeight;n=0==y?(o=c<0?(a=x,-d):(a=x,d),0):(y=t.radius/Bs.sqrt(y),o=c<0?(a=p*y,-d):(a=p*y,d),u*y),l=r[0]*a+r[1]*o+r[2]*n+t.position.x,c=r[3]*a+r[4]*o+r[5]*n+t.position.y,m=r[6]*a+r[7]*o+r[8]*n+t.position.z,e.set(l,c,m)},detectCollision:function(t,i,s){var h,e;e=this.flip?(h=i,t):(h=t,i);var a=new yi,o=new yi,n=new yi;if(this.getSep(h,e,a,o,n)){var r=h.position.x,l=h.position.y,c=h.position.z,m=e.position.x,p=e.position.y,u=e.position.z,y=h.halfWidth,x=h.halfHeight,d=h.halfDepth,f=e.halfHeight,b=e.radius,v=h.dimentions,z=v[0],N=v[1],k=v[2],w=v[3],M=v[4],g=v[5],I=v[6],V=v[7],L=v[8],S=v[9],P=v[10],T=v[11],A=v[12],j=v[13],C=v[14],O=v[15],D=v[16],E=v[17],B=e.normalDirection.x,F=e.normalDirection.y,q=e.normalDirection.z,U=e.halfDirection.x,R=e.halfDirection.y,_=e.halfDirection.z,J=a.x,W=a.y,H=a.z,Q=J*z+W*N+H*k,X=J*w+W*M+H*g,Y=J*I+W*V+H*L,Z=J*B+W*F+H*q,K=0<Q,G=0<X,$=0<Y,tt=0<Z;K||(Q=-Q),G||(X=-X),$||(Y=-Y),tt||(Z=-Z);var it,st,ht,et,at,ot,nt,rt,lt,ct,mt,pt,ut,yt,xt,dt,ft,bt,vt,zt,Nt,kt,wt,Mt,gt,It,Vt,Lt,St,Pt,Tt,At,jt,Ct,Ot,Dt,Et,Bt,Ft,qt,Ut,Rt,_t,Jt,Wt,Ht,Qt,Xt,Yt,Zt,Kt,Gt,$t,ti=0;if(.999<Z?ti=.999<Q?Z<Q?1:4:.999<X?Z<X?2:4:.999<Y&&Z<Y?3:4:.999<Q?ti=1:.999<X?ti=2:.999<Y&&(ti=3),0==ti)s.addPoint(o.x,o.y,o.z,J,W,H,n.x,this.flip);else if(4==ti){var ii,si,hi,ei,ai,oi,ni,ri,li,ci,mi,pi;H=tt?(et=m-U,at=p-R,ot=u-_,J=-B,W=-F,-q):(et=m+U,at=p+R,ot=u+_,J=B,W=F,q),ti=0,(_t=z*J+N*W+k*H)<(zt=1)&&(zt=_t,ti=0),-_t<zt&&(zt=-_t,ti=1),(_t=w*J+M*W+g*H)<zt&&(zt=_t,ti=2),-_t<zt&&(zt=-_t,ti=3),(_t=I*J+V*W+L*H)<zt&&(zt=_t,ti=4),-_t<zt&&(zt=-_t,ti=5);var ui=h.elements;switch(ti){case 0:ii=ui[0],si=ui[1],hi=ui[2],ei=ui[6],ai=ui[7],oi=ui[8],ni=ui[9],ri=ui[10],li=ui[11],ci=ui[3],mi=ui[4],pi=ui[5];break;case 1:ii=ui[15],si=ui[16],hi=ui[17],ei=ui[21],ai=ui[22],oi=ui[23],ni=ui[18],ri=ui[19],li=ui[20],ci=ui[12],mi=ui[13],pi=ui[14];break;case 2:ii=ui[12],si=ui[13],hi=ui[14],ei=ui[0],ai=ui[1],oi=ui[2],ni=ui[3],ri=ui[4],li=ui[5],ci=ui[15],mi=ui[16],pi=ui[17];break;case 3:ii=ui[21],si=ui[22],hi=ui[23],ei=ui[9],ai=ui[10],oi=ui[11],ni=ui[6],ri=ui[7],li=ui[8],ci=ui[18],mi=ui[19],pi=ui[20];break;case 4:ii=ui[12],si=ui[13],hi=ui[14],ei=ui[18],ai=ui[19],oi=ui[20],ni=ui[6],ri=ui[7],li=ui[8],ci=ui[0],mi=ui[1],pi=ui[2];break;case 5:ii=ui[3],si=ui[4],hi=ui[5],ei=ui[9],ai=ui[10],oi=ui[11],ni=ui[21],ri=ui[22],li=ui[23],ci=ui[15],mi=ui[16],pi=ui[17]}(vt=J*(ii-et)+W*(si-at)+H*(hi-ot))<=0&&s.addPoint(ii,si,hi,-J,-W,-H,vt,this.flip),(vt=J*(ei-et)+W*(ai-at)+H*(oi-ot))<=0&&s.addPoint(ei,ai,oi,-J,-W,-H,vt,this.flip),(vt=J*(ni-et)+W*(ri-at)+H*(li-ot))<=0&&s.addPoint(ni,ri,li,-J,-W,-H,vt,this.flip),(vt=J*(ci-et)+W*(mi-at)+H*(pi-ot))<=0&&s.addPoint(ci,mi,pi,-J,-W,-H,vt,this.flip)}else{switch(ti){case 1:H=K?(it=r+S,st=l+P,ht=c+T,J=z,W=N,k):(it=r-S,st=l-P,ht=c-T,J=-z,W=-N,-k),Ht=w,Qt=M,Xt=g,Gt=x,Yt=I,Zt=V,Kt=L,$t=d;break;case 2:H=G?(it=r+A,st=l+j,ht=c+C,J=w,W=M,g):(it=r-A,st=l-j,ht=c-C,J=-w,W=-M,-g),Ht=z,Qt=N,Xt=k,Gt=y,Yt=I,Zt=V,Kt=L,$t=d;break;case 3:H=$?(it=r+O,st=l+D,ht=c+E,J=I,W=V,L):(it=r-O,st=l-D,ht=c-E,J=-I,W=-V,-L),Ht=z,Qt=N,Xt=k,Gt=y,Yt=w,Zt=M,Kt=g,$t=x}if(et=m+(Nt=(zt=J*B+W*F+H*q)<0?f:-f)*B,at=p+Nt*F,ot=u+Nt*q,Mt=.999999<=Z?(kt=-W,wt=H,J):(kt=J,wt=W,H),It=(Nt=kt*B+wt*F+Mt*q)*B-kt,Vt=Nt*F-wt,Lt=Nt*q-Mt,0==(Nt=Bs.sqrt(It*It+Vt*Vt+Lt*Lt)))return;if(kt=et+(It*=Nt=b/Nt),wt=at+(Vt*=Nt),Mt=ot+(Lt*=Nt),zt<-.96||.96<zt)nt=B*B*1.5-.5,rt=B*F*1.5-.866025403*q,lt=B*q*1.5+.866025403*F,ct=F*B*1.5+.866025403*q,mt=F*F*1.5-.5,pt=F*q*1.5-.866025403*B,ut=q*B*1.5-.866025403*F,yt=q*F*1.5+.866025403*B,xt=q*q*1.5-.5,(Bt=Ht*(kt=(dt=kt)-(vt=J*(dt-it)+W*((ft=wt)-st)+H*((bt=Mt)-ht))*J-it)+Qt*(wt=ft-vt*W-st)+Xt*(Mt=bt-vt*H-ht))<-Gt?Bt=-Gt:Gt<Bt&&(Bt=Gt),(Rt=Yt*kt+Zt*wt+Kt*Mt)<-$t?Rt=-$t:$t<Rt&&(Rt=$t),dt=it+(kt=Bt*Ht+Rt*Yt),ft=st+(wt=Bt*Qt+Rt*Zt),bt=ht+(Mt=Bt*Xt+Rt*Kt),s.addPoint(dt,ft,bt,J,W,H,vt,this.flip),ft=It*ct+Vt*mt+Lt*pt,bt=It*ut+Vt*yt+Lt*xt,(vt=J*((dt=(It=dt=It*nt+Vt*rt+Lt*lt)+et)-it)+W*((ft=(Vt=ft)+at)-st)+H*((bt=(Lt=bt)+ot)-ht))<=0&&((Bt=Ht*(kt=dt-vt*J-it)+Qt*(wt=ft-vt*W-st)+Xt*(Mt=bt-vt*H-ht))<-Gt?Bt=-Gt:Gt<Bt&&(Bt=Gt),(Rt=Yt*kt+Zt*wt+Kt*Mt)<-$t?Rt=-$t:$t<Rt&&(Rt=$t),dt=it+(kt=Bt*Ht+Rt*Yt),ft=st+(wt=Bt*Qt+Rt*Zt),bt=ht+(Mt=Bt*Xt+Rt*Kt),s.addPoint(dt,ft,bt,J,W,H,vt,this.flip)),ft=It*ct+Vt*mt+Lt*pt,bt=It*ut+Vt*yt+Lt*xt,(vt=J*((dt=(It=dt=It*nt+Vt*rt+Lt*lt)+et)-it)+W*((ft=(Vt=ft)+at)-st)+H*((bt=(Lt=bt)+ot)-ht))<=0&&((Bt=Ht*(kt=dt-vt*J-it)+Qt*(wt=ft-vt*W-st)+Xt*(Mt=bt-vt*H-ht))<-Gt?Bt=-Gt:Gt<Bt&&(Bt=Gt),(Rt=Yt*kt+Zt*wt+Kt*Mt)<-$t?Rt=-$t:$t<Rt&&(Rt=$t),dt=it+(kt=Bt*Ht+Rt*Yt),ft=st+(wt=Bt*Qt+Rt*Zt),bt=ht+(Mt=Bt*Xt+Rt*Kt),s.addPoint(dt,ft,bt,J,W,H,vt,this.flip));else{if(Ot=kt,Dt=wt,Et=Mt,Ut=0<zt?(Ft=kt+2*U,qt=wt+2*R,Mt+2*_):(Ft=kt-2*U,qt=wt-2*R,Mt-2*_),kt=(Ft-=(Rt=J*(Ft-it)+W*(qt-st)+H*(Ut-ht))*J)-(Ot-=(Bt=J*(Ot-it)+W*(Dt-st)+H*(Et-ht))*J),wt=(qt-=Rt*W)-(Dt-=Bt*W),Mt=(Ut-=Rt*H)-(Et-=Bt*H),gt=Rt-Bt,Jt=(X=(At=Ft-it)*Ht+(jt=qt-st)*Qt+(Ct=Ut-ht)*Xt)-Gt,0<(_t=(Q=(St=Ot-it)*Ht+(Pt=Dt-st)*Qt+(Tt=Et-ht)*Xt)-Gt)){if(0<Jt)return;Q=(St=(Ot+=kt*(Wt=_t/(_t-Jt)))-it)*Ht+(Pt=(Dt+=wt*Wt)-st)*Qt+(Tt=(Et+=Mt*Wt)-ht)*Xt,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=Rt-(Bt+=gt*Wt)}else 0<Jt&&(X=(At=(Ft=Ot+kt*(Wt=_t/(_t-Jt)))-it)*Ht+(jt=(qt=Dt+wt*Wt)-st)*Qt+(Ct=(Ut=Et+Mt*Wt)-ht)*Xt,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=(Rt=Bt+gt*Wt)-Bt);if(Jt=X+Gt,(_t=Q+Gt)<0){if(Jt<0)return;St=(Ot+=kt*(Wt=_t/(_t-Jt)))-it,Pt=(Dt+=wt*Wt)-st,Tt=(Et+=Mt*Wt)-ht,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=Rt-(Bt+=gt*Wt)}else Jt<0&&(At=(Ft=Ot+kt*(Wt=_t/(_t-Jt)))-it,jt=(qt=Dt+wt*Wt)-st,Ct=(Ut=Et+Mt*Wt)-ht,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=(Rt=Bt+gt*Wt)-Bt);if(Jt=(X=At*Yt+jt*Zt+Ct*Kt)-$t,0<(_t=(Q=St*Yt+Pt*Zt+Tt*Kt)-$t)){if(0<Jt)return;Q=(St=(Ot+=kt*(Wt=_t/(_t-Jt)))-it)*Yt+(Pt=(Dt+=wt*Wt)-st)*Zt+(Tt=(Et+=Mt*Wt)-ht)*Kt,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=Rt-(Bt+=gt*Wt)}else 0<Jt&&(X=(At=(Ft=Ot+kt*(Wt=_t/(_t-Jt)))-it)*Yt+(jt=(qt=Dt+wt*Wt)-st)*Zt+(Ct=(Ut=Et+Mt*Wt)-ht)*Kt,kt=Ft-Ot,wt=qt-Dt,Mt=Ut-Et,gt=(Rt=Bt+gt*Wt)-Bt);if(Jt=X+$t,(_t=Q+$t)<0){if(Jt<0)return;Ot+=kt*(Wt=_t/(_t-Jt)),Dt+=wt*Wt,Et+=Mt*Wt,Bt+=gt*Wt}else Jt<0&&(Ft=Ot+kt*(Wt=_t/(_t-Jt)),qt=Dt+wt*Wt,Ut=Et+Mt*Wt,Rt=Bt+gt*Wt);Bt<0&&s.addPoint(Ot,Dt,Et,J,W,H,Bt,this.flip),Rt<0&&s.addPoint(Ft,qt,Ut,J,W,H,Rt,this.flip)}}}}}),xt.prototype=Object.assign(Object.create(pt.prototype),{constructor:xt,getSep:function(t,i,s,h,e){var a,o,n,r,l,c,m,p,u,y,x,d,f,b=new yi,v=t.position.x,z=t.position.y,N=t.position.z,k=i.position.x,w=i.position.y,M=i.position.z,g=k-v,I=w-z,V=M-N;g*g+I*I+V*V==0&&(I=.001);var L=-g,S=-I,P=-V;this.supportPoint(t,-L,-S,-P,b);var T=b.x,A=b.y,j=b.z;this.supportPoint(i,L,S,P,b);var C=b.x,O=b.y,D=b.z,E=C-T,B=O-A,F=D-j;if(E*L+B*S+F*P<=0)return!1;if((L=B*V-F*I)*L+(S=F*g-E*V)*S+(P=E*I-B*g)*P==0)return s.set(E-g,B-I,F-V).normalize(),h.set(.5*(T+C),.5*(A+O),.5*(j+D)),!0;this.supportPoint(t,-L,-S,-P,b);var q=b.x,U=b.y,R=b.z;this.supportPoint(i,L,S,P,b);var _=b.x,J=b.y,W=b.z,H=_-q,Q=J-U,X=W-R;if(H*L+Q*S+X*P<=0)return!1;0<(L=(o=B-I)*(c=X-V)-(n=F-V)*(l=Q-I))*g+(S=n*(r=H-g)-(a=E-g)*c)*I+(P=a*l-o*r)*V&&(a=E,o=B,n=F,E=H,B=Q,F=X,H=a,Q=o,X=n,a=T,o=A,n=j,T=q,A=U,j=R,q=a,U=o,R=n,a=C,o=O,n=D,C=_,O=J,D=W,_=a,J=o,W=n,L=-L,S=-S,P=-P);for(var Y=0;;){if(100<++Y)return!1;this.supportPoint(t,-L,-S,-P,b);var Z=b.x,K=b.y,G=b.z;this.supportPoint(i,L,S,P,b);var $=b.x,tt=b.y,it=b.z,st=$-Z,ht=tt-K,et=it-G;if(st*L+ht*S+et*P<=0)return!1;if((B*et-F*ht)*g+(F*st-E*et)*I+(E*ht-B*st)*V<0)q=Z,U=K,R=G,_=$,J=tt,W=it,L=(o=B-I)*(c=(X=et)-V)-(n=F-V)*(l=(Q=ht)-I),S=n*(r=(H=st)-g)-(a=E-g)*c,P=a*l-o*r;else if((ht*X-et*Q)*g+(et*H-st*X)*I+(st*Q-ht*H)*V<0)T=Z,A=K,j=G,C=$,O=tt,D=it,L=(o=(B=ht)-I)*(c=X-V)-(n=(F=et)-V)*(l=Q-I),S=n*(r=H-g)-(a=(E=st)-g)*c,P=a*l-o*r;else for(var at=!1;;){if(L=(o=Q-B)*(c=et-F)-(n=X-F)*(l=ht-B),S=n*(r=st-E)-(a=H-E)*c,P=a*l-o*r,0<=(L*=m=1/Bs.sqrt(L*L+S*S+P*P))*E+(S*=m)*B+(P*=m)*F&&!at){var ot=(B*X-F*Q)*st+(F*H-E*X)*ht+(E*Q-B*H)*et,nt=(ht*X-et*Q)*g+(et*H-st*X)*I+(st*Q-ht*H)*V,rt=(I*F-V*B)*st+(V*E-g*F)*ht+(g*B-I*E)*et,lt=(Q*F-X*B)*g+(X*E-H*F)*I+(H*B-Q*E)*V,ct=ot+nt+rt+lt;ct<=0&&(ot=0,ct=(nt=(Q*et-X*ht)*L+(X*st-H*et)*S+(H*ht-Q*st)*P)+(rt=(ht*X-et*Q)*L+(et*H-st*X)*S+(st*Q-ht*H)*P)+(lt=(B*X-F*Q)*L+(F*H-E*X)*S+(E*Q-B*H)*P));var mt=1/ct;p=(v*ot+T*nt+q*rt+Z*lt)*mt,u=(z*ot+A*nt+U*rt+K*lt)*mt,y=(N*ot+j*nt+R*rt+G*lt)*mt,x=(k*ot+C*nt+_*rt+$*lt)*mt,d=(w*ot+O*nt+J*rt+tt*lt)*mt,f=(M*ot+D*nt+W*rt+it*lt)*mt,at=!0}this.supportPoint(t,-L,-S,-P,b);var pt=b.x,ut=b.y,yt=b.z;this.supportPoint(i,L,S,P,b);var xt=b.x,dt=b.y,ft=b.z,bt=xt-pt,vt=dt-ut,zt=ft-yt,Nt=-(bt*L+vt*S+zt*P);if((bt-st)*L+(vt-ht)*S+(zt-et)*P<=.01||0<=Nt)return!!at&&(s.set(-L,-S,-P),h.set(.5*(p+x),.5*(u+d),.5*(y+f)),e.x=Nt,!0);(vt*F-zt*B)*g+(zt*E-bt*F)*I+(bt*B-vt*E)*V<0?(vt*X-zt*Q)*g+(zt*H-bt*X)*I+(bt*Q-vt*H)*V<0?(E=bt,B=vt,F=zt,T=pt,A=ut,j=yt,C=xt,O=dt,D=ft):(st=bt,ht=vt,et=zt,Z=pt,K=ut,G=yt,$=xt,tt=dt,it=ft):(vt*et-zt*ht)*g+(zt*st-bt*et)*I+(bt*ht-vt*st)*V<0?(H=bt,Q=vt,X=zt,q=pt,U=ut,R=yt,_=xt,J=dt,W=ft):(E=bt,B=vt,F=zt,T=pt,A=ut,j=yt,C=xt,O=dt,D=ft)}}},supportPoint:function(t,i,s,h,e){var a,o,n,r=t.rotation.elements,l=r[0]*i+r[3]*s+r[6]*h,c=r[1]*i+r[4]*s+r[7]*h,m=r[2]*i+r[5]*s+r[8]*h,p=l,u=m,y=p*p+u*u,x=t.radius,d=t.halfHeight;n=0==y?(o=c<0?(a=x,-d):(a=x,d),0):(y=t.radius/Bs.sqrt(y),o=c<0?(a=p*y,-d):(a=p*y,d),u*y),l=r[0]*a+r[1]*o+r[2]*n+t.position.x,c=r[3]*a+r[4]*o+r[5]*n+t.position.y,m=r[6]*a+r[7]*o+r[8]*n+t.position.z,e.set(l,c,m)},detectCollision:function(t,i,s){var h,e;e=t.id<i.id?(h=t,i):(h=i,t);var a,o,n,r,l,c,m,p,u,y,x,d,f,b,v,z,N,k,w,M,g,I=h.position,V=e.position,L=I.x,S=I.y,P=I.z,T=V.x,A=V.y,j=V.z,C=h.halfHeight,O=e.halfHeight,D=h.normalDirection,E=e.normalDirection,B=h.halfDirection,F=e.halfDirection,q=h.radius,U=e.radius,R=D.x,_=D.y,J=D.z,W=E.x,H=E.y,Q=E.z,X=B.x,Y=B.y,Z=B.z,K=F.x,G=F.y,$=F.z,tt=L-T,it=S-A,st=P-j,ht=new yi,et=new yi,at=new yi;if(this.getSep(h,e,ht,et,at)){var ot=ht.x*R+ht.y*_+ht.z*J,nt=ht.x*W+ht.y*H+ht.z*Q,rt=0<ot,lt=0<nt;rt||(ot=-ot),lt||(nt=-nt);var ct,mt,pt,ut=0;(.999<ot||.999<nt)&&(ut=nt<ot?1:2);var yt,xt,dt,ft,bt,vt,zt,Nt,kt,wt,Mt,gt,It,Vt,Lt,St,Pt=at.x;switch(ct=ht.x,mt=ht.y,pt=ht.z,ut){case 0:s.addPoint(et.x,et.y,et.z,ct,mt,pt,Pt,!1);break;case 1:if(pt=rt?(o=L+X,n=S+Y,r=P+Z,ct=R,mt=_,J):(o=L-X,n=S-Y,r=P-Z,ct=-R,mt=-_,-J),l=T+(a=(w=ct*W+mt*H+pt*Q)<0?O:-O)*W,c=A+a*H,m=j+a*Q,y=.999999<=nt?(p=-mt,u=pt,ct):(p=ct,u=mt,pt),tt=(a=p*W+u*H+y*Q)*W-p,it=a*H-u,st=a*Q-y,0==(a=Bs.sqrt(tt*tt+it*it+st*st)))break;if(p=l+(tt*=a=U/a),u=c+(it*=a),y=m+(st*=a),w<-.96||.96<w)yt=W*W*1.5-.5,xt=W*H*1.5-.866025403*Q,dt=W*Q*1.5+.866025403*H,ft=H*W*1.5+.866025403*Q,bt=H*H*1.5-.5,vt=H*Q*1.5-.866025403*W,zt=Q*W*1.5-.866025403*H,Nt=Q*H*1.5+.866025403*W,kt=Q*Q*1.5-.5,q*q<(a=(p=(wt=p)-(It=ct*(wt-o)+mt*((Mt=u)-n)+pt*((gt=y)-r))*ct-o)*p+(u=Mt-It*mt-n)*u+(y=gt-It*pt-r)*y)&&(p*=a=q/Bs.sqrt(a),u*=a,y*=a),wt=o+p,Mt=n+u,gt=r+y,s.addPoint(wt,Mt,gt,ct,mt,pt,It,!1),Mt=tt*ft+it*bt+st*vt,gt=tt*zt+it*Nt+st*kt,(It=ct*((wt=(tt=wt=tt*yt+it*xt+st*dt)+l)-o)+mt*((Mt=(it=Mt)+c)-n)+pt*((gt=(st=gt)+m)-r))<=0&&(q*q<(a=(p=wt-It*ct-o)*p+(u=Mt-It*mt-n)*u+(y=gt-It*pt-r)*y)&&(p*=a=q/Bs.sqrt(a),u*=a,y*=a),wt=o+p,Mt=n+u,gt=r+y,s.addPoint(wt,Mt,gt,ct,mt,pt,It,!1)),Mt=tt*ft+it*bt+st*vt,gt=tt*zt+it*Nt+st*kt,(It=ct*((wt=(tt=wt=tt*yt+it*xt+st*dt)+l)-o)+mt*((Mt=(it=Mt)+c)-n)+pt*((gt=(st=gt)+m)-r))<=0&&(q*q<(a=(p=wt-It*ct-o)*p+(u=Mt-It*mt-n)*u+(y=gt-It*pt-r)*y)&&(p*=a=q/Bs.sqrt(a),u*=a,y*=a),wt=o+p,Mt=n+u,gt=r+y,s.addPoint(wt,Mt,gt,ct,mt,pt,It,!1));else{if(x=p,d=u,f=y,z=0<w?(b=p+W*O*2,v=u+H*O*2,y+Q*O*2):(b=p-W*O*2,v=u-H*O*2,y-Q*O*2),(St=(Vt=(tt=o-(x-=(N=ct*(x-o)+mt*(d-n)+pt*(f-r))*ct))*(p=(b-=(k=ct*(b-o)+mt*(v-n)+pt*(z-r))*ct)-x)+(it=n-(d-=N*mt))*(u=(v-=k*mt)-d)+(st=r-(f-=N*pt))*(y=(z-=k*pt)-f))*Vt-(Lt=p*p+u*u+y*y)*(tt*tt+it*it+st*st-q*q))<0)break;(g=(Vt-(St=Bs.sqrt(St)))/Lt)<(M=(Vt+St)/Lt)&&(a=M,M=g,g=a),1<g&&(g=1),M<0&&(M=0),p=x+(b-x)*M,u=d+(v-d)*M,y=f+(z-f)*M,b=x+(b-x)*g,v=d+(v-d)*g,z=f+(z-f)*g,x=p,d=u,f=y,a=N+(k-N)*M,k=N+(k-N)*g,(N=a)<0&&s.addPoint(x,d,f,ct,mt,pt,It,!1),k<0&&s.addPoint(b,v,z,ct,mt,pt,It,!1)}break;case 2:if(pt=lt?(l=T-K,c=A-G,m=j-$,ct=-W,mt=-H,-Q):(l=T+K,c=A+G,m=j+$,ct=W,mt=H,Q),o=L+(a=(w=ct*R+mt*_+pt*J)<0?C:-C)*R,n=S+a*_,r=P+a*J,y=.999999<=ot?(p=-mt,u=pt,ct):(p=ct,u=mt,pt),tt=(a=p*R+u*_+y*J)*R-p,it=a*_-u,st=a*J-y,0==(a=Bs.sqrt(tt*tt+it*it+st*st)))break;if(p=o+(tt*=a=q/a),u=n+(it*=a),y=r+(st*=a),w<-.96||.96<w)yt=R*R*1.5-.5,xt=R*_*1.5-.866025403*J,dt=R*J*1.5+.866025403*_,ft=_*R*1.5+.866025403*J,bt=_*_*1.5-.5,vt=_*J*1.5-.866025403*R,zt=J*R*1.5-.866025403*_,Nt=J*_*1.5+.866025403*R,kt=J*J*1.5-.5,U*U<(a=(p=(wt=p)-(It=ct*(wt-l)+mt*((Mt=u)-c)+pt*((gt=y)-m))*ct-l)*p+(u=Mt-It*mt-c)*u+(y=gt-It*pt-m)*y)&&(p*=a=U/Bs.sqrt(a),u*=a,y*=a),wt=l+p,Mt=c+u,gt=m+y,s.addPoint(wt,Mt,gt,-ct,-mt,-pt,It,!1),Mt=tt*ft+it*bt+st*vt,gt=tt*zt+it*Nt+st*kt,(It=ct*((wt=(tt=wt=tt*yt+it*xt+st*dt)+o)-l)+mt*((Mt=(it=Mt)+n)-c)+pt*((gt=(st=gt)+r)-m))<=0&&(U*U<(a=(p=wt-It*ct-l)*p+(u=Mt-It*mt-c)*u+(y=gt-It*pt-m)*y)&&(p*=a=U/Bs.sqrt(a),u*=a,y*=a),wt=l+p,Mt=c+u,gt=m+y,s.addPoint(wt,Mt,gt,-ct,-mt,-pt,It,!1)),Mt=tt*ft+it*bt+st*vt,gt=tt*zt+it*Nt+st*kt,(It=ct*((wt=(tt=wt=tt*yt+it*xt+st*dt)+o)-l)+mt*((Mt=(it=Mt)+n)-c)+pt*((gt=(st=gt)+r)-m))<=0&&(U*U<(a=(p=wt-It*ct-l)*p+(u=Mt-It*mt-c)*u+(y=gt-It*pt-m)*y)&&(p*=a=U/Bs.sqrt(a),u*=a,y*=a),wt=l+p,Mt=c+u,gt=m+y,s.addPoint(wt,Mt,gt,-ct,-mt,-pt,It,!1));else{if(x=p,d=u,f=y,z=0<w?(b=p+R*C*2,v=u+_*C*2,y+J*C*2):(b=p-R*C*2,v=u-_*C*2,y-J*C*2),(St=(Vt=(tt=l-(x-=(N=ct*(x-l)+mt*(d-c)+pt*(f-m))*ct))*(p=(b-=(k=ct*(b-l)+mt*(v-c)+pt*(z-m))*ct)-x)+(it=c-(d-=N*mt))*(u=(v-=k*mt)-d)+(st=m-(f-=N*pt))*(y=(z-=k*pt)-f))*Vt-(Lt=p*p+u*u+y*y)*(tt*tt+it*it+st*st-U*U))<0)break;(g=(Vt-(St=Bs.sqrt(St)))/Lt)<(M=(Vt+St)/Lt)&&(a=M,M=g,g=a),1<g&&(g=1),M<0&&(M=0),p=x+(b-x)*M,u=d+(v-d)*M,y=f+(z-f)*M,b=x+(b-x)*g,v=d+(v-d)*g,z=f+(z-f)*g,x=p,d=u,f=y,a=N+(k-N)*M,k=N+(k-N)*g,(N=a)<0&&s.addPoint(x,d,f,-ct,-mt,-pt,N,!1),k<0&&s.addPoint(b,v,z,-ct,-mt,-pt,k,!1)}}}}}),dt.prototype=Object.assign(Object.create(pt.prototype),{constructor:dt,detectCollision:function(t,i,s){var h,e,a,o,n,r,l,c=(e=this.flip?(h=i,t):(h=t,i)).dimentions,m=h.position,p=m.x,u=m.y,y=m.z,x=e.position,d=x.x,f=x.y,b=x.z,v=h.radius,z=e.halfWidth,N=e.halfHeight,k=e.halfDepth,w=p-d,M=u-f,g=y-b,I=c[0]*w+c[1]*M+c[2]*g,V=c[3]*w+c[4]*M+c[5]*g,L=c[6]*w+c[7]*M+c[8]*g,S=0;z<I?I=z:I<-z?I=-z:S=1,N<V?V=N:V<-N?V=-N:S|=2,k<L?L=k:L<-k?L=-k:S|=4,7==S?(g=L<0?k+L:k-L,g=(w=I<0?z+I:z-I)<(M=V<0?N+V:N-V)?w<g?(r=w-z,I<0?(I=-z,w=c[0],M=c[1],c[2]):(I=z,w=-c[0],M=-c[1],-c[2])):(r=g-k,L<0?(L=-k,w=c[6],M=c[7],c[8]):(L=k,w=-c[6],M=-c[7],-c[8])):M<g?(r=M-N,V<0?(V=-N,w=c[3],M=c[4],c[5]):(V=N,w=-c[3],M=-c[4],-c[5])):(r=g-k,L<0?(L=-k,w=c[6],M=c[7],c[8]):(L=k,w=-c[6],M=-c[7],-c[8])),a=d+I*c[0]+V*c[3]+L*c[6],o=f+I*c[1]+V*c[4]+L*c[7],n=b+I*c[2]+V*c[5]+L*c[8],s.addPoint(p+v*w,u+v*M,y+v*g,w,M,g,r-v,this.flip)):(a=d+I*c[0]+V*c[3]+L*c[6],o=f+I*c[1]+V*c[4]+L*c[7],n=b+I*c[2]+V*c[5]+L*c[8],0<(r=(w=a-m.x)*w+(M=o-m.y)*M+(g=n-m.z)*g)&&r<v*v&&(w*=l=1/(r=Bs.sqrt(r)),M*=l,g*=l,s.addPoint(p+v*w,u+v*M,y+v*g,w,M,g,r-v,this.flip)))}}),ft.prototype=Object.assign(Object.create(pt.prototype),{constructor:ft,detectCollision:function(t,i,s){var h,e;e=this.flip?(h=i,t):(h=t,i);var a=h.position,o=a.x,n=a.y,r=a.z,l=e.position,c=l.x,m=l.y,p=l.z,u=e.normalDirection.x,y=e.normalDirection.y,x=e.normalDirection.z,d=h.radius,f=e.radius,b=d+f,v=e.halfHeight,z=o-c,N=n-m,k=r-p,w=z*u+N*y+k*x;if(!(w<-v-d||v+d<w)){var M,g=c+w*u,I=m+w*y,V=p+w*x,L=o-g,S=n-I,P=r-V,T=L*L+S*S+P*P;if(!(b*b<T))f*f<T&&(L*=T=f/Bs.sqrt(T),S*=T,P*=T),w<-v?w=-v:v<w&&(w=v),0<(T=(z=(g=c+w*u+L)-o)*z+(N=(I=m+w*y+S)-n)*N+(k=(V=p+w*x+P)-r)*k)&&T<d*d&&(z*=M=1/(T=Bs.sqrt(T)),N*=M,k*=M,s.addPoint(o+z*d,n+N*d,r+k*d,z,N,k,T-d,this.flip))}}}),bt.prototype=Object.assign(Object.create(pt.prototype),{constructor:bt,detectCollision:function(t,i,s){var h=t,e=i,a=h.position,o=e.position,n=o.x-a.x,r=o.y-a.y,l=o.z-a.z,c=n*n+r*r+l*l,m=h.radius,p=m+e.radius;if(0<c&&c<p*p){var u=1/(c=Bs.sqrt(c));n*=u,r*=u,l*=u,s.addPoint(a.x+n*m,a.y+r*m,a.z+l*m,n,r,l,c-p,!1)}}}),vt.prototype=Object.assign(Object.create(pt.prototype),{constructor:vt,detectCollision:function(t,i,s){var h,e=this.n,a=this.p,o=this.flip?i:t,n=this.flip?t:i,r=o.radius;e.sub(o.position,n.position),e.x*=n.normal.x,e.y*=n.normal.y,e.z*=n.normal.z,0<(h=e.lengthSq())&&h<r*r&&(h=Bs.sqrt(h),e.copy(n.normal).negate(),a.copy(o.position).addScaledVector(e,r),s.addPointVec(a,e,h-r,this.flip))}}),zt.prototype=Object.assign(Object.create(pt.prototype),{constructor:zt,detectCollision:function(t,i,s){var h,e=this.n,a=this.p,o=this.cc,n=this.flip?i:t,r=this.flip?t:i,l=n.dimentions,c=n.halfWidth,m=n.halfHeight,p=n.halfDepth,u=0;this.dix.set(l[0],l[1],l[2]),this.diy.set(l[3],l[4],l[5]),this.diz.set(l[6],l[7],l[8]),e.sub(n.position,r.position),e.x*=r.normal.x,e.y*=r.normal.y,e.z*=r.normal.z,o.set(Bs.dotVectors(this.dix,e),Bs.dotVectors(this.diy,e),Bs.dotVectors(this.diz,e)),o.x>c?o.x=c:o.x<-c?o.x=-c:u=1,o.y>m?o.y=m:o.y<-m?o.y=-m:u|=2,o.z>p?o.z=p:o.z<-p?o.z=-p:u|=4,7===u&&(e.set(o.x<0?c+o.x:c-o.x,o.y<0?m+o.y:m-o.y,o.z<0?p+o.z:p-o.z),e.x<e.y?e.x<e.z?(h=e.x-c,o.x<0?(o.x=-c,e.copy(this.dix)):(o.x=c,e.subEqual(this.dix))):(h=e.z-p,o.z<0?(o.z=-p,e.copy(this.diz)):(o.z=p,e.subEqual(this.diz))):e.y<e.z?(h=e.y-m,o.y<0?(o.y=-m,e.copy(this.diy)):(o.y=m,e.subEqual(this.diy))):(h=e.z-p,o.z<0?(o.z=-p,e.copy(this.diz)):(o.z=p,e.subEqual(this.diz))),a.copy(r.position).addScaledVector(e,1),s.addPointVec(a,e,h,this.flip))}}),Object.assign(Nt.prototype,{World:!0,play:function(){if(null===this.timer){var t=this;this.timer=setInterval(function(){t.step()},this.timerate)}},stop:function(){null!==this.timer&&(clearInterval(this.timer),this.timer=null)},setGravity:function(t){this.gravity.fromArray(t)},getInfo:function(){return this.isStat?this.performance.show():""},clear:function(){for(this.stop(),this.preLoop=null,this.postLoop=null,this.randX=65535;null!==this.joints;)this.removeJoint(this.joints);for(;null!==this.contacts;)this.removeContact(this.contacts);for(;null!==this.rigidBodies;)this.removeRigidBody(this.rigidBodies)},addRigidBody:function(t){t.parent&&d("World","It is not possible to be added to more than one world one of the rigid body"),t.setParent(this);for(var i=t.shapes;null!==i;i=i.next)this.addShape(i);null!==this.rigidBodies&&((this.rigidBodies.prev=t).next=this.rigidBodies),this.rigidBodies=t,this.numRigidBodies++},removeRigidBody:function(t){var i=t;if(i.parent===this){i.awake();for(var s=i.jointLink;null!=s;){var h=s.joint;s=s.next,this.removeJoint(h)}for(var e=t.shapes;null!==e;e=e.next)this.removeShape(e);var a=i.prev,o=i.next;null!==a&&(a.next=o),null!==o&&(o.prev=a),this.rigidBodies==i&&(this.rigidBodies=o),i.prev=null,i.next=null,i.parent=null,this.numRigidBodies--}},getByName:function(t){for(var i=this.rigidBodies;null!==i;){if(i.name===t)return i;i=i.next}for(var s=this.joints;null!==s;){if(s.name===t)return s;s=s.next}return null},addShape:function(t){t.parent&&t.parent.parent||d("World","It is not possible to be added alone to shape world"),t.proxy=this.broadPhase.createProxy(t),t.updateProxy(),this.broadPhase.addProxy(t.proxy)},removeShape:function(t){this.broadPhase.removeProxy(t.proxy),t.proxy=null},addJoint:function(t){t.parent&&d("World","It is not possible to be added to more than one world one of the joint"),null!=this.joints&&((this.joints.prev=t).next=this.joints),(this.joints=t).setParent(this),this.numJoints++,t.awake(),t.attach()},removeJoint:function(t){var i=t,s=i.prev,h=i.next;null!==s&&(s.next=h),null!==h&&(h.prev=s),this.joints==i&&(this.joints=h),i.prev=null,i.next=null,this.numJoints--,i.awake(),i.detach(),i.parent=null},addContact:function(t,i){var s;null!==this.unusedContacts?(s=this.unusedContacts,this.unusedContacts=this.unusedContacts.next):s=new Z,s.attach(t,i),s.detector=this.detectors[t.type][i.type],this.contacts&&((this.contacts.prev=s).next=this.contacts),this.contacts=s,this.numContacts++},removeContact:function(t){var i=t.prev,s=t.next;s&&(s.prev=i),i&&(i.next=s),this.contacts==t&&(this.contacts=s),t.prev=null,t.next=null,t.detach(),t.next=this.unusedContacts,this.unusedContacts=t,this.numContacts--},getContact:function(t,i){var s,h;t=t.constructor===K?t.name:t,i=i.constructor===K?i.name:i;for(var e=this.contacts;null!==e;){if(s=e.body1.name,h=e.body2.name,s===t&&h===i||h===t&&s===i)return e.touching?e:null;e=e.next}return null},checkContact:function(t,i){for(var s,h,e=this.contacts;null!==e;){if(s=e.body1.name||" ",h=e.body2.name||" ",s==t&&h==i||h==t&&s==i)return!!e.touching;e=e.next}},callSleep:function(t){return!!t.allowSleep&&(!(.04<t.linearVelocity.lengthSq())&&!(.25<t.angularVelocity.lengthSq()))},step:function(){var t=this.isStat;t&&this.performance.setTime(0);for(var i=this.rigidBodies;null!==i;)i.addedToIsland=!1,i.sleeping&&i.testWakeUp(),i=i.next;t&&this.performance.setTime(1),this.broadPhase.detectPairs();for(var s=this.broadPhase.pairs,h=this.broadPhase.numPairs;h--;){var e,a,o,n=s[h];a=n.shape1.id<n.shape2.id?(e=n.shape1,n.shape2):(e=n.shape2,n.shape1),o=e.numContacts<a.numContacts?e.contactLink:a.contactLink;for(var r=!1;o;){if((z=o.contact).shape1==e&&z.shape2==a){r=z.persisting=!0;break}o=o.next}r||this.addContact(e,a)}for(t&&this.performance.calcBroadPhase(),this.numContactPoints=0,z=this.contacts;null!==z;)if(z.persisting||!z.shape1.aabb.intersectTest(z.shape2.aabb)){var l=z.body1,c=z.body2;(l.isDynamic&&!l.sleeping||c.isDynamic&&!c.sleeping)&&z.updateManifold(),this.numContactPoints+=z.manifold.numPoints,z.persisting=!1,z.constraint.addedToIsland=!1,z=z.next}else{var m=z.next;this.removeContact(z),z=m}t&&this.performance.calcNarrowPhase();var p,u,y=1/this.timeStep;for(p=this.joints;null!==p;p=p.next)p.addedToIsland=!1;this.islandRigidBodies=[],this.islandConstraints=[],this.islandStack=[],t&&this.performance.setTime(1),this.numIslands=0;for(var x=this.rigidBodies;null!==x;x=x.next)if(!(x.addedToIsland||x.isStatic||x.sleeping))if(x.isLonely())x.isDynamic&&x.linearVelocity.addScaledVector(this.gravity,this.timeStep),this.callSleep(x)?(x.sleepTime+=this.timeStep,.5<x.sleepTime?x.sleep():x.updatePosition(this.timeStep)):(x.sleepTime=0,x.updatePosition(this.timeStep)),this.numIslands++;else{var d=0,f=0,b=1;(this.islandStack[0]=x).addedToIsland=!0;do{if(i=this.islandStack[--b],this.islandStack[b]=null,i.sleeping=!1,!(this.islandRigidBodies[d++]=i).isStatic){for(var v=i.contactLink;null!==v;v=v.next){var z;if(!(u=(z=v.contact).constraint).addedToIsland&&z.touching)(this.islandConstraints[f++]=u).addedToIsland=!0,(m=v.body).addedToIsland||((this.islandStack[b++]=m).addedToIsland=!0)}for(var N=i.jointLink;null!==N;N=N.next)(u=N.joint).addedToIsland||((this.islandConstraints[f++]=u).addedToIsland=!0,!(m=N.body).addedToIsland&&m.isDynamic&&((this.islandStack[b++]=m).addedToIsland=!0))}}while(0!=b);for(var k=(new yi).addScaledVector(this.gravity,this.timeStep),w=d;w--;)(i=this.islandRigidBodies[w]).isDynamic&&i.linearVelocity.addEqual(k);if(this.enableRandomizer)for(w=f;w--;)if(0!==w){var M=(this.randX=this.randX*this.randA+this.randB&2147483647)/2147483648*w|0;u=this.islandConstraints[w],this.islandConstraints[w]=this.islandConstraints[M],this.islandConstraints[M]=u}for(w=f;w--;)this.islandConstraints[w].preSolve(this.timeStep,y);for(var g=this.numIterations;g--;)for(w=f;w--;)this.islandConstraints[w].solve();for(w=f;w--;)this.islandConstraints[w].postSolve(),this.islandConstraints[w]=null;var I=10;for(w=d;w--;)i=this.islandRigidBodies[w],this.callSleep(i)?(i.sleepTime+=this.timeStep,i.sleepTime<I&&(I=i.sleepTime)):I=i.sleepTime=0;if(.5<I)for(w=d;w--;)this.islandRigidBodies[w].sleep(),this.islandRigidBodies[w]=null;else for(w=d;w--;)this.islandRigidBodies[w].updatePosition(this.timeStep),this.islandRigidBodies[w]=null;this.numIslands++}t&&this.performance.calcEnd(),null!==this.postLoop&&this.postLoop()},remove:function(t){},add:function(t){var i=(t=t||{}).type||"box";return i.constructor===String&&(i=[i]),"joint"===i[0].substring(0,5)?this.initJoint(i[0],t):this.initBody(i,t)},initBody:function(t,i){var s=this.invScale,h=i.move||!1,e=i.kinematic||!1,a=i.pos||[0,0,0];a=a.map(function(t){return t*s});var o=i.posShape||[0,0,0];o=o.map(function(t){return t*s});var n=i.rot||[0,0,0];n=n.map(function(t){return t*Bs.degtorad});var r=i.rotShape;r=n.map(function(t){return t*Bs.degtorad});var l=void 0===i.size?[1,1,1]:i.size;1===l.length&&(l[1]=l[0]),2===l.length&&(l[2]=l[0]),l=l.map(function(t){return t*s});var c=new I;void 0!==i.density&&(c.density=i.density),void 0!==i.friction&&(c.friction=i.friction),void 0!==i.restitution&&(c.restitution=i.restitution),void 0!==i.belongsTo&&(c.belongsTo=i.belongsTo),void 0!==i.collidesWith&&(c.collidesWith=i.collidesWith),void 0!==i.config&&(void 0!==i.config[0]&&(c.density=i.config[0]),void 0!==i.config[1]&&(c.friction=i.config[1]),void 0!==i.config[2]&&(c.restitution=i.config[2]),void 0!==i.config[3]&&(c.belongsTo=i.config[3]),void 0!==i.config[4]&&(c.collidesWith=i.config[4]));for(var m,p,u=new K(new yi(a[0],a[1],a[2]),(new x).setFromEuler(n[0],n[1],n[2])),y=0;y<t.length;y++){switch(void 0!==o[p=3*y]&&c.relativePosition.set(o[p],o[p+1],o[p+2]),void 0!==r[p]&&c.relativeRotation.setQuat((new x).setFromEuler(r[p],r[p+1],r[p+2])),t[y]){case"sphere":m=new k(c,l[p]);break;case"cylinder":m=new w(c,l[p],l[p+1]);break;case"box":m=new N(c,l[p],l[p+1],l[p+2]);break;case"plane":m=new M(c)}u.addShape(m)}return i.neverSleep||e?u.allowSleep=!1:u.allowSleep=!0,u.isKinematic=e,h?i.massPos||i.massRot?u.setupMass(1,!1):u.setupMass(1,!0):u.setupMass(2),void 0!==i.name&&(u.name=i.name),this.addRigidBody(u),h&&(i.sleep?u.sleep():u.awake()),u},initJoint:function(t,i){var s,h,e=this.invScale,a=i.axe1||[1,0,0],o=i.axe2||[1,0,0],n=i.pos1||[0,0,0],r=i.pos2||[0,0,0];n=n.map(function(t){return t*e}),r=r.map(function(t){return t*e}),"jointDistance"===t?(s=i.min||0,h=i.max||10,s*=e,h*=e):(s=i.min||57.29578,h=i.max||0,s*=Bs.degtorad,h*=Bs.degtorad);var l=i.limit||null,c=i.spring||null,m=i.motor||null,p=new R;p.scale=this.scale,p.invScale=this.invScale,p.allowCollision=i.collision||!1,p.localAxis1.set(a[0],a[1],a[2]),p.localAxis2.set(o[0],o[1],o[2]),p.localAnchorPoint1.set(n[0],n[1],n[2]),p.localAnchorPoint2.set(r[0],r[1],r[2]);var u,y=null,x=null;if(void 0===i.body1||void 0===i.body2)return d("World","Can't add joint if attach rigidbodys not define !");if(i.body1.constructor===String?y=this.getByName(i.body1):i.body1.constructor===Number?y=this.getByName(i.body1):i.body1.constructor===K&&(y=i.body1),i.body2.constructor===String?x=this.getByName(i.body2):i.body2.constructor===Number?x=this.getByName(i.body2):i.body2.constructor===K&&(x=i.body2),null===y||null===x)return d("World","Can't add joint attach rigidbodys not find !");switch(p.body1=y,p.body2=x,t){case"jointDistance":u=new D(p,s,h),null!==c&&u.limitMotor.setSpring(c[0],c[1]),null!==m&&u.limitMotor.setMotor(m[0],m[1]);break;case"jointHinge":case"joint":u=new j(p,s,h),null!==c&&u.limitMotor.setSpring(c[0],c[1]),null!==m&&u.limitMotor.setMotor(m[0],m[1]);break;case"jointPrisme":u=new F(p,s,h);break;case"jointSlide":u=new q(p,s,h);break;case"jointBall":u=new C(p);break;case"jointWheel":u=new U(p),null!==l&&u.rotationalLimitMotor1.setLimit(l[0],l[1]),null!==c&&u.rotationalLimitMotor1.setSpring(c[0],c[1]),null!==m&&u.rotationalLimitMotor1.setMotor(m[0],m[1])}return u.name=i.name||"",this.addJoint(u),u}}),t.Math=Bs,t.Vec3=yi,t.Quat=x,t.Mat33=y,t.Shape=z,t.Box=N,t.Sphere=k,t.Cylinder=w,t.Plane=M,t.Particle=g,t.ShapeConfig=I,t.LimitMotor=V,t.HingeJoint=j,t.BallAndSocketJoint=C,t.DistanceJoint=D,t.PrismaticJoint=F,t.SliderJoint=q,t.WheelJoint=U,t.JointConfig=R,t.RigidBody=K,t.World=Nt,t.REVISION=o,t.BR_NULL=n,t.BR_BRUTE_FORCE=r,t.BR_SWEEP_AND_PRUNE=l,t.BR_BOUNDING_VOLUME_TREE=c,t.BODY_NULL=0,t.BODY_DYNAMIC=1,t.BODY_STATIC=2,t.BODY_KINEMATIC=3,t.BODY_GHOST=4,t.SHAPE_NULL=m,t.SHAPE_SPHERE=1,t.SHAPE_BOX=2,t.SHAPE_CYLINDER=3,t.SHAPE_PLANE=4,t.SHAPE_PARTICLE=5,t.SHAPE_TETRA=6,t.JOINT_NULL=p,t.JOINT_DISTANCE=1,t.JOINT_BALL_AND_SOCKET=2,t.JOINT_HINGE=3,t.JOINT_WHEEL=4,t.JOINT_SLIDER=5,t.JOINT_PRISMATIC=6,t.AABB_PROX=v,t.printError=d,t.InfoDisplay=u,Object.defineProperty(t,"__esModule",{value:!0})});