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Merge branch 'constraint-fixes'

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* constraint-fixes: (31 commits)
  tweaked Example.doublePendulum
  added Composite.bounds
  upgraded matter-wrap
  added Examples.ragdoll
  upgraded matter-tools
  fixed various constraints in examples
  improved spring and pin rendering
  update alpha build
  added Example.constraints
  added constraint.render.type and constraint.render.anchor
  update alpha build
  added constraint damping
  update alpha build
  changed lint rules
  added Example.doublePendulum
  added rotation point parameter to Body.rotate, closes #410
  fix constraint.angularStiffness
  fix soft body stiffness
  fixed Examples.compound constraint offset
  improved Example.chains using pin constraint
  ...
This commit is contained in:
liabru 2017-07-06 23:03:05 +01:00
commit 56b0bb463f
25 changed files with 1712 additions and 466 deletions
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1
.eslintrc
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@ -3,6 +3,7 @@
"no-fallthrough": 2, "no-fallthrough": 2,
"no-console": 0, "no-console": 0,
"no-unused-vars": 0, "no-unused-vars": 0,
"no-redeclare": 0,
"indent": [ "indent": [
2, 2,
4 4

407
build/matter.js
View file

@ -1,5 +1,5 @@
/** /**
* matter-js 0.12.0 by @liabru 2017-02-02 * matter-js 0.12.0-alpha by @liabru 2017-06-26
* http://brm.io/matter-js/ * http://brm.io/matter-js/
* License MIT * License MIT
*/ */
@ -523,9 +523,24 @@ var Axes = _dereq_('../geometry/Axes');
* @method rotate * @method rotate
* @param {body} body * @param {body} body
* @param {number} rotation * @param {number} rotation
* @param {vector} [point]
*/ */
Body.rotate = function(body, rotation) { Body.rotate = function(body, rotation, point) {
if (!point) {
Body.setAngle(body, body.angle + rotation); Body.setAngle(body, body.angle + rotation);
} else {
var cos = Math.cos(rotation),
sin = Math.sin(rotation),
dx = body.position.x - point.x,
dy = body.position.y - point.y;
Body.setPosition(body, {
x: point.x + (dx * cos - dy * sin),
y: point.y + (dx * sin + dy * cos)
});
Body.setAngle(body, body.angle + rotation);
}
}; };
/** /**
@ -3468,14 +3483,6 @@ var Vector = _dereq_('../geometry/Vector');
* @class Constraint * @class Constraint
*/ */
// TODO: fix instability issues with torque
// TODO: linked constraints
// TODO: breakable constraints
// TODO: collision constraints
// TODO: allow constrained bodies to sleep
// TODO: handle 0 length constraints properly
// TODO: impulse caching and warming
var Constraint = {}; var Constraint = {};
module.exports = Constraint; module.exports = Constraint;
@ -3489,12 +3496,15 @@ var Common = _dereq_('../core/Common');
(function() { (function() {
var _minLength = 0.000001, Constraint._warming = 0.4;
_minDifference = 0.001; Constraint._torqueDampen = 1;
Constraint._minLength = 0.000001;
/** /**
* Creates a new constraint. * Creates a new constraint.
* All properties have default values, and many are pre-calculated automatically based on other properties. * All properties have default values, and many are pre-calculated automatically based on other properties.
* To simulate a revolute constraint (or pin joint) set `length: 0` and a high `stiffness` value (e.g. `0.7` or above).
* If the constraint is unstable, try lowering the `stiffness` value and / or increasing `engine.constraintIterations`.
* See the properties section below for detailed information on what you can pass via the `options` object. * See the properties section below for detailed information on what you can pass via the `options` object.
* @method create * @method create
* @param {} options * @param {} options
@ -3514,30 +3524,61 @@ var Common = _dereq_('../core/Common');
initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB, initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB,
length = Vector.magnitude(Vector.sub(initialPointA, initialPointB)); length = Vector.magnitude(Vector.sub(initialPointA, initialPointB));
constraint.length = constraint.length || length || _minLength; constraint.length = typeof constraint.length !== 'undefined' ? constraint.length : length;
// render
var render = {
visible: true,
lineWidth: 2,
strokeStyle: '#ffffff'
};
constraint.render = Common.extend(render, constraint.render);
// option defaults // option defaults
constraint.id = constraint.id || Common.nextId(); constraint.id = constraint.id || Common.nextId();
constraint.label = constraint.label || 'Constraint'; constraint.label = constraint.label || 'Constraint';
constraint.type = 'constraint'; constraint.type = 'constraint';
constraint.stiffness = constraint.stiffness || 1; constraint.stiffness = constraint.stiffness || (constraint.length > 0 ? 1 : 0.7);
constraint.damping = constraint.damping || 0;
constraint.angularStiffness = constraint.angularStiffness || 0; constraint.angularStiffness = constraint.angularStiffness || 0;
constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA; constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA;
constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB; constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB;
constraint.plugin = {}; constraint.plugin = {};
// render
var render = {
visible: true,
lineWidth: 2,
strokeStyle: '#ffffff',
type: 'line',
anchors: true
};
if (constraint.length === 0) {
render.type = 'pin';
render.anchors = false;
} else if (constraint.stiffness < 0.9) {
render.type = 'spring';
}
constraint.render = Common.extend(render, constraint.render);
return constraint; return constraint;
}; };
/**
* Prepares for solving by constraint warming.
* @private
* @method preSolveAll
* @param {body[]} bodies
*/
Constraint.preSolveAll = function(bodies) {
for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i],
impulse = body.constraintImpulse;
if (body.isStatic || (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0)) {
continue;
}
body.position.x += impulse.x;
body.position.y += impulse.y;
body.angle += impulse.angle;
}
};
/** /**
* Solves all constraints in a list of collisions. * Solves all constraints in a list of collisions.
* @private * @private
@ -3546,9 +3587,27 @@ var Common = _dereq_('../core/Common');
* @param {number} timeScale * @param {number} timeScale
*/ */
Constraint.solveAll = function(constraints, timeScale) { Constraint.solveAll = function(constraints, timeScale) {
for (var i = 0; i < constraints.length; i++) { // Solve fixed constraints first.
for (var i = 0; i < constraints.length; i += 1) {
var constraint = constraints[i],
fixedA = !constraint.bodyA || (constraint.bodyA && constraint.bodyA.isStatic),
fixedB = !constraint.bodyB || (constraint.bodyB && constraint.bodyB.isStatic);
if (fixedA || fixedB) {
Constraint.solve(constraints[i], timeScale); Constraint.solve(constraints[i], timeScale);
} }
}
// Solve free constraints last.
for (i = 0; i < constraints.length; i += 1) {
constraint = constraints[i];
fixedA = !constraint.bodyA || (constraint.bodyA && constraint.bodyA.isStatic);
fixedB = !constraint.bodyB || (constraint.bodyB && constraint.bodyB.isStatic);
if (!fixedA && !fixedB) {
Constraint.solve(constraints[i], timeScale);
}
}
}; };
/** /**
@ -3564,15 +3623,18 @@ var Common = _dereq_('../core/Common');
pointA = constraint.pointA, pointA = constraint.pointA,
pointB = constraint.pointB; pointB = constraint.pointB;
if (!bodyA && !bodyB)
return;
// update reference angle // update reference angle
if (bodyA && !bodyA.isStatic) { if (bodyA && !bodyA.isStatic) {
constraint.pointA = Vector.rotate(pointA, bodyA.angle - constraint.angleA); Vector.rotate(pointA, bodyA.angle - constraint.angleA, pointA);
constraint.angleA = bodyA.angle; constraint.angleA = bodyA.angle;
} }
// update reference angle // update reference angle
if (bodyB && !bodyB.isStatic) { if (bodyB && !bodyB.isStatic) {
constraint.pointB = Vector.rotate(pointB, bodyB.angle - constraint.angleB); Vector.rotate(pointB, bodyB.angle - constraint.angleB, pointB);
constraint.angleB = bodyB.angle; constraint.angleB = bodyB.angle;
} }
@ -3589,107 +3651,79 @@ var Common = _dereq_('../core/Common');
currentLength = Vector.magnitude(delta); currentLength = Vector.magnitude(delta);
// prevent singularity // prevent singularity
if (currentLength === 0) if (currentLength < Constraint._minLength) {
currentLength = _minLength; currentLength = Constraint._minLength;
}
// solve distance constraint with Gauss-Siedel method // solve distance constraint with Gauss-Siedel method
var difference = (currentLength - constraint.length) / currentLength, var difference = (currentLength - constraint.length) / currentLength,
normal = Vector.div(delta, currentLength), stiffness = constraint.stiffness < 1 ? constraint.stiffness * timeScale : constraint.stiffness,
force = Vector.mult(delta, difference * 0.5 * constraint.stiffness * timeScale * timeScale); force = Vector.mult(delta, difference * stiffness),
massTotal = (bodyA ? bodyA.inverseMass : 0) + (bodyB ? bodyB.inverseMass : 0),
inertiaTotal = (bodyA ? bodyA.inverseInertia : 0) + (bodyB ? bodyB.inverseInertia : 0),
resistanceTotal = massTotal + inertiaTotal,
torque,
share,
normal,
normalVelocity,
relativeVelocity;
// if difference is very small, we can skip if (constraint.damping) {
if (Math.abs(1 - (currentLength / constraint.length)) < _minDifference * timeScale) var zero = Vector.create();
return; normal = Vector.div(delta, currentLength);
var velocityPointA, relativeVelocity = Vector.sub(
velocityPointB, bodyB && Vector.sub(bodyB.position, bodyB.positionPrev) || zero,
offsetA, bodyA && Vector.sub(bodyA.position, bodyA.positionPrev) || zero
offsetB, );
oAn,
oBn, normalVelocity = Vector.dot(normal, relativeVelocity);
bodyADenom, }
bodyBDenom;
if (bodyA && !bodyA.isStatic) { if (bodyA && !bodyA.isStatic) {
// point body offset share = bodyA.inverseMass / massTotal;
offsetA = {
x: pointAWorld.x - bodyA.position.x + force.x,
y: pointAWorld.y - bodyA.position.y + force.y
};
// update velocity // keep track of applied impulses for post solving
bodyA.velocity.x = bodyA.position.x - bodyA.positionPrev.x; bodyA.constraintImpulse.x -= force.x * share;
bodyA.velocity.y = bodyA.position.y - bodyA.positionPrev.y; bodyA.constraintImpulse.y -= force.y * share;
bodyA.angularVelocity = bodyA.angle - bodyA.anglePrev;
// find point velocity and body mass // apply forces
velocityPointA = Vector.add(bodyA.velocity, Vector.mult(Vector.perp(offsetA), bodyA.angularVelocity)); bodyA.position.x -= force.x * share;
oAn = Vector.dot(offsetA, normal); bodyA.position.y -= force.y * share;
bodyADenom = bodyA.inverseMass + bodyA.inverseInertia * oAn * oAn;
} else { // apply damping
velocityPointA = { x: 0, y: 0 }; if (constraint.damping) {
bodyADenom = bodyA ? bodyA.inverseMass : 0; bodyA.positionPrev.x -= constraint.damping * normal.x * normalVelocity * share;
bodyA.positionPrev.y -= constraint.damping * normal.y * normalVelocity * share;
}
// apply torque
torque = (Vector.cross(pointA, force) / resistanceTotal) * Constraint._torqueDampen * bodyA.inverseInertia * (1 - constraint.angularStiffness);
bodyA.constraintImpulse.angle -= torque;
bodyA.angle -= torque;
} }
if (bodyB && !bodyB.isStatic) { if (bodyB && !bodyB.isStatic) {
// point body offset share = bodyB.inverseMass / massTotal;
offsetB = {
x: pointBWorld.x - bodyB.position.x - force.x,
y: pointBWorld.y - bodyB.position.y - force.y
};
// update velocity
bodyB.velocity.x = bodyB.position.x - bodyB.positionPrev.x;
bodyB.velocity.y = bodyB.position.y - bodyB.positionPrev.y;
bodyB.angularVelocity = bodyB.angle - bodyB.anglePrev;
// find point velocity and body mass
velocityPointB = Vector.add(bodyB.velocity, Vector.mult(Vector.perp(offsetB), bodyB.angularVelocity));
oBn = Vector.dot(offsetB, normal);
bodyBDenom = bodyB.inverseMass + bodyB.inverseInertia * oBn * oBn;
} else {
velocityPointB = { x: 0, y: 0 };
bodyBDenom = bodyB ? bodyB.inverseMass : 0;
}
var relativeVelocity = Vector.sub(velocityPointB, velocityPointA),
normalImpulse = Vector.dot(normal, relativeVelocity) / (bodyADenom + bodyBDenom);
if (normalImpulse > 0) normalImpulse = 0;
var normalVelocity = {
x: normal.x * normalImpulse,
y: normal.y * normalImpulse
};
var torque;
if (bodyA && !bodyA.isStatic) {
torque = Vector.cross(offsetA, normalVelocity) * bodyA.inverseInertia * (1 - constraint.angularStiffness);
// keep track of applied impulses for post solving // keep track of applied impulses for post solving
bodyA.constraintImpulse.x -= force.x; bodyB.constraintImpulse.x += force.x * share;
bodyA.constraintImpulse.y -= force.y; bodyB.constraintImpulse.y += force.y * share;
bodyA.constraintImpulse.angle += torque;
// apply forces // apply forces
bodyA.position.x -= force.x; bodyB.position.x += force.x * share;
bodyA.position.y -= force.y; bodyB.position.y += force.y * share;
bodyA.angle += torque;
// apply damping
if (constraint.damping) {
bodyB.positionPrev.x += constraint.damping * normal.x * normalVelocity * share;
bodyB.positionPrev.y += constraint.damping * normal.y * normalVelocity * share;
} }
if (bodyB && !bodyB.isStatic) { // apply torque
torque = Vector.cross(offsetB, normalVelocity) * bodyB.inverseInertia * (1 - constraint.angularStiffness); torque = (Vector.cross(pointB, force) / resistanceTotal) * Constraint._torqueDampen * bodyB.inverseInertia * (1 - constraint.angularStiffness);
bodyB.constraintImpulse.angle += torque;
// keep track of applied impulses for post solving bodyB.angle += torque;
bodyB.constraintImpulse.x += force.x;
bodyB.constraintImpulse.y += force.y;
bodyB.constraintImpulse.angle -= torque;
// apply forces
bodyB.position.x += force.x;
bodyB.position.y += force.y;
bodyB.angle -= torque;
} }
}; };
@ -3705,7 +3739,7 @@ var Common = _dereq_('../core/Common');
var body = bodies[i], var body = bodies[i],
impulse = body.constraintImpulse; impulse = body.constraintImpulse;
if (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0) { if (body.isStatic || (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0)) {
continue; continue;
} }
@ -3733,9 +3767,10 @@ var Common = _dereq_('../core/Common');
Bounds.update(part.bounds, part.vertices, body.velocity); Bounds.update(part.bounds, part.vertices, body.velocity);
} }
impulse.angle = 0; // dampen the cached impulse for warming next step
impulse.x = 0; impulse.angle *= Constraint._warming;
impulse.y = 0; impulse.x *= Constraint._warming;
impulse.y *= Constraint._warming;
} }
}; };
@ -3802,6 +3837,24 @@ var Common = _dereq_('../core/Common');
* @default a random colour * @default a random colour
*/ */
/**
* A `String` that defines the constraint rendering type.
* The possible values are 'line', 'pin', 'spring'.
* An appropriate render type will be automatically chosen unless one is given in options.
*
* @property render.type
* @type string
* @default 'line'
*/
/**
* A `Boolean` that defines if the constraint's anchor points should be rendered.
*
* @property render.anchors
* @type boolean
* @default true
*/
/** /**
* The first possible `Body` that this constraint is attached to. * The first possible `Body` that this constraint is attached to.
* *
@ -3844,6 +3897,18 @@ var Common = _dereq_('../core/Common');
* @default 1 * @default 1
*/ */
/**
* A `Number` that specifies the damping of the constraint,
* i.e. the amount of resistance applied to each body based on their velocities to limit the amount of oscillation.
* Damping will only be apparent when the constraint also has a very low `stiffness`.
* A value of `0.1` means the constraint will apply heavy damping, resulting in little to no oscillation.
* A value of `0` means the constraint will apply no damping.
*
* @property damping
* @type number
* @default 0
*/
/** /**
* A `Number` that specifies the target resting length of the constraint. * A `Number` that specifies the target resting length of the constraint.
* It is calculated automatically in `Constraint.create` from initial positions of the `constraint.bodyA` and `constraint.bodyB`. * It is calculated automatically in `Constraint.create` from initial positions of the `constraint.bodyA` and `constraint.bodyB`.
@ -4835,7 +4900,8 @@ var Body = _dereq_('../body/Body');
// update all body position and rotation by integration // update all body position and rotation by integration
_bodiesUpdate(allBodies, delta, timing.timeScale, correction, world.bounds); _bodiesUpdate(allBodies, delta, timing.timeScale, correction, world.bounds);
// update all constraints // update all constraints (first pass)
Constraint.preSolveAll(allBodies);
for (i = 0; i < engine.constraintIterations; i++) { for (i = 0; i < engine.constraintIterations; i++) {
Constraint.solveAll(allConstraints, timing.timeScale); Constraint.solveAll(allConstraints, timing.timeScale);
} }
@ -4843,7 +4909,6 @@ var Body = _dereq_('../body/Body');
// broadphase pass: find potential collision pairs // broadphase pass: find potential collision pairs
if (broadphase.controller) { if (broadphase.controller) {
// if world is dirty, we must flush the whole grid // if world is dirty, we must flush the whole grid
if (world.isModified) if (world.isModified)
broadphase.controller.clear(broadphase); broadphase.controller.clear(broadphase);
@ -4852,7 +4917,6 @@ var Body = _dereq_('../body/Body');
broadphase.controller.update(broadphase, allBodies, engine, world.isModified); broadphase.controller.update(broadphase, allBodies, engine, world.isModified);
broadphasePairs = broadphase.pairsList; broadphasePairs = broadphase.pairsList;
} else { } else {
// if no broadphase set, we just pass all bodies // if no broadphase set, we just pass all bodies
broadphasePairs = allBodies; broadphasePairs = allBodies;
} }
@ -4886,6 +4950,13 @@ var Body = _dereq_('../body/Body');
} }
Resolver.postSolvePosition(allBodies); Resolver.postSolvePosition(allBodies);
// update all constraints (second pass)
Constraint.preSolveAll(allBodies);
for (i = 0; i < engine.constraintIterations; i++) {
Constraint.solveAll(allConstraints, timing.timeScale);
}
Constraint.postSolveAll(allBodies);
// iteratively resolve velocity between collisions // iteratively resolve velocity between collisions
Resolver.preSolveVelocity(pairs.list); Resolver.preSolveVelocity(pairs.list);
for (i = 0; i < engine.velocityIterations; i++) { for (i = 0; i < engine.velocityIterations; i++) {
@ -5325,7 +5396,7 @@ var Common = _dereq_('./Common');
* @readOnly * @readOnly
* @type {String} * @type {String}
*/ */
Matter.version = '0.12.0'; Matter.version = '0.12.0-alpha';
/** /**
* A list of plugin dependencies to be installed. These are normally set and installed through `Matter.use`. * A list of plugin dependencies to be installed. These are normally set and installed through `Matter.use`.
@ -6974,53 +7045,53 @@ var Bodies = _dereq_('./Bodies');
*/ */
Composites.car = function(xx, yy, width, height, wheelSize) { Composites.car = function(xx, yy, width, height, wheelSize) {
var group = Body.nextGroup(true), var group = Body.nextGroup(true),
wheelBase = -20, wheelBase = 20,
wheelAOffset = -width * 0.5 + wheelBase, wheelAOffset = -width * 0.5 + wheelBase,
wheelBOffset = width * 0.5 - wheelBase, wheelBOffset = width * 0.5 - wheelBase,
wheelYOffset = 0; wheelYOffset = 0;
var car = Composite.create({ label: 'Car' }), var car = Composite.create({ label: 'Car' }),
body = Bodies.trapezoid(xx, yy, width, height, 0.3, { body = Bodies.rectangle(xx, yy, width, height, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.01,
chamfer: { chamfer: {
radius: 10 radius: height * 0.5
} },
density: 0.0002
}); });
var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, { var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.8, friction: 0.8
density: 0.01
}); });
var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, { var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.8, friction: 0.8
density: 0.01
}); });
var axelA = Constraint.create({ var axelA = Constraint.create({
bodyA: body, bodyB: body,
pointA: { x: wheelAOffset, y: wheelYOffset }, pointB: { x: wheelAOffset, y: wheelYOffset },
bodyB: wheelA, bodyA: wheelA,
stiffness: 0.2, stiffness: 1,
length: 0,
render: { render: {
lineWidth: 0 lineWidth: 0
} }
}); });
var axelB = Constraint.create({ var axelB = Constraint.create({
bodyA: body, bodyB: body,
pointA: { x: wheelBOffset, y: wheelYOffset }, pointB: { x: wheelBOffset, y: wheelYOffset },
bodyB: wheelB, bodyA: wheelB,
stiffness: 0.2, stiffness: 1,
length: 0,
render: { render: {
lineWidth: 0 lineWidth: 0
} }
@ -7052,7 +7123,7 @@ var Bodies = _dereq_('./Bodies');
*/ */
Composites.softBody = function(xx, yy, columns, rows, columnGap, rowGap, crossBrace, particleRadius, particleOptions, constraintOptions) { Composites.softBody = function(xx, yy, columns, rows, columnGap, rowGap, crossBrace, particleRadius, particleOptions, constraintOptions) {
particleOptions = Common.extend({ inertia: Infinity }, particleOptions); particleOptions = Common.extend({ inertia: Infinity }, particleOptions);
constraintOptions = Common.extend({ stiffness: 0.4 }, constraintOptions); constraintOptions = Common.extend({ stiffness: 0.2 }, constraintOptions);
var softBody = Composites.stack(xx, yy, columns, rows, columnGap, rowGap, function(x, y) { var softBody = Composites.stack(xx, yy, columns, rows, columnGap, rowGap, function(x, y) {
return Bodies.circle(x, y, particleRadius, particleOptions); return Bodies.circle(x, y, particleRadius, particleOptions);
@ -7538,14 +7609,16 @@ module.exports = Vector;
* @method rotate * @method rotate
* @param {vector} vector * @param {vector} vector
* @param {number} angle * @param {number} angle
* @return {vector} A new vector rotated about (0, 0) * @param {vector} [output]
* @return {vector} The vector rotated about (0, 0)
*/ */
Vector.rotate = function(vector, angle) { Vector.rotate = function(vector, angle, output) {
var cos = Math.cos(angle), sin = Math.sin(angle); var cos = Math.cos(angle), sin = Math.sin(angle);
return { if (!output) output = {};
x: vector.x * cos - vector.y * sin, var x = vector.x * cos - vector.y * sin;
y: vector.x * sin + vector.y * cos output.y = vector.x * sin + vector.y * cos;
}; output.x = x;
return output;
}; };
/** /**
@ -8686,20 +8759,47 @@ var Mouse = _dereq_('../core/Mouse');
continue; continue;
var bodyA = constraint.bodyA, var bodyA = constraint.bodyA,
bodyB = constraint.bodyB; bodyB = constraint.bodyB,
start,
end;
if (bodyA) { if (bodyA) {
c.beginPath(); start = Vector.add(bodyA.position, constraint.pointA);
c.moveTo(bodyA.position.x + constraint.pointA.x, bodyA.position.y + constraint.pointA.y);
} else { } else {
c.beginPath(); start = constraint.pointA;
c.moveTo(constraint.pointA.x, constraint.pointA.y);
} }
if (bodyB) { if (constraint.render.type === 'pin') {
c.lineTo(bodyB.position.x + constraint.pointB.x, bodyB.position.y + constraint.pointB.y); c.beginPath();
c.arc(start.x, start.y, 4, 0, 2 * Math.PI);
c.closePath();
} else { } else {
c.lineTo(constraint.pointB.x, constraint.pointB.y); if (bodyB) {
end = Vector.add(bodyB.position, constraint.pointB);
} else {
end = constraint.pointB;
}
c.beginPath();
c.moveTo(start.x, start.y);
if (constraint.render.type === 'spring') {
var delta = Vector.sub(end, start),
normal = Vector.perp(Vector.normalise(delta)),
coils = Math.ceil(Common.clamp(constraint.length / 5, 12, 20)),
offset;
for (var j = 0; j < coils; j += 1) {
offset = j % 2 === 0 ? 1 : -1;
c.lineTo(
start.x + delta.x * (j / coils) + normal.x * offset * 4,
start.y + delta.y * (j / coils) + normal.y * offset * 4
);
}
}
c.lineTo(end.x, end.y);
} }
if (constraint.render.lineWidth) { if (constraint.render.lineWidth) {
@ -8707,6 +8807,15 @@ var Mouse = _dereq_('../core/Mouse');
c.strokeStyle = constraint.render.strokeStyle; c.strokeStyle = constraint.render.strokeStyle;
c.stroke(); c.stroke();
} }
if (constraint.render.anchors) {
c.fillStyle = constraint.render.strokeStyle;
c.beginPath();
c.arc(start.x, start.y, 3, 0, 2 * Math.PI);
c.arc(end.x, end.y, 3, 0, 2 * Math.PI);
c.closePath();
c.fill();
}
} }
}; };

161
build/matter.min.js vendored
View file

@ -1,89 +1,90 @@
/** /**
* matter-js 0.12.0 by @liabru 2017-02-02 * matter-js 0.12.0-alpha by @liabru 2017-06-26
* http://brm.io/matter-js/ * http://brm.io/matter-js/
* License MIT * License MIT
*/ */
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o.setPosition(e,r.add(e.position,t))},o.rotate=function(e,t){o.setAngle(e,e.angle+t)},o.scale=function(e,n,r,s){for(var a=0;a<e.parts.length;a++){var u=e.parts[a];i.scale(u.vertices,n,r,e.position),u.axes=c.fromVertices(u.vertices),e.isStatic||(u.area=i.area(u.vertices),o.setMass(u,e.density*u.area),i.translate(u.vertices,{x:-u.position.x,y:-u.position.y}),o.setInertia(u,i.inertia(u.vertices,u.mass)),i.translate(u.vertices,{x:u.position.x,y:u.position.y})),l.update(u.bounds,u.vertices,e.velocity)}if(e.circleRadius&&(n===r?e.circleRadius*=n:e.circleRadius=null),!e.isStatic){var d=t(e);e.area=d.area,o.setMass(e,d.mass),o.setInertia(e,d.inertia)}},o.update=function(e,t,n,o){var s=Math.pow(t*n*e.timeScale,2),a=1-e.frictionAir*n*e.timeScale,u=e.position.x-e.positionPrev.x,d=e.position.y-e.positionPrev.y;e.velocity.x=u*a*o+e.force.x/e.mass*s,e.velocity.y=d*a*o+e.force.y/e.mass*s,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.position.x+=e.velocity.x,e.position.y+=e.velocity.y,e.angularVelocity=(e.angle-e.anglePrev)*a*o+e.torque/e.inertia*s, o.setPosition(e,r.add(e.position,t))},o.rotate=function(e,t,n){if(n){var i=Math.cos(t),r=Math.sin(t),s=e.position.x-n.x,a=e.position.y-n.y;o.setPosition(e,{x:n.x+(s*i-a*r),y:n.y+(s*r+a*i)}),o.setAngle(e,e.angle+t)}else o.setAngle(e,e.angle+t)},o.scale=function(e,n,r,s){for(var a=0;a<e.parts.length;a++){var d=e.parts[a];i.scale(d.vertices,n,r,e.position),d.axes=c.fromVertices(d.vertices),e.isStatic||(d.area=i.area(d.vertices),o.setMass(d,e.density*d.area),i.translate(d.vertices,{x:-d.position.x,y:-d.position.y}),o.setInertia(d,i.inertia(d.vertices,d.mass)),i.translate(d.vertices,{x:d.position.x,y:d.position.y})),l.update(d.bounds,d.vertices,e.velocity)}if(e.circleRadius&&(n===r?e.circleRadius*=n:e.circleRadius=null),!e.isStatic){var u=t(e);e.area=u.area,o.setMass(e,u.mass),o.setInertia(e,u.inertia)}},o.update=function(e,t,n,o){var s=Math.pow(t*n*e.timeScale,2),a=1-e.frictionAir*n*e.timeScale,d=e.position.x-e.positionPrev.x,u=e.position.y-e.positionPrev.y;e.velocity.x=d*a*o+e.force.x/e.mass*s,
e.anglePrev=e.angle,e.angle+=e.angularVelocity,e.speed=r.magnitude(e.velocity),e.angularSpeed=Math.abs(e.angularVelocity);for(var p=0;p<e.parts.length;p++){var f=e.parts[p];i.translate(f.vertices,e.velocity),p>0&&(f.position.x+=e.velocity.x,f.position.y+=e.velocity.y),0!==e.angularVelocity&&(i.rotate(f.vertices,e.angularVelocity,e.position),c.rotate(f.axes,e.angularVelocity),p>0&&r.rotateAbout(f.position,e.angularVelocity,e.position,f.position)),l.update(f.bounds,f.vertices,e.velocity)}},o.applyForce=function(e,t,n){e.force.x+=n.x,e.force.y+=n.y;var o={x:t.x-e.position.x,y:t.y-e.position.y};e.torque+=o.x*n.y-o.y*n.x};var t=function(e){for(var t={mass:0,area:0,inertia:0,centre:{x:0,y:0}},n=1===e.parts.length?0:1;n<e.parts.length;n++){var o=e.parts[n];t.mass+=o.mass,t.area+=o.area,t.inertia+=o.inertia,t.centre=r.add(t.centre,r.mult(o.position,o.mass!==1/0?o.mass:1))}return t.centre=r.div(t.centre,t.mass!==1/0?t.mass:e.parts.length),t}}()},{"../core/Common":14,"../core/Sleeping":22,"../geometry/Axes":25, e.velocity.y=u*a*o+e.force.y/e.mass*s,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.position.x+=e.velocity.x,e.position.y+=e.velocity.y,e.angularVelocity=(e.angle-e.anglePrev)*a*o+e.torque/e.inertia*s,e.anglePrev=e.angle,e.angle+=e.angularVelocity,e.speed=r.magnitude(e.velocity),e.angularSpeed=Math.abs(e.angularVelocity);for(var p=0;p<e.parts.length;p++){var f=e.parts[p];i.translate(f.vertices,e.velocity),p>0&&(f.position.x+=e.velocity.x,f.position.y+=e.velocity.y),0!==e.angularVelocity&&(i.rotate(f.vertices,e.angularVelocity,e.position),c.rotate(f.axes,e.angularVelocity),p>0&&r.rotateAbout(f.position,e.angularVelocity,e.position,f.position)),l.update(f.bounds,f.vertices,e.velocity)}},o.applyForce=function(e,t,n){e.force.x+=n.x,e.force.y+=n.y;var o={x:t.x-e.position.x,y:t.y-e.position.y};e.torque+=o.x*n.y-o.y*n.x};var t=function(e){for(var t={mass:0,area:0,inertia:0,centre:{x:0,y:0}},n=1===e.parts.length?0:1;n<e.parts.length;n++){var o=e.parts[n];t.mass+=o.mass,t.area+=o.area,
"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29,"../render/Render":31}],2:[function(e,t,n){var o={};t.exports=o;var i=e("../core/Events"),r=e("../core/Common"),s=e("./Body");!function(){o.create=function(e){return r.extend({id:r.nextId(),type:"composite",parent:null,isModified:!1,bodies:[],constraints:[],composites:[],label:"Composite",plugin:{}},e)},o.setModified=function(e,t,n,i){if(e.isModified=t,n&&e.parent&&o.setModified(e.parent,t,n,i),i)for(var r=0;r<e.composites.length;r++){var s=e.composites[r];o.setModified(s,t,n,i)}},o.add=function(e,t){var n=[].concat(t);i.trigger(e,"beforeAdd",{object:t});for(var s=0;s<n.length;s++){var a=n[s];switch(a.type){case"body":if(a.parent!==a){r.warn("Composite.add: skipped adding a compound body part (you must add its parent instead)");break}o.addBody(e,a);break;case"constraint":o.addConstraint(e,a);break;case"composite":o.addComposite(e,a);break;case"mouseConstraint":o.addConstraint(e,a.constraint)}}return i.trigger(e,"afterAdd",{ t.inertia+=o.inertia,t.centre=r.add(t.centre,r.mult(o.position,o.mass!==1/0?o.mass:1))}return t.centre=r.div(t.centre,t.mass!==1/0?t.mass:e.parts.length),t}}()},{"../core/Common":14,"../core/Sleeping":22,"../geometry/Axes":25,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29,"../render/Render":31}],2:[function(e,t,n){var o={};t.exports=o;var i=e("../core/Events"),r=e("../core/Common"),s=e("./Body");!function(){o.create=function(e){return r.extend({id:r.nextId(),type:"composite",parent:null,isModified:!1,bodies:[],constraints:[],composites:[],label:"Composite",plugin:{}},e)},o.setModified=function(e,t,n,i){if(e.isModified=t,n&&e.parent&&o.setModified(e.parent,t,n,i),i)for(var r=0;r<e.composites.length;r++){var s=e.composites[r];o.setModified(s,t,n,i)}},o.add=function(e,t){var n=[].concat(t);i.trigger(e,"beforeAdd",{object:t});for(var s=0;s<n.length;s++){var a=n[s];switch(a.type){case"body":if(a.parent!==a){r.warn("Composite.add: skipped adding a compound body part (you must add its parent instead)");
object:t}),e},o.remove=function(e,t,n){var r=[].concat(t);i.trigger(e,"beforeRemove",{object:t});for(var s=0;s<r.length;s++){var a=r[s];switch(a.type){case"body":o.removeBody(e,a,n);break;case"constraint":o.removeConstraint(e,a,n);break;case"composite":o.removeComposite(e,a,n);break;case"mouseConstraint":o.removeConstraint(e,a.constraint)}}return i.trigger(e,"afterRemove",{object:t}),e},o.addComposite=function(e,t){return e.composites.push(t),t.parent=e,o.setModified(e,!0,!0,!1),e},o.removeComposite=function(e,t,n){var i=r.indexOf(e.composites,t);if(i!==-1&&(o.removeCompositeAt(e,i),o.setModified(e,!0,!0,!1)),n)for(var s=0;s<e.composites.length;s++)o.removeComposite(e.composites[s],t,!0);return e},o.removeCompositeAt=function(e,t){return e.composites.splice(t,1),o.setModified(e,!0,!0,!1),e},o.addBody=function(e,t){return e.bodies.push(t),o.setModified(e,!0,!0,!1),e},o.removeBody=function(e,t,n){var i=r.indexOf(e.bodies,t);if(i!==-1&&(o.removeBodyAt(e,i),o.setModified(e,!0,!0,!1)),n)for(var s=0;s<e.composites.length;s++)o.removeBody(e.composites[s],t,!0); break}o.addBody(e,a);break;case"constraint":o.addConstraint(e,a);break;case"composite":o.addComposite(e,a);break;case"mouseConstraint":o.addConstraint(e,a.constraint)}}return i.trigger(e,"afterAdd",{object:t}),e},o.remove=function(e,t,n){var r=[].concat(t);i.trigger(e,"beforeRemove",{object:t});for(var s=0;s<r.length;s++){var a=r[s];switch(a.type){case"body":o.removeBody(e,a,n);break;case"constraint":o.removeConstraint(e,a,n);break;case"composite":o.removeComposite(e,a,n);break;case"mouseConstraint":o.removeConstraint(e,a.constraint)}}return i.trigger(e,"afterRemove",{object:t}),e},o.addComposite=function(e,t){return e.composites.push(t),t.parent=e,o.setModified(e,!0,!0,!1),e},o.removeComposite=function(e,t,n){var i=r.indexOf(e.composites,t);if(i!==-1&&(o.removeCompositeAt(e,i),o.setModified(e,!0,!0,!1)),n)for(var s=0;s<e.composites.length;s++)o.removeComposite(e.composites[s],t,!0);return e},o.removeCompositeAt=function(e,t){return e.composites.splice(t,1),o.setModified(e,!0,!0,!1),e},
return e},o.removeBodyAt=function(e,t){return e.bodies.splice(t,1),o.setModified(e,!0,!0,!1),e},o.addConstraint=function(e,t){return e.constraints.push(t),o.setModified(e,!0,!0,!1),e},o.removeConstraint=function(e,t,n){var i=r.indexOf(e.constraints,t);if(i!==-1&&o.removeConstraintAt(e,i),n)for(var s=0;s<e.composites.length;s++)o.removeConstraint(e.composites[s],t,!0);return e},o.removeConstraintAt=function(e,t){return e.constraints.splice(t,1),o.setModified(e,!0,!0,!1),e},o.clear=function(e,t,n){if(n)for(var i=0;i<e.composites.length;i++)o.clear(e.composites[i],t,!0);return t?e.bodies=e.bodies.filter(function(e){return e.isStatic}):e.bodies.length=0,e.constraints.length=0,e.composites.length=0,o.setModified(e,!0,!0,!1),e},o.allBodies=function(e){for(var t=[].concat(e.bodies),n=0;n<e.composites.length;n++)t=t.concat(o.allBodies(e.composites[n]));return t},o.allConstraints=function(e){for(var t=[].concat(e.constraints),n=0;n<e.composites.length;n++)t=t.concat(o.allConstraints(e.composites[n])); o.addBody=function(e,t){return e.bodies.push(t),o.setModified(e,!0,!0,!1),e},o.removeBody=function(e,t,n){var i=r.indexOf(e.bodies,t);if(i!==-1&&(o.removeBodyAt(e,i),o.setModified(e,!0,!0,!1)),n)for(var s=0;s<e.composites.length;s++)o.removeBody(e.composites[s],t,!0);return e},o.removeBodyAt=function(e,t){return e.bodies.splice(t,1),o.setModified(e,!0,!0,!1),e},o.addConstraint=function(e,t){return e.constraints.push(t),o.setModified(e,!0,!0,!1),e},o.removeConstraint=function(e,t,n){var i=r.indexOf(e.constraints,t);if(i!==-1&&o.removeConstraintAt(e,i),n)for(var s=0;s<e.composites.length;s++)o.removeConstraint(e.composites[s],t,!0);return e},o.removeConstraintAt=function(e,t){return e.constraints.splice(t,1),o.setModified(e,!0,!0,!1),e},o.clear=function(e,t,n){if(n)for(var i=0;i<e.composites.length;i++)o.clear(e.composites[i],t,!0);return t?e.bodies=e.bodies.filter(function(e){return e.isStatic}):e.bodies.length=0,e.constraints.length=0,e.composites.length=0,o.setModified(e,!0,!0,!1),e},o.allBodies=function(e){
return t},o.allComposites=function(e){for(var t=[].concat(e.composites),n=0;n<e.composites.length;n++)t=t.concat(o.allComposites(e.composites[n]));return t},o.get=function(e,t,n){var i,r;switch(n){case"body":i=o.allBodies(e);break;case"constraint":i=o.allConstraints(e);break;case"composite":i=o.allComposites(e).concat(e)}return i?(r=i.filter(function(e){return e.id.toString()===t.toString()}),0===r.length?null:r[0]):null},o.move=function(e,t,n){return o.remove(e,t),o.add(n,t),e},o.rebase=function(e){for(var t=o.allBodies(e).concat(o.allConstraints(e)).concat(o.allComposites(e)),n=0;n<t.length;n++)t[n].id=r.nextId();return o.setModified(e,!0,!0,!1),e},o.translate=function(e,t,n){for(var i=n?o.allBodies(e):e.bodies,r=0;r<i.length;r++)s.translate(i[r],t);return o.setModified(e,!0,!0,!1),e},o.rotate=function(e,t,n,i){for(var r=Math.cos(t),a=Math.sin(t),l=i?o.allBodies(e):e.bodies,c=0;c<l.length;c++){var u=l[c],d=u.position.x-n.x,p=u.position.y-n.y;s.setPosition(u,{x:n.x+(d*r-p*a),y:n.y+(d*a+p*r) for(var t=[].concat(e.bodies),n=0;n<e.composites.length;n++)t=t.concat(o.allBodies(e.composites[n]));return t},o.allConstraints=function(e){for(var t=[].concat(e.constraints),n=0;n<e.composites.length;n++)t=t.concat(o.allConstraints(e.composites[n]));return t},o.allComposites=function(e){for(var t=[].concat(e.composites),n=0;n<e.composites.length;n++)t=t.concat(o.allComposites(e.composites[n]));return t},o.get=function(e,t,n){var i,r;switch(n){case"body":i=o.allBodies(e);break;case"constraint":i=o.allConstraints(e);break;case"composite":i=o.allComposites(e).concat(e)}return i?(r=i.filter(function(e){return e.id.toString()===t.toString()}),0===r.length?null:r[0]):null},o.move=function(e,t,n){return o.remove(e,t),o.add(n,t),e},o.rebase=function(e){for(var t=o.allBodies(e).concat(o.allConstraints(e)).concat(o.allComposites(e)),n=0;n<t.length;n++)t[n].id=r.nextId();return o.setModified(e,!0,!0,!1),e},o.translate=function(e,t,n){for(var i=n?o.allBodies(e):e.bodies,r=0;r<i.length;r++)s.translate(i[r],t);
}),s.rotate(u,t)}return o.setModified(e,!0,!0,!1),e},o.scale=function(e,t,n,i,r){for(var a=r?o.allBodies(e):e.bodies,l=0;l<a.length;l++){var c=a[l],u=c.position.x-i.x,d=c.position.y-i.y;s.setPosition(c,{x:i.x+u*t,y:i.y+d*n}),s.scale(c,t,n)}return o.setModified(e,!0,!0,!1),e}}()},{"../core/Common":14,"../core/Events":16,"./Body":1}],3:[function(e,t,n){var o={};t.exports=o;var i=e("./Composite"),r=(e("../constraint/Constraint"),e("../core/Common"));!function(){o.create=function(e){var t=i.create(),n={label:"World",gravity:{x:0,y:1,scale:.001},bounds:{min:{x:-(1/0),y:-(1/0)},max:{x:1/0,y:1/0}}};return r.extend(t,n,e)}}()},{"../constraint/Constraint":12,"../core/Common":14,"./Composite":2}],4:[function(e,t,n){var o={};t.exports=o,function(){o.create=function(e){return{id:o.id(e),vertex:e,normalImpulse:0,tangentImpulse:0}},o.id=function(e){return e.body.id+"_"+e.index}}()},{}],5:[function(e,t,n){var o={};t.exports=o;var i=e("./SAT"),r=e("./Pair"),s=e("../geometry/Bounds");!function(){o.collisions=function(e,t){ return o.setModified(e,!0,!0,!1),e},o.rotate=function(e,t,n,i){for(var r=Math.cos(t),a=Math.sin(t),l=i?o.allBodies(e):e.bodies,c=0;c<l.length;c++){var d=l[c],u=d.position.x-n.x,p=d.position.y-n.y;s.setPosition(d,{x:n.x+(u*r-p*a),y:n.y+(u*a+p*r)}),s.rotate(d,t)}return o.setModified(e,!0,!0,!1),e},o.scale=function(e,t,n,i,r){for(var a=r?o.allBodies(e):e.bodies,l=0;l<a.length;l++){var c=a[l],d=c.position.x-i.x,u=c.position.y-i.y;s.setPosition(c,{x:i.x+d*t,y:i.y+u*n}),s.scale(c,t,n)}return o.setModified(e,!0,!0,!1),e}}()},{"../core/Common":14,"../core/Events":16,"./Body":1}],3:[function(e,t,n){var o={};t.exports=o;var i=e("./Composite"),r=(e("../constraint/Constraint"),e("../core/Common"));!function(){o.create=function(e){var t=i.create(),n={label:"World",gravity:{x:0,y:1,scale:.001},bounds:{min:{x:-(1/0),y:-(1/0)},max:{x:1/0,y:1/0}}};return r.extend(t,n,e)}}()},{"../constraint/Constraint":12,"../core/Common":14,"./Composite":2}],4:[function(e,t,n){var o={};t.exports=o,function(){o.create=function(e){
for(var n=[],a=t.pairs.table,l=0;l<e.length;l++){var c=e[l][0],u=e[l][1];if((!c.isStatic&&!c.isSleeping||!u.isStatic&&!u.isSleeping)&&o.canCollide(c.collisionFilter,u.collisionFilter)&&s.overlaps(c.bounds,u.bounds))for(var d=c.parts.length>1?1:0;d<c.parts.length;d++)for(var p=c.parts[d],f=u.parts.length>1?1:0;f<u.parts.length;f++){var m=u.parts[f];if(p===c&&m===u||s.overlaps(p.bounds,m.bounds)){var v,y=r.id(p,m),g=a[y];v=g&&g.isActive?g.collision:null;var x=i.collides(p,m,v);x.collided&&n.push(x)}}}return n},o.canCollide=function(e,t){return e.group===t.group&&0!==e.group?e.group>0:0!==(e.mask&t.category)&&0!==(t.mask&e.category)}}()},{"../geometry/Bounds":26,"./Pair":7,"./SAT":11}],6:[function(e,t,n){var o={};t.exports=o;var i=e("./Pair"),r=e("./Detector"),s=e("../core/Common");!function(){o.create=function(e){var t={controller:o,detector:r.collisions,buckets:{},pairs:{},pairsList:[],bucketWidth:48,bucketHeight:48};return s.extend(t,e)},o.update=function(n,o,i,r){var s,p,f,m,v,y=i.world,g=n.buckets,x=!1; return{id:o.id(e),vertex:e,normalImpulse:0,tangentImpulse:0}},o.id=function(e){return e.body.id+"_"+e.index}}()},{}],5:[function(e,t,n){var o={};t.exports=o;var i=e("./SAT"),r=e("./Pair"),s=e("../geometry/Bounds");!function(){o.collisions=function(e,t){for(var n=[],a=t.pairs.table,l=0;l<e.length;l++){var c=e[l][0],d=e[l][1];if((!c.isStatic&&!c.isSleeping||!d.isStatic&&!d.isSleeping)&&o.canCollide(c.collisionFilter,d.collisionFilter)&&s.overlaps(c.bounds,d.bounds))for(var u=c.parts.length>1?1:0;u<c.parts.length;u++)for(var p=c.parts[u],f=d.parts.length>1?1:0;f<d.parts.length;f++){var m=d.parts[f];if(p===c&&m===d||s.overlaps(p.bounds,m.bounds)){var v,y=r.id(p,m),g=a[y];v=g&&g.isActive?g.collision:null;var x=i.collides(p,m,v);x.collided&&n.push(x)}}}return n},o.canCollide=function(e,t){return e.group===t.group&&0!==e.group?e.group>0:0!==(e.mask&t.category)&&0!==(t.mask&e.category)}}()},{"../geometry/Bounds":26,"./Pair":7,"./SAT":11}],6:[function(e,t,n){var o={};t.exports=o;var i=e("./Pair"),r=e("./Detector"),s=e("../core/Common");
for(s=0;s<o.length;s++){var h=o[s];if((!h.isSleeping||r)&&!(h.bounds.max.x<y.bounds.min.x||h.bounds.min.x>y.bounds.max.x||h.bounds.max.y<y.bounds.min.y||h.bounds.min.y>y.bounds.max.y)){var b=t(n,h);if(!h.region||b.id!==h.region.id||r){h.region&&!r||(h.region=b);var w=e(b,h.region);for(p=w.startCol;p<=w.endCol;p++)for(f=w.startRow;f<=w.endRow;f++){v=a(p,f),m=g[v];var S=p>=b.startCol&&p<=b.endCol&&f>=b.startRow&&f<=b.endRow,C=p>=h.region.startCol&&p<=h.region.endCol&&f>=h.region.startRow&&f<=h.region.endRow;!S&&C&&C&&m&&u(n,m,h),(h.region===b||S&&!C||r)&&(m||(m=l(g,v)),c(n,m,h))}h.region=b,x=!0}}}x&&(n.pairsList=d(n))},o.clear=function(e){e.buckets={},e.pairs={},e.pairsList=[]};var e=function(e,t){var o=Math.min(e.startCol,t.startCol),i=Math.max(e.endCol,t.endCol),r=Math.min(e.startRow,t.startRow),s=Math.max(e.endRow,t.endRow);return n(o,i,r,s)},t=function(e,t){var o=t.bounds,i=Math.floor(o.min.x/e.bucketWidth),r=Math.floor(o.max.x/e.bucketWidth),s=Math.floor(o.min.y/e.bucketHeight),a=Math.floor(o.max.y/e.bucketHeight); !function(){o.create=function(e){var t={controller:o,detector:r.collisions,buckets:{},pairs:{},pairsList:[],bucketWidth:48,bucketHeight:48};return s.extend(t,e)},o.update=function(n,o,i,r){var s,p,f,m,v,y=i.world,g=n.buckets,x=!1;for(s=0;s<o.length;s++){var h=o[s];if((!h.isSleeping||r)&&!(h.bounds.max.x<y.bounds.min.x||h.bounds.min.x>y.bounds.max.x||h.bounds.max.y<y.bounds.min.y||h.bounds.min.y>y.bounds.max.y)){var b=t(n,h);if(!h.region||b.id!==h.region.id||r){h.region&&!r||(h.region=b);var w=e(b,h.region);for(p=w.startCol;p<=w.endCol;p++)for(f=w.startRow;f<=w.endRow;f++){v=a(p,f),m=g[v];var S=p>=b.startCol&&p<=b.endCol&&f>=b.startRow&&f<=b.endRow,C=p>=h.region.startCol&&p<=h.region.endCol&&f>=h.region.startRow&&f<=h.region.endRow;!S&&C&&C&&m&&d(n,m,h),(h.region===b||S&&!C||r)&&(m||(m=l(g,v)),c(n,m,h))}h.region=b,x=!0}}}x&&(n.pairsList=u(n))},o.clear=function(e){e.buckets={},e.pairs={},e.pairsList=[]};var e=function(e,t){var o=Math.min(e.startCol,t.startCol),i=Math.max(e.endCol,t.endCol),r=Math.min(e.startRow,t.startRow),s=Math.max(e.endRow,t.endRow);
return n(i,r,s,a)},n=function(e,t,n,o){return{id:e+","+t+","+n+","+o,startCol:e,endCol:t,startRow:n,endRow:o}},a=function(e,t){return"C"+e+"R"+t},l=function(e,t){var n=e[t]=[];return n},c=function(e,t,n){for(var o=0;o<t.length;o++){var r=t[o];if(!(n.id===r.id||n.isStatic&&r.isStatic)){var s=i.id(n,r),a=e.pairs[s];a?a[2]+=1:e.pairs[s]=[n,r,1]}}t.push(n)},u=function(e,t,n){t.splice(s.indexOf(t,n),1);for(var o=0;o<t.length;o++){var r=t[o],a=i.id(n,r),l=e.pairs[a];l&&(l[2]-=1)}},d=function(e){var t,n,o=[];t=s.keys(e.pairs);for(var i=0;i<t.length;i++)n=e.pairs[t[i]],n[2]>0?o.push(n):delete e.pairs[t[i]];return o}}()},{"../core/Common":14,"./Detector":5,"./Pair":7}],7:[function(e,t,n){var o={};t.exports=o;var i=e("./Contact");!function(){o.create=function(e,t){var n=e.bodyA,i=e.bodyB,r=e.parentA,s=e.parentB,a={id:o.id(n,i),bodyA:n,bodyB:i,contacts:{},activeContacts:[],separation:0,isActive:!0,isSensor:n.isSensor||i.isSensor,timeCreated:t,timeUpdated:t,inverseMass:r.inverseMass+s.inverseMass,friction:Math.min(r.friction,s.friction), return n(o,i,r,s)},t=function(e,t){var o=t.bounds,i=Math.floor(o.min.x/e.bucketWidth),r=Math.floor(o.max.x/e.bucketWidth),s=Math.floor(o.min.y/e.bucketHeight),a=Math.floor(o.max.y/e.bucketHeight);return n(i,r,s,a)},n=function(e,t,n,o){return{id:e+","+t+","+n+","+o,startCol:e,endCol:t,startRow:n,endRow:o}},a=function(e,t){return"C"+e+"R"+t},l=function(e,t){var n=e[t]=[];return n},c=function(e,t,n){for(var o=0;o<t.length;o++){var r=t[o];if(!(n.id===r.id||n.isStatic&&r.isStatic)){var s=i.id(n,r),a=e.pairs[s];a?a[2]+=1:e.pairs[s]=[n,r,1]}}t.push(n)},d=function(e,t,n){t.splice(s.indexOf(t,n),1);for(var o=0;o<t.length;o++){var r=t[o],a=i.id(n,r),l=e.pairs[a];l&&(l[2]-=1)}},u=function(e){var t,n,o=[];t=s.keys(e.pairs);for(var i=0;i<t.length;i++)n=e.pairs[t[i]],n[2]>0?o.push(n):delete e.pairs[t[i]];return o}}()},{"../core/Common":14,"./Detector":5,"./Pair":7}],7:[function(e,t,n){var o={};t.exports=o;var i=e("./Contact");!function(){o.create=function(e,t){var n=e.bodyA,i=e.bodyB,r=e.parentA,s=e.parentB,a={
frictionStatic:Math.max(r.frictionStatic,s.frictionStatic),restitution:Math.max(r.restitution,s.restitution),slop:Math.max(r.slop,s.slop)};return o.update(a,e,t),a},o.update=function(e,t,n){var r=e.contacts,s=t.supports,a=e.activeContacts,l=t.parentA,c=t.parentB;if(e.collision=t,e.inverseMass=l.inverseMass+c.inverseMass,e.friction=Math.min(l.friction,c.friction),e.frictionStatic=Math.max(l.frictionStatic,c.frictionStatic),e.restitution=Math.max(l.restitution,c.restitution),e.slop=Math.max(l.slop,c.slop),a.length=0,t.collided){for(var u=0;u<s.length;u++){var d=s[u],p=i.id(d),f=r[p];f?a.push(f):a.push(r[p]=i.create(d))}e.separation=t.depth,o.setActive(e,!0,n)}else e.isActive===!0&&o.setActive(e,!1,n)},o.setActive=function(e,t,n){t?(e.isActive=!0,e.timeUpdated=n):(e.isActive=!1,e.activeContacts.length=0)},o.id=function(e,t){return e.id<t.id?"A"+e.id+"B"+t.id:"A"+t.id+"B"+e.id}}()},{"./Contact":4}],8:[function(e,t,n){var o={};t.exports=o;var i=e("./Pair"),r=e("../core/Common");!function(){var e=1e3; id:o.id(n,i),bodyA:n,bodyB:i,contacts:{},activeContacts:[],separation:0,isActive:!0,isSensor:n.isSensor||i.isSensor,timeCreated:t,timeUpdated:t,inverseMass:r.inverseMass+s.inverseMass,friction:Math.min(r.friction,s.friction),frictionStatic:Math.max(r.frictionStatic,s.frictionStatic),restitution:Math.max(r.restitution,s.restitution),slop:Math.max(r.slop,s.slop)};return o.update(a,e,t),a},o.update=function(e,t,n){var r=e.contacts,s=t.supports,a=e.activeContacts,l=t.parentA,c=t.parentB;if(e.collision=t,e.inverseMass=l.inverseMass+c.inverseMass,e.friction=Math.min(l.friction,c.friction),e.frictionStatic=Math.max(l.frictionStatic,c.frictionStatic),e.restitution=Math.max(l.restitution,c.restitution),e.slop=Math.max(l.slop,c.slop),a.length=0,t.collided){for(var d=0;d<s.length;d++){var u=s[d],p=i.id(u),f=r[p];f?a.push(f):a.push(r[p]=i.create(u))}e.separation=t.depth,o.setActive(e,!0,n)}else e.isActive===!0&&o.setActive(e,!1,n)},o.setActive=function(e,t,n){t?(e.isActive=!0,e.timeUpdated=n):(e.isActive=!1,
o.create=function(e){return r.extend({table:{},list:[],collisionStart:[],collisionActive:[],collisionEnd:[]},e)},o.update=function(e,t,n){var o,s,a,l,c=e.list,u=e.table,d=e.collisionStart,p=e.collisionEnd,f=e.collisionActive,m=[];for(d.length=0,p.length=0,f.length=0,l=0;l<t.length;l++)o=t[l],o.collided&&(s=i.id(o.bodyA,o.bodyB),m.push(s),a=u[s],a?(a.isActive?f.push(a):d.push(a),i.update(a,o,n)):(a=i.create(o,n),u[s]=a,d.push(a),c.push(a)));for(l=0;l<c.length;l++)a=c[l],a.isActive&&r.indexOf(m,a.id)===-1&&(i.setActive(a,!1,n),p.push(a))},o.removeOld=function(t,n){var o,i,r,s,a=t.list,l=t.table,c=[];for(s=0;s<a.length;s++)o=a[s],i=o.collision,i.bodyA.isSleeping||i.bodyB.isSleeping?o.timeUpdated=n:n-o.timeUpdated>e&&c.push(s);for(s=0;s<c.length;s++)r=c[s]-s,o=a[r],delete l[o.id],a.splice(r,1)},o.clear=function(e){return e.table={},e.list.length=0,e.collisionStart.length=0,e.collisionActive.length=0,e.collisionEnd.length=0,e}}()},{"../core/Common":14,"./Pair":7}],9:[function(e,t,n){var o={}; e.activeContacts.length=0)},o.id=function(e,t){return e.id<t.id?"A"+e.id+"B"+t.id:"A"+t.id+"B"+e.id}}()},{"./Contact":4}],8:[function(e,t,n){var o={};t.exports=o;var i=e("./Pair"),r=e("../core/Common");!function(){var e=1e3;o.create=function(e){return r.extend({table:{},list:[],collisionStart:[],collisionActive:[],collisionEnd:[]},e)},o.update=function(e,t,n){var o,s,a,l,c=e.list,d=e.table,u=e.collisionStart,p=e.collisionEnd,f=e.collisionActive,m=[];for(u.length=0,p.length=0,f.length=0,l=0;l<t.length;l++)o=t[l],o.collided&&(s=i.id(o.bodyA,o.bodyB),m.push(s),a=d[s],a?(a.isActive?f.push(a):u.push(a),i.update(a,o,n)):(a=i.create(o,n),d[s]=a,u.push(a),c.push(a)));for(l=0;l<c.length;l++)a=c[l],a.isActive&&r.indexOf(m,a.id)===-1&&(i.setActive(a,!1,n),p.push(a))},o.removeOld=function(t,n){var o,i,r,s,a=t.list,l=t.table,c=[];for(s=0;s<a.length;s++)o=a[s],i=o.collision,i.bodyA.isSleeping||i.bodyB.isSleeping?o.timeUpdated=n:n-o.timeUpdated>e&&c.push(s);for(s=0;s<c.length;s++)r=c[s]-s,o=a[r],delete l[o.id],
t.exports=o;var i=e("../geometry/Vector"),r=e("./SAT"),s=e("../geometry/Bounds"),a=e("../factory/Bodies"),l=e("../geometry/Vertices");!function(){o.ray=function(e,t,n,o){o=o||1e-100;for(var l=i.angle(t,n),c=i.magnitude(i.sub(t,n)),u=.5*(n.x+t.x),d=.5*(n.y+t.y),p=a.rectangle(u,d,c,o,{angle:l}),f=[],m=0;m<e.length;m++){var v=e[m];if(s.overlaps(v.bounds,p.bounds))for(var y=1===v.parts.length?0:1;y<v.parts.length;y++){var g=v.parts[y];if(s.overlaps(g.bounds,p.bounds)){var x=r.collides(g,p);if(x.collided){x.body=x.bodyA=x.bodyB=v,f.push(x);break}}}}return f},o.region=function(e,t,n){for(var o=[],i=0;i<e.length;i++){var r=e[i],a=s.overlaps(r.bounds,t);(a&&!n||!a&&n)&&o.push(r)}return o},o.point=function(e,t){for(var n=[],o=0;o<e.length;o++){var i=e[o];if(s.contains(i.bounds,t))for(var r=1===i.parts.length?0:1;r<i.parts.length;r++){var a=i.parts[r];if(s.contains(a.bounds,t)&&l.contains(a.vertices,t)){n.push(i);break}}}return n}}()},{"../factory/Bodies":23,"../geometry/Bounds":26,"../geometry/Vector":28, a.splice(r,1)},o.clear=function(e){return e.table={},e.list.length=0,e.collisionStart.length=0,e.collisionActive.length=0,e.collisionEnd.length=0,e}}()},{"../core/Common":14,"./Pair":7}],9:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vector"),r=e("./SAT"),s=e("../geometry/Bounds"),a=e("../factory/Bodies"),l=e("../geometry/Vertices");!function(){o.ray=function(e,t,n,o){o=o||1e-100;for(var l=i.angle(t,n),c=i.magnitude(i.sub(t,n)),d=.5*(n.x+t.x),u=.5*(n.y+t.y),p=a.rectangle(d,u,c,o,{angle:l}),f=[],m=0;m<e.length;m++){var v=e[m];if(s.overlaps(v.bounds,p.bounds))for(var y=1===v.parts.length?0:1;y<v.parts.length;y++){var g=v.parts[y];if(s.overlaps(g.bounds,p.bounds)){var x=r.collides(g,p);if(x.collided){x.body=x.bodyA=x.bodyB=v,f.push(x);break}}}}return f},o.region=function(e,t,n){for(var o=[],i=0;i<e.length;i++){var r=e[i],a=s.overlaps(r.bounds,t);(a&&!n||!a&&n)&&o.push(r)}return o},o.point=function(e,t){for(var n=[],o=0;o<e.length;o++){var i=e[o];if(s.contains(i.bounds,t))for(var r=1===i.parts.length?0:1;r<i.parts.length;r++){
"../geometry/Vertices":29,"./SAT":11}],10:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector"),s=e("../core/Common"),a=e("../geometry/Bounds");!function(){o._restingThresh=4,o._restingThreshTangent=6,o._positionDampen=.9,o._positionWarming=.8,o._frictionNormalMultiplier=5,o.preSolvePosition=function(e){var t,n,o;for(t=0;t<e.length;t++)n=e[t],n.isActive&&(o=n.activeContacts.length,n.collision.parentA.totalContacts+=o,n.collision.parentB.totalContacts+=o)},o.solvePosition=function(e,t){var n,i,s,a,l,c,u,d,p,f=r._temp[0],m=r._temp[1],v=r._temp[2],y=r._temp[3];for(n=0;n<e.length;n++)i=e[n],i.isActive&&!i.isSensor&&(s=i.collision,a=s.parentA,l=s.parentB,c=s.normal,u=r.sub(r.add(l.positionImpulse,l.position,f),r.add(a.positionImpulse,r.sub(l.position,s.penetration,m),v),y),i.separation=r.dot(c,u));for(n=0;n<e.length;n++)i=e[n],!i.isActive||i.isSensor||i.separation<0||(s=i.collision,a=s.parentA,l=s.parentB,c=s.normal,p=(i.separation-i.slop)*t,(a.isStatic||l.isStatic)&&(p*=2), var a=i.parts[r];if(s.contains(a.bounds,t)&&l.contains(a.vertices,t)){n.push(i);break}}}return n}}()},{"../factory/Bodies":23,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29,"./SAT":11}],10:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector"),s=e("../core/Common"),a=e("../geometry/Bounds");!function(){o._restingThresh=4,o._restingThreshTangent=6,o._positionDampen=.9,o._positionWarming=.8,o._frictionNormalMultiplier=5,o.preSolvePosition=function(e){var t,n,o;for(t=0;t<e.length;t++)n=e[t],n.isActive&&(o=n.activeContacts.length,n.collision.parentA.totalContacts+=o,n.collision.parentB.totalContacts+=o)},o.solvePosition=function(e,t){var n,i,s,a,l,c,d,u,p,f=r._temp[0],m=r._temp[1],v=r._temp[2],y=r._temp[3];for(n=0;n<e.length;n++)i=e[n],i.isActive&&!i.isSensor&&(s=i.collision,a=s.parentA,l=s.parentB,c=s.normal,d=r.sub(r.add(l.positionImpulse,l.position,f),r.add(a.positionImpulse,r.sub(l.position,s.penetration,m),v),y),i.separation=r.dot(c,d));
a.isStatic||a.isSleeping||(d=o._positionDampen/a.totalContacts,a.positionImpulse.x+=c.x*p*d,a.positionImpulse.y+=c.y*p*d),l.isStatic||l.isSleeping||(d=o._positionDampen/l.totalContacts,l.positionImpulse.x-=c.x*p*d,l.positionImpulse.y-=c.y*p*d))},o.postSolvePosition=function(e){for(var t=0;t<e.length;t++){var n=e[t];if(n.totalContacts=0,0!==n.positionImpulse.x||0!==n.positionImpulse.y){for(var s=0;s<n.parts.length;s++){var l=n.parts[s];i.translate(l.vertices,n.positionImpulse),a.update(l.bounds,l.vertices,n.velocity),l.position.x+=n.positionImpulse.x,l.position.y+=n.positionImpulse.y}n.positionPrev.x+=n.positionImpulse.x,n.positionPrev.y+=n.positionImpulse.y,r.dot(n.positionImpulse,n.velocity)<0?(n.positionImpulse.x=0,n.positionImpulse.y=0):(n.positionImpulse.x*=o._positionWarming,n.positionImpulse.y*=o._positionWarming)}}},o.preSolveVelocity=function(e){var t,n,o,i,s,a,l,c,u,d,p,f,m,v,y=r._temp[0],g=r._temp[1];for(t=0;t<e.length;t++)if(o=e[t],o.isActive&&!o.isSensor)for(i=o.activeContacts, for(n=0;n<e.length;n++)i=e[n],!i.isActive||i.isSensor||i.separation<0||(s=i.collision,a=s.parentA,l=s.parentB,c=s.normal,p=(i.separation-i.slop)*t,(a.isStatic||l.isStatic)&&(p*=2),a.isStatic||a.isSleeping||(u=o._positionDampen/a.totalContacts,a.positionImpulse.x+=c.x*p*u,a.positionImpulse.y+=c.y*p*u),l.isStatic||l.isSleeping||(u=o._positionDampen/l.totalContacts,l.positionImpulse.x-=c.x*p*u,l.positionImpulse.y-=c.y*p*u))},o.postSolvePosition=function(e){for(var t=0;t<e.length;t++){var n=e[t];if(n.totalContacts=0,0!==n.positionImpulse.x||0!==n.positionImpulse.y){for(var s=0;s<n.parts.length;s++){var l=n.parts[s];i.translate(l.vertices,n.positionImpulse),a.update(l.bounds,l.vertices,n.velocity),l.position.x+=n.positionImpulse.x,l.position.y+=n.positionImpulse.y}n.positionPrev.x+=n.positionImpulse.x,n.positionPrev.y+=n.positionImpulse.y,r.dot(n.positionImpulse,n.velocity)<0?(n.positionImpulse.x=0,n.positionImpulse.y=0):(n.positionImpulse.x*=o._positionWarming,n.positionImpulse.y*=o._positionWarming);
s=o.collision,a=s.parentA,l=s.parentB,c=s.normal,u=s.tangent,n=0;n<i.length;n++)d=i[n],p=d.vertex,f=d.normalImpulse,m=d.tangentImpulse,0===f&&0===m||(y.x=c.x*f+u.x*m,y.y=c.y*f+u.y*m,a.isStatic||a.isSleeping||(v=r.sub(p,a.position,g),a.positionPrev.x+=y.x*a.inverseMass,a.positionPrev.y+=y.y*a.inverseMass,a.anglePrev+=r.cross(v,y)*a.inverseInertia),l.isStatic||l.isSleeping||(v=r.sub(p,l.position,g),l.positionPrev.x-=y.x*l.inverseMass,l.positionPrev.y-=y.y*l.inverseMass,l.anglePrev-=r.cross(v,y)*l.inverseInertia))},o.solveVelocity=function(e,t){for(var n=t*t,i=r._temp[0],a=r._temp[1],l=r._temp[2],c=r._temp[3],u=r._temp[4],d=r._temp[5],p=0;p<e.length;p++){var f=e[p];if(f.isActive&&!f.isSensor){var m=f.collision,v=m.parentA,y=m.parentB,g=m.normal,x=m.tangent,h=f.activeContacts,b=1/h.length;v.velocity.x=v.position.x-v.positionPrev.x,v.velocity.y=v.position.y-v.positionPrev.y,y.velocity.x=y.position.x-y.positionPrev.x,y.velocity.y=y.position.y-y.positionPrev.y,v.angularVelocity=v.angle-v.anglePrev, }}},o.preSolveVelocity=function(e){var t,n,o,i,s,a,l,c,d,u,p,f,m,v,y=r._temp[0],g=r._temp[1];for(t=0;t<e.length;t++)if(o=e[t],o.isActive&&!o.isSensor)for(i=o.activeContacts,s=o.collision,a=s.parentA,l=s.parentB,c=s.normal,d=s.tangent,n=0;n<i.length;n++)u=i[n],p=u.vertex,f=u.normalImpulse,m=u.tangentImpulse,0===f&&0===m||(y.x=c.x*f+d.x*m,y.y=c.y*f+d.y*m,a.isStatic||a.isSleeping||(v=r.sub(p,a.position,g),a.positionPrev.x+=y.x*a.inverseMass,a.positionPrev.y+=y.y*a.inverseMass,a.anglePrev+=r.cross(v,y)*a.inverseInertia),l.isStatic||l.isSleeping||(v=r.sub(p,l.position,g),l.positionPrev.x-=y.x*l.inverseMass,l.positionPrev.y-=y.y*l.inverseMass,l.anglePrev-=r.cross(v,y)*l.inverseInertia))},o.solveVelocity=function(e,t){for(var n=t*t,i=r._temp[0],a=r._temp[1],l=r._temp[2],c=r._temp[3],d=r._temp[4],u=r._temp[5],p=0;p<e.length;p++){var f=e[p];if(f.isActive&&!f.isSensor){var m=f.collision,v=m.parentA,y=m.parentB,g=m.normal,x=m.tangent,h=f.activeContacts,b=1/h.length;v.velocity.x=v.position.x-v.positionPrev.x,
y.angularVelocity=y.angle-y.anglePrev;for(var w=0;w<h.length;w++){var S=h[w],C=S.vertex,A=r.sub(C,v.position,a),P=r.sub(C,y.position,l),B=r.add(v.velocity,r.mult(r.perp(A),v.angularVelocity),c),M=r.add(y.velocity,r.mult(r.perp(P),y.angularVelocity),u),k=r.sub(B,M,d),I=r.dot(g,k),T=r.dot(x,k),V=Math.abs(T),R=s.sign(T),_=(1+f.restitution)*I,E=s.clamp(f.separation+I,0,1)*o._frictionNormalMultiplier,F=T,O=1/0;V>f.friction*f.frictionStatic*E*n&&(O=V,F=s.clamp(f.friction*R*n,-O,O));var L=r.cross(A,g),W=r.cross(P,g),q=b/(v.inverseMass+y.inverseMass+v.inverseInertia*L*L+y.inverseInertia*W*W);if(_*=q,F*=q,I<0&&I*I>o._restingThresh*n)S.normalImpulse=0;else{var N=S.normalImpulse;S.normalImpulse=Math.min(S.normalImpulse+_,0),_=S.normalImpulse-N}if(T*T>o._restingThreshTangent*n)S.tangentImpulse=0;else{var D=S.tangentImpulse;S.tangentImpulse=s.clamp(S.tangentImpulse+F,-O,O),F=S.tangentImpulse-D}i.x=g.x*_+x.x*F,i.y=g.y*_+x.y*F,v.isStatic||v.isSleeping||(v.positionPrev.x+=i.x*v.inverseMass,v.positionPrev.y+=i.y*v.inverseMass, v.velocity.y=v.position.y-v.positionPrev.y,y.velocity.x=y.position.x-y.positionPrev.x,y.velocity.y=y.position.y-y.positionPrev.y,v.angularVelocity=v.angle-v.anglePrev,y.angularVelocity=y.angle-y.anglePrev;for(var w=0;w<h.length;w++){var S=h[w],C=S.vertex,A=r.sub(C,v.position,a),P=r.sub(C,y.position,l),B=r.add(v.velocity,r.mult(r.perp(A),v.angularVelocity),c),M=r.add(y.velocity,r.mult(r.perp(P),y.angularVelocity),d),k=r.sub(B,M,u),I=r.dot(g,k),T=r.dot(x,k),V=Math.abs(T),R=s.sign(T),_=(1+f.restitution)*I,E=s.clamp(f.separation+I,0,1)*o._frictionNormalMultiplier,L=T,F=1/0;V>f.friction*f.frictionStatic*E*n&&(F=V,L=s.clamp(f.friction*R*n,-F,F));var O=r.cross(A,g),W=r.cross(P,g),q=b/(v.inverseMass+y.inverseMass+v.inverseInertia*O*O+y.inverseInertia*W*W);if(_*=q,L*=q,I<0&&I*I>o._restingThresh*n)S.normalImpulse=0;else{var D=S.normalImpulse;S.normalImpulse=Math.min(S.normalImpulse+_,0),_=S.normalImpulse-D}if(T*T>o._restingThreshTangent*n)S.tangentImpulse=0;else{var N=S.tangentImpulse;S.tangentImpulse=s.clamp(S.tangentImpulse+L,-F,F),
v.anglePrev+=r.cross(A,i)*v.inverseInertia),y.isStatic||y.isSleeping||(y.positionPrev.x-=i.x*y.inverseMass,y.positionPrev.y-=i.y*y.inverseMass,y.anglePrev-=r.cross(P,i)*y.inverseInertia)}}}}}()},{"../core/Common":14,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],11:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector");!function(){o.collides=function(t,o,s){var a,l,c,u,d=!1;if(s){var p=t.parent,f=o.parent,m=p.speed*p.speed+p.angularSpeed*p.angularSpeed+f.speed*f.speed+f.angularSpeed*f.angularSpeed;d=s&&s.collided&&m<.2,u=s}else u={collided:!1,bodyA:t,bodyB:o};if(s&&d){var v=u.axisBody,y=v===t?o:t,g=[v.axes[s.axisNumber]];if(c=e(v.vertices,y.vertices,g),u.reused=!0,c.overlap<=0)return u.collided=!1,u}else{if(a=e(t.vertices,o.vertices,t.axes),a.overlap<=0)return u.collided=!1,u;if(l=e(o.vertices,t.vertices,o.axes),l.overlap<=0)return u.collided=!1,u;a.overlap<l.overlap?(c=a,u.axisBody=t):(c=l,u.axisBody=o),u.axisNumber=c.axisNumber; L=S.tangentImpulse-N}i.x=g.x*_+x.x*L,i.y=g.y*_+x.y*L,v.isStatic||v.isSleeping||(v.positionPrev.x+=i.x*v.inverseMass,v.positionPrev.y+=i.y*v.inverseMass,v.anglePrev+=r.cross(A,i)*v.inverseInertia),y.isStatic||y.isSleeping||(y.positionPrev.x-=i.x*y.inverseMass,y.positionPrev.y-=i.y*y.inverseMass,y.anglePrev-=r.cross(P,i)*y.inverseInertia)}}}}}()},{"../core/Common":14,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],11:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector");!function(){o.collides=function(t,o,s){var a,l,c,d,u=!1;if(s){var p=t.parent,f=o.parent,m=p.speed*p.speed+p.angularSpeed*p.angularSpeed+f.speed*f.speed+f.angularSpeed*f.angularSpeed;u=s&&s.collided&&m<.2,d=s}else d={collided:!1,bodyA:t,bodyB:o};if(s&&u){var v=d.axisBody,y=v===t?o:t,g=[v.axes[s.axisNumber]];if(c=e(v.vertices,y.vertices,g),d.reused=!0,c.overlap<=0)return d.collided=!1,d}else{if(a=e(t.vertices,o.vertices,t.axes),a.overlap<=0)return d.collided=!1,
}u.bodyA=t.id<o.id?t:o,u.bodyB=t.id<o.id?o:t,u.collided=!0,u.depth=c.overlap,u.parentA=u.bodyA.parent,u.parentB=u.bodyB.parent,t=u.bodyA,o=u.bodyB,r.dot(c.axis,r.sub(o.position,t.position))<0?u.normal={x:c.axis.x,y:c.axis.y}:u.normal={x:-c.axis.x,y:-c.axis.y},u.tangent=r.perp(u.normal),u.penetration=u.penetration||{},u.penetration.x=u.normal.x*u.depth,u.penetration.y=u.normal.y*u.depth;var x=n(t,o,u.normal),h=[];if(i.contains(t.vertices,x[0])&&h.push(x[0]),i.contains(t.vertices,x[1])&&h.push(x[1]),h.length<2){var b=n(o,t,r.neg(u.normal));i.contains(o.vertices,b[0])&&h.push(b[0]),h.length<2&&i.contains(o.vertices,b[1])&&h.push(b[1])}return h.length<1&&(h=[x[0]]),u.supports=h,u};var e=function(e,n,o){for(var i,s,a=r._temp[0],l=r._temp[1],c={overlap:Number.MAX_VALUE},u=0;u<o.length;u++){if(s=o[u],t(a,e,s),t(l,n,s),i=Math.min(a.max-l.min,l.max-a.min),i<=0)return c.overlap=i,c;i<c.overlap&&(c.overlap=i,c.axis=s,c.axisNumber=u)}return c},t=function(e,t,n){for(var o=r.dot(t[0],n),i=o,s=1;s<t.length;s+=1){ d;if(l=e(o.vertices,t.vertices,o.axes),l.overlap<=0)return d.collided=!1,d;a.overlap<l.overlap?(c=a,d.axisBody=t):(c=l,d.axisBody=o),d.axisNumber=c.axisNumber}d.bodyA=t.id<o.id?t:o,d.bodyB=t.id<o.id?o:t,d.collided=!0,d.depth=c.overlap,d.parentA=d.bodyA.parent,d.parentB=d.bodyB.parent,t=d.bodyA,o=d.bodyB,r.dot(c.axis,r.sub(o.position,t.position))<0?d.normal={x:c.axis.x,y:c.axis.y}:d.normal={x:-c.axis.x,y:-c.axis.y},d.tangent=r.perp(d.normal),d.penetration=d.penetration||{},d.penetration.x=d.normal.x*d.depth,d.penetration.y=d.normal.y*d.depth;var x=n(t,o,d.normal),h=[];if(i.contains(t.vertices,x[0])&&h.push(x[0]),i.contains(t.vertices,x[1])&&h.push(x[1]),h.length<2){var b=n(o,t,r.neg(d.normal));i.contains(o.vertices,b[0])&&h.push(b[0]),h.length<2&&i.contains(o.vertices,b[1])&&h.push(b[1])}return h.length<1&&(h=[x[0]]),d.supports=h,d};var e=function(e,n,o){for(var i,s,a=r._temp[0],l=r._temp[1],c={overlap:Number.MAX_VALUE},d=0;d<o.length;d++){if(s=o[d],t(a,e,s),t(l,n,s),i=Math.min(a.max-l.min,l.max-a.min),
var a=r.dot(t[s],n);a>i?i=a:a<o&&(o=a)}e.min=o,e.max=i},n=function(e,t,n){for(var o,i,s,a,l=Number.MAX_VALUE,c=r._temp[0],u=t.vertices,d=e.position,p=0;p<u.length;p++)i=u[p],c.x=i.x-d.x,c.y=i.y-d.y,o=-r.dot(n,c),o<l&&(l=o,s=i);var f=s.index-1>=0?s.index-1:u.length-1;i=u[f],c.x=i.x-d.x,c.y=i.y-d.y,l=-r.dot(n,c),a=i;var m=(s.index+1)%u.length;return i=u[m],c.x=i.x-d.x,c.y=i.y-d.y,o=-r.dot(n,c),o<l&&(a=i),[s,a]}}()},{"../geometry/Vector":28,"../geometry/Vertices":29}],12:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector"),s=e("../core/Sleeping"),a=e("../geometry/Bounds"),l=e("../geometry/Axes"),c=e("../core/Common");!function(){var e=1e-6,t=.001;o.create=function(t){var n=t;n.bodyA&&!n.pointA&&(n.pointA={x:0,y:0}),n.bodyB&&!n.pointB&&(n.pointB={x:0,y:0});var o=n.bodyA?r.add(n.bodyA.position,n.pointA):n.pointA,i=n.bodyB?r.add(n.bodyB.position,n.pointB):n.pointB,s=r.magnitude(r.sub(o,i));n.length=n.length||s||e;var a={visible:!0,lineWidth:2,strokeStyle:"#ffffff" i<=0)return c.overlap=i,c;i<c.overlap&&(c.overlap=i,c.axis=s,c.axisNumber=d)}return c},t=function(e,t,n){for(var o=r.dot(t[0],n),i=o,s=1;s<t.length;s+=1){var a=r.dot(t[s],n);a>i?i=a:a<o&&(o=a)}e.min=o,e.max=i},n=function(e,t,n){for(var o,i,s,a,l=Number.MAX_VALUE,c=r._temp[0],d=t.vertices,u=e.position,p=0;p<d.length;p++)i=d[p],c.x=i.x-u.x,c.y=i.y-u.y,o=-r.dot(n,c),o<l&&(l=o,s=i);var f=s.index-1>=0?s.index-1:d.length-1;i=d[f],c.x=i.x-u.x,c.y=i.y-u.y,l=-r.dot(n,c),a=i;var m=(s.index+1)%d.length;return i=d[m],c.x=i.x-u.x,c.y=i.y-u.y,o=-r.dot(n,c),o<l&&(a=i),[s,a]}}()},{"../geometry/Vector":28,"../geometry/Vertices":29}],12:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../geometry/Vector"),s=e("../core/Sleeping"),a=e("../geometry/Bounds"),l=e("../geometry/Axes"),c=e("../core/Common");!function(){o._warming=.4,o._torqueDampen=1,o._minLength=1e-6,o.create=function(e){var t=e;t.bodyA&&!t.pointA&&(t.pointA={x:0,y:0}),t.bodyB&&!t.pointB&&(t.pointB={x:0,y:0});var n=t.bodyA?r.add(t.bodyA.position,t.pointA):t.pointA,o=t.bodyB?r.add(t.bodyB.position,t.pointB):t.pointB,i=r.magnitude(r.sub(n,o));
};return n.render=c.extend(a,n.render),n.id=n.id||c.nextId(),n.label=n.label||"Constraint",n.type="constraint",n.stiffness=n.stiffness||1,n.angularStiffness=n.angularStiffness||0,n.angleA=n.bodyA?n.bodyA.angle:n.angleA,n.angleB=n.bodyB?n.bodyB.angle:n.angleB,n.plugin={},n},o.solveAll=function(e,t){for(var n=0;n<e.length;n++)o.solve(e[n],t)},o.solve=function(n,o){var i=n.bodyA,s=n.bodyB,a=n.pointA,l=n.pointB;i&&!i.isStatic&&(n.pointA=r.rotate(a,i.angle-n.angleA),n.angleA=i.angle),s&&!s.isStatic&&(n.pointB=r.rotate(l,s.angle-n.angleB),n.angleB=s.angle);var c=a,u=l;if(i&&(c=r.add(i.position,a)),s&&(u=r.add(s.position,l)),c&&u){var d=r.sub(c,u),p=r.magnitude(d);0===p&&(p=e);var f=(p-n.length)/p,m=r.div(d,p),v=r.mult(d,.5*f*n.stiffness*o*o);if(!(Math.abs(1-p/n.length)<t*o)){var y,g,x,h,b,w,S,C;i&&!i.isStatic?(x={x:c.x-i.position.x+v.x,y:c.y-i.position.y+v.y},i.velocity.x=i.position.x-i.positionPrev.x,i.velocity.y=i.position.y-i.positionPrev.y,i.angularVelocity=i.angle-i.anglePrev,y=r.add(i.velocity,r.mult(r.perp(x),i.angularVelocity)), t.length="undefined"!=typeof t.length?t.length:i,t.id=t.id||c.nextId(),t.label=t.label||"Constraint",t.type="constraint",t.stiffness=t.stiffness||(t.length>0?1:.7),t.damping=t.damping||0,t.angularStiffness=t.angularStiffness||0,t.angleA=t.bodyA?t.bodyA.angle:t.angleA,t.angleB=t.bodyB?t.bodyB.angle:t.angleB,t.plugin={};var s={visible:!0,lineWidth:2,strokeStyle:"#ffffff",type:"line",anchors:!0};return 0===t.length?(s.type="pin",s.anchors=!1):t.stiffness<.9&&(s.type="spring"),t.render=c.extend(s,t.render),t},o.preSolveAll=function(e){for(var t=0;t<e.length;t+=1){var n=e[t],o=n.constraintImpulse;n.isStatic||0===o.x&&0===o.y&&0===o.angle||(n.position.x+=o.x,n.position.y+=o.y,n.angle+=o.angle)}},o.solveAll=function(e,t){for(var n=0;n<e.length;n+=1){var i=e[n],r=!i.bodyA||i.bodyA&&i.bodyA.isStatic,s=!i.bodyB||i.bodyB&&i.bodyB.isStatic;(r||s)&&o.solve(e[n],t)}for(n=0;n<e.length;n+=1)i=e[n],r=!i.bodyA||i.bodyA&&i.bodyA.isStatic,s=!i.bodyB||i.bodyB&&i.bodyB.isStatic,r||s||o.solve(e[n],t)},o.solve=function(e,t){
b=r.dot(x,m),S=i.inverseMass+i.inverseInertia*b*b):(y={x:0,y:0},S=i?i.inverseMass:0),s&&!s.isStatic?(h={x:u.x-s.position.x-v.x,y:u.y-s.position.y-v.y},s.velocity.x=s.position.x-s.positionPrev.x,s.velocity.y=s.position.y-s.positionPrev.y,s.angularVelocity=s.angle-s.anglePrev,g=r.add(s.velocity,r.mult(r.perp(h),s.angularVelocity)),w=r.dot(h,m),C=s.inverseMass+s.inverseInertia*w*w):(g={x:0,y:0},C=s?s.inverseMass:0);var A=r.sub(g,y),P=r.dot(m,A)/(S+C);P>0&&(P=0);var B,M={x:m.x*P,y:m.y*P};i&&!i.isStatic&&(B=r.cross(x,M)*i.inverseInertia*(1-n.angularStiffness),i.constraintImpulse.x-=v.x,i.constraintImpulse.y-=v.y,i.constraintImpulse.angle+=B,i.position.x-=v.x,i.position.y-=v.y,i.angle+=B),s&&!s.isStatic&&(B=r.cross(h,M)*s.inverseInertia*(1-n.angularStiffness),s.constraintImpulse.x+=v.x,s.constraintImpulse.y+=v.y,s.constraintImpulse.angle-=B,s.position.x+=v.x,s.position.y+=v.y,s.angle-=B)}}},o.postSolveAll=function(e){for(var t=0;t<e.length;t++){var n=e[t],o=n.constraintImpulse;if(0!==o.x||0!==o.y||0!==o.angle){ var n=e.bodyA,i=e.bodyB,s=e.pointA,a=e.pointB;if(n||i){n&&!n.isStatic&&(r.rotate(s,n.angle-e.angleA,s),e.angleA=n.angle),i&&!i.isStatic&&(r.rotate(a,i.angle-e.angleB,a),e.angleB=i.angle);var l=s,c=a;if(n&&(l=r.add(n.position,s)),i&&(c=r.add(i.position,a)),l&&c){var d=r.sub(l,c),u=r.magnitude(d);u<o._minLength&&(u=o._minLength);var p,f,m,v,y,g=(u-e.length)/u,x=e.stiffness<1?e.stiffness*t:e.stiffness,h=r.mult(d,g*x),b=(n?n.inverseMass:0)+(i?i.inverseMass:0),w=(n?n.inverseInertia:0)+(i?i.inverseInertia:0),S=b+w;if(e.damping){var C=r.create();m=r.div(d,u),y=r.sub(i&&r.sub(i.position,i.positionPrev)||C,n&&r.sub(n.position,n.positionPrev)||C),v=r.dot(m,y)}n&&!n.isStatic&&(f=n.inverseMass/b,n.constraintImpulse.x-=h.x*f,n.constraintImpulse.y-=h.y*f,n.position.x-=h.x*f,n.position.y-=h.y*f,e.damping&&(n.positionPrev.x-=e.damping*m.x*v*f,n.positionPrev.y-=e.damping*m.y*v*f),p=r.cross(s,h)/S*o._torqueDampen*n.inverseInertia*(1-e.angularStiffness),n.constraintImpulse.angle-=p,n.angle-=p),i&&!i.isStatic&&(f=i.inverseMass/b,
s.set(n,!1);for(var c=0;c<n.parts.length;c++){var u=n.parts[c];i.translate(u.vertices,o),c>0&&(u.position.x+=o.x,u.position.y+=o.y),0!==o.angle&&(i.rotate(u.vertices,o.angle,n.position),l.rotate(u.axes,o.angle),c>0&&r.rotateAbout(u.position,o.angle,n.position,u.position)),a.update(u.bounds,u.vertices,n.velocity)}o.angle=0,o.x=0,o.y=0}}}}()},{"../core/Common":14,"../core/Sleeping":22,"../geometry/Axes":25,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],13:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../core/Sleeping"),s=e("../core/Mouse"),a=e("../core/Events"),l=e("../collision/Detector"),c=e("./Constraint"),u=e("../body/Composite"),d=e("../core/Common"),p=e("../geometry/Bounds");!function(){o.create=function(t,n){var i=(t?t.mouse:null)||(n?n.mouse:null);i||(t&&t.render&&t.render.canvas?i=s.create(t.render.canvas):n&&n.element?i=s.create(n.element):(i=s.create(),d.warn("MouseConstraint.create: options.mouse was undefined, options.element was undefined, may not function as expected"))); i.constraintImpulse.x+=h.x*f,i.constraintImpulse.y+=h.y*f,i.position.x+=h.x*f,i.position.y+=h.y*f,e.damping&&(i.positionPrev.x+=e.damping*m.x*v*f,i.positionPrev.y+=e.damping*m.y*v*f),p=r.cross(a,h)/S*o._torqueDampen*i.inverseInertia*(1-e.angularStiffness),i.constraintImpulse.angle+=p,i.angle+=p)}}},o.postSolveAll=function(e){for(var t=0;t<e.length;t++){var n=e[t],c=n.constraintImpulse;if(!(n.isStatic||0===c.x&&0===c.y&&0===c.angle)){s.set(n,!1);for(var d=0;d<n.parts.length;d++){var u=n.parts[d];i.translate(u.vertices,c),d>0&&(u.position.x+=c.x,u.position.y+=c.y),0!==c.angle&&(i.rotate(u.vertices,c.angle,n.position),l.rotate(u.axes,c.angle),d>0&&r.rotateAbout(u.position,c.angle,n.position,u.position)),a.update(u.bounds,u.vertices,n.velocity)}c.angle*=o._warming,c.x*=o._warming,c.y*=o._warming}}}}()},{"../core/Common":14,"../core/Sleeping":22,"../geometry/Axes":25,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],13:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../core/Sleeping"),s=e("../core/Mouse"),a=e("../core/Events"),l=e("../collision/Detector"),c=e("./Constraint"),d=e("../body/Composite"),u=e("../core/Common"),p=e("../geometry/Bounds");
var r=c.create({label:"Mouse Constraint",pointA:i.position,pointB:{x:0,y:0},length:.01,stiffness:.1,angularStiffness:1,render:{strokeStyle:"#90EE90",lineWidth:3}}),l={type:"mouseConstraint",mouse:i,element:null,body:null,constraint:r,collisionFilter:{category:1,mask:4294967295,group:0}},p=d.extend(l,n);return a.on(t,"beforeUpdate",function(){var n=u.allBodies(t.world);o.update(p,n),e(p)}),p},o.update=function(e,t){var n=e.mouse,o=e.constraint,s=e.body;if(0===n.button){if(o.bodyB)r.set(o.bodyB,!1),o.pointA=n.position;else for(var c=0;c<t.length;c++)if(s=t[c],p.contains(s.bounds,n.position)&&l.canCollide(s.collisionFilter,e.collisionFilter))for(var u=s.parts.length>1?1:0;u<s.parts.length;u++){var d=s.parts[u];if(i.contains(d.vertices,n.position)){o.pointA=n.position,o.bodyB=e.body=s,o.pointB={x:n.position.x-s.position.x,y:n.position.y-s.position.y},o.angleB=s.angle,r.set(s,!1),a.trigger(e,"startdrag",{mouse:n,body:s});break}}}else o.bodyB=e.body=null,o.pointB=null,s&&a.trigger(e,"enddrag",{ !function(){o.create=function(t,n){var i=(t?t.mouse:null)||(n?n.mouse:null);i||(t&&t.render&&t.render.canvas?i=s.create(t.render.canvas):n&&n.element?i=s.create(n.element):(i=s.create(),u.warn("MouseConstraint.create: options.mouse was undefined, options.element was undefined, may not function as expected")));var r=c.create({label:"Mouse Constraint",pointA:i.position,pointB:{x:0,y:0},length:.01,stiffness:.1,angularStiffness:1,render:{strokeStyle:"#90EE90",lineWidth:3}}),l={type:"mouseConstraint",mouse:i,element:null,body:null,constraint:r,collisionFilter:{category:1,mask:4294967295,group:0}},p=u.extend(l,n);return a.on(t,"beforeUpdate",function(){var n=d.allBodies(t.world);o.update(p,n),e(p)}),p},o.update=function(e,t){var n=e.mouse,o=e.constraint,s=e.body;if(0===n.button){if(o.bodyB)r.set(o.bodyB,!1),o.pointA=n.position;else for(var c=0;c<t.length;c++)if(s=t[c],p.contains(s.bounds,n.position)&&l.canCollide(s.collisionFilter,e.collisionFilter))for(var d=s.parts.length>1?1:0;d<s.parts.length;d++){
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15:[function(e,t,n){var o={};t.exports=o;var i=e("../body/World"),r=e("./Sleeping"),s=e("../collision/Resolver"),a=e("../render/Render"),l=e("../collision/Pairs"),c=(e("./Metrics"),e("../collision/Grid")),u=e("./Events"),d=e("../body/Composite"),p=e("../constraint/Constraint"),f=e("./Common"),m=e("../body/Body");!function(){o.create=function(e,t){t=f.isElement(e)?t:e,e=f.isElement(e)?e:null,t=t||{},(e||t.render)&&f.warn("Engine.create: engine.render is deprecated (see docs)");var n={positionIterations:6,velocityIterations:4,constraintIterations:2,enableSleeping:!1,events:[],plugin:{},timing:{timestamp:0,timeScale:1},broadphase:{controller:c}},o=f.extend(n,t);if(e||o.render){var r={element:e,controller:a};o.render=f.extend(r,o.render)}return o.render&&o.render.controller&&(o.render=o.render.controller.create(o.render)),o.render&&(o.render.engine=o),o.world=t.world||i.create(o.world),o.pairs=l.create(),o.broadphase=o.broadphase.controller.create(o.broadphase),o.metrics=o.metrics||{extended:!1 }var o=function(){for(var t,n=new Array(arguments.length),o=0,i=arguments.length;o<i;o++)n[o]=arguments[o];for(o=0;o<e.length;o+=1){var r=e[o].apply(t,n);"undefined"!=typeof r&&(t=r)}return t};return o._chained=e,o},o.chainPathBefore=function(e,t,n){return o.set(e,t,o.chain(n,o.get(e,t)))},o.chainPathAfter=function(e,t,n){return o.set(e,t,o.chain(o.get(e,t),n))}}()},{}],15:[function(e,t,n){var o={};t.exports=o;var i=e("../body/World"),r=e("./Sleeping"),s=e("../collision/Resolver"),a=e("../render/Render"),l=e("../collision/Pairs"),c=(e("./Metrics"),e("../collision/Grid")),d=e("./Events"),u=e("../body/Composite"),p=e("../constraint/Constraint"),f=e("./Common"),m=e("../body/Body");!function(){o.create=function(e,t){t=f.isElement(e)?t:e,e=f.isElement(e)?e:null,t=t||{},(e||t.render)&&f.warn("Engine.create: engine.render is deprecated (see docs)");var n={positionIterations:6,velocityIterations:4,constraintIterations:2,enableSleeping:!1,events:[],plugin:{},timing:{timestamp:0,timeScale:1},broadphase:{
},o},o.update=function(o,i,a){i=i||1e3/60,a=a||1;var c,f=o.world,m=o.timing,v=o.broadphase,y=[];m.timestamp+=i*m.timeScale;var g={timestamp:m.timestamp};u.trigger(o,"beforeUpdate",g);var x=d.allBodies(f),h=d.allConstraints(f);for(o.enableSleeping&&r.update(x,m.timeScale),t(x,f.gravity),n(x,i,m.timeScale,a,f.bounds),c=0;c<o.constraintIterations;c++)p.solveAll(h,m.timeScale);p.postSolveAll(x),v.controller?(f.isModified&&v.controller.clear(v),v.controller.update(v,x,o,f.isModified),y=v.pairsList):y=x,f.isModified&&d.setModified(f,!1,!1,!0);var b=v.detector(y,o),w=o.pairs,S=m.timestamp;for(l.update(w,b,S),l.removeOld(w,S),o.enableSleeping&&r.afterCollisions(w.list,m.timeScale),w.collisionStart.length>0&&u.trigger(o,"collisionStart",{pairs:w.collisionStart}),s.preSolvePosition(w.list),c=0;c<o.positionIterations;c++)s.solvePosition(w.list,m.timeScale);for(s.postSolvePosition(x),s.preSolveVelocity(w.list),c=0;c<o.velocityIterations;c++)s.solveVelocity(w.list,m.timeScale);return w.collisionActive.length>0&&u.trigger(o,"collisionActive",{ controller:c}},o=f.extend(n,t);if(e||o.render){var r={element:e,controller:a};o.render=f.extend(r,o.render)}return o.render&&o.render.controller&&(o.render=o.render.controller.create(o.render)),o.render&&(o.render.engine=o),o.world=t.world||i.create(o.world),o.pairs=l.create(),o.broadphase=o.broadphase.controller.create(o.broadphase),o.metrics=o.metrics||{extended:!1},o},o.update=function(o,i,a){i=i||1e3/60,a=a||1;var c,f=o.world,m=o.timing,v=o.broadphase,y=[];m.timestamp+=i*m.timeScale;var g={timestamp:m.timestamp};d.trigger(o,"beforeUpdate",g);var x=u.allBodies(f),h=u.allConstraints(f);for(o.enableSleeping&&r.update(x,m.timeScale),t(x,f.gravity),n(x,i,m.timeScale,a,f.bounds),p.preSolveAll(x),c=0;c<o.constraintIterations;c++)p.solveAll(h,m.timeScale);p.postSolveAll(x),v.controller?(f.isModified&&v.controller.clear(v),v.controller.update(v,x,o,f.isModified),y=v.pairsList):y=x,f.isModified&&u.setModified(f,!1,!1,!0);var b=v.detector(y,o),w=o.pairs,S=m.timestamp;for(l.update(w,b,S),l.removeOld(w,S),
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n.sourceEvents.mousemove=t},n.mousedown=function(t){var o=e(t,n.element,n.pixelRatio),i=t.changedTouches;i?(n.button=0,t.preventDefault()):n.button=t.button,n.absolute.x=o.x,n.absolute.y=o.y,n.position.x=n.absolute.x*n.scale.x+n.offset.x,n.position.y=n.absolute.y*n.scale.y+n.offset.y,n.mousedownPosition.x=n.position.x,n.mousedownPosition.y=n.position.y,n.sourceEvents.mousedown=t},n.mouseup=function(t){var o=e(t,n.element,n.pixelRatio),i=t.changedTouches;i&&t.preventDefault(),n.button=-1,n.absolute.x=o.x,n.absolute.y=o.y,n.position.x=n.absolute.x*n.scale.x+n.offset.x,n.position.y=n.absolute.y*n.scale.y+n.offset.y,n.mouseupPosition.x=n.position.x,n.mouseupPosition.y=n.position.y,n.sourceEvents.mouseup=t},n.mousewheel=function(e){n.wheelDelta=Math.max(-1,Math.min(1,e.wheelDelta||-e.detail)),e.preventDefault()},o.setElement(n,n.element),n},o.setElement=function(e,t){e.element=t,t.addEventListener("mousemove",e.mousemove),t.addEventListener("mousedown",e.mousedown),t.addEventListener("mouseup",e.mouseup), n.element=t||document.body,n.absolute={x:0,y:0},n.position={x:0,y:0},n.mousedownPosition={x:0,y:0},n.mouseupPosition={x:0,y:0},n.offset={x:0,y:0},n.scale={x:1,y:1},n.wheelDelta=0,n.button=-1,n.pixelRatio=n.element.getAttribute("data-pixel-ratio")||1,n.sourceEvents={mousemove:null,mousedown:null,mouseup:null,mousewheel:null},n.mousemove=function(t){var o=e(t,n.element,n.pixelRatio),i=t.changedTouches;i&&(n.button=0,t.preventDefault()),n.absolute.x=o.x,n.absolute.y=o.y,n.position.x=n.absolute.x*n.scale.x+n.offset.x,n.position.y=n.absolute.y*n.scale.y+n.offset.y,n.sourceEvents.mousemove=t},n.mousedown=function(t){var o=e(t,n.element,n.pixelRatio),i=t.changedTouches;i?(n.button=0,t.preventDefault()):n.button=t.button,n.absolute.x=o.x,n.absolute.y=o.y,n.position.x=n.absolute.x*n.scale.x+n.offset.x,n.position.y=n.absolute.y*n.scale.y+n.offset.y,n.mousedownPosition.x=n.position.x,n.mousedownPosition.y=n.position.y,n.sourceEvents.mousedown=t},n.mouseup=function(t){var o=e(t,n.element,n.pixelRatio),i=t.changedTouches;
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r.sleepThreshold>0&&r.motion<o._motionSleepThreshold*n?(r.sleepCounter+=1,r.sleepCounter>=r.sleepThreshold&&o.set(r,!0)):r.sleepCounter>0&&(r.sleepCounter-=1)}else o.set(r,!1)}},o.afterCollisions=function(e,t){for(var n=t*t*t,i=0;i<e.length;i++){var r=e[i];if(r.isActive){var s=r.collision,a=s.bodyA.parent,l=s.bodyB.parent;if(!(a.isSleeping&&l.isSleeping||a.isStatic||l.isStatic)&&(a.isSleeping||l.isSleeping)){var c=a.isSleeping&&!a.isStatic?a:l,u=c===a?l:a;!c.isStatic&&u.motion>o._motionWakeThreshold*n&&o.set(c,!1)}}}},o.set=function(e,t){var n=e.isSleeping;t?(e.isSleeping=!0,e.sleepCounter=e.sleepThreshold,e.positionImpulse.x=0,e.positionImpulse.y=0,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.anglePrev=e.angle,e.speed=0,e.angularSpeed=0,e.motion=0,n||i.trigger(e,"sleepStart")):(e.isSleeping=!1,e.sleepCounter=0,n&&i.trigger(e,"sleepEnd"))}}()},{"./Events":16}],23:[function(e,t,n){(function(n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../core/Common"),s=e("../body/Body"),a=e("../geometry/Bounds"),l=e("../geometry/Vector"),c="undefined"!=typeof window?window.decomp:"undefined"!=typeof n?n.decomp:null; i.trigger(e,"afterRender",l),i.trigger(t,"afterRender",l)),i.trigger(e,"afterTick",l),i.trigger(t,"afterTick",l)},o.stop=function(e){t(e.frameRequestId)},o.start=function(e,t){o.run(e,t)}}()},{"./Common":14,"./Engine":15,"./Events":16}],22:[function(e,t,n){var o={};t.exports=o;var i=e("./Events");!function(){o._motionWakeThreshold=.18,o._motionSleepThreshold=.08,o._minBias=.9,o.update=function(e,t){for(var n=t*t*t,i=0;i<e.length;i++){var r=e[i],s=r.speed*r.speed+r.angularSpeed*r.angularSpeed;if(0===r.force.x&&0===r.force.y){var a=Math.min(r.motion,s),l=Math.max(r.motion,s);r.motion=o._minBias*a+(1-o._minBias)*l,r.sleepThreshold>0&&r.motion<o._motionSleepThreshold*n?(r.sleepCounter+=1,r.sleepCounter>=r.sleepThreshold&&o.set(r,!0)):r.sleepCounter>0&&(r.sleepCounter-=1)}else o.set(r,!1)}},o.afterCollisions=function(e,t){for(var n=t*t*t,i=0;i<e.length;i++){var r=e[i];if(r.isActive){var s=r.collision,a=s.bodyA.parent,l=s.bodyB.parent;if(!(a.isSleeping&&l.isSleeping||a.isStatic||l.isStatic)&&(a.isSleeping||l.isSleeping)){
!function(){o.rectangle=function(e,t,n,o,a){a=a||{};var l={label:"Rectangle Body",position:{x:e,y:t},vertices:i.fromPath("L 0 0 L "+n+" 0 L "+n+" "+o+" L 0 "+o)};if(a.chamfer){var c=a.chamfer;l.vertices=i.chamfer(l.vertices,c.radius,c.quality,c.qualityMin,c.qualityMax),delete a.chamfer}return s.create(r.extend({},l,a))},o.trapezoid=function(e,t,n,o,a,l){l=l||{},a*=.5;var c,u=(1-2*a)*n,d=n*a,p=d+u,f=p+d;c=a<.5?"L 0 0 L "+d+" "+-o+" L "+p+" "+-o+" L "+f+" 0":"L 0 0 L "+p+" "+-o+" L "+f+" 0";var m={label:"Trapezoid Body",position:{x:e,y:t},vertices:i.fromPath(c)};if(l.chamfer){var v=l.chamfer;m.vertices=i.chamfer(m.vertices,v.radius,v.quality,v.qualityMin,v.qualityMax),delete l.chamfer}return s.create(r.extend({},m,l))},o.circle=function(e,t,n,i,s){i=i||{};var a={label:"Circle Body",circleRadius:n};s=s||25;var l=Math.ceil(Math.max(10,Math.min(s,n)));return l%2===1&&(l+=1),o.polygon(e,t,l,n,r.extend({},a,i))},o.polygon=function(e,t,n,a,l){if(l=l||{},n<3)return o.circle(e,t,a,l);for(var c=2*Math.PI/n,u="",d=.5*c,p=0;p<n;p+=1){ var c=a.isSleeping&&!a.isStatic?a:l,d=c===a?l:a;!c.isStatic&&d.motion>o._motionWakeThreshold*n&&o.set(c,!1)}}}},o.set=function(e,t){var n=e.isSleeping;t?(e.isSleeping=!0,e.sleepCounter=e.sleepThreshold,e.positionImpulse.x=0,e.positionImpulse.y=0,e.positionPrev.x=e.position.x,e.positionPrev.y=e.position.y,e.anglePrev=e.angle,e.speed=0,e.angularSpeed=0,e.motion=0,n||i.trigger(e,"sleepStart")):(e.isSleeping=!1,e.sleepCounter=0,n&&i.trigger(e,"sleepEnd"))}}()},{"./Events":16}],23:[function(e,t,n){(function(n){var o={};t.exports=o;var i=e("../geometry/Vertices"),r=e("../core/Common"),s=e("../body/Body"),a=e("../geometry/Bounds"),l=e("../geometry/Vector"),c="undefined"!=typeof window?window.decomp:"undefined"!=typeof n?n.decomp:null;!function(){o.rectangle=function(e,t,n,o,a){a=a||{};var l={label:"Rectangle Body",position:{x:e,y:t},vertices:i.fromPath("L 0 0 L "+n+" 0 L "+n+" "+o+" L 0 "+o)};if(a.chamfer){var c=a.chamfer;l.vertices=i.chamfer(l.vertices,c.radius,c.quality,c.qualityMin,c.qualityMax),
var f=d+p*c,m=Math.cos(f)*a,v=Math.sin(f)*a;u+="L "+m.toFixed(3)+" "+v.toFixed(3)+" "}var y={label:"Polygon Body",position:{x:e,y:t},vertices:i.fromPath(u)};if(l.chamfer){var g=l.chamfer;y.vertices=i.chamfer(y.vertices,g.radius,g.quality,g.qualityMin,g.qualityMax),delete l.chamfer}return s.create(r.extend({},y,l))},o.fromVertices=function(e,t,n,o,u,d,p){var f,m,v,y,g,x,h,b,w;for(o=o||{},m=[],u="undefined"!=typeof u&&u,d="undefined"!=typeof d?d:.01,p="undefined"!=typeof p?p:10,c||r.warn("Bodies.fromVertices: poly-decomp.js required. Could not decompose vertices. Fallback to convex hull."),r.isArray(n[0])||(n=[n]),b=0;b<n.length;b+=1)if(y=n[b],v=i.isConvex(y),v||!c)y=v?i.clockwiseSort(y):i.hull(y),m.push({position:{x:e,y:t},vertices:y});else{var S=y.map(function(e){return[e.x,e.y]});c.makeCCW(S),d!==!1&&c.removeCollinearPoints(S,d);var C=c.quickDecomp(S);for(g=0;g<C.length;g++){var A=C[g],P=A.map(function(e){return{x:e[0],y:e[1]}});p>0&&i.area(P)<p||m.push({position:i.centre(P),vertices:P delete a.chamfer}return s.create(r.extend({},l,a))},o.trapezoid=function(e,t,n,o,a,l){l=l||{},a*=.5;var c,d=(1-2*a)*n,u=n*a,p=u+d,f=p+u;c=a<.5?"L 0 0 L "+u+" "+-o+" L "+p+" "+-o+" L "+f+" 0":"L 0 0 L "+p+" "+-o+" L "+f+" 0";var m={label:"Trapezoid Body",position:{x:e,y:t},vertices:i.fromPath(c)};if(l.chamfer){var v=l.chamfer;m.vertices=i.chamfer(m.vertices,v.radius,v.quality,v.qualityMin,v.qualityMax),delete l.chamfer}return s.create(r.extend({},m,l))},o.circle=function(e,t,n,i,s){i=i||{};var a={label:"Circle Body",circleRadius:n};s=s||25;var l=Math.ceil(Math.max(10,Math.min(s,n)));return l%2===1&&(l+=1),o.polygon(e,t,l,n,r.extend({},a,i))},o.polygon=function(e,t,n,a,l){if(l=l||{},n<3)return o.circle(e,t,a,l);for(var c=2*Math.PI/n,d="",u=.5*c,p=0;p<n;p+=1){var f=u+p*c,m=Math.cos(f)*a,v=Math.sin(f)*a;d+="L "+m.toFixed(3)+" "+v.toFixed(3)+" "}var y={label:"Polygon Body",position:{x:e,y:t},vertices:i.fromPath(d)};if(l.chamfer){var g=l.chamfer;y.vertices=i.chamfer(y.vertices,g.radius,g.quality,g.qualityMin,g.qualityMax),
})}}for(g=0;g<m.length;g++)m[g]=s.create(r.extend(m[g],o));if(u){var B=5;for(g=0;g<m.length;g++){var M=m[g];for(x=g+1;x<m.length;x++){var k=m[x];if(a.overlaps(M.bounds,k.bounds)){var I=M.vertices,T=k.vertices;for(h=0;h<M.vertices.length;h++)for(w=0;w<k.vertices.length;w++){var V=l.magnitudeSquared(l.sub(I[(h+1)%I.length],T[w])),R=l.magnitudeSquared(l.sub(I[h],T[(w+1)%T.length]));V<B&&R<B&&(I[h].isInternal=!0,T[w].isInternal=!0)}}}}}return m.length>1?(f=s.create(r.extend({parts:m.slice(0)},o)),s.setPosition(f,{x:e,y:t}),f):m[0]}}()}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"../body/Body":1,"../core/Common":14,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],24:[function(e,t,n){var o={};t.exports=o;var i=e("../body/Composite"),r=e("../constraint/Constraint"),s=e("../core/Common"),a=e("../body/Body"),l=e("./Bodies");!function(){o.stack=function(e,t,n,o,r,s,l){for(var c,u=i.create({label:"Stack" delete l.chamfer}return s.create(r.extend({},y,l))},o.fromVertices=function(e,t,n,o,d,u,p){var f,m,v,y,g,x,h,b,w;for(o=o||{},m=[],d="undefined"!=typeof d&&d,u="undefined"!=typeof u?u:.01,p="undefined"!=typeof p?p:10,c||r.warn("Bodies.fromVertices: poly-decomp.js required. Could not decompose vertices. Fallback to convex hull."),r.isArray(n[0])||(n=[n]),b=0;b<n.length;b+=1)if(y=n[b],v=i.isConvex(y),v||!c)y=v?i.clockwiseSort(y):i.hull(y),m.push({position:{x:e,y:t},vertices:y});else{var S=y.map(function(e){return[e.x,e.y]});c.makeCCW(S),u!==!1&&c.removeCollinearPoints(S,u);var C=c.quickDecomp(S);for(g=0;g<C.length;g++){var A=C[g],P=A.map(function(e){return{x:e[0],y:e[1]}});p>0&&i.area(P)<p||m.push({position:i.centre(P),vertices:P})}}for(g=0;g<m.length;g++)m[g]=s.create(r.extend(m[g],o));if(d){var B=5;for(g=0;g<m.length;g++){var M=m[g];for(x=g+1;x<m.length;x++){var k=m[x];if(a.overlaps(M.bounds,k.bounds)){var I=M.vertices,T=k.vertices;for(h=0;h<M.vertices.length;h++)for(w=0;w<k.vertices.length;w++){
}),d=e,p=t,f=0,m=0;m<o;m++){for(var v=0,y=0;y<n;y++){var g=l(d,p,y,m,c,f);if(g){var x=g.bounds.max.y-g.bounds.min.y,h=g.bounds.max.x-g.bounds.min.x;x>v&&(v=x),a.translate(g,{x:.5*h,y:.5*x}),d=g.bounds.max.x+r,i.addBody(u,g),c=g,f+=1}else d+=r}p+=v+s,d=e}return u},o.chain=function(e,t,n,o,a,l){for(var c=e.bodies,u=1;u<c.length;u++){var d=c[u-1],p=c[u],f=d.bounds.max.y-d.bounds.min.y,m=d.bounds.max.x-d.bounds.min.x,v=p.bounds.max.y-p.bounds.min.y,y=p.bounds.max.x-p.bounds.min.x,g={bodyA:d,pointA:{x:m*t,y:f*n},bodyB:p,pointB:{x:y*o,y:v*a}},x=s.extend(g,l);i.addConstraint(e,r.create(x))}return e.label+=" Chain",e},o.mesh=function(e,t,n,o,a){var l,c,u,d,p,f=e.bodies;for(l=0;l<n;l++){for(c=1;c<t;c++)u=f[c-1+l*t],d=f[c+l*t],i.addConstraint(e,r.create(s.extend({bodyA:u,bodyB:d},a)));if(l>0)for(c=0;c<t;c++)u=f[c+(l-1)*t],d=f[c+l*t],i.addConstraint(e,r.create(s.extend({bodyA:u,bodyB:d},a))),o&&c>0&&(p=f[c-1+(l-1)*t],i.addConstraint(e,r.create(s.extend({bodyA:p,bodyB:d},a)))),o&&c<t-1&&(p=f[c+1+(l-1)*t], var V=l.magnitudeSquared(l.sub(I[(h+1)%I.length],T[w])),R=l.magnitudeSquared(l.sub(I[h],T[(w+1)%T.length]));V<B&&R<B&&(I[h].isInternal=!0,T[w].isInternal=!0)}}}}}return m.length>1?(f=s.create(r.extend({parts:m.slice(0)},o)),s.setPosition(f,{x:e,y:t}),f):m[0]}}()}).call(this,"undefined"!=typeof global?global:"undefined"!=typeof self?self:"undefined"!=typeof window?window:{})},{"../body/Body":1,"../core/Common":14,"../geometry/Bounds":26,"../geometry/Vector":28,"../geometry/Vertices":29}],24:[function(e,t,n){var o={};t.exports=o;var i=e("../body/Composite"),r=e("../constraint/Constraint"),s=e("../core/Common"),a=e("../body/Body"),l=e("./Bodies");!function(){o.stack=function(e,t,n,o,r,s,l){for(var c,d=i.create({label:"Stack"}),u=e,p=t,f=0,m=0;m<o;m++){for(var v=0,y=0;y<n;y++){var g=l(u,p,y,m,c,f);if(g){var x=g.bounds.max.y-g.bounds.min.y,h=g.bounds.max.x-g.bounds.min.x;x>v&&(v=x),a.translate(g,{x:.5*h,y:.5*x}),u=g.bounds.max.x+r,i.addBody(d,g),c=g,f+=1}else u+=r}p+=v+s,u=e}return d},o.chain=function(e,t,n,o,a,l){
i.addConstraint(e,r.create(s.extend({bodyA:p,bodyB:d},a))))}return e.label+=" Mesh",e},o.pyramid=function(e,t,n,i,r,s,l){return o.stack(e,t,n,i,r,s,function(t,o,s,c,u,d){var p=Math.min(i,Math.ceil(n/2)),f=u?u.bounds.max.x-u.bounds.min.x:0;if(!(c>p)){c=p-c;var m=c,v=n-1-c;if(!(s<m||s>v)){1===d&&a.translate(u,{x:(s+(n%2===1?1:-1))*f,y:0});var y=u?s*f:0;return l(e+y+s*r,o,s,c,u,d)}}})},o.newtonsCradle=function(e,t,n,o,s){for(var a=i.create({label:"Newtons Cradle"}),c=0;c<n;c++){var u=1.9,d=l.circle(e+c*(o*u),t+s,o,{inertia:1/0,restitution:1,friction:0,frictionAir:1e-4,slop:1}),p=r.create({pointA:{x:e+c*(o*u),y:t},bodyB:d});i.addBody(a,d),i.addConstraint(a,p)}return a},o.car=function(e,t,n,o,s){var c=a.nextGroup(!0),u=-20,d=.5*-n+u,p=.5*n-u,f=0,m=i.create({label:"Car"}),v=l.trapezoid(e,t,n,o,.3,{collisionFilter:{group:c},friction:.01,chamfer:{radius:10}}),y=l.circle(e+d,t+f,s,{collisionFilter:{group:c},friction:.8,density:.01}),g=l.circle(e+p,t+f,s,{collisionFilter:{group:c},friction:.8,density:.01 for(var c=e.bodies,d=1;d<c.length;d++){var u=c[d-1],p=c[d],f=u.bounds.max.y-u.bounds.min.y,m=u.bounds.max.x-u.bounds.min.x,v=p.bounds.max.y-p.bounds.min.y,y=p.bounds.max.x-p.bounds.min.x,g={bodyA:u,pointA:{x:m*t,y:f*n},bodyB:p,pointB:{x:y*o,y:v*a}},x=s.extend(g,l);i.addConstraint(e,r.create(x))}return e.label+=" Chain",e},o.mesh=function(e,t,n,o,a){var l,c,d,u,p,f=e.bodies;for(l=0;l<n;l++){for(c=1;c<t;c++)d=f[c-1+l*t],u=f[c+l*t],i.addConstraint(e,r.create(s.extend({bodyA:d,bodyB:u},a)));if(l>0)for(c=0;c<t;c++)d=f[c+(l-1)*t],u=f[c+l*t],i.addConstraint(e,r.create(s.extend({bodyA:d,bodyB:u},a))),o&&c>0&&(p=f[c-1+(l-1)*t],i.addConstraint(e,r.create(s.extend({bodyA:p,bodyB:u},a)))),o&&c<t-1&&(p=f[c+1+(l-1)*t],i.addConstraint(e,r.create(s.extend({bodyA:p,bodyB:u},a))))}return e.label+=" Mesh",e},o.pyramid=function(e,t,n,i,r,s,l){return o.stack(e,t,n,i,r,s,function(t,o,s,c,d,u){var p=Math.min(i,Math.ceil(n/2)),f=d?d.bounds.max.x-d.bounds.min.x:0;if(!(c>p)){c=p-c;var m=c,v=n-1-c;if(!(s<m||s>v)){
}),x=r.create({bodyA:v,pointA:{x:d,y:f},bodyB:y,stiffness:.2,render:{lineWidth:0}}),h=r.create({bodyA:v,pointA:{x:p,y:f},bodyB:g,stiffness:.2,render:{lineWidth:0}});return i.addBody(m,v),i.addBody(m,y),i.addBody(m,g),i.addConstraint(m,x),i.addConstraint(m,h),m},o.softBody=function(e,t,n,i,r,a,c,u,d,p){d=s.extend({inertia:1/0},d),p=s.extend({stiffness:.4},p);var f=o.stack(e,t,n,i,r,a,function(e,t){return l.circle(e,t,u,d)});return o.mesh(f,n,i,c,p),f.label="Soft Body",f}}()},{"../body/Body":1,"../body/Composite":2,"../constraint/Constraint":12,"../core/Common":14,"./Bodies":23}],25:[function(e,t,n){var o={};t.exports=o;var i=e("../geometry/Vector"),r=e("../core/Common");!function(){o.fromVertices=function(e){for(var t={},n=0;n<e.length;n++){var o=(n+1)%e.length,s=i.normalise({x:e[o].y-e[n].y,y:e[n].x-e[o].x}),a=0===s.y?1/0:s.x/s.y;a=a.toFixed(3).toString(),t[a]=s}return r.values(t)},o.rotate=function(e,t){if(0!==t)for(var n=Math.cos(t),o=Math.sin(t),i=0;i<e.length;i++){var r,s=e[i];r=s.x*n-s.y*o, 1===u&&a.translate(d,{x:(s+(n%2===1?1:-1))*f,y:0});var y=d?s*f:0;return l(e+y+s*r,o,s,c,d,u)}}})},o.newtonsCradle=function(e,t,n,o,s){for(var a=i.create({label:"Newtons Cradle"}),c=0;c<n;c++){var d=1.9,u=l.circle(e+c*(o*d),t+s,o,{inertia:1/0,restitution:1,friction:0,frictionAir:1e-4,slop:1}),p=r.create({pointA:{x:e+c*(o*d),y:t},bodyB:u});i.addBody(a,u),i.addConstraint(a,p)}return a},o.car=function(e,t,n,o,s){var c=a.nextGroup(!0),d=20,u=.5*-n+d,p=.5*n-d,f=0,m=i.create({label:"Car"}),v=l.rectangle(e,t,n,o,{collisionFilter:{group:c},chamfer:{radius:.5*o},density:2e-4}),y=l.circle(e+u,t+f,s,{collisionFilter:{group:c},friction:.8}),g=l.circle(e+p,t+f,s,{collisionFilter:{group:c},friction:.8}),x=r.create({bodyB:v,pointB:{x:u,y:f},bodyA:y,stiffness:1,length:0,render:{lineWidth:0}}),h=r.create({bodyB:v,pointB:{x:p,y:f},bodyA:g,stiffness:1,length:0,render:{lineWidth:0}});return i.addBody(m,v),i.addBody(m,y),i.addBody(m,g),i.addConstraint(m,x),i.addConstraint(m,h),m},o.softBody=function(e,t,n,i,r,a,c,d,u,p){
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"../render/RenderPixi":32}],31:[function(e,t,n){var o={};t.exports=o;var i=e("../core/Common"),r=e("../body/Composite"),s=e("../geometry/Bounds"),a=e("../core/Events"),l=e("../collision/Grid"),c=e("../geometry/Vector"),u=e("../core/Mouse");!function(){var e,t;"undefined"!=typeof window&&(e=window.requestAnimationFrame||window.webkitRequestAnimationFrame||window.mozRequestAnimationFrame||window.msRequestAnimationFrame||function(e){window.setTimeout(function(){e(i.now())},1e3/60)},t=window.cancelAnimationFrame||window.mozCancelAnimationFrame||window.webkitCancelAnimationFrame||window.msCancelAnimationFrame),o.create=function(e){var t={controller:o,engine:null,element:null,canvas:null,mouse:null,frameRequestId:null,options:{width:800,height:600,pixelRatio:1,background:"#18181d",wireframeBackground:"#0f0f13",hasBounds:!!e.bounds,enabled:!0,wireframes:!0,showSleeping:!0,showDebug:!1,showBroadphase:!1,showBounds:!1,showVelocity:!1,showCollisions:!1,showSeparations:!1,showAxes:!1,showPositions:!1, o.Engine.run=o.Runner.run},{"../body/Body":1,"../body/Composite":2,"../body/World":3,"../collision/Contact":4,"../collision/Detector":5,"../collision/Grid":6,"../collision/Pair":7,"../collision/Pairs":8,"../collision/Query":9,"../collision/Resolver":10,"../collision/SAT":11,"../constraint/Constraint":12,"../constraint/MouseConstraint":13,"../core/Common":14,"../core/Engine":15,"../core/Events":16,"../core/Matter":17,"../core/Metrics":18,"../core/Mouse":19,"../core/Plugin":20,"../core/Runner":21,"../core/Sleeping":22,"../factory/Bodies":23,"../factory/Composites":24,"../geometry/Axes":25,"../geometry/Bounds":26,"../geometry/Svg":27,"../geometry/Vector":28,"../geometry/Vertices":29,"../render/Render":31,"../render/RenderPixi":32}],31:[function(e,t,n){var o={};t.exports=o;var i=e("../core/Common"),r=e("../body/Composite"),s=e("../geometry/Bounds"),a=e("../core/Events"),l=e("../collision/Grid"),c=e("../geometry/Vector"),d=e("../core/Mouse");!function(){var e,t;"undefined"!=typeof window&&(e=window.requestAnimationFrame||window.webkitRequestAnimationFrame||window.mozRequestAnimationFrame||window.msRequestAnimationFrame||function(e){
showAngleIndicator:!1,showIds:!1,showShadows:!1,showVertexNumbers:!1,showConvexHulls:!1,showInternalEdges:!1,showMousePosition:!1}},r=i.extend(t,e);return r.canvas&&(r.canvas.width=r.options.width||r.canvas.width,r.canvas.height=r.options.height||r.canvas.height),r.mouse=e.mouse,r.engine=e.engine,r.canvas=r.canvas||n(r.options.width,r.options.height),r.context=r.canvas.getContext("2d"),r.textures={},r.bounds=r.bounds||{min:{x:0,y:0},max:{x:r.canvas.width,y:r.canvas.height}},1!==r.options.pixelRatio&&o.setPixelRatio(r,r.options.pixelRatio),i.isElement(r.element)?r.element.appendChild(r.canvas):i.log("Render.create: options.element was undefined, render.canvas was created but not appended","warn"),r},o.run=function(t){!function n(i){t.frameRequestId=e(n),o.world(t)}()},o.stop=function(e){t(e.frameRequestId)},o.setPixelRatio=function(e,t){var n=e.options,o=e.canvas;"auto"===t&&(t=d(o)),n.pixelRatio=t,o.setAttribute("data-pixel-ratio",t),o.width=n.width*t,o.height=n.height*t,o.style.width=n.width+"px", window.setTimeout(function(){e(i.now())},1e3/60)},t=window.cancelAnimationFrame||window.mozCancelAnimationFrame||window.webkitCancelAnimationFrame||window.msCancelAnimationFrame),o.create=function(e){var t={controller:o,engine:null,element:null,canvas:null,mouse:null,frameRequestId:null,options:{width:800,height:600,pixelRatio:1,background:"#18181d",wireframeBackground:"#0f0f13",hasBounds:!!e.bounds,enabled:!0,wireframes:!0,showSleeping:!0,showDebug:!1,showBroadphase:!1,showBounds:!1,showVelocity:!1,showCollisions:!1,showSeparations:!1,showAxes:!1,showPositions:!1,showAngleIndicator:!1,showIds:!1,showShadows:!1,showVertexNumbers:!1,showConvexHulls:!1,showInternalEdges:!1,showMousePosition:!1}},r=i.extend(t,e);return r.canvas&&(r.canvas.width=r.options.width||r.canvas.width,r.canvas.height=r.options.height||r.canvas.height),r.mouse=e.mouse,r.engine=e.engine,r.canvas=r.canvas||n(r.options.width,r.options.height),r.context=r.canvas.getContext("2d"),r.textures={},r.bounds=r.bounds||{min:{x:0,
o.style.height=n.height+"px",e.context.scale(t,t)},o.lookAt=function(e,t,n,o){o="undefined"==typeof o||o,t=i.isArray(t)?t:[t],n=n||{x:0,y:0};for(var r={min:{x:1/0,y:1/0},max:{x:-(1/0),y:-(1/0)}},s=0;s<t.length;s+=1){var a=t[s],l=a.bounds?a.bounds.min:a.min||a.position||a,c=a.bounds?a.bounds.max:a.max||a.position||a;l&&c&&(l.x<r.min.x&&(r.min.x=l.x),c.x>r.max.x&&(r.max.x=c.x),l.y<r.min.y&&(r.min.y=l.y),c.y>r.max.y&&(r.max.y=c.y))}var d=r.max.x-r.min.x+2*n.x,p=r.max.y-r.min.y+2*n.y,f=e.canvas.height,m=e.canvas.width,v=m/f,y=d/p,g=1,x=1;y>v?x=y/v:g=v/y,e.options.hasBounds=!0,e.bounds.min.x=r.min.x,e.bounds.max.x=r.min.x+d*g,e.bounds.min.y=r.min.y,e.bounds.max.y=r.min.y+p*x,o&&(e.bounds.min.x+=.5*d-d*g*.5,e.bounds.max.x+=.5*d-d*g*.5,e.bounds.min.y+=.5*p-p*x*.5,e.bounds.max.y+=.5*p-p*x*.5),e.bounds.min.x-=n.x,e.bounds.max.x-=n.x,e.bounds.min.y-=n.y,e.bounds.max.y-=n.y,e.mouse&&(u.setScale(e.mouse,{x:(e.bounds.max.x-e.bounds.min.x)/e.canvas.width,y:(e.bounds.max.y-e.bounds.min.y)/e.canvas.height y:0},max:{x:r.canvas.width,y:r.canvas.height}},1!==r.options.pixelRatio&&o.setPixelRatio(r,r.options.pixelRatio),i.isElement(r.element)?r.element.appendChild(r.canvas):i.log("Render.create: options.element was undefined, render.canvas was created but not appended","warn"),r},o.run=function(t){!function n(i){t.frameRequestId=e(n),o.world(t)}()},o.stop=function(e){t(e.frameRequestId)},o.setPixelRatio=function(e,t){var n=e.options,o=e.canvas;"auto"===t&&(t=u(o)),n.pixelRatio=t,o.setAttribute("data-pixel-ratio",t),o.width=n.width*t,o.height=n.height*t,o.style.width=n.width+"px",o.style.height=n.height+"px",e.context.scale(t,t)},o.lookAt=function(e,t,n,o){o="undefined"==typeof o||o,t=i.isArray(t)?t:[t],n=n||{x:0,y:0};for(var r={min:{x:1/0,y:1/0},max:{x:-(1/0),y:-(1/0)}},s=0;s<t.length;s+=1){var a=t[s],l=a.bounds?a.bounds.min:a.min||a.position||a,c=a.bounds?a.bounds.max:a.max||a.position||a;l&&c&&(l.x<r.min.x&&(r.min.x=l.x),c.x>r.max.x&&(r.max.x=c.x),l.y<r.min.y&&(r.min.y=l.y),c.y>r.max.y&&(r.max.y=c.y));
}),u.setOffset(e.mouse,e.bounds.min))},o.startViewTransform=function(e){var t=e.bounds.max.x-e.bounds.min.x,n=e.bounds.max.y-e.bounds.min.y,o=t/e.options.width,i=n/e.options.height;e.context.scale(1/o,1/i),e.context.translate(-e.bounds.min.x,-e.bounds.min.y)},o.endViewTransform=function(e){e.context.setTransform(e.options.pixelRatio,0,0,e.options.pixelRatio,0,0)},o.world=function(e){var t,n=e.engine,i=n.world,d=e.canvas,p=e.context,m=e.options,v=r.allBodies(i),y=r.allConstraints(i),g=m.wireframes?m.wireframeBackground:m.background,x=[],h=[],b={timestamp:n.timing.timestamp};if(a.trigger(e,"beforeRender",b),e.currentBackground!==g&&f(e,g),p.globalCompositeOperation="source-in",p.fillStyle="transparent",p.fillRect(0,0,d.width,d.height),p.globalCompositeOperation="source-over",m.hasBounds){for(t=0;t<v.length;t++){var w=v[t];s.overlaps(w.bounds,e.bounds)&&x.push(w)}for(t=0;t<y.length;t++){var S=y[t],C=S.bodyA,A=S.bodyB,P=S.pointA,B=S.pointB;C&&(P=c.add(C.position,S.pointA)),A&&(B=c.add(A.position,S.pointB)), }var u=r.max.x-r.min.x+2*n.x,p=r.max.y-r.min.y+2*n.y,f=e.canvas.height,m=e.canvas.width,v=m/f,y=u/p,g=1,x=1;y>v?x=y/v:g=v/y,e.options.hasBounds=!0,e.bounds.min.x=r.min.x,e.bounds.max.x=r.min.x+u*g,e.bounds.min.y=r.min.y,e.bounds.max.y=r.min.y+p*x,o&&(e.bounds.min.x+=.5*u-u*g*.5,e.bounds.max.x+=.5*u-u*g*.5,e.bounds.min.y+=.5*p-p*x*.5,e.bounds.max.y+=.5*p-p*x*.5),e.bounds.min.x-=n.x,e.bounds.max.x-=n.x,e.bounds.min.y-=n.y,e.bounds.max.y-=n.y,e.mouse&&(d.setScale(e.mouse,{x:(e.bounds.max.x-e.bounds.min.x)/e.canvas.width,y:(e.bounds.max.y-e.bounds.min.y)/e.canvas.height}),d.setOffset(e.mouse,e.bounds.min))},o.startViewTransform=function(e){var t=e.bounds.max.x-e.bounds.min.x,n=e.bounds.max.y-e.bounds.min.y,o=t/e.options.width,i=n/e.options.height;e.context.scale(1/o,1/i),e.context.translate(-e.bounds.min.x,-e.bounds.min.y)},o.endViewTransform=function(e){e.context.setTransform(e.options.pixelRatio,0,0,e.options.pixelRatio,0,0)},o.world=function(e){var t,n=e.engine,i=n.world,u=e.canvas,p=e.context,m=e.options,v=r.allBodies(i),y=r.allConstraints(i),g=m.wireframes?m.wireframeBackground:m.background,x=[],h=[],b={
P&&B&&(s.contains(e.bounds,P)||s.contains(e.bounds,B))&&h.push(S)}o.startViewTransform(e),e.mouse&&(u.setScale(e.mouse,{x:(e.bounds.max.x-e.bounds.min.x)/e.canvas.width,y:(e.bounds.max.y-e.bounds.min.y)/e.canvas.height}),u.setOffset(e.mouse,e.bounds.min))}else h=y,x=v;!m.wireframes||n.enableSleeping&&m.showSleeping?o.bodies(e,x,p):(m.showConvexHulls&&o.bodyConvexHulls(e,x,p),o.bodyWireframes(e,x,p)),m.showBounds&&o.bodyBounds(e,x,p),(m.showAxes||m.showAngleIndicator)&&o.bodyAxes(e,x,p),m.showPositions&&o.bodyPositions(e,x,p),m.showVelocity&&o.bodyVelocity(e,x,p),m.showIds&&o.bodyIds(e,x,p),m.showSeparations&&o.separations(e,n.pairs.list,p),m.showCollisions&&o.collisions(e,n.pairs.list,p),m.showVertexNumbers&&o.vertexNumbers(e,x,p),m.showMousePosition&&o.mousePosition(e,e.mouse,p),o.constraints(h,p),m.showBroadphase&&n.broadphase.controller===l&&o.grid(e,n.broadphase,p),m.showDebug&&o.debug(e,p),m.hasBounds&&o.endViewTransform(e),a.trigger(e,"afterRender",b)},o.debug=function(e,t){var n=t,o=e.engine,i=o.world,s=o.metrics,a=e.options,l=(r.allBodies(i), timestamp:n.timing.timestamp};if(a.trigger(e,"beforeRender",b),e.currentBackground!==g&&f(e,g),p.globalCompositeOperation="source-in",p.fillStyle="transparent",p.fillRect(0,0,u.width,u.height),p.globalCompositeOperation="source-over",m.hasBounds){for(t=0;t<v.length;t++){var w=v[t];s.overlaps(w.bounds,e.bounds)&&x.push(w)}for(t=0;t<y.length;t++){var S=y[t],C=S.bodyA,A=S.bodyB,P=S.pointA,B=S.pointB;C&&(P=c.add(C.position,S.pointA)),A&&(B=c.add(A.position,S.pointB)),P&&B&&(s.contains(e.bounds,P)||s.contains(e.bounds,B))&&h.push(S)}o.startViewTransform(e),e.mouse&&(d.setScale(e.mouse,{x:(e.bounds.max.x-e.bounds.min.x)/e.canvas.width,y:(e.bounds.max.y-e.bounds.min.y)/e.canvas.height}),d.setOffset(e.mouse,e.bounds.min))}else h=y,x=v;!m.wireframes||n.enableSleeping&&m.showSleeping?o.bodies(e,x,p):(m.showConvexHulls&&o.bodyConvexHulls(e,x,p),o.bodyWireframes(e,x,p)),m.showBounds&&o.bodyBounds(e,x,p),(m.showAxes||m.showAngleIndicator)&&o.bodyAxes(e,x,p),m.showPositions&&o.bodyPositions(e,x,p),m.showVelocity&&o.bodyVelocity(e,x,p),
" ");if(o.timing.timestamp-(e.debugTimestamp||0)>=500){var c="";s.timing&&(c+="fps: "+Math.round(s.timing.fps)+l),e.debugString=c,e.debugTimestamp=o.timing.timestamp}if(e.debugString){n.font="12px Arial",a.wireframes?n.fillStyle="rgba(255,255,255,0.5)":n.fillStyle="rgba(0,0,0,0.5)";for(var u=e.debugString.split("\n"),d=0;d<u.length;d++)n.fillText(u[d],50,50+18*d)}},o.constraints=function(e,t){for(var n=t,o=0;o<e.length;o++){var i=e[o];if(i.render.visible&&i.pointA&&i.pointB){var r=i.bodyA,s=i.bodyB;r?(n.beginPath(),n.moveTo(r.position.x+i.pointA.x,r.position.y+i.pointA.y)):(n.beginPath(),n.moveTo(i.pointA.x,i.pointA.y)),s?n.lineTo(s.position.x+i.pointB.x,s.position.y+i.pointB.y):n.lineTo(i.pointB.x,i.pointB.y),i.render.lineWidth&&(n.lineWidth=i.render.lineWidth,n.strokeStyle=i.render.strokeStyle,n.stroke())}}},o.bodyShadows=function(e,t,n){for(var o=n,i=(e.engine,0);i<t.length;i++){var r=t[i];if(r.render.visible){if(r.circleRadius)o.beginPath(),o.arc(r.position.x,r.position.y,r.circleRadius,0,2*Math.PI), m.showIds&&o.bodyIds(e,x,p),m.showSeparations&&o.separations(e,n.pairs.list,p),m.showCollisions&&o.collisions(e,n.pairs.list,p),m.showVertexNumbers&&o.vertexNumbers(e,x,p),m.showMousePosition&&o.mousePosition(e,e.mouse,p),o.constraints(h,p),m.showBroadphase&&n.broadphase.controller===l&&o.grid(e,n.broadphase,p),m.showDebug&&o.debug(e,p),m.hasBounds&&o.endViewTransform(e),a.trigger(e,"afterRender",b)},o.debug=function(e,t){var n=t,o=e.engine,i=o.world,s=o.metrics,a=e.options,l=(r.allBodies(i)," ");if(o.timing.timestamp-(e.debugTimestamp||0)>=500){var c="";s.timing&&(c+="fps: "+Math.round(s.timing.fps)+l),e.debugString=c,e.debugTimestamp=o.timing.timestamp}if(e.debugString){n.font="12px Arial",a.wireframes?n.fillStyle="rgba(255,255,255,0.5)":n.fillStyle="rgba(0,0,0,0.5)";for(var d=e.debugString.split("\n"),u=0;u<d.length;u++)n.fillText(d[u],50,50+18*u)}},o.constraints=function(e,t){for(var n=t,o=0;o<e.length;o++){var r=e[o];if(r.render.visible&&r.pointA&&r.pointB){var s,a,l=r.bodyA,d=r.bodyB;
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var o=e.sprites["bg-0"];e.textures={},e.sprites={},e.primitives={},e.sprites["bg-0"]=o,o&&t.addChildAt(o,0),e.container.addChild(e.spriteContainer),e.currentBackground=null,t.scale.set(1,1),t.position.set(0,0)},o.setBackground=function(e,t){if(e.currentBackground!==t){var n=t.indexOf&&t.indexOf("#")!==-1,o=e.sprites["bg-0"];if(n){var i=s.colorToNumber(t);e.renderer.backgroundColor=i,o&&e.container.removeChild(o)}else if(!o){var r=u(e,t);o=e.sprites["bg-0"]=new PIXI.Sprite(r),o.position.x=0,o.position.y=0,e.container.addChildAt(o,0)}e.currentBackground=t}},o.world=function(e){var t,n=e.engine,s=n.world,a=e.renderer,c=e.container,u=e.options,d=r.allBodies(s),p=r.allConstraints(s),f=[];u.wireframes?o.setBackground(e,u.wireframeBackground):o.setBackground(e,u.background);var m=e.bounds.max.x-e.bounds.min.x,v=e.bounds.max.y-e.bounds.min.y,y=m/e.options.width,g=v/e.options.height;if(u.hasBounds){for(t=0;t<d.length;t++){var x=d[t];x.render.sprite.visible=i.overlaps(x.bounds,e.bounds)}for(t=0;t<p.length;t++){ var o=e.sprites["bg-0"];e.textures={},e.sprites={},e.primitives={},e.sprites["bg-0"]=o,o&&t.addChildAt(o,0),e.container.addChild(e.spriteContainer),e.currentBackground=null,t.scale.set(1,1),t.position.set(0,0)},o.setBackground=function(e,t){if(e.currentBackground!==t){var n=t.indexOf&&t.indexOf("#")!==-1,o=e.sprites["bg-0"];if(n){var i=s.colorToNumber(t);e.renderer.backgroundColor=i,o&&e.container.removeChild(o)}else if(!o){var r=d(e,t);o=e.sprites["bg-0"]=new PIXI.Sprite(r),o.position.x=0,o.position.y=0,e.container.addChildAt(o,0)}e.currentBackground=t}},o.world=function(e){var t,n=e.engine,s=n.world,a=e.renderer,c=e.container,d=e.options,u=r.allBodies(s),p=r.allConstraints(s),f=[];d.wireframes?o.setBackground(e,d.wireframeBackground):o.setBackground(e,d.background);var m=e.bounds.max.x-e.bounds.min.x,v=e.bounds.max.y-e.bounds.min.y,y=m/e.options.width,g=v/e.options.height;if(d.hasBounds){for(t=0;t<u.length;t++){var x=u[t];x.render.sprite.visible=i.overlaps(x.bounds,e.bounds)}for(t=0;t<p.length;t++){
var h=p[t],b=h.bodyA,w=h.bodyB,S=h.pointA,C=h.pointB;b&&(S=l.add(b.position,h.pointA)),w&&(C=l.add(w.position,h.pointB)),S&&C&&(i.contains(e.bounds,S)||i.contains(e.bounds,C))&&f.push(h)}c.scale.set(1/y,1/g),c.position.set(-e.bounds.min.x*(1/y),-e.bounds.min.y*(1/g))}else f=p;for(t=0;t<d.length;t++)o.body(e,d[t]);for(t=0;t<f.length;t++)o.constraint(e,f[t]);a.render(c)},o.constraint=function(e,t){var n=(e.engine,t.bodyA),o=t.bodyB,i=t.pointA,r=t.pointB,a=e.container,l=t.render,c="c-"+t.id,u=e.primitives[c];return u||(u=e.primitives[c]=new PIXI.Graphics),l.visible&&t.pointA&&t.pointB?(s.indexOf(a.children,u)===-1&&a.addChild(u),u.clear(),u.beginFill(0,0),u.lineStyle(l.lineWidth,s.colorToNumber(l.strokeStyle),1),n?u.moveTo(n.position.x+i.x,n.position.y+i.y):u.moveTo(i.x,i.y),o?u.lineTo(o.position.x+r.x,o.position.y+r.y):u.lineTo(r.x,r.y),void u.endFill()):void u.clear()},o.body=function(e,t){var o=(e.engine,t.render);if(o.visible)if(o.sprite&&o.sprite.texture){var i="b-"+t.id,r=e.sprites[i],a=e.spriteContainer; var h=p[t],b=h.bodyA,w=h.bodyB,S=h.pointA,C=h.pointB;b&&(S=l.add(b.position,h.pointA)),w&&(C=l.add(w.position,h.pointB)),S&&C&&(i.contains(e.bounds,S)||i.contains(e.bounds,C))&&f.push(h)}c.scale.set(1/y,1/g),c.position.set(-e.bounds.min.x*(1/y),-e.bounds.min.y*(1/g))}else f=p;for(t=0;t<u.length;t++)o.body(e,u[t]);for(t=0;t<f.length;t++)o.constraint(e,f[t]);a.render(c)},o.constraint=function(e,t){var n=(e.engine,t.bodyA),o=t.bodyB,i=t.pointA,r=t.pointB,a=e.container,l=t.render,c="c-"+t.id,d=e.primitives[c];return d||(d=e.primitives[c]=new PIXI.Graphics),l.visible&&t.pointA&&t.pointB?(s.indexOf(a.children,d)===-1&&a.addChild(d),d.clear(),d.beginFill(0,0),d.lineStyle(l.lineWidth,s.colorToNumber(l.strokeStyle),1),n?d.moveTo(n.position.x+i.x,n.position.y+i.y):d.moveTo(i.x,i.y),o?d.lineTo(o.position.x+r.x,o.position.y+r.y):d.lineTo(r.x,r.y),void d.endFill()):void d.clear()},o.body=function(e,t){var o=(e.engine,t.render);if(o.visible)if(o.sprite&&o.sprite.texture){var i="b-"+t.id,r=e.sprites[i],a=e.spriteContainer;
r||(r=e.sprites[i]=n(e,t)),s.indexOf(a.children,r)===-1&&a.addChild(r),r.position.x=t.position.x,r.position.y=t.position.y,r.rotation=t.angle,r.scale.x=o.sprite.xScale||1,r.scale.y=o.sprite.yScale||1}else{var l="b-"+t.id,u=e.primitives[l],d=e.container;u||(u=e.primitives[l]=c(e,t),u.initialAngle=t.angle),s.indexOf(d.children,u)===-1&&d.addChild(u),u.position.x=t.position.x,u.position.y=t.position.y,u.rotation=t.angle-u.initialAngle}};var n=function(e,t){var n=t.render,o=n.sprite.texture,i=u(e,o),r=new PIXI.Sprite(i);return r.anchor.x=t.render.sprite.xOffset,r.anchor.y=t.render.sprite.yOffset,r},c=function(e,t){var n,o=t.render,i=e.options,r=new PIXI.Graphics,a=s.colorToNumber(o.fillStyle),l=s.colorToNumber(o.strokeStyle),c=s.colorToNumber(o.strokeStyle),u=s.colorToNumber("#bbb"),d=s.colorToNumber("#CD5C5C");r.clear();for(var p=t.parts.length>1?1:0;p<t.parts.length;p++){n=t.parts[p],i.wireframes?(r.beginFill(0,0),r.lineStyle(1,u,1)):(r.beginFill(a,1),r.lineStyle(o.lineWidth,l,1)),r.moveTo(n.vertices[0].x-t.position.x,n.vertices[0].y-t.position.y); r||(r=e.sprites[i]=n(e,t)),s.indexOf(a.children,r)===-1&&a.addChild(r),r.position.x=t.position.x,r.position.y=t.position.y,r.rotation=t.angle,r.scale.x=o.sprite.xScale||1,r.scale.y=o.sprite.yScale||1}else{var l="b-"+t.id,d=e.primitives[l],u=e.container;d||(d=e.primitives[l]=c(e,t),d.initialAngle=t.angle),s.indexOf(u.children,d)===-1&&u.addChild(d),d.position.x=t.position.x,d.position.y=t.position.y,d.rotation=t.angle-d.initialAngle}};var n=function(e,t){var n=t.render,o=n.sprite.texture,i=d(e,o),r=new PIXI.Sprite(i);return r.anchor.x=t.render.sprite.xOffset,r.anchor.y=t.render.sprite.yOffset,r},c=function(e,t){var n,o=t.render,i=e.options,r=new PIXI.Graphics,a=s.colorToNumber(o.fillStyle),l=s.colorToNumber(o.strokeStyle),c=s.colorToNumber(o.strokeStyle),d=s.colorToNumber("#bbb"),u=s.colorToNumber("#CD5C5C");r.clear();for(var p=t.parts.length>1?1:0;p<t.parts.length;p++){n=t.parts[p],i.wireframes?(r.beginFill(0,0),r.lineStyle(1,d,1)):(r.beginFill(a,1),r.lineStyle(o.lineWidth,l,1)),r.moveTo(n.vertices[0].x-t.position.x,n.vertices[0].y-t.position.y);
for(var f=1;f<n.vertices.length;f++)r.lineTo(n.vertices[f].x-t.position.x,n.vertices[f].y-t.position.y);r.lineTo(n.vertices[0].x-t.position.x,n.vertices[0].y-t.position.y),r.endFill(),(i.showAngleIndicator||i.showAxes)&&(r.beginFill(0,0),i.wireframes?r.lineStyle(1,d,1):r.lineStyle(1,c),r.moveTo(n.position.x-t.position.x,n.position.y-t.position.y),r.lineTo((n.vertices[0].x+n.vertices[n.vertices.length-1].x)/2-t.position.x,(n.vertices[0].y+n.vertices[n.vertices.length-1].y)/2-t.position.y),r.endFill())}return r},u=function(e,t){var n=e.textures[t];return n||(n=e.textures[t]=PIXI.Texture.fromImage(t)),n}}()},{"../body/Composite":2,"../core/Common":14,"../core/Events":16,"../geometry/Bounds":26,"../geometry/Vector":28}]},{},[30])(30)}); for(var f=1;f<n.vertices.length;f++)r.lineTo(n.vertices[f].x-t.position.x,n.vertices[f].y-t.position.y);r.lineTo(n.vertices[0].x-t.position.x,n.vertices[0].y-t.position.y),r.endFill(),(i.showAngleIndicator||i.showAxes)&&(r.beginFill(0,0),i.wireframes?r.lineStyle(1,u,1):r.lineStyle(1,c),r.moveTo(n.position.x-t.position.x,n.position.y-t.position.y),r.lineTo((n.vertices[0].x+n.vertices[n.vertices.length-1].x)/2-t.position.x,(n.vertices[0].y+n.vertices[n.vertices.length-1].y)/2-t.position.y),r.endFill())}return r},d=function(e,t){var n=e.textures[t];return n||(n=e.textures[t]=PIXI.Texture.fromImage(t)),n}}()},{"../body/Composite":2,"../core/Common":14,"../core/Events":16,"../geometry/Bounds":26,"../geometry/Vector":28}]},{},[30])(30)});

3
demo/index.html
View file

@ -44,6 +44,8 @@
<script src="../examples/compound.js"></script> <script src="../examples/compound.js"></script>
<script src="../examples/compoundStack.js"></script> <script src="../examples/compoundStack.js"></script>
<script src="../examples/concave.js"></script> <script src="../examples/concave.js"></script>
<script src="../examples/constraints.js"></script>
<script src="../examples/doublePendulum.js"></script>
<script src="../examples/events.js"></script> <script src="../examples/events.js"></script>
<script src="../examples/friction.js"></script> <script src="../examples/friction.js"></script>
<script src="../examples/gravity.js"></script> <script src="../examples/gravity.js"></script>
@ -51,6 +53,7 @@
<script src="../examples/manipulation.js"></script> <script src="../examples/manipulation.js"></script>
<script src="../examples/mixed.js"></script> <script src="../examples/mixed.js"></script>
<script src="../examples/newtonsCradle.js"></script> <script src="../examples/newtonsCradle.js"></script>
<script src="../examples/ragdoll.js"></script>
<script src="../examples/pyramid.js"></script> <script src="../examples/pyramid.js"></script>
<script src="../examples/raycasting.js"></script> <script src="../examples/raycasting.js"></script>
<script src="../examples/restitution.js"></script> <script src="../examples/restitution.js"></script>

18
demo/js/Demo.js
View file

@ -118,6 +118,18 @@
init: Example.concave, init: Example.concave,
sourceLink: sourceLinkRoot + '/concave.js' sourceLink: sourceLinkRoot + '/concave.js'
}, },
{
name: 'Constraints',
id: 'constraints',
init: Example.constraints,
sourceLink: sourceLinkRoot + '/constraints.js'
},
{
name: 'Double Pendulum',
id: 'doublePendulum',
init: Example.doublePendulum,
sourceLink: sourceLinkRoot + '/doublePendulum.js'
},
{ {
name: 'Events', name: 'Events',
id: 'events', id: 'events',
@ -160,6 +172,12 @@
init: Example.newtonsCradle, init: Example.newtonsCradle,
sourceLink: sourceLinkRoot + '/newtonsCradle.js' sourceLink: sourceLinkRoot + '/newtonsCradle.js'
}, },
{
name: 'Ragdoll',
id: 'ragdoll',
init: Example.ragdoll,
sourceLink: sourceLinkRoot + '/ragdoll.js'
},
{ {
name: 'Pyramid', name: 'Pyramid',
id: 'pyramid', id: 'pyramid',

31
demo/lib/matter-tools.demo.js
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20
demo/lib/matter-tools.gui.js
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15
demo/lib/matter-tools.inspector.js
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132
demo/lib/matter-wrap.js
View file

@ -1,15 +1,15 @@
/*! /*!
* matter-wrap 0.1.2 by Liam Brummitt 2017-02-12 * matter-wrap 0.2.0 by Liam Brummitt 2017-07-04
* https://github.com/liabru/matter-wrap * https://github.com/liabru/matter-wrap
* License MIT * License MIT
*/ */
(function webpackUniversalModuleDefinition(root, factory) { (function webpackUniversalModuleDefinition(root, factory) {
if(typeof exports === 'object' && typeof module === 'object') if(typeof exports === 'object' && typeof module === 'object')
module.exports = factory(require("Matter")); module.exports = factory(require("matter-js"));
else if(typeof define === 'function' && define.amd) else if(typeof define === 'function' && define.amd)
define(["Matter"], factory); define(["matter-js"], factory);
else if(typeof exports === 'object') else if(typeof exports === 'object')
exports["MatterWrap"] = factory(require("Matter")); exports["MatterWrap"] = factory(require("matter-js"));
else else
root["MatterWrap"] = factory(root["Matter"]); root["MatterWrap"] = factory(root["Matter"]);
})(this, function(__WEBPACK_EXTERNAL_MODULE_0__) { })(this, function(__WEBPACK_EXTERNAL_MODULE_0__) {
@ -104,7 +104,7 @@ var Matter = __webpack_require__(0);
var MatterWrap = { var MatterWrap = {
// plugin meta // plugin meta
name: 'matter-wrap', // PLUGIN_NAME name: 'matter-wrap', // PLUGIN_NAME
version: '0.1.0', // PLUGIN_VERSION version: '0.1.3', // PLUGIN_VERSION
for: 'matter-js@^0.12.0', for: 'matter-js@^0.12.0',
// installs the plugin where `base` is `Matter` // installs the plugin where `base` is `Matter`
@ -117,7 +117,7 @@ var MatterWrap = {
Engine: { Engine: {
/** /**
* Updates the engine by wrapping bodies inside `engine.world`. * Updates the engine by wrapping bodies and composites inside `engine.world`.
* This is called automatically by the plugin. * This is called automatically by the plugin.
* @function MatterWrap.Engine.update * @function MatterWrap.Engine.update
* @param {Matter.Engine} engine The engine to update. * @param {Matter.Engine} engine The engine to update.
@ -125,7 +125,8 @@ var MatterWrap = {
*/ */
update: function update(engine) { update: function update(engine) {
var world = engine.world, var world = engine.world,
bodies = Matter.Composite.allBodies(world); bodies = Matter.Composite.allBodies(world),
composites = Matter.Composite.allComposites(world);
for (var i = 0; i < bodies.length; i += 1) { for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i]; var body = bodies[i];
@ -134,46 +135,114 @@ var MatterWrap = {
MatterWrap.Body.wrap(body, body.plugin.wrap); MatterWrap.Body.wrap(body, body.plugin.wrap);
} }
} }
for (i = 0; i < composites.length; i += 1) {
var composite = composites[i];
if (composite.plugin.wrap) {
MatterWrap.Composite.wrap(composite, composite.plugin.wrap);
}
}
}
},
Bounds: {
/**
* Returns a translation vector that wraps the `objectBounds` inside the `bounds`.
* @function MatterWrap.Bounds.wrap
* @param {Matter.Bounds} objectBounds The bounds of the object to wrap inside the bounds.
* @param {Matter.Bounds} bounds The bounds to wrap the body inside.
* @returns {?Matter.Vector} A translation vector (only if wrapping is required).
*/
wrap: function wrap(objectBounds, bounds) {
var x = null,
y = null;
if (typeof bounds.min.x !== 'undefined' && typeof bounds.max.x !== 'undefined') {
if (objectBounds.min.x > bounds.max.x) {
x = bounds.min.x - objectBounds.max.x;
} else if (objectBounds.max.x < bounds.min.x) {
x = bounds.max.x - objectBounds.min.x;
}
}
if (typeof bounds.min.y !== 'undefined' && typeof bounds.max.y !== 'undefined') {
if (objectBounds.min.y > bounds.max.y) {
y = bounds.min.y - objectBounds.max.y;
} else if (objectBounds.max.y < bounds.min.y) {
y = bounds.max.y - objectBounds.min.y;
}
}
if (x !== null || y !== null) {
return {
x: x || 0,
y: y || 0
};
}
} }
}, },
Body: { Body: {
/** /**
* Wraps the `body` position such that it always stay within the given bounds. * Wraps the `body` position such that it always stays within the given bounds.
* Upon crossing a boundary the body will appear on the opposite side of the bounds, * Upon crossing a boundary the body will appear on the opposite side of the bounds,
* while maintaining its velocity. * while maintaining its velocity.
* This is called automatically by the plugin. * This is called automatically by the plugin.
* @function MatterAttractors.Body.wrap * @function MatterWrap.Body.wrap
* @param {Matter.Body} body The body to wrap. * @param {Matter.Body} body The body to wrap.
* @param {Matter.Bounds} bounds The bounds to wrap the body inside. * @param {Matter.Bounds} bounds The bounds to wrap the body inside.
* @returns {void} No return value. * @returns {?Matter.Vector} The translation vector that was applied (only if wrapping was required).
*/ */
wrap: function wrap(body, bounds) { wrap: function wrap(body, bounds) {
var x = null, var translation = MatterWrap.Bounds.wrap(body.bounds, bounds);
y = null;
if (typeof bounds.min.x !== 'undefined' && typeof bounds.max.x !== 'undefined') { if (translation) {
if (body.bounds.min.x > bounds.max.x) { Matter.Body.translate(body, translation);
x = bounds.min.x - (body.bounds.max.x - body.position.x);
} else if (body.bounds.max.x < bounds.min.x) {
x = bounds.max.x - (body.bounds.min.x - body.position.x);
}
} }
if (typeof bounds.min.y !== 'undefined' && typeof bounds.max.y !== 'undefined') { return translation;
if (body.bounds.min.y > bounds.max.y) {
y = bounds.min.y - (body.bounds.max.y - body.position.y);
} else if (body.bounds.max.y < bounds.min.y) {
y = bounds.max.y - (body.bounds.min.y - body.position.y);
} }
},
Composite: {
/**
* Returns the union of the bounds of all of the composite's bodies
* (not accounting for constraints).
* @function MatterWrap.Composite.bounds
* @param {Matter.Composite} composite The composite.
* @returns {Matter.Bounds} The composite bounds.
*/
bounds: function bounds(composite) {
var bodies = Matter.Composite.allBodies(composite),
vertices = [];
for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i];
vertices.push(body.bounds.min, body.bounds.max);
} }
if (x !== null || y !== null) { return Matter.Bounds.create(vertices);
Matter.Body.setPosition(body, { },
x: x || body.position.x,
y: y || body.position.y /**
}); * Wraps the `composite` position such that it always stays within the given bounds.
* Upon crossing a boundary the composite will appear on the opposite side of the bounds,
* while maintaining its velocity.
* This is called automatically by the plugin.
* @function MatterWrap.Composite.wrap
* @param {Matter.Composite} composite The composite to wrap.
* @param {Matter.Bounds} bounds The bounds to wrap the composite inside.
* @returns {?Matter.Vector} The translation vector that was applied (only if wrapping was required).
*/
wrap: function wrap(composite, bounds) {
var translation = MatterWrap.Bounds.wrap(MatterWrap.Composite.bounds(composite), bounds);
if (translation) {
Matter.Composite.translate(composite, translation);
} }
return translation;
} }
} }
}; };
@ -194,6 +263,13 @@ module.exports = MatterWrap;
* @memberof Matter.Body * @memberof Matter.Body
*/ */
/**
* This plugin adds a new property `composite.plugin.wrap` to instances of `Matter.Composite`.
* This is a `Matter.Bounds` instance that specifies the wrapping region.
* @property {Matter.Bounds} composite.plugin.wrap
* @memberof Matter.Composite
*/
/***/ }) /***/ })
/******/ ]); /******/ ]);
}); });

54
examples/bridge.js
View file

@ -37,23 +37,55 @@ Example.bridge = function() {
// add bodies // add bodies
var group = Body.nextGroup(true); var group = Body.nextGroup(true);
var bridge = Composites.stack(150, 300, 9, 1, 10, 10, function(x, y) { var bridge = Composites.stack(160, 290, 15, 1, 0, 0, function(x, y) {
return Bodies.rectangle(x, y, 50, 20, { collisionFilter: { group: group } }); return Bodies.rectangle(x - 20, y, 53, 20, {
collisionFilter: { group: group },
chamfer: 5,
density: 0.005,
frictionAir: 0.05,
render: {
fillStyle: '#575375'
}
});
}); });
Composites.chain(bridge, 0.5, 0, -0.5, 0, { stiffness: 0.9 }); Composites.chain(bridge, 0.3, 0, -0.3, 0, {
stiffness: 1,
length: 0,
render: {
visible: false
}
});
var stack = Composites.stack(200, 40, 6, 3, 0, 0, function(x, y) { var stack = Composites.stack(250, 50, 6, 3, 0, 0, function(x, y) {
return Bodies.polygon(x, y, Math.round(Common.random(1, 8)), Common.random(20, 40)); return Bodies.rectangle(x, y, 50, 50, Common.random(20, 40));
}); });
World.add(world, [ World.add(world, [
bridge, bridge,
Bodies.rectangle(80, 440, 120, 280, { isStatic: true }), stack,
Bodies.rectangle(720, 440, 120, 280, { isStatic: true }), Bodies.rectangle(30, 490, 220, 380, {
Constraint.create({ pointA: { x: 140, y: 300 }, bodyB: bridge.bodies[0], pointB: { x: -25, y: 0 } }), isStatic: true,
Constraint.create({ pointA: { x: 660, y: 300 }, bodyB: bridge.bodies[8], pointB: { x: 25, y: 0 } }), chamfer: { radius: 20 }
stack }),
Bodies.rectangle(770, 490, 220, 380, {
isStatic: true,
chamfer: { radius: 20 }
}),
Constraint.create({
pointA: { x: 140, y: 300 },
bodyB: bridge.bodies[0],
pointB: { x: -25, y: 0 },
length: 2,
stiffness: 0.9
}),
Constraint.create({
pointA: { x: 660, y: 300 },
bodyB: bridge.bodies[bridge.bodies.length - 1],
pointB: { x: 25, y: 0 },
length: 2,
stiffness: 0.9
})
]); ]);
// add mouse control // add mouse control
@ -61,7 +93,7 @@ Example.bridge = function() {
mouseConstraint = MouseConstraint.create(engine, { mouseConstraint = MouseConstraint.create(engine, {
mouse: mouse, mouse: mouse,
constraint: { constraint: {
stiffness: 0.2, stiffness: 0.1,
render: { render: {
visible: false visible: false
} }

4
examples/car.js
View file

@ -42,10 +42,10 @@ Example.car = function() {
]); ]);
var scale = 0.9; var scale = 0.9;
World.add(world, Composites.car(150, 100, 100 * scale, 40 * scale, 30 * scale)); World.add(world, Composites.car(150, 100, 150 * scale, 30 * scale, 30 * scale));
scale = 0.8; scale = 0.8;
World.add(world, Composites.car(350, 300, 100 * scale, 40 * scale, 30 * scale)); World.add(world, Composites.car(350, 300, 150 * scale, 30 * scale, 30 * scale));
World.add(world, [ World.add(world, [
Bodies.rectangle(200, 150, 400, 20, { isStatic: true, angle: Math.PI * 0.06 }), Bodies.rectangle(200, 150, 400, 20, { isStatic: true, angle: Math.PI * 0.06 }),

17
examples/catapult.js
View file

@ -9,7 +9,9 @@ Example.catapult = function() {
MouseConstraint = Matter.MouseConstraint, MouseConstraint = Matter.MouseConstraint,
Mouse = Matter.Mouse, Mouse = Matter.Mouse,
World = Matter.World, World = Matter.World,
Bodies = Matter.Bodies; Bodies = Matter.Bodies,
Body = Matter.Body,
Vector = Matter.Vector;
// create engine // create engine
var engine = Engine.create(), var engine = Engine.create(),
@ -35,20 +37,27 @@ Example.catapult = function() {
Runner.run(runner, engine); Runner.run(runner, engine);
// add bodies // add bodies
var group = Body.nextGroup(true);
var stack = Composites.stack(250, 255, 1, 6, 0, 0, function(x, y) { var stack = Composites.stack(250, 255, 1, 6, 0, 0, function(x, y) {
return Bodies.rectangle(x, y, 30, 30); return Bodies.rectangle(x, y, 30, 30);
}); });
var catapult = Bodies.rectangle(400, 520, 320, 20); var catapult = Bodies.rectangle(400, 520, 320, 20, { collisionFilter: { group: group } });
World.add(world, [ World.add(world, [
stack, stack,
catapult, catapult,
Bodies.rectangle(400, 600, 800, 50.5, { isStatic: true }), Bodies.rectangle(400, 600, 800, 50.5, { isStatic: true }),
Bodies.rectangle(250, 555, 20, 50, { isStatic: true }), Bodies.rectangle(250, 555, 20, 50, { isStatic: true }),
Bodies.rectangle(400, 535, 20, 80, { isStatic: true, collisionFilter: { group: group } }),
Bodies.circle(560, 100, 50, { density: 0.005 }), Bodies.circle(560, 100, 50, { density: 0.005 }),
Constraint.create({ bodyA: catapult, pointB: { x: 390, y: 580 } }), Constraint.create({
Constraint.create({ bodyA: catapult, pointB: { x: 410, y: 580 } }) bodyA: catapult,
pointB: Vector.clone(catapult.position),
stiffness: 1,
length: 0
})
]); ]);
// add mouse control // add mouse control

35
examples/chains.js
View file

@ -39,35 +39,52 @@ Example.chains = function() {
// add bodies // add bodies
var group = Body.nextGroup(true); var group = Body.nextGroup(true);
var ropeA = Composites.stack(200, 100, 4, 2, 10, 10, function(x, y) { var ropeA = Composites.stack(100, 50, 8, 1, 10, 10, function(x, y) {
return Bodies.rectangle(x, y, 50, 20, { collisionFilter: { group: group } }); return Bodies.rectangle(x, y, 50, 20, { collisionFilter: { group: group } });
}); });
Composites.chain(ropeA, 0.5, 0, -0.5, 0, { stiffness: 0.8, length: 2 }); Composites.chain(ropeA, 0.5, 0, -0.5, 0, { stiffness: 0.8, length: 2, render: { type: 'line' } });
Composite.add(ropeA, Constraint.create({ Composite.add(ropeA, Constraint.create({
bodyB: ropeA.bodies[0], bodyB: ropeA.bodies[0],
pointB: { x: -25, y: 0 }, pointB: { x: -25, y: 0 },
pointA: { x: 200, y: 100 }, pointA: { x: ropeA.bodies[0].position.x, y: ropeA.bodies[0].position.y },
stiffness: 0.5 stiffness: 0.5
})); }));
World.add(world, ropeA);
group = Body.nextGroup(true); group = Body.nextGroup(true);
var ropeB = Composites.stack(500, 100, 5, 2, 10, 10, function(x, y) { var ropeB = Composites.stack(350, 50, 10, 1, 10, 10, function(x, y) {
return Bodies.circle(x, y, 20, { collisionFilter: { group: group } }); return Bodies.circle(x, y, 20, { collisionFilter: { group: group } });
}); });
Composites.chain(ropeB, 0.5, 0, -0.5, 0, { stiffness: 0.8, length: 2 }); Composites.chain(ropeB, 0.5, 0, -0.5, 0, { stiffness: 0.8, length: 2, render: { type: 'line' } });
Composite.add(ropeB, Constraint.create({ Composite.add(ropeB, Constraint.create({
bodyB: ropeB.bodies[0], bodyB: ropeB.bodies[0],
pointB: { x: -20, y: 0 }, pointB: { x: -20, y: 0 },
pointA: { x: 500, y: 100 }, pointA: { x: ropeB.bodies[0].position.x, y: ropeB.bodies[0].position.y },
stiffness: 0.5 stiffness: 0.5
})); }));
World.add(world, ropeB); group = Body.nextGroup(true);
var ropeC = Composites.stack(600, 50, 13, 1, 10, 10, function(x, y) {
return Bodies.rectangle(x - 20, y, 50, 20, { collisionFilter: { group: group }, chamfer: 5 });
});
Composites.chain(ropeC, 0.3, 0, -0.3, 0, { stiffness: 1, length: 0 });
Composite.add(ropeC, Constraint.create({
bodyB: ropeC.bodies[0],
pointB: { x: -20, y: 0 },
pointA: { x: ropeC.bodies[0].position.x, y: ropeC.bodies[0].position.y },
stiffness: 0.5
}));
World.add(world, [
ropeA,
ropeB,
ropeC,
Bodies.rectangle(400, 600, 1200, 50.5, { isStatic: true })
]);
// add mouse control // add mouse control
var mouse = Mouse.create(render.canvas), var mouse = Mouse.create(render.canvas),

3
examples/cloth.js
View file

@ -34,7 +34,8 @@ Example.cloth = function() {
// add bodies // add bodies
var group = Body.nextGroup(true), var group = Body.nextGroup(true),
particleOptions = { friction: 0.00001, collisionFilter: { group: group }, render: { visible: false }}, particleOptions = { friction: 0.00001, collisionFilter: { group: group }, render: { visible: false }},
cloth = Composites.softBody(200, 200, 20, 12, 5, 5, false, 8, particleOptions); constraintOptions = { stiffness: 0.06 },
cloth = Composites.softBody(200, 200, 20, 12, 5, 5, false, 8, particleOptions, constraintOptions);
for (var i = 0; i < 20; i++) { for (var i = 0; i < 20; i++) {
cloth.bodies[i].isStatic = true; cloth.bodies[i].isStatic = true;

3
examples/compound.js
View file

@ -23,7 +23,6 @@ Example.compound = function() {
width: Math.min(document.documentElement.clientWidth, 800), width: Math.min(document.documentElement.clientWidth, 800),
height: Math.min(document.documentElement.clientHeight, 600), height: Math.min(document.documentElement.clientHeight, 600),
showAxes: true, showAxes: true,
showPositions: true,
showConvexHulls: true showConvexHulls: true
} }
}); });
@ -61,7 +60,7 @@ Example.compound = function() {
var constraint = Constraint.create({ var constraint = Constraint.create({
pointA: { x: 400, y: 100 }, pointA: { x: 400, y: 100 },
bodyB: compoundBodyB, bodyB: compoundBodyB,
pointB: { x: 0, y: -50 } pointB: { x: 0, y: 0 }
}); });
World.add(world, [ World.add(world, [

180
examples/constraints.js Normal file
View file

@ -0,0 +1,180 @@
var Example = Example || {};
Example.constraints = function() {
var Engine = Matter.Engine,
Render = Matter.Render,
Runner = Matter.Runner,
Composites = Matter.Composites,
Common = Matter.Common,
Constraint = Matter.Constraint,
MouseConstraint = Matter.MouseConstraint,
Mouse = Matter.Mouse,
World = Matter.World,
Bodies = Matter.Bodies;
// create engine
var engine = Engine.create(),
world = engine.world;
// create renderer
var render = Render.create({
element: document.body,
engine: engine,
options: {
width: Math.min(document.documentElement.clientWidth, 800),
height: Math.min(document.documentElement.clientHeight, 600),
showAngleIndicator: true
}
});
Render.run(render);
// create runner
var runner = Runner.create();
Runner.run(runner, engine);
// add stiff global constraint
var body = Bodies.polygon(150, 200, 5, 30);
var constraint = Constraint.create({
pointA: { x: 150, y: 100 },
bodyB: body,
pointB: { x: -10, y: -10 }
});
World.add(world, [body, constraint]);
// add soft global constraint
var body = Bodies.polygon(280, 100, 3, 30);
var constraint = Constraint.create({
pointA: { x: 280, y: 120 },
bodyB: body,
pointB: { x: -10, y: -7 },
stiffness: 0.001
});
World.add(world, [body, constraint]);
// add damped soft global constraint
var body = Bodies.polygon(400, 100, 4, 30);
var constraint = Constraint.create({
pointA: { x: 400, y: 120 },
bodyB: body,
pointB: { x: -10, y: -10 },
stiffness: 0.001,
damping: 0.05
});
World.add(world, [body, constraint]);
// add revolute constraint
var body = Bodies.rectangle(600, 200, 200, 20);
var ball = Bodies.circle(550, 150, 20);
var constraint = Constraint.create({
pointA: { x: 600, y: 200 },
bodyB: body,
length: 0
});
World.add(world, [body, ball, constraint]);
// add revolute multi-body constraint
var body = Bodies.rectangle(500, 400, 100, 20, { collisionFilter: { group: -1 } });
var ball = Bodies.circle(600, 400, 20, { collisionFilter: { group: -1 } });
var constraint = Constraint.create({
bodyA: body,
bodyB: ball
});
World.add(world, [body, ball, constraint]);
// add stiff multi-body constraint
var bodyA = Bodies.polygon(100, 400, 6, 20);
var bodyB = Bodies.polygon(200, 400, 1, 50);
var constraint = Constraint.create({
bodyA: bodyA,
pointA: { x: -10, y: -10 },
bodyB: bodyB,
pointB: { x: -10, y: -10 }
});
World.add(world, [bodyA, bodyB, constraint]);
// add soft global constraint
var bodyA = Bodies.polygon(300, 400, 4, 20);
var bodyB = Bodies.polygon(400, 400, 3, 30);
var constraint = Constraint.create({
bodyA: bodyA,
pointA: { x: -10, y: -10 },
bodyB: bodyB,
pointB: { x: -10, y: -7 },
stiffness: 0.001
});
World.add(world, [bodyA, bodyB, constraint]);
// add damped soft global constraint
var bodyA = Bodies.polygon(500, 400, 6, 30);
var bodyB = Bodies.polygon(600, 400, 7, 60);
var constraint = Constraint.create({
bodyA: bodyA,
pointA: { x: -10, y: -10 },
bodyB: bodyB,
pointB: { x: -10, y: -10 },
stiffness: 0.001,
damping: 0.1
});
World.add(world, [bodyA, bodyB, constraint]);
World.add(world, [
// walls
Bodies.rectangle(400, 0, 800, 50, { isStatic: true }),
Bodies.rectangle(400, 600, 800, 50, { isStatic: true }),
Bodies.rectangle(800, 300, 50, 600, { isStatic: true }),
Bodies.rectangle(0, 300, 50, 600, { isStatic: true })
]);
// add mouse control
var mouse = Mouse.create(render.canvas),
mouseConstraint = MouseConstraint.create(engine, {
mouse: mouse,
constraint: {
// allow bodies on mouse to rotate
angularStiffness: 0,
render: {
visible: false
}
}
});
World.add(world, mouseConstraint);
// keep the mouse in sync with rendering
render.mouse = mouse;
// fit the render viewport to the scene
Render.lookAt(render, {
min: { x: 0, y: 0 },
max: { x: 800, y: 600 }
});
// context for MatterTools.Demo
return {
engine: engine,
runner: runner,
render: render,
canvas: render.canvas,
stop: function() {
Matter.Render.stop(render);
Matter.Runner.stop(runner);
}
};
};

153
examples/doublePendulum.js Normal file
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@ -0,0 +1,153 @@
var Example = Example || {};
Example.doublePendulum = function() {
var Engine = Matter.Engine,
Events = Matter.Events,
Render = Matter.Render,
Runner = Matter.Runner,
Body = Matter.Body,
Composite = Matter.Composite,
Composites = Matter.Composites,
Constraint = Matter.Constraint,
MouseConstraint = Matter.MouseConstraint,
Mouse = Matter.Mouse,
World = Matter.World,
Bodies = Matter.Bodies,
Vector = Matter.Vector;
// create engine
var engine = Engine.create(),
world = engine.world;
// create renderer
var render = Render.create({
element: document.body,
engine: engine,
options: {
width: Math.min(document.documentElement.clientWidth, 800),
height: Math.min(document.documentElement.clientHeight, 600),
wireframes: false,
background: '#0f0f13'
}
});
Render.run(render);
// create runner
var runner = Runner.create();
Runner.run(runner, engine);
// add bodies
var group = Body.nextGroup(true),
length = 200,
width = 25;
var pendulum = Composites.stack(350, 160, 2, 1, -20, 0, function(x, y) {
return Bodies.rectangle(x, y, length, width, {
collisionFilter: { group: group },
frictionAir: 0,
chamfer: 5,
render: {
fillStyle: 'transparent',
lineWidth: 1
}
});
});
pendulum.bodies[0].render.strokeStyle = '#4a485b';
pendulum.bodies[1].render.strokeStyle = '#4a485b';
world.gravity.scale = 0.002;
Composites.chain(pendulum, 0.45, 0, -0.45, 0, {
stiffness: 0.9,
length: 0,
angularStiffness: 0.7,
render: {
strokeStyle: '#4a485b'
}
});
Composite.add(pendulum, Constraint.create({
bodyB: pendulum.bodies[0],
pointB: { x: -length * 0.42, y: 0 },
pointA: { x: pendulum.bodies[0].position.x - length * 0.42, y: pendulum.bodies[0].position.y },
stiffness: 0.9,
length: 0,
render: {
strokeStyle: '#4a485b'
}
}));
var lowerArm = pendulum.bodies[1];
Body.rotate(lowerArm, -Math.PI * 0.3, {
x: lowerArm.position.x - 100,
y: lowerArm.position.y
});
World.add(world, pendulum);
var trail = [];
Events.on(render, 'afterRender', function() {
trail.unshift({
position: Vector.clone(lowerArm.position),
speed: lowerArm.speed
});
Render.startViewTransform(render);
render.context.globalAlpha = 0.7;
for (var i = 0; i < trail.length; i += 1) {
var point = trail[i].position,
speed = trail[i].speed;
var hue = 250 + Math.round((1 - Math.min(1, speed / 10)) * 170);
render.context.fillStyle = 'hsl(' + hue + ', 100%, 55%)';
render.context.fillRect(point.x, point.y, 2, 2);
}
render.context.globalAlpha = 1;
Render.endViewTransform(render);
if (trail.length > 2000) {
trail.pop();
}
});
// add mouse control
var mouse = Mouse.create(render.canvas),
mouseConstraint = MouseConstraint.create(engine, {
mouse: mouse,
constraint: {
stiffness: 0.2,
render: {
visible: false
}
}
});
World.add(world, mouseConstraint);
// keep the mouse in sync with rendering
render.mouse = mouse;
// fit the render viewport to the scene
Render.lookAt(render, {
min: { x: 0, y: 0 },
max: { x: 700, y: 600 }
});
// context for MatterTools.Demo
return {
engine: engine,
runner: runner,
render: render,
canvas: render.canvas,
stop: function() {
Matter.Render.stop(render);
Matter.Runner.stop(runner);
}
};
};

498
examples/ragdoll.js Normal file
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@ -0,0 +1,498 @@
var Example = Example || {};
Example.ragdoll = function() {
var Engine = Matter.Engine,
Events = Matter.Events,
Render = Matter.Render,
Runner = Matter.Runner,
Body = Matter.Body,
Common = Matter.Common,
Composite = Matter.Composite,
Composites = Matter.Composites,
Constraint = Matter.Constraint,
MouseConstraint = Matter.MouseConstraint,
Mouse = Matter.Mouse,
World = Matter.World,
Bodies = Matter.Bodies,
Vector = Matter.Vector;
// create engine
var engine = Engine.create(),
world = engine.world;
// create renderer
var render = Render.create({
element: document.body,
engine: engine,
options: {
width: Math.min(document.documentElement.clientWidth, 800),
height: Math.min(document.documentElement.clientHeight, 600),
showAngleIndicator: true,
background: '#0f0f13'
}
});
Render.run(render);
// create runner
var runner = Runner.create();
Runner.run(runner, engine);
// create stairs
var stairCount = (render.bounds.max.y - render.bounds.min.y) / 50;
var stack = Composites.stack(0, 0, stairCount + 2, 1, 0, 0, function(x, y, column) {
return Bodies.rectangle(x - 50, y + column * 50, 100, 1000, {
isStatic: true,
render: {
fillStyle: '#222'
}
});
});
// create obstacles
var obstacles = Composites.stack(300, 0, 15, 3, 10, 10, function(x, y, column) {
var sides = Math.round(Common.random(1, 8)),
options = {
render: {
fillStyle: Common.choose(['#006BA6', '#0496FF', '#D81159', '#8F2D56'])
}
};
switch (Math.round(Common.random(0, 1))) {
case 0:
if (Common.random() < 0.8) {
return Bodies.rectangle(x, y, Common.random(25, 50), Common.random(25, 50), options);
} else {
return Bodies.rectangle(x, y, Common.random(80, 120), Common.random(25, 30), options);
}
case 1:
return Bodies.polygon(x, y, sides, Common.random(25, 50), options);
}
});
var ragdolls = Composite.create();
for (var i = 0; i < 1; i += 1) {
var ragdoll = Example.ragdoll.ragdoll(200, -1000 * i, 1.3);
Composite.add(ragdolls, ragdoll);
}
World.add(world, [stack, obstacles, ragdolls]);
var timeScaleTarget = 1,
counter = 0;
Events.on(engine, 'afterUpdate', function(event) {
// tween the timescale for slow-mo
if (mouse.button === -1) {
engine.timing.timeScale += (timeScaleTarget - engine.timing.timeScale) * 0.05;
} else {
engine.timing.timeScale = 1;
}
counter += 1;
// every 1.5 sec
if (counter >= 60 * 1.5) {
// flip the timescale
if (timeScaleTarget < 1) {
timeScaleTarget = 1;
} else {
timeScaleTarget = 0.05;
}
// reset counter
counter = 0;
}
for (var i = 0; i < stack.bodies.length; i += 1) {
var body = stack.bodies[i];
// animate stairs
Body.translate(body, {
x: -0.5 * engine.timing.timeScale,
y: -0.5 * engine.timing.timeScale
});
// loop stairs when they go off screen
if (body.position.x < -50) {
Body.setPosition(body, {
x: 50 * (stack.bodies.length - 1),
y: 25 + render.bounds.max.y + (body.bounds.max.y - body.bounds.min.y) * 0.5
});
Body.setVelocity(body, {
x: 0,
y: 0
});
}
}
for (i = 0; i < ragdolls.composites.length; i += 1) {
var ragdoll = ragdolls.composites[i],
bounds = Composite.bounds(ragdoll);
// move ragdolls back to the top of the screen
if (bounds.min.y > render.bounds.max.y + 100) {
Composite.translate(ragdoll, {
x: -bounds.min.x * 0.9,
y: -render.bounds.max.y - 400
});
}
}
for (i = 0; i < obstacles.bodies.length; i += 1) {
var body = obstacles.bodies[i],
bounds = body.bounds;
// move obstacles back to the top of the screen
if (bounds.min.y > render.bounds.max.y + 100) {
Body.translate(body, {
x: -bounds.min.x,
y: -render.bounds.max.y - 300
});
}
}
});
// add mouse control and make the mouse revolute
var mouse = Mouse.create(render.canvas),
mouseConstraint = MouseConstraint.create(engine, {
mouse: mouse,
constraint: {
stiffness: 0.6,
length: 0,
angularStiffness: 0,
render: {
visible: false
}
}
});
World.add(world, mouseConstraint);
// keep the mouse in sync with rendering
render.mouse = mouse;
// fit the render viewport to the scene
Render.lookAt(render, {
min: { x: 0, y: 0 },
max: { x: 800, y: 600 }
});
// context for MatterTools.Demo
return {
engine: engine,
runner: runner,
render: render,
canvas: render.canvas,
stop: function() {
Matter.Render.stop(render);
Matter.Runner.stop(runner);
}
};
};
Example.ragdoll.ragdoll = function(x, y, scale, options) {
scale = typeof scale === 'undefined' ? 1 : scale;
var Body = Matter.Body,
Bodies = Matter.Bodies,
Constraint = Matter.Constraint,
Composite = Matter.Composite,
Common = Matter.Common;
var headOptions = Common.extend({
label: 'head',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: [15 * scale, 15 * scale, 15 * scale, 15 * scale]
},
render: {
fillStyle: '#FFBC42'
}
}, options);
var chestOptions = Common.extend({
label: 'chest',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: [20 * scale, 20 * scale, 26 * scale, 26 * scale]
},
render: {
fillStyle: '#E0A423'
}
}, options);
var leftArmOptions = Common.extend({
label: 'left-arm',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: 10 * scale
},
render: {
fillStyle: '#FFBC42'
}
}, options);
var leftLowerArmOptions = Common.extend({}, leftArmOptions, {
render: {
fillStyle: '#E59B12'
}
});
var rightArmOptions = Common.extend({
label: 'right-arm',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: 10 * scale
},
render: {
fillStyle: '#FFBC42'
}
}, options);
var rightLowerArmOptions = Common.extend({}, rightArmOptions, {
render: {
fillStyle: '#E59B12'
}
});
var leftLegOptions = Common.extend({
label: 'left-leg',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: 10 * scale
},
render: {
fillStyle: '#FFBC42'
}
}, options);
var leftLowerLegOptions = Common.extend({}, leftLegOptions, {
render: {
fillStyle: '#E59B12'
}
});
var rightLegOptions = Common.extend({
label: 'right-leg',
collisionFilter: {
group: Body.nextGroup(true)
},
chamfer: {
radius: 10 * scale
},
render: {
fillStyle: '#FFBC42'
}
}, options);
var rightLowerLegOptions = Common.extend({}, rightLegOptions, {
render: {
fillStyle: '#E59B12'
}
});
var head = Bodies.rectangle(x, y - 60 * scale, 34 * scale, 40 * scale, headOptions);
var chest = Bodies.rectangle(x, y, 55 * scale, 80 * scale, chestOptions);
var rightUpperArm = Bodies.rectangle(x + 39 * scale, y - 15 * scale, 20 * scale, 40 * scale, rightArmOptions);
var rightLowerArm = Bodies.rectangle(x + 39 * scale, y + 25 * scale, 20 * scale, 60 * scale, rightLowerArmOptions);
var leftUpperArm = Bodies.rectangle(x - 39 * scale, y - 15 * scale, 20 * scale, 40 * scale, leftArmOptions);
var leftLowerArm = Bodies.rectangle(x - 39 * scale, y + 25 * scale, 20 * scale, 60 * scale, leftLowerArmOptions);
var leftUpperLeg = Bodies.rectangle(x - 20 * scale, y + 57 * scale, 20 * scale, 40 * scale, leftLegOptions);
var leftLowerLeg = Bodies.rectangle(x - 20 * scale, y + 97 * scale, 20 * scale, 60 * scale, leftLowerLegOptions);
var rightUpperLeg = Bodies.rectangle(x + 20 * scale, y + 57 * scale, 20 * scale, 40 * scale, rightLegOptions);
var rightLowerLeg = Bodies.rectangle(x + 20 * scale, y + 97 * scale, 20 * scale, 60 * scale, rightLowerLegOptions);
var chestToRightUpperArm = Constraint.create({
bodyA: chest,
pointA: {
x: 24 * scale,
y: -23 * scale
},
pointB: {
x: 0,
y: -8 * scale
},
bodyB: rightUpperArm,
stiffness: 0.6,
render: {
visible: false
}
});
var chestToLeftUpperArm = Constraint.create({
bodyA: chest,
pointA: {
x: -24 * scale,
y: -23 * scale
},
pointB: {
x: 0,
y: -8 * scale
},
bodyB: leftUpperArm,
stiffness: 0.6,
render: {
visible: false
}
});
var chestToLeftUpperLeg = Constraint.create({
bodyA: chest,
pointA: {
x: -10 * scale,
y: 30 * scale
},
pointB: {
x: 0,
y: -10 * scale
},
bodyB: leftUpperLeg,
stiffness: 0.6,
render: {
visible: false
}
});
var chestToRightUpperLeg = Constraint.create({
bodyA: chest,
pointA: {
x: 10 * scale,
y: 30 * scale
},
pointB: {
x: 0,
y: -10 * scale
},
bodyB: rightUpperLeg,
stiffness: 0.6,
render: {
visible: false
}
});
var upperToLowerRightArm = Constraint.create({
bodyA: rightUpperArm,
bodyB: rightLowerArm,
pointA: {
x: 0,
y: 15 * scale
},
pointB: {
x: 0,
y: -25 * scale
},
stiffness: 0.6,
render: {
visible: false
}
});
var upperToLowerLeftArm = Constraint.create({
bodyA: leftUpperArm,
bodyB: leftLowerArm,
pointA: {
x: 0,
y: 15 * scale
},
pointB: {
x: 0,
y: -25 * scale
},
stiffness: 0.6,
render: {
visible: false
}
});
var upperToLowerLeftLeg = Constraint.create({
bodyA: leftUpperLeg,
bodyB: leftLowerLeg,
pointA: {
x: 0,
y: 20 * scale
},
pointB: {
x: 0,
y: -20 * scale
},
stiffness: 0.6,
render: {
visible: false
}
});
var upperToLowerRightLeg = Constraint.create({
bodyA: rightUpperLeg,
bodyB: rightLowerLeg,
pointA: {
x: 0,
y: 20 * scale
},
pointB: {
x: 0,
y: -20 * scale
},
stiffness: 0.6,
render: {
visible: false
}
});
var headContraint = Constraint.create({
bodyA: head,
pointA: {
x: 0,
y: 25 * scale
},
pointB: {
x: 0,
y: -35 * scale
},
bodyB: chest,
stiffness: 0.6,
render: {
visible: false
}
});
var legToLeg = Constraint.create({
bodyA: leftLowerLeg,
bodyB: rightLowerLeg,
stiffness: 0.01,
render: {
visible: false
}
});
var person = Composite.create({
bodies: [
chest, head, leftLowerArm, leftUpperArm,
rightLowerArm, rightUpperArm, leftLowerLeg,
rightLowerLeg, leftUpperLeg, rightUpperLeg
],
constraints: [
upperToLowerLeftArm, upperToLowerRightArm, chestToLeftUpperArm,
chestToRightUpperArm, headContraint, upperToLowerLeftLeg,
upperToLowerRightLeg, chestToLeftUpperLeg, chestToRightUpperLeg,
legToLeg
]
});
return person;
};

17
src/body/Body.js
View file

@ -492,9 +492,24 @@ var Axes = require('../geometry/Axes');
* @method rotate * @method rotate
* @param {body} body * @param {body} body
* @param {number} rotation * @param {number} rotation
* @param {vector} [point]
*/ */
Body.rotate = function(body, rotation) { Body.rotate = function(body, rotation, point) {
if (!point) {
Body.setAngle(body, body.angle + rotation); Body.setAngle(body, body.angle + rotation);
} else {
var cos = Math.cos(rotation),
sin = Math.sin(rotation),
dx = body.position.x - point.x,
dy = body.position.y - point.y;
Body.setPosition(body, {
x: point.x + (dx * cos - dy * sin),
y: point.y + (dx * sin + dy * cos)
});
Body.setAngle(body, body.angle + rotation);
}
}; };
/** /**

18
src/body/Composite.js
View file

@ -532,6 +532,24 @@ var Body = require('./Body');
return composite; return composite;
}; };
/**
* Returns the union of the bounds of all of the composite's bodies.
* @method bounds
* @param {composite} composite The composite.
* @returns {bounds} The composite bounds.
*/
Composite.bounds = function(composite) {
var bodies = Matter.Composite.allBodies(composite),
vertices = [];
for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i];
vertices.push(body.bounds.min, body.bounds.max);
}
return Matter.Bounds.create(vertices);
};
/* /*
* *
* Events Documentation * Events Documentation

272
src/constraint/Constraint.js
View file

@ -8,14 +8,6 @@
* @class Constraint * @class Constraint
*/ */
// TODO: fix instability issues with torque
// TODO: linked constraints
// TODO: breakable constraints
// TODO: collision constraints
// TODO: allow constrained bodies to sleep
// TODO: handle 0 length constraints properly
// TODO: impulse caching and warming
var Constraint = {}; var Constraint = {};
module.exports = Constraint; module.exports = Constraint;
@ -29,12 +21,15 @@ var Common = require('../core/Common');
(function() { (function() {
var _minLength = 0.000001, Constraint._warming = 0.4;
_minDifference = 0.001; Constraint._torqueDampen = 1;
Constraint._minLength = 0.000001;
/** /**
* Creates a new constraint. * Creates a new constraint.
* All properties have default values, and many are pre-calculated automatically based on other properties. * All properties have default values, and many are pre-calculated automatically based on other properties.
* To simulate a revolute constraint (or pin joint) set `length: 0` and a high `stiffness` value (e.g. `0.7` or above).
* If the constraint is unstable, try lowering the `stiffness` value and / or increasing `engine.constraintIterations`.
* See the properties section below for detailed information on what you can pass via the `options` object. * See the properties section below for detailed information on what you can pass via the `options` object.
* @method create * @method create
* @param {} options * @param {} options
@ -54,30 +49,61 @@ var Common = require('../core/Common');
initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB, initialPointB = constraint.bodyB ? Vector.add(constraint.bodyB.position, constraint.pointB) : constraint.pointB,
length = Vector.magnitude(Vector.sub(initialPointA, initialPointB)); length = Vector.magnitude(Vector.sub(initialPointA, initialPointB));
constraint.length = constraint.length || length || _minLength; constraint.length = typeof constraint.length !== 'undefined' ? constraint.length : length;
// render
var render = {
visible: true,
lineWidth: 2,
strokeStyle: '#ffffff'
};
constraint.render = Common.extend(render, constraint.render);
// option defaults // option defaults
constraint.id = constraint.id || Common.nextId(); constraint.id = constraint.id || Common.nextId();
constraint.label = constraint.label || 'Constraint'; constraint.label = constraint.label || 'Constraint';
constraint.type = 'constraint'; constraint.type = 'constraint';
constraint.stiffness = constraint.stiffness || 1; constraint.stiffness = constraint.stiffness || (constraint.length > 0 ? 1 : 0.7);
constraint.damping = constraint.damping || 0;
constraint.angularStiffness = constraint.angularStiffness || 0; constraint.angularStiffness = constraint.angularStiffness || 0;
constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA; constraint.angleA = constraint.bodyA ? constraint.bodyA.angle : constraint.angleA;
constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB; constraint.angleB = constraint.bodyB ? constraint.bodyB.angle : constraint.angleB;
constraint.plugin = {}; constraint.plugin = {};
// render
var render = {
visible: true,
lineWidth: 2,
strokeStyle: '#ffffff',
type: 'line',
anchors: true
};
if (constraint.length === 0 && constraint.stiffness > 0.1) {
render.type = 'pin';
render.anchors = false;
} else if (constraint.stiffness < 0.9) {
render.type = 'spring';
}
constraint.render = Common.extend(render, constraint.render);
return constraint; return constraint;
}; };
/**
* Prepares for solving by constraint warming.
* @private
* @method preSolveAll
* @param {body[]} bodies
*/
Constraint.preSolveAll = function(bodies) {
for (var i = 0; i < bodies.length; i += 1) {
var body = bodies[i],
impulse = body.constraintImpulse;
if (body.isStatic || (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0)) {
continue;
}
body.position.x += impulse.x;
body.position.y += impulse.y;
body.angle += impulse.angle;
}
};
/** /**
* Solves all constraints in a list of collisions. * Solves all constraints in a list of collisions.
* @private * @private
@ -86,9 +112,27 @@ var Common = require('../core/Common');
* @param {number} timeScale * @param {number} timeScale
*/ */
Constraint.solveAll = function(constraints, timeScale) { Constraint.solveAll = function(constraints, timeScale) {
for (var i = 0; i < constraints.length; i++) { // Solve fixed constraints first.
for (var i = 0; i < constraints.length; i += 1) {
var constraint = constraints[i],
fixedA = !constraint.bodyA || (constraint.bodyA && constraint.bodyA.isStatic),
fixedB = !constraint.bodyB || (constraint.bodyB && constraint.bodyB.isStatic);
if (fixedA || fixedB) {
Constraint.solve(constraints[i], timeScale); Constraint.solve(constraints[i], timeScale);
} }
}
// Solve free constraints last.
for (i = 0; i < constraints.length; i += 1) {
constraint = constraints[i];
fixedA = !constraint.bodyA || (constraint.bodyA && constraint.bodyA.isStatic);
fixedB = !constraint.bodyB || (constraint.bodyB && constraint.bodyB.isStatic);
if (!fixedA && !fixedB) {
Constraint.solve(constraints[i], timeScale);
}
}
}; };
/** /**
@ -104,15 +148,18 @@ var Common = require('../core/Common');
pointA = constraint.pointA, pointA = constraint.pointA,
pointB = constraint.pointB; pointB = constraint.pointB;
if (!bodyA && !bodyB)
return;
// update reference angle // update reference angle
if (bodyA && !bodyA.isStatic) { if (bodyA && !bodyA.isStatic) {
constraint.pointA = Vector.rotate(pointA, bodyA.angle - constraint.angleA); Vector.rotate(pointA, bodyA.angle - constraint.angleA, pointA);
constraint.angleA = bodyA.angle; constraint.angleA = bodyA.angle;
} }
// update reference angle // update reference angle
if (bodyB && !bodyB.isStatic) { if (bodyB && !bodyB.isStatic) {
constraint.pointB = Vector.rotate(pointB, bodyB.angle - constraint.angleB); Vector.rotate(pointB, bodyB.angle - constraint.angleB, pointB);
constraint.angleB = bodyB.angle; constraint.angleB = bodyB.angle;
} }
@ -129,107 +176,79 @@ var Common = require('../core/Common');
currentLength = Vector.magnitude(delta); currentLength = Vector.magnitude(delta);
// prevent singularity // prevent singularity
if (currentLength === 0) if (currentLength < Constraint._minLength) {
currentLength = _minLength; currentLength = Constraint._minLength;
}
// solve distance constraint with Gauss-Siedel method // solve distance constraint with Gauss-Siedel method
var difference = (currentLength - constraint.length) / currentLength, var difference = (currentLength - constraint.length) / currentLength,
normal = Vector.div(delta, currentLength), stiffness = constraint.stiffness < 1 ? constraint.stiffness * timeScale : constraint.stiffness,
force = Vector.mult(delta, difference * 0.5 * constraint.stiffness * timeScale * timeScale); force = Vector.mult(delta, difference * stiffness),
massTotal = (bodyA ? bodyA.inverseMass : 0) + (bodyB ? bodyB.inverseMass : 0),
inertiaTotal = (bodyA ? bodyA.inverseInertia : 0) + (bodyB ? bodyB.inverseInertia : 0),
resistanceTotal = massTotal + inertiaTotal,
torque,
share,
normal,
normalVelocity,
relativeVelocity;
// if difference is very small, we can skip if (constraint.damping) {
if (Math.abs(1 - (currentLength / constraint.length)) < _minDifference * timeScale) var zero = Vector.create();
return; normal = Vector.div(delta, currentLength);
var velocityPointA, relativeVelocity = Vector.sub(
velocityPointB, bodyB && Vector.sub(bodyB.position, bodyB.positionPrev) || zero,
offsetA, bodyA && Vector.sub(bodyA.position, bodyA.positionPrev) || zero
offsetB, );
oAn,
oBn, normalVelocity = Vector.dot(normal, relativeVelocity);
bodyADenom, }
bodyBDenom;
if (bodyA && !bodyA.isStatic) { if (bodyA && !bodyA.isStatic) {
// point body offset share = bodyA.inverseMass / massTotal;
offsetA = {
x: pointAWorld.x - bodyA.position.x + force.x,
y: pointAWorld.y - bodyA.position.y + force.y
};
// update velocity // keep track of applied impulses for post solving
bodyA.velocity.x = bodyA.position.x - bodyA.positionPrev.x; bodyA.constraintImpulse.x -= force.x * share;
bodyA.velocity.y = bodyA.position.y - bodyA.positionPrev.y; bodyA.constraintImpulse.y -= force.y * share;
bodyA.angularVelocity = bodyA.angle - bodyA.anglePrev;
// find point velocity and body mass // apply forces
velocityPointA = Vector.add(bodyA.velocity, Vector.mult(Vector.perp(offsetA), bodyA.angularVelocity)); bodyA.position.x -= force.x * share;
oAn = Vector.dot(offsetA, normal); bodyA.position.y -= force.y * share;
bodyADenom = bodyA.inverseMass + bodyA.inverseInertia * oAn * oAn;
} else { // apply damping
velocityPointA = { x: 0, y: 0 }; if (constraint.damping) {
bodyADenom = bodyA ? bodyA.inverseMass : 0; bodyA.positionPrev.x -= constraint.damping * normal.x * normalVelocity * share;
bodyA.positionPrev.y -= constraint.damping * normal.y * normalVelocity * share;
}
// apply torque
torque = (Vector.cross(pointA, force) / resistanceTotal) * Constraint._torqueDampen * bodyA.inverseInertia * (1 - constraint.angularStiffness);
bodyA.constraintImpulse.angle -= torque;
bodyA.angle -= torque;
} }
if (bodyB && !bodyB.isStatic) { if (bodyB && !bodyB.isStatic) {
// point body offset share = bodyB.inverseMass / massTotal;
offsetB = {
x: pointBWorld.x - bodyB.position.x - force.x,
y: pointBWorld.y - bodyB.position.y - force.y
};
// update velocity
bodyB.velocity.x = bodyB.position.x - bodyB.positionPrev.x;
bodyB.velocity.y = bodyB.position.y - bodyB.positionPrev.y;
bodyB.angularVelocity = bodyB.angle - bodyB.anglePrev;
// find point velocity and body mass
velocityPointB = Vector.add(bodyB.velocity, Vector.mult(Vector.perp(offsetB), bodyB.angularVelocity));
oBn = Vector.dot(offsetB, normal);
bodyBDenom = bodyB.inverseMass + bodyB.inverseInertia * oBn * oBn;
} else {
velocityPointB = { x: 0, y: 0 };
bodyBDenom = bodyB ? bodyB.inverseMass : 0;
}
var relativeVelocity = Vector.sub(velocityPointB, velocityPointA),
normalImpulse = Vector.dot(normal, relativeVelocity) / (bodyADenom + bodyBDenom);
if (normalImpulse > 0) normalImpulse = 0;
var normalVelocity = {
x: normal.x * normalImpulse,
y: normal.y * normalImpulse
};
var torque;
if (bodyA && !bodyA.isStatic) {
torque = Vector.cross(offsetA, normalVelocity) * bodyA.inverseInertia * (1 - constraint.angularStiffness);
// keep track of applied impulses for post solving // keep track of applied impulses for post solving
bodyA.constraintImpulse.x -= force.x; bodyB.constraintImpulse.x += force.x * share;
bodyA.constraintImpulse.y -= force.y; bodyB.constraintImpulse.y += force.y * share;
bodyA.constraintImpulse.angle += torque;
// apply forces // apply forces
bodyA.position.x -= force.x; bodyB.position.x += force.x * share;
bodyA.position.y -= force.y; bodyB.position.y += force.y * share;
bodyA.angle += torque;
// apply damping
if (constraint.damping) {
bodyB.positionPrev.x += constraint.damping * normal.x * normalVelocity * share;
bodyB.positionPrev.y += constraint.damping * normal.y * normalVelocity * share;
} }
if (bodyB && !bodyB.isStatic) { // apply torque
torque = Vector.cross(offsetB, normalVelocity) * bodyB.inverseInertia * (1 - constraint.angularStiffness); torque = (Vector.cross(pointB, force) / resistanceTotal) * Constraint._torqueDampen * bodyB.inverseInertia * (1 - constraint.angularStiffness);
bodyB.constraintImpulse.angle += torque;
// keep track of applied impulses for post solving bodyB.angle += torque;
bodyB.constraintImpulse.x += force.x;
bodyB.constraintImpulse.y += force.y;
bodyB.constraintImpulse.angle -= torque;
// apply forces
bodyB.position.x += force.x;
bodyB.position.y += force.y;
bodyB.angle -= torque;
} }
}; };
@ -245,7 +264,7 @@ var Common = require('../core/Common');
var body = bodies[i], var body = bodies[i],
impulse = body.constraintImpulse; impulse = body.constraintImpulse;
if (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0) { if (body.isStatic || (impulse.x === 0 && impulse.y === 0 && impulse.angle === 0)) {
continue; continue;
} }
@ -273,9 +292,10 @@ var Common = require('../core/Common');
Bounds.update(part.bounds, part.vertices, body.velocity); Bounds.update(part.bounds, part.vertices, body.velocity);
} }
impulse.angle = 0; // dampen the cached impulse for warming next step
impulse.x = 0; impulse.angle *= Constraint._warming;
impulse.y = 0; impulse.x *= Constraint._warming;
impulse.y *= Constraint._warming;
} }
}; };
@ -342,6 +362,24 @@ var Common = require('../core/Common');
* @default a random colour * @default a random colour
*/ */
/**
* A `String` that defines the constraint rendering type.
* The possible values are 'line', 'pin', 'spring'.
* An appropriate render type will be automatically chosen unless one is given in options.
*
* @property render.type
* @type string
* @default 'line'
*/
/**
* A `Boolean` that defines if the constraint's anchor points should be rendered.
*
* @property render.anchors
* @type boolean
* @default true
*/
/** /**
* The first possible `Body` that this constraint is attached to. * The first possible `Body` that this constraint is attached to.
* *
@ -384,6 +422,18 @@ var Common = require('../core/Common');
* @default 1 * @default 1
*/ */
/**
* A `Number` that specifies the damping of the constraint,
* i.e. the amount of resistance applied to each body based on their velocities to limit the amount of oscillation.
* Damping will only be apparent when the constraint also has a very low `stiffness`.
* A value of `0.1` means the constraint will apply heavy damping, resulting in little to no oscillation.
* A value of `0` means the constraint will apply no damping.
*
* @property damping
* @type number
* @default 0
*/
/** /**
* A `Number` that specifies the target resting length of the constraint. * A `Number` that specifies the target resting length of the constraint.
* It is calculated automatically in `Constraint.create` from initial positions of the `constraint.bodyA` and `constraint.bodyB`. * It is calculated automatically in `Constraint.create` from initial positions of the `constraint.bodyA` and `constraint.bodyB`.

12
src/core/Engine.js
View file

@ -149,7 +149,8 @@ var Body = require('../body/Body');
// update all body position and rotation by integration // update all body position and rotation by integration
_bodiesUpdate(allBodies, delta, timing.timeScale, correction, world.bounds); _bodiesUpdate(allBodies, delta, timing.timeScale, correction, world.bounds);
// update all constraints // update all constraints (first pass)
Constraint.preSolveAll(allBodies);
for (i = 0; i < engine.constraintIterations; i++) { for (i = 0; i < engine.constraintIterations; i++) {
Constraint.solveAll(allConstraints, timing.timeScale); Constraint.solveAll(allConstraints, timing.timeScale);
} }
@ -157,7 +158,6 @@ var Body = require('../body/Body');
// broadphase pass: find potential collision pairs // broadphase pass: find potential collision pairs
if (broadphase.controller) { if (broadphase.controller) {
// if world is dirty, we must flush the whole grid // if world is dirty, we must flush the whole grid
if (world.isModified) if (world.isModified)
broadphase.controller.clear(broadphase); broadphase.controller.clear(broadphase);
@ -166,7 +166,6 @@ var Body = require('../body/Body');
broadphase.controller.update(broadphase, allBodies, engine, world.isModified); broadphase.controller.update(broadphase, allBodies, engine, world.isModified);
broadphasePairs = broadphase.pairsList; broadphasePairs = broadphase.pairsList;
} else { } else {
// if no broadphase set, we just pass all bodies // if no broadphase set, we just pass all bodies
broadphasePairs = allBodies; broadphasePairs = allBodies;
} }
@ -200,6 +199,13 @@ var Body = require('../body/Body');
} }
Resolver.postSolvePosition(allBodies); Resolver.postSolvePosition(allBodies);
// update all constraints (second pass)
Constraint.preSolveAll(allBodies);
for (i = 0; i < engine.constraintIterations; i++) {
Constraint.solveAll(allConstraints, timing.timeScale);
}
Constraint.postSolveAll(allBodies);
// iteratively resolve velocity between collisions // iteratively resolve velocity between collisions
Resolver.preSolveVelocity(pairs.list); Resolver.preSolveVelocity(pairs.list);
for (i = 0; i < engine.velocityIterations; i++) { for (i = 0; i < engine.velocityIterations; i++) {

42
src/factory/Composites.js
View file

@ -239,56 +239,50 @@ var Bodies = require('./Bodies');
*/ */
Composites.car = function(xx, yy, width, height, wheelSize) { Composites.car = function(xx, yy, width, height, wheelSize) {
var group = Body.nextGroup(true), var group = Body.nextGroup(true),
wheelBase = -20, wheelBase = 20,
wheelAOffset = -width * 0.5 + wheelBase, wheelAOffset = -width * 0.5 + wheelBase,
wheelBOffset = width * 0.5 - wheelBase, wheelBOffset = width * 0.5 - wheelBase,
wheelYOffset = 0; wheelYOffset = 0;
var car = Composite.create({ label: 'Car' }), var car = Composite.create({ label: 'Car' }),
body = Bodies.trapezoid(xx, yy, width, height, 0.3, { body = Bodies.rectangle(xx, yy, width, height, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.01,
chamfer: { chamfer: {
radius: 10 radius: height * 0.5
} },
density: 0.0002
}); });
var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, { var wheelA = Bodies.circle(xx + wheelAOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.8, friction: 0.8
density: 0.01
}); });
var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, { var wheelB = Bodies.circle(xx + wheelBOffset, yy + wheelYOffset, wheelSize, {
collisionFilter: { collisionFilter: {
group: group group: group
}, },
friction: 0.8, friction: 0.8
density: 0.01
}); });
var axelA = Constraint.create({ var axelA = Constraint.create({
bodyA: body, bodyB: body,
pointA: { x: wheelAOffset, y: wheelYOffset }, pointB: { x: wheelAOffset, y: wheelYOffset },
bodyB: wheelA, bodyA: wheelA,
stiffness: 0.2, stiffness: 1,
render: { length: 0
lineWidth: 0
}
}); });
var axelB = Constraint.create({ var axelB = Constraint.create({
bodyA: body, bodyB: body,
pointA: { x: wheelBOffset, y: wheelYOffset }, pointB: { x: wheelBOffset, y: wheelYOffset },
bodyB: wheelB, bodyA: wheelB,
stiffness: 0.2, stiffness: 1,
render: { length: 0
lineWidth: 0
}
}); });
Composite.addBody(car, body); Composite.addBody(car, body);
@ -317,7 +311,7 @@ var Bodies = require('./Bodies');
*/ */
Composites.softBody = function(xx, yy, columns, rows, columnGap, rowGap, crossBrace, particleRadius, particleOptions, constraintOptions) { Composites.softBody = function(xx, yy, columns, rows, columnGap, rowGap, crossBrace, particleRadius, particleOptions, constraintOptions) {
particleOptions = Common.extend({ inertia: Infinity }, particleOptions); particleOptions = Common.extend({ inertia: Infinity }, particleOptions);
constraintOptions = Common.extend({ stiffness: 0.4 }, constraintOptions); constraintOptions = Common.extend({ stiffness: 0.2, render: { type: 'line', anchors: false } }, constraintOptions);
var softBody = Composites.stack(xx, yy, columns, rows, columnGap, rowGap, function(x, y) { var softBody = Composites.stack(xx, yy, columns, rows, columnGap, rowGap, function(x, y) {
return Bodies.circle(x, y, particleRadius, particleOptions); return Bodies.circle(x, y, particleRadius, particleOptions);

14
src/geometry/Vector.js
View file

@ -62,14 +62,16 @@ module.exports = Vector;
* @method rotate * @method rotate
* @param {vector} vector * @param {vector} vector
* @param {number} angle * @param {number} angle
* @return {vector} A new vector rotated about (0, 0) * @param {vector} [output]
* @return {vector} The vector rotated about (0, 0)
*/ */
Vector.rotate = function(vector, angle) { Vector.rotate = function(vector, angle, output) {
var cos = Math.cos(angle), sin = Math.sin(angle); var cos = Math.cos(angle), sin = Math.sin(angle);
return { if (!output) output = {};
x: vector.x * cos - vector.y * sin, var x = vector.x * cos - vector.y * sin;
y: vector.x * sin + vector.y * cos output.y = vector.x * sin + vector.y * cos;
}; output.x = x;
return output;
}; };
/** /**

52
src/render/Render.js
View file

@ -496,20 +496,47 @@ var Mouse = require('../core/Mouse');
continue; continue;
var bodyA = constraint.bodyA, var bodyA = constraint.bodyA,
bodyB = constraint.bodyB; bodyB = constraint.bodyB,
start,
end;
if (bodyA) { if (bodyA) {
c.beginPath(); start = Vector.add(bodyA.position, constraint.pointA);
c.moveTo(bodyA.position.x + constraint.pointA.x, bodyA.position.y + constraint.pointA.y);
} else { } else {
c.beginPath(); start = constraint.pointA;
c.moveTo(constraint.pointA.x, constraint.pointA.y);
} }
if (bodyB) { if (constraint.render.type === 'pin') {
c.lineTo(bodyB.position.x + constraint.pointB.x, bodyB.position.y + constraint.pointB.y); c.beginPath();
c.arc(start.x, start.y, 3, 0, 2 * Math.PI);
c.closePath();
} else { } else {
c.lineTo(constraint.pointB.x, constraint.pointB.y); if (bodyB) {
end = Vector.add(bodyB.position, constraint.pointB);
} else {
end = constraint.pointB;
}
c.beginPath();
c.moveTo(start.x, start.y);
if (constraint.render.type === 'spring') {
var delta = Vector.sub(end, start),
normal = Vector.perp(Vector.normalise(delta)),
coils = Math.ceil(Common.clamp(constraint.length / 5, 12, 20)),
offset;
for (var j = 1; j < coils; j += 1) {
offset = j % 2 === 0 ? 1 : -1;
c.lineTo(
start.x + delta.x * (j / coils) + normal.x * offset * 4,
start.y + delta.y * (j / coils) + normal.y * offset * 4
);
}
}
c.lineTo(end.x, end.y);
} }
if (constraint.render.lineWidth) { if (constraint.render.lineWidth) {
@ -517,6 +544,15 @@ var Mouse = require('../core/Mouse');
c.strokeStyle = constraint.render.strokeStyle; c.strokeStyle = constraint.render.strokeStyle;
c.stroke(); c.stroke();
} }
if (constraint.render.anchors) {
c.fillStyle = constraint.render.strokeStyle;
c.beginPath();
c.arc(start.x, start.y, 3, 0, 2 * Math.PI);
c.arc(end.x, end.y, 3, 0, 2 * Math.PI);
c.closePath();
c.fill();
}
} }
}; };