diff --git a/build/dragonbones/dragonbones.js b/build/dragonbones/dragonbones.js
index 5d346b9c..9e023398 100644
--- a/build/dragonbones/dragonbones.js
+++ b/build/dragonbones/dragonbones.js
@@ -1,5 +1,5 @@
 /**
- * Hilo 1.1.4 for dragonbones
+ * Hilo 1.1.9 for dragonbones
  * Copyright 2016 alibaba.com
  * Licensed under the MIT License
  */
diff --git a/build/dragonbones/dragonbones.min.js b/build/dragonbones/dragonbones.min.js
index c8bc587d..9c673bad 100644
--- a/build/dragonbones/dragonbones.min.js
+++ b/build/dragonbones/dragonbones.min.js
@@ -1,5 +1,5 @@
 /**
- * Hilo 1.1.4 for dragonbones
+ * Hilo 1.1.9 for dragonbones
  * Copyright 2016 alibaba.com
  * Licensed under the MIT License
  */
diff --git a/build/physics/physics.js b/build/physics/physics.js
index 254c31cc..aace76e2 100644
--- a/build/physics/physics.js
+++ b/build/physics/physics.js
@@ -1,21 +1,21 @@
 /**
- * Hilo 1.1.4 for physics
+ * Hilo 1.1.9 for physics
  * Copyright 2016 alibaba.com
  * Licensed under the MIT License
  */
 (function(){
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -30,7 +30,7 @@ Object.create = Object.create || function(o) {
     F.prototype = o;
     return new F();
 };
-
+ 
 //var VERSION = CP_VERSION_MAJOR + "." + CP_VERSION_MINOR + "." + CP_VERSION_RELEASE;
 
 var cp;
@@ -46,7 +46,6 @@ if(typeof exports === 'undefined'){
 
 var assert = function(value, message)
 {
-    return
     if (!value) {
         throw new Error('Assertion failed: ' + message);
     }
@@ -54,7 +53,6 @@ var assert = function(value, message)
 
 var assertSoft = function(value, message)
 {
-    return
     if(!value && console && console.warn) {
         console.warn("ASSERTION FAILED: " + message);
         if(console.trace) {
@@ -107,7 +105,7 @@ var deleteObjFromList = function(arr, obj)
         if(arr[i] === obj){
             arr[i] = arr[arr.length - 1];
             arr.length--;
-
+            
             return;
         }
     }
@@ -162,11 +160,11 @@ cp.momentForPoly = function(m, verts, offset)
 
         var a = vcross2(v2x, v2y, v1x, v1y);
         var b = vdot2(v1x, v1y, v1x, v1y) + vdot2(v1x, v1y, v2x, v2y) + vdot2(v2x, v2y, v2x, v2y);
-
+        
         sum1 += a*b;
         sum2 += a;
     }
-
+    
     return (m*sum1)/(6*sum2);
 };
 
@@ -176,7 +174,7 @@ cp.areaForPoly = function(verts)
     for(var i=0, len=verts.length; i<len; i+=2){
         area += vcross(new Vect(verts[i], verts[i+1]), new Vect(verts[(i+2)%len], verts[(i+3)%len]));
     }
-
+    
     return -area/2;
 };
 
@@ -184,23 +182,23 @@ cp.centroidForPoly = function(verts)
 {
     var sum = 0;
     var vsum = new Vect(0,0);
-
+    
     for(var i=0, len=verts.length; i<len; i+=2){
         var v1 = new Vect(verts[i], verts[i+1]);
         var v2 = new Vect(verts[(i+2)%len], verts[(i+3)%len]);
         var cross = vcross(v1, v2);
-
+        
         sum += cross;
         vsum = vadd(vsum, vmult(vadd(v1, v2), cross));
     }
-
+    
     return vmult(vsum, 1/(3*sum));
 };
 
 cp.recenterPoly = function(verts)
 {
     var centroid = cp.centroidForPoly(verts);
-
+    
     for(var i=0; i<verts.length; i+=2){
         verts[i] -= centroid.x;
         verts[i+1] -= centroid.y;
@@ -217,8 +215,8 @@ cp.momentForBox2 = function(m, box)
     var width = box.r - box.l;
     var height = box.t - box.b;
     var offset = vmult([box.l + box.r, box.b + box.t], 0.5);
-
-    // TODO NaN when offset is 0 and m is INFINITY
+    
+    // TODO NaN when offset is 0 and m is INFINITY  
     return cp.momentForBox(m, width, height) + m*vlengthsq(offset);
 };
 
@@ -230,12 +228,12 @@ var loopIndexes = cp.loopIndexes = function(verts)
     var minx, miny, maxx, maxy;
     minx = maxx = verts[0];
     miny = maxy = verts[1];
-
+    
     var count = verts.length >> 1;
   for(var i=1; i<count; i++){
         var x = verts[i*2];
         var y = verts[i*2 + 1];
-
+        
     if(x < minx || (x == minx && y < miny)){
             minx = x;
             miny = y;
@@ -263,13 +261,13 @@ var SWAP = function(arr, idx1, idx2)
 var QHullPartition = function(verts, offs, count, a, b, tol)
 {
     if(count === 0) return 0;
-
+    
     var max = 0;
     var pivot = offs;
-
+    
     var delta = vsub(b, a);
     var valueTol = tol * vlength(delta);
-
+    
     var head = offs;
     for(var tail = offs+count-1; head <= tail;){
         var v = new Vect(verts[head * 2], verts[head * 2 + 1]);
@@ -279,14 +277,14 @@ var QHullPartition = function(verts, offs, count, a, b, tol)
                 max = value;
                 pivot = head;
             }
-
+            
             head++;
         } else {
             SWAP(verts, head, tail);
             tail--;
         }
     }
-
+    
     // move the new pivot to the front if it's not already there.
     if(pivot != offs) SWAP(verts, offs, pivot);
     return head - offs;
@@ -304,11 +302,11 @@ var QHullReduce = function(tol, verts, offs, count, a, pivot, b, resultPos)
         var left_count = QHullPartition(verts, offs, count, a, pivot, tol);
         var left = new Vect(verts[offs*2], verts[offs*2+1]);
         var index = QHullReduce(tol, verts, offs + 1, left_count - 1, a, left, pivot, resultPos);
-
+        
         var pivotPos = resultPos + index++;
         verts[pivotPos*2] = pivot.x;
         verts[pivotPos*2+1] = pivot.y;
-
+        
         var right_count = QHullPartition(verts, offs + left_count, count - left_count, pivot, b, tol);
         var right = new Vect(verts[(offs+left_count)*2], verts[(offs+left_count)*2+1]);
         return index + QHullReduce(tol, verts, offs + left_count + 1, right_count - 1, pivot, right, b, resultPos + index);
@@ -336,7 +334,7 @@ cp.convexHull = function(verts, result, tolerance)
         // If a result array was not specified, reduce the input instead.
         result = verts;
     }
-
+    
     // Degenerate case, all points are the same.
     var indexes = loopIndexes(verts);
     var start = indexes[0], end = indexes[1];
@@ -345,13 +343,13 @@ cp.convexHull = function(verts, result, tolerance)
         result.length = 2;
         return result;
     }
-
+    
     SWAP(result, 0, start);
     SWAP(result, 1, end == 0 ? start : end);
-
+    
     var a = new Vect(result[0], result[1]);
     var b = new Vect(result[2], result[3]);
-
+    
     var count = verts.length >> 1;
     //if(first) (*first) = start;
     var resultCount = QHullReduce(tolerance, result, 2, count - 2, a, b, a, 1) + 1;
@@ -388,17 +386,17 @@ var lerpconst = function(f1, f2, d)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -630,7 +628,7 @@ var vnear = cp.v.near = function(v1, v2, dist)
 var vslerp = cp.v.slerp = function(v1, v2, t)
 {
     var omega = Math.acos(vdot(v1, v2));
-
+    
     if(omega) {
         var denom = 1/Math.sin(omega);
         return vadd(vmult(v1, Math.sin((1 - t)*omega)*denom), vmult(v2, Math.sin(t*omega)*denom));
@@ -665,17 +663,17 @@ var vstr = cp.v.str = function(v)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -796,25 +794,25 @@ var bbWrapVect = function(bb, v)
     var ix = Math.abs(bb.r - bb.l);
     var modx = (v.x - bb.l) % ix;
     var x = (modx > 0) ? modx : modx + ix;
-
+    
     var iy = Math.abs(bb.t - bb.b);
     var mody = (v.y - bb.b) % iy;
     var y = (mody > 0) ? mody : mody + iy;
-
+    
     return new Vect(x + bb.l, y + bb.b);
 };
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -823,7 +821,7 @@ var bbWrapVect = function(bb, v)
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// Segment query info struct.
 /* These are created using literals where needed.
 typedef struct cpSegmentQueryInfo {
@@ -862,21 +860,21 @@ var Shape = cp.Shape = function(body) {
     /// Sensor flag.
     /// Sensor shapes call collision callbacks but don't produce collisions.
     this.sensor = false;
-
+    
     /// Coefficient of restitution. (elasticity)
     this.e = 0;
     /// Coefficient of friction.
     this.u = 0;
     /// Surface velocity used when solving for friction.
     this.surface_v = vzero;
-
+    
     /// Collision type of this shape used when picking collision handlers.
     this.collision_type = 0;
     /// Group of this shape. Shapes in the same group don't collide.
     this.group = 0;
     // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero.
     this.layers = CP_ALL_LAYERS;
-
+    
     this.space = null;
 
     // Copy the collision code from the prototype into the actual object. This makes collision
@@ -990,7 +988,7 @@ var CircleShape = cp.CircleShape = function(body, radius, offset)
 {
     this.c = this.tc = offset;
     this.r = radius;
-
+    
     this.type = 'circle';
 
     Shape.call(this, body);
@@ -1016,10 +1014,10 @@ CircleShape.prototype.cacheData = function(p, rot)
     var delta = vsub(p, this.tc);
     var distsq = vlengthsq(delta);
     var r = this.r;
-
+    
     if(distsq < r*r){
         var info = new PointQueryExtendedInfo(this);
-
+        
         var dist = Math.sqrt(distsq);
         info.d = r - dist;
         info.n = vmult(delta, 1/dist);
@@ -1033,7 +1031,7 @@ CircleShape.prototype.nearestPointQuery = function(p)
     var deltay = p.y - this.tc.y;
     var d = vlength2(deltax, deltay);
     var r = this.r;
-
+    
     var nearestp = new Vect(this.tc.x + deltax * r/d, this.tc.y + deltay * r/d);
     return new NearestPointQueryInfo(this, nearestp, d - r);
 };
@@ -1043,13 +1041,13 @@ var circleSegmentQuery = function(shape, center, r, a, b, info)
     // offset the line to be relative to the circle
     a = vsub(a, center);
     b = vsub(b, center);
-
+    
     var qa = vdot(a, a) - 2*vdot(a, b) + vdot(b, b);
     var qb = -2*vdot(a, a) + 2*vdot(a, b);
     var qc = vdot(a, a) - r*r;
-
+    
     var det = qb*qb - 4*qa*qc;
-
+    
     if(det >= 0)
     {
         var t = (-qb - Math.sqrt(det))/(2*qa);
@@ -1086,12 +1084,12 @@ var SegmentShape = cp.SegmentShape = function(body, a, b, r)
     this.n = vperp(vnormalize(vsub(b, a)));
 
     this.ta = this.tb = this.tn = null;
-
+    
     this.r = r;
-
+    
     this.a_tangent = vzero;
     this.b_tangent = vzero;
-
+    
     this.type = 'segment';
     Shape.call(this, body);
 };
@@ -1103,9 +1101,9 @@ SegmentShape.prototype.cacheData = function(p, rot)
     this.ta = vadd(p, vrotate(this.a, rot));
     this.tb = vadd(p, vrotate(this.b, rot));
     this.tn = vrotate(this.n, rot);
-
+    
     var l,r,b,t;
-
+    
     if(this.ta.x < this.tb.x){
         l = this.ta.x;
         r = this.tb.x;
@@ -1113,7 +1111,7 @@ SegmentShape.prototype.cacheData = function(p, rot)
         l = this.tb.x;
         r = this.ta.x;
     }
-
+    
     if(this.ta.y < this.tb.y){
         b = this.ta.y;
         t = this.tb.y;
@@ -1121,7 +1119,7 @@ SegmentShape.prototype.cacheData = function(p, rot)
         b = this.tb.y;
         t = this.ta.y;
     }
-
+    
     var rad = this.r;
 
     this.bb_l = l - rad;
@@ -1133,12 +1131,12 @@ SegmentShape.prototype.cacheData = function(p, rot)
 SegmentShape.prototype.nearestPointQuery = function(p)
 {
     var closest = closestPointOnSegment(p, this.ta, this.tb);
-
+        
     var deltax = p.x - closest.x;
     var deltay = p.y - closest.y;
     var d = vlength2(deltax, deltay);
     var r = this.r;
-
+    
     var nearestp = (d ? vadd(closest, vmult(new Vect(deltax, deltay), r/d)) : closest);
     return new NearestPointQueryInfo(this, nearestp, d - r);
 };
@@ -1148,26 +1146,26 @@ SegmentShape.prototype.segmentQuery = function(a, b)
     var n = this.tn;
     var d = vdot(vsub(this.ta, a), n);
     var r = this.r;
-
+    
     var flipped_n = (d > 0 ? vneg(n) : n);
     var n_offset = vsub(vmult(flipped_n, r), a);
-
+    
     var seg_a = vadd(this.ta, n_offset);
     var seg_b = vadd(this.tb, n_offset);
     var delta = vsub(b, a);
-
+    
     if(vcross(delta, seg_a)*vcross(delta, seg_b) <= 0){
         var d_offset = d + (d > 0 ? -r : r);
         var ad = -d_offset;
         var bd = vdot(delta, n) - d_offset;
-
+        
         if(ad*bd < 0){
             return new SegmentQueryInfo(this, ad/(ad - bd), flipped_n);
         }
     } else if(r !== 0){
         var info1 = circleSegmentQuery(this, this.ta, this.r, a, b);
         var info2 = circleSegmentQuery(this, this.tb, this.r, a, b);
-
+        
         if (info1){
             return info2 && info2.t < info1.t ? info2 : info1;
         } else {
@@ -1203,17 +1201,17 @@ CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius);
 */
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -1222,7 +1220,7 @@ CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius);
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// Check that a set of vertexes is convex and has a clockwise winding.
 var polyValidate = function(verts)
 {
@@ -1234,13 +1232,13 @@ var polyValidate = function(verts)
         var by = verts[(i+3)%len];
         var cx = verts[(i+4)%len];
         var cy = verts[(i+5)%len];
-
+        
         //if(vcross(vsub(b, a), vsub(c, b)) > 0){
         if(vcross2(bx - ax, by - ay, cx - bx, cy - by) > 0){
             return false;
         }
     }
-
+    
     return true;
 };
 
@@ -1274,7 +1272,7 @@ PolyShape.prototype.setVerts = function(verts, offset)
 
     // Fail if the user attempts to pass a concave poly, or a bad winding.
     assert(polyValidate(verts), "Polygon is concave or has a reversed winding. Consider using cpConvexHull()");
-
+    
     var len = verts.length;
     var numVerts = len >> 1;
 
@@ -1284,7 +1282,7 @@ PolyShape.prototype.setVerts = function(verts, offset)
     this.tVerts = new Array(len);
     this.planes = new Array(numVerts);
     this.tPlanes = new Array(numVerts);
-
+    
     for(var i=0; i<len; i+=2){
         //var a = vadd(offset, verts[i]);
         //var b = vadd(offset, verts[(i+1)%numVerts]);
@@ -1308,7 +1306,7 @@ var BoxShape = cp.BoxShape = function(body, width, height)
 {
     var hw = width/2;
     var hh = height/2;
-
+    
     return BoxShape2(body, new BB(-hw, -hh, hw, hh));
 };
 
@@ -1321,7 +1319,7 @@ var BoxShape2 = cp.BoxShape2 = function(body, box)
         box.r, box.t,
         box.r, box.b,
     ];
-
+    
     return new PolyShape(body, verts, vzero);
 };
 
@@ -1329,10 +1327,10 @@ PolyShape.prototype.transformVerts = function(p, rot)
 {
     var src = this.verts;
     var dst = this.tVerts;
-
+    
     var l = Infinity, r = -Infinity;
     var b = Infinity, t = -Infinity;
-
+    
     for(var i=0; i<src.length; i+=2){
         //var v = vadd(p, vrotate(src[i], rot));
         var x = src[i];
@@ -1342,7 +1340,7 @@ PolyShape.prototype.transformVerts = function(p, rot)
         var vy = p.y + x*rot.y + y*rot.x;
 
         //console.log('(' + x + ',' + y + ') -> (' + vx + ',' + vy + ')');
-
+        
         dst[i] = vx;
         dst[i+1] = vy;
 
@@ -1362,7 +1360,7 @@ PolyShape.prototype.transformAxes = function(p, rot)
 {
     var src = this.planes;
     var dst = this.tPlanes;
-
+    
     for(var i=0; i<src.length; i++){
         var n = vrotate(src[i].n, rot);
         dst[i].n = n;
@@ -1380,30 +1378,30 @@ PolyShape.prototype.nearestPointQuery = function(p)
 {
     var planes = this.tPlanes;
     var verts = this.tVerts;
-
+    
     var v0x = verts[verts.length - 2];
     var v0y = verts[verts.length - 1];
     var minDist = Infinity;
     var closestPoint = vzero;
     var outside = false;
-
+    
     for(var i=0; i<planes.length; i++){
         if(planes[i].compare(p) > 0) outside = true;
-
+        
         var v1x = verts[i*2];
         var v1y = verts[i*2 + 1];
         var closest = closestPointOnSegment2(p.x, p.y, v0x, v0y, v1x, v1y);
-
+        
         var dist = vdist(p, closest);
         if(dist < minDist){
             minDist = dist;
             closestPoint = closest;
         }
-
+        
         v0x = v1x;
         v0y = v1y;
     }
-
+    
     return new NearestPointQueryInfo(this, closestPoint, (outside ? minDist : -minDist));
 };
 
@@ -1413,16 +1411,16 @@ PolyShape.prototype.segmentQuery = function(a, b)
     var verts = this.tVerts;
     var numVerts = axes.length;
     var len = numVerts * 2;
-
+    
     for(var i=0; i<numVerts; i++){
         var n = axes[i].n;
         var an = vdot(a, n);
         if(axes[i].d > an) continue;
-
+        
         var bn = vdot(b, n);
         var t = (axes[i].d - an)/(bn - an);
         if(t < 0 || 1 < t) continue;
-
+        
         var point = vlerp(a, b, t);
         var dt = -vcross(n, point);
         var dtMin = -vcross2(n.x, n.y, verts[i*2], verts[i*2+1]);
@@ -1441,38 +1439,38 @@ PolyShape.prototype.valueOnAxis = function(n, d)
 {
     var verts = this.tVerts;
     var m = vdot2(n.x, n.y, verts[0], verts[1]);
-
+    
     for(var i=2; i<verts.length; i+=2){
         m = min(m, vdot2(n.x, n.y, verts[i], verts[i+1]));
     }
-
+    
     return m - d;
 };
 
 PolyShape.prototype.containsVert = function(vx, vy)
 {
     var planes = this.tPlanes;
-
+    
     for(var i=0; i<planes.length; i++){
         var n = planes[i].n;
         var dist = vdot2(n.x, n.y, vx, vy) - planes[i].d;
         if(dist > 0) return false;
     }
-
+    
     return true;
 };
 
 PolyShape.prototype.containsVertPartial = function(vx, vy, n)
 {
     var planes = this.tPlanes;
-
+    
     for(var i=0; i<planes.length; i++){
         var n2 = planes[i].n;
         if(vdot(n2, n) < 0) continue;
         var dist = vdot2(n2.x, n2.y, vx, vy) - planes[i].d;
         if(dist > 0) return false;
     }
-
+    
     return true;
 };
 
@@ -1945,31 +1943,31 @@ var SpatialIndex = cp.SpatialIndex = function(staticIndex)
     }
 };
 
-// Collide the objects in an index against the objects in a staticIndex using the query callback function.
+// Collide the objects in a dynamic index against the objects in a static index using the query callback function.
 SpatialIndex.prototype.collideStatic = function(staticIndex, func)
 {
     if(staticIndex.count > 0){
-        var query = staticIndex.query;
-
-        this.each(function(obj) {
-            query(obj, new BB(obj.bb_l, obj.bb_b, obj.bb_r, obj.bb_t), func);
+        this.each(function(obj1) {
+            staticIndex.query(new BB(obj1.bb_l, obj1.bb_b, obj1.bb_r, obj1.bb_t), function (obj2) {
+                func(obj1, obj2);
+            });
         });
     }
 };
 
 
 /* Copyright (c) 2009 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -1984,7 +1982,7 @@ SpatialIndex.prototype.collideStatic = function(staticIndex, func)
 var BBTree = cp.BBTree = function(staticIndex)
 {
     SpatialIndex.call(this, staticIndex);
-
+    
     this.velocityFunc = null;
 
     // This is a hash from object ID -> object for the objects stored in the BBTree.
@@ -1993,11 +1991,11 @@ var BBTree = cp.BBTree = function(staticIndex)
     this.count = 0;
 
     this.root = null;
-
+    
     // A linked list containing an object pool of tree nodes and pairs.
     this.pooledNodes = null;
     this.pooledPairs = null;
-
+    
     this.stamp = 0;
 };
 
@@ -2013,7 +2011,7 @@ var Node = function(tree, a, b)
     this.bb_r = max(a.bb_r, b.bb_r);
     this.bb_t = max(a.bb_t, b.bb_t);
     this.parent = null;
-
+    
     this.setA(a);
     this.setB(b);
 };
@@ -2053,7 +2051,7 @@ BBTree.prototype.getBB = function(obj, dest)
         var coef = 0.1;
         var x = (obj.bb_r - obj.bb_l)*coef;
         var y = (obj.bb_t - obj.bb_b)*coef;
-
+        
         var v = vmult(velocityFunc(obj), 0.1);
 
         dest.bb_l = obj.bb_l + min(-x, v.x);
@@ -2133,7 +2131,7 @@ var unlinkThread = function(prev, leaf, next)
     if(next){
         if(next.leafA === leaf) next.prevA = prev; else next.prevB = prev;
     }
-
+    
     if(prev){
         if(prev.leafA === leaf) prev.nextA = next; else prev.nextB = next;
     } else {
@@ -2147,7 +2145,7 @@ Leaf.prototype.clearPairs = function(tree)
         next;
 
     this.pairs = null;
-
+    
     while(pair){
         if(pair.leafA === this){
             next = pair.nextA;
@@ -2170,7 +2168,7 @@ var pairInsert = function(a, b, tree)
     if(nextA){
         if(nextA.leafA === a) nextA.prevA = pair; else nextA.prevB = pair;
     }
-
+    
     if(nextB){
         if(nextB.leafA === b) nextB.prevA = pair; else nextB.prevB = pair;
     }
@@ -2212,7 +2210,7 @@ Node.prototype.otherChild = function(child)
 Node.prototype.replaceChild = function(child, value, tree)
 {
     assertSoft(child == this.A || child == this.B, "Node is not a child of parent.");
-
+    
     if(this.A == child){
         this.A.recycle(tree);
         this.setA(value);
@@ -2220,7 +2218,7 @@ Node.prototype.replaceChild = function(child, value, tree)
         this.B.recycle(tree);
         this.setB(value);
     }
-
+    
     for(var node=this; node; node = node.parent){
         //node.bb = bbMerge(node.A.bb, node.B.bb);
         var a = node.A;
@@ -2263,18 +2261,18 @@ var subtreeInsert = function(subtree, leaf, tree)
     } else {
         var cost_a = subtree.B.bbArea() + bbTreeMergedArea(subtree.A, leaf);
         var cost_b = subtree.A.bbArea() + bbTreeMergedArea(subtree.B, leaf);
-
+        
         if(cost_a === cost_b){
             cost_a = bbProximity(subtree.A, leaf);
             cost_b = bbProximity(subtree.B, leaf);
-        }
+        }   
 
         if(cost_b < cost_a){
             subtree.setB(subtreeInsert(subtree.B, leaf, tree));
         } else {
             subtree.setA(subtreeInsert(subtree.A, leaf, tree));
         }
-
+        
 //      subtree.bb = bbMerge(subtree.bb, leaf.bb);
         subtree.bb_l = min(subtree.bb_l, leaf.bb_l);
         subtree.bb_b = min(subtree.bb_b, leaf.bb_b);
@@ -2311,20 +2309,20 @@ var nodeSegmentQuery = function(node, a, b)
     var tx2 = (node.bb_r == a.x ?  Infinity : (node.bb_r - a.x)*idx);
     var txmin = min(tx1, tx2);
     var txmax = max(tx1, tx2);
-
+    
     var idy = 1/(b.y - a.y);
     var ty1 = (node.bb_b == a.y ? -Infinity : (node.bb_b - a.y)*idy);
     var ty2 = (node.bb_t == a.y ?  Infinity : (node.bb_t - a.y)*idy);
     var tymin = min(ty1, ty2);
     var tymax = max(ty1, ty2);
-
+    
     if(tymin <= txmax && txmin <= tymax){
         var min_ = max(txmin, tymin);
         var max_ = min(txmax, tymax);
-
+        
         if(0.0 <= max_ && min_ <= 1.0) return max(min_, 0.0);
     }
-
+    
     return Infinity;
 };
 
@@ -2335,7 +2333,7 @@ var subtreeSegmentQuery = function(subtree, a, b, t_exit, func)
     } else {
         var t_a = nodeSegmentQuery(subtree.A, a, b);
         var t_b = nodeSegmentQuery(subtree.B, a, b);
-
+        
         if(t_a < t_b){
             if(t_a < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.A, a, b, t_exit, func));
             if(t_b < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.B, a, b, t_exit, func));
@@ -2343,7 +2341,7 @@ var subtreeSegmentQuery = function(subtree, a, b, t_exit, func)
             if(t_b < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.B, a, b, t_exit, func));
             if(t_a < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.A, a, b, t_exit, func));
         }
-
+        
         return t_exit;
     }
 };
@@ -2414,7 +2412,7 @@ Leaf.prototype.markSubtree = function(tree, staticRoot, func)
 {
     if(this.stamp == tree.getStamp()){
         if(staticRoot) staticRoot.markLeafQuery(this, false, tree, func);
-
+        
         for(var node = this; node.parent; node = node.parent){
             if(node == node.parent.A){
                 node.parent.B.markLeafQuery(this, true, tree, func);
@@ -2456,16 +2454,16 @@ Leaf.prototype.update = function(tree)
     //if(!bbContainsBB(this.bb, bb)){
     if(!this.containsObj(obj)){
         tree.getBB(this.obj, this);
-
+        
         root = subtreeRemove(root, this, tree);
         tree.root = subtreeInsert(root, this, tree);
-
+        
         this.clearPairs(tree);
         this.stamp = tree.getStamp();
-
+        
         return true;
     }
-
+    
     return false;
 };
 
@@ -2492,7 +2490,7 @@ BBTree.prototype.insert = function(obj, hashid)
     this.leaves[hashid] = leaf;
     this.root = subtreeInsert(this.root, leaf, this);
     this.count++;
-
+    
     leaf.stamp = this.getStamp();
     leaf.addPairs(this);
     this.incrementStamp();
@@ -2521,7 +2519,7 @@ var voidQueryFunc = function(obj1, obj2){};
 BBTree.prototype.reindexQuery = function(func)
 {
     if(!this.root) return;
-
+    
     // LeafUpdate() may modify this.root. Don't cache it.
     var hashid,
         leaves = this.leaves;
@@ -2529,13 +2527,13 @@ BBTree.prototype.reindexQuery = function(func)
     {
         leaves[hashid].update(this);
     }
-
+    
     var staticIndex = this.staticIndex;
     var staticRoot = staticIndex && staticIndex.root;
-
+    
     this.root.markSubtree(this, staticRoot, func);
     if(staticIndex && !staticRoot) this.collideStatic(this, staticIndex, func);
-
+    
     this.incrementStamp();
 };
 
@@ -2602,7 +2600,7 @@ var partitionNodes = function(tree, nodes, offset, count)
     } else if(count == 2) {
         return tree.makeNode(nodes[offset], nodes[offset + 1]);
     }
-
+    
     // Find the AABB for these nodes
     //var bb = nodes[offset].bb;
     var node = nodes[offset];
@@ -2620,10 +2618,10 @@ var partitionNodes = function(tree, nodes, offset, count)
         bb_r = max(bb_r, node.bb_r);
         bb_t = max(bb_t, node.bb_t);
     }
-
+    
     // Split it on it's longest axis
     var splitWidth = (bb_r - bb_l > bb_t - bb_b);
-
+    
     // Sort the bounds and use the median as the splitting point
     var bounds = new Array(count*2);
     if(splitWidth){
@@ -2637,7 +2635,7 @@ var partitionNodes = function(tree, nodes, offset, count)
             bounds[2*i + 1] = nodes[i].bb_t;
         }
     }
-
+    
     bounds.sort(function(a, b) {
         // This might run faster if the function was moved out into the global scope.
         return a - b;
@@ -2650,7 +2648,7 @@ var partitionNodes = function(tree, nodes, offset, count)
     var b_l = bb_l, b_b = bb_b, b_r = bb_r, b_t = bb_t;
 
     if(splitWidth) a_r = b_l = split; else a_t = b_b = split;
-
+    
     // Partition the nodes
     var right = end;
     for(var left=offset; left < right;){
@@ -2664,13 +2662,13 @@ var partitionNodes = function(tree, nodes, offset, count)
             left++;
         }
     }
-
+    
     if(right == count){
         var node = null;
         for(var i=offset; i<end; i++) node = subtreeInsert(node, nodes[i], tree);
         return node;
     }
-
+    
     // Recurse and build the node!
     return NodeNew(tree,
         partitionNodes(tree, nodes, offset, right - offset),
@@ -2686,12 +2684,12 @@ var partitionNodes = function(tree, nodes, offset, count)
 //      Node *node = root;
 //      int bit = 0;
 //      unsigned int path = tree.opath;
-//
+//      
 //      while(!NodeIsLeaf(node)){
 //          node = (path&(1<<bit) ? node.a : node.b);
 //          bit = (bit + 1)&(sizeof(unsigned int)*8 - 1);
 //      }
-//
+//      
 //      root = subtreeRemove(root, node, tree);
 //      tree.root = subtreeInsert(root, node, tree);
 //  }
@@ -2706,7 +2704,7 @@ BBTree.prototype.optimize = function()
     {
         nodes[i++] = this.nodes[hashid];
     }
-
+    
     tree.subtreeRecycle(root);
     this.root = partitionNodes(tree, nodes, nodes.length);
 };
@@ -2719,7 +2717,7 @@ var nodeRender = function(node, depth)
         nodeRender(node.A, depth + 1);
         nodeRender(node.B, depth + 1);
     }
-
+    
     var str = '';
     for(var i = 0; i < depth; i++) {
         str += ' ';
@@ -2740,22 +2738,22 @@ NodeRender(Node *node, int depth)
         NodeRender(node.a, depth + 1);
         NodeRender(node.b, depth + 1);
     }
-
+    
     bb bb = node.bb;
-
-//  GLfloat v = depth/2.0f;
+    
+//  GLfloat v = depth/2.0f; 
 //  glColor3f(1.0f - v, v, 0.0f);
     glLineWidth(max(5.0f - depth, 1.0f));
     glBegin(GL_LINES); {
         glVertex2f(bb.l, bb.b);
         glVertex2f(bb.l, bb.t);
-
+        
         glVertex2f(bb.l, bb.t);
         glVertex2f(bb.r, bb.t);
-
+        
         glVertex2f(bb.r, bb.t);
         glVertex2f(bb.r, bb.b);
-
+        
         glVertex2f(bb.r, bb.b);
         glVertex2f(bb.l, bb.b);
     }; glEnd();
@@ -2767,23 +2765,23 @@ bbTreeRenderDebug(cpSpatialIndex *index){
         cpAssertWarn(false, "Ignoring bbTreeRenderDebug() call to non-tree spatial index.");
         return;
     }
-
+    
     bbTree *tree = (bbTree *)index;
     if(tree.root) NodeRender(tree.root, 0);
 }
 */
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -2849,15 +2847,15 @@ var Arbiter = function(a, b) {
     /// Calculated value to use for applying surface velocities.
     /// Override in a pre-solve collision handler for custom behavior.
     this.surface_vr = vzero;
-
+    
     this.a = a; this.body_a = a.body;
     this.b = b; this.body_b = b.body;
-
+    
     this.thread_a_next = this.thread_a_prev = null;
     this.thread_b_next = this.thread_b_prev = null;
-
+    
     this.contacts = null;
-
+    
     this.stamp = 0;
     this.handler = null;
     this.swappedColl = false;
@@ -2879,12 +2877,12 @@ Arbiter.prototype.totalImpulse = function()
 {
     var contacts = this.contacts;
     var sum = new Vect(0,0);
-
+    
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         sum.add(vmult(con.n, con.jnAcc));
     }
-
+    
     return this.swappedColl ? sum : sum.neg();
 };
 
@@ -2894,7 +2892,7 @@ Arbiter.prototype.totalImpulseWithFriction = function()
 {
     var contacts = this.contacts;
     var sum = new Vect(0,0);
-
+    
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         sum.add(new Vect(con.jnAcc, con.jtAcc).rotate(con.n));
@@ -2909,16 +2907,16 @@ Arbiter.prototype.totalKE = function()
 {
     var eCoef = (1 - this.e)/(1 + this.e);
     var sum = 0;
-
+    
     var contacts = this.contacts;
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         var jnAcc = con.jnAcc;
         var jtAcc = con.jtAcc;
-
+        
         sum += eCoef*jnAcc*jnAcc/con.nMass + jtAcc*jtAcc/con.tMass;
     }
-
+    
     return sum;
 };
 
@@ -2961,12 +2959,12 @@ var ContactPoint = function(point, normal, dist)
 Arbiter.prototype.getContactPointSet = function()
 {
     var set = new Array(this.contacts.length);
-
+    
     var i;
     for(i=0; i<set.length; i++){
         set[i] = new ContactPoint(this.contacts[i].p, this.contacts[i].n, this.contacts[i].dist);
     }
-
+    
     return set;
 };
 
@@ -3005,10 +3003,10 @@ var unthreadHelper = function(arb, body, prev, next)
         } else {
             prev.thread_b_next = next;
         }
-    } else {
+    } else if(body.arbiterList === arb){
         body.arbiterList = next;
     }
-
+    
     if(next){
         // cpArbiterThreadForBody(next, body)->prev = prev;
         if(next.body_a === body){
@@ -3032,15 +3030,15 @@ Arbiter.prototype.unthread = function()
 //{
 //  cpFloat fsum = 0;
 //  cpVect vsum = vzero;
-//
+//  
 //  for(int i=0; i<numContacts; i++){
 //      cpContact *con = &contacts[i];
 //      cpVect j = vrotate(con.n, v(con.jnAcc, con.jtAcc));
-//
+//      
 //      fsum += vlength(j);
 //      vsum = vadd(vsum, j);
 //  }
-//
+//  
 //  cpFloat vmag = vlength(vsum);
 //  return (1 - vmag/fsum);
 //}
@@ -3052,10 +3050,10 @@ Arbiter.prototype.update = function(contacts, handler, a, b)
         // Iterate over the possible pairs to look for hash value matches.
         for(var i=0; i<this.contacts.length; i++){
             var old = this.contacts[i];
-
+            
             for(var j=0; j<contacts.length; j++){
                 var new_contact = contacts[j];
-
+                
                 // This could trigger false positives, but is fairly unlikely nor serious if it does.
                 if(new_contact.hash === old.hash){
                     // Copy the persistant contact information.
@@ -3065,20 +3063,20 @@ Arbiter.prototype.update = function(contacts, handler, a, b)
             }
         }
     }
-
+    
     this.contacts = contacts;
-
+    
     this.handler = handler;
     this.swappedColl = (a.collision_type !== handler.a);
-
+    
     this.e = a.e * b.e;
     this.u = a.u * b.u;
     this.surface_vr = vsub(a.surface_v, b.surface_v);
-
+    
     // For collisions between two similar primitive types, the order could have been swapped.
     this.a = a; this.body_a = a.body;
     this.b = b; this.body_b = b.body;
-
+    
     // mark it as new if it's been cached
     if(this.state == 'cached') this.state = 'first coll';
 };
@@ -3087,22 +3085,22 @@ Arbiter.prototype.preStep = function(dt, slop, bias)
 {
     var a = this.body_a;
     var b = this.body_b;
-
+    
     for(var i=0; i<this.contacts.length; i++){
         var con = this.contacts[i];
-
+        
         // Calculate the offsets.
         con.r1 = vsub(con.p, a.p);
         con.r2 = vsub(con.p, b.p);
-
+        
         // Calculate the mass normal and mass tangent.
         con.nMass = 1/k_scalar(a, b, con.r1, con.r2, con.n);
         con.tMass = 1/k_scalar(a, b, con.r1, con.r2, vperp(con.n));
-
+    
         // Calculate the target bias velocity.
         con.bias = -bias*min(0, con.dist + slop)/dt;
         con.jBias = 0;
-
+        
         // Calculate the target bounce velocity.
         con.bounce = normal_relative_velocity(a, b, con.r1, con.r2, con.n)*this.e;
     }
@@ -3111,10 +3109,10 @@ Arbiter.prototype.preStep = function(dt, slop, bias)
 Arbiter.prototype.applyCachedImpulse = function(dt_coef)
 {
     if(this.isFirstContact()) return;
-
+    
     var a = this.body_a;
     var b = this.body_b;
-
+    
     for(var i=0; i<this.contacts.length; i++){
         var con = this.contacts[i];
         //var j = vrotate(con.n, new Vect(con.jnAcc, con.jtAcc));
@@ -3148,11 +3146,11 @@ Arbiter.prototype.applyImpulse = function()
         var n = con.n;
         var r1 = con.r1;
         var r2 = con.r2;
-
+        
         //var vr = relative_velocity(a, b, r1, r2);
         var vrx = b.vx - r2.y * b.w - (a.vx - r1.y * a.w);
         var vry = b.vy + r2.x * b.w - (a.vy + r1.x * a.w);
-
+        
         //var vb1 = vadd(vmult(vperp(r1), a.w_bias), a.v_bias);
         //var vb2 = vadd(vmult(vperp(r2), b.w_bias), b.v_bias);
         //var vbn = vdot(vsub(vb2, vb1), n);
@@ -3163,20 +3161,20 @@ Arbiter.prototype.applyImpulse = function()
         var vrn = vdot2(vrx, vry, n.x, n.y);
         //var vrt = vdot(vadd(vr, surface_vr), vperp(n));
         var vrt = vdot2(vrx + surface_vr.x, vry + surface_vr.y, -n.y, n.x);
-
+        
         var jbn = (con.bias - vbn)*nMass;
         var jbnOld = con.jBias;
         con.jBias = max(jbnOld + jbn, 0);
-
+        
         var jn = -(con.bounce + vrn)*nMass;
         var jnOld = con.jnAcc;
         con.jnAcc = max(jnOld + jn, 0);
-
+        
         var jtMax = friction*con.jnAcc;
         var jt = -vrt*con.tMass;
         var jtOld = con.jtAcc;
         con.jtAcc = clamp(jtOld + jt, -jtMax, jtMax);
-
+        
         //apply_bias_impulses(a, b, r1, r2, vmult(n, con.jBias - jbnOld));
         var bias_x = n.x * (con.jBias - jbnOld);
         var bias_y = n.y * (con.jBias - jbnOld);
@@ -3205,17 +3203,17 @@ Arbiter.prototype.next = function(body)
     return (this.body_a == body ? this.thread_a_next : this.thread_b_next);
 };
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -3232,12 +3230,12 @@ var Contact = function(p, n, dist, hash)
     this.p = p;
     this.n = n;
     this.dist = dist;
-
+    
     this.r1 = this.r2 = vzero;
     this.nMass = this.tMass = this.bounce = this.bias = 0;
 
     this.jnAcc = this.jtAcc = this.jBias = 0;
-
+    
     this.hash = hash;
     numContacts++;
 };
@@ -3252,7 +3250,7 @@ var circle2circleQuery = function(p1, p2, r1, r2)
     var delta = vsub(p2, p1);
     var distsq = vlengthsq(delta);
     if(distsq >= mindist*mindist) return;
-
+    
     var dist = Math.sqrt(distsq);
 
     // Allocate and initialize the contact.
@@ -3276,15 +3274,15 @@ var circle2segment = function(circleShape, segmentShape)
     var seg_a = segmentShape.ta;
     var seg_b = segmentShape.tb;
     var center = circleShape.tc;
-
+    
     var seg_delta = vsub(seg_b, seg_a);
     var closest_t = clamp01(vdot(seg_delta, vsub(center, seg_a))/vlengthsq(seg_delta));
     var closest = vadd(seg_a, vmult(seg_delta, closest_t));
-
+    
     var contact = circle2circleQuery(center, closest, circleShape.r, segmentShape.r);
     if(contact){
         var n = contact.n;
-
+        
         // Reject endcap collisions if tangents are provided.
         return (
             (closest_t === 0 && vdot(n, segmentShape.a_tangent) < 0) ||
@@ -3308,7 +3306,7 @@ var findMSA = function(poly, planes)
     var min_index = 0;
     var min = poly.valueOnAxis(planes[0].n, planes[0].d);
     if(min > 0) return -1;
-
+    
     for(var i=1; i<planes.length; i++){
         var dist = poly.valueOnAxis(planes[i].n, planes[i].d);
         if(dist > 0) {
@@ -3318,7 +3316,7 @@ var findMSA = function(poly, planes)
             min_index = i;
         }
     }
-
+    
     last_MSA_min = min;
     return min_index;
 };
@@ -3338,7 +3336,7 @@ var findVertsFallback = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly1.hashid, i)));
         }
     }
-
+    
     var verts2 = poly2.tVerts;
     for(var i=0; i<verts2.length; i+=2){
         var vx = verts2[i];
@@ -3347,7 +3345,7 @@ var findVertsFallback = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly2.hashid, i)));
         }
     }
-
+    
     return arr;
 };
 
@@ -3364,7 +3362,7 @@ var findVerts = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly1.hashid, i>>1)));
         }
     }
-
+    
     var verts2 = poly2.tVerts;
     for(var i=0; i<verts2.length; i+=2){
         var vx = verts2[i];
@@ -3373,7 +3371,7 @@ var findVerts = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly2.hashid, i>>1)));
         }
     }
-
+    
     return (arr.length ? arr : findVertsFallback(poly1, poly2, n, dist));
 };
 
@@ -3383,11 +3381,11 @@ var poly2poly = function(poly1, poly2)
     var mini1 = findMSA(poly2, poly1.tPlanes);
     if(mini1 == -1) return NONE;
     var min1 = last_MSA_min;
-
+    
     var mini2 = findMSA(poly1, poly2.tPlanes);
     if(mini2 == -1) return NONE;
     var min2 = last_MSA_min;
-
+    
     // There is overlap, find the penetrating verts
     if(min1 > min2)
         return findVerts(poly1, poly2, poly1.tPlanes[mini1].n, min1);
@@ -3404,12 +3402,12 @@ var segValueOnAxis = function(seg, n, d)
 };
 
 // Identify vertexes that have penetrated the segment.
-var findPointsBehindSeg = function(arr, seg, poly, pDist, coef)
+var findPointsBehindSeg = function(arr, seg, poly, pDist, coef) 
 {
     var dta = vcross(seg.tn, seg.ta);
     var dtb = vcross(seg.tn, seg.tb);
     var n = vmult(seg.tn, coef);
-
+    
     var verts = poly.tVerts;
     for(var i=0; i<verts.length; i+=2){
         var vx = verts[i];
@@ -3431,12 +3429,12 @@ var seg2poly = function(seg, poly)
 
     var planes = poly.tPlanes;
     var numVerts = planes.length;
-
+    
     var segD = vdot(seg.tn, seg.ta);
     var minNorm = poly.valueOnAxis(seg.tn, segD) - seg.r;
     var minNeg = poly.valueOnAxis(vneg(seg.tn), -segD) - seg.r;
     if(minNeg > 0 || minNorm > 0) return NONE;
-
+    
     var mini = 0;
     var poly_min = segValueOnAxis(seg, planes[0].n, planes[0].d);
     if(poly_min > 0) return NONE;
@@ -3449,34 +3447,34 @@ var seg2poly = function(seg, poly)
             mini = i;
         }
     }
-
+    
     var poly_n = vneg(planes[mini].n);
-
+    
     var va = vadd(seg.ta, vmult(poly_n, seg.r));
     var vb = vadd(seg.tb, vmult(poly_n, seg.r));
     if(poly.containsVert(va.x, va.y))
         arr.push(new Contact(va, poly_n, poly_min, hashPair(seg.hashid, 0)));
     if(poly.containsVert(vb.x, vb.y))
         arr.push(new Contact(vb, poly_n, poly_min, hashPair(seg.hashid, 1)));
-
+    
     // Floating point precision problems here.
     // This will have to do for now.
 //  poly_min -= cp_collision_slop; // TODO is this needed anymore?
-
+    
     if(minNorm >= poly_min || minNeg >= poly_min) {
         if(minNorm > minNeg)
             findPointsBehindSeg(arr, seg, poly, minNorm, 1);
         else
             findPointsBehindSeg(arr, seg, poly, minNeg, -1);
     }
-
+    
     // If no other collision points are found, try colliding endpoints.
     if(arr.length === 0){
         var mini2 = mini * 2;
         var verts = poly.tVerts;
 
         var poly_a = new Vect(verts[mini2], verts[mini2+1]);
-
+        
         var con;
         if((con = circle2circleQuery(seg.ta, poly_a, seg.r, 0, arr))) return [con];
         if((con = circle2circleQuery(seg.tb, poly_a, seg.r, 0, arr))) return [con];
@@ -3497,7 +3495,7 @@ var seg2poly = function(seg, poly)
 var circle2poly = function(circ, poly)
 {
     var planes = poly.tPlanes;
-
+    
     var mini = 0;
     var min = vdot(planes[0].n, circ.tc) - planes[0].d - circ.r;
     for(var i=0; i<planes.length; i++){
@@ -3509,7 +3507,7 @@ var circle2poly = function(circ, poly)
             mini = i;
         }
     }
-
+    
     var n = planes[mini].n;
 
     var verts = poly.tVerts;
@@ -3526,7 +3524,7 @@ var circle2poly = function(circ, poly)
     var dta = vcross2(n.x, n.y, ax, ay);
     var dtb = vcross2(n.x, n.y, bx, by);
     var dt = vcross(n, circ.tc);
-
+        
     if(dt < dtb){
         var con = circle2circleQuery(circ.tc, new Vect(bx, by), circ.r, 0, con);
         return con ? [con] : NONE;
@@ -3544,7 +3542,7 @@ var circle2poly = function(circ, poly)
 };
 
 // The javascripty way to do this would be either nested object or methods on the prototypes.
-//
+// 
 // However, the *fastest* way is the method below.
 // See: http://jsperf.com/dispatch
 
@@ -3578,17 +3576,17 @@ var collideShapes = cp.collideShapes = function(a, b)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -3608,64 +3606,64 @@ var Space = cp.Space = function() {
     this.bodies = [];
     this.rousedBodies = [];
     this.sleepingComponents = [];
-
+    
     this.staticShapes = new BBTree(null);
     this.activeShapes = new BBTree(this.staticShapes);
-
+    
     this.arbiters = [];
     this.contactBuffersHead = null;
     this.cachedArbiters = {};
     //this.pooledArbiters = [];
-
+    
     this.constraints = [];
-
+    
     this.locked = 0;
-
+    
     this.collisionHandlers = {};
     this.defaultHandler = defaultCollisionHandler;
 
     this.postStepCallbacks = [];
-
+    
     /// Number of iterations to use in the impulse solver to solve contacts.
     this.iterations = 10;
-
+    
     /// Gravity to pass to rigid bodies when integrating velocity.
     this.gravity = vzero;
-
+    
     /// Damping rate expressed as the fraction of velocity bodies retain each second.
     /// A value of 0.9 would mean that each body's velocity will drop 10% per second.
     /// The default value is 1.0, meaning no damping is applied.
     /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
     this.damping = 1;
-
+    
     /// Speed threshold for a body to be considered idle.
     /// The default value of 0 means to let the space guess a good threshold based on gravity.
     this.idleSpeedThreshold = 0;
-
+    
     /// Time a group of bodies must remain idle in order to fall asleep.
     /// Enabling sleeping also implicitly enables the the contact graph.
     /// The default value of Infinity disables the sleeping algorithm.
     this.sleepTimeThreshold = Infinity;
-
+    
     /// Amount of encouraged penetration between colliding shapes..
     /// Used to reduce oscillating contacts and keep the collision cache warm.
     /// Defaults to 0.1. If you have poor simulation quality,
     /// increase this number as much as possible without allowing visible amounts of overlap.
     this.collisionSlop = 0.1;
-
+    
     /// Determines how fast overlapping shapes are pushed apart.
     /// Expressed as a fraction of the error remaining after each second.
     /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
     this.collisionBias = Math.pow(1 - 0.1, 60);
-
+    
     /// Number of frames that contact information should persist.
     /// Defaults to 3. There is probably never a reason to change this value.
     this.collisionPersistence = 3;
-
+    
     /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function.
     /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled.
     this.enableContactGraph = false;
-
+    
     /// The designated static body for this space.
     /// You can modify this body, or replace it with your own static body.
     /// By default it points to a statically allocated cpBody in the cpSpace struct.
@@ -3699,10 +3697,10 @@ var assertSpaceUnlocked = function(space)
 Space.prototype.addCollisionHandler = function(a, b, begin, preSolve, postSolve, separate)
 {
     assertSpaceUnlocked(this);
-
+        
     // Remove any old function so the new one will get added.
     this.removeCollisionHandler(a, b);
-
+    
     var handler = new CollisionHandler();
     handler.a = a;
     handler.b = b;
@@ -3718,7 +3716,7 @@ Space.prototype.addCollisionHandler = function(a, b, begin, preSolve, postSolve,
 Space.prototype.removeCollisionHandler = function(a, b)
 {
     assertSpaceUnlocked(this);
-
+    
     delete this.collisionHandlers[hashPair(a, b)];
 };
 
@@ -3752,17 +3750,17 @@ Space.prototype.addShape = function(shape)
 {
     var body = shape.body;
     if(body.isStatic()) return this.addStaticShape(shape);
-
+    
     assert(!shape.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     body.activate();
     body.addShape(shape);
-
+    
     shape.update(body.p, body.rot);
     this.activeShapes.insert(shape, shape.hashid);
     shape.space = this;
-
+        
     return shape;
 };
 
@@ -3771,14 +3769,14 @@ Space.prototype.addStaticShape = function(shape)
 {
     assert(!shape.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     var body = shape.body;
     body.addShape(shape);
 
     shape.update(body.p, body.rot);
     this.staticShapes.insert(shape, shape.hashid);
     shape.space = this;
-
+    
     return shape;
 };
 
@@ -3788,10 +3786,10 @@ Space.prototype.addBody = function(body)
     assert(!body.isStatic(), "Static bodies cannot be added to a space as they are not meant to be simulated.");
     assert(!body.space, "This body is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     this.bodies.push(body);
     body.space = this;
-
+    
     return body;
 };
 
@@ -3800,18 +3798,18 @@ Space.prototype.addConstraint = function(constraint)
 {
     assert(!constraint.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     var a = constraint.a, b = constraint.b;
 
     a.activate();
     b.activate();
     this.constraints.push(constraint);
-
+    
     // Push onto the heads of the bodies' constraint lists
     constraint.next_a = a.constraintList; a.constraintList = constraint;
     constraint.next_b = b.constraintList; b.constraintList = constraint;
     constraint.space = this;
-
+    
     return constraint;
 };
 
@@ -3828,12 +3826,12 @@ Space.prototype.filterArbiters = function(body, filter)
         ){
             // Call separate when removing shapes.
             if(filter && arb.state !== 'cached') arb.callSeparate(this);
-
+            
             arb.unthread();
 
             deleteObjFromList(this.arbiters, arb);
             //this.pooledArbiters.push(arb);
-
+            
             delete this.cachedArbiters[hash];
         }
     }
@@ -3849,7 +3847,7 @@ Space.prototype.removeShape = function(shape)
         assert(this.containsShape(shape),
             "Cannot remove a shape that was not added to the space. (Removed twice maybe?)");
         assertSpaceUnlocked(this);
-
+        
         body.activate();
         body.removeShape(shape);
         this.filterArbiters(body, shape);
@@ -3864,7 +3862,7 @@ Space.prototype.removeStaticShape = function(shape)
     assert(this.containsShape(shape),
         "Cannot remove a static or sleeping shape that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     var body = shape.body;
     if(body.isStatic()) body.activateStatic(shape);
     body.removeShape(shape);
@@ -3879,7 +3877,7 @@ Space.prototype.removeBody = function(body)
     assert(this.containsBody(body),
         "Cannot remove a body that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     body.activate();
 //  this.filterArbiters(body, null);
     deleteObjFromList(this.bodies, body);
@@ -3892,11 +3890,11 @@ Space.prototype.removeConstraint = function(constraint)
     assert(this.containsConstraint(constraint),
         "Cannot remove a constraint that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     constraint.a.activate();
     constraint.b.activate();
     deleteObjFromList(this.constraints, constraint);
-
+    
     constraint.a.removeConstraint(constraint);
     constraint.b.removeConstraint(constraint);
     constraint.space = null;
@@ -3934,15 +3932,15 @@ Space.prototype.eachBody = function(func)
 {
     this.lock(); {
         var bodies = this.bodies;
-
+        
         for(var i=0; i<bodies.length; i++){
             func(bodies[i]);
         }
-
+        
         var components = this.sleepingComponents;
         for(var i=0; i<components.length; i++){
             var root = components[i];
-
+            
             var body = root;
             while(body){
                 var next = body.nodeNext;
@@ -3967,7 +3965,7 @@ Space.prototype.eachConstraint = function(func)
 {
     this.lock(); {
         var constraints = this.constraints;
-
+        
         for(var i=0; i<constraints.length; i++){
             func(constraints[i]);
         }
@@ -3980,7 +3978,7 @@ Space.prototype.eachConstraint = function(func)
 Space.prototype.reindexStatic = function()
 {
     assert(!this.locked, "You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");
-
+    
     this.staticShapes.each(function(shape){
         var body = shape.body;
         shape.update(body.p, body.rot);
@@ -3992,10 +3990,10 @@ Space.prototype.reindexStatic = function()
 Space.prototype.reindexShape = function(shape)
 {
     assert(!this.locked, "You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");
-
+    
     var body = shape.body;
     shape.update(body.p, body.rot);
-
+    
     // attempt to rehash the shape in both hashes
     this.activeShapes.reindexObject(shape, shape.hashid);
     this.staticShapes.reindexObject(shape, shape.hashid);
@@ -4013,33 +4011,33 @@ Space.prototype.reindexShapesForBody = function(body)
 Space.prototype.useSpatialHash = function(dim, count)
 {
     throw new Error('Spatial Hash not implemented.');
-
+    
     var staticShapes = new SpaceHash(dim, count, null);
     var activeShapes = new SpaceHash(dim, count, staticShapes);
-
+    
     this.staticShapes.each(function(shape){
         staticShapes.insert(shape, shape.hashid);
     });
     this.activeShapes.each(function(shape){
         activeShapes.insert(shape, shape.hashid);
     });
-
+        
     this.staticShapes = staticShapes;
     this.activeShapes = activeShapes;
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -4048,13 +4046,13 @@ Space.prototype.useSpatialHash = function(dim, count)
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// **** Sleeping Functions
 
 Space.prototype.activateBody = function(body)
 {
     assert(!body.isRogue(), "Internal error: Attempting to activate a rogue body.");
-
+    
     if(this.locked){
         // cpSpaceActivateBody() is called again once the space is unlocked
         if(this.rousedBodies.indexOf(body) === -1) this.rousedBodies.push(body);
@@ -4066,28 +4064,28 @@ Space.prototype.activateBody = function(body)
             this.staticShapes.remove(shape, shape.hashid);
             this.activeShapes.insert(shape, shape.hashid);
         }
-
+        
         for(var arb = body.arbiterList; arb; arb = arb.next(body)){
             var bodyA = arb.body_a;
             if(body === bodyA || bodyA.isStatic()){
                 //var contacts = arb.contacts;
-
+                
                 // Restore contact values back to the space's contact buffer memory
                 //arb.contacts = cpContactBufferGetArray(this);
                 //memcpy(arb.contacts, contacts, numContacts*sizeof(cpContact));
                 //cpSpacePushContacts(this, numContacts);
-
+                
                 // Reinsert the arbiter into the arbiter cache
                 var a = arb.a, b = arb.b;
                 this.cachedArbiters[hashPair(a.hashid, b.hashid)] = arb;
-
+                
                 // Update the arbiter's state
                 arb.stamp = this.stamp;
                 arb.handler = this.lookupHandler(a.collision_type, b.collision_type);
                 this.arbiters.push(arb);
             }
         }
-
+        
         for(var constraint = body.constraintList; constraint; constraint = constraint.nodeNext){
             var bodyA = constraint.a;
             if(body === bodyA || bodyA.isStatic()) this.constraints.push(constraint);
@@ -4098,20 +4096,20 @@ Space.prototype.activateBody = function(body)
 Space.prototype.deactivateBody = function(body)
 {
     assert(!body.isRogue(), "Internal error: Attempting to deactivate a rogue body.");
-
+    
     deleteObjFromList(this.bodies, body);
-
+    
     for(var i = 0; i < body.shapeList.length; i++){
         var shape = body.shapeList[i];
         this.activeShapes.remove(shape, shape.hashid);
         this.staticShapes.insert(shape, shape.hashid);
     }
-
+    
     for(var arb = body.arbiterList; arb; arb = arb.next(body)){
         var bodyA = arb.body_a;
         if(body === bodyA || bodyA.isStatic()){
             this.uncacheArbiter(arb);
-
+            
             // Save contact values to a new block of memory so they won't time out
             //size_t bytes = arb.numContacts*sizeof(cpContact);
             //cpContact *contacts = (cpContact *)cpcalloc(1, bytes);
@@ -4119,7 +4117,7 @@ Space.prototype.deactivateBody = function(body)
             //arb.contacts = contacts;
         }
     }
-
+        
     for(var constraint = body.constraintList; constraint; constraint = constraint.nodeNext){
         var bodyA = constraint.a;
         if(body === bodyA || bodyA.isStatic()) deleteObjFromList(this.constraints, constraint);
@@ -4135,20 +4133,20 @@ var componentActivate = function(root)
 {
     if(!root || !root.isSleeping(root)) return;
     assert(!root.isRogue(), "Internal Error: componentActivate() called on a rogue body.");
-
+    
     var space = root.space;
     var body = root;
     while(body){
         var next = body.nodeNext;
-
+        
         body.nodeIdleTime = 0;
         body.nodeRoot = null;
         body.nodeNext = null;
         space.activateBody(body);
-
+        
         body = next;
     }
-
+    
     deleteObjFromList(space.sleepingComponents, root);
 };
 
@@ -4163,13 +4161,13 @@ Body.prototype.activate = function()
 Body.prototype.activateStatic = function(filter)
 {
     assert(this.isStatic(), "Body.activateStatic() called on a non-static body.");
-
+    
     for(var arb = this.arbiterList; arb; arb = arb.next(this)){
         if(!filter || filter == arb.a || filter == arb.b){
             (arb.body_a == this ? arb.body_b : arb.body_a).activate();
         }
     }
-
+    
     // TODO should also activate joints!
 };
 
@@ -4179,7 +4177,7 @@ Body.prototype.pushArbiter = function(arb)
         "Internal Error: Dangling contact graph pointers detected. (A)");
     assertSoft((arb.body_a === this ? arb.thread_a_prev : arb.thread_b_prev) === null,
         "Internal Error: Dangling contact graph pointers detected. (B)");
-
+    
     var next = this.arbiterList;
     assertSoft(next === null || (next.body_a === this ? next.thread_a_prev : next.thread_b_prev) === null,
         "Internal Error: Dangling contact graph pointers detected. (C)");
@@ -4234,7 +4232,7 @@ var componentActive = function(root, threshold)
     for(var body = root; body; body = body.nodeNext){
         if(body.nodeIdleTime < threshold) return true;
     }
-
+    
     return false;
 };
 
@@ -4246,7 +4244,7 @@ Space.prototype.processComponents = function(dt)
     // These checks can be removed at some stage (if DEBUG == undefined)
     for(var i=0; i<bodies.length; i++){
         var body = bodies[i];
-
+        
         assertSoft(body.nodeNext === null, "Internal Error: Dangling next pointer detected in contact graph.");
         assertSoft(body.nodeRoot === null, "Internal Error: Dangling root pointer detected in contact graph.");
     }
@@ -4255,7 +4253,7 @@ Space.prototype.processComponents = function(dt)
     if(sleep){
         var dv = this.idleSpeedThreshold;
         var dvsq = (dv ? dv*dv : vlengthsq(this.gravity)*dt*dt);
-
+    
         for(var i=0; i<bodies.length; i++){
             var body = bodies[i];
 
@@ -4270,51 +4268,51 @@ Space.prototype.processComponents = function(dt)
     for(var i=0, count=arbiters.length; i<count; i++){
         var arb = arbiters[i];
         var a = arb.body_a, b = arb.body_b;
-
-        if(sleep){
+    
+        if(sleep){  
             if((b.isRogue() && !b.isStatic()) || a.isSleeping()) a.activate();
             if((a.isRogue() && !a.isStatic()) || b.isSleeping()) b.activate();
         }
-
+        
         a.pushArbiter(arb);
         b.pushArbiter(arb);
     }
-
+    
     if(sleep){
         // Bodies should be held active if connected by a joint to a non-static rouge body.
         var constraints = this.constraints;
         for(var i=0; i<constraints.length; i++){
             var constraint = constraints[i];
             var a = constraint.a, b = constraint.b;
-
+            
             if(b.isRogue() && !b.isStatic()) a.activate();
             if(a.isRogue() && !a.isStatic()) b.activate();
         }
-
+        
         // Generate components and deactivate sleeping ones
         for(var i=0; i<bodies.length;){
             var body = bodies[i];
-
+            
             if(componentRoot(body) === null){
-                // Body not in a component yet. Perform a DFS to flood fill mark
+                // Body not in a component yet. Perform a DFS to flood fill mark 
                 // the component in the contact graph using this body as the root.
                 floodFillComponent(body, body);
-
+                
                 // Check if the component should be put to sleep.
                 if(!componentActive(body, this.sleepTimeThreshold)){
                     this.sleepingComponents.push(body);
                     for(var other = body; other; other = other.nodeNext){
                         this.deactivateBody(other);
                     }
-
+                    
                     // deactivateBody() removed the current body from the list.
                     // Skip incrementing the index counter.
                     continue;
                 }
             }
-
+            
             i++;
-
+            
             // Only sleeping bodies retain their component node pointers.
             body.nodeRoot = null;
             body.nodeNext = null;
@@ -4329,38 +4327,38 @@ Body.prototype.sleep = function()
 
 Body.prototype.sleepWithGroup = function(group){
     assert(!this.isStatic() && !this.isRogue(), "Rogue and static bodies cannot be put to sleep.");
-
+    
     var space = this.space;
     assert(space, "Cannot put a rogue body to sleep.");
     assert(!space.locked, "Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback.");
     assert(group === null || group.isSleeping(), "Cannot use a non-sleeping body as a group identifier.");
-
+    
     if(this.isSleeping()){
         assert(componentRoot(this) === componentRoot(group), "The body is already sleeping and it's group cannot be reassigned.");
         return;
     }
-
+    
     for(var i = 0; i < this.shapeList.length; i++){
         this.shapeList[i].update(this.p, this.rot);
     }
     space.deactivateBody(this);
-
+    
     if(group){
         var root = componentRoot(group);
-
+        
         this.nodeRoot = root;
         this.nodeNext = root.nodeNext;
         this.nodeIdleTime = 0;
-
+        
         root.nodeNext = this;
     } else {
         this.nodeRoot = this;
         this.nodeNext = null;
         this.nodeIdleTime = 0;
-
+        
         space.sleepingComponents.push(this);
     }
-
+    
     deleteObjFromList(space.bodies, this);
 };
 
@@ -4373,17 +4371,17 @@ Space.prototype.activateShapesTouchingShape = function(shape){
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -4421,7 +4419,7 @@ Space.prototype.pointQueryFirst = function(point, layers, group)
     this.pointQuery(point, layers, group, function(shape) {
         if(!shape.sensor) outShape = shape;
     });
-
+    
     return outShape;
 };
 
@@ -4471,14 +4469,14 @@ Space.prototype.segmentQuery = function(start, end, layers, group, func)
 {
     var helper = function(shape){
         var info;
-
+        
         if(
             !(shape.group && group === shape.group) && (layers & shape.layers) &&
             (info = shape.segmentQuery(start, end))
         ){
             func(shape, info.t, info.n);
         }
-
+        
         return 1;
     };
 
@@ -4496,7 +4494,7 @@ Space.prototype.segmentQueryFirst = function(start, end, layers, group)
 
     var helper = function(shape){
         var info;
-
+        
         if(
             !(shape.group && group === shape.group) && (layers & shape.layers) &&
             !shape.sensor &&
@@ -4505,13 +4503,13 @@ Space.prototype.segmentQueryFirst = function(start, end, layers, group)
         ){
             out = info;
         }
-
+        
         return out ? out.t : 1;
     };
 
     this.staticShapes.segmentQuery(start, end, 1, helper);
     this.activeShapes.segmentQuery(start, end, out ? out.t : 1, helper);
-
+    
     return out;
 };
 
@@ -4527,7 +4525,7 @@ Space.prototype.bbQuery = function(bb, layers, group, func)
             func(shape);
         }
     };
-
+    
     this.lock(); {
         this.activeShapes.query(bb, helper);
         this.staticShapes.query(bb, helper);
@@ -4547,7 +4545,7 @@ Space.prototype.shapeQuery = function(shape, func)
 
     //shapeQueryContext context = {func, data, false};
     var anyCollision = false;
-
+    
     var helper = function(b){
         var a = shape;
         // Reject any of the simple cases
@@ -4556,9 +4554,9 @@ Space.prototype.shapeQuery = function(shape, func)
             !(a.layers & b.layers) ||
             a === b
         ) return;
-
+        
         var contacts;
-
+        
         // Shape 'a' should have the lower shape type. (required by collideShapes() )
         if(a.collisionCode <= b.collisionCode){
             contacts = collideShapes(a, b);
@@ -4566,16 +4564,16 @@ Space.prototype.shapeQuery = function(shape, func)
             contacts = collideShapes(b, a);
             for(var i=0; i<contacts.length; i++) contacts[i].n = vneg(contacts[i].n);
         }
-
+        
         if(contacts.length){
             anyCollision = !(a.sensor || b.sensor);
-
+            
             if(func){
                 var set = new Array(contacts.length);
                 for(var i=0; i<contacts.length; i++){
                     set[i] = new ContactPoint(contacts[i].p, contacts[i].n, contacts[i].dist);
                 }
-
+                
                 func(b, set);
             }
         }
@@ -4585,7 +4583,7 @@ Space.prototype.shapeQuery = function(shape, func)
         this.activeShapes.query(bb, helper);
         this.staticShapes.query(bb, helper);
     } this.unlock(true);
-
+    
     return anyCollision;
 };
 
@@ -4975,17 +4973,17 @@ Space.prototype.step = function(dt)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5010,7 +5008,7 @@ var relative_velocity = function(a, b, r1, r2){
     //var v2_sum = vadd(b.v, vmult(vperp(r2), b.w));
     var v2_sumx = b.vx + (-r2.y) * b.w;
     var v2_sumy = b.vy + ( r2.x) * b.w;
-
+    
 //  return vsub(v2_sum, v1_sum);
     return new Vect(v2_sumx - v1_sumx, v2_sumy - v1_sumy);
 };
@@ -5077,7 +5075,7 @@ var k_scalar = function(a, b, r1, r2, n)
 {
     var value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n);
     assertSoft(value !== 0, "Unsolvable collision or constraint.");
-
+    
     return value;
 };
 
@@ -5088,11 +5086,11 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     // If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
     var k11, k12, k21, k22;
     var m_sum = a.m_inv + b.m_inv;
-
+    
     // start with I*m_sum
     k11 = m_sum; k12 = 0;
     k21 = 0;     k22 = m_sum;
-
+    
     // add the influence from r1
     var a_i_inv = a.i_inv;
     var r1xsq =  r1.x * r1.x * a_i_inv;
@@ -5100,7 +5098,7 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     var r1nxy = -r1.x * r1.y * a_i_inv;
     k11 += r1ysq; k12 += r1nxy;
     k21 += r1nxy; k22 += r1xsq;
-
+    
     // add the influnce from r2
     var b_i_inv = b.i_inv;
     var r2xsq =  r2.x * r2.x * b_i_inv;
@@ -5108,11 +5106,11 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     var r2nxy = -r2.x * r2.y * b_i_inv;
     k11 += r2ysq; k12 += r2nxy;
     k21 += r2nxy; k22 += r2xsq;
-
+    
     // invert
     var determinant = k11*k22 - k12*k21;
     assertSoft(determinant !== 0, "Unsolvable constraint.");
-
+    
     var det_inv = 1/determinant;
 
     k1.x =  k22*det_inv; k1.y = -k12*det_inv;
@@ -5130,17 +5128,17 @@ var bias_coef = function(errorBias, dt)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5159,12 +5157,12 @@ var Constraint = cp.Constraint = function(a, b)
     this.a = a;
     /// The second body connected to this constraint.
     this.b = b;
-
+    
     this.space = null;
 
     this.next_a = null;
     this.next_b = null;
-
+    
     /// The maximum force that this constraint is allowed to use.
     this.maxForce = Infinity;
     /// The rate at which joint error is corrected.
@@ -5203,17 +5201,17 @@ Constraint.prototype.next = function(body)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5226,15 +5224,15 @@ Constraint.prototype.next = function(body)
 var PinJoint = cp.PinJoint = function(a, b, anchr1, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
-
+    
     // STATIC_BODY_CHECK
     var p1 = (a ? vadd(a.p, vrotate(anchr1, a.rot)) : anchr1);
     var p2 = (b ? vadd(b.p, vrotate(anchr2, b.rot)) : anchr2);
     this.dist = vlength(vsub(p2, p1));
-
+    
     assertSoft(this.dist > 0, "You created a 0 length pin joint. A pivot joint will be much more stable.");
 
     this.r1 = this.r2 = null;
@@ -5251,21 +5249,21 @@ PinJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     this.n = vmult(delta, 1/(dist ? dist : Infinity));
-
+    
     // calculate mass normal
     this.nMass = 1/k_scalar(a, b, this.r1, this.r2, this.n);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*(dist - this.dist)/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jnMax = this.maxForce * dt;
 };
@@ -5284,13 +5282,13 @@ PinJoint.prototype.applyImpulse = function()
 
     // compute relative velocity
     var vrn = normal_relative_velocity(a, b, this.r1, this.r2, n);
-
+    
     // compute normal impulse
     var jn = (this.bias - vrn)*this.nMass;
     var jnOld = this.jnAcc;
     this.jnAcc = clamp(jnOld + jn, -this.jnMax, this.jnMax);
     jn = this.jnAcc - jnOld;
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, n.x*jn, n.y*jn);
 };
@@ -5301,17 +5299,17 @@ PinJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5324,7 +5322,7 @@ PinJoint.prototype.getImpulse = function()
 var SlideJoint = cp.SlideJoint = function(a, b, anchr1, anchr2, min, max)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
     this.min = min;
@@ -5332,7 +5330,7 @@ var SlideJoint = cp.SlideJoint = function(a, b, anchr1, anchr2, min, max)
 
     this.r1 = this.r2 = this.n = null;
     this.nMass = 0;
-
+    
     this.jnAcc = this.jnMax = 0;
     this.bias = 0;
 };
@@ -5343,10 +5341,10 @@ SlideJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     var pdist = 0;
@@ -5360,14 +5358,14 @@ SlideJoint.prototype.preStep = function(dt)
         this.n = vzero;
         this.jnAcc = 0;
     }
-
+    
     // calculate mass normal
     this.nMass = 1/k_scalar(a, b, this.r1, this.r2, this.n);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jnMax = this.maxForce * dt;
 };
@@ -5384,21 +5382,21 @@ SlideJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     var n = this.n;
     var r1 = this.r1;
     var r2 = this.r2;
-
+        
     // compute relative velocity
     var vr = relative_velocity(a, b, r1, r2);
     var vrn = vdot(vr, n);
-
+    
     // compute normal impulse
     var jn = (this.bias - vrn)*this.nMass;
     var jnOld = this.jnAcc;
     this.jnAcc = clamp(jnOld + jn, -this.jnMax, 0);
     jn = this.jnAcc - jnOld;
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, n.x * jn, n.y * jn);
 };
@@ -5409,17 +5407,17 @@ SlideJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5433,7 +5431,7 @@ SlideJoint.prototype.getImpulse = function()
 var PivotJoint = cp.PivotJoint = function(a, b, anchr1, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     if(typeof anchr2 === 'undefined') {
         var pivot = anchr1;
 
@@ -5445,7 +5443,7 @@ var PivotJoint = cp.PivotJoint = function(a, b, anchr1, anchr2)
     this.anchr2 = anchr2;
 
     this.r1 = this.r2 = vzero;
-
+    
     this.k1 = new Vect(0,0); this.k2 = new Vect(0,0);
 
     this.jAcc = vzero;
@@ -5460,16 +5458,16 @@ PivotJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     // Calculate mass tensor. Result is stored into this.k1 & this.k2.
     k_tensor(a, b, this.r1, this.r2, this.k1, this.k2);
-
+    
     // compute max impulse
     this.jMaxLen = this.maxForce * dt;
-
+    
     // calculate bias velocity
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     this.bias = vclamp(vmult(delta, -bias_coef(this.errorBias, dt)/dt), this.maxBias);
@@ -5484,18 +5482,18 @@ PivotJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var r1 = this.r1;
     var r2 = this.r2;
-
+        
     // compute relative velocity
     var vr = relative_velocity(a, b, r1, r2);
-
+    
     // compute normal impulse
     var j = mult_k(vsub(this.bias, vr), this.k1, this.k2);
     var jOld = this.jAcc;
     this.jAcc = vclamp(vadd(this.jAcc, j), this.jMaxLen);
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, this.jAcc.x - jOld.x, this.jAcc.y - jOld.y);
 };
@@ -5506,17 +5504,17 @@ PivotJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5529,12 +5527,12 @@ PivotJoint.prototype.getImpulse = function()
 var GrooveJoint = cp.GrooveJoint = function(a, b, groove_a, groove_b, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     this.grv_a = groove_a;
     this.grv_b = groove_b;
     this.grv_n = vperp(vnormalize(vsub(groove_b, groove_a)));
     this.anchr2 = anchr2;
-
+    
     this.grv_tn = null;
     this.clamp = 0;
     this.r1 = this.r2 = null;
@@ -5553,7 +5551,7 @@ GrooveJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     // calculate endpoints in worldspace
     var ta = a.local2World(this.grv_a);
     var tb = a.local2World(this.grv_b);
@@ -5561,10 +5559,10 @@ GrooveJoint.prototype.preStep = function(dt)
     // calculate axis
     var n = vrotate(this.grv_n, a.rot);
     var d = vdot(ta, n);
-
+    
     this.grv_tn = n;
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     // calculate tangential distance along the axis of r2
     var td = vcross(vadd(b.p, this.r2), n);
     // calculate clamping factor and r2
@@ -5578,13 +5576,13 @@ GrooveJoint.prototype.preStep = function(dt)
         this.clamp = 0;
         this.r1 = vsub(vadd(vmult(vperp(n), -td), vmult(n, d)), a.p);
     }
-
+    
     // Calculate mass tensor
-    k_tensor(a, b, this.r1, this.r2, this.k1, this.k2);
-
+    k_tensor(a, b, this.r1, this.r2, this.k1, this.k2); 
+    
     // compute max impulse
     this.jMaxLen = this.maxForce * dt;
-
+    
     // calculate bias velocity
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     this.bias = vclamp(vmult(delta, -bias_coef(this.errorBias, dt)/dt), this.maxBias);
@@ -5605,17 +5603,17 @@ GrooveJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var r1 = this.r1;
     var r2 = this.r2;
-
+    
     // compute impulse
     var vr = relative_velocity(a, b, r1, r2);
 
     var j = mult_k(vsub(this.bias, vr), this.k1, this.k2);
     var jOld = this.jAcc;
     this.jAcc = this.grooveConstrain(vadd(jOld, j));
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, this.jAcc.x - jOld.x, this.jAcc.y - jOld.y);
 };
@@ -5629,7 +5627,7 @@ GrooveJoint.prototype.setGrooveA = function(value)
 {
     this.grv_a = value;
     this.grv_n = vperp(vnormalize(vsub(this.grv_b, value)));
-
+    
     this.activateBodies();
 };
 
@@ -5637,22 +5635,22 @@ GrooveJoint.prototype.setGrooveB = function(value)
 {
     this.grv_b = value;
     this.grv_n = vperp(vnormalize(vsub(value, this.grv_a)));
-
+    
     this.activateBodies();
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5669,10 +5667,10 @@ var defaultSpringForce = function(spring, dist){
 var DampedSpring = cp.DampedSpring = function(a, b, anchr1, anchr2, restLength, stiffness, damping)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
-
+    
     this.restLength = restLength;
     this.stiffness = stiffness;
     this.damping = damping;
@@ -5691,18 +5689,18 @@ DampedSpring.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     this.n = vmult(delta, 1/(dist ? dist : Infinity));
-
+    
     var k = k_scalar(a, b, this.r1, this.r2, this.n);
     assertSoft(k !== 0, "Unsolvable this.");
     this.nMass = 1/k;
-
+    
     this.target_vrn = 0;
     this.v_coef = 1 - Math.exp(-this.damping*dt*k);
 
@@ -5717,18 +5715,18 @@ DampedSpring.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var n = this.n;
     var r1 = this.r1;
     var r2 = this.r2;
 
     // compute relative velocity
     var vrn = normal_relative_velocity(a, b, r1, r2, n);
-
+    
     // compute velocity loss from drag
     var v_damp = (this.target_vrn - vrn)*this.v_coef;
     this.target_vrn = vrn + v_damp;
-
+    
     v_damp *= this.nMass;
     apply_impulses(a, b, this.r1, this.r2, this.n.x * v_damp, this.n.y * v_damp);
 };
@@ -5739,17 +5737,17 @@ DampedSpring.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5766,7 +5764,7 @@ var defaultSpringTorque = function(spring, relativeAngle){
 var DampedRotarySpring = cp.DampedRotarySpring = function(a, b, restAngle, stiffness, damping)
 {
     Constraint.call(this, a, b);
-
+    
     this.restAngle = restAngle;
     this.stiffness = stiffness;
     this.damping = damping;
@@ -5783,7 +5781,7 @@ DampedRotarySpring.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var moment = a.i_inv + b.i_inv;
     assertSoft(moment !== 0, "Unsolvable spring.");
     this.iSum = 1/moment;
@@ -5803,15 +5801,15 @@ DampedRotarySpring.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative velocity
     var wrn = a.w - b.w;//normal_relative_velocity(a, b, r1, r2, n) - this.target_vrn;
-
+    
     // compute velocity loss from drag
     // not 100% certain spring is derived correctly, though it makes sense
     var w_damp = (this.target_wrn - wrn)*this.w_coef;
     this.target_wrn = wrn + w_damp;
-
+    
     //apply_impulses(a, b, this.r1, this.r2, vmult(this.n, v_damp*this.nMass));
     var j_damp = w_damp*this.iSum;
     a.w += j_damp*a.i_inv;
@@ -5821,17 +5819,17 @@ DampedRotarySpring.prototype.applyImpulse = function()
 // DampedRotarySpring.prototype.getImpulse = function(){ return 0; };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5844,7 +5842,7 @@ DampedRotarySpring.prototype.applyImpulse = function()
 var RotaryLimitJoint = cp.RotaryLimitJoint = function(a, b, min, max)
 {
     Constraint.call(this, a, b);
-
+    
     this.min = min;
     this.max = max;
 
@@ -5859,7 +5857,7 @@ RotaryLimitJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var dist = b.a - a.a;
     var pdist = 0;
     if(dist > this.max) {
@@ -5867,14 +5865,14 @@ RotaryLimitJoint.prototype.preStep = function(dt)
     } else if(dist < this.min) {
         pdist = this.min - dist;
     }
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(1/a.i + 1/b.i);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 
@@ -5886,7 +5884,7 @@ RotaryLimitJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -5898,11 +5896,11 @@ RotaryLimitJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -(this.bias + wr)*this.iSum;
     var jOld = this.jAcc;
     if(this.bias < 0){
@@ -5911,7 +5909,7 @@ RotaryLimitJoint.prototype.applyImpulse = function()
         this.jAcc = clamp(jOld + j, -this.jMax, 0);
     }
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -5923,17 +5921,17 @@ RotaryLimitJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5950,10 +5948,10 @@ var RatchetJoint = cp.RatchetJoint = function(a, b, phase, ratchet)
     this.angle = 0;
     this.phase = phase;
     this.ratchet = ratchet;
-
+    
     // STATIC_BODY_CHECK
     this.angle = (b ? b.a : 0) - (a ? a.a : 0);
-
+    
     this.iSum = this.bias = this.jAcc = this.jMax = 0;
 };
 
@@ -5963,28 +5961,28 @@ RatchetJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var angle = this.angle;
     var phase = this.phase;
     var ratchet = this.ratchet;
-
+    
     var delta = b.a - a.a;
     var diff = angle - delta;
     var pdist = 0;
-
+    
     if(diff*ratchet > 0){
         pdist = diff;
     } else {
         this.angle = Math.floor((delta - phase)/ratchet)*ratchet + phase;
     }
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(a.i_inv + b.i_inv);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 
@@ -5996,7 +5994,7 @@ RatchetJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6008,17 +6006,17 @@ RatchetJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w;
     var ratchet = this.ratchet;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -(this.bias + wr)*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp((jOld + j)*ratchet, 0, this.jMax*Math.abs(ratchet))/ratchet;
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6030,17 +6028,17 @@ RatchetJoint.prototype.getImpulse = function(joint)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -6053,11 +6051,11 @@ RatchetJoint.prototype.getImpulse = function(joint)
 var GearJoint = cp.GearJoint = function(a, b, phase, ratio)
 {
     Constraint.call(this, a, b);
-
+    
     this.phase = phase;
     this.ratio = ratio;
     this.ratio_inv = 1/ratio;
-
+    
     this.jAcc = 0;
 
     this.iSum = this.bias = this.jMax = 0;
@@ -6069,14 +6067,14 @@ GearJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(a.i_inv*this.ratio_inv + this.ratio*b.i_inv);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*(b.a*this.ratio - a.a - this.phase)/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 };
@@ -6085,7 +6083,7 @@ GearJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv*this.ratio_inv;
     b.w += j*b.i_inv;
@@ -6095,22 +6093,22 @@ GearJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w*this.ratio - a.w;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = (this.bias - wr)*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp(jOld + j, -this.jMax, this.jMax);
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv*this.ratio_inv;
     b.w += j*b.i_inv;
 };
 
-GearJoint.prototype.getImpulse = function()
+GearJoint.prototype.getImpulse = function()
 {
     return Math.abs(this.jAcc);
 };
@@ -6123,17 +6121,17 @@ GearJoint.prototype.setRatio = function(value)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -6146,9 +6144,9 @@ GearJoint.prototype.setRatio = function(value)
 var SimpleMotor = cp.SimpleMotor = function(a, b, rate)
 {
     Constraint.call(this, a, b);
-
+    
     this.rate = rate;
-
+    
     this.jAcc = 0;
 
     this.iSum = this.jMax = 0;
@@ -6160,7 +6158,7 @@ SimpleMotor.prototype.preStep = function(dt)
 {
     // calculate moment of inertia coefficient.
     this.iSum = 1/(this.a.i_inv + this.b.i_inv);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 };
@@ -6169,7 +6167,7 @@ SimpleMotor.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6179,16 +6177,16 @@ SimpleMotor.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w + this.rate;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -wr*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp(jOld + j, -this.jMax, this.jMax);
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
diff --git a/build/physics/physics.min.js b/build/physics/physics.min.js
index f5e29b93..22e0c373 100644
--- a/build/physics/physics.min.js
+++ b/build/physics/physics.min.js
@@ -1,8 +1,8 @@
 /**
- * Hilo 1.1.4 for physics
+ * Hilo 1.1.9 for physics
  * Copyright 2016 alibaba.com
  * Licensed under the MIT License
  */
-!function(){Object.create=Object.create||function(t){function i(){}return i.prototype=t,new i};var t;"undefined"==typeof exports?(t={},"object"==typeof window&&(window.cp=t)):t=exports;var i,e,s=function(t,i){},n=function(t,i){},r=function(t,i){return t<i?t:i},o=function(t,i){return t>i?t:i};"object"==typeof window&&window.navigator.userAgent.indexOf("Firefox")>-1?(i=Math.min,e=Math.max):(i=r,e=o);var a=function(t,i){return t<i?t+" "+i:i+" "+t},h=function(t,i){for(var e=0;e<t.length;e++)if(t[e]===i)return t[e]=t[t.length-1],void t.length--},c=function(t,i,e){var s=A(i,e),n=v(x(s,A(t,e))/T(s));return S(e,j(s,n))},p=function(t,i,e,s,n,r){var o=e-n,a=s-r,h=v(g(o,a,t-n,i-r)/V(o,a));return new f(n+o*h,r+a*h)};t.momentForCircle=function(t,i,e,s){return t*(.5*(i*i+e*e)+T(s))},t.areaForCircle=function(t,i){return Math.PI*Math.abs(t*t-i*i)},t.momentForSegment=function(t,i,e){var s=j(S(i,e),.5);return t*(H(e,i)/12+T(s))},t.areaForSegment=function(t,i,e){return e*(Math.PI*e+2*Q(t,i))},t.momentForPoly=function(t,i,e){for(var s=0,n=0,r=i.length,o=0;o<r;o+=2){var a=i[o]+e.x,h=i[o+1]+e.y,c=i[(o+2)%r]+e.x,p=i[(o+3)%r]+e.y,l=k(c,p,a,h),u=g(a,h,a,h)+g(a,h,c,p)+g(c,p,c,p);s+=l*u,n+=l}return t*s/(6*n)},t.areaForPoly=function(t){for(var i=0,e=0,s=t.length;e<s;e+=2)i+=C(new f(t[e],t[e+1]),new f(t[(e+2)%s],t[(e+3)%s]));return-i/2},t.centroidForPoly=function(t){for(var i=0,e=new f(0,0),s=0,n=t.length;s<n;s+=2){var r=new f(t[s],t[s+1]),o=new f(t[(s+2)%n],t[(s+3)%n]),a=C(r,o);i+=a,e=S(e,j(S(r,o),a))}return j(e,1/(3*i))},t.recenterPoly=function(i){for(var e=t.centroidForPoly(i),s=0;s<i.length;s+=2)i[s]-=e.x,i[s+1]-=e.y},t.momentForBox=function(t,i,e){return t*(i*i+e*e)/12},t.momentForBox2=function(i,e){var s=e.r-e.l,n=e.t-e.b,r=j([e.l+e.r,e.b+e.t],.5);return t.momentForBox(i,s,n)+i*T(r)};var l=t.loopIndexes=function(t){var i,e,s,n,r=0,o=0;i=s=t[0],e=n=t[1];for(var a=t.length>>1,h=1;h<a;h++){var c=t[2*h],p=t[2*h+1];c<i||c==i&&p<e?(i=c,e=p,r=h):(c>s||c==s&&p>n)&&(s=c,n=p,o=h)}return[r,o]},u=function(t,i,e){var s=t[2*i];t[2*i]=t[2*e],t[2*e]=s,s=t[2*i+1],t[2*i+1]=t[2*e+1],t[2*e+1]=s},y=function(t,i,e,s,n,r){if(0===e)return 0;for(var o=0,a=i,h=A(n,s),c=r*m(h),p=i,l=i+e-1;p<=l;){var y=new f(t[2*p],t[2*p+1]),b=C(h,A(y,s));b>c?(b>o&&(o=b,a=p),p++):(u(t,p,l),l--)}return a!=i&&u(t,i,a),p-i},b=function(t,i,e,s,n,r,o,a){if(s<0)return 0;if(0==s)return i[2*a]=r.x,i[2*a+1]=r.y,1;var h=y(i,e,s,n,r,t),c=new f(i[2*e],i[2*e+1]),p=b(t,i,e+1,h-1,n,c,r,a),l=a+p++;i[2*l]=r.x,i[2*l+1]=r.y;var u=y(i,e+h,s-h,r,o,t),d=new f(i[2*(e+h)],i[2*(e+h)+1]);return p+b(t,i,e+h+1,u-1,r,d,o,a+p)};t.convexHull=function(t,i,e){if(i)for(var s=0;s<t.length;s++)i[s]=t[s];else i=t;var r=l(t),o=r[0],a=r[1];if(o==a)return i.length=2,i;u(i,0,o),u(i,1,0==a?o:a);var h=new f(i[0],i[1]),c=new f(i[2],i[3]),p=t.length>>1,y=b(e,i,2,p-2,h,c,h,1)+1;return i.length=2*y,n(tt(i),"Internal error: cpConvexHull() and cpPolyValidate() did not agree.Please report this error with as much info as you can."),i};var d=function(t,s,n){return i(e(t,s),n)},v=function(t){return e(0,i(t,1))},f=t.Vect=function(t,i){this.x=t,this.y=i};t.v=function(t,i){return new f(t,i)};var _=t.vzero=new f(0,0),x=t.v.dot=function(t,i){return t.x*i.x+t.y*i.y},g=function(t,i,e,s){return t*e+i*s},m=t.v.len=function(t){return Math.sqrt(x(t,t))},w=t.v.len2=function(t,i){return Math.sqrt(t*t+i*i)},S=(t.v.eql=function(t,i){return t.x===i.x&&t.y===i.y},t.v.add=function(t,i){return new f(t.x+i.x,t.y+i.y)});f.prototype.add=function(t){return this.x+=t.x,this.y+=t.y,this};var A=t.v.sub=function(t,i){return new f(t.x-i.x,t.y-i.y)};f.prototype.sub=function(t){return this.x-=t.x,this.y-=t.y,this};var B=t.v.neg=function(t){return new f((-t.x),(-t.y))};f.prototype.neg=function(){return this.x=-this.x,this.y=-this.y,this};var j=t.v.mult=function(t,i){return new f(t.x*i,t.y*i)};f.prototype.mult=function(t){return this.x*=t,this.y*=t,this};var C=t.v.cross=function(t,i){return t.x*i.y-t.y*i.x},k=function(t,i,e,s){return t*s-i*e},M=t.v.perp=function(t){return new f((-t.y),t.x)},P=(t.v.pvrperp=function(t){return new f(t.y,(-t.x))},t.v.project=function(t,i){return j(i,x(t,i)/T(i))});f.prototype.project=function(t){return this.mult(x(this,t)/T(t)),this};var I=t.v.rotate=function(t,i){return new f(t.x*i.x-t.y*i.y,t.x*i.y+t.y*i.x)};f.prototype.rotate=function(t){return this.x=this.x*t.x-this.y*t.y,this.y=this.x*t.y+this.y*t.x,this};var L=t.v.unrotate=function(t,i){return new f(t.x*i.x+t.y*i.y,t.y*i.x-t.x*i.y)},T=t.v.lengthsq=function(t){return x(t,t)},V=t.v.lengthsq2=function(t,i){return t*t+i*i},R=t.v.lerp=function(t,i,e){return S(j(t,1-e),j(i,e))},F=t.v.normalize=function(t){return j(t,1/m(t))},N=t.v.normalize_safe=function(t){return 0===t.x&&0===t.y?_:F(t)},E=t.v.clamp=function(t,i){return x(t,t)>i*i?j(F(t),i):t},Q=(t.v.lerpconst=function(t,i,e){return S(t,E(A(i,t),e))},t.v.dist=function(t,i){return m(A(t,i))}),H=t.v.distsq=function(t,i){return T(A(t,i))},O=(t.v.near=function(t,i,e){return H(t,i)<e*e},t.v.slerp=function(t,i,e){var s=Math.acos(x(t,i));if(s){var n=1/Math.sin(s);return S(j(t,Math.sin((1-e)*s)*n),j(i,Math.sin(e*s)*n))}return t}),q=(t.v.slerpconst=function(t,e,s){var n=Math.acos(x(t,e));return O(t,e,i(s,n)/n)},t.v.forangle=function(t){return new f(Math.cos(t),Math.sin(t))},t.v.toangle=function(t){return Math.atan2(t.y,t.x)},t.v.str=function(t){return"("+t.x.toFixed(3)+", "+t.y.toFixed(3)+")"},0),W=t.BB=function(t,i,e,s){this.l=t,this.b=i,this.r=e,this.t=s,q++};t.bb=function(t,i,e,s){return new W(t,i,e,s)};var D=function(t,i){return new W(t.x-i,t.y-i,t.x+i,t.y+i)},G=function(t,i,e,s,n){return t.l<=s&&i<=t.r&&t.b<=n&&e<=t.t},J=0,Y=(t.NO_GROUP=0,t.ALL_LAYERS=-1);t.resetShapeIdCounter=function(){J=0};var U=t.Shape=function(t){this.body=t,this.bb_l=this.bb_b=this.bb_r=this.bb_t=0,this.hashid=J++,this.sensor=!1,this.e=0,this.u=0,this.surface_v=_,this.collision_type=0,this.group=0,this.layers=Y,this.space=null,this.collisionCode=this.collisionCode};U.prototype.setElasticity=function(t){this.e=t},U.prototype.setFriction=function(t){this.body.activate(),this.u=t},U.prototype.setLayers=function(t){this.body.activate(),this.layers=t},U.prototype.setSensor=function(t){this.body.activate(),this.sensor=t},U.prototype.setCollisionType=function(t){this.body.activate(),this.collision_type=t},U.prototype.getBody=function(){return this.body},U.prototype.active=function(){return this.body&&this.body.shapeList.indexOf(this)!==-1},U.prototype.setBody=function(t){s(!this.active(),"You cannot change the body on an active shape. You must remove the shape from the space before changing the body."),this.body=t},U.prototype.cacheBB=function(){return this.update(this.body.p,this.body.rot)},U.prototype.update=function(t,i){s(!isNaN(i.x),"Rotation is NaN"),s(!isNaN(t.x),"Position is NaN"),this.cacheData(t,i)},U.prototype.pointQuery=function(t){var i=this.nearestPointQuery(t);if(i.d<0)return i},U.prototype.getBB=function(){return new W(this.bb_l,this.bb_b,this.bb_r,this.bb_t)};var z=function(t,i,e){this.shape=t,this.p=i,this.d=e},X=function(t,i,e){this.shape=t,this.t=i,this.n=e};X.prototype.hitPoint=function(t,i){return R(t,i,this.t)},X.prototype.hitDist=function(t,i){return Q(t,i)*this.t};var K=t.CircleShape=function(t,i,e){this.c=this.tc=e,this.r=i,this.type="circle",U.call(this,t)};K.prototype=Object.create(U.prototype),K.prototype.cacheData=function(t,i){var e=this.tc=I(this.c,i).add(t),s=this.r;this.bb_l=e.x-s,this.bb_b=e.y-s,this.bb_r=e.x+s,this.bb_t=e.y+s},K.prototype.nearestPointQuery=function(t){var i=t.x-this.tc.x,e=t.y-this.tc.y,s=w(i,e),n=this.r,r=new f(this.tc.x+i*n/s,this.tc.y+e*n/s);return new z(this,r,s-n)};var Z=function(t,i,e,s,n,r){s=A(s,i),n=A(n,i);var o=x(s,s)-2*x(s,n)+x(n,n),a=-2*x(s,s)+2*x(s,n),h=x(s,s)-e*e,c=a*a-4*o*h;if(c>=0){var p=(-a-Math.sqrt(c))/(2*o);if(0<=p&&p<=1)return new X(t,p,F(R(s,n,p)))}};K.prototype.segmentQuery=function(t,i){return Z(this,this.tc,this.r,t,i)};var $=t.SegmentShape=function(t,i,e,s){this.a=i,this.b=e,this.n=M(F(A(e,i))),this.ta=this.tb=this.tn=null,this.r=s,this.a_tangent=_,this.b_tangent=_,this.type="segment",U.call(this,t)};$.prototype=Object.create(U.prototype),$.prototype.cacheData=function(t,i){this.ta=S(t,I(this.a,i)),this.tb=S(t,I(this.b,i)),this.tn=I(this.n,i);var e,s,n,r;this.ta.x<this.tb.x?(e=this.ta.x,s=this.tb.x):(e=this.tb.x,s=this.ta.x),this.ta.y<this.tb.y?(n=this.ta.y,r=this.tb.y):(n=this.tb.y,r=this.ta.y);var o=this.r;this.bb_l=e-o,this.bb_b=n-o,this.bb_r=s+o,this.bb_t=r+o},$.prototype.nearestPointQuery=function(t){var i=c(t,this.ta,this.tb),e=t.x-i.x,s=t.y-i.y,n=w(e,s),r=this.r,o=n?S(i,j(new f(e,s),r/n)):i;return new z(this,o,n-r)},$.prototype.segmentQuery=function(t,i){var e=this.tn,s=x(A(this.ta,t),e),n=this.r,r=s>0?B(e):e,o=A(j(r,n),t),a=S(this.ta,o),h=S(this.tb,o),c=A(i,t);if(C(c,a)*C(c,h)<=0){var p=s+(s>0?-n:n),l=-p,u=x(c,e)-p;if(l*u<0)return new X(this,l/(l-u),r)}else if(0!==n){var y=Z(this,this.ta,this.r,t,i),b=Z(this,this.tb,this.r,t,i);return y?b&&b.t<y.t?b:y:b}},$.prototype.setNeighbors=function(t,i){this.a_tangent=A(t,this.a),this.b_tangent=A(i,this.b)},$.prototype.setEndpoints=function(t,i){this.a=t,this.b=i,this.n=M(F(A(i,t)))};var tt=function(t){for(var i=t.length,e=0;e<i;e+=2){var s=t[e],n=t[e+1],r=t[(e+2)%i],o=t[(e+3)%i],a=t[(e+4)%i],h=t[(e+5)%i];if(k(r-s,o-n,a-r,h-o)>0)return!1}return!0},it=t.PolyShape=function(t,i,e){this.setVerts(i,e),this.type="poly",U.call(this,t)};it.prototype=Object.create(U.prototype);var et=function(t,i){this.n=t,this.d=i};et.prototype.compare=function(t){return x(this.n,t)-this.d},it.prototype.setVerts=function(t,i){s(t.length>=4,"Polygons require some verts"),s("number"==typeof t[0],"Polygon verticies should be specified in a flattened list (eg [x1,y1,x2,y2,x3,y3,...])"),s(tt(t),"Polygon is concave or has a reversed winding. Consider using cpConvexHull()");var e=t.length,n=e>>1;this.verts=new Array(e),this.tVerts=new Array(e),this.planes=new Array(n),this.tPlanes=new Array(n);for(var r=0;r<e;r+=2){var o=t[r]+i.x,a=t[r+1]+i.y,h=t[(r+2)%e]+i.x,c=t[(r+3)%e]+i.y,p=F(M(new f(h-o,c-a)));this.verts[r]=o,this.verts[r+1]=a,this.planes[r>>1]=new et(p,g(p.x,p.y,o,a)),this.tPlanes[r>>1]=new et(new f(0,0),0)}};var st=(t.BoxShape=function(t,i,e){var s=i/2,n=e/2;return st(t,new W((-s),(-n),s,n))},t.BoxShape2=function(t,i){var e=[i.l,i.b,i.l,i.t,i.r,i.t,i.r,i.b];return new it(t,e,_)});it.prototype.transformVerts=function(t,s){for(var n=this.verts,r=this.tVerts,o=1/0,a=-(1/0),h=1/0,c=-(1/0),p=0;p<n.length;p+=2){var l=n[p],u=n[p+1],y=t.x+l*s.x-u*s.y,b=t.y+l*s.y+u*s.x;r[p]=y,r[p+1]=b,o=i(o,y),a=e(a,y),h=i(h,b),c=e(c,b)}this.bb_l=o,this.bb_b=h,this.bb_r=a,this.bb_t=c},it.prototype.transformAxes=function(t,i){for(var e=this.planes,s=this.tPlanes,n=0;n<e.length;n++){var r=I(e[n].n,i);s[n].n=r,s[n].d=x(t,r)+e[n].d}},it.prototype.cacheData=function(t,i){this.transformAxes(t,i),this.transformVerts(t,i)},it.prototype.nearestPointQuery=function(t){for(var i=this.tPlanes,e=this.tVerts,s=e[e.length-2],n=e[e.length-1],r=1/0,o=_,a=!1,h=0;h<i.length;h++){i[h].compare(t)>0&&(a=!0);var c=e[2*h],l=e[2*h+1],u=p(t.x,t.y,s,n,c,l),y=Q(t,u);y<r&&(r=y,o=u),s=c,n=l}return new z(this,o,a?r:-r)},it.prototype.segmentQuery=function(t,i){for(var e=this.tPlanes,s=this.tVerts,n=e.length,r=2*n,o=0;o<n;o++){var a=e[o].n,h=x(t,a);if(!(e[o].d>h)){var c=x(i,a),p=(e[o].d-h)/(c-h);if(!(p<0||1<p)){var l=R(t,i,p),u=-C(a,l),y=-k(a.x,a.y,s[2*o],s[2*o+1]),b=-k(a.x,a.y,s[(2*o+2)%r],s[(2*o+3)%r]);if(y<=u&&u<=b)return new X(this,p,a)}}}},it.prototype.valueOnAxis=function(t,e){for(var s=this.tVerts,n=g(t.x,t.y,s[0],s[1]),r=2;r<s.length;r+=2)n=i(n,g(t.x,t.y,s[r],s[r+1]));return n-e},it.prototype.containsVert=function(t,i){for(var e=this.tPlanes,s=0;s<e.length;s++){var n=e[s].n,r=g(n.x,n.y,t,i)-e[s].d;if(r>0)return!1}return!0},it.prototype.containsVertPartial=function(t,i,e){for(var s=this.tPlanes,n=0;n<s.length;n++){var r=s[n].n;if(!(x(r,e)<0)){var o=g(r.x,r.y,t,i)-s[n].d;if(o>0)return!1}}return!0},it.prototype.getNumVerts=function(){return this.verts.length/2},it.prototype.getVert=function(t){return new f(this.verts[2*t],this.verts[2*t+1])};var nt=t.Body=function(t,i){this.p=new f(0,0),this.vx=this.vy=0,this.f=new f(0,0),this.w=0,this.t=0,this.v_limit=1/0,this.w_limit=1/0,this.v_biasx=this.v_biasy=0,this.w_bias=0,this.space=null,this.shapeList=[],this.arbiterList=null,this.constraintList=null,this.nodeRoot=null,this.nodeNext=null,this.nodeIdleTime=0,this.setMass(t),this.setMoment(i),this.rot=new f(0,0),this.setAngle(0)};if("undefined"!=typeof DEBUG&&DEBUG){var rt=function(t,i){s(t.x==t.x&&t.y==t.y,i)},ot=function(t,i){s(Math.abs(t.x)!==1/0&&Math.abs(t.y)!==1/0,i)},at=function(t,i){rt(t,i),ot(t,i)};nt.prototype.sanityCheck=function(){s(this.m===this.m&&this.m_inv===this.m_inv,"Body's mass is invalid."),s(this.i===this.i&&this.i_inv===this.i_inv,"Body's moment is invalid."),at(this.p,"Body's position is invalid."),at(this.f,"Body's force is invalid."),s(this.vx===this.vx&&Math.abs(this.vx)!==1/0,"Body's velocity is invalid."),s(this.vy===this.vy&&Math.abs(this.vy)!==1/0,"Body's velocity is invalid."),s(this.a===this.a&&Math.abs(this.a)!==1/0,"Body's angle is invalid."),s(this.w===this.w&&Math.abs(this.w)!==1/0,"Body's angular velocity is invalid."),s(this.t===this.t&&Math.abs(this.t)!==1/0,"Body's torque is invalid."),at(this.rot,"Body's rotation vector is invalid."),s(this.v_limit===this.v_limit,"Body's velocity limit is invalid."),s(this.w_limit===this.w_limit,"Body's angular velocity limit is invalid.")}}else nt.prototype.sanityCheck=function(){};nt.prototype.getPos=function(){return this.p},nt.prototype.getVel=function(){return new f(this.vx,this.vy)},nt.prototype.getAngVel=function(){return this.w},nt.prototype.isSleeping=function(){return null!==this.nodeRoot},nt.prototype.isStatic=function(){return this.nodeIdleTime===1/0},nt.prototype.isRogue=function(){return null===this.space},nt.prototype.setMass=function(t){s(t>0,"Mass must be positive and non-zero."),this.activate(),this.m=t,this.m_inv=1/t},nt.prototype.setMoment=function(t){s(t>0,"Moment of Inertia must be positive and non-zero."),this.activate(),this.i=t,this.i_inv=1/t},nt.prototype.addShape=function(t){this.shapeList.push(t)},nt.prototype.removeShape=function(t){h(this.shapeList,t)};var ht=function(t,i,e){return t===e?t.next(i):(t.a===i?t.next_a=ht(t.next_a,i,e):t.next_b=ht(t.next_b,i,e),t)};nt.prototype.removeConstraint=function(t){this.constraintList=ht(this.constraintList,this,t)},nt.prototype.setPos=function(i){this.activate(),this.sanityCheck(),i===_&&(i=t.v(0,0)),this.p=i},nt.prototype.setVel=function(t){this.activate(),this.vx=t.x,this.vy=t.y},nt.prototype.setAngVel=function(t){this.activate(),this.w=t},nt.prototype.setAngleInternal=function(t){s(!isNaN(t),"Internal Error: Attempting to set body's angle to NaN"),this.a=t,this.rot.x=Math.cos(t),this.rot.y=Math.sin(t)},nt.prototype.setAngle=function(t){this.activate(),this.sanityCheck(),this.setAngleInternal(t)},nt.prototype.velocity_func=function(t,i,e){var s=this.vx*i+(t.x+this.f.x*this.m_inv)*e,n=this.vy*i+(t.y+this.f.y*this.m_inv)*e,r=this.v_limit,o=s*s+n*n,a=o>r*r?r/Math.sqrt(o):1;this.vx=s*a,this.vy=n*a;var h=this.w_limit;this.w=d(this.w*i+this.t*this.i_inv*e,-h,h),this.sanityCheck()},nt.prototype.position_func=function(t){this.p.x+=(this.vx+this.v_biasx)*t,this.p.y+=(this.vy+this.v_biasy)*t,this.setAngleInternal(this.a+(this.w+this.w_bias)*t),this.v_biasx=this.v_biasy=0,this.w_bias=0,this.sanityCheck()},nt.prototype.resetForces=function(){this.activate(),this.f=new f(0,0),this.t=0},nt.prototype.applyForce=function(t,i){this.activate(),this.f=S(this.f,t),this.t+=C(i,t)},nt.prototype.applyImpulse=function(t,i){this.activate(),pi(this,t.x,t.y,i)},nt.prototype.getVelAtPoint=function(t){return S(new f(this.vx,this.vy),j(M(t),this.w))},nt.prototype.getVelAtWorldPoint=function(t){return this.getVelAtPoint(A(t,this.p))},nt.prototype.getVelAtLocalPoint=function(t){return this.getVelAtPoint(I(t,this.rot))},nt.prototype.eachShape=function(t){for(var i=0,e=this.shapeList.length;i<e;i++)t(this.shapeList[i])},nt.prototype.eachConstraint=function(t){for(var i=this.constraintList;i;){var e=i.next(this);t(i),i=e}},nt.prototype.eachArbiter=function(t){for(var i=this.arbiterList;i;){var e=i.next(this);i.swappedColl=this===i.body_b,t(i),i=e}},nt.prototype.local2World=function(t){return S(this.p,I(t,this.rot))},nt.prototype.world2Local=function(t){return L(A(t,this.p),this.rot)},nt.prototype.kineticEnergy=function(){var t=this.vx*this.vx+this.vy*this.vy,i=this.w*this.w;return(t?t*this.m:0)+(i?i*this.i:0)};var ct=t.SpatialIndex=function(t){if(this.staticIndex=t,t){if(t.dynamicIndex)throw new Error("This static index is already associated with a dynamic index.");t.dynamicIndex=this}};ct.prototype.collideStatic=function(t,i){if(t.count>0){var e=t.query;this.each(function(t){e(t,new W(t.bb_l,t.bb_b,t.bb_r,t.bb_t),i)})}};var pt=t.BBTree=function(t){ct.call(this,t),this.velocityFunc=null,this.leaves={},this.count=0,this.root=null,this.pooledNodes=null,this.pooledPairs=null,this.stamp=0};pt.prototype=Object.create(ct.prototype);var lt=0,ut=function(t,s,n){this.obj=null,this.bb_l=i(s.bb_l,n.bb_l),this.bb_b=i(s.bb_b,n.bb_b),this.bb_r=e(s.bb_r,n.bb_r),this.bb_t=e(s.bb_t,n.bb_t),this.parent=null,this.setA(s),this.setB(n)};pt.prototype.makeNode=function(t,i){var e=this.pooledNodes;return e?(this.pooledNodes=e.parent,e.constructor(this,t,i),e):(lt++,new ut(this,t,i))};var yt=0,bt=function(t,i){this.obj=i,t.getBB(i,this),this.parent=null,this.stamp=1,this.pairs=null,yt++};pt.prototype.getBB=function(t,s){var n=this.velocityFunc;if(n){var r=.1,o=(t.bb_r-t.bb_l)*r,a=(t.bb_t-t.bb_b)*r,h=j(n(t),.1);s.bb_l=t.bb_l+i(-o,h.x),s.bb_b=t.bb_b+i(-a,h.y),s.bb_r=t.bb_r+e(o,h.x),s.bb_t=t.bb_t+e(a,h.y)}else s.bb_l=t.bb_l,s.bb_b=t.bb_b,s.bb_r=t.bb_r,s.bb_t=t.bb_t},pt.prototype.getStamp=function(){var t=this.dynamicIndex;return t&&t.stamp?t.stamp:this.stamp},pt.prototype.incrementStamp=function(){this.dynamicIndex&&this.dynamicIndex.stamp?this.dynamicIndex.stamp++:this.stamp++};var dt=0,vt=function(t,i,e,s){this.prevA=null,this.leafA=t,this.nextA=i,this.prevB=null,this.leafB=e,this.nextB=s};pt.prototype.makePair=function(t,i,e,s){var n=this.pooledPairs;return n?(this.pooledPairs=n.prevA,n.prevA=null,n.leafA=t,n.nextA=i,n.prevB=null,n.leafB=e,n.nextB=s,n):(dt++,new vt(t,i,e,s))},vt.prototype.recycle=function(t){this.prevA=t.pooledPairs,t.pooledPairs=this};var ft=function(t,i,e){e&&(e.leafA===i?e.prevA=t:e.prevB=t),t?t.leafA===i?t.nextA=e:t.nextB=e:i.pairs=e};bt.prototype.clearPairs=function(t){var i,e=this.pairs;for(this.pairs=null;e;)e.leafA===this?(i=e.nextA,ft(e.prevB,e.leafB,e.nextB)):(i=e.nextB,ft(e.prevA,e.leafA,e.nextA)),e.recycle(t),e=i};var _t=function(t,i,e){var s=t.pairs,n=i.pairs,r=e.makePair(t,s,i,n);t.pairs=i.pairs=r,s&&(s.leafA===t?s.prevA=r:s.prevB=r),n&&(n.leafA===i?n.prevA=r:n.prevB=r)};ut.prototype.recycle=function(t){this.parent=t.pooledNodes,t.pooledNodes=this},bt.prototype.recycle=function(t){},ut.prototype.setA=function(t){this.A=t,t.parent=this},ut.prototype.setB=function(t){this.B=t,t.parent=this},bt.prototype.isLeaf=!0,ut.prototype.isLeaf=!1,ut.prototype.otherChild=function(t){return this.A==t?this.B:this.A},ut.prototype.replaceChild=function(t,s,r){n(t==this.A||t==this.B,"Node is not a child of parent."),this.A==t?(this.A.recycle(r),this.setA(s)):(this.B.recycle(r),this.setB(s));for(var o=this;o;o=o.parent){var a=o.A,h=o.B;o.bb_l=i(a.bb_l,h.bb_l),o.bb_b=i(a.bb_b,h.bb_b),o.bb_r=e(a.bb_r,h.bb_r),o.bb_t=e(a.bb_t,h.bb_t)}},ut.prototype.bbArea=bt.prototype.bbArea=function(){return(this.bb_r-this.bb_l)*(this.bb_t-this.bb_b)};var xt=function(t,s){return(e(t.bb_r,s.bb_r)-i(t.bb_l,s.bb_l))*(e(t.bb_t,s.bb_t)-i(t.bb_b,s.bb_b))},gt=function(t,i){return Math.abs(t.bb_l+t.bb_r-i.bb_l-i.bb_r)+Math.abs(t.bb_b+t.bb_t-i.bb_b-i.bb_t)},mt=function(t,s,n){if(null==t)return s;if(t.isLeaf)return n.makeNode(s,t);var r=t.B.bbArea()+xt(t.A,s),o=t.A.bbArea()+xt(t.B,s);return r===o&&(r=gt(t.A,s),o=gt(t.B,s)),o<r?t.setB(mt(t.B,s,n)):t.setA(mt(t.A,s,n)),t.bb_l=i(t.bb_l,s.bb_l),t.bb_b=i(t.bb_b,s.bb_b),t.bb_r=e(t.bb_r,s.bb_r),t.bb_t=e(t.bb_t,s.bb_t),t};ut.prototype.intersectsBB=bt.prototype.intersectsBB=function(t){return this.bb_l<=t.r&&t.l<=this.bb_r&&this.bb_b<=t.t&&t.b<=this.bb_t};var wt=function(t,i,e){t.intersectsBB(i)&&(t.isLeaf?e(t.obj):(wt(t.A,i,e),wt(t.B,i,e)))},St=function(t,s,n){var r=1/(n.x-s.x),o=t.bb_l==s.x?-(1/0):(t.bb_l-s.x)*r,a=t.bb_r==s.x?1/0:(t.bb_r-s.x)*r,h=i(o,a),c=e(o,a),p=1/(n.y-s.y),l=t.bb_b==s.y?-(1/0):(t.bb_b-s.y)*p,u=t.bb_t==s.y?1/0:(t.bb_t-s.y)*p,y=i(l,u),b=e(l,u);if(y<=c&&h<=b){var d=e(h,y),v=i(c,b);if(0<=v&&d<=1)return e(d,0)}return 1/0},At=function(t,e,s,n,r){if(t.isLeaf)return r(t.obj);var o=St(t.A,e,s),a=St(t.B,e,s);return o<a?(o<n&&(n=i(n,At(t.A,e,s,n,r))),a<n&&(n=i(n,At(t.B,e,s,n,r)))):(a<n&&(n=i(n,At(t.B,e,s,n,r))),o<n&&(n=i(n,At(t.A,e,s,n,r)))),n};pt.prototype.subtreeRecycle=function(t){t.isLeaf&&(this.subtreeRecycle(t.A),this.subtreeRecycle(t.B),t.recycle(this))};var Bt=function(t,i,e){if(i==t)return null;var s=i.parent;if(s==t){var n=t.otherChild(i);return n.parent=t.parent,t.recycle(e),n}return s.parent.replaceChild(s,s.otherChild(i),e),t},jt=function(t,i){return t.bb_l<=i.bb_r&&i.bb_l<=t.bb_r&&t.bb_b<=i.bb_t&&i.bb_b<=t.bb_t};bt.prototype.markLeafQuery=function(t,i,e,s){jt(t,this)&&(i?_t(t,this,e):(this.stamp<t.stamp&&_t(this,t,e),s&&s(t.obj,this.obj)))},ut.prototype.markLeafQuery=function(t,i,e,s){jt(t,this)&&(this.A.markLeafQuery(t,i,e,s),this.B.markLeafQuery(t,i,e,s))},bt.prototype.markSubtree=function(t,i,e){if(this.stamp==t.getStamp()){i&&i.markLeafQuery(this,!1,t,e);for(var s=this;s.parent;s=s.parent)s==s.parent.A?s.parent.B.markLeafQuery(this,!0,t,e):s.parent.A.markLeafQuery(this,!1,t,e)}else for(var n=this.pairs;n;)this===n.leafB?(e&&e(n.leafA.obj,this.obj),n=n.nextB):n=n.nextA},ut.prototype.markSubtree=function(t,i,e){this.A.markSubtree(t,i,e),this.B.markSubtree(t,i,e)},bt.prototype.containsObj=function(t){return this.bb_l<=t.bb_l&&this.bb_r>=t.bb_r&&this.bb_b<=t.bb_b&&this.bb_t>=t.bb_t},bt.prototype.update=function(t){var i=t.root,e=this.obj;return!this.containsObj(e)&&(t.getBB(this.obj,this),i=Bt(i,this,t),t.root=mt(i,this,t),this.clearPairs(t),this.stamp=t.getStamp(),!0)},bt.prototype.addPairs=function(t){var i=t.dynamicIndex;if(i){var e=i.root;e&&e.markLeafQuery(this,!0,i,null)}else{var s=t.staticIndex.root;this.markSubtree(t,s,null)}},pt.prototype.insert=function(t,i){var e=new bt(this,t);this.leaves[i]=e,this.root=mt(this.root,e,this),this.count++,e.stamp=this.getStamp(),e.addPairs(this),this.incrementStamp()},pt.prototype.remove=function(t,i){var e=this.leaves[i];delete this.leaves[i],this.root=Bt(this.root,e,this),this.count--,e.clearPairs(this),e.recycle(this)},pt.prototype.contains=function(t,i){return null!=this.leaves[i]};var Ct=function(t,i){};pt.prototype.reindexQuery=function(t){if(this.root){var i,e=this.leaves;for(i in e)e[i].update(this);var s=this.staticIndex,n=s&&s.root;this.root.markSubtree(this,n,t),s&&!n&&this.collideStatic(this,s,t),this.incrementStamp()}},pt.prototype.reindex=function(){this.reindexQuery(Ct)},pt.prototype.reindexObject=function(t,i){var e=this.leaves[i];e&&(e.update(this)&&e.addPairs(this),this.incrementStamp())},pt.prototype.pointQuery=function(t,i){this.query(new W(t.x,t.y,t.x,t.y),i)},pt.prototype.segmentQuery=function(t,i,e,s){this.root&&At(this.root,t,i,e,s)},pt.prototype.query=function(t,i){this.root&&wt(this.root,t,i)},pt.prototype.count=function(){return this.count},pt.prototype.each=function(t){var i;for(i in this.leaves)t(this.leaves[i].obj)};var kt=function(t,s,n,r,o){return(e(t.bb_r,r)-i(t.bb_l,s))*(e(t.bb_t,o)-i(t.bb_b,n))},Mt=function(t,s,n,r){if(1==r)return s[n];if(2==r)return t.makeNode(s[n],s[n+1]);for(var o=s[n],a=o.bb_l,h=o.bb_b,c=o.bb_r,p=o.bb_t,l=n+r,u=n+1;u<l;u++)o=s[u],a=i(a,o.bb_l),h=i(h,o.bb_b),c=e(c,o.bb_r),p=e(p,o.bb_t);var y=c-a>p-h,b=new Array(2*r);if(y)for(var u=n;u<l;u++)b[2*u+0]=s[u].bb_l,b[2*u+1]=s[u].bb_r;else for(var u=n;u<l;u++)b[2*u+0]=s[u].bb_b,b[2*u+1]=s[u].bb_t;b.sort(function(t,i){return t-i});var d=.5*(b[r-1]+b[r]),v=a,f=h,_=c,x=p,g=a,m=h,w=c,S=p;y?_=g=d:x=m=d;for(var A=l,B=n;B<A;){var o=s[B];kt(o,g,m,w,S)<kt(o,v,f,_,x)?(A--,s[B]=s[A],s[A]=o):B++}if(A==r){for(var o=null,u=n;u<l;u++)o=mt(o,s[u],t);return o}return NodeNew(t,Mt(t,s,n,A-n),Mt(t,s,A,l-A))};pt.prototype.optimize=function(){var t=new Array(this.count),i=0;for(var e in this.leaves)t[i++]=this.nodes[e];tree.subtreeRecycle(root),this.root=Mt(tree,t,t.length)};var Pt=function(t,i){!t.isLeaf&&i<=10&&(Pt(t.A,i+1),Pt(t.B,i+1));for(var e="",s=0;s<i;s++)e+=" ";console.log(e+t.bb_b+" "+t.bb_t)};pt.prototype.log=function(){this.root&&Pt(this.root,0)};var It=t.CollisionHandler=function(){this.a=this.b=0};It.prototype.begin=function(t,i){return!0},It.prototype.preSolve=function(t,i){return!0},It.prototype.postSolve=function(t,i){},It.prototype.separate=function(t,i){};var Lt=function(t,i){this.e=0,this.u=0,this.surface_vr=_,this.a=t,this.body_a=t.body,this.b=i,this.body_b=i.body,this.thread_a_next=this.thread_a_prev=null,this.thread_b_next=this.thread_b_prev=null,this.contacts=null,this.stamp=0,this.handler=null,this.swappedColl=!1,this.state="first coll"};Lt.prototype.getShapes=function(){return this.swappedColl?[this.b,this.a]:[this.a,this.b]},Lt.prototype.totalImpulse=function(){for(var t=this.contacts,i=new f(0,0),e=0,s=t.length;e<s;e++){var n=t[e];i.add(j(n.n,n.jnAcc))}return this.swappedColl?i:i.neg()},Lt.prototype.totalImpulseWithFriction=function(){for(var t=this.contacts,i=new f(0,0),e=0,s=t.length;e<s;e++){var n=t[e];i.add(new f(n.jnAcc,n.jtAcc).rotate(n.n))}return this.swappedColl?i:i.neg()},Lt.prototype.totalKE=function(){for(var t=(1-this.e)/(1+this.e),i=0,e=this.contacts,s=0,n=e.length;s<n;s++){var r=e[s],o=r.jnAcc,a=r.jtAcc;i+=t*o*o/r.nMass+a*a/r.tMass}return i},Lt.prototype.ignore=function(){this.state="ignore"},Lt.prototype.getA=function(){return this.swappedColl?this.b:this.a},Lt.prototype.getB=function(){return this.swappedColl?this.a:this.b},Lt.prototype.isFirstContact=function(){return"first coll"===this.state};var Tt=function(t,i,e){this.point=t,this.normal=i,this.dist=e};Lt.prototype.getContactPointSet=function(){var t,i=new Array(this.contacts.length);for(t=0;t<i.length;t++)i[t]=new Tt(this.contacts[t].p,this.contacts[t].n,this.contacts[t].dist);return i},Lt.prototype.getNormal=function(t){var i=this.contacts[t].n;return this.swappedColl?B(i):i},Lt.prototype.getPoint=function(t){return this.contacts[t].p},Lt.prototype.getDepth=function(t){return this.contacts[t].dist};var Vt=function(t,i,e,s){e?e.body_a===i?e.thread_a_next=s:e.thread_b_next=s:i.arbiterList=s,s&&(s.body_a===i?s.thread_a_prev=e:s.thread_b_prev=e)};Lt.prototype.unthread=function(){Vt(this,this.body_a,this.thread_a_prev,this.thread_a_next),Vt(this,this.body_b,this.thread_b_prev,this.thread_b_next),this.thread_a_prev=this.thread_a_next=null,this.thread_b_prev=this.thread_b_next=null},Lt.prototype.update=function(t,i,e,s){if(this.contacts)for(var n=0;n<this.contacts.length;n++)for(var r=this.contacts[n],o=0;o<t.length;o++){var a=t[o];a.hash===r.hash&&(a.jnAcc=r.jnAcc,a.jtAcc=r.jtAcc)}this.contacts=t,this.handler=i,this.swappedColl=e.collision_type!==i.a,this.e=e.e*s.e,this.u=e.u*s.u,this.surface_vr=A(e.surface_v,s.surface_v),this.a=e,this.body_a=e.body,this.b=s,this.body_b=s.body,"cached"==this.state&&(this.state="first coll")},Lt.prototype.preStep=function(t,e,s){for(var n=this.body_a,r=this.body_b,o=0;o<this.contacts.length;o++){var a=this.contacts[o];a.r1=A(a.p,n.p),a.r2=A(a.p,r.p),a.nMass=1/bi(n,r,a.r1,a.r2,a.n),a.tMass=1/bi(n,r,a.r1,a.r2,M(a.n)),a.bias=-s*i(0,a.dist+e)/t,a.jBias=0,a.bounce=ci(n,r,a.r1,a.r2,a.n)*this.e}},Lt.prototype.applyCachedImpulse=function(t){if(!this.isFirstContact())for(var i=this.body_a,e=this.body_b,s=0;s<this.contacts.length;s++){var n=this.contacts[s],r=n.n.x,o=n.n.y,a=r*n.jnAcc-o*n.jtAcc,h=r*n.jtAcc+o*n.jnAcc;li(i,e,n.r1,n.r2,a*t,h*t)}};var Rt=0,Ft=0;Lt.prototype.applyImpulse=function(){Rt++;for(var t=this.body_a,i=this.body_b,s=this.surface_vr,n=this.u,r=0;r<this.contacts.length;r++){Ft++;var o=this.contacts[r],a=o.nMass,h=o.n,c=o.r1,p=o.r2,l=i.vx-p.y*i.w-(t.vx-c.y*t.w),u=i.vy+p.x*i.w-(t.vy+c.x*t.w),y=h.x*(i.v_biasx-p.y*i.w_bias-t.v_biasx+c.y*t.w_bias)+h.y*(p.x*i.w_bias+i.v_biasy-c.x*t.w_bias-t.v_biasy),b=g(l,u,h.x,h.y),v=g(l+s.x,u+s.y,-h.y,h.x),f=(o.bias-y)*a,_=o.jBias;o.jBias=e(_+f,0);var x=-(o.bounce+b)*a,m=o.jnAcc;o.jnAcc=e(m+x,0);var w=n*o.jnAcc,S=-v*o.tMass,A=o.jtAcc;o.jtAcc=d(A+S,-w,w);var B=h.x*(o.jBias-_),j=h.y*(o.jBias-_);ui(t,-B,-j,c),ui(i,B,j,p);var C=o.jnAcc-m,k=o.jtAcc-A;li(t,i,c,p,h.x*C-h.y*k,h.x*k+h.y*C)}},Lt.prototype.callSeparate=function(t){var i=t.lookupHandler(this.a.collision_type,this.b.collision_type);i.separate(this,t)},Lt.prototype.next=function(t){return this.body_a==t?this.thread_a_next:this.thread_b_next};var Nt=0,Et=function(t,i,e,s){this.p=t,this.n=i,this.dist=e,this.r1=this.r2=_,this.nMass=this.tMass=this.bounce=this.bias=0,this.jnAcc=this.jtAcc=this.jBias=0,this.hash=s,Nt++},Qt=[],Ht=function(t,i,e,s){var n=e+s,r=A(i,t),o=T(r);if(!(o>=n*n)){var a=Math.sqrt(o);return new Et(S(t,j(r,.5+(e-.5*n)/(a?a:1/0))),a?j(r,1/a):new f(1,0),a-n,0)}},Ot=function(t,i){var e=Ht(t.tc,i.tc,t.r,i.r);return e?[e]:Qt},qt=function(t,i){var e=i.ta,s=i.tb,n=t.tc,r=A(s,e),o=v(x(r,A(n,e))/T(r)),a=S(e,j(r,o)),h=Ht(n,a,t.r,i.r);if(h){var c=h.n;return 0===o&&x(c,i.a_tangent)<0||1===o&&x(c,i.b_tangent)<0?Qt:[h]}return Qt},Wt=0,Dt=function(t,i){var e=0,s=t.valueOnAxis(i[0].n,i[0].d);if(s>0)return-1;for(var n=1;n<i.length;n++){var r=t.valueOnAxis(i[n].n,i[n].d);if(r>0)return-1;r>s&&(s=r,e=n)}return Wt=s,e},Gt=function(t,i,e,s){for(var n=[],r=t.tVerts,o=0;o<r.length;o+=2){var h=r[o],c=r[o+1];i.containsVertPartial(h,c,B(e))&&n.push(new Et(new f(h,c),e,s,a(t.hashid,o)))}for(var p=i.tVerts,o=0;o<p.length;o+=2){var h=p[o],c=p[o+1];t.containsVertPartial(h,c,e)&&n.push(new Et(new f(h,c),e,s,a(i.hashid,o)))}return n},Jt=function(t,i,e,s){for(var n=[],r=t.tVerts,o=0;o<r.length;o+=2){var h=r[o],c=r[o+1];i.containsVert(h,c)&&n.push(new Et(new f(h,c),e,s,a(t.hashid,o>>1)))}for(var p=i.tVerts,o=0;o<p.length;o+=2){var h=p[o],c=p[o+1];t.containsVert(h,c)&&n.push(new Et(new f(h,c),e,s,a(i.hashid,o>>1)))}return n.length?n:Gt(t,i,e,s)},Yt=function(t,i){var e=Dt(i,t.tPlanes);if(e==-1)return Qt;var s=Wt,n=Dt(t,i.tPlanes);if(n==-1)return Qt;var r=Wt;return s>r?Jt(t,i,t.tPlanes[e].n,s):Jt(t,i,B(i.tPlanes[n].n),r)},Ut=function(t,e,s){var n=x(e,t.ta)-t.r,r=x(e,t.tb)-t.r;return i(n,r)-s},zt=function(t,i,e,s,n){for(var r=C(i.tn,i.ta),o=C(i.tn,i.tb),h=j(i.tn,n),c=e.tVerts,p=0;p<c.length;p+=2){var l=c[p],u=c[p+1];if(g(l,u,h.x,h.y)<x(i.tn,i.ta)*n+i.r){var y=k(i.tn.x,i.tn.y,l,u);r>=y&&y>=o&&t.push(new Et(new f(l,u),h,s,a(e.hashid,p)))}}},Xt=function(t,i){var e=[],s=i.tPlanes,n=s.length,r=x(t.tn,t.ta),o=i.valueOnAxis(t.tn,r)-t.r,h=i.valueOnAxis(B(t.tn),-r)-t.r;if(h>0||o>0)return Qt;var c=0,p=Ut(t,s[0].n,s[0].d);if(p>0)return Qt;for(var l=0;l<n;l++){var u=Ut(t,s[l].n,s[l].d);if(u>0)return Qt;u>p&&(p=u,c=l)}var y=B(s[c].n),b=S(t.ta,j(y,t.r)),d=S(t.tb,j(y,t.r));if(i.containsVert(b.x,b.y)&&e.push(new Et(b,y,p,a(t.hashid,0))),i.containsVert(d.x,d.y)&&e.push(new Et(d,y,p,a(t.hashid,1))),(o>=p||h>=p)&&(o>h?zt(e,t,i,o,1):zt(e,t,i,h,-1)),0===e.length){var v,_=2*c,g=i.tVerts,m=new f(g[_],g[_+1]);if(v=Ht(t.ta,m,t.r,0,e))return[v];if(v=Ht(t.tb,m,t.r,0,e))return[v];var w=2*n,A=new f(g[(_+2)%w],g[(_+3)%w]);if(v=Ht(t.ta,A,t.r,0,e))return[v];if(v=Ht(t.tb,A,t.r,0,e))return[v]}return e},Kt=function(t,i){for(var e=i.tPlanes,s=0,n=x(e[0].n,t.tc)-e[0].d-t.r,r=0;r<e.length;r++){var o=x(e[r].n,t.tc)-e[r].d-t.r;if(o>0)return Qt;o>n&&(n=o,s=r)}var a=e[s].n,h=i.tVerts,c=h.length,p=s<<1,l=h[p],u=h[p+1],y=h[(p+2)%c],b=h[(p+3)%c],d=k(a.x,a.y,l,u),v=k(a.x,a.y,y,b),_=C(a,t.tc);if(_<v){var g=Ht(t.tc,new f(y,b),t.r,0,g);return g?[g]:Qt}if(_<d)return[new Et(A(t.tc,j(a,t.r+n/2)),B(a),n,0)];var g=Ht(t.tc,new f(l,u),t.r,0,g);return g?[g]:Qt};K.prototype.collisionCode=0,$.prototype.collisionCode=1,
-it.prototype.collisionCode=2,K.prototype.collisionTable=[Ot,qt,Kt],$.prototype.collisionTable=[null,function(t,i){return Qt},Xt],it.prototype.collisionTable=[null,null,Yt];var Zt=t.collideShapes=function(t,i){return s(t.collisionCode<=i.collisionCode,"Collided shapes must be sorted by type"),t.collisionTable[i.collisionCode](t,i)},$t=new It,ti=t.Space=function(){this.stamp=0,this.curr_dt=0,this.bodies=[],this.rousedBodies=[],this.sleepingComponents=[],this.staticShapes=new pt(null),this.activeShapes=new pt(this.staticShapes),this.arbiters=[],this.contactBuffersHead=null,this.cachedArbiters={},this.constraints=[],this.locked=0,this.collisionHandlers={},this.defaultHandler=$t,this.postStepCallbacks=[],this.iterations=10,this.gravity=_,this.damping=1,this.idleSpeedThreshold=0,this.sleepTimeThreshold=1/0,this.collisionSlop=.1,this.collisionBias=Math.pow(.9,60),this.collisionPersistence=3,this.enableContactGraph=!1,this.staticBody=new nt(1/0,1/0),this.staticBody.nodeIdleTime=1/0,this.collideShapes=this.makeCollideShapes()};ti.prototype.getCurrentTimeStep=function(){return this.curr_dt},ti.prototype.setIterations=function(t){this.iterations=t},ti.prototype.isLocked=function(){return this.locked};var ii=function(t){s(!t.locked,"This addition/removal cannot be done safely during a call to cpSpaceStep()  or during a query. Put these calls into a post-step callback.")};ti.prototype.addCollisionHandler=function(t,i,e,s,n,r){ii(this),this.removeCollisionHandler(t,i);var o=new It;o.a=t,o.b=i,e&&(o.begin=e),s&&(o.preSolve=s),n&&(o.postSolve=n),r&&(o.separate=r),this.collisionHandlers[a(t,i)]=o},ti.prototype.removeCollisionHandler=function(t,i){ii(this),delete this.collisionHandlers[a(t,i)]},ti.prototype.setDefaultCollisionHandler=function(t,i,e,s){ii(this);var n=new It;t&&(n.begin=t),i&&(n.preSolve=i),e&&(n.postSolve=e),s&&(n.separate=s),this.defaultHandler=n},ti.prototype.lookupHandler=function(t,i){return this.collisionHandlers[a(t,i)]||this.defaultHandler},ti.prototype.addShape=function(t){var i=t.body;return i.isStatic()?this.addStaticShape(t):(s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this),i.activate(),i.addShape(t),t.update(i.p,i.rot),this.activeShapes.insert(t,t.hashid),t.space=this,t)},ti.prototype.addStaticShape=function(t){s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this);var i=t.body;return i.addShape(t),t.update(i.p,i.rot),this.staticShapes.insert(t,t.hashid),t.space=this,t},ti.prototype.addBody=function(t){return s(!t.isStatic(),"Static bodies cannot be added to a space as they are not meant to be simulated."),s(!t.space,"This body is already added to a space and cannot be added to another."),ii(this),this.bodies.push(t),t.space=this,t},ti.prototype.addConstraint=function(t){s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this);var i=t.a,e=t.b;return i.activate(),e.activate(),this.constraints.push(t),t.next_a=i.constraintList,i.constraintList=t,t.next_b=e.constraintList,e.constraintList=t,t.space=this,t},ti.prototype.filterArbiters=function(t,i){for(var e in this.cachedArbiters){var s=this.cachedArbiters[e];(t!==s.body_a||i!==s.a&&null!==i)&&(t!==s.body_b||i!==s.b&&null!==i)||(i&&"cached"!==s.state&&s.callSeparate(this),s.unthread(),h(this.arbiters,s),delete this.cachedArbiters[e])}},ti.prototype.removeShape=function(t){var i=t.body;i.isStatic()?this.removeStaticShape(t):(s(this.containsShape(t),"Cannot remove a shape that was not added to the space. (Removed twice maybe?)"),ii(this),i.activate(),i.removeShape(t),this.filterArbiters(i,t),this.activeShapes.remove(t,t.hashid),t.space=null)},ti.prototype.removeStaticShape=function(t){s(this.containsShape(t),"Cannot remove a static or sleeping shape that was not added to the space. (Removed twice maybe?)"),ii(this);var i=t.body;i.isStatic()&&i.activateStatic(t),i.removeShape(t),this.filterArbiters(i,t),this.staticShapes.remove(t,t.hashid),t.space=null},ti.prototype.removeBody=function(t){s(this.containsBody(t),"Cannot remove a body that was not added to the space. (Removed twice maybe?)"),ii(this),t.activate(),h(this.bodies,t),t.space=null},ti.prototype.removeConstraint=function(t){s(this.containsConstraint(t),"Cannot remove a constraint that was not added to the space. (Removed twice maybe?)"),ii(this),t.a.activate(),t.b.activate(),h(this.constraints,t),t.a.removeConstraint(t),t.b.removeConstraint(t),t.space=null},ti.prototype.containsShape=function(t){return t.space===this},ti.prototype.containsBody=function(t){return t.space==this},ti.prototype.containsConstraint=function(t){return t.space==this},ti.prototype.uncacheArbiter=function(t){delete this.cachedArbiters[a(t.a.hashid,t.b.hashid)],h(this.arbiters,t)},ti.prototype.eachBody=function(t){this.lock();for(var i=this.bodies,e=0;e<i.length;e++)t(i[e]);for(var s=this.sleepingComponents,e=0;e<s.length;e++)for(var n=s[e],r=n;r;){var o=r.nodeNext;t(r),r=o}this.unlock(!0)},ti.prototype.eachShape=function(t){this.lock(),this.activeShapes.each(t),this.staticShapes.each(t),this.unlock(!0)},ti.prototype.eachConstraint=function(t){this.lock();for(var i=this.constraints,e=0;e<i.length;e++)t(i[e]);this.unlock(!0)},ti.prototype.reindexStatic=function(){s(!this.locked,"You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete."),this.staticShapes.each(function(t){var i=t.body;t.update(i.p,i.rot)}),this.staticShapes.reindex()},ti.prototype.reindexShape=function(t){s(!this.locked,"You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");var i=t.body;t.update(i.p,i.rot),this.activeShapes.reindexObject(t,t.hashid),this.staticShapes.reindexObject(t,t.hashid)},ti.prototype.reindexShapesForBody=function(t){for(var i=t.shapeList;i;i=i.next)this.reindexShape(i)},ti.prototype.useSpatialHash=function(t,i){throw new Error("Spatial Hash not implemented.")},ti.prototype.activateBody=function(t){if(s(!t.isRogue(),"Internal error: Attempting to activate a rogue body."),this.locked)this.rousedBodies.indexOf(t)===-1&&this.rousedBodies.push(t);else{this.bodies.push(t);for(var i=0;i<t.shapeList.length;i++){var e=t.shapeList[i];this.staticShapes.remove(e,e.hashid),this.activeShapes.insert(e,e.hashid)}for(var n=t.arbiterList;n;n=n.next(t)){var r=n.body_a;if(t===r||r.isStatic()){var o=n.a,h=n.b;this.cachedArbiters[a(o.hashid,h.hashid)]=n,n.stamp=this.stamp,n.handler=this.lookupHandler(o.collision_type,h.collision_type),this.arbiters.push(n)}}for(var c=t.constraintList;c;c=c.nodeNext){var r=c.a;(t===r||r.isStatic())&&this.constraints.push(c)}}},ti.prototype.deactivateBody=function(t){s(!t.isRogue(),"Internal error: Attempting to deactivate a rogue body."),h(this.bodies,t);for(var i=0;i<t.shapeList.length;i++){var e=t.shapeList[i];this.activeShapes.remove(e,e.hashid),this.staticShapes.insert(e,e.hashid)}for(var n=t.arbiterList;n;n=n.next(t)){var r=n.body_a;(t===r||r.isStatic())&&this.uncacheArbiter(n)}for(var o=t.constraintList;o;o=o.nodeNext){var r=o.a;(t===r||r.isStatic())&&h(this.constraints,o)}};var ei=function(t){return t?t.nodeRoot:null},si=function(t){if(t&&t.isSleeping(t)){s(!t.isRogue(),"Internal Error: componentActivate() called on a rogue body.");for(var i=t.space,e=t;e;){var n=e.nodeNext;e.nodeIdleTime=0,e.nodeRoot=null,e.nodeNext=null,i.activateBody(e),e=n}h(i.sleepingComponents,t)}};nt.prototype.activate=function(){this.isRogue()||(this.nodeIdleTime=0,si(ei(this)))},nt.prototype.activateStatic=function(t){s(this.isStatic(),"Body.activateStatic() called on a non-static body.");for(var i=this.arbiterList;i;i=i.next(this))t&&t!=i.a&&t!=i.b||(i.body_a==this?i.body_b:i.body_a).activate()},nt.prototype.pushArbiter=function(t){n(null===(t.body_a===this?t.thread_a_next:t.thread_b_next),"Internal Error: Dangling contact graph pointers detected. (A)"),n(null===(t.body_a===this?t.thread_a_prev:t.thread_b_prev),"Internal Error: Dangling contact graph pointers detected. (B)");var i=this.arbiterList;n(null===i||null===(i.body_a===this?i.thread_a_prev:i.thread_b_prev),"Internal Error: Dangling contact graph pointers detected. (C)"),t.body_a===this?t.thread_a_next=i:t.thread_b_next=i,i&&(i.body_a===this?i.thread_a_prev=t:i.thread_b_prev=t),this.arbiterList=t};var ni=function(t,i){i.nodeRoot=t,i!==t&&(i.nodeNext=t.nodeNext,t.nodeNext=i)},ri=function(t,i){if(!i.isRogue()){var e=ei(i);if(null==e){ni(t,i);for(var s=i.arbiterList;s;s=s.next(i))ri(t,i==s.body_a?s.body_b:s.body_a);for(var r=i.constraintList;r;r=r.next(i))ri(t,i==r.a?r.b:r.a)}else n(e===t,"Internal Error: Inconsistency detected in the contact graph.")}},oi=function(t,i){for(var e=t;e;e=e.nodeNext)if(e.nodeIdleTime<i)return!0;return!1};ti.prototype.processComponents=function(t){for(var i=this.sleepTimeThreshold!==1/0,e=this.bodies,s=0;s<e.length;s++){var r=e[s];n(null===r.nodeNext,"Internal Error: Dangling next pointer detected in contact graph."),n(null===r.nodeRoot,"Internal Error: Dangling root pointer detected in contact graph.")}if(i)for(var o=this.idleSpeedThreshold,a=o?o*o:T(this.gravity)*t*t,s=0;s<e.length;s++){var r=e[s],h=a?r.m*a:0;r.nodeIdleTime=r.kineticEnergy()>h?0:r.nodeIdleTime+t}for(var c=this.arbiters,s=0,p=c.length;s<p;s++){var l=c[s],u=l.body_a,y=l.body_b;i&&((y.isRogue()&&!y.isStatic()||u.isSleeping())&&u.activate(),(u.isRogue()&&!u.isStatic()||y.isSleeping())&&y.activate()),u.pushArbiter(l),y.pushArbiter(l)}if(i){for(var b=this.constraints,s=0;s<b.length;s++){var d=b[s],u=d.a,y=d.b;y.isRogue()&&!y.isStatic()&&u.activate(),u.isRogue()&&!u.isStatic()&&y.activate()}for(var s=0;s<e.length;){var r=e[s];if(null!==ei(r)||(ri(r,r),oi(r,this.sleepTimeThreshold)))s++,r.nodeRoot=null,r.nodeNext=null;else{this.sleepingComponents.push(r);for(var v=r;v;v=v.nodeNext)this.deactivateBody(v)}}}},nt.prototype.sleep=function(){this.sleepWithGroup(null)},nt.prototype.sleepWithGroup=function(t){s(!this.isStatic()&&!this.isRogue(),"Rogue and static bodies cannot be put to sleep.");var i=this.space;if(s(i,"Cannot put a rogue body to sleep."),s(!i.locked,"Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback."),s(null===t||t.isSleeping(),"Cannot use a non-sleeping body as a group identifier."),this.isSleeping())return void s(ei(this)===ei(t),"The body is already sleeping and it's group cannot be reassigned.");for(var e=0;e<this.shapeList.length;e++)this.shapeList[e].update(this.p,this.rot);if(i.deactivateBody(this),t){var n=ei(t);this.nodeRoot=n,this.nodeNext=n.nodeNext,this.nodeIdleTime=0,n.nodeNext=this}else this.nodeRoot=this,this.nodeNext=null,this.nodeIdleTime=0,i.sleepingComponents.push(this);h(i.bodies,this)},ti.prototype.activateShapesTouchingShape=function(t){this.sleepTimeThreshold!==1/0&&this.shapeQuery(t,function(t,i){t.body.activate()})},ti.prototype.pointQuery=function(t,i,e,s){var n=function(n){(!n.group||e!==n.group)&&i&n.layers&&n.pointQuery(t)&&s(n)},r=new W(t.x,t.y,t.x,t.y);this.lock(),this.activeShapes.query(r,n),this.staticShapes.query(r,n),this.unlock(!0)},ti.prototype.pointQueryFirst=function(t,i,e){var s=null;return this.pointQuery(t,i,e,function(t){t.sensor||(s=t)}),s},ti.prototype.nearestPointQuery=function(t,i,e,s,n){var r=function(r){if((!r.group||s!==r.group)&&e&r.layers){var o=r.nearestPointQuery(t);o.d<i&&n(r,o.d,o.p)}},o=D(t,i);this.lock(),this.activeShapes.query(o,r),this.staticShapes.query(o,r),this.unlock(!0)},ti.prototype.nearestPointQueryNearest=function(t,i,e,s){var n,r=function(r){if((!r.group||s!==r.group)&&e&r.layers&&!r.sensor){var o=r.nearestPointQuery(t);o.d<i&&(!n||o.d<n.d)&&(n=o)}},o=D(t,i);return this.activeShapes.query(o,r),this.staticShapes.query(o,r),n},ti.prototype.segmentQuery=function(t,i,e,s,n){var r=function(r){var o;return(!r.group||s!==r.group)&&e&r.layers&&(o=r.segmentQuery(t,i))&&n(r,o.t,o.n),1};this.lock(),this.staticShapes.segmentQuery(t,i,1,r),this.activeShapes.segmentQuery(t,i,1,r),this.unlock(!0)},ti.prototype.segmentQueryFirst=function(t,i,e,s){var n=null,r=function(r){var o;return(!r.group||s!==r.group)&&e&r.layers&&!r.sensor&&(o=r.segmentQuery(t,i))&&(null===n||o.t<n.t)&&(n=o),n?n.t:1};return this.staticShapes.segmentQuery(t,i,1,r),this.activeShapes.segmentQuery(t,i,n?n.t:1,r),n},ti.prototype.bbQuery=function(t,i,e,s){var n=function(n){(!n.group||e!==n.group)&&i&n.layers&&G(t,n.bb_l,n.bb_b,n.bb_r,n.bb_t)&&s(n)};this.lock(),this.activeShapes.query(t,n),this.staticShapes.query(t,n),this.unlock(!0)},ti.prototype.shapeQuery=function(t,i){var e=t.body;e&&t.update(e.p,e.rot);var s=new W(t.bb_l,t.bb_b,t.bb_r,t.bb_t),n=!1,r=function(e){var s=t;if((!s.group||s.group!==e.group)&&s.layers&e.layers&&s!==e){var r;if(s.collisionCode<=e.collisionCode)r=Zt(s,e);else{r=Zt(e,s);for(var o=0;o<r.length;o++)r[o].n=B(r[o].n)}if(r.length&&(n=!(s.sensor||e.sensor),i)){for(var a=new Array(r.length),o=0;o<r.length;o++)a[o]=new Tt(r[o].p,r[o].n,r[o].dist);i(e,a)}}};return this.lock(),this.activeShapes.query(s,r),this.staticShapes.query(s,r),this.unlock(!0),n},ti.prototype.addPostStepCallback=function(t){n(this.locked,"Adding a post-step callback when the space is not locked is unnecessary. Post-step callbacks will not called until the end of the next call to cpSpaceStep() or the next query."),this.postStepCallbacks.push(t)},ti.prototype.runPostStepCallbacks=function(){for(var t=0;t<this.postStepCallbacks.length;t++)this.postStepCallbacks[t]();this.postStepCallbacks=[]},ti.prototype.lock=function(){this.locked++},ti.prototype.unlock=function(t){if(this.locked--,s(this.locked>=0,"Internal Error: Space lock underflow."),0===this.locked&&t){for(var i=this.rousedBodies,e=0;e<i.length;e++)this.activateBody(i[e]);i.length=0,this.runPostStepCallbacks()}},ti.prototype.makeCollideShapes=function(){var t=this;return function(i,e){var s=t;if(i.bb_l<=e.bb_r&&e.bb_l<=i.bb_r&&i.bb_b<=e.bb_t&&e.bb_b<=i.bb_t&&i.body!==e.body&&(!i.group||i.group!==e.group)&&i.layers&e.layers){var n=s.lookupHandler(i.collision_type,e.collision_type),r=i.sensor||e.sensor;if(!r||n!==$t){if(i.collisionCode>e.collisionCode){var o=i;i=e,e=o}var h=Zt(i,e);if(0!==h.length){var c=a(i.hashid,e.hashid),p=s.cachedArbiters[c];p||(p=s.cachedArbiters[c]=new Lt(i,e)),p.update(h,n,i,e),"first coll"!=p.state||n.begin(p,s)||p.ignore(),"ignore"!==p.state&&n.preSolve(p,s)&&!r?s.arbiters.push(p):(p.contacts=null,"ignore"!==p.state&&(p.state="normal")),p.stamp=s.stamp}}}}},ti.prototype.arbiterSetFilter=function(t){var i=this.stamp-t.stamp,e=t.body_a,s=t.body_b;return!(!e.isStatic()&&!e.isSleeping()||!s.isStatic()&&!s.isSleeping())||(i>=1&&"cached"!=t.state&&(t.callSeparate(this),t.state="cached"),!(i>=this.collisionPersistence)||(t.contacts=null,!1))};var ai=function(t){var i=t.body;t.update(i.p,i.rot)};ti.prototype.step=function(t){if(0!==t){s(0===_.x&&0===_.y,"vzero is invalid"),this.stamp++;var i=this.curr_dt;this.curr_dt=t;var e,n,r,o=this.bodies,a=this.constraints,h=this.arbiters;for(e=0;e<h.length;e++){var c=h[e];c.state="normal",c.body_a.isSleeping()||c.body_b.isSleeping()||c.unthread()}for(h.length=0,this.lock(),e=0;e<o.length;e++)o[e].position_func(t);this.activeShapes.each(ai),this.activeShapes.reindexQuery(this.collideShapes),this.unlock(!1),this.processComponents(t),this.lock();for(r in this.cachedArbiters)this.arbiterSetFilter(this.cachedArbiters[r])||delete this.cachedArbiters[r];var p=this.collisionSlop,l=1-Math.pow(this.collisionBias,t);for(e=0;e<h.length;e++)h[e].preStep(t,p,l);for(e=0;e<a.length;e++){var u=a[e];u.preSolve(this),u.preStep(t)}var y=Math.pow(this.damping,t),b=this.gravity;for(e=0;e<o.length;e++)o[e].velocity_func(b,y,t);var d=0===i?0:t/i;for(e=0;e<h.length;e++)h[e].applyCachedImpulse(d);for(e=0;e<a.length;e++)a[e].applyCachedImpulse(d);for(e=0;e<this.iterations;e++){for(n=0;n<h.length;n++)h[n].applyImpulse();for(n=0;n<a.length;n++)a[n].applyImpulse()}for(e=0;e<a.length;e++)a[e].postSolve(this);for(e=0;e<h.length;e++)h[e].handler.postSolve(h[e],this);this.unlock(!0)}};var hi=function(t,i,e,s){var n=t.vx+-e.y*t.w,r=t.vy+e.x*t.w,o=i.vx+-s.y*i.w,a=i.vy+s.x*i.w;return new f(o-n,a-r)},ci=function(t,i,e,s,n){var r=t.vx+-e.y*t.w,o=t.vy+e.x*t.w,a=i.vx+-s.y*i.w,h=i.vy+s.x*i.w;return g(a-r,h-o,n.x,n.y)},pi=function(t,i,e,s){t.vx+=i*t.m_inv,t.vy+=e*t.m_inv,t.w+=t.i_inv*(s.x*e-s.y*i)},li=function(t,i,e,s,n,r){pi(t,-n,-r,e),pi(i,n,r,s)},ui=function(t,i,e,s){t.v_biasx+=i*t.m_inv,t.v_biasy+=e*t.m_inv,t.w_bias+=t.i_inv*k(s.x,s.y,i,e)},yi=function(t,i,e){var s=C(i,e);return t.m_inv+t.i_inv*s*s},bi=function(t,i,e,s,r){var o=yi(t,e,r)+yi(i,s,r);return n(0!==o,"Unsolvable collision or constraint."),o},di=function(t,i,e,s,r,o){var a,h,c,p,l=t.m_inv+i.m_inv;a=l,h=0,c=0,p=l;var u=t.i_inv,y=e.x*e.x*u,b=e.y*e.y*u,d=-e.x*e.y*u;a+=b,h+=d,c+=d,p+=y;var v=i.i_inv,f=s.x*s.x*v,_=s.y*s.y*v,x=-s.x*s.y*v;a+=_,h+=x,c+=x,p+=f;var g=a*p-h*c;n(0!==g,"Unsolvable constraint.");var m=1/g;r.x=p*m,r.y=-h*m,o.x=-c*m,o.y=a*m},vi=function(t,i,e){return new f(x(t,i),x(t,e))},fi=function(t,i){return 1-Math.pow(t,i)},_i=t.Constraint=function(t,i){this.a=t,this.b=i,this.space=null,this.next_a=null,this.next_b=null,this.maxForce=1/0,this.errorBias=Math.pow(.9,60),this.maxBias=1/0};_i.prototype.activateBodies=function(){this.a&&this.a.activate(),this.b&&this.b.activate()},_i.prototype.preStep=function(t){},_i.prototype.applyCachedImpulse=function(t){},_i.prototype.applyImpulse=function(){},_i.prototype.getImpulse=function(){return 0},_i.prototype.preSolve=function(t){},_i.prototype.postSolve=function(t){},_i.prototype.next=function(t){return this.a===t?this.next_a:this.next_b};var xi=t.PinJoint=function(t,i,e,s){_i.call(this,t,i),this.anchr1=e,this.anchr2=s;var r=t?S(t.p,I(e,t.rot)):e,o=i?S(i.p,I(s,i.rot)):s;this.dist=m(A(o,r)),n(this.dist>0,"You created a 0 length pin joint. A pivot joint will be much more stable."),this.r1=this.r2=null,this.n=null,this.nMass=0,this.jnAcc=this.jnMax=0,this.bias=0};xi.prototype=Object.create(_i.prototype),xi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),n=m(s);this.n=j(s,1/(n?n:1/0)),this.nMass=1/bi(i,e,this.r1,this.r2,this.n);var r=this.maxBias;this.bias=d(-fi(this.errorBias,t)*(n-this.dist)/t,-r,r),this.jnMax=this.maxForce*t},xi.prototype.applyCachedImpulse=function(t){var i=j(this.n,this.jnAcc*t);li(this.a,this.b,this.r1,this.r2,i.x,i.y)},xi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.n,s=ci(t,i,this.r1,this.r2,e),n=(this.bias-s)*this.nMass,r=this.jnAcc;this.jnAcc=d(r+n,-this.jnMax,this.jnMax),n=this.jnAcc-r,li(t,i,this.r1,this.r2,e.x*n,e.y*n)},xi.prototype.getImpulse=function(){return Math.abs(this.jnAcc)};var gi=t.SlideJoint=function(t,i,e,s,n,r){_i.call(this,t,i),this.anchr1=e,this.anchr2=s,this.min=n,this.max=r,this.r1=this.r2=this.n=null,this.nMass=0,this.jnAcc=this.jnMax=0,this.bias=0};gi.prototype=Object.create(_i.prototype),gi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),n=m(s),r=0;n>this.max?(r=n-this.max,this.n=N(s)):n<this.min?(r=this.min-n,this.n=B(N(s))):(this.n=_,this.jnAcc=0),this.nMass=1/bi(i,e,this.r1,this.r2,this.n);var o=this.maxBias;this.bias=d(-fi(this.errorBias,t)*r/t,-o,o),this.jnMax=this.maxForce*t},gi.prototype.applyCachedImpulse=function(t){var i=this.jnAcc*t;li(this.a,this.b,this.r1,this.r2,this.n.x*i,this.n.y*i)},gi.prototype.applyImpulse=function(){if(0!==this.n.x||0!==this.n.y){var t=this.a,i=this.b,e=this.n,s=this.r1,n=this.r2,r=hi(t,i,s,n),o=x(r,e),a=(this.bias-o)*this.nMass,h=this.jnAcc;this.jnAcc=d(h+a,-this.jnMax,0),a=this.jnAcc-h,li(t,i,this.r1,this.r2,e.x*a,e.y*a)}},gi.prototype.getImpulse=function(){return Math.abs(this.jnAcc)};var mi=t.PivotJoint=function(t,i,e,s){if(_i.call(this,t,i),"undefined"==typeof s){var n=e;e=t?t.world2Local(n):n,s=i?i.world2Local(n):n}this.anchr1=e,this.anchr2=s,this.r1=this.r2=_,this.k1=new f(0,0),this.k2=new f(0,0),this.jAcc=_,this.jMaxLen=0,this.bias=_};mi.prototype=Object.create(_i.prototype),mi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot),di(i,e,this.r1,this.r2,this.k1,this.k2),this.jMaxLen=this.maxForce*t;var s=A(S(e.p,this.r2),S(i.p,this.r1));this.bias=E(j(s,-fi(this.errorBias,t)/t),this.maxBias)},mi.prototype.applyCachedImpulse=function(t){li(this.a,this.b,this.r1,this.r2,this.jAcc.x*t,this.jAcc.y*t)},mi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.r1,s=this.r2,n=hi(t,i,e,s),r=vi(A(this.bias,n),this.k1,this.k2),o=this.jAcc;this.jAcc=E(S(this.jAcc,r),this.jMaxLen),li(t,i,this.r1,this.r2,this.jAcc.x-o.x,this.jAcc.y-o.y)},mi.prototype.getImpulse=function(){return m(this.jAcc)};var wi=t.GrooveJoint=function(t,i,e,s,n){_i.call(this,t,i),this.grv_a=e,this.grv_b=s,this.grv_n=M(F(A(s,e))),this.anchr2=n,this.grv_tn=null,this.clamp=0,this.r1=this.r2=null,this.k1=new f(0,0),this.k2=new f(0,0),this.jAcc=_,this.jMaxLen=0,this.bias=null};wi.prototype=Object.create(_i.prototype),wi.prototype.preStep=function(t){var i=this.a,e=this.b,s=i.local2World(this.grv_a),n=i.local2World(this.grv_b),r=I(this.grv_n,i.rot),o=x(s,r);this.grv_tn=r,this.r2=I(this.anchr2,e.rot);var a=C(S(e.p,this.r2),r);a<=C(s,r)?(this.clamp=1,this.r1=A(s,i.p)):a>=C(n,r)?(this.clamp=-1,this.r1=A(n,i.p)):(this.clamp=0,this.r1=A(S(j(M(r),-a),j(r,o)),i.p)),di(i,e,this.r1,this.r2,this.k1,this.k2),this.jMaxLen=this.maxForce*t;var h=A(S(e.p,this.r2),S(i.p,this.r1));this.bias=E(j(h,-fi(this.errorBias,t)/t),this.maxBias)},wi.prototype.applyCachedImpulse=function(t){li(this.a,this.b,this.r1,this.r2,this.jAcc.x*t,this.jAcc.y*t)},wi.prototype.grooveConstrain=function(t){var i=this.grv_tn,e=this.clamp*C(t,i)>0?t:P(t,i);return E(e,this.jMaxLen)},wi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.r1,s=this.r2,n=hi(t,i,e,s),r=vi(A(this.bias,n),this.k1,this.k2),o=this.jAcc;this.jAcc=this.grooveConstrain(S(o,r)),li(t,i,this.r1,this.r2,this.jAcc.x-o.x,this.jAcc.y-o.y)},wi.prototype.getImpulse=function(){return m(this.jAcc)},wi.prototype.setGrooveA=function(t){this.grv_a=t,this.grv_n=M(F(A(this.grv_b,t))),this.activateBodies()},wi.prototype.setGrooveB=function(t){this.grv_b=t,this.grv_n=M(F(A(t,this.grv_a))),this.activateBodies()};var Si=function(t,i){return(t.restLength-i)*t.stiffness},Ai=t.DampedSpring=function(t,i,e,s,n,r,o){_i.call(this,t,i),this.anchr1=e,this.anchr2=s,this.restLength=n,this.stiffness=r,this.damping=o,this.springForceFunc=Si,this.target_vrn=this.v_coef=0,this.r1=this.r2=null,this.nMass=0,this.n=null};Ai.prototype=Object.create(_i.prototype),Ai.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),r=m(s);this.n=j(s,1/(r?r:1/0));var o=bi(i,e,this.r1,this.r2,this.n);n(0!==o,"Unsolvable this."),this.nMass=1/o,this.target_vrn=0,this.v_coef=1-Math.exp(-this.damping*t*o);var a=this.springForceFunc(this,r);li(i,e,this.r1,this.r2,this.n.x*a*t,this.n.y*a*t)},Ai.prototype.applyCachedImpulse=function(t){},Ai.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.n,s=this.r1,n=this.r2,r=ci(t,i,s,n,e),o=(this.target_vrn-r)*this.v_coef;this.target_vrn=r+o,o*=this.nMass,li(t,i,this.r1,this.r2,this.n.x*o,this.n.y*o)},Ai.prototype.getImpulse=function(){return 0};var Bi=function(t,i){return(i-t.restAngle)*t.stiffness},ji=t.DampedRotarySpring=function(t,i,e,s,n){_i.call(this,t,i),this.restAngle=e,this.stiffness=s,this.damping=n,this.springTorqueFunc=Bi,this.target_wrn=0,this.w_coef=0,this.iSum=0};ji.prototype=Object.create(_i.prototype),ji.prototype.preStep=function(t){var i=this.a,e=this.b,s=i.i_inv+e.i_inv;n(0!==s,"Unsolvable spring."),this.iSum=1/s,this.w_coef=1-Math.exp(-this.damping*t*s),this.target_wrn=0;var r=this.springTorqueFunc(this,i.a-e.a)*t;i.w-=r*i.i_inv,e.w+=r*e.i_inv},ji.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=t.w-i.w,s=(this.target_wrn-e)*this.w_coef;this.target_wrn=e+s;var n=s*this.iSum;t.w+=n*t.i_inv,i.w-=n*i.i_inv};var Ci=t.RotaryLimitJoint=function(t,i,e,s){_i.call(this,t,i),this.min=e,this.max=s,this.jAcc=0,this.iSum=this.bias=this.jMax=0};Ci.prototype=Object.create(_i.prototype),Ci.prototype.preStep=function(t){var i=this.a,e=this.b,s=e.a-i.a,n=0;s>this.max?n=this.max-s:s<this.min&&(n=this.min-s),this.iSum=1/(1/i.i+1/e.i);var r=this.maxBias;this.bias=d(-fi(this.errorBias,t)*n/t,-r,r),this.jMax=this.maxForce*t,this.bias||(this.jAcc=0)},Ci.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},Ci.prototype.applyImpulse=function(){if(this.bias){var t=this.a,i=this.b,e=i.w-t.w,s=-(this.bias+e)*this.iSum,n=this.jAcc;this.bias<0?this.jAcc=d(n+s,0,this.jMax):this.jAcc=d(n+s,-this.jMax,0),s=this.jAcc-n,t.w-=s*t.i_inv,i.w+=s*i.i_inv}},Ci.prototype.getImpulse=function(){return Math.abs(joint.jAcc)};var ki=t.RatchetJoint=function(t,i,e,s){_i.call(this,t,i),this.angle=0,this.phase=e,this.ratchet=s,this.angle=(i?i.a:0)-(t?t.a:0),this.iSum=this.bias=this.jAcc=this.jMax=0};ki.prototype=Object.create(_i.prototype),ki.prototype.preStep=function(t){var i=this.a,e=this.b,s=this.angle,n=this.phase,r=this.ratchet,o=e.a-i.a,a=s-o,h=0;a*r>0?h=a:this.angle=Math.floor((o-n)/r)*r+n,this.iSum=1/(i.i_inv+e.i_inv);var c=this.maxBias;this.bias=d(-fi(this.errorBias,t)*h/t,-c,c),this.jMax=this.maxForce*t,this.bias||(this.jAcc=0)},ki.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},ki.prototype.applyImpulse=function(){if(this.bias){var t=this.a,i=this.b,e=i.w-t.w,s=this.ratchet,n=-(this.bias+e)*this.iSum,r=this.jAcc;this.jAcc=d((r+n)*s,0,this.jMax*Math.abs(s))/s,n=this.jAcc-r,t.w-=n*t.i_inv,i.w+=n*i.i_inv}},ki.prototype.getImpulse=function(t){return Math.abs(t.jAcc)};var Mi=t.GearJoint=function(t,i,e,s){_i.call(this,t,i),this.phase=e,this.ratio=s,this.ratio_inv=1/s,this.jAcc=0,this.iSum=this.bias=this.jMax=0};Mi.prototype=Object.create(_i.prototype),Mi.prototype.preStep=function(t){var i=this.a,e=this.b;this.iSum=1/(i.i_inv*this.ratio_inv+this.ratio*e.i_inv);var s=this.maxBias;this.bias=d(-fi(this.errorBias,t)*(e.a*this.ratio-i.a-this.phase)/t,-s,s),this.jMax=this.maxForce*t},Mi.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv*this.ratio_inv,e.w+=s*e.i_inv},Mi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=i.w*this.ratio-t.w,s=(this.bias-e)*this.iSum,n=this.jAcc;this.jAcc=d(n+s,-this.jMax,this.jMax),s=this.jAcc-n,t.w-=s*t.i_inv*this.ratio_inv,i.w+=s*i.i_inv},Mi.prototype.getImpulse=function(){return Math.abs(this.jAcc)},Mi.prototype.setRatio=function(t){this.ratio=t,this.ratio_inv=1/t,this.activateBodies()};var Pi=t.SimpleMotor=function(t,i,e){_i.call(this,t,i),this.rate=e,this.jAcc=0,this.iSum=this.jMax=0};Pi.prototype=Object.create(_i.prototype),Pi.prototype.preStep=function(t){this.iSum=1/(this.a.i_inv+this.b.i_inv),this.jMax=this.maxForce*t},Pi.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},Pi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=i.w-t.w+this.rate,s=-e*this.iSum,n=this.jAcc;this.jAcc=d(n+s,-this.jMax,this.jMax),s=this.jAcc-n,t.w-=s*t.i_inv,i.w+=s*i.i_inv},Pi.prototype.getImpulse=function(){return Math.abs(this.jAcc)}}(),function(){var t=Hilo.Class,i=Hilo.EventMixin,e=Hilo.View,s=Math.PI/180,n=1/s,r={space:null,body:null,shape:null,applyImpulse:function(t,i){i=i||{x:0,y:0},this.body.applyImpulse(cp.v(t.x,t.y),cp.v(i.x,i.y))},applyForce:function(t,i){i=i||{x:0,y:0},this.body.applyForce(cp.v(t.x,t.y),cp.v(i.x,i.y))},setPosition:function(t,i){this.body.setPos(new cp.Vect(t,i)),this.body.isStaticBody&&(this.space.needReindexStatic=!0)},setRotation:function(t){this.body.setAngle(t*s),this.body.isStaticBody&&(this.space.needReindexStatic=!0)},render:function(t,i){this._physicsRender(),this._viewRender.call(this,t,i)},_physicsRender:function(){this.x=this.body.p.x,this.y=this.body.p.y,this.rotation=this.body.a*n}},o=t.create({Mixes:i,Statics:{SHAPE_RECT:"rect",SHAPE_CIRCLE:"circle",SHAPE_POLYGEN:"polygen"},constructor:function(t,i){this._init(t,i)},_init:function(t,i){var e=new cp.Space;if(e.iterations=20,e.gravity=new cp.Vect(t.x,t.y),e.collisionSlop=.5,e.sleepTimeThreshold=.5,i)for(var s in i)e[s]=i[s];this.space=e,this.staticBody=e.staticBody,this._deleteBodies=[]},tick:function(t){var i=this.space;t=t>32?16:t,i.needReindexStatic&&(i.reindexStatic(),i.needReindexStatic=!1),i.step(.001*t);for(var e=this._deleteBodies.length-1;e>=0;e--){for(var s=this._deleteBodies[e],n=s.shapeList,r=n.length-1;r>=0;r--)i.removeShape(n[r]);i.removeBody(s)}},bindView:function(i,e){i.body&&this.unbindView(i);var n,a,e=e||{},h=e.mass||1,c=e.type||o.SHAPE_RECT,p=void 0===e.group?0:e.group,l=void 0===e.layers?-1:e.layers,u=i.width*i.scaleX,y=i.height*i.scaleY;switch(c!==o.SHAPE_POLYGEN||i.boundsArea||e.boundsArea||(c=o.SHAPE_RECT),c){case o.SHAPE_RECT:u=e.width||u,y=e.height||y,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForBox(h,u,y)),a=new cp.BoxShape(n,u,y);break;case o.SHAPE_CIRCLE:radius=e.radius||.5*u,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForCircle(h,0,radius,new cp.Vect(0,0))),a=new cp.CircleShape(n,radius,new cp.Vect(0,0));break;case o.SHAPE_POLYGEN:var b=e.boundsArea||i.boundsArea;verts=[],b.forEach(function(t){verts.push(t.x),verts.push(t.y)}),i.boundsArea=b,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForPoly(h,verts,new cp.Vect(0,0))),a=new cp.PolyShape(n,verts,new cp.Vect(0,0))}n.setAngle(i.rotation*s),n.setPos(new cp.Vect(i.x,i.y)),a.setElasticity(e.restitution||.4),a.setFriction(e.friction||1),a.setCollisionType(e.collisionType||1),a.layers=l,a.group=p,i._viewRender=i.render,t.mix(i,r),i.body=n,i.shape=a,i.space=this.space,n.view=i,i.pivotX=.5*i.width,i.pivotY=.5*i.height,e.isStatic?this.space.addShape(a):(this.space.addBody(n),this.space.addShape(a)),i._physicsRender()},addConstraint:function(t){return this.space.addConstraint(t)},removeConstraint:function(t){return this.space.removeConstraint(t)},unbindView:function(t,i){var e=t.body;e&&(t.body=null,e.view=null,this._deleteBodies.indexOf(e)<0&&this._deleteBodies.push(e));for(var s in r)t[s]=null;t._viewRender&&(t.render=t._viewRender),i&&t.removeFromParent()},addCollisionListener:function(t,i,e){var s=e.begin||function(t){return!0},n=e.preSolve||function(t){return!0},r=e.postSolve||function(t){},o=e.separate||function(t){};this.space.addCollisionHandler(t,i,s,n,r,o)},createBounds:function(t,i){this._createBound({x:0,y:i},{x:t,y:i},1),this._createBound({x:0,y:0},{x:0,y:i},1),this._createBound({x:t,y:0},{x:t,y:i},1)},_createBound:function(t,i,e){var s=this.space.addShape(new cp.SegmentShape(this.staticBody,cp.v(t.x,t.y),cp.v(i.x,i.y),e));s.setElasticity(1),s.setFriction(1)},_createStaticBody:function(){var t=new cp.Body(1/0,1/0);return t.nodeIdleTime=1/0,t.isStaticBody=!0,t}}),a=t.create({Extends:e,constructor:function(t){t=t||{},this.id=this.id||t.id||Hilo.getUid("PhysicsDebugView"),this.showShapes=!0,this.showConstraints=!0,a.superclass.constructor.call(this,t),this.space=t.world.space,this.pointerEnabled=!1,this.pointerChildren=!1,this.initDebugDraw()},render:function(t,i){var e=t.canvas,s=t.context;e.getContext&&s&&(this.showShapes&&this.space.eachShape(function(t){t.hideDebugView||(s.fillStyle=t.style(),t.draw(s))}),this.showConstraints&&this.space.eachConstraint(function(t){!t.hideDebugView&&t.draw&&t.draw(s)}))},initDebugDraw:function(){if(!this._isInit){this._isInit=!0;var t=cp.v,i=function(t,i,e,s){t.beginPath(),t.arc(i.x,i.y,e,0,2*Math.PI,!1),void 0===s&&(s=!0),s&&t.fill(),t.stroke()},e=function(t,i,e){t.beginPath(),t.moveTo(i.x,i.y),t.lineTo(e.x,e.y),t.stroke()},s=[t(0,0),t(.2,0),t(.25,.5),t(.3,-1),t(.35,1),t(.4,-1),t(.45,1),t(.5,-1),t(.55,1),t(.6,-1),t(.65,1),t(.7,-1),t(.75,.5),t(.8,0),t(1,0)],n=function(i,e,n,r){null==r&&(r=6),i.beginPath(),i.moveTo(e.x,e.y);for(var o=t.sub(n,e),a=t.len(o),h=t.mult(o,1/a),c=1;c<s.length;c++){
-var p=t.add(e,t.rotate(t(s[c].x*a,s[c].y*r),h));i.lineTo(p.x,p.y)}i.stroke()};cp.PolyShape.prototype.draw=function(t){t.beginPath();var i=this.tVerts,e=i.length,s=new cp.Vect(i[e-2],i[e-1]);t.moveTo(s.x,s.y);for(var n=0;n<e;n+=2){var r=new cp.Vect(i[n],i[n+1]);t.lineTo(r.x,r.y)}t.fill(),t.stroke()},cp.SegmentShape.prototype.draw=function(t){var i=t.lineWidth;t.lineWidth=Math.max(1,2*this.r),e(t,this.ta,this.tb),t.lineWidth=i},cp.CircleShape.prototype.draw=function(t){i(t,this.tc,this.r),e(t,this.tc,cp.v.mult(this.body.rot,this.r).add(this.tc))},cp.PinJoint.prototype.draw=function(t){var i=this.a.local2World(this.anchr1),s=this.b.local2World(this.anchr2);t.lineWidth=2,t.strokeStyle="grey",e(t,i,s)},cp.SlideJoint.prototype.draw=function(i){var s=this.a.local2World(this.anchr1),n=this.b.local2World(this.anchr2),r=t.add(s,t.clamp(t.sub(n,s),this.min));i.lineWidth=2,i.strokeStyle="grey",e(i,s,n),i.strokeStyle="red",e(i,s,r)},cp.PivotJoint.prototype.draw=function(t){var e=this.a.local2World(this.anchr1),s=this.b.local2World(this.anchr2);t.strokeStyle="grey",t.fillStyle="grey",i(t,e,2),i(t,s,2)},cp.GrooveJoint.prototype.draw=function(t){var s=this.a.local2World(this.grv_a),n=this.a.local2World(this.grv_b),r=this.b.local2World(this.anchr2);t.strokeStyle="grey",e(t,s,n),i(t,r,3)},cp.DampedSpring.prototype.draw=function(t){var i=this.a.local2World(this.anchr1),e=this.b.local2World(this.anchr2);t.strokeStyle="grey",n(t,i,e)},cp.SimpleMotor.prototype.draw=function(t){t.save(),t.strokeStyle="#aa0000",t.lineWidth=.5,i(t,this.a.p,7,!1),i(t,this.b.p,7,!1),t.restore()};for(var r=function(){return Math.floor(256*Math.random())},o=[],a=0;a<100;a++)o.push("rgb("+r()+", "+r()+", "+r()+")");cp.Shape.prototype.style=function(){var t;return this.sensor?"rgba(255,255,255,0)":(t=this.body,t.isSleeping()?"rgb(50,50,50)":t.nodeIdleTime>this.space.sleepTimeThreshold?"rgb(170,170,170)":o[this.hashid%o.length])}}}});Hilo.Physics=o,Hilo.PhysicsDebugView=a}();
\ No newline at end of file
+!function(){Object.create=Object.create||function(t){function i(){}return i.prototype=t,new i};var t;"undefined"==typeof exports?(t={},"object"==typeof window&&(window.cp=t)):t=exports;var i,e,s=function(t,i){if(!t)throw new Error("Assertion failed: "+i)},n=function(t,i){!t&&console&&console.warn&&(console.warn("ASSERTION FAILED: "+i),console.trace&&console.trace())},r=function(t,i){return t<i?t:i},o=function(t,i){return t>i?t:i};"object"==typeof window&&window.navigator.userAgent.indexOf("Firefox")>-1?(i=Math.min,e=Math.max):(i=r,e=o);var a=function(t,i){return t<i?t+" "+i:i+" "+t},h=function(t,i){for(var e=0;e<t.length;e++)if(t[e]===i)return t[e]=t[t.length-1],void t.length--},c=function(t,i,e){var s=A(i,e),n=v(x(s,A(t,e))/T(s));return S(e,j(s,n))},p=function(t,i,e,s,n,r){var o=e-n,a=s-r,h=v(g(o,a,t-n,i-r)/R(o,a));return new f(n+o*h,r+a*h)};t.momentForCircle=function(t,i,e,s){return t*(.5*(i*i+e*e)+T(s))},t.areaForCircle=function(t,i){return Math.PI*Math.abs(t*t-i*i)},t.momentForSegment=function(t,i,e){var s=j(S(i,e),.5);return t*(H(e,i)/12+T(s))},t.areaForSegment=function(t,i,e){return e*(Math.PI*e+2*Q(t,i))},t.momentForPoly=function(t,i,e){for(var s=0,n=0,r=i.length,o=0;o<r;o+=2){var a=i[o]+e.x,h=i[o+1]+e.y,c=i[(o+2)%r]+e.x,p=i[(o+3)%r]+e.y,l=k(c,p,a,h),u=g(a,h,a,h)+g(a,h,c,p)+g(c,p,c,p);s+=l*u,n+=l}return t*s/(6*n)},t.areaForPoly=function(t){for(var i=0,e=0,s=t.length;e<s;e+=2)i+=C(new f(t[e],t[e+1]),new f(t[(e+2)%s],t[(e+3)%s]));return-i/2},t.centroidForPoly=function(t){for(var i=0,e=new f(0,0),s=0,n=t.length;s<n;s+=2){var r=new f(t[s],t[s+1]),o=new f(t[(s+2)%n],t[(s+3)%n]),a=C(r,o);i+=a,e=S(e,j(S(r,o),a))}return j(e,1/(3*i))},t.recenterPoly=function(i){for(var e=t.centroidForPoly(i),s=0;s<i.length;s+=2)i[s]-=e.x,i[s+1]-=e.y},t.momentForBox=function(t,i,e){return t*(i*i+e*e)/12},t.momentForBox2=function(i,e){var s=e.r-e.l,n=e.t-e.b,r=j([e.l+e.r,e.b+e.t],.5);return t.momentForBox(i,s,n)+i*T(r)};var l=t.loopIndexes=function(t){var i,e,s,n,r=0,o=0;i=s=t[0],e=n=t[1];for(var a=t.length>>1,h=1;h<a;h++){var c=t[2*h],p=t[2*h+1];c<i||c==i&&p<e?(i=c,e=p,r=h):(c>s||c==s&&p>n)&&(s=c,n=p,o=h)}return[r,o]},u=function(t,i,e){var s=t[2*i];t[2*i]=t[2*e],t[2*e]=s,s=t[2*i+1],t[2*i+1]=t[2*e+1],t[2*e+1]=s},y=function(t,i,e,s,n,r){if(0===e)return 0;for(var o=0,a=i,h=A(n,s),c=r*m(h),p=i,l=i+e-1;p<=l;){var y=new f(t[2*p],t[2*p+1]),b=C(h,A(y,s));b>c?(b>o&&(o=b,a=p),p++):(u(t,p,l),l--)}return a!=i&&u(t,i,a),p-i},b=function(t,i,e,s,n,r,o,a){if(s<0)return 0;if(0==s)return i[2*a]=r.x,i[2*a+1]=r.y,1;var h=y(i,e,s,n,r,t),c=new f(i[2*e],i[2*e+1]),p=b(t,i,e+1,h-1,n,c,r,a),l=a+p++;i[2*l]=r.x,i[2*l+1]=r.y;var u=y(i,e+h,s-h,r,o,t),d=new f(i[2*(e+h)],i[2*(e+h)+1]);return p+b(t,i,e+h+1,u-1,r,d,o,a+p)};t.convexHull=function(t,i,e){if(i)for(var s=0;s<t.length;s++)i[s]=t[s];else i=t;var r=l(t),o=r[0],a=r[1];if(o==a)return i.length=2,i;u(i,0,o),u(i,1,0==a?o:a);var h=new f(i[0],i[1]),c=new f(i[2],i[3]),p=t.length>>1,y=b(e,i,2,p-2,h,c,h,1)+1;return i.length=2*y,n(tt(i),"Internal error: cpConvexHull() and cpPolyValidate() did not agree.Please report this error with as much info as you can."),i};var d=function(t,s,n){return i(e(t,s),n)},v=function(t){return e(0,i(t,1))},f=t.Vect=function(t,i){this.x=t,this.y=i};t.v=function(t,i){return new f(t,i)};var _=t.vzero=new f(0,0),x=t.v.dot=function(t,i){return t.x*i.x+t.y*i.y},g=function(t,i,e,s){return t*e+i*s},m=t.v.len=function(t){return Math.sqrt(x(t,t))},w=t.v.len2=function(t,i){return Math.sqrt(t*t+i*i)},S=(t.v.eql=function(t,i){return t.x===i.x&&t.y===i.y},t.v.add=function(t,i){return new f(t.x+i.x,t.y+i.y)});f.prototype.add=function(t){return this.x+=t.x,this.y+=t.y,this};var A=t.v.sub=function(t,i){return new f(t.x-i.x,t.y-i.y)};f.prototype.sub=function(t){return this.x-=t.x,this.y-=t.y,this};var B=t.v.neg=function(t){return new f((-t.x),(-t.y))};f.prototype.neg=function(){return this.x=-this.x,this.y=-this.y,this};var j=t.v.mult=function(t,i){return new f(t.x*i,t.y*i)};f.prototype.mult=function(t){return this.x*=t,this.y*=t,this};var C=t.v.cross=function(t,i){return t.x*i.y-t.y*i.x},k=function(t,i,e,s){return t*s-i*e},M=t.v.perp=function(t){return new f((-t.y),t.x)},P=(t.v.pvrperp=function(t){return new f(t.y,(-t.x))},t.v.project=function(t,i){return j(i,x(t,i)/T(i))});f.prototype.project=function(t){return this.mult(x(this,t)/T(t)),this};var I=t.v.rotate=function(t,i){return new f(t.x*i.x-t.y*i.y,t.x*i.y+t.y*i.x)};f.prototype.rotate=function(t){return this.x=this.x*t.x-this.y*t.y,this.y=this.x*t.y+this.y*t.x,this};var L=t.v.unrotate=function(t,i){return new f(t.x*i.x+t.y*i.y,t.y*i.x-t.x*i.y)},T=t.v.lengthsq=function(t){return x(t,t)},R=t.v.lengthsq2=function(t,i){return t*t+i*i},V=t.v.lerp=function(t,i,e){return S(j(t,1-e),j(i,e))},F=t.v.normalize=function(t){return j(t,1/m(t))},N=t.v.normalize_safe=function(t){return 0===t.x&&0===t.y?_:F(t)},E=t.v.clamp=function(t,i){return x(t,t)>i*i?j(F(t),i):t},Q=(t.v.lerpconst=function(t,i,e){return S(t,E(A(i,t),e))},t.v.dist=function(t,i){return m(A(t,i))}),H=t.v.distsq=function(t,i){return T(A(t,i))},O=(t.v.near=function(t,i,e){return H(t,i)<e*e},t.v.slerp=function(t,i,e){var s=Math.acos(x(t,i));if(s){var n=1/Math.sin(s);return S(j(t,Math.sin((1-e)*s)*n),j(i,Math.sin(e*s)*n))}return t}),q=(t.v.slerpconst=function(t,e,s){var n=Math.acos(x(t,e));return O(t,e,i(s,n)/n)},t.v.forangle=function(t){return new f(Math.cos(t),Math.sin(t))},t.v.toangle=function(t){return Math.atan2(t.y,t.x)},t.v.str=function(t){return"("+t.x.toFixed(3)+", "+t.y.toFixed(3)+")"},0),D=t.BB=function(t,i,e,s){this.l=t,this.b=i,this.r=e,this.t=s,q++};t.bb=function(t,i,e,s){return new D(t,i,e,s)};var W=function(t,i){return new D(t.x-i,t.y-i,t.x+i,t.y+i)},G=function(t,i,e,s,n){return t.l<=s&&i<=t.r&&t.b<=n&&e<=t.t},J=0,Y=(t.NO_GROUP=0,t.ALL_LAYERS=-1);t.resetShapeIdCounter=function(){J=0};var U=t.Shape=function(t){this.body=t,this.bb_l=this.bb_b=this.bb_r=this.bb_t=0,this.hashid=J++,this.sensor=!1,this.e=0,this.u=0,this.surface_v=_,this.collision_type=0,this.group=0,this.layers=Y,this.space=null,this.collisionCode=this.collisionCode};U.prototype.setElasticity=function(t){this.e=t},U.prototype.setFriction=function(t){this.body.activate(),this.u=t},U.prototype.setLayers=function(t){this.body.activate(),this.layers=t},U.prototype.setSensor=function(t){this.body.activate(),this.sensor=t},U.prototype.setCollisionType=function(t){this.body.activate(),this.collision_type=t},U.prototype.getBody=function(){return this.body},U.prototype.active=function(){return this.body&&this.body.shapeList.indexOf(this)!==-1},U.prototype.setBody=function(t){s(!this.active(),"You cannot change the body on an active shape. You must remove the shape from the space before changing the body."),this.body=t},U.prototype.cacheBB=function(){return this.update(this.body.p,this.body.rot)},U.prototype.update=function(t,i){s(!isNaN(i.x),"Rotation is NaN"),s(!isNaN(t.x),"Position is NaN"),this.cacheData(t,i)},U.prototype.pointQuery=function(t){var i=this.nearestPointQuery(t);if(i.d<0)return i},U.prototype.getBB=function(){return new D(this.bb_l,this.bb_b,this.bb_r,this.bb_t)};var z=function(t,i,e){this.shape=t,this.p=i,this.d=e},X=function(t,i,e){this.shape=t,this.t=i,this.n=e};X.prototype.hitPoint=function(t,i){return V(t,i,this.t)},X.prototype.hitDist=function(t,i){return Q(t,i)*this.t};var K=t.CircleShape=function(t,i,e){this.c=this.tc=e,this.r=i,this.type="circle",U.call(this,t)};K.prototype=Object.create(U.prototype),K.prototype.cacheData=function(t,i){var e=this.tc=I(this.c,i).add(t),s=this.r;this.bb_l=e.x-s,this.bb_b=e.y-s,this.bb_r=e.x+s,this.bb_t=e.y+s},K.prototype.nearestPointQuery=function(t){var i=t.x-this.tc.x,e=t.y-this.tc.y,s=w(i,e),n=this.r,r=new f(this.tc.x+i*n/s,this.tc.y+e*n/s);return new z(this,r,s-n)};var Z=function(t,i,e,s,n,r){s=A(s,i),n=A(n,i);var o=x(s,s)-2*x(s,n)+x(n,n),a=-2*x(s,s)+2*x(s,n),h=x(s,s)-e*e,c=a*a-4*o*h;if(c>=0){var p=(-a-Math.sqrt(c))/(2*o);if(0<=p&&p<=1)return new X(t,p,F(V(s,n,p)))}};K.prototype.segmentQuery=function(t,i){return Z(this,this.tc,this.r,t,i)};var $=t.SegmentShape=function(t,i,e,s){this.a=i,this.b=e,this.n=M(F(A(e,i))),this.ta=this.tb=this.tn=null,this.r=s,this.a_tangent=_,this.b_tangent=_,this.type="segment",U.call(this,t)};$.prototype=Object.create(U.prototype),$.prototype.cacheData=function(t,i){this.ta=S(t,I(this.a,i)),this.tb=S(t,I(this.b,i)),this.tn=I(this.n,i);var e,s,n,r;this.ta.x<this.tb.x?(e=this.ta.x,s=this.tb.x):(e=this.tb.x,s=this.ta.x),this.ta.y<this.tb.y?(n=this.ta.y,r=this.tb.y):(n=this.tb.y,r=this.ta.y);var o=this.r;this.bb_l=e-o,this.bb_b=n-o,this.bb_r=s+o,this.bb_t=r+o},$.prototype.nearestPointQuery=function(t){var i=c(t,this.ta,this.tb),e=t.x-i.x,s=t.y-i.y,n=w(e,s),r=this.r,o=n?S(i,j(new f(e,s),r/n)):i;return new z(this,o,n-r)},$.prototype.segmentQuery=function(t,i){var e=this.tn,s=x(A(this.ta,t),e),n=this.r,r=s>0?B(e):e,o=A(j(r,n),t),a=S(this.ta,o),h=S(this.tb,o),c=A(i,t);if(C(c,a)*C(c,h)<=0){var p=s+(s>0?-n:n),l=-p,u=x(c,e)-p;if(l*u<0)return new X(this,l/(l-u),r)}else if(0!==n){var y=Z(this,this.ta,this.r,t,i),b=Z(this,this.tb,this.r,t,i);return y?b&&b.t<y.t?b:y:b}},$.prototype.setNeighbors=function(t,i){this.a_tangent=A(t,this.a),this.b_tangent=A(i,this.b)},$.prototype.setEndpoints=function(t,i){this.a=t,this.b=i,this.n=M(F(A(i,t)))};var tt=function(t){for(var i=t.length,e=0;e<i;e+=2){var s=t[e],n=t[e+1],r=t[(e+2)%i],o=t[(e+3)%i],a=t[(e+4)%i],h=t[(e+5)%i];if(k(r-s,o-n,a-r,h-o)>0)return!1}return!0},it=t.PolyShape=function(t,i,e){this.setVerts(i,e),this.type="poly",U.call(this,t)};it.prototype=Object.create(U.prototype);var et=function(t,i){this.n=t,this.d=i};et.prototype.compare=function(t){return x(this.n,t)-this.d},it.prototype.setVerts=function(t,i){s(t.length>=4,"Polygons require some verts"),s("number"==typeof t[0],"Polygon verticies should be specified in a flattened list (eg [x1,y1,x2,y2,x3,y3,...])"),s(tt(t),"Polygon is concave or has a reversed winding. Consider using cpConvexHull()");var e=t.length,n=e>>1;this.verts=new Array(e),this.tVerts=new Array(e),this.planes=new Array(n),this.tPlanes=new Array(n);for(var r=0;r<e;r+=2){var o=t[r]+i.x,a=t[r+1]+i.y,h=t[(r+2)%e]+i.x,c=t[(r+3)%e]+i.y,p=F(M(new f(h-o,c-a)));this.verts[r]=o,this.verts[r+1]=a,this.planes[r>>1]=new et(p,g(p.x,p.y,o,a)),this.tPlanes[r>>1]=new et(new f(0,0),0)}};var st=(t.BoxShape=function(t,i,e){var s=i/2,n=e/2;return st(t,new D((-s),(-n),s,n))},t.BoxShape2=function(t,i){var e=[i.l,i.b,i.l,i.t,i.r,i.t,i.r,i.b];return new it(t,e,_)});it.prototype.transformVerts=function(t,s){for(var n=this.verts,r=this.tVerts,o=1/0,a=-(1/0),h=1/0,c=-(1/0),p=0;p<n.length;p+=2){var l=n[p],u=n[p+1],y=t.x+l*s.x-u*s.y,b=t.y+l*s.y+u*s.x;r[p]=y,r[p+1]=b,o=i(o,y),a=e(a,y),h=i(h,b),c=e(c,b)}this.bb_l=o,this.bb_b=h,this.bb_r=a,this.bb_t=c},it.prototype.transformAxes=function(t,i){for(var e=this.planes,s=this.tPlanes,n=0;n<e.length;n++){var r=I(e[n].n,i);s[n].n=r,s[n].d=x(t,r)+e[n].d}},it.prototype.cacheData=function(t,i){this.transformAxes(t,i),this.transformVerts(t,i)},it.prototype.nearestPointQuery=function(t){for(var i=this.tPlanes,e=this.tVerts,s=e[e.length-2],n=e[e.length-1],r=1/0,o=_,a=!1,h=0;h<i.length;h++){i[h].compare(t)>0&&(a=!0);var c=e[2*h],l=e[2*h+1],u=p(t.x,t.y,s,n,c,l),y=Q(t,u);y<r&&(r=y,o=u),s=c,n=l}return new z(this,o,a?r:-r)},it.prototype.segmentQuery=function(t,i){for(var e=this.tPlanes,s=this.tVerts,n=e.length,r=2*n,o=0;o<n;o++){var a=e[o].n,h=x(t,a);if(!(e[o].d>h)){var c=x(i,a),p=(e[o].d-h)/(c-h);if(!(p<0||1<p)){var l=V(t,i,p),u=-C(a,l),y=-k(a.x,a.y,s[2*o],s[2*o+1]),b=-k(a.x,a.y,s[(2*o+2)%r],s[(2*o+3)%r]);if(y<=u&&u<=b)return new X(this,p,a)}}}},it.prototype.valueOnAxis=function(t,e){for(var s=this.tVerts,n=g(t.x,t.y,s[0],s[1]),r=2;r<s.length;r+=2)n=i(n,g(t.x,t.y,s[r],s[r+1]));return n-e},it.prototype.containsVert=function(t,i){for(var e=this.tPlanes,s=0;s<e.length;s++){var n=e[s].n,r=g(n.x,n.y,t,i)-e[s].d;if(r>0)return!1}return!0},it.prototype.containsVertPartial=function(t,i,e){for(var s=this.tPlanes,n=0;n<s.length;n++){var r=s[n].n;if(!(x(r,e)<0)){var o=g(r.x,r.y,t,i)-s[n].d;if(o>0)return!1}}return!0},it.prototype.getNumVerts=function(){return this.verts.length/2},it.prototype.getVert=function(t){return new f(this.verts[2*t],this.verts[2*t+1])};var nt=t.Body=function(t,i){this.p=new f(0,0),this.vx=this.vy=0,this.f=new f(0,0),this.w=0,this.t=0,this.v_limit=1/0,this.w_limit=1/0,this.v_biasx=this.v_biasy=0,this.w_bias=0,this.space=null,this.shapeList=[],this.arbiterList=null,this.constraintList=null,this.nodeRoot=null,this.nodeNext=null,this.nodeIdleTime=0,this.setMass(t),this.setMoment(i),this.rot=new f(0,0),this.setAngle(0)};if("undefined"!=typeof DEBUG&&DEBUG){var rt=function(t,i){s(t.x==t.x&&t.y==t.y,i)},ot=function(t,i){s(Math.abs(t.x)!==1/0&&Math.abs(t.y)!==1/0,i)},at=function(t,i){rt(t,i),ot(t,i)};nt.prototype.sanityCheck=function(){s(this.m===this.m&&this.m_inv===this.m_inv,"Body's mass is invalid."),s(this.i===this.i&&this.i_inv===this.i_inv,"Body's moment is invalid."),at(this.p,"Body's position is invalid."),at(this.f,"Body's force is invalid."),s(this.vx===this.vx&&Math.abs(this.vx)!==1/0,"Body's velocity is invalid."),s(this.vy===this.vy&&Math.abs(this.vy)!==1/0,"Body's velocity is invalid."),s(this.a===this.a&&Math.abs(this.a)!==1/0,"Body's angle is invalid."),s(this.w===this.w&&Math.abs(this.w)!==1/0,"Body's angular velocity is invalid."),s(this.t===this.t&&Math.abs(this.t)!==1/0,"Body's torque is invalid."),at(this.rot,"Body's rotation vector is invalid."),s(this.v_limit===this.v_limit,"Body's velocity limit is invalid."),s(this.w_limit===this.w_limit,"Body's angular velocity limit is invalid.")}}else nt.prototype.sanityCheck=function(){};nt.prototype.getPos=function(){return this.p},nt.prototype.getVel=function(){return new f(this.vx,this.vy)},nt.prototype.getAngVel=function(){return this.w},nt.prototype.isSleeping=function(){return null!==this.nodeRoot},nt.prototype.isStatic=function(){return this.nodeIdleTime===1/0},nt.prototype.isRogue=function(){return null===this.space},nt.prototype.setMass=function(t){s(t>0,"Mass must be positive and non-zero."),this.activate(),this.m=t,this.m_inv=1/t},nt.prototype.setMoment=function(t){s(t>0,"Moment of Inertia must be positive and non-zero."),this.activate(),this.i=t,this.i_inv=1/t},nt.prototype.addShape=function(t){this.shapeList.push(t)},nt.prototype.removeShape=function(t){h(this.shapeList,t)};var ht=function(t,i,e){return t===e?t.next(i):(t.a===i?t.next_a=ht(t.next_a,i,e):t.next_b=ht(t.next_b,i,e),t)};nt.prototype.removeConstraint=function(t){this.constraintList=ht(this.constraintList,this,t)},nt.prototype.setPos=function(i){this.activate(),this.sanityCheck(),i===_&&(i=t.v(0,0)),this.p=i},nt.prototype.setVel=function(t){this.activate(),this.vx=t.x,this.vy=t.y},nt.prototype.setAngVel=function(t){this.activate(),this.w=t},nt.prototype.setAngleInternal=function(t){s(!isNaN(t),"Internal Error: Attempting to set body's angle to NaN"),this.a=t,this.rot.x=Math.cos(t),this.rot.y=Math.sin(t)},nt.prototype.setAngle=function(t){this.activate(),this.sanityCheck(),this.setAngleInternal(t)},nt.prototype.velocity_func=function(t,i,e){var s=this.vx*i+(t.x+this.f.x*this.m_inv)*e,n=this.vy*i+(t.y+this.f.y*this.m_inv)*e,r=this.v_limit,o=s*s+n*n,a=o>r*r?r/Math.sqrt(o):1;this.vx=s*a,this.vy=n*a;var h=this.w_limit;this.w=d(this.w*i+this.t*this.i_inv*e,-h,h),this.sanityCheck()},nt.prototype.position_func=function(t){this.p.x+=(this.vx+this.v_biasx)*t,this.p.y+=(this.vy+this.v_biasy)*t,this.setAngleInternal(this.a+(this.w+this.w_bias)*t),this.v_biasx=this.v_biasy=0,this.w_bias=0,this.sanityCheck()},nt.prototype.resetForces=function(){this.activate(),this.f=new f(0,0),this.t=0},nt.prototype.applyForce=function(t,i){this.activate(),this.f=S(this.f,t),this.t+=C(i,t)},nt.prototype.applyImpulse=function(t,i){this.activate(),pi(this,t.x,t.y,i)},nt.prototype.getVelAtPoint=function(t){return S(new f(this.vx,this.vy),j(M(t),this.w))},nt.prototype.getVelAtWorldPoint=function(t){return this.getVelAtPoint(A(t,this.p))},nt.prototype.getVelAtLocalPoint=function(t){return this.getVelAtPoint(I(t,this.rot))},nt.prototype.eachShape=function(t){for(var i=0,e=this.shapeList.length;i<e;i++)t(this.shapeList[i])},nt.prototype.eachConstraint=function(t){for(var i=this.constraintList;i;){var e=i.next(this);t(i),i=e}},nt.prototype.eachArbiter=function(t){for(var i=this.arbiterList;i;){var e=i.next(this);i.swappedColl=this===i.body_b,t(i),i=e}},nt.prototype.local2World=function(t){return S(this.p,I(t,this.rot))},nt.prototype.world2Local=function(t){return L(A(t,this.p),this.rot)},nt.prototype.kineticEnergy=function(){var t=this.vx*this.vx+this.vy*this.vy,i=this.w*this.w;return(t?t*this.m:0)+(i?i*this.i:0)};var ct=t.SpatialIndex=function(t){if(this.staticIndex=t,t){if(t.dynamicIndex)throw new Error("This static index is already associated with a dynamic index.");t.dynamicIndex=this}};ct.prototype.collideStatic=function(t,i){t.count>0&&this.each(function(e){t.query(new D(e.bb_l,e.bb_b,e.bb_r,e.bb_t),function(t){i(e,t)})})};var pt=t.BBTree=function(t){ct.call(this,t),this.velocityFunc=null,this.leaves={},this.count=0,this.root=null,this.pooledNodes=null,this.pooledPairs=null,this.stamp=0};pt.prototype=Object.create(ct.prototype);var lt=0,ut=function(t,s,n){this.obj=null,this.bb_l=i(s.bb_l,n.bb_l),this.bb_b=i(s.bb_b,n.bb_b),this.bb_r=e(s.bb_r,n.bb_r),this.bb_t=e(s.bb_t,n.bb_t),this.parent=null,this.setA(s),this.setB(n)};pt.prototype.makeNode=function(t,i){var e=this.pooledNodes;return e?(this.pooledNodes=e.parent,e.constructor(this,t,i),e):(lt++,new ut(this,t,i))};var yt=0,bt=function(t,i){this.obj=i,t.getBB(i,this),this.parent=null,this.stamp=1,this.pairs=null,yt++};pt.prototype.getBB=function(t,s){var n=this.velocityFunc;if(n){var r=.1,o=(t.bb_r-t.bb_l)*r,a=(t.bb_t-t.bb_b)*r,h=j(n(t),.1);s.bb_l=t.bb_l+i(-o,h.x),s.bb_b=t.bb_b+i(-a,h.y),s.bb_r=t.bb_r+e(o,h.x),s.bb_t=t.bb_t+e(a,h.y)}else s.bb_l=t.bb_l,s.bb_b=t.bb_b,s.bb_r=t.bb_r,s.bb_t=t.bb_t},pt.prototype.getStamp=function(){var t=this.dynamicIndex;return t&&t.stamp?t.stamp:this.stamp},pt.prototype.incrementStamp=function(){this.dynamicIndex&&this.dynamicIndex.stamp?this.dynamicIndex.stamp++:this.stamp++};var dt=0,vt=function(t,i,e,s){this.prevA=null,this.leafA=t,this.nextA=i,this.prevB=null,this.leafB=e,this.nextB=s};pt.prototype.makePair=function(t,i,e,s){var n=this.pooledPairs;return n?(this.pooledPairs=n.prevA,n.prevA=null,n.leafA=t,n.nextA=i,n.prevB=null,n.leafB=e,n.nextB=s,n):(dt++,new vt(t,i,e,s))},vt.prototype.recycle=function(t){this.prevA=t.pooledPairs,t.pooledPairs=this};var ft=function(t,i,e){e&&(e.leafA===i?e.prevA=t:e.prevB=t),t?t.leafA===i?t.nextA=e:t.nextB=e:i.pairs=e};bt.prototype.clearPairs=function(t){var i,e=this.pairs;for(this.pairs=null;e;)e.leafA===this?(i=e.nextA,ft(e.prevB,e.leafB,e.nextB)):(i=e.nextB,ft(e.prevA,e.leafA,e.nextA)),e.recycle(t),e=i};var _t=function(t,i,e){var s=t.pairs,n=i.pairs,r=e.makePair(t,s,i,n);t.pairs=i.pairs=r,s&&(s.leafA===t?s.prevA=r:s.prevB=r),n&&(n.leafA===i?n.prevA=r:n.prevB=r)};ut.prototype.recycle=function(t){this.parent=t.pooledNodes,t.pooledNodes=this},bt.prototype.recycle=function(t){},ut.prototype.setA=function(t){this.A=t,t.parent=this},ut.prototype.setB=function(t){this.B=t,t.parent=this},bt.prototype.isLeaf=!0,ut.prototype.isLeaf=!1,ut.prototype.otherChild=function(t){return this.A==t?this.B:this.A},ut.prototype.replaceChild=function(t,s,r){n(t==this.A||t==this.B,"Node is not a child of parent."),this.A==t?(this.A.recycle(r),this.setA(s)):(this.B.recycle(r),this.setB(s));for(var o=this;o;o=o.parent){var a=o.A,h=o.B;o.bb_l=i(a.bb_l,h.bb_l),o.bb_b=i(a.bb_b,h.bb_b),o.bb_r=e(a.bb_r,h.bb_r),o.bb_t=e(a.bb_t,h.bb_t)}},ut.prototype.bbArea=bt.prototype.bbArea=function(){return(this.bb_r-this.bb_l)*(this.bb_t-this.bb_b)};var xt=function(t,s){return(e(t.bb_r,s.bb_r)-i(t.bb_l,s.bb_l))*(e(t.bb_t,s.bb_t)-i(t.bb_b,s.bb_b))},gt=function(t,i){return Math.abs(t.bb_l+t.bb_r-i.bb_l-i.bb_r)+Math.abs(t.bb_b+t.bb_t-i.bb_b-i.bb_t)},mt=function(t,s,n){if(null==t)return s;if(t.isLeaf)return n.makeNode(s,t);var r=t.B.bbArea()+xt(t.A,s),o=t.A.bbArea()+xt(t.B,s);return r===o&&(r=gt(t.A,s),o=gt(t.B,s)),o<r?t.setB(mt(t.B,s,n)):t.setA(mt(t.A,s,n)),t.bb_l=i(t.bb_l,s.bb_l),t.bb_b=i(t.bb_b,s.bb_b),t.bb_r=e(t.bb_r,s.bb_r),t.bb_t=e(t.bb_t,s.bb_t),t};ut.prototype.intersectsBB=bt.prototype.intersectsBB=function(t){return this.bb_l<=t.r&&t.l<=this.bb_r&&this.bb_b<=t.t&&t.b<=this.bb_t};var wt=function(t,i,e){t.intersectsBB(i)&&(t.isLeaf?e(t.obj):(wt(t.A,i,e),wt(t.B,i,e)))},St=function(t,s,n){var r=1/(n.x-s.x),o=t.bb_l==s.x?-(1/0):(t.bb_l-s.x)*r,a=t.bb_r==s.x?1/0:(t.bb_r-s.x)*r,h=i(o,a),c=e(o,a),p=1/(n.y-s.y),l=t.bb_b==s.y?-(1/0):(t.bb_b-s.y)*p,u=t.bb_t==s.y?1/0:(t.bb_t-s.y)*p,y=i(l,u),b=e(l,u);if(y<=c&&h<=b){var d=e(h,y),v=i(c,b);if(0<=v&&d<=1)return e(d,0)}return 1/0},At=function(t,e,s,n,r){if(t.isLeaf)return r(t.obj);var o=St(t.A,e,s),a=St(t.B,e,s);return o<a?(o<n&&(n=i(n,At(t.A,e,s,n,r))),a<n&&(n=i(n,At(t.B,e,s,n,r)))):(a<n&&(n=i(n,At(t.B,e,s,n,r))),o<n&&(n=i(n,At(t.A,e,s,n,r)))),n};pt.prototype.subtreeRecycle=function(t){t.isLeaf&&(this.subtreeRecycle(t.A),this.subtreeRecycle(t.B),t.recycle(this))};var Bt=function(t,i,e){if(i==t)return null;var s=i.parent;if(s==t){var n=t.otherChild(i);return n.parent=t.parent,t.recycle(e),n}return s.parent.replaceChild(s,s.otherChild(i),e),t},jt=function(t,i){return t.bb_l<=i.bb_r&&i.bb_l<=t.bb_r&&t.bb_b<=i.bb_t&&i.bb_b<=t.bb_t};bt.prototype.markLeafQuery=function(t,i,e,s){jt(t,this)&&(i?_t(t,this,e):(this.stamp<t.stamp&&_t(this,t,e),s&&s(t.obj,this.obj)))},ut.prototype.markLeafQuery=function(t,i,e,s){jt(t,this)&&(this.A.markLeafQuery(t,i,e,s),this.B.markLeafQuery(t,i,e,s))},bt.prototype.markSubtree=function(t,i,e){if(this.stamp==t.getStamp()){i&&i.markLeafQuery(this,!1,t,e);for(var s=this;s.parent;s=s.parent)s==s.parent.A?s.parent.B.markLeafQuery(this,!0,t,e):s.parent.A.markLeafQuery(this,!1,t,e)}else for(var n=this.pairs;n;)this===n.leafB?(e&&e(n.leafA.obj,this.obj),n=n.nextB):n=n.nextA},ut.prototype.markSubtree=function(t,i,e){this.A.markSubtree(t,i,e),this.B.markSubtree(t,i,e)},bt.prototype.containsObj=function(t){return this.bb_l<=t.bb_l&&this.bb_r>=t.bb_r&&this.bb_b<=t.bb_b&&this.bb_t>=t.bb_t},bt.prototype.update=function(t){var i=t.root,e=this.obj;return!this.containsObj(e)&&(t.getBB(this.obj,this),i=Bt(i,this,t),t.root=mt(i,this,t),this.clearPairs(t),this.stamp=t.getStamp(),!0)},bt.prototype.addPairs=function(t){var i=t.dynamicIndex;if(i){var e=i.root;e&&e.markLeafQuery(this,!0,i,null)}else{var s=t.staticIndex.root;this.markSubtree(t,s,null)}},pt.prototype.insert=function(t,i){var e=new bt(this,t);this.leaves[i]=e,this.root=mt(this.root,e,this),this.count++,e.stamp=this.getStamp(),e.addPairs(this),this.incrementStamp()},pt.prototype.remove=function(t,i){var e=this.leaves[i];delete this.leaves[i],this.root=Bt(this.root,e,this),this.count--,e.clearPairs(this),e.recycle(this)},pt.prototype.contains=function(t,i){return null!=this.leaves[i]};var Ct=function(t,i){};pt.prototype.reindexQuery=function(t){if(this.root){var i,e=this.leaves;for(i in e)e[i].update(this);var s=this.staticIndex,n=s&&s.root;this.root.markSubtree(this,n,t),s&&!n&&this.collideStatic(this,s,t),this.incrementStamp()}},pt.prototype.reindex=function(){this.reindexQuery(Ct)},pt.prototype.reindexObject=function(t,i){var e=this.leaves[i];e&&(e.update(this)&&e.addPairs(this),this.incrementStamp())},pt.prototype.pointQuery=function(t,i){this.query(new D(t.x,t.y,t.x,t.y),i)},pt.prototype.segmentQuery=function(t,i,e,s){this.root&&At(this.root,t,i,e,s)},pt.prototype.query=function(t,i){this.root&&wt(this.root,t,i)},pt.prototype.count=function(){return this.count},pt.prototype.each=function(t){var i;for(i in this.leaves)t(this.leaves[i].obj)};var kt=function(t,s,n,r,o){return(e(t.bb_r,r)-i(t.bb_l,s))*(e(t.bb_t,o)-i(t.bb_b,n))},Mt=function(t,s,n,r){if(1==r)return s[n];if(2==r)return t.makeNode(s[n],s[n+1]);for(var o=s[n],a=o.bb_l,h=o.bb_b,c=o.bb_r,p=o.bb_t,l=n+r,u=n+1;u<l;u++)o=s[u],a=i(a,o.bb_l),h=i(h,o.bb_b),c=e(c,o.bb_r),p=e(p,o.bb_t);var y=c-a>p-h,b=new Array(2*r);if(y)for(var u=n;u<l;u++)b[2*u+0]=s[u].bb_l,b[2*u+1]=s[u].bb_r;else for(var u=n;u<l;u++)b[2*u+0]=s[u].bb_b,b[2*u+1]=s[u].bb_t;b.sort(function(t,i){return t-i});var d=.5*(b[r-1]+b[r]),v=a,f=h,_=c,x=p,g=a,m=h,w=c,S=p;y?_=g=d:x=m=d;for(var A=l,B=n;B<A;){var o=s[B];kt(o,g,m,w,S)<kt(o,v,f,_,x)?(A--,s[B]=s[A],s[A]=o):B++}if(A==r){for(var o=null,u=n;u<l;u++)o=mt(o,s[u],t);return o}return NodeNew(t,Mt(t,s,n,A-n),Mt(t,s,A,l-A))};pt.prototype.optimize=function(){var t=new Array(this.count),i=0;for(var e in this.leaves)t[i++]=this.nodes[e];tree.subtreeRecycle(root),this.root=Mt(tree,t,t.length)};var Pt=function(t,i){!t.isLeaf&&i<=10&&(Pt(t.A,i+1),Pt(t.B,i+1));for(var e="",s=0;s<i;s++)e+=" ";console.log(e+t.bb_b+" "+t.bb_t)};pt.prototype.log=function(){this.root&&Pt(this.root,0)};var It=t.CollisionHandler=function(){this.a=this.b=0};It.prototype.begin=function(t,i){return!0},It.prototype.preSolve=function(t,i){return!0},It.prototype.postSolve=function(t,i){},It.prototype.separate=function(t,i){};var Lt=function(t,i){this.e=0,this.u=0,this.surface_vr=_,this.a=t,this.body_a=t.body,this.b=i,this.body_b=i.body,this.thread_a_next=this.thread_a_prev=null,this.thread_b_next=this.thread_b_prev=null,this.contacts=null,this.stamp=0,this.handler=null,this.swappedColl=!1,this.state="first coll"};Lt.prototype.getShapes=function(){return this.swappedColl?[this.b,this.a]:[this.a,this.b]},Lt.prototype.totalImpulse=function(){for(var t=this.contacts,i=new f(0,0),e=0,s=t.length;e<s;e++){var n=t[e];i.add(j(n.n,n.jnAcc))}return this.swappedColl?i:i.neg()},Lt.prototype.totalImpulseWithFriction=function(){for(var t=this.contacts,i=new f(0,0),e=0,s=t.length;e<s;e++){var n=t[e];i.add(new f(n.jnAcc,n.jtAcc).rotate(n.n))}return this.swappedColl?i:i.neg()},Lt.prototype.totalKE=function(){for(var t=(1-this.e)/(1+this.e),i=0,e=this.contacts,s=0,n=e.length;s<n;s++){var r=e[s],o=r.jnAcc,a=r.jtAcc;i+=t*o*o/r.nMass+a*a/r.tMass}return i},Lt.prototype.ignore=function(){this.state="ignore"},Lt.prototype.getA=function(){return this.swappedColl?this.b:this.a},Lt.prototype.getB=function(){return this.swappedColl?this.a:this.b},Lt.prototype.isFirstContact=function(){return"first coll"===this.state};var Tt=function(t,i,e){this.point=t,this.normal=i,this.dist=e};Lt.prototype.getContactPointSet=function(){var t,i=new Array(this.contacts.length);for(t=0;t<i.length;t++)i[t]=new Tt(this.contacts[t].p,this.contacts[t].n,this.contacts[t].dist);return i},Lt.prototype.getNormal=function(t){var i=this.contacts[t].n;return this.swappedColl?B(i):i},Lt.prototype.getPoint=function(t){return this.contacts[t].p},Lt.prototype.getDepth=function(t){return this.contacts[t].dist};var Rt=function(t,i,e,s){e?e.body_a===i?e.thread_a_next=s:e.thread_b_next=s:i.arbiterList===t&&(i.arbiterList=s),s&&(s.body_a===i?s.thread_a_prev=e:s.thread_b_prev=e)};Lt.prototype.unthread=function(){Rt(this,this.body_a,this.thread_a_prev,this.thread_a_next),Rt(this,this.body_b,this.thread_b_prev,this.thread_b_next),this.thread_a_prev=this.thread_a_next=null,this.thread_b_prev=this.thread_b_next=null},Lt.prototype.update=function(t,i,e,s){if(this.contacts)for(var n=0;n<this.contacts.length;n++)for(var r=this.contacts[n],o=0;o<t.length;o++){var a=t[o];a.hash===r.hash&&(a.jnAcc=r.jnAcc,a.jtAcc=r.jtAcc)}this.contacts=t,this.handler=i,this.swappedColl=e.collision_type!==i.a,this.e=e.e*s.e,this.u=e.u*s.u,this.surface_vr=A(e.surface_v,s.surface_v),this.a=e,this.body_a=e.body,this.b=s,this.body_b=s.body,"cached"==this.state&&(this.state="first coll")},Lt.prototype.preStep=function(t,e,s){for(var n=this.body_a,r=this.body_b,o=0;o<this.contacts.length;o++){var a=this.contacts[o];a.r1=A(a.p,n.p),a.r2=A(a.p,r.p),a.nMass=1/bi(n,r,a.r1,a.r2,a.n),a.tMass=1/bi(n,r,a.r1,a.r2,M(a.n)),a.bias=-s*i(0,a.dist+e)/t,a.jBias=0,a.bounce=ci(n,r,a.r1,a.r2,a.n)*this.e}},Lt.prototype.applyCachedImpulse=function(t){if(!this.isFirstContact())for(var i=this.body_a,e=this.body_b,s=0;s<this.contacts.length;s++){var n=this.contacts[s],r=n.n.x,o=n.n.y,a=r*n.jnAcc-o*n.jtAcc,h=r*n.jtAcc+o*n.jnAcc;li(i,e,n.r1,n.r2,a*t,h*t)}};var Vt=0,Ft=0;Lt.prototype.applyImpulse=function(){Vt++;for(var t=this.body_a,i=this.body_b,s=this.surface_vr,n=this.u,r=0;r<this.contacts.length;r++){Ft++;var o=this.contacts[r],a=o.nMass,h=o.n,c=o.r1,p=o.r2,l=i.vx-p.y*i.w-(t.vx-c.y*t.w),u=i.vy+p.x*i.w-(t.vy+c.x*t.w),y=h.x*(i.v_biasx-p.y*i.w_bias-t.v_biasx+c.y*t.w_bias)+h.y*(p.x*i.w_bias+i.v_biasy-c.x*t.w_bias-t.v_biasy),b=g(l,u,h.x,h.y),v=g(l+s.x,u+s.y,-h.y,h.x),f=(o.bias-y)*a,_=o.jBias;o.jBias=e(_+f,0);var x=-(o.bounce+b)*a,m=o.jnAcc;o.jnAcc=e(m+x,0);var w=n*o.jnAcc,S=-v*o.tMass,A=o.jtAcc;o.jtAcc=d(A+S,-w,w);var B=h.x*(o.jBias-_),j=h.y*(o.jBias-_);ui(t,-B,-j,c),ui(i,B,j,p);var C=o.jnAcc-m,k=o.jtAcc-A;li(t,i,c,p,h.x*C-h.y*k,h.x*k+h.y*C)}},Lt.prototype.callSeparate=function(t){var i=t.lookupHandler(this.a.collision_type,this.b.collision_type);i.separate(this,t)},Lt.prototype.next=function(t){return this.body_a==t?this.thread_a_next:this.thread_b_next};var Nt=0,Et=function(t,i,e,s){this.p=t,this.n=i,this.dist=e,this.r1=this.r2=_,this.nMass=this.tMass=this.bounce=this.bias=0,this.jnAcc=this.jtAcc=this.jBias=0,this.hash=s,Nt++},Qt=[],Ht=function(t,i,e,s){var n=e+s,r=A(i,t),o=T(r);if(!(o>=n*n)){var a=Math.sqrt(o);return new Et(S(t,j(r,.5+(e-.5*n)/(a?a:1/0))),a?j(r,1/a):new f(1,0),a-n,0)}},Ot=function(t,i){var e=Ht(t.tc,i.tc,t.r,i.r);return e?[e]:Qt},qt=function(t,i){var e=i.ta,s=i.tb,n=t.tc,r=A(s,e),o=v(x(r,A(n,e))/T(r)),a=S(e,j(r,o)),h=Ht(n,a,t.r,i.r);if(h){var c=h.n;return 0===o&&x(c,i.a_tangent)<0||1===o&&x(c,i.b_tangent)<0?Qt:[h]}return Qt},Dt=0,Wt=function(t,i){var e=0,s=t.valueOnAxis(i[0].n,i[0].d);if(s>0)return-1;for(var n=1;n<i.length;n++){var r=t.valueOnAxis(i[n].n,i[n].d);if(r>0)return-1;r>s&&(s=r,e=n)}return Dt=s,e},Gt=function(t,i,e,s){for(var n=[],r=t.tVerts,o=0;o<r.length;o+=2){var h=r[o],c=r[o+1];i.containsVertPartial(h,c,B(e))&&n.push(new Et(new f(h,c),e,s,a(t.hashid,o)))}for(var p=i.tVerts,o=0;o<p.length;o+=2){var h=p[o],c=p[o+1];t.containsVertPartial(h,c,e)&&n.push(new Et(new f(h,c),e,s,a(i.hashid,o)))}return n},Jt=function(t,i,e,s){for(var n=[],r=t.tVerts,o=0;o<r.length;o+=2){var h=r[o],c=r[o+1];i.containsVert(h,c)&&n.push(new Et(new f(h,c),e,s,a(t.hashid,o>>1)))}for(var p=i.tVerts,o=0;o<p.length;o+=2){var h=p[o],c=p[o+1];t.containsVert(h,c)&&n.push(new Et(new f(h,c),e,s,a(i.hashid,o>>1)))}return n.length?n:Gt(t,i,e,s)},Yt=function(t,i){var e=Wt(i,t.tPlanes);if(e==-1)return Qt;var s=Dt,n=Wt(t,i.tPlanes);if(n==-1)return Qt;var r=Dt;return s>r?Jt(t,i,t.tPlanes[e].n,s):Jt(t,i,B(i.tPlanes[n].n),r)},Ut=function(t,e,s){var n=x(e,t.ta)-t.r,r=x(e,t.tb)-t.r;return i(n,r)-s},zt=function(t,i,e,s,n){for(var r=C(i.tn,i.ta),o=C(i.tn,i.tb),h=j(i.tn,n),c=e.tVerts,p=0;p<c.length;p+=2){var l=c[p],u=c[p+1];if(g(l,u,h.x,h.y)<x(i.tn,i.ta)*n+i.r){var y=k(i.tn.x,i.tn.y,l,u);r>=y&&y>=o&&t.push(new Et(new f(l,u),h,s,a(e.hashid,p)))}}},Xt=function(t,i){var e=[],s=i.tPlanes,n=s.length,r=x(t.tn,t.ta),o=i.valueOnAxis(t.tn,r)-t.r,h=i.valueOnAxis(B(t.tn),-r)-t.r;if(h>0||o>0)return Qt;var c=0,p=Ut(t,s[0].n,s[0].d);if(p>0)return Qt;for(var l=0;l<n;l++){var u=Ut(t,s[l].n,s[l].d);if(u>0)return Qt;u>p&&(p=u,c=l)}var y=B(s[c].n),b=S(t.ta,j(y,t.r)),d=S(t.tb,j(y,t.r));if(i.containsVert(b.x,b.y)&&e.push(new Et(b,y,p,a(t.hashid,0))),i.containsVert(d.x,d.y)&&e.push(new Et(d,y,p,a(t.hashid,1))),(o>=p||h>=p)&&(o>h?zt(e,t,i,o,1):zt(e,t,i,h,-1)),0===e.length){var v,_=2*c,g=i.tVerts,m=new f(g[_],g[_+1]);if(v=Ht(t.ta,m,t.r,0,e))return[v];if(v=Ht(t.tb,m,t.r,0,e))return[v];var w=2*n,A=new f(g[(_+2)%w],g[(_+3)%w]);if(v=Ht(t.ta,A,t.r,0,e))return[v];if(v=Ht(t.tb,A,t.r,0,e))return[v]}return e},Kt=function(t,i){for(var e=i.tPlanes,s=0,n=x(e[0].n,t.tc)-e[0].d-t.r,r=0;r<e.length;r++){var o=x(e[r].n,t.tc)-e[r].d-t.r;if(o>0)return Qt;o>n&&(n=o,s=r)}var a=e[s].n,h=i.tVerts,c=h.length,p=s<<1,l=h[p],u=h[p+1],y=h[(p+2)%c],b=h[(p+3)%c],d=k(a.x,a.y,l,u),v=k(a.x,a.y,y,b),_=C(a,t.tc);if(_<v){var g=Ht(t.tc,new f(y,b),t.r,0,g);return g?[g]:Qt;
+}if(_<d)return[new Et(A(t.tc,j(a,t.r+n/2)),B(a),n,0)];var g=Ht(t.tc,new f(l,u),t.r,0,g);return g?[g]:Qt};K.prototype.collisionCode=0,$.prototype.collisionCode=1,it.prototype.collisionCode=2,K.prototype.collisionTable=[Ot,qt,Kt],$.prototype.collisionTable=[null,function(t,i){return Qt},Xt],it.prototype.collisionTable=[null,null,Yt];var Zt=t.collideShapes=function(t,i){return s(t.collisionCode<=i.collisionCode,"Collided shapes must be sorted by type"),t.collisionTable[i.collisionCode](t,i)},$t=new It,ti=t.Space=function(){this.stamp=0,this.curr_dt=0,this.bodies=[],this.rousedBodies=[],this.sleepingComponents=[],this.staticShapes=new pt(null),this.activeShapes=new pt(this.staticShapes),this.arbiters=[],this.contactBuffersHead=null,this.cachedArbiters={},this.constraints=[],this.locked=0,this.collisionHandlers={},this.defaultHandler=$t,this.postStepCallbacks=[],this.iterations=10,this.gravity=_,this.damping=1,this.idleSpeedThreshold=0,this.sleepTimeThreshold=1/0,this.collisionSlop=.1,this.collisionBias=Math.pow(.9,60),this.collisionPersistence=3,this.enableContactGraph=!1,this.staticBody=new nt(1/0,1/0),this.staticBody.nodeIdleTime=1/0,this.collideShapes=this.makeCollideShapes()};ti.prototype.getCurrentTimeStep=function(){return this.curr_dt},ti.prototype.setIterations=function(t){this.iterations=t},ti.prototype.isLocked=function(){return this.locked};var ii=function(t){s(!t.locked,"This addition/removal cannot be done safely during a call to cpSpaceStep()  or during a query. Put these calls into a post-step callback.")};ti.prototype.addCollisionHandler=function(t,i,e,s,n,r){ii(this),this.removeCollisionHandler(t,i);var o=new It;o.a=t,o.b=i,e&&(o.begin=e),s&&(o.preSolve=s),n&&(o.postSolve=n),r&&(o.separate=r),this.collisionHandlers[a(t,i)]=o},ti.prototype.removeCollisionHandler=function(t,i){ii(this),delete this.collisionHandlers[a(t,i)]},ti.prototype.setDefaultCollisionHandler=function(t,i,e,s){ii(this);var n=new It;t&&(n.begin=t),i&&(n.preSolve=i),e&&(n.postSolve=e),s&&(n.separate=s),this.defaultHandler=n},ti.prototype.lookupHandler=function(t,i){return this.collisionHandlers[a(t,i)]||this.defaultHandler},ti.prototype.addShape=function(t){var i=t.body;return i.isStatic()?this.addStaticShape(t):(s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this),i.activate(),i.addShape(t),t.update(i.p,i.rot),this.activeShapes.insert(t,t.hashid),t.space=this,t)},ti.prototype.addStaticShape=function(t){s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this);var i=t.body;return i.addShape(t),t.update(i.p,i.rot),this.staticShapes.insert(t,t.hashid),t.space=this,t},ti.prototype.addBody=function(t){return s(!t.isStatic(),"Static bodies cannot be added to a space as they are not meant to be simulated."),s(!t.space,"This body is already added to a space and cannot be added to another."),ii(this),this.bodies.push(t),t.space=this,t},ti.prototype.addConstraint=function(t){s(!t.space,"This shape is already added to a space and cannot be added to another."),ii(this);var i=t.a,e=t.b;return i.activate(),e.activate(),this.constraints.push(t),t.next_a=i.constraintList,i.constraintList=t,t.next_b=e.constraintList,e.constraintList=t,t.space=this,t},ti.prototype.filterArbiters=function(t,i){for(var e in this.cachedArbiters){var s=this.cachedArbiters[e];(t!==s.body_a||i!==s.a&&null!==i)&&(t!==s.body_b||i!==s.b&&null!==i)||(i&&"cached"!==s.state&&s.callSeparate(this),s.unthread(),h(this.arbiters,s),delete this.cachedArbiters[e])}},ti.prototype.removeShape=function(t){var i=t.body;i.isStatic()?this.removeStaticShape(t):(s(this.containsShape(t),"Cannot remove a shape that was not added to the space. (Removed twice maybe?)"),ii(this),i.activate(),i.removeShape(t),this.filterArbiters(i,t),this.activeShapes.remove(t,t.hashid),t.space=null)},ti.prototype.removeStaticShape=function(t){s(this.containsShape(t),"Cannot remove a static or sleeping shape that was not added to the space. (Removed twice maybe?)"),ii(this);var i=t.body;i.isStatic()&&i.activateStatic(t),i.removeShape(t),this.filterArbiters(i,t),this.staticShapes.remove(t,t.hashid),t.space=null},ti.prototype.removeBody=function(t){s(this.containsBody(t),"Cannot remove a body that was not added to the space. (Removed twice maybe?)"),ii(this),t.activate(),h(this.bodies,t),t.space=null},ti.prototype.removeConstraint=function(t){s(this.containsConstraint(t),"Cannot remove a constraint that was not added to the space. (Removed twice maybe?)"),ii(this),t.a.activate(),t.b.activate(),h(this.constraints,t),t.a.removeConstraint(t),t.b.removeConstraint(t),t.space=null},ti.prototype.containsShape=function(t){return t.space===this},ti.prototype.containsBody=function(t){return t.space==this},ti.prototype.containsConstraint=function(t){return t.space==this},ti.prototype.uncacheArbiter=function(t){delete this.cachedArbiters[a(t.a.hashid,t.b.hashid)],h(this.arbiters,t)},ti.prototype.eachBody=function(t){this.lock();for(var i=this.bodies,e=0;e<i.length;e++)t(i[e]);for(var s=this.sleepingComponents,e=0;e<s.length;e++)for(var n=s[e],r=n;r;){var o=r.nodeNext;t(r),r=o}this.unlock(!0)},ti.prototype.eachShape=function(t){this.lock(),this.activeShapes.each(t),this.staticShapes.each(t),this.unlock(!0)},ti.prototype.eachConstraint=function(t){this.lock();for(var i=this.constraints,e=0;e<i.length;e++)t(i[e]);this.unlock(!0)},ti.prototype.reindexStatic=function(){s(!this.locked,"You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete."),this.staticShapes.each(function(t){var i=t.body;t.update(i.p,i.rot)}),this.staticShapes.reindex()},ti.prototype.reindexShape=function(t){s(!this.locked,"You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");var i=t.body;t.update(i.p,i.rot),this.activeShapes.reindexObject(t,t.hashid),this.staticShapes.reindexObject(t,t.hashid)},ti.prototype.reindexShapesForBody=function(t){for(var i=t.shapeList;i;i=i.next)this.reindexShape(i)},ti.prototype.useSpatialHash=function(t,i){throw new Error("Spatial Hash not implemented.")},ti.prototype.activateBody=function(t){if(s(!t.isRogue(),"Internal error: Attempting to activate a rogue body."),this.locked)this.rousedBodies.indexOf(t)===-1&&this.rousedBodies.push(t);else{this.bodies.push(t);for(var i=0;i<t.shapeList.length;i++){var e=t.shapeList[i];this.staticShapes.remove(e,e.hashid),this.activeShapes.insert(e,e.hashid)}for(var n=t.arbiterList;n;n=n.next(t)){var r=n.body_a;if(t===r||r.isStatic()){var o=n.a,h=n.b;this.cachedArbiters[a(o.hashid,h.hashid)]=n,n.stamp=this.stamp,n.handler=this.lookupHandler(o.collision_type,h.collision_type),this.arbiters.push(n)}}for(var c=t.constraintList;c;c=c.nodeNext){var r=c.a;(t===r||r.isStatic())&&this.constraints.push(c)}}},ti.prototype.deactivateBody=function(t){s(!t.isRogue(),"Internal error: Attempting to deactivate a rogue body."),h(this.bodies,t);for(var i=0;i<t.shapeList.length;i++){var e=t.shapeList[i];this.activeShapes.remove(e,e.hashid),this.staticShapes.insert(e,e.hashid)}for(var n=t.arbiterList;n;n=n.next(t)){var r=n.body_a;(t===r||r.isStatic())&&this.uncacheArbiter(n)}for(var o=t.constraintList;o;o=o.nodeNext){var r=o.a;(t===r||r.isStatic())&&h(this.constraints,o)}};var ei=function(t){return t?t.nodeRoot:null},si=function(t){if(t&&t.isSleeping(t)){s(!t.isRogue(),"Internal Error: componentActivate() called on a rogue body.");for(var i=t.space,e=t;e;){var n=e.nodeNext;e.nodeIdleTime=0,e.nodeRoot=null,e.nodeNext=null,i.activateBody(e),e=n}h(i.sleepingComponents,t)}};nt.prototype.activate=function(){this.isRogue()||(this.nodeIdleTime=0,si(ei(this)))},nt.prototype.activateStatic=function(t){s(this.isStatic(),"Body.activateStatic() called on a non-static body.");for(var i=this.arbiterList;i;i=i.next(this))t&&t!=i.a&&t!=i.b||(i.body_a==this?i.body_b:i.body_a).activate()},nt.prototype.pushArbiter=function(t){n(null===(t.body_a===this?t.thread_a_next:t.thread_b_next),"Internal Error: Dangling contact graph pointers detected. (A)"),n(null===(t.body_a===this?t.thread_a_prev:t.thread_b_prev),"Internal Error: Dangling contact graph pointers detected. (B)");var i=this.arbiterList;n(null===i||null===(i.body_a===this?i.thread_a_prev:i.thread_b_prev),"Internal Error: Dangling contact graph pointers detected. (C)"),t.body_a===this?t.thread_a_next=i:t.thread_b_next=i,i&&(i.body_a===this?i.thread_a_prev=t:i.thread_b_prev=t),this.arbiterList=t};var ni=function(t,i){i.nodeRoot=t,i!==t&&(i.nodeNext=t.nodeNext,t.nodeNext=i)},ri=function(t,i){if(!i.isRogue()){var e=ei(i);if(null==e){ni(t,i);for(var s=i.arbiterList;s;s=s.next(i))ri(t,i==s.body_a?s.body_b:s.body_a);for(var r=i.constraintList;r;r=r.next(i))ri(t,i==r.a?r.b:r.a)}else n(e===t,"Internal Error: Inconsistency detected in the contact graph.")}},oi=function(t,i){for(var e=t;e;e=e.nodeNext)if(e.nodeIdleTime<i)return!0;return!1};ti.prototype.processComponents=function(t){for(var i=this.sleepTimeThreshold!==1/0,e=this.bodies,s=0;s<e.length;s++){var r=e[s];n(null===r.nodeNext,"Internal Error: Dangling next pointer detected in contact graph."),n(null===r.nodeRoot,"Internal Error: Dangling root pointer detected in contact graph.")}if(i)for(var o=this.idleSpeedThreshold,a=o?o*o:T(this.gravity)*t*t,s=0;s<e.length;s++){var r=e[s],h=a?r.m*a:0;r.nodeIdleTime=r.kineticEnergy()>h?0:r.nodeIdleTime+t}for(var c=this.arbiters,s=0,p=c.length;s<p;s++){var l=c[s],u=l.body_a,y=l.body_b;i&&((y.isRogue()&&!y.isStatic()||u.isSleeping())&&u.activate(),(u.isRogue()&&!u.isStatic()||y.isSleeping())&&y.activate()),u.pushArbiter(l),y.pushArbiter(l)}if(i){for(var b=this.constraints,s=0;s<b.length;s++){var d=b[s],u=d.a,y=d.b;y.isRogue()&&!y.isStatic()&&u.activate(),u.isRogue()&&!u.isStatic()&&y.activate()}for(var s=0;s<e.length;){var r=e[s];if(null!==ei(r)||(ri(r,r),oi(r,this.sleepTimeThreshold)))s++,r.nodeRoot=null,r.nodeNext=null;else{this.sleepingComponents.push(r);for(var v=r;v;v=v.nodeNext)this.deactivateBody(v)}}}},nt.prototype.sleep=function(){this.sleepWithGroup(null)},nt.prototype.sleepWithGroup=function(t){s(!this.isStatic()&&!this.isRogue(),"Rogue and static bodies cannot be put to sleep.");var i=this.space;if(s(i,"Cannot put a rogue body to sleep."),s(!i.locked,"Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback."),s(null===t||t.isSleeping(),"Cannot use a non-sleeping body as a group identifier."),this.isSleeping())return void s(ei(this)===ei(t),"The body is already sleeping and it's group cannot be reassigned.");for(var e=0;e<this.shapeList.length;e++)this.shapeList[e].update(this.p,this.rot);if(i.deactivateBody(this),t){var n=ei(t);this.nodeRoot=n,this.nodeNext=n.nodeNext,this.nodeIdleTime=0,n.nodeNext=this}else this.nodeRoot=this,this.nodeNext=null,this.nodeIdleTime=0,i.sleepingComponents.push(this);h(i.bodies,this)},ti.prototype.activateShapesTouchingShape=function(t){this.sleepTimeThreshold!==1/0&&this.shapeQuery(t,function(t,i){t.body.activate()})},ti.prototype.pointQuery=function(t,i,e,s){var n=function(n){(!n.group||e!==n.group)&&i&n.layers&&n.pointQuery(t)&&s(n)},r=new D(t.x,t.y,t.x,t.y);this.lock(),this.activeShapes.query(r,n),this.staticShapes.query(r,n),this.unlock(!0)},ti.prototype.pointQueryFirst=function(t,i,e){var s=null;return this.pointQuery(t,i,e,function(t){t.sensor||(s=t)}),s},ti.prototype.nearestPointQuery=function(t,i,e,s,n){var r=function(r){if((!r.group||s!==r.group)&&e&r.layers){var o=r.nearestPointQuery(t);o.d<i&&n(r,o.d,o.p)}},o=W(t,i);this.lock(),this.activeShapes.query(o,r),this.staticShapes.query(o,r),this.unlock(!0)},ti.prototype.nearestPointQueryNearest=function(t,i,e,s){var n,r=function(r){if((!r.group||s!==r.group)&&e&r.layers&&!r.sensor){var o=r.nearestPointQuery(t);o.d<i&&(!n||o.d<n.d)&&(n=o)}},o=W(t,i);return this.activeShapes.query(o,r),this.staticShapes.query(o,r),n},ti.prototype.segmentQuery=function(t,i,e,s,n){var r=function(r){var o;return(!r.group||s!==r.group)&&e&r.layers&&(o=r.segmentQuery(t,i))&&n(r,o.t,o.n),1};this.lock(),this.staticShapes.segmentQuery(t,i,1,r),this.activeShapes.segmentQuery(t,i,1,r),this.unlock(!0)},ti.prototype.segmentQueryFirst=function(t,i,e,s){var n=null,r=function(r){var o;return(!r.group||s!==r.group)&&e&r.layers&&!r.sensor&&(o=r.segmentQuery(t,i))&&(null===n||o.t<n.t)&&(n=o),n?n.t:1};return this.staticShapes.segmentQuery(t,i,1,r),this.activeShapes.segmentQuery(t,i,n?n.t:1,r),n},ti.prototype.bbQuery=function(t,i,e,s){var n=function(n){(!n.group||e!==n.group)&&i&n.layers&&G(t,n.bb_l,n.bb_b,n.bb_r,n.bb_t)&&s(n)};this.lock(),this.activeShapes.query(t,n),this.staticShapes.query(t,n),this.unlock(!0)},ti.prototype.shapeQuery=function(t,i){var e=t.body;e&&t.update(e.p,e.rot);var s=new D(t.bb_l,t.bb_b,t.bb_r,t.bb_t),n=!1,r=function(e){var s=t;if((!s.group||s.group!==e.group)&&s.layers&e.layers&&s!==e){var r;if(s.collisionCode<=e.collisionCode)r=Zt(s,e);else{r=Zt(e,s);for(var o=0;o<r.length;o++)r[o].n=B(r[o].n)}if(r.length&&(n=!(s.sensor||e.sensor),i)){for(var a=new Array(r.length),o=0;o<r.length;o++)a[o]=new Tt(r[o].p,r[o].n,r[o].dist);i(e,a)}}};return this.lock(),this.activeShapes.query(s,r),this.staticShapes.query(s,r),this.unlock(!0),n},ti.prototype.addPostStepCallback=function(t){n(this.locked,"Adding a post-step callback when the space is not locked is unnecessary. Post-step callbacks will not called until the end of the next call to cpSpaceStep() or the next query."),this.postStepCallbacks.push(t)},ti.prototype.runPostStepCallbacks=function(){for(var t=0;t<this.postStepCallbacks.length;t++)this.postStepCallbacks[t]();this.postStepCallbacks=[]},ti.prototype.lock=function(){this.locked++},ti.prototype.unlock=function(t){if(this.locked--,s(this.locked>=0,"Internal Error: Space lock underflow."),0===this.locked&&t){for(var i=this.rousedBodies,e=0;e<i.length;e++)this.activateBody(i[e]);i.length=0,this.runPostStepCallbacks()}},ti.prototype.makeCollideShapes=function(){var t=this;return function(i,e){var s=t;if(i.bb_l<=e.bb_r&&e.bb_l<=i.bb_r&&i.bb_b<=e.bb_t&&e.bb_b<=i.bb_t&&i.body!==e.body&&(!i.group||i.group!==e.group)&&i.layers&e.layers){var n=s.lookupHandler(i.collision_type,e.collision_type),r=i.sensor||e.sensor;if(!r||n!==$t){if(i.collisionCode>e.collisionCode){var o=i;i=e,e=o}var h=Zt(i,e);if(0!==h.length){var c=a(i.hashid,e.hashid),p=s.cachedArbiters[c];p||(p=s.cachedArbiters[c]=new Lt(i,e)),p.update(h,n,i,e),"first coll"!=p.state||n.begin(p,s)||p.ignore(),"ignore"!==p.state&&n.preSolve(p,s)&&!r?s.arbiters.push(p):(p.contacts=null,"ignore"!==p.state&&(p.state="normal")),p.stamp=s.stamp}}}}},ti.prototype.arbiterSetFilter=function(t){var i=this.stamp-t.stamp,e=t.body_a,s=t.body_b;return!(!e.isStatic()&&!e.isSleeping()||!s.isStatic()&&!s.isSleeping())||(i>=1&&"cached"!=t.state&&(t.callSeparate(this),t.state="cached"),!(i>=this.collisionPersistence)||(t.contacts=null,!1))};var ai=function(t){var i=t.body;t.update(i.p,i.rot)};ti.prototype.step=function(t){if(0!==t){s(0===_.x&&0===_.y,"vzero is invalid"),this.stamp++;var i=this.curr_dt;this.curr_dt=t;var e,n,r,o=this.bodies,a=this.constraints,h=this.arbiters;for(e=0;e<h.length;e++){var c=h[e];c.state="normal",c.body_a.isSleeping()||c.body_b.isSleeping()||c.unthread()}for(h.length=0,this.lock(),e=0;e<o.length;e++)o[e].position_func(t);this.activeShapes.each(ai),this.activeShapes.reindexQuery(this.collideShapes),this.unlock(!1),this.processComponents(t),this.lock();for(r in this.cachedArbiters)this.arbiterSetFilter(this.cachedArbiters[r])||delete this.cachedArbiters[r];var p=this.collisionSlop,l=1-Math.pow(this.collisionBias,t);for(e=0;e<h.length;e++)h[e].preStep(t,p,l);for(e=0;e<a.length;e++){var u=a[e];u.preSolve(this),u.preStep(t)}var y=Math.pow(this.damping,t),b=this.gravity;for(e=0;e<o.length;e++)o[e].velocity_func(b,y,t);var d=0===i?0:t/i;for(e=0;e<h.length;e++)h[e].applyCachedImpulse(d);for(e=0;e<a.length;e++)a[e].applyCachedImpulse(d);for(e=0;e<this.iterations;e++){for(n=0;n<h.length;n++)h[n].applyImpulse();for(n=0;n<a.length;n++)a[n].applyImpulse()}for(e=0;e<a.length;e++)a[e].postSolve(this);for(e=0;e<h.length;e++)h[e].handler.postSolve(h[e],this);this.unlock(!0)}};var hi=function(t,i,e,s){var n=t.vx+-e.y*t.w,r=t.vy+e.x*t.w,o=i.vx+-s.y*i.w,a=i.vy+s.x*i.w;return new f(o-n,a-r)},ci=function(t,i,e,s,n){var r=t.vx+-e.y*t.w,o=t.vy+e.x*t.w,a=i.vx+-s.y*i.w,h=i.vy+s.x*i.w;return g(a-r,h-o,n.x,n.y)},pi=function(t,i,e,s){t.vx+=i*t.m_inv,t.vy+=e*t.m_inv,t.w+=t.i_inv*(s.x*e-s.y*i)},li=function(t,i,e,s,n,r){pi(t,-n,-r,e),pi(i,n,r,s)},ui=function(t,i,e,s){t.v_biasx+=i*t.m_inv,t.v_biasy+=e*t.m_inv,t.w_bias+=t.i_inv*k(s.x,s.y,i,e)},yi=function(t,i,e){var s=C(i,e);return t.m_inv+t.i_inv*s*s},bi=function(t,i,e,s,r){var o=yi(t,e,r)+yi(i,s,r);return n(0!==o,"Unsolvable collision or constraint."),o},di=function(t,i,e,s,r,o){var a,h,c,p,l=t.m_inv+i.m_inv;a=l,h=0,c=0,p=l;var u=t.i_inv,y=e.x*e.x*u,b=e.y*e.y*u,d=-e.x*e.y*u;a+=b,h+=d,c+=d,p+=y;var v=i.i_inv,f=s.x*s.x*v,_=s.y*s.y*v,x=-s.x*s.y*v;a+=_,h+=x,c+=x,p+=f;var g=a*p-h*c;n(0!==g,"Unsolvable constraint.");var m=1/g;r.x=p*m,r.y=-h*m,o.x=-c*m,o.y=a*m},vi=function(t,i,e){return new f(x(t,i),x(t,e))},fi=function(t,i){return 1-Math.pow(t,i)},_i=t.Constraint=function(t,i){this.a=t,this.b=i,this.space=null,this.next_a=null,this.next_b=null,this.maxForce=1/0,this.errorBias=Math.pow(.9,60),this.maxBias=1/0};_i.prototype.activateBodies=function(){this.a&&this.a.activate(),this.b&&this.b.activate()},_i.prototype.preStep=function(t){},_i.prototype.applyCachedImpulse=function(t){},_i.prototype.applyImpulse=function(){},_i.prototype.getImpulse=function(){return 0},_i.prototype.preSolve=function(t){},_i.prototype.postSolve=function(t){},_i.prototype.next=function(t){return this.a===t?this.next_a:this.next_b};var xi=t.PinJoint=function(t,i,e,s){_i.call(this,t,i),this.anchr1=e,this.anchr2=s;var r=t?S(t.p,I(e,t.rot)):e,o=i?S(i.p,I(s,i.rot)):s;this.dist=m(A(o,r)),n(this.dist>0,"You created a 0 length pin joint. A pivot joint will be much more stable."),this.r1=this.r2=null,this.n=null,this.nMass=0,this.jnAcc=this.jnMax=0,this.bias=0};xi.prototype=Object.create(_i.prototype),xi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),n=m(s);this.n=j(s,1/(n?n:1/0)),this.nMass=1/bi(i,e,this.r1,this.r2,this.n);var r=this.maxBias;this.bias=d(-fi(this.errorBias,t)*(n-this.dist)/t,-r,r),this.jnMax=this.maxForce*t},xi.prototype.applyCachedImpulse=function(t){var i=j(this.n,this.jnAcc*t);li(this.a,this.b,this.r1,this.r2,i.x,i.y)},xi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.n,s=ci(t,i,this.r1,this.r2,e),n=(this.bias-s)*this.nMass,r=this.jnAcc;this.jnAcc=d(r+n,-this.jnMax,this.jnMax),n=this.jnAcc-r,li(t,i,this.r1,this.r2,e.x*n,e.y*n)},xi.prototype.getImpulse=function(){return Math.abs(this.jnAcc)};var gi=t.SlideJoint=function(t,i,e,s,n,r){_i.call(this,t,i),this.anchr1=e,this.anchr2=s,this.min=n,this.max=r,this.r1=this.r2=this.n=null,this.nMass=0,this.jnAcc=this.jnMax=0,this.bias=0};gi.prototype=Object.create(_i.prototype),gi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),n=m(s),r=0;n>this.max?(r=n-this.max,this.n=N(s)):n<this.min?(r=this.min-n,this.n=B(N(s))):(this.n=_,this.jnAcc=0),this.nMass=1/bi(i,e,this.r1,this.r2,this.n);var o=this.maxBias;this.bias=d(-fi(this.errorBias,t)*r/t,-o,o),this.jnMax=this.maxForce*t},gi.prototype.applyCachedImpulse=function(t){var i=this.jnAcc*t;li(this.a,this.b,this.r1,this.r2,this.n.x*i,this.n.y*i)},gi.prototype.applyImpulse=function(){if(0!==this.n.x||0!==this.n.y){var t=this.a,i=this.b,e=this.n,s=this.r1,n=this.r2,r=hi(t,i,s,n),o=x(r,e),a=(this.bias-o)*this.nMass,h=this.jnAcc;this.jnAcc=d(h+a,-this.jnMax,0),a=this.jnAcc-h,li(t,i,this.r1,this.r2,e.x*a,e.y*a)}},gi.prototype.getImpulse=function(){return Math.abs(this.jnAcc)};var mi=t.PivotJoint=function(t,i,e,s){if(_i.call(this,t,i),"undefined"==typeof s){var n=e;e=t?t.world2Local(n):n,s=i?i.world2Local(n):n}this.anchr1=e,this.anchr2=s,this.r1=this.r2=_,this.k1=new f(0,0),this.k2=new f(0,0),this.jAcc=_,this.jMaxLen=0,this.bias=_};mi.prototype=Object.create(_i.prototype),mi.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot),di(i,e,this.r1,this.r2,this.k1,this.k2),this.jMaxLen=this.maxForce*t;var s=A(S(e.p,this.r2),S(i.p,this.r1));this.bias=E(j(s,-fi(this.errorBias,t)/t),this.maxBias)},mi.prototype.applyCachedImpulse=function(t){li(this.a,this.b,this.r1,this.r2,this.jAcc.x*t,this.jAcc.y*t)},mi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.r1,s=this.r2,n=hi(t,i,e,s),r=vi(A(this.bias,n),this.k1,this.k2),o=this.jAcc;this.jAcc=E(S(this.jAcc,r),this.jMaxLen),li(t,i,this.r1,this.r2,this.jAcc.x-o.x,this.jAcc.y-o.y)},mi.prototype.getImpulse=function(){return m(this.jAcc)};var wi=t.GrooveJoint=function(t,i,e,s,n){_i.call(this,t,i),this.grv_a=e,this.grv_b=s,this.grv_n=M(F(A(s,e))),this.anchr2=n,this.grv_tn=null,this.clamp=0,this.r1=this.r2=null,this.k1=new f(0,0),this.k2=new f(0,0),this.jAcc=_,this.jMaxLen=0,this.bias=null};wi.prototype=Object.create(_i.prototype),wi.prototype.preStep=function(t){var i=this.a,e=this.b,s=i.local2World(this.grv_a),n=i.local2World(this.grv_b),r=I(this.grv_n,i.rot),o=x(s,r);this.grv_tn=r,this.r2=I(this.anchr2,e.rot);var a=C(S(e.p,this.r2),r);a<=C(s,r)?(this.clamp=1,this.r1=A(s,i.p)):a>=C(n,r)?(this.clamp=-1,this.r1=A(n,i.p)):(this.clamp=0,this.r1=A(S(j(M(r),-a),j(r,o)),i.p)),di(i,e,this.r1,this.r2,this.k1,this.k2),this.jMaxLen=this.maxForce*t;var h=A(S(e.p,this.r2),S(i.p,this.r1));this.bias=E(j(h,-fi(this.errorBias,t)/t),this.maxBias)},wi.prototype.applyCachedImpulse=function(t){li(this.a,this.b,this.r1,this.r2,this.jAcc.x*t,this.jAcc.y*t)},wi.prototype.grooveConstrain=function(t){var i=this.grv_tn,e=this.clamp*C(t,i)>0?t:P(t,i);return E(e,this.jMaxLen)},wi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.r1,s=this.r2,n=hi(t,i,e,s),r=vi(A(this.bias,n),this.k1,this.k2),o=this.jAcc;this.jAcc=this.grooveConstrain(S(o,r)),li(t,i,this.r1,this.r2,this.jAcc.x-o.x,this.jAcc.y-o.y)},wi.prototype.getImpulse=function(){return m(this.jAcc)},wi.prototype.setGrooveA=function(t){this.grv_a=t,this.grv_n=M(F(A(this.grv_b,t))),this.activateBodies()},wi.prototype.setGrooveB=function(t){this.grv_b=t,this.grv_n=M(F(A(t,this.grv_a))),this.activateBodies()};var Si=function(t,i){return(t.restLength-i)*t.stiffness},Ai=t.DampedSpring=function(t,i,e,s,n,r,o){_i.call(this,t,i),this.anchr1=e,this.anchr2=s,this.restLength=n,this.stiffness=r,this.damping=o,this.springForceFunc=Si,this.target_vrn=this.v_coef=0,this.r1=this.r2=null,this.nMass=0,this.n=null};Ai.prototype=Object.create(_i.prototype),Ai.prototype.preStep=function(t){var i=this.a,e=this.b;this.r1=I(this.anchr1,i.rot),this.r2=I(this.anchr2,e.rot);var s=A(S(e.p,this.r2),S(i.p,this.r1)),r=m(s);this.n=j(s,1/(r?r:1/0));var o=bi(i,e,this.r1,this.r2,this.n);n(0!==o,"Unsolvable this."),this.nMass=1/o,this.target_vrn=0,this.v_coef=1-Math.exp(-this.damping*t*o);var a=this.springForceFunc(this,r);li(i,e,this.r1,this.r2,this.n.x*a*t,this.n.y*a*t)},Ai.prototype.applyCachedImpulse=function(t){},Ai.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=this.n,s=this.r1,n=this.r2,r=ci(t,i,s,n,e),o=(this.target_vrn-r)*this.v_coef;this.target_vrn=r+o,o*=this.nMass,li(t,i,this.r1,this.r2,this.n.x*o,this.n.y*o)},Ai.prototype.getImpulse=function(){return 0};var Bi=function(t,i){return(i-t.restAngle)*t.stiffness},ji=t.DampedRotarySpring=function(t,i,e,s,n){_i.call(this,t,i),this.restAngle=e,this.stiffness=s,this.damping=n,this.springTorqueFunc=Bi,this.target_wrn=0,this.w_coef=0,this.iSum=0};ji.prototype=Object.create(_i.prototype),ji.prototype.preStep=function(t){var i=this.a,e=this.b,s=i.i_inv+e.i_inv;n(0!==s,"Unsolvable spring."),this.iSum=1/s,this.w_coef=1-Math.exp(-this.damping*t*s),this.target_wrn=0;var r=this.springTorqueFunc(this,i.a-e.a)*t;i.w-=r*i.i_inv,e.w+=r*e.i_inv},ji.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=t.w-i.w,s=(this.target_wrn-e)*this.w_coef;this.target_wrn=e+s;var n=s*this.iSum;t.w+=n*t.i_inv,i.w-=n*i.i_inv};var Ci=t.RotaryLimitJoint=function(t,i,e,s){_i.call(this,t,i),this.min=e,this.max=s,this.jAcc=0,this.iSum=this.bias=this.jMax=0};Ci.prototype=Object.create(_i.prototype),Ci.prototype.preStep=function(t){var i=this.a,e=this.b,s=e.a-i.a,n=0;s>this.max?n=this.max-s:s<this.min&&(n=this.min-s),this.iSum=1/(1/i.i+1/e.i);var r=this.maxBias;this.bias=d(-fi(this.errorBias,t)*n/t,-r,r),this.jMax=this.maxForce*t,this.bias||(this.jAcc=0)},Ci.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},Ci.prototype.applyImpulse=function(){if(this.bias){var t=this.a,i=this.b,e=i.w-t.w,s=-(this.bias+e)*this.iSum,n=this.jAcc;this.bias<0?this.jAcc=d(n+s,0,this.jMax):this.jAcc=d(n+s,-this.jMax,0),s=this.jAcc-n,t.w-=s*t.i_inv,i.w+=s*i.i_inv}},Ci.prototype.getImpulse=function(){return Math.abs(joint.jAcc)};var ki=t.RatchetJoint=function(t,i,e,s){_i.call(this,t,i),this.angle=0,this.phase=e,this.ratchet=s,this.angle=(i?i.a:0)-(t?t.a:0),this.iSum=this.bias=this.jAcc=this.jMax=0};ki.prototype=Object.create(_i.prototype),ki.prototype.preStep=function(t){var i=this.a,e=this.b,s=this.angle,n=this.phase,r=this.ratchet,o=e.a-i.a,a=s-o,h=0;a*r>0?h=a:this.angle=Math.floor((o-n)/r)*r+n,this.iSum=1/(i.i_inv+e.i_inv);var c=this.maxBias;this.bias=d(-fi(this.errorBias,t)*h/t,-c,c),this.jMax=this.maxForce*t,this.bias||(this.jAcc=0)},ki.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},ki.prototype.applyImpulse=function(){if(this.bias){var t=this.a,i=this.b,e=i.w-t.w,s=this.ratchet,n=-(this.bias+e)*this.iSum,r=this.jAcc;this.jAcc=d((r+n)*s,0,this.jMax*Math.abs(s))/s,n=this.jAcc-r,t.w-=n*t.i_inv,i.w+=n*i.i_inv}},ki.prototype.getImpulse=function(t){return Math.abs(t.jAcc)};var Mi=t.GearJoint=function(t,i,e,s){_i.call(this,t,i),this.phase=e,this.ratio=s,this.ratio_inv=1/s,this.jAcc=0,this.iSum=this.bias=this.jMax=0};Mi.prototype=Object.create(_i.prototype),Mi.prototype.preStep=function(t){var i=this.a,e=this.b;this.iSum=1/(i.i_inv*this.ratio_inv+this.ratio*e.i_inv);var s=this.maxBias;this.bias=d(-fi(this.errorBias,t)*(e.a*this.ratio-i.a-this.phase)/t,-s,s),this.jMax=this.maxForce*t},Mi.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv*this.ratio_inv,e.w+=s*e.i_inv},Mi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=i.w*this.ratio-t.w,s=(this.bias-e)*this.iSum,n=this.jAcc;this.jAcc=d(n+s,-this.jMax,this.jMax),s=this.jAcc-n,t.w-=s*t.i_inv*this.ratio_inv,i.w+=s*i.i_inv},Mi.prototype.getImpulse=function(){return Math.abs(this.jAcc)},Mi.prototype.setRatio=function(t){this.ratio=t,this.ratio_inv=1/t,this.activateBodies()};var Pi=t.SimpleMotor=function(t,i,e){_i.call(this,t,i),this.rate=e,this.jAcc=0,this.iSum=this.jMax=0};Pi.prototype=Object.create(_i.prototype),Pi.prototype.preStep=function(t){this.iSum=1/(this.a.i_inv+this.b.i_inv),this.jMax=this.maxForce*t},Pi.prototype.applyCachedImpulse=function(t){var i=this.a,e=this.b,s=this.jAcc*t;i.w-=s*i.i_inv,e.w+=s*e.i_inv},Pi.prototype.applyImpulse=function(){var t=this.a,i=this.b,e=i.w-t.w+this.rate,s=-e*this.iSum,n=this.jAcc;this.jAcc=d(n+s,-this.jMax,this.jMax),s=this.jAcc-n,t.w-=s*t.i_inv,i.w+=s*i.i_inv},Pi.prototype.getImpulse=function(){return Math.abs(this.jAcc)}}(),function(){var t=Hilo.Class,i=Hilo.EventMixin,e=Hilo.View,s=Math.PI/180,n=1/s,r={space:null,body:null,shape:null,applyImpulse:function(t,i){i=i||{x:0,y:0},this.body.applyImpulse(cp.v(t.x,t.y),cp.v(i.x,i.y))},applyForce:function(t,i){i=i||{x:0,y:0},this.body.applyForce(cp.v(t.x,t.y),cp.v(i.x,i.y))},setPosition:function(t,i){this.body.setPos(new cp.Vect(t,i)),this.body.isStaticBody&&(this.space.needReindexStatic=!0)},setRotation:function(t){this.body.setAngle(t*s),this.body.isStaticBody&&(this.space.needReindexStatic=!0)},render:function(t,i){this._physicsRender(),this._viewRender.call(this,t,i)},_physicsRender:function(){this.x=this.body.p.x,this.y=this.body.p.y,this.rotation=this.body.a*n}},o=t.create({Mixes:i,Statics:{SHAPE_RECT:"rect",SHAPE_CIRCLE:"circle",SHAPE_POLYGEN:"polygen"},constructor:function(t,i){this._init(t,i)},_init:function(t,i){var e=new cp.Space;if(e.iterations=20,e.gravity=new cp.Vect(t.x,t.y),e.collisionSlop=.5,e.sleepTimeThreshold=.5,i)for(var s in i)e[s]=i[s];this.space=e,this.staticBody=e.staticBody,this._deleteBodies=[]},tick:function(t){var i=this.space;t=t>32?16:t,i.needReindexStatic&&(i.reindexStatic(),i.needReindexStatic=!1),i.step(.001*t);for(var e=this._deleteBodies.length-1;e>=0;e--){for(var s=this._deleteBodies[e],n=s.shapeList,r=n.length-1;r>=0;r--)i.removeShape(n[r]);i.removeBody(s)}},bindView:function(i,e){i.body&&this.unbindView(i);var n,a,e=e||{},h=e.mass||1,c=e.type||o.SHAPE_RECT,p=void 0===e.group?0:e.group,l=void 0===e.layers?-1:e.layers,u=i.width*i.scaleX,y=i.height*i.scaleY;switch(c!==o.SHAPE_POLYGEN||i.boundsArea||e.boundsArea||(c=o.SHAPE_RECT),c){case o.SHAPE_RECT:u=e.width||u,y=e.height||y,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForBox(h,u,y)),a=new cp.BoxShape(n,u,y);break;case o.SHAPE_CIRCLE:radius=e.radius||.5*u,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForCircle(h,0,radius,new cp.Vect(0,0))),a=new cp.CircleShape(n,radius,new cp.Vect(0,0));break;case o.SHAPE_POLYGEN:var b=e.boundsArea||i.boundsArea;verts=[],b.forEach(function(t){verts.push(t.x),verts.push(t.y)}),i.boundsArea=b,n=e.isStatic?this._createStaticBody():new cp.Body(h,cp.momentForPoly(h,verts,new cp.Vect(0,0))),a=new cp.PolyShape(n,verts,new cp.Vect(0,0))}n.setAngle(i.rotation*s),n.setPos(new cp.Vect(i.x,i.y)),a.setElasticity(e.restitution||.4),a.setFriction(e.friction||1),a.setCollisionType(e.collisionType||1),a.layers=l,a.group=p,i._viewRender=i.render,t.mix(i,r),i.body=n,i.shape=a,i.space=this.space,n.view=i,i.pivotX=.5*i.width,i.pivotY=.5*i.height,e.isStatic?this.space.addShape(a):(this.space.addBody(n),this.space.addShape(a)),i._physicsRender()},addConstraint:function(t){return this.space.addConstraint(t)},removeConstraint:function(t){return this.space.removeConstraint(t)},unbindView:function(t,i){var e=t.body;e&&(t.body=null,e.view=null,this._deleteBodies.indexOf(e)<0&&this._deleteBodies.push(e));for(var s in r)t[s]=null;t._viewRender&&(t.render=t._viewRender),i&&t.removeFromParent()},addCollisionListener:function(t,i,e){var s=e.begin||function(t){return!0},n=e.preSolve||function(t){return!0},r=e.postSolve||function(t){},o=e.separate||function(t){};this.space.addCollisionHandler(t,i,s,n,r,o)},createBounds:function(t,i){this._createBound({x:0,y:i},{x:t,y:i},1),this._createBound({x:0,y:0},{x:0,y:i},1),this._createBound({x:t,y:0},{x:t,y:i},1)},_createBound:function(t,i,e){var s=this.space.addShape(new cp.SegmentShape(this.staticBody,cp.v(t.x,t.y),cp.v(i.x,i.y),e));s.setElasticity(1),s.setFriction(1)},_createStaticBody:function(){var t=new cp.Body(1/0,1/0);return t.nodeIdleTime=1/0,t.isStaticBody=!0,t}}),a=t.create({Extends:e,constructor:function(t){t=t||{},this.id=this.id||t.id||Hilo.getUid("PhysicsDebugView"),this.showShapes=!0,this.showConstraints=!0,a.superclass.constructor.call(this,t),this.space=t.world.space,this.pointerEnabled=!1,this.pointerChildren=!1,this.initDebugDraw()},render:function(t,i){var e=t.canvas,s=t.context;e.getContext&&s&&(this.showShapes&&this.space.eachShape(function(t){t.hideDebugView||(s.fillStyle=t.style(),t.draw(s))}),this.showConstraints&&this.space.eachConstraint(function(t){!t.hideDebugView&&t.draw&&t.draw(s)}))},initDebugDraw:function(){if(!this._isInit){this._isInit=!0;var t=cp.v,i=function(t,i,e,s){t.beginPath(),t.arc(i.x,i.y,e,0,2*Math.PI,!1),void 0===s&&(s=!0),s&&t.fill(),t.stroke()},e=function(t,i,e){t.beginPath(),t.moveTo(i.x,i.y),t.lineTo(e.x,e.y),t.stroke()},s=[t(0,0),t(.2,0),t(.25,.5),t(.3,-1),t(.35,1),t(.4,-1),t(.45,1),t(.5,-1),t(.55,1),t(.6,-1),t(.65,1),t(.7,-1),t(.75,.5),t(.8,0),t(1,0)],n=function(i,e,n,r){
+null==r&&(r=6),i.beginPath(),i.moveTo(e.x,e.y);for(var o=t.sub(n,e),a=t.len(o),h=t.mult(o,1/a),c=1;c<s.length;c++){var p=t.add(e,t.rotate(t(s[c].x*a,s[c].y*r),h));i.lineTo(p.x,p.y)}i.stroke()};cp.PolyShape.prototype.draw=function(t){t.beginPath();var i=this.tVerts,e=i.length,s=new cp.Vect(i[e-2],i[e-1]);t.moveTo(s.x,s.y);for(var n=0;n<e;n+=2){var r=new cp.Vect(i[n],i[n+1]);t.lineTo(r.x,r.y)}t.fill(),t.stroke()},cp.SegmentShape.prototype.draw=function(t){var i=t.lineWidth;t.lineWidth=Math.max(1,2*this.r),e(t,this.ta,this.tb),t.lineWidth=i},cp.CircleShape.prototype.draw=function(t){i(t,this.tc,this.r),e(t,this.tc,cp.v.mult(this.body.rot,this.r).add(this.tc))},cp.PinJoint.prototype.draw=function(t){var i=this.a.local2World(this.anchr1),s=this.b.local2World(this.anchr2);t.lineWidth=2,t.strokeStyle="grey",e(t,i,s)},cp.SlideJoint.prototype.draw=function(i){var s=this.a.local2World(this.anchr1),n=this.b.local2World(this.anchr2),r=t.add(s,t.clamp(t.sub(n,s),this.min));i.lineWidth=2,i.strokeStyle="grey",e(i,s,n),i.strokeStyle="red",e(i,s,r)},cp.PivotJoint.prototype.draw=function(t){var e=this.a.local2World(this.anchr1),s=this.b.local2World(this.anchr2);t.strokeStyle="grey",t.fillStyle="grey",i(t,e,2),i(t,s,2)},cp.GrooveJoint.prototype.draw=function(t){var s=this.a.local2World(this.grv_a),n=this.a.local2World(this.grv_b),r=this.b.local2World(this.anchr2);t.strokeStyle="grey",e(t,s,n),i(t,r,3)},cp.DampedSpring.prototype.draw=function(t){var i=this.a.local2World(this.anchr1),e=this.b.local2World(this.anchr2);t.strokeStyle="grey",n(t,i,e)},cp.SimpleMotor.prototype.draw=function(t){t.save(),t.strokeStyle="#aa0000",t.lineWidth=.5,i(t,this.a.p,7,!1),i(t,this.b.p,7,!1),t.restore()};for(var r=function(){return Math.floor(256*Math.random())},o=[],a=0;a<100;a++)o.push("rgb("+r()+", "+r()+", "+r()+")");cp.Shape.prototype.style=function(){var t;return this.sensor?"rgba(255,255,255,0)":(t=this.body,t.isSleeping()?"rgb(50,50,50)":t.nodeIdleTime>this.space.sleepTimeThreshold?"rgb(170,170,170)":o[this.hashid%o.length])}}}});Hilo.Physics=o,Hilo.PhysicsDebugView=a}();
\ No newline at end of file
diff --git a/src/extensions/physics/chipmunk.js b/src/extensions/physics/chipmunk.js
index c4818dc9..85f951f4 100644
--- a/src/extensions/physics/chipmunk.js
+++ b/src/extensions/physics/chipmunk.js
@@ -1,16 +1,16 @@
 (function(){
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -25,7 +25,7 @@ Object.create = Object.create || function(o) {
     F.prototype = o;
     return new F();
 };
-
+ 
 //var VERSION = CP_VERSION_MAJOR + "." + CP_VERSION_MINOR + "." + CP_VERSION_RELEASE;
 
 var cp;
@@ -41,7 +41,6 @@ if(typeof exports === 'undefined'){
 
 var assert = function(value, message)
 {
-    return
     if (!value) {
         throw new Error('Assertion failed: ' + message);
     }
@@ -49,7 +48,6 @@ var assert = function(value, message)
 
 var assertSoft = function(value, message)
 {
-    return
     if(!value && console && console.warn) {
         console.warn("ASSERTION FAILED: " + message);
         if(console.trace) {
@@ -102,7 +100,7 @@ var deleteObjFromList = function(arr, obj)
         if(arr[i] === obj){
             arr[i] = arr[arr.length - 1];
             arr.length--;
-
+            
             return;
         }
     }
@@ -157,11 +155,11 @@ cp.momentForPoly = function(m, verts, offset)
 
         var a = vcross2(v2x, v2y, v1x, v1y);
         var b = vdot2(v1x, v1y, v1x, v1y) + vdot2(v1x, v1y, v2x, v2y) + vdot2(v2x, v2y, v2x, v2y);
-
+        
         sum1 += a*b;
         sum2 += a;
     }
-
+    
     return (m*sum1)/(6*sum2);
 };
 
@@ -171,7 +169,7 @@ cp.areaForPoly = function(verts)
     for(var i=0, len=verts.length; i<len; i+=2){
         area += vcross(new Vect(verts[i], verts[i+1]), new Vect(verts[(i+2)%len], verts[(i+3)%len]));
     }
-
+    
     return -area/2;
 };
 
@@ -179,23 +177,23 @@ cp.centroidForPoly = function(verts)
 {
     var sum = 0;
     var vsum = new Vect(0,0);
-
+    
     for(var i=0, len=verts.length; i<len; i+=2){
         var v1 = new Vect(verts[i], verts[i+1]);
         var v2 = new Vect(verts[(i+2)%len], verts[(i+3)%len]);
         var cross = vcross(v1, v2);
-
+        
         sum += cross;
         vsum = vadd(vsum, vmult(vadd(v1, v2), cross));
     }
-
+    
     return vmult(vsum, 1/(3*sum));
 };
 
 cp.recenterPoly = function(verts)
 {
     var centroid = cp.centroidForPoly(verts);
-
+    
     for(var i=0; i<verts.length; i+=2){
         verts[i] -= centroid.x;
         verts[i+1] -= centroid.y;
@@ -212,8 +210,8 @@ cp.momentForBox2 = function(m, box)
     var width = box.r - box.l;
     var height = box.t - box.b;
     var offset = vmult([box.l + box.r, box.b + box.t], 0.5);
-
-    // TODO NaN when offset is 0 and m is INFINITY
+    
+    // TODO NaN when offset is 0 and m is INFINITY  
     return cp.momentForBox(m, width, height) + m*vlengthsq(offset);
 };
 
@@ -225,12 +223,12 @@ var loopIndexes = cp.loopIndexes = function(verts)
     var minx, miny, maxx, maxy;
     minx = maxx = verts[0];
     miny = maxy = verts[1];
-
+    
     var count = verts.length >> 1;
   for(var i=1; i<count; i++){
         var x = verts[i*2];
         var y = verts[i*2 + 1];
-
+        
     if(x < minx || (x == minx && y < miny)){
             minx = x;
             miny = y;
@@ -258,13 +256,13 @@ var SWAP = function(arr, idx1, idx2)
 var QHullPartition = function(verts, offs, count, a, b, tol)
 {
     if(count === 0) return 0;
-
+    
     var max = 0;
     var pivot = offs;
-
+    
     var delta = vsub(b, a);
     var valueTol = tol * vlength(delta);
-
+    
     var head = offs;
     for(var tail = offs+count-1; head <= tail;){
         var v = new Vect(verts[head * 2], verts[head * 2 + 1]);
@@ -274,14 +272,14 @@ var QHullPartition = function(verts, offs, count, a, b, tol)
                 max = value;
                 pivot = head;
             }
-
+            
             head++;
         } else {
             SWAP(verts, head, tail);
             tail--;
         }
     }
-
+    
     // move the new pivot to the front if it's not already there.
     if(pivot != offs) SWAP(verts, offs, pivot);
     return head - offs;
@@ -299,11 +297,11 @@ var QHullReduce = function(tol, verts, offs, count, a, pivot, b, resultPos)
         var left_count = QHullPartition(verts, offs, count, a, pivot, tol);
         var left = new Vect(verts[offs*2], verts[offs*2+1]);
         var index = QHullReduce(tol, verts, offs + 1, left_count - 1, a, left, pivot, resultPos);
-
+        
         var pivotPos = resultPos + index++;
         verts[pivotPos*2] = pivot.x;
         verts[pivotPos*2+1] = pivot.y;
-
+        
         var right_count = QHullPartition(verts, offs + left_count, count - left_count, pivot, b, tol);
         var right = new Vect(verts[(offs+left_count)*2], verts[(offs+left_count)*2+1]);
         return index + QHullReduce(tol, verts, offs + left_count + 1, right_count - 1, pivot, right, b, resultPos + index);
@@ -331,7 +329,7 @@ cp.convexHull = function(verts, result, tolerance)
         // If a result array was not specified, reduce the input instead.
         result = verts;
     }
-
+    
     // Degenerate case, all points are the same.
     var indexes = loopIndexes(verts);
     var start = indexes[0], end = indexes[1];
@@ -340,13 +338,13 @@ cp.convexHull = function(verts, result, tolerance)
         result.length = 2;
         return result;
     }
-
+    
     SWAP(result, 0, start);
     SWAP(result, 1, end == 0 ? start : end);
-
+    
     var a = new Vect(result[0], result[1]);
     var b = new Vect(result[2], result[3]);
-
+    
     var count = verts.length >> 1;
     //if(first) (*first) = start;
     var resultCount = QHullReduce(tolerance, result, 2, count - 2, a, b, a, 1) + 1;
@@ -383,17 +381,17 @@ var lerpconst = function(f1, f2, d)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -625,7 +623,7 @@ var vnear = cp.v.near = function(v1, v2, dist)
 var vslerp = cp.v.slerp = function(v1, v2, t)
 {
     var omega = Math.acos(vdot(v1, v2));
-
+    
     if(omega) {
         var denom = 1/Math.sin(omega);
         return vadd(vmult(v1, Math.sin((1 - t)*omega)*denom), vmult(v2, Math.sin(t*omega)*denom));
@@ -660,17 +658,17 @@ var vstr = cp.v.str = function(v)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -791,25 +789,25 @@ var bbWrapVect = function(bb, v)
     var ix = Math.abs(bb.r - bb.l);
     var modx = (v.x - bb.l) % ix;
     var x = (modx > 0) ? modx : modx + ix;
-
+    
     var iy = Math.abs(bb.t - bb.b);
     var mody = (v.y - bb.b) % iy;
     var y = (mody > 0) ? mody : mody + iy;
-
+    
     return new Vect(x + bb.l, y + bb.b);
 };
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -818,7 +816,7 @@ var bbWrapVect = function(bb, v)
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// Segment query info struct.
 /* These are created using literals where needed.
 typedef struct cpSegmentQueryInfo {
@@ -857,21 +855,21 @@ var Shape = cp.Shape = function(body) {
     /// Sensor flag.
     /// Sensor shapes call collision callbacks but don't produce collisions.
     this.sensor = false;
-
+    
     /// Coefficient of restitution. (elasticity)
     this.e = 0;
     /// Coefficient of friction.
     this.u = 0;
     /// Surface velocity used when solving for friction.
     this.surface_v = vzero;
-
+    
     /// Collision type of this shape used when picking collision handlers.
     this.collision_type = 0;
     /// Group of this shape. Shapes in the same group don't collide.
     this.group = 0;
     // Layer bitmask for this shape. Shapes only collide if the bitwise and of their layers is non-zero.
     this.layers = CP_ALL_LAYERS;
-
+    
     this.space = null;
 
     // Copy the collision code from the prototype into the actual object. This makes collision
@@ -985,7 +983,7 @@ var CircleShape = cp.CircleShape = function(body, radius, offset)
 {
     this.c = this.tc = offset;
     this.r = radius;
-
+    
     this.type = 'circle';
 
     Shape.call(this, body);
@@ -1011,10 +1009,10 @@ CircleShape.prototype.cacheData = function(p, rot)
     var delta = vsub(p, this.tc);
     var distsq = vlengthsq(delta);
     var r = this.r;
-
+    
     if(distsq < r*r){
         var info = new PointQueryExtendedInfo(this);
-
+        
         var dist = Math.sqrt(distsq);
         info.d = r - dist;
         info.n = vmult(delta, 1/dist);
@@ -1028,7 +1026,7 @@ CircleShape.prototype.nearestPointQuery = function(p)
     var deltay = p.y - this.tc.y;
     var d = vlength2(deltax, deltay);
     var r = this.r;
-
+    
     var nearestp = new Vect(this.tc.x + deltax * r/d, this.tc.y + deltay * r/d);
     return new NearestPointQueryInfo(this, nearestp, d - r);
 };
@@ -1038,13 +1036,13 @@ var circleSegmentQuery = function(shape, center, r, a, b, info)
     // offset the line to be relative to the circle
     a = vsub(a, center);
     b = vsub(b, center);
-
+    
     var qa = vdot(a, a) - 2*vdot(a, b) + vdot(b, b);
     var qb = -2*vdot(a, a) + 2*vdot(a, b);
     var qc = vdot(a, a) - r*r;
-
+    
     var det = qb*qb - 4*qa*qc;
-
+    
     if(det >= 0)
     {
         var t = (-qb - Math.sqrt(det))/(2*qa);
@@ -1081,12 +1079,12 @@ var SegmentShape = cp.SegmentShape = function(body, a, b, r)
     this.n = vperp(vnormalize(vsub(b, a)));
 
     this.ta = this.tb = this.tn = null;
-
+    
     this.r = r;
-
+    
     this.a_tangent = vzero;
     this.b_tangent = vzero;
-
+    
     this.type = 'segment';
     Shape.call(this, body);
 };
@@ -1098,9 +1096,9 @@ SegmentShape.prototype.cacheData = function(p, rot)
     this.ta = vadd(p, vrotate(this.a, rot));
     this.tb = vadd(p, vrotate(this.b, rot));
     this.tn = vrotate(this.n, rot);
-
+    
     var l,r,b,t;
-
+    
     if(this.ta.x < this.tb.x){
         l = this.ta.x;
         r = this.tb.x;
@@ -1108,7 +1106,7 @@ SegmentShape.prototype.cacheData = function(p, rot)
         l = this.tb.x;
         r = this.ta.x;
     }
-
+    
     if(this.ta.y < this.tb.y){
         b = this.ta.y;
         t = this.tb.y;
@@ -1116,7 +1114,7 @@ SegmentShape.prototype.cacheData = function(p, rot)
         b = this.tb.y;
         t = this.ta.y;
     }
-
+    
     var rad = this.r;
 
     this.bb_l = l - rad;
@@ -1128,12 +1126,12 @@ SegmentShape.prototype.cacheData = function(p, rot)
 SegmentShape.prototype.nearestPointQuery = function(p)
 {
     var closest = closestPointOnSegment(p, this.ta, this.tb);
-
+        
     var deltax = p.x - closest.x;
     var deltay = p.y - closest.y;
     var d = vlength2(deltax, deltay);
     var r = this.r;
-
+    
     var nearestp = (d ? vadd(closest, vmult(new Vect(deltax, deltay), r/d)) : closest);
     return new NearestPointQueryInfo(this, nearestp, d - r);
 };
@@ -1143,26 +1141,26 @@ SegmentShape.prototype.segmentQuery = function(a, b)
     var n = this.tn;
     var d = vdot(vsub(this.ta, a), n);
     var r = this.r;
-
+    
     var flipped_n = (d > 0 ? vneg(n) : n);
     var n_offset = vsub(vmult(flipped_n, r), a);
-
+    
     var seg_a = vadd(this.ta, n_offset);
     var seg_b = vadd(this.tb, n_offset);
     var delta = vsub(b, a);
-
+    
     if(vcross(delta, seg_a)*vcross(delta, seg_b) <= 0){
         var d_offset = d + (d > 0 ? -r : r);
         var ad = -d_offset;
         var bd = vdot(delta, n) - d_offset;
-
+        
         if(ad*bd < 0){
             return new SegmentQueryInfo(this, ad/(ad - bd), flipped_n);
         }
     } else if(r !== 0){
         var info1 = circleSegmentQuery(this, this.ta, this.r, a, b);
         var info2 = circleSegmentQuery(this, this.tb, this.r, a, b);
-
+        
         if (info1){
             return info2 && info2.t < info1.t ? info2 : info1;
         } else {
@@ -1198,17 +1196,17 @@ CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius);
 */
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -1217,7 +1215,7 @@ CP_DeclareShapeGetter(cpSegmentShape, cpFloat, Radius);
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// Check that a set of vertexes is convex and has a clockwise winding.
 var polyValidate = function(verts)
 {
@@ -1229,13 +1227,13 @@ var polyValidate = function(verts)
         var by = verts[(i+3)%len];
         var cx = verts[(i+4)%len];
         var cy = verts[(i+5)%len];
-
+        
         //if(vcross(vsub(b, a), vsub(c, b)) > 0){
         if(vcross2(bx - ax, by - ay, cx - bx, cy - by) > 0){
             return false;
         }
     }
-
+    
     return true;
 };
 
@@ -1269,7 +1267,7 @@ PolyShape.prototype.setVerts = function(verts, offset)
 
     // Fail if the user attempts to pass a concave poly, or a bad winding.
     assert(polyValidate(verts), "Polygon is concave or has a reversed winding. Consider using cpConvexHull()");
-
+    
     var len = verts.length;
     var numVerts = len >> 1;
 
@@ -1279,7 +1277,7 @@ PolyShape.prototype.setVerts = function(verts, offset)
     this.tVerts = new Array(len);
     this.planes = new Array(numVerts);
     this.tPlanes = new Array(numVerts);
-
+    
     for(var i=0; i<len; i+=2){
         //var a = vadd(offset, verts[i]);
         //var b = vadd(offset, verts[(i+1)%numVerts]);
@@ -1303,7 +1301,7 @@ var BoxShape = cp.BoxShape = function(body, width, height)
 {
     var hw = width/2;
     var hh = height/2;
-
+    
     return BoxShape2(body, new BB(-hw, -hh, hw, hh));
 };
 
@@ -1316,7 +1314,7 @@ var BoxShape2 = cp.BoxShape2 = function(body, box)
         box.r, box.t,
         box.r, box.b,
     ];
-
+    
     return new PolyShape(body, verts, vzero);
 };
 
@@ -1324,10 +1322,10 @@ PolyShape.prototype.transformVerts = function(p, rot)
 {
     var src = this.verts;
     var dst = this.tVerts;
-
+    
     var l = Infinity, r = -Infinity;
     var b = Infinity, t = -Infinity;
-
+    
     for(var i=0; i<src.length; i+=2){
         //var v = vadd(p, vrotate(src[i], rot));
         var x = src[i];
@@ -1337,7 +1335,7 @@ PolyShape.prototype.transformVerts = function(p, rot)
         var vy = p.y + x*rot.y + y*rot.x;
 
         //console.log('(' + x + ',' + y + ') -> (' + vx + ',' + vy + ')');
-
+        
         dst[i] = vx;
         dst[i+1] = vy;
 
@@ -1357,7 +1355,7 @@ PolyShape.prototype.transformAxes = function(p, rot)
 {
     var src = this.planes;
     var dst = this.tPlanes;
-
+    
     for(var i=0; i<src.length; i++){
         var n = vrotate(src[i].n, rot);
         dst[i].n = n;
@@ -1375,30 +1373,30 @@ PolyShape.prototype.nearestPointQuery = function(p)
 {
     var planes = this.tPlanes;
     var verts = this.tVerts;
-
+    
     var v0x = verts[verts.length - 2];
     var v0y = verts[verts.length - 1];
     var minDist = Infinity;
     var closestPoint = vzero;
     var outside = false;
-
+    
     for(var i=0; i<planes.length; i++){
         if(planes[i].compare(p) > 0) outside = true;
-
+        
         var v1x = verts[i*2];
         var v1y = verts[i*2 + 1];
         var closest = closestPointOnSegment2(p.x, p.y, v0x, v0y, v1x, v1y);
-
+        
         var dist = vdist(p, closest);
         if(dist < minDist){
             minDist = dist;
             closestPoint = closest;
         }
-
+        
         v0x = v1x;
         v0y = v1y;
     }
-
+    
     return new NearestPointQueryInfo(this, closestPoint, (outside ? minDist : -minDist));
 };
 
@@ -1408,16 +1406,16 @@ PolyShape.prototype.segmentQuery = function(a, b)
     var verts = this.tVerts;
     var numVerts = axes.length;
     var len = numVerts * 2;
-
+    
     for(var i=0; i<numVerts; i++){
         var n = axes[i].n;
         var an = vdot(a, n);
         if(axes[i].d > an) continue;
-
+        
         var bn = vdot(b, n);
         var t = (axes[i].d - an)/(bn - an);
         if(t < 0 || 1 < t) continue;
-
+        
         var point = vlerp(a, b, t);
         var dt = -vcross(n, point);
         var dtMin = -vcross2(n.x, n.y, verts[i*2], verts[i*2+1]);
@@ -1436,38 +1434,38 @@ PolyShape.prototype.valueOnAxis = function(n, d)
 {
     var verts = this.tVerts;
     var m = vdot2(n.x, n.y, verts[0], verts[1]);
-
+    
     for(var i=2; i<verts.length; i+=2){
         m = min(m, vdot2(n.x, n.y, verts[i], verts[i+1]));
     }
-
+    
     return m - d;
 };
 
 PolyShape.prototype.containsVert = function(vx, vy)
 {
     var planes = this.tPlanes;
-
+    
     for(var i=0; i<planes.length; i++){
         var n = planes[i].n;
         var dist = vdot2(n.x, n.y, vx, vy) - planes[i].d;
         if(dist > 0) return false;
     }
-
+    
     return true;
 };
 
 PolyShape.prototype.containsVertPartial = function(vx, vy, n)
 {
     var planes = this.tPlanes;
-
+    
     for(var i=0; i<planes.length; i++){
         var n2 = planes[i].n;
         if(vdot(n2, n) < 0) continue;
         var dist = vdot2(n2.x, n2.y, vx, vy) - planes[i].d;
         if(dist > 0) return false;
     }
-
+    
     return true;
 };
 
@@ -1940,31 +1938,31 @@ var SpatialIndex = cp.SpatialIndex = function(staticIndex)
     }
 };
 
-// Collide the objects in an index against the objects in a staticIndex using the query callback function.
+// Collide the objects in a dynamic index against the objects in a static index using the query callback function.
 SpatialIndex.prototype.collideStatic = function(staticIndex, func)
 {
     if(staticIndex.count > 0){
-        var query = staticIndex.query;
-
-        this.each(function(obj) {
-            query(obj, new BB(obj.bb_l, obj.bb_b, obj.bb_r, obj.bb_t), func);
+        this.each(function(obj1) {
+            staticIndex.query(new BB(obj1.bb_l, obj1.bb_b, obj1.bb_r, obj1.bb_t), function (obj2) {
+                func(obj1, obj2);
+            });
         });
     }
 };
 
 
 /* Copyright (c) 2009 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -1979,7 +1977,7 @@ SpatialIndex.prototype.collideStatic = function(staticIndex, func)
 var BBTree = cp.BBTree = function(staticIndex)
 {
     SpatialIndex.call(this, staticIndex);
-
+    
     this.velocityFunc = null;
 
     // This is a hash from object ID -> object for the objects stored in the BBTree.
@@ -1988,11 +1986,11 @@ var BBTree = cp.BBTree = function(staticIndex)
     this.count = 0;
 
     this.root = null;
-
+    
     // A linked list containing an object pool of tree nodes and pairs.
     this.pooledNodes = null;
     this.pooledPairs = null;
-
+    
     this.stamp = 0;
 };
 
@@ -2008,7 +2006,7 @@ var Node = function(tree, a, b)
     this.bb_r = max(a.bb_r, b.bb_r);
     this.bb_t = max(a.bb_t, b.bb_t);
     this.parent = null;
-
+    
     this.setA(a);
     this.setB(b);
 };
@@ -2048,7 +2046,7 @@ BBTree.prototype.getBB = function(obj, dest)
         var coef = 0.1;
         var x = (obj.bb_r - obj.bb_l)*coef;
         var y = (obj.bb_t - obj.bb_b)*coef;
-
+        
         var v = vmult(velocityFunc(obj), 0.1);
 
         dest.bb_l = obj.bb_l + min(-x, v.x);
@@ -2128,7 +2126,7 @@ var unlinkThread = function(prev, leaf, next)
     if(next){
         if(next.leafA === leaf) next.prevA = prev; else next.prevB = prev;
     }
-
+    
     if(prev){
         if(prev.leafA === leaf) prev.nextA = next; else prev.nextB = next;
     } else {
@@ -2142,7 +2140,7 @@ Leaf.prototype.clearPairs = function(tree)
         next;
 
     this.pairs = null;
-
+    
     while(pair){
         if(pair.leafA === this){
             next = pair.nextA;
@@ -2165,7 +2163,7 @@ var pairInsert = function(a, b, tree)
     if(nextA){
         if(nextA.leafA === a) nextA.prevA = pair; else nextA.prevB = pair;
     }
-
+    
     if(nextB){
         if(nextB.leafA === b) nextB.prevA = pair; else nextB.prevB = pair;
     }
@@ -2207,7 +2205,7 @@ Node.prototype.otherChild = function(child)
 Node.prototype.replaceChild = function(child, value, tree)
 {
     assertSoft(child == this.A || child == this.B, "Node is not a child of parent.");
-
+    
     if(this.A == child){
         this.A.recycle(tree);
         this.setA(value);
@@ -2215,7 +2213,7 @@ Node.prototype.replaceChild = function(child, value, tree)
         this.B.recycle(tree);
         this.setB(value);
     }
-
+    
     for(var node=this; node; node = node.parent){
         //node.bb = bbMerge(node.A.bb, node.B.bb);
         var a = node.A;
@@ -2258,18 +2256,18 @@ var subtreeInsert = function(subtree, leaf, tree)
     } else {
         var cost_a = subtree.B.bbArea() + bbTreeMergedArea(subtree.A, leaf);
         var cost_b = subtree.A.bbArea() + bbTreeMergedArea(subtree.B, leaf);
-
+        
         if(cost_a === cost_b){
             cost_a = bbProximity(subtree.A, leaf);
             cost_b = bbProximity(subtree.B, leaf);
-        }
+        }   
 
         if(cost_b < cost_a){
             subtree.setB(subtreeInsert(subtree.B, leaf, tree));
         } else {
             subtree.setA(subtreeInsert(subtree.A, leaf, tree));
         }
-
+        
 //      subtree.bb = bbMerge(subtree.bb, leaf.bb);
         subtree.bb_l = min(subtree.bb_l, leaf.bb_l);
         subtree.bb_b = min(subtree.bb_b, leaf.bb_b);
@@ -2306,20 +2304,20 @@ var nodeSegmentQuery = function(node, a, b)
     var tx2 = (node.bb_r == a.x ?  Infinity : (node.bb_r - a.x)*idx);
     var txmin = min(tx1, tx2);
     var txmax = max(tx1, tx2);
-
+    
     var idy = 1/(b.y - a.y);
     var ty1 = (node.bb_b == a.y ? -Infinity : (node.bb_b - a.y)*idy);
     var ty2 = (node.bb_t == a.y ?  Infinity : (node.bb_t - a.y)*idy);
     var tymin = min(ty1, ty2);
     var tymax = max(ty1, ty2);
-
+    
     if(tymin <= txmax && txmin <= tymax){
         var min_ = max(txmin, tymin);
         var max_ = min(txmax, tymax);
-
+        
         if(0.0 <= max_ && min_ <= 1.0) return max(min_, 0.0);
     }
-
+    
     return Infinity;
 };
 
@@ -2330,7 +2328,7 @@ var subtreeSegmentQuery = function(subtree, a, b, t_exit, func)
     } else {
         var t_a = nodeSegmentQuery(subtree.A, a, b);
         var t_b = nodeSegmentQuery(subtree.B, a, b);
-
+        
         if(t_a < t_b){
             if(t_a < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.A, a, b, t_exit, func));
             if(t_b < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.B, a, b, t_exit, func));
@@ -2338,7 +2336,7 @@ var subtreeSegmentQuery = function(subtree, a, b, t_exit, func)
             if(t_b < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.B, a, b, t_exit, func));
             if(t_a < t_exit) t_exit = min(t_exit, subtreeSegmentQuery(subtree.A, a, b, t_exit, func));
         }
-
+        
         return t_exit;
     }
 };
@@ -2409,7 +2407,7 @@ Leaf.prototype.markSubtree = function(tree, staticRoot, func)
 {
     if(this.stamp == tree.getStamp()){
         if(staticRoot) staticRoot.markLeafQuery(this, false, tree, func);
-
+        
         for(var node = this; node.parent; node = node.parent){
             if(node == node.parent.A){
                 node.parent.B.markLeafQuery(this, true, tree, func);
@@ -2451,16 +2449,16 @@ Leaf.prototype.update = function(tree)
     //if(!bbContainsBB(this.bb, bb)){
     if(!this.containsObj(obj)){
         tree.getBB(this.obj, this);
-
+        
         root = subtreeRemove(root, this, tree);
         tree.root = subtreeInsert(root, this, tree);
-
+        
         this.clearPairs(tree);
         this.stamp = tree.getStamp();
-
+        
         return true;
     }
-
+    
     return false;
 };
 
@@ -2487,7 +2485,7 @@ BBTree.prototype.insert = function(obj, hashid)
     this.leaves[hashid] = leaf;
     this.root = subtreeInsert(this.root, leaf, this);
     this.count++;
-
+    
     leaf.stamp = this.getStamp();
     leaf.addPairs(this);
     this.incrementStamp();
@@ -2516,7 +2514,7 @@ var voidQueryFunc = function(obj1, obj2){};
 BBTree.prototype.reindexQuery = function(func)
 {
     if(!this.root) return;
-
+    
     // LeafUpdate() may modify this.root. Don't cache it.
     var hashid,
         leaves = this.leaves;
@@ -2524,13 +2522,13 @@ BBTree.prototype.reindexQuery = function(func)
     {
         leaves[hashid].update(this);
     }
-
+    
     var staticIndex = this.staticIndex;
     var staticRoot = staticIndex && staticIndex.root;
-
+    
     this.root.markSubtree(this, staticRoot, func);
     if(staticIndex && !staticRoot) this.collideStatic(this, staticIndex, func);
-
+    
     this.incrementStamp();
 };
 
@@ -2597,7 +2595,7 @@ var partitionNodes = function(tree, nodes, offset, count)
     } else if(count == 2) {
         return tree.makeNode(nodes[offset], nodes[offset + 1]);
     }
-
+    
     // Find the AABB for these nodes
     //var bb = nodes[offset].bb;
     var node = nodes[offset];
@@ -2615,10 +2613,10 @@ var partitionNodes = function(tree, nodes, offset, count)
         bb_r = max(bb_r, node.bb_r);
         bb_t = max(bb_t, node.bb_t);
     }
-
+    
     // Split it on it's longest axis
     var splitWidth = (bb_r - bb_l > bb_t - bb_b);
-
+    
     // Sort the bounds and use the median as the splitting point
     var bounds = new Array(count*2);
     if(splitWidth){
@@ -2632,7 +2630,7 @@ var partitionNodes = function(tree, nodes, offset, count)
             bounds[2*i + 1] = nodes[i].bb_t;
         }
     }
-
+    
     bounds.sort(function(a, b) {
         // This might run faster if the function was moved out into the global scope.
         return a - b;
@@ -2645,7 +2643,7 @@ var partitionNodes = function(tree, nodes, offset, count)
     var b_l = bb_l, b_b = bb_b, b_r = bb_r, b_t = bb_t;
 
     if(splitWidth) a_r = b_l = split; else a_t = b_b = split;
-
+    
     // Partition the nodes
     var right = end;
     for(var left=offset; left < right;){
@@ -2659,13 +2657,13 @@ var partitionNodes = function(tree, nodes, offset, count)
             left++;
         }
     }
-
+    
     if(right == count){
         var node = null;
         for(var i=offset; i<end; i++) node = subtreeInsert(node, nodes[i], tree);
         return node;
     }
-
+    
     // Recurse and build the node!
     return NodeNew(tree,
         partitionNodes(tree, nodes, offset, right - offset),
@@ -2681,12 +2679,12 @@ var partitionNodes = function(tree, nodes, offset, count)
 //      Node *node = root;
 //      int bit = 0;
 //      unsigned int path = tree.opath;
-//
+//      
 //      while(!NodeIsLeaf(node)){
 //          node = (path&(1<<bit) ? node.a : node.b);
 //          bit = (bit + 1)&(sizeof(unsigned int)*8 - 1);
 //      }
-//
+//      
 //      root = subtreeRemove(root, node, tree);
 //      tree.root = subtreeInsert(root, node, tree);
 //  }
@@ -2701,7 +2699,7 @@ BBTree.prototype.optimize = function()
     {
         nodes[i++] = this.nodes[hashid];
     }
-
+    
     tree.subtreeRecycle(root);
     this.root = partitionNodes(tree, nodes, nodes.length);
 };
@@ -2714,7 +2712,7 @@ var nodeRender = function(node, depth)
         nodeRender(node.A, depth + 1);
         nodeRender(node.B, depth + 1);
     }
-
+    
     var str = '';
     for(var i = 0; i < depth; i++) {
         str += ' ';
@@ -2735,22 +2733,22 @@ NodeRender(Node *node, int depth)
         NodeRender(node.a, depth + 1);
         NodeRender(node.b, depth + 1);
     }
-
+    
     bb bb = node.bb;
-
-//  GLfloat v = depth/2.0f;
+    
+//  GLfloat v = depth/2.0f; 
 //  glColor3f(1.0f - v, v, 0.0f);
     glLineWidth(max(5.0f - depth, 1.0f));
     glBegin(GL_LINES); {
         glVertex2f(bb.l, bb.b);
         glVertex2f(bb.l, bb.t);
-
+        
         glVertex2f(bb.l, bb.t);
         glVertex2f(bb.r, bb.t);
-
+        
         glVertex2f(bb.r, bb.t);
         glVertex2f(bb.r, bb.b);
-
+        
         glVertex2f(bb.r, bb.b);
         glVertex2f(bb.l, bb.b);
     }; glEnd();
@@ -2762,23 +2760,23 @@ bbTreeRenderDebug(cpSpatialIndex *index){
         cpAssertWarn(false, "Ignoring bbTreeRenderDebug() call to non-tree spatial index.");
         return;
     }
-
+    
     bbTree *tree = (bbTree *)index;
     if(tree.root) NodeRender(tree.root, 0);
 }
 */
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -2844,15 +2842,15 @@ var Arbiter = function(a, b) {
     /// Calculated value to use for applying surface velocities.
     /// Override in a pre-solve collision handler for custom behavior.
     this.surface_vr = vzero;
-
+    
     this.a = a; this.body_a = a.body;
     this.b = b; this.body_b = b.body;
-
+    
     this.thread_a_next = this.thread_a_prev = null;
     this.thread_b_next = this.thread_b_prev = null;
-
+    
     this.contacts = null;
-
+    
     this.stamp = 0;
     this.handler = null;
     this.swappedColl = false;
@@ -2874,12 +2872,12 @@ Arbiter.prototype.totalImpulse = function()
 {
     var contacts = this.contacts;
     var sum = new Vect(0,0);
-
+    
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         sum.add(vmult(con.n, con.jnAcc));
     }
-
+    
     return this.swappedColl ? sum : sum.neg();
 };
 
@@ -2889,7 +2887,7 @@ Arbiter.prototype.totalImpulseWithFriction = function()
 {
     var contacts = this.contacts;
     var sum = new Vect(0,0);
-
+    
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         sum.add(new Vect(con.jnAcc, con.jtAcc).rotate(con.n));
@@ -2904,16 +2902,16 @@ Arbiter.prototype.totalKE = function()
 {
     var eCoef = (1 - this.e)/(1 + this.e);
     var sum = 0;
-
+    
     var contacts = this.contacts;
     for(var i=0, count=contacts.length; i<count; i++){
         var con = contacts[i];
         var jnAcc = con.jnAcc;
         var jtAcc = con.jtAcc;
-
+        
         sum += eCoef*jnAcc*jnAcc/con.nMass + jtAcc*jtAcc/con.tMass;
     }
-
+    
     return sum;
 };
 
@@ -2956,12 +2954,12 @@ var ContactPoint = function(point, normal, dist)
 Arbiter.prototype.getContactPointSet = function()
 {
     var set = new Array(this.contacts.length);
-
+    
     var i;
     for(i=0; i<set.length; i++){
         set[i] = new ContactPoint(this.contacts[i].p, this.contacts[i].n, this.contacts[i].dist);
     }
-
+    
     return set;
 };
 
@@ -3000,10 +2998,10 @@ var unthreadHelper = function(arb, body, prev, next)
         } else {
             prev.thread_b_next = next;
         }
-    } else {
+    } else if(body.arbiterList === arb){
         body.arbiterList = next;
     }
-
+    
     if(next){
         // cpArbiterThreadForBody(next, body)->prev = prev;
         if(next.body_a === body){
@@ -3027,15 +3025,15 @@ Arbiter.prototype.unthread = function()
 //{
 //  cpFloat fsum = 0;
 //  cpVect vsum = vzero;
-//
+//  
 //  for(int i=0; i<numContacts; i++){
 //      cpContact *con = &contacts[i];
 //      cpVect j = vrotate(con.n, v(con.jnAcc, con.jtAcc));
-//
+//      
 //      fsum += vlength(j);
 //      vsum = vadd(vsum, j);
 //  }
-//
+//  
 //  cpFloat vmag = vlength(vsum);
 //  return (1 - vmag/fsum);
 //}
@@ -3047,10 +3045,10 @@ Arbiter.prototype.update = function(contacts, handler, a, b)
         // Iterate over the possible pairs to look for hash value matches.
         for(var i=0; i<this.contacts.length; i++){
             var old = this.contacts[i];
-
+            
             for(var j=0; j<contacts.length; j++){
                 var new_contact = contacts[j];
-
+                
                 // This could trigger false positives, but is fairly unlikely nor serious if it does.
                 if(new_contact.hash === old.hash){
                     // Copy the persistant contact information.
@@ -3060,20 +3058,20 @@ Arbiter.prototype.update = function(contacts, handler, a, b)
             }
         }
     }
-
+    
     this.contacts = contacts;
-
+    
     this.handler = handler;
     this.swappedColl = (a.collision_type !== handler.a);
-
+    
     this.e = a.e * b.e;
     this.u = a.u * b.u;
     this.surface_vr = vsub(a.surface_v, b.surface_v);
-
+    
     // For collisions between two similar primitive types, the order could have been swapped.
     this.a = a; this.body_a = a.body;
     this.b = b; this.body_b = b.body;
-
+    
     // mark it as new if it's been cached
     if(this.state == 'cached') this.state = 'first coll';
 };
@@ -3082,22 +3080,22 @@ Arbiter.prototype.preStep = function(dt, slop, bias)
 {
     var a = this.body_a;
     var b = this.body_b;
-
+    
     for(var i=0; i<this.contacts.length; i++){
         var con = this.contacts[i];
-
+        
         // Calculate the offsets.
         con.r1 = vsub(con.p, a.p);
         con.r2 = vsub(con.p, b.p);
-
+        
         // Calculate the mass normal and mass tangent.
         con.nMass = 1/k_scalar(a, b, con.r1, con.r2, con.n);
         con.tMass = 1/k_scalar(a, b, con.r1, con.r2, vperp(con.n));
-
+    
         // Calculate the target bias velocity.
         con.bias = -bias*min(0, con.dist + slop)/dt;
         con.jBias = 0;
-
+        
         // Calculate the target bounce velocity.
         con.bounce = normal_relative_velocity(a, b, con.r1, con.r2, con.n)*this.e;
     }
@@ -3106,10 +3104,10 @@ Arbiter.prototype.preStep = function(dt, slop, bias)
 Arbiter.prototype.applyCachedImpulse = function(dt_coef)
 {
     if(this.isFirstContact()) return;
-
+    
     var a = this.body_a;
     var b = this.body_b;
-
+    
     for(var i=0; i<this.contacts.length; i++){
         var con = this.contacts[i];
         //var j = vrotate(con.n, new Vect(con.jnAcc, con.jtAcc));
@@ -3143,11 +3141,11 @@ Arbiter.prototype.applyImpulse = function()
         var n = con.n;
         var r1 = con.r1;
         var r2 = con.r2;
-
+        
         //var vr = relative_velocity(a, b, r1, r2);
         var vrx = b.vx - r2.y * b.w - (a.vx - r1.y * a.w);
         var vry = b.vy + r2.x * b.w - (a.vy + r1.x * a.w);
-
+        
         //var vb1 = vadd(vmult(vperp(r1), a.w_bias), a.v_bias);
         //var vb2 = vadd(vmult(vperp(r2), b.w_bias), b.v_bias);
         //var vbn = vdot(vsub(vb2, vb1), n);
@@ -3158,20 +3156,20 @@ Arbiter.prototype.applyImpulse = function()
         var vrn = vdot2(vrx, vry, n.x, n.y);
         //var vrt = vdot(vadd(vr, surface_vr), vperp(n));
         var vrt = vdot2(vrx + surface_vr.x, vry + surface_vr.y, -n.y, n.x);
-
+        
         var jbn = (con.bias - vbn)*nMass;
         var jbnOld = con.jBias;
         con.jBias = max(jbnOld + jbn, 0);
-
+        
         var jn = -(con.bounce + vrn)*nMass;
         var jnOld = con.jnAcc;
         con.jnAcc = max(jnOld + jn, 0);
-
+        
         var jtMax = friction*con.jnAcc;
         var jt = -vrt*con.tMass;
         var jtOld = con.jtAcc;
         con.jtAcc = clamp(jtOld + jt, -jtMax, jtMax);
-
+        
         //apply_bias_impulses(a, b, r1, r2, vmult(n, con.jBias - jbnOld));
         var bias_x = n.x * (con.jBias - jbnOld);
         var bias_y = n.y * (con.jBias - jbnOld);
@@ -3200,17 +3198,17 @@ Arbiter.prototype.next = function(body)
     return (this.body_a == body ? this.thread_a_next : this.thread_b_next);
 };
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -3227,12 +3225,12 @@ var Contact = function(p, n, dist, hash)
     this.p = p;
     this.n = n;
     this.dist = dist;
-
+    
     this.r1 = this.r2 = vzero;
     this.nMass = this.tMass = this.bounce = this.bias = 0;
 
     this.jnAcc = this.jtAcc = this.jBias = 0;
-
+    
     this.hash = hash;
     numContacts++;
 };
@@ -3247,7 +3245,7 @@ var circle2circleQuery = function(p1, p2, r1, r2)
     var delta = vsub(p2, p1);
     var distsq = vlengthsq(delta);
     if(distsq >= mindist*mindist) return;
-
+    
     var dist = Math.sqrt(distsq);
 
     // Allocate and initialize the contact.
@@ -3271,15 +3269,15 @@ var circle2segment = function(circleShape, segmentShape)
     var seg_a = segmentShape.ta;
     var seg_b = segmentShape.tb;
     var center = circleShape.tc;
-
+    
     var seg_delta = vsub(seg_b, seg_a);
     var closest_t = clamp01(vdot(seg_delta, vsub(center, seg_a))/vlengthsq(seg_delta));
     var closest = vadd(seg_a, vmult(seg_delta, closest_t));
-
+    
     var contact = circle2circleQuery(center, closest, circleShape.r, segmentShape.r);
     if(contact){
         var n = contact.n;
-
+        
         // Reject endcap collisions if tangents are provided.
         return (
             (closest_t === 0 && vdot(n, segmentShape.a_tangent) < 0) ||
@@ -3303,7 +3301,7 @@ var findMSA = function(poly, planes)
     var min_index = 0;
     var min = poly.valueOnAxis(planes[0].n, planes[0].d);
     if(min > 0) return -1;
-
+    
     for(var i=1; i<planes.length; i++){
         var dist = poly.valueOnAxis(planes[i].n, planes[i].d);
         if(dist > 0) {
@@ -3313,7 +3311,7 @@ var findMSA = function(poly, planes)
             min_index = i;
         }
     }
-
+    
     last_MSA_min = min;
     return min_index;
 };
@@ -3333,7 +3331,7 @@ var findVertsFallback = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly1.hashid, i)));
         }
     }
-
+    
     var verts2 = poly2.tVerts;
     for(var i=0; i<verts2.length; i+=2){
         var vx = verts2[i];
@@ -3342,7 +3340,7 @@ var findVertsFallback = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly2.hashid, i)));
         }
     }
-
+    
     return arr;
 };
 
@@ -3359,7 +3357,7 @@ var findVerts = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly1.hashid, i>>1)));
         }
     }
-
+    
     var verts2 = poly2.tVerts;
     for(var i=0; i<verts2.length; i+=2){
         var vx = verts2[i];
@@ -3368,7 +3366,7 @@ var findVerts = function(poly1, poly2, n, dist)
             arr.push(new Contact(new Vect(vx, vy), n, dist, hashPair(poly2.hashid, i>>1)));
         }
     }
-
+    
     return (arr.length ? arr : findVertsFallback(poly1, poly2, n, dist));
 };
 
@@ -3378,11 +3376,11 @@ var poly2poly = function(poly1, poly2)
     var mini1 = findMSA(poly2, poly1.tPlanes);
     if(mini1 == -1) return NONE;
     var min1 = last_MSA_min;
-
+    
     var mini2 = findMSA(poly1, poly2.tPlanes);
     if(mini2 == -1) return NONE;
     var min2 = last_MSA_min;
-
+    
     // There is overlap, find the penetrating verts
     if(min1 > min2)
         return findVerts(poly1, poly2, poly1.tPlanes[mini1].n, min1);
@@ -3399,12 +3397,12 @@ var segValueOnAxis = function(seg, n, d)
 };
 
 // Identify vertexes that have penetrated the segment.
-var findPointsBehindSeg = function(arr, seg, poly, pDist, coef)
+var findPointsBehindSeg = function(arr, seg, poly, pDist, coef) 
 {
     var dta = vcross(seg.tn, seg.ta);
     var dtb = vcross(seg.tn, seg.tb);
     var n = vmult(seg.tn, coef);
-
+    
     var verts = poly.tVerts;
     for(var i=0; i<verts.length; i+=2){
         var vx = verts[i];
@@ -3426,12 +3424,12 @@ var seg2poly = function(seg, poly)
 
     var planes = poly.tPlanes;
     var numVerts = planes.length;
-
+    
     var segD = vdot(seg.tn, seg.ta);
     var minNorm = poly.valueOnAxis(seg.tn, segD) - seg.r;
     var minNeg = poly.valueOnAxis(vneg(seg.tn), -segD) - seg.r;
     if(minNeg > 0 || minNorm > 0) return NONE;
-
+    
     var mini = 0;
     var poly_min = segValueOnAxis(seg, planes[0].n, planes[0].d);
     if(poly_min > 0) return NONE;
@@ -3444,34 +3442,34 @@ var seg2poly = function(seg, poly)
             mini = i;
         }
     }
-
+    
     var poly_n = vneg(planes[mini].n);
-
+    
     var va = vadd(seg.ta, vmult(poly_n, seg.r));
     var vb = vadd(seg.tb, vmult(poly_n, seg.r));
     if(poly.containsVert(va.x, va.y))
         arr.push(new Contact(va, poly_n, poly_min, hashPair(seg.hashid, 0)));
     if(poly.containsVert(vb.x, vb.y))
         arr.push(new Contact(vb, poly_n, poly_min, hashPair(seg.hashid, 1)));
-
+    
     // Floating point precision problems here.
     // This will have to do for now.
 //  poly_min -= cp_collision_slop; // TODO is this needed anymore?
-
+    
     if(minNorm >= poly_min || minNeg >= poly_min) {
         if(minNorm > minNeg)
             findPointsBehindSeg(arr, seg, poly, minNorm, 1);
         else
             findPointsBehindSeg(arr, seg, poly, minNeg, -1);
     }
-
+    
     // If no other collision points are found, try colliding endpoints.
     if(arr.length === 0){
         var mini2 = mini * 2;
         var verts = poly.tVerts;
 
         var poly_a = new Vect(verts[mini2], verts[mini2+1]);
-
+        
         var con;
         if((con = circle2circleQuery(seg.ta, poly_a, seg.r, 0, arr))) return [con];
         if((con = circle2circleQuery(seg.tb, poly_a, seg.r, 0, arr))) return [con];
@@ -3492,7 +3490,7 @@ var seg2poly = function(seg, poly)
 var circle2poly = function(circ, poly)
 {
     var planes = poly.tPlanes;
-
+    
     var mini = 0;
     var min = vdot(planes[0].n, circ.tc) - planes[0].d - circ.r;
     for(var i=0; i<planes.length; i++){
@@ -3504,7 +3502,7 @@ var circle2poly = function(circ, poly)
             mini = i;
         }
     }
-
+    
     var n = planes[mini].n;
 
     var verts = poly.tVerts;
@@ -3521,7 +3519,7 @@ var circle2poly = function(circ, poly)
     var dta = vcross2(n.x, n.y, ax, ay);
     var dtb = vcross2(n.x, n.y, bx, by);
     var dt = vcross(n, circ.tc);
-
+        
     if(dt < dtb){
         var con = circle2circleQuery(circ.tc, new Vect(bx, by), circ.r, 0, con);
         return con ? [con] : NONE;
@@ -3539,7 +3537,7 @@ var circle2poly = function(circ, poly)
 };
 
 // The javascripty way to do this would be either nested object or methods on the prototypes.
-//
+// 
 // However, the *fastest* way is the method below.
 // See: http://jsperf.com/dispatch
 
@@ -3573,17 +3571,17 @@ var collideShapes = cp.collideShapes = function(a, b)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -3603,64 +3601,64 @@ var Space = cp.Space = function() {
     this.bodies = [];
     this.rousedBodies = [];
     this.sleepingComponents = [];
-
+    
     this.staticShapes = new BBTree(null);
     this.activeShapes = new BBTree(this.staticShapes);
-
+    
     this.arbiters = [];
     this.contactBuffersHead = null;
     this.cachedArbiters = {};
     //this.pooledArbiters = [];
-
+    
     this.constraints = [];
-
+    
     this.locked = 0;
-
+    
     this.collisionHandlers = {};
     this.defaultHandler = defaultCollisionHandler;
 
     this.postStepCallbacks = [];
-
+    
     /// Number of iterations to use in the impulse solver to solve contacts.
     this.iterations = 10;
-
+    
     /// Gravity to pass to rigid bodies when integrating velocity.
     this.gravity = vzero;
-
+    
     /// Damping rate expressed as the fraction of velocity bodies retain each second.
     /// A value of 0.9 would mean that each body's velocity will drop 10% per second.
     /// The default value is 1.0, meaning no damping is applied.
     /// @note This damping value is different than those of cpDampedSpring and cpDampedRotarySpring.
     this.damping = 1;
-
+    
     /// Speed threshold for a body to be considered idle.
     /// The default value of 0 means to let the space guess a good threshold based on gravity.
     this.idleSpeedThreshold = 0;
-
+    
     /// Time a group of bodies must remain idle in order to fall asleep.
     /// Enabling sleeping also implicitly enables the the contact graph.
     /// The default value of Infinity disables the sleeping algorithm.
     this.sleepTimeThreshold = Infinity;
-
+    
     /// Amount of encouraged penetration between colliding shapes..
     /// Used to reduce oscillating contacts and keep the collision cache warm.
     /// Defaults to 0.1. If you have poor simulation quality,
     /// increase this number as much as possible without allowing visible amounts of overlap.
     this.collisionSlop = 0.1;
-
+    
     /// Determines how fast overlapping shapes are pushed apart.
     /// Expressed as a fraction of the error remaining after each second.
     /// Defaults to pow(1.0 - 0.1, 60.0) meaning that Chipmunk fixes 10% of overlap each frame at 60Hz.
     this.collisionBias = Math.pow(1 - 0.1, 60);
-
+    
     /// Number of frames that contact information should persist.
     /// Defaults to 3. There is probably never a reason to change this value.
     this.collisionPersistence = 3;
-
+    
     /// Rebuild the contact graph during each step. Must be enabled to use the cpBodyEachArbiter() function.
     /// Disabled by default for a small performance boost. Enabled implicitly when the sleeping feature is enabled.
     this.enableContactGraph = false;
-
+    
     /// The designated static body for this space.
     /// You can modify this body, or replace it with your own static body.
     /// By default it points to a statically allocated cpBody in the cpSpace struct.
@@ -3694,10 +3692,10 @@ var assertSpaceUnlocked = function(space)
 Space.prototype.addCollisionHandler = function(a, b, begin, preSolve, postSolve, separate)
 {
     assertSpaceUnlocked(this);
-
+        
     // Remove any old function so the new one will get added.
     this.removeCollisionHandler(a, b);
-
+    
     var handler = new CollisionHandler();
     handler.a = a;
     handler.b = b;
@@ -3713,7 +3711,7 @@ Space.prototype.addCollisionHandler = function(a, b, begin, preSolve, postSolve,
 Space.prototype.removeCollisionHandler = function(a, b)
 {
     assertSpaceUnlocked(this);
-
+    
     delete this.collisionHandlers[hashPair(a, b)];
 };
 
@@ -3747,17 +3745,17 @@ Space.prototype.addShape = function(shape)
 {
     var body = shape.body;
     if(body.isStatic()) return this.addStaticShape(shape);
-
+    
     assert(!shape.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     body.activate();
     body.addShape(shape);
-
+    
     shape.update(body.p, body.rot);
     this.activeShapes.insert(shape, shape.hashid);
     shape.space = this;
-
+        
     return shape;
 };
 
@@ -3766,14 +3764,14 @@ Space.prototype.addStaticShape = function(shape)
 {
     assert(!shape.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     var body = shape.body;
     body.addShape(shape);
 
     shape.update(body.p, body.rot);
     this.staticShapes.insert(shape, shape.hashid);
     shape.space = this;
-
+    
     return shape;
 };
 
@@ -3783,10 +3781,10 @@ Space.prototype.addBody = function(body)
     assert(!body.isStatic(), "Static bodies cannot be added to a space as they are not meant to be simulated.");
     assert(!body.space, "This body is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     this.bodies.push(body);
     body.space = this;
-
+    
     return body;
 };
 
@@ -3795,18 +3793,18 @@ Space.prototype.addConstraint = function(constraint)
 {
     assert(!constraint.space, "This shape is already added to a space and cannot be added to another.");
     assertSpaceUnlocked(this);
-
+    
     var a = constraint.a, b = constraint.b;
 
     a.activate();
     b.activate();
     this.constraints.push(constraint);
-
+    
     // Push onto the heads of the bodies' constraint lists
     constraint.next_a = a.constraintList; a.constraintList = constraint;
     constraint.next_b = b.constraintList; b.constraintList = constraint;
     constraint.space = this;
-
+    
     return constraint;
 };
 
@@ -3823,12 +3821,12 @@ Space.prototype.filterArbiters = function(body, filter)
         ){
             // Call separate when removing shapes.
             if(filter && arb.state !== 'cached') arb.callSeparate(this);
-
+            
             arb.unthread();
 
             deleteObjFromList(this.arbiters, arb);
             //this.pooledArbiters.push(arb);
-
+            
             delete this.cachedArbiters[hash];
         }
     }
@@ -3844,7 +3842,7 @@ Space.prototype.removeShape = function(shape)
         assert(this.containsShape(shape),
             "Cannot remove a shape that was not added to the space. (Removed twice maybe?)");
         assertSpaceUnlocked(this);
-
+        
         body.activate();
         body.removeShape(shape);
         this.filterArbiters(body, shape);
@@ -3859,7 +3857,7 @@ Space.prototype.removeStaticShape = function(shape)
     assert(this.containsShape(shape),
         "Cannot remove a static or sleeping shape that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     var body = shape.body;
     if(body.isStatic()) body.activateStatic(shape);
     body.removeShape(shape);
@@ -3874,7 +3872,7 @@ Space.prototype.removeBody = function(body)
     assert(this.containsBody(body),
         "Cannot remove a body that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     body.activate();
 //  this.filterArbiters(body, null);
     deleteObjFromList(this.bodies, body);
@@ -3887,11 +3885,11 @@ Space.prototype.removeConstraint = function(constraint)
     assert(this.containsConstraint(constraint),
         "Cannot remove a constraint that was not added to the space. (Removed twice maybe?)");
     assertSpaceUnlocked(this);
-
+    
     constraint.a.activate();
     constraint.b.activate();
     deleteObjFromList(this.constraints, constraint);
-
+    
     constraint.a.removeConstraint(constraint);
     constraint.b.removeConstraint(constraint);
     constraint.space = null;
@@ -3929,15 +3927,15 @@ Space.prototype.eachBody = function(func)
 {
     this.lock(); {
         var bodies = this.bodies;
-
+        
         for(var i=0; i<bodies.length; i++){
             func(bodies[i]);
         }
-
+        
         var components = this.sleepingComponents;
         for(var i=0; i<components.length; i++){
             var root = components[i];
-
+            
             var body = root;
             while(body){
                 var next = body.nodeNext;
@@ -3962,7 +3960,7 @@ Space.prototype.eachConstraint = function(func)
 {
     this.lock(); {
         var constraints = this.constraints;
-
+        
         for(var i=0; i<constraints.length; i++){
             func(constraints[i]);
         }
@@ -3975,7 +3973,7 @@ Space.prototype.eachConstraint = function(func)
 Space.prototype.reindexStatic = function()
 {
     assert(!this.locked, "You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");
-
+    
     this.staticShapes.each(function(shape){
         var body = shape.body;
         shape.update(body.p, body.rot);
@@ -3987,10 +3985,10 @@ Space.prototype.reindexStatic = function()
 Space.prototype.reindexShape = function(shape)
 {
     assert(!this.locked, "You cannot manually reindex objects while the space is locked. Wait until the current query or step is complete.");
-
+    
     var body = shape.body;
     shape.update(body.p, body.rot);
-
+    
     // attempt to rehash the shape in both hashes
     this.activeShapes.reindexObject(shape, shape.hashid);
     this.staticShapes.reindexObject(shape, shape.hashid);
@@ -4008,33 +4006,33 @@ Space.prototype.reindexShapesForBody = function(body)
 Space.prototype.useSpatialHash = function(dim, count)
 {
     throw new Error('Spatial Hash not implemented.');
-
+    
     var staticShapes = new SpaceHash(dim, count, null);
     var activeShapes = new SpaceHash(dim, count, staticShapes);
-
+    
     this.staticShapes.each(function(shape){
         staticShapes.insert(shape, shape.hashid);
     });
     this.activeShapes.each(function(shape){
         activeShapes.insert(shape, shape.hashid);
     });
-
+        
     this.staticShapes = staticShapes;
     this.activeShapes = activeShapes;
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -4043,13 +4041,13 @@ Space.prototype.useSpatialHash = function(dim, count)
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  */
-
+ 
 /// **** Sleeping Functions
 
 Space.prototype.activateBody = function(body)
 {
     assert(!body.isRogue(), "Internal error: Attempting to activate a rogue body.");
-
+    
     if(this.locked){
         // cpSpaceActivateBody() is called again once the space is unlocked
         if(this.rousedBodies.indexOf(body) === -1) this.rousedBodies.push(body);
@@ -4061,28 +4059,28 @@ Space.prototype.activateBody = function(body)
             this.staticShapes.remove(shape, shape.hashid);
             this.activeShapes.insert(shape, shape.hashid);
         }
-
+        
         for(var arb = body.arbiterList; arb; arb = arb.next(body)){
             var bodyA = arb.body_a;
             if(body === bodyA || bodyA.isStatic()){
                 //var contacts = arb.contacts;
-
+                
                 // Restore contact values back to the space's contact buffer memory
                 //arb.contacts = cpContactBufferGetArray(this);
                 //memcpy(arb.contacts, contacts, numContacts*sizeof(cpContact));
                 //cpSpacePushContacts(this, numContacts);
-
+                
                 // Reinsert the arbiter into the arbiter cache
                 var a = arb.a, b = arb.b;
                 this.cachedArbiters[hashPair(a.hashid, b.hashid)] = arb;
-
+                
                 // Update the arbiter's state
                 arb.stamp = this.stamp;
                 arb.handler = this.lookupHandler(a.collision_type, b.collision_type);
                 this.arbiters.push(arb);
             }
         }
-
+        
         for(var constraint = body.constraintList; constraint; constraint = constraint.nodeNext){
             var bodyA = constraint.a;
             if(body === bodyA || bodyA.isStatic()) this.constraints.push(constraint);
@@ -4093,20 +4091,20 @@ Space.prototype.activateBody = function(body)
 Space.prototype.deactivateBody = function(body)
 {
     assert(!body.isRogue(), "Internal error: Attempting to deactivate a rogue body.");
-
+    
     deleteObjFromList(this.bodies, body);
-
+    
     for(var i = 0; i < body.shapeList.length; i++){
         var shape = body.shapeList[i];
         this.activeShapes.remove(shape, shape.hashid);
         this.staticShapes.insert(shape, shape.hashid);
     }
-
+    
     for(var arb = body.arbiterList; arb; arb = arb.next(body)){
         var bodyA = arb.body_a;
         if(body === bodyA || bodyA.isStatic()){
             this.uncacheArbiter(arb);
-
+            
             // Save contact values to a new block of memory so they won't time out
             //size_t bytes = arb.numContacts*sizeof(cpContact);
             //cpContact *contacts = (cpContact *)cpcalloc(1, bytes);
@@ -4114,7 +4112,7 @@ Space.prototype.deactivateBody = function(body)
             //arb.contacts = contacts;
         }
     }
-
+        
     for(var constraint = body.constraintList; constraint; constraint = constraint.nodeNext){
         var bodyA = constraint.a;
         if(body === bodyA || bodyA.isStatic()) deleteObjFromList(this.constraints, constraint);
@@ -4130,20 +4128,20 @@ var componentActivate = function(root)
 {
     if(!root || !root.isSleeping(root)) return;
     assert(!root.isRogue(), "Internal Error: componentActivate() called on a rogue body.");
-
+    
     var space = root.space;
     var body = root;
     while(body){
         var next = body.nodeNext;
-
+        
         body.nodeIdleTime = 0;
         body.nodeRoot = null;
         body.nodeNext = null;
         space.activateBody(body);
-
+        
         body = next;
     }
-
+    
     deleteObjFromList(space.sleepingComponents, root);
 };
 
@@ -4158,13 +4156,13 @@ Body.prototype.activate = function()
 Body.prototype.activateStatic = function(filter)
 {
     assert(this.isStatic(), "Body.activateStatic() called on a non-static body.");
-
+    
     for(var arb = this.arbiterList; arb; arb = arb.next(this)){
         if(!filter || filter == arb.a || filter == arb.b){
             (arb.body_a == this ? arb.body_b : arb.body_a).activate();
         }
     }
-
+    
     // TODO should also activate joints!
 };
 
@@ -4174,7 +4172,7 @@ Body.prototype.pushArbiter = function(arb)
         "Internal Error: Dangling contact graph pointers detected. (A)");
     assertSoft((arb.body_a === this ? arb.thread_a_prev : arb.thread_b_prev) === null,
         "Internal Error: Dangling contact graph pointers detected. (B)");
-
+    
     var next = this.arbiterList;
     assertSoft(next === null || (next.body_a === this ? next.thread_a_prev : next.thread_b_prev) === null,
         "Internal Error: Dangling contact graph pointers detected. (C)");
@@ -4229,7 +4227,7 @@ var componentActive = function(root, threshold)
     for(var body = root; body; body = body.nodeNext){
         if(body.nodeIdleTime < threshold) return true;
     }
-
+    
     return false;
 };
 
@@ -4241,7 +4239,7 @@ Space.prototype.processComponents = function(dt)
     // These checks can be removed at some stage (if DEBUG == undefined)
     for(var i=0; i<bodies.length; i++){
         var body = bodies[i];
-
+        
         assertSoft(body.nodeNext === null, "Internal Error: Dangling next pointer detected in contact graph.");
         assertSoft(body.nodeRoot === null, "Internal Error: Dangling root pointer detected in contact graph.");
     }
@@ -4250,7 +4248,7 @@ Space.prototype.processComponents = function(dt)
     if(sleep){
         var dv = this.idleSpeedThreshold;
         var dvsq = (dv ? dv*dv : vlengthsq(this.gravity)*dt*dt);
-
+    
         for(var i=0; i<bodies.length; i++){
             var body = bodies[i];
 
@@ -4265,51 +4263,51 @@ Space.prototype.processComponents = function(dt)
     for(var i=0, count=arbiters.length; i<count; i++){
         var arb = arbiters[i];
         var a = arb.body_a, b = arb.body_b;
-
-        if(sleep){
+    
+        if(sleep){  
             if((b.isRogue() && !b.isStatic()) || a.isSleeping()) a.activate();
             if((a.isRogue() && !a.isStatic()) || b.isSleeping()) b.activate();
         }
-
+        
         a.pushArbiter(arb);
         b.pushArbiter(arb);
     }
-
+    
     if(sleep){
         // Bodies should be held active if connected by a joint to a non-static rouge body.
         var constraints = this.constraints;
         for(var i=0; i<constraints.length; i++){
             var constraint = constraints[i];
             var a = constraint.a, b = constraint.b;
-
+            
             if(b.isRogue() && !b.isStatic()) a.activate();
             if(a.isRogue() && !a.isStatic()) b.activate();
         }
-
+        
         // Generate components and deactivate sleeping ones
         for(var i=0; i<bodies.length;){
             var body = bodies[i];
-
+            
             if(componentRoot(body) === null){
-                // Body not in a component yet. Perform a DFS to flood fill mark
+                // Body not in a component yet. Perform a DFS to flood fill mark 
                 // the component in the contact graph using this body as the root.
                 floodFillComponent(body, body);
-
+                
                 // Check if the component should be put to sleep.
                 if(!componentActive(body, this.sleepTimeThreshold)){
                     this.sleepingComponents.push(body);
                     for(var other = body; other; other = other.nodeNext){
                         this.deactivateBody(other);
                     }
-
+                    
                     // deactivateBody() removed the current body from the list.
                     // Skip incrementing the index counter.
                     continue;
                 }
             }
-
+            
             i++;
-
+            
             // Only sleeping bodies retain their component node pointers.
             body.nodeRoot = null;
             body.nodeNext = null;
@@ -4324,38 +4322,38 @@ Body.prototype.sleep = function()
 
 Body.prototype.sleepWithGroup = function(group){
     assert(!this.isStatic() && !this.isRogue(), "Rogue and static bodies cannot be put to sleep.");
-
+    
     var space = this.space;
     assert(space, "Cannot put a rogue body to sleep.");
     assert(!space.locked, "Bodies cannot be put to sleep during a query or a call to cpSpaceStep(). Put these calls into a post-step callback.");
     assert(group === null || group.isSleeping(), "Cannot use a non-sleeping body as a group identifier.");
-
+    
     if(this.isSleeping()){
         assert(componentRoot(this) === componentRoot(group), "The body is already sleeping and it's group cannot be reassigned.");
         return;
     }
-
+    
     for(var i = 0; i < this.shapeList.length; i++){
         this.shapeList[i].update(this.p, this.rot);
     }
     space.deactivateBody(this);
-
+    
     if(group){
         var root = componentRoot(group);
-
+        
         this.nodeRoot = root;
         this.nodeNext = root.nodeNext;
         this.nodeIdleTime = 0;
-
+        
         root.nodeNext = this;
     } else {
         this.nodeRoot = this;
         this.nodeNext = null;
         this.nodeIdleTime = 0;
-
+        
         space.sleepingComponents.push(this);
     }
-
+    
     deleteObjFromList(space.bodies, this);
 };
 
@@ -4368,17 +4366,17 @@ Space.prototype.activateShapesTouchingShape = function(shape){
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -4416,7 +4414,7 @@ Space.prototype.pointQueryFirst = function(point, layers, group)
     this.pointQuery(point, layers, group, function(shape) {
         if(!shape.sensor) outShape = shape;
     });
-
+    
     return outShape;
 };
 
@@ -4466,14 +4464,14 @@ Space.prototype.segmentQuery = function(start, end, layers, group, func)
 {
     var helper = function(shape){
         var info;
-
+        
         if(
             !(shape.group && group === shape.group) && (layers & shape.layers) &&
             (info = shape.segmentQuery(start, end))
         ){
             func(shape, info.t, info.n);
         }
-
+        
         return 1;
     };
 
@@ -4491,7 +4489,7 @@ Space.prototype.segmentQueryFirst = function(start, end, layers, group)
 
     var helper = function(shape){
         var info;
-
+        
         if(
             !(shape.group && group === shape.group) && (layers & shape.layers) &&
             !shape.sensor &&
@@ -4500,13 +4498,13 @@ Space.prototype.segmentQueryFirst = function(start, end, layers, group)
         ){
             out = info;
         }
-
+        
         return out ? out.t : 1;
     };
 
     this.staticShapes.segmentQuery(start, end, 1, helper);
     this.activeShapes.segmentQuery(start, end, out ? out.t : 1, helper);
-
+    
     return out;
 };
 
@@ -4522,7 +4520,7 @@ Space.prototype.bbQuery = function(bb, layers, group, func)
             func(shape);
         }
     };
-
+    
     this.lock(); {
         this.activeShapes.query(bb, helper);
         this.staticShapes.query(bb, helper);
@@ -4542,7 +4540,7 @@ Space.prototype.shapeQuery = function(shape, func)
 
     //shapeQueryContext context = {func, data, false};
     var anyCollision = false;
-
+    
     var helper = function(b){
         var a = shape;
         // Reject any of the simple cases
@@ -4551,9 +4549,9 @@ Space.prototype.shapeQuery = function(shape, func)
             !(a.layers & b.layers) ||
             a === b
         ) return;
-
+        
         var contacts;
-
+        
         // Shape 'a' should have the lower shape type. (required by collideShapes() )
         if(a.collisionCode <= b.collisionCode){
             contacts = collideShapes(a, b);
@@ -4561,16 +4559,16 @@ Space.prototype.shapeQuery = function(shape, func)
             contacts = collideShapes(b, a);
             for(var i=0; i<contacts.length; i++) contacts[i].n = vneg(contacts[i].n);
         }
-
+        
         if(contacts.length){
             anyCollision = !(a.sensor || b.sensor);
-
+            
             if(func){
                 var set = new Array(contacts.length);
                 for(var i=0; i<contacts.length; i++){
                     set[i] = new ContactPoint(contacts[i].p, contacts[i].n, contacts[i].dist);
                 }
-
+                
                 func(b, set);
             }
         }
@@ -4580,7 +4578,7 @@ Space.prototype.shapeQuery = function(shape, func)
         this.activeShapes.query(bb, helper);
         this.staticShapes.query(bb, helper);
     } this.unlock(true);
-
+    
     return anyCollision;
 };
 
@@ -4970,17 +4968,17 @@ Space.prototype.step = function(dt)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5005,7 +5003,7 @@ var relative_velocity = function(a, b, r1, r2){
     //var v2_sum = vadd(b.v, vmult(vperp(r2), b.w));
     var v2_sumx = b.vx + (-r2.y) * b.w;
     var v2_sumy = b.vy + ( r2.x) * b.w;
-
+    
 //  return vsub(v2_sum, v1_sum);
     return new Vect(v2_sumx - v1_sumx, v2_sumy - v1_sumy);
 };
@@ -5072,7 +5070,7 @@ var k_scalar = function(a, b, r1, r2, n)
 {
     var value = k_scalar_body(a, r1, n) + k_scalar_body(b, r2, n);
     assertSoft(value !== 0, "Unsolvable collision or constraint.");
-
+    
     return value;
 };
 
@@ -5083,11 +5081,11 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     // If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
     var k11, k12, k21, k22;
     var m_sum = a.m_inv + b.m_inv;
-
+    
     // start with I*m_sum
     k11 = m_sum; k12 = 0;
     k21 = 0;     k22 = m_sum;
-
+    
     // add the influence from r1
     var a_i_inv = a.i_inv;
     var r1xsq =  r1.x * r1.x * a_i_inv;
@@ -5095,7 +5093,7 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     var r1nxy = -r1.x * r1.y * a_i_inv;
     k11 += r1ysq; k12 += r1nxy;
     k21 += r1nxy; k22 += r1xsq;
-
+    
     // add the influnce from r2
     var b_i_inv = b.i_inv;
     var r2xsq =  r2.x * r2.x * b_i_inv;
@@ -5103,11 +5101,11 @@ var k_tensor = function(a, b, r1, r2, k1, k2)
     var r2nxy = -r2.x * r2.y * b_i_inv;
     k11 += r2ysq; k12 += r2nxy;
     k21 += r2nxy; k22 += r2xsq;
-
+    
     // invert
     var determinant = k11*k22 - k12*k21;
     assertSoft(determinant !== 0, "Unsolvable constraint.");
-
+    
     var det_inv = 1/determinant;
 
     k1.x =  k22*det_inv; k1.y = -k12*det_inv;
@@ -5125,17 +5123,17 @@ var bias_coef = function(errorBias, dt)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5154,12 +5152,12 @@ var Constraint = cp.Constraint = function(a, b)
     this.a = a;
     /// The second body connected to this constraint.
     this.b = b;
-
+    
     this.space = null;
 
     this.next_a = null;
     this.next_b = null;
-
+    
     /// The maximum force that this constraint is allowed to use.
     this.maxForce = Infinity;
     /// The rate at which joint error is corrected.
@@ -5198,17 +5196,17 @@ Constraint.prototype.next = function(body)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5221,15 +5219,15 @@ Constraint.prototype.next = function(body)
 var PinJoint = cp.PinJoint = function(a, b, anchr1, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
-
+    
     // STATIC_BODY_CHECK
     var p1 = (a ? vadd(a.p, vrotate(anchr1, a.rot)) : anchr1);
     var p2 = (b ? vadd(b.p, vrotate(anchr2, b.rot)) : anchr2);
     this.dist = vlength(vsub(p2, p1));
-
+    
     assertSoft(this.dist > 0, "You created a 0 length pin joint. A pivot joint will be much more stable.");
 
     this.r1 = this.r2 = null;
@@ -5246,21 +5244,21 @@ PinJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     this.n = vmult(delta, 1/(dist ? dist : Infinity));
-
+    
     // calculate mass normal
     this.nMass = 1/k_scalar(a, b, this.r1, this.r2, this.n);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*(dist - this.dist)/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jnMax = this.maxForce * dt;
 };
@@ -5279,13 +5277,13 @@ PinJoint.prototype.applyImpulse = function()
 
     // compute relative velocity
     var vrn = normal_relative_velocity(a, b, this.r1, this.r2, n);
-
+    
     // compute normal impulse
     var jn = (this.bias - vrn)*this.nMass;
     var jnOld = this.jnAcc;
     this.jnAcc = clamp(jnOld + jn, -this.jnMax, this.jnMax);
     jn = this.jnAcc - jnOld;
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, n.x*jn, n.y*jn);
 };
@@ -5296,17 +5294,17 @@ PinJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5319,7 +5317,7 @@ PinJoint.prototype.getImpulse = function()
 var SlideJoint = cp.SlideJoint = function(a, b, anchr1, anchr2, min, max)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
     this.min = min;
@@ -5327,7 +5325,7 @@ var SlideJoint = cp.SlideJoint = function(a, b, anchr1, anchr2, min, max)
 
     this.r1 = this.r2 = this.n = null;
     this.nMass = 0;
-
+    
     this.jnAcc = this.jnMax = 0;
     this.bias = 0;
 };
@@ -5338,10 +5336,10 @@ SlideJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     var pdist = 0;
@@ -5355,14 +5353,14 @@ SlideJoint.prototype.preStep = function(dt)
         this.n = vzero;
         this.jnAcc = 0;
     }
-
+    
     // calculate mass normal
     this.nMass = 1/k_scalar(a, b, this.r1, this.r2, this.n);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jnMax = this.maxForce * dt;
 };
@@ -5379,21 +5377,21 @@ SlideJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     var n = this.n;
     var r1 = this.r1;
     var r2 = this.r2;
-
+        
     // compute relative velocity
     var vr = relative_velocity(a, b, r1, r2);
     var vrn = vdot(vr, n);
-
+    
     // compute normal impulse
     var jn = (this.bias - vrn)*this.nMass;
     var jnOld = this.jnAcc;
     this.jnAcc = clamp(jnOld + jn, -this.jnMax, 0);
     jn = this.jnAcc - jnOld;
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, n.x * jn, n.y * jn);
 };
@@ -5404,17 +5402,17 @@ SlideJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5428,7 +5426,7 @@ SlideJoint.prototype.getImpulse = function()
 var PivotJoint = cp.PivotJoint = function(a, b, anchr1, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     if(typeof anchr2 === 'undefined') {
         var pivot = anchr1;
 
@@ -5440,7 +5438,7 @@ var PivotJoint = cp.PivotJoint = function(a, b, anchr1, anchr2)
     this.anchr2 = anchr2;
 
     this.r1 = this.r2 = vzero;
-
+    
     this.k1 = new Vect(0,0); this.k2 = new Vect(0,0);
 
     this.jAcc = vzero;
@@ -5455,16 +5453,16 @@ PivotJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     // Calculate mass tensor. Result is stored into this.k1 & this.k2.
     k_tensor(a, b, this.r1, this.r2, this.k1, this.k2);
-
+    
     // compute max impulse
     this.jMaxLen = this.maxForce * dt;
-
+    
     // calculate bias velocity
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     this.bias = vclamp(vmult(delta, -bias_coef(this.errorBias, dt)/dt), this.maxBias);
@@ -5479,18 +5477,18 @@ PivotJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var r1 = this.r1;
     var r2 = this.r2;
-
+        
     // compute relative velocity
     var vr = relative_velocity(a, b, r1, r2);
-
+    
     // compute normal impulse
     var j = mult_k(vsub(this.bias, vr), this.k1, this.k2);
     var jOld = this.jAcc;
     this.jAcc = vclamp(vadd(this.jAcc, j), this.jMaxLen);
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, this.jAcc.x - jOld.x, this.jAcc.y - jOld.y);
 };
@@ -5501,17 +5499,17 @@ PivotJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5524,12 +5522,12 @@ PivotJoint.prototype.getImpulse = function()
 var GrooveJoint = cp.GrooveJoint = function(a, b, groove_a, groove_b, anchr2)
 {
     Constraint.call(this, a, b);
-
+    
     this.grv_a = groove_a;
     this.grv_b = groove_b;
     this.grv_n = vperp(vnormalize(vsub(groove_b, groove_a)));
     this.anchr2 = anchr2;
-
+    
     this.grv_tn = null;
     this.clamp = 0;
     this.r1 = this.r2 = null;
@@ -5548,7 +5546,7 @@ GrooveJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     // calculate endpoints in worldspace
     var ta = a.local2World(this.grv_a);
     var tb = a.local2World(this.grv_b);
@@ -5556,10 +5554,10 @@ GrooveJoint.prototype.preStep = function(dt)
     // calculate axis
     var n = vrotate(this.grv_n, a.rot);
     var d = vdot(ta, n);
-
+    
     this.grv_tn = n;
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     // calculate tangential distance along the axis of r2
     var td = vcross(vadd(b.p, this.r2), n);
     // calculate clamping factor and r2
@@ -5573,13 +5571,13 @@ GrooveJoint.prototype.preStep = function(dt)
         this.clamp = 0;
         this.r1 = vsub(vadd(vmult(vperp(n), -td), vmult(n, d)), a.p);
     }
-
+    
     // Calculate mass tensor
-    k_tensor(a, b, this.r1, this.r2, this.k1, this.k2);
-
+    k_tensor(a, b, this.r1, this.r2, this.k1, this.k2); 
+    
     // compute max impulse
     this.jMaxLen = this.maxForce * dt;
-
+    
     // calculate bias velocity
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     this.bias = vclamp(vmult(delta, -bias_coef(this.errorBias, dt)/dt), this.maxBias);
@@ -5600,17 +5598,17 @@ GrooveJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var r1 = this.r1;
     var r2 = this.r2;
-
+    
     // compute impulse
     var vr = relative_velocity(a, b, r1, r2);
 
     var j = mult_k(vsub(this.bias, vr), this.k1, this.k2);
     var jOld = this.jAcc;
     this.jAcc = this.grooveConstrain(vadd(jOld, j));
-
+    
     // apply impulse
     apply_impulses(a, b, this.r1, this.r2, this.jAcc.x - jOld.x, this.jAcc.y - jOld.y);
 };
@@ -5624,7 +5622,7 @@ GrooveJoint.prototype.setGrooveA = function(value)
 {
     this.grv_a = value;
     this.grv_n = vperp(vnormalize(vsub(this.grv_b, value)));
-
+    
     this.activateBodies();
 };
 
@@ -5632,22 +5630,22 @@ GrooveJoint.prototype.setGrooveB = function(value)
 {
     this.grv_b = value;
     this.grv_n = vperp(vnormalize(vsub(value, this.grv_a)));
-
+    
     this.activateBodies();
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5664,10 +5662,10 @@ var defaultSpringForce = function(spring, dist){
 var DampedSpring = cp.DampedSpring = function(a, b, anchr1, anchr2, restLength, stiffness, damping)
 {
     Constraint.call(this, a, b);
-
+    
     this.anchr1 = anchr1;
     this.anchr2 = anchr2;
-
+    
     this.restLength = restLength;
     this.stiffness = stiffness;
     this.damping = damping;
@@ -5686,18 +5684,18 @@ DampedSpring.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     this.r1 = vrotate(this.anchr1, a.rot);
     this.r2 = vrotate(this.anchr2, b.rot);
-
+    
     var delta = vsub(vadd(b.p, this.r2), vadd(a.p, this.r1));
     var dist = vlength(delta);
     this.n = vmult(delta, 1/(dist ? dist : Infinity));
-
+    
     var k = k_scalar(a, b, this.r1, this.r2, this.n);
     assertSoft(k !== 0, "Unsolvable this.");
     this.nMass = 1/k;
-
+    
     this.target_vrn = 0;
     this.v_coef = 1 - Math.exp(-this.damping*dt*k);
 
@@ -5712,18 +5710,18 @@ DampedSpring.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     var n = this.n;
     var r1 = this.r1;
     var r2 = this.r2;
 
     // compute relative velocity
     var vrn = normal_relative_velocity(a, b, r1, r2, n);
-
+    
     // compute velocity loss from drag
     var v_damp = (this.target_vrn - vrn)*this.v_coef;
     this.target_vrn = vrn + v_damp;
-
+    
     v_damp *= this.nMass;
     apply_impulses(a, b, this.r1, this.r2, this.n.x * v_damp, this.n.y * v_damp);
 };
@@ -5734,17 +5732,17 @@ DampedSpring.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5761,7 +5759,7 @@ var defaultSpringTorque = function(spring, relativeAngle){
 var DampedRotarySpring = cp.DampedRotarySpring = function(a, b, restAngle, stiffness, damping)
 {
     Constraint.call(this, a, b);
-
+    
     this.restAngle = restAngle;
     this.stiffness = stiffness;
     this.damping = damping;
@@ -5778,7 +5776,7 @@ DampedRotarySpring.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var moment = a.i_inv + b.i_inv;
     assertSoft(moment !== 0, "Unsolvable spring.");
     this.iSum = 1/moment;
@@ -5798,15 +5796,15 @@ DampedRotarySpring.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative velocity
     var wrn = a.w - b.w;//normal_relative_velocity(a, b, r1, r2, n) - this.target_vrn;
-
+    
     // compute velocity loss from drag
     // not 100% certain spring is derived correctly, though it makes sense
     var w_damp = (this.target_wrn - wrn)*this.w_coef;
     this.target_wrn = wrn + w_damp;
-
+    
     //apply_impulses(a, b, this.r1, this.r2, vmult(this.n, v_damp*this.nMass));
     var j_damp = w_damp*this.iSum;
     a.w += j_damp*a.i_inv;
@@ -5816,17 +5814,17 @@ DampedRotarySpring.prototype.applyImpulse = function()
 // DampedRotarySpring.prototype.getImpulse = function(){ return 0; };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5839,7 +5837,7 @@ DampedRotarySpring.prototype.applyImpulse = function()
 var RotaryLimitJoint = cp.RotaryLimitJoint = function(a, b, min, max)
 {
     Constraint.call(this, a, b);
-
+    
     this.min = min;
     this.max = max;
 
@@ -5854,7 +5852,7 @@ RotaryLimitJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var dist = b.a - a.a;
     var pdist = 0;
     if(dist > this.max) {
@@ -5862,14 +5860,14 @@ RotaryLimitJoint.prototype.preStep = function(dt)
     } else if(dist < this.min) {
         pdist = this.min - dist;
     }
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(1/a.i + 1/b.i);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 
@@ -5881,7 +5879,7 @@ RotaryLimitJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -5893,11 +5891,11 @@ RotaryLimitJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -(this.bias + wr)*this.iSum;
     var jOld = this.jAcc;
     if(this.bias < 0){
@@ -5906,7 +5904,7 @@ RotaryLimitJoint.prototype.applyImpulse = function()
         this.jAcc = clamp(jOld + j, -this.jMax, 0);
     }
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -5918,17 +5916,17 @@ RotaryLimitJoint.prototype.getImpulse = function()
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -5945,10 +5943,10 @@ var RatchetJoint = cp.RatchetJoint = function(a, b, phase, ratchet)
     this.angle = 0;
     this.phase = phase;
     this.ratchet = ratchet;
-
+    
     // STATIC_BODY_CHECK
     this.angle = (b ? b.a : 0) - (a ? a.a : 0);
-
+    
     this.iSum = this.bias = this.jAcc = this.jMax = 0;
 };
 
@@ -5958,28 +5956,28 @@ RatchetJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var angle = this.angle;
     var phase = this.phase;
     var ratchet = this.ratchet;
-
+    
     var delta = b.a - a.a;
     var diff = angle - delta;
     var pdist = 0;
-
+    
     if(diff*ratchet > 0){
         pdist = diff;
     } else {
         this.angle = Math.floor((delta - phase)/ratchet)*ratchet + phase;
     }
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(a.i_inv + b.i_inv);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*pdist/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 
@@ -5991,7 +5989,7 @@ RatchetJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6003,17 +6001,17 @@ RatchetJoint.prototype.applyImpulse = function()
 
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w;
     var ratchet = this.ratchet;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -(this.bias + wr)*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp((jOld + j)*ratchet, 0, this.jMax*Math.abs(ratchet))/ratchet;
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6025,17 +6023,17 @@ RatchetJoint.prototype.getImpulse = function(joint)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -6048,11 +6046,11 @@ RatchetJoint.prototype.getImpulse = function(joint)
 var GearJoint = cp.GearJoint = function(a, b, phase, ratio)
 {
     Constraint.call(this, a, b);
-
+    
     this.phase = phase;
     this.ratio = ratio;
     this.ratio_inv = 1/ratio;
-
+    
     this.jAcc = 0;
 
     this.iSum = this.bias = this.jMax = 0;
@@ -6064,14 +6062,14 @@ GearJoint.prototype.preStep = function(dt)
 {
     var a = this.a;
     var b = this.b;
-
+    
     // calculate moment of inertia coefficient.
     this.iSum = 1/(a.i_inv*this.ratio_inv + this.ratio*b.i_inv);
-
+    
     // calculate bias velocity
     var maxBias = this.maxBias;
     this.bias = clamp(-bias_coef(this.errorBias, dt)*(b.a*this.ratio - a.a - this.phase)/dt, -maxBias, maxBias);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 };
@@ -6080,7 +6078,7 @@ GearJoint.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv*this.ratio_inv;
     b.w += j*b.i_inv;
@@ -6090,22 +6088,22 @@ GearJoint.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w*this.ratio - a.w;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = (this.bias - wr)*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp(jOld + j, -this.jMax, this.jMax);
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv*this.ratio_inv;
     b.w += j*b.i_inv;
 };
 
-GearJoint.prototype.getImpulse = function()
+GearJoint.prototype.getImpulse = function()
 {
     return Math.abs(this.jAcc);
 };
@@ -6118,17 +6116,17 @@ GearJoint.prototype.setRatio = function(value)
 };
 
 /* Copyright (c) 2007 Scott Lembcke
- *
+ * 
  * Permission is hereby granted, free of charge, to any person obtaining a copy
  * of this software and associated documentation files (the "Software"), to deal
  * in the Software without restriction, including without limitation the rights
  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  * copies of the Software, and to permit persons to whom the Software is
  * furnished to do so, subject to the following conditions:
- *
+ * 
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
- *
+ * 
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -6141,9 +6139,9 @@ GearJoint.prototype.setRatio = function(value)
 var SimpleMotor = cp.SimpleMotor = function(a, b, rate)
 {
     Constraint.call(this, a, b);
-
+    
     this.rate = rate;
-
+    
     this.jAcc = 0;
 
     this.iSum = this.jMax = 0;
@@ -6155,7 +6153,7 @@ SimpleMotor.prototype.preStep = function(dt)
 {
     // calculate moment of inertia coefficient.
     this.iSum = 1/(this.a.i_inv + this.b.i_inv);
-
+    
     // compute max impulse
     this.jMax = this.maxForce * dt;
 };
@@ -6164,7 +6162,7 @@ SimpleMotor.prototype.applyCachedImpulse = function(dt_coef)
 {
     var a = this.a;
     var b = this.b;
-
+    
     var j = this.jAcc*dt_coef;
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;
@@ -6174,16 +6172,16 @@ SimpleMotor.prototype.applyImpulse = function()
 {
     var a = this.a;
     var b = this.b;
-
+    
     // compute relative rotational velocity
     var wr = b.w - a.w + this.rate;
-
-    // compute normal impulse
+    
+    // compute normal impulse   
     var j = -wr*this.iSum;
     var jOld = this.jAcc;
     this.jAcc = clamp(jOld + j, -this.jMax, this.jMax);
     j = this.jAcc - jOld;
-
+    
     // apply impulse
     a.w -= j*a.i_inv;
     b.w += j*b.i_inv;