"use strict";var transferableMessage=self.webkitPostMessage||self.postMessage,MESSAGE_TYPES={WORLDREPORT:0,COLLISIONREPORT:1,VEHICLEREPORT:2,CONSTRAINTREPORT:3},_object,_vector,_transform,public_functions={},getShapeFromCache,setShapeCache,createShape,reportWorld,reportVehicles,reportCollisions,reportConstraints,fixedTimeStep,rateLimit,last_simulation_time,last_simulation_duration=0,world,transform,_vec3_1,_vec3_2,_vec3_3,_quat,_objects={},_vehicles={},_constraints={},_materials={},_objects_ammo={},_num_objects=0,_num_wheels=0,_num_constraints=0,_object_shapes={},_motion_states={},_noncached_shapes={},_compound_shapes={},REPORT_CHUNKSIZE,WORLDREPORT_ITEMSIZE=14,worldreport,COLLISIONREPORT_ITEMSIZE=5,collisionreport,VEHICLEREPORT_ITEMSIZE=9,vehiclereport,CONSTRAINTREPORT_ITEMSIZE=6,constraintreport;var ab=new ArrayBuffer(1);transferableMessage(ab,[ab]);var SUPPORT_TRANSFERABLE=ab.byteLength===0;getShapeFromCache=function(cache_key){if(_object_shapes[cache_key]!==undefined){return _object_shapes[cache_key]}return null};setShapeCache=function(cache_key,shape){_object_shapes[cache_key]=shape};createShape=function(description){var cache_key,shape;_transform.setIdentity();switch(description.type){case"plane":cache_key="plane_"+description.normal.x+"_"+description.normal.y+"_"+description.normal.z;if((shape=getShapeFromCache(cache_key))===null){_vec3_1.setX(description.normal.x);_vec3_1.setY(description.normal.y);_vec3_1.setZ(description.normal.z);shape=new Ammo.btStaticPlaneShape(_vec3_1,0);setShapeCache(cache_key,shape)}break;case"box":cache_key="box_"+description.width+"_"+description.height+"_"+description.depth;if((shape=getShapeFromCache(cache_key))===null){_vec3_1.setX(description.width/2);_vec3_1.setY(description.height/2);_vec3_1.setZ(description.depth/2);shape=new Ammo.btBoxShape(_vec3_1);setShapeCache(cache_key,shape)}break;case"sphere":cache_key="sphere_"+description.radius;if((shape=getShapeFromCache(cache_key))===null){shape=new Ammo.btSphereShape(description.radius);setShapeCache(cache_key,shape)}break;case"cylinder":cache_key="cylinder_"+description.width+"_"+description.height+"_"+description.depth;if((shape=getShapeFromCache(cache_key))===null){_vec3_1.setX(description.width/2);_vec3_1.setY(description.height/2);_vec3_1.setZ(description.depth/2);shape=new Ammo.btCylinderShape(_vec3_1);setShapeCache(cache_key,shape)}break;case"capsule":cache_key="capsule_"+description.radius+"_"+description.height;if((shape=getShapeFromCache(cache_key))===null){shape=new Ammo.btCapsuleShape(description.radius,description.height-2*description.radius);setShapeCache(cache_key,shape)}break;case"cone":cache_key="cone_"+description.radius+"_"+description.height;if((shape=getShapeFromCache(cache_key))===null){shape=new Ammo.btConeShape(description.radius,description.height);setShapeCache(cache_key,shape)}break;case"concave":var i,triangle,triangle_mesh=new Ammo.btTriangleMesh;if(!description.triangles.length)return false;for(i=0;i<description.triangles.length;i++){triangle=description.triangles[i];_vec3_1.setX(triangle[0].x);_vec3_1.setY(triangle[0].y);_vec3_1.setZ(triangle[0].z);_vec3_2.setX(triangle[1].x);_vec3_2.setY(triangle[1].y);_vec3_2.setZ(triangle[1].z);_vec3_3.setX(triangle[2].x);_vec3_3.setY(triangle[2].y);_vec3_3.setZ(triangle[2].z);triangle_mesh.addTriangle(_vec3_1,_vec3_2,_vec3_3,true)}shape=new Ammo.btBvhTriangleMeshShape(triangle_mesh,true,true);_noncached_shapes[description.id]=shape;break;case"convex":var i,point,shape=new Ammo.btConvexHullShape;for(i=0;i<description.points.length;i++){point=description.points[i];_vec3_1.setX(point.x);_vec3_1.setY(point.y);_vec3_1.setZ(point.z);shape.addPoint(_vec3_1)}_noncached_shapes[description.id]=shape;break;case"heightfield":var ptr=Ammo.allocate(4*description.xpts*description.ypts,"float",Ammo.ALLOC_NORMAL);for(var f=0;f<description.points.length;f++){Ammo.setValue(ptr+f,description.points[f],"float")}shape=new Ammo.btHeightfieldTerrainShape(description.xpts,description.ypts,ptr,1,-description.absMaxHeight,description.absMaxHeight,2,0,false);_vec3_1.setX(description.xsize/(description.xpts-1));_vec3_1.setY(description.ysize/(description.ypts-1));_vec3_1.setZ(1);shape.setLocalScaling(_vec3_1);_noncached_shapes[description.id]=shape;break;default:return;break}return shape};public_functions.init=function(params){importScripts(params.ammo);_transform=new Ammo.btTransform;_vec3_1=new Ammo.btVector3(0,0,0);_vec3_2=new Ammo.btVector3(0,0,0);_vec3_3=new Ammo.btVector3(0,0,0);_quat=new Ammo.btQuaternion(0,0,0,0);REPORT_CHUNKSIZE=params.reportsize||50;if(SUPPORT_TRANSFERABLE){worldreport=new Float32Array(2+REPORT_CHUNKSIZE*WORLDREPORT_ITEMSIZE);collisionreport=new Float32Array(2+REPORT_CHUNKSIZE*COLLISIONREPORT_ITEMSIZE);vehiclereport=new Float32Array(2+REPORT_CHUNKSIZE*VEHICLEREPORT_ITEMSIZE);constraintreport=new Float32Array(2+REPORT_CHUNKSIZE*CONSTRAINTREPORT_ITEMSIZE)}else{worldreport=[];collisionreport=[];vehiclereport=[];constraintreport=[]}worldreport[0]=MESSAGE_TYPES.WORLDREPORT;collisionreport[0]=MESSAGE_TYPES.COLLISIONREPORT;vehiclereport[0]=MESSAGE_TYPES.VEHICLEREPORT;constraintreport[0]=MESSAGE_TYPES.CONSTRAINTREPORT;var collisionConfiguration=new Ammo.btDefaultCollisionConfiguration,dispatcher=new Ammo.btCollisionDispatcher(collisionConfiguration),solver=new Ammo.btSequentialImpulseConstraintSolver,broadphase;if(!params.broadphase)params.broadphase={type:"dynamic"};switch(params.broadphase.type){case"sweepprune":_vec3_1.setX(params.broadphase.aabbmin.x);_vec3_1.setY(params.broadphase.aabbmin.y);_vec3_1.setZ(params.broadphase.aabbmin.z);_vec3_2.setX(params.broadphase.aabbmax.x);_vec3_2.setY(params.broadphase.aabbmax.y);_vec3_2.setZ(params.broadphase.aabbmax.z);broadphase=new Ammo.btAxisSweep3(_vec3_1,_vec3_2);break;case"dynamic":default:broadphase=new Ammo.btDbvtBroadphase;break}world=new Ammo.btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConfiguration);fixedTimeStep=params.fixedTimeStep;rateLimit=params.rateLimit;transferableMessage({cmd:"worldReady"})};public_functions.registerMaterial=function(description){_materials[description.id]=description};public_functions.unRegisterMaterial=function(description){delete _materials[description.id]};public_functions.setFixedTimeStep=function(description){fixedTimeStep=description};public_functions.setGravity=function(description){_vec3_1.setX(description.x);_vec3_1.setY(description.y);_vec3_1.setZ(description.z);world.setGravity(_vec3_1)};public_functions.addObject=function(description){var i,localInertia,shape,motionState,rbInfo,body;shape=createShape(description);if(!shape)return;if(description.children){var compound_shape=new Ammo.btCompoundShape,_child;compound_shape.addChildShape(_transform,shape);for(i=0;i<description.children.length;i++){_child=description.children[i];var trans=new Ammo.btTransform;trans.setIdentity();_vec3_1.setX(_child.position_offset.x);_vec3_1.setY(_child.position_offset.y);_vec3_1.setZ(_child.position_offset.z);trans.setOrigin(_vec3_1);_quat.setX(_child.rotation.x);_quat.setY(_child.rotation.y);_quat.setZ(_child.rotation.z);_quat.setW(_child.rotation.w);trans.setRotation(_quat);shape=createShape(description.children[i]);compound_shape.addChildShape(trans,shape);Ammo.destroy(trans)}shape=compound_shape;_compound_shapes[description.id]=shape}_vec3_1.setX(0);_vec3_1.setY(0);_vec3_1.setZ(0);shape.calculateLocalInertia(description.mass,_vec3_1);_transform.setIdentity();_vec3_2.setX(description.position.x);_vec3_2.setY(description.position.y);_vec3_2.setZ(description.position.z);_transform.setOrigin(_vec3_2);_quat.setX(description.rotation.x);_quat.setY(description.rotation.y);_quat.setZ(description.rotation.z);_quat.setW(description.rotation.w);_transform.setRotation(_quat);motionState=new Ammo.btDefaultMotionState(_transform);rbInfo=new Ammo.btRigidBodyConstructionInfo(description.mass,motionState,shape,_vec3_1);if(description.materialId!==undefined){rbInfo.set_m_friction(_materials[description.materialId].friction);rbInfo.set_m_restitution(_materials[description.materialId].restitution)}body=new Ammo.btRigidBody(rbInfo);Ammo.destroy(rbInfo);if(typeof description.collision_flags!=="undefined"){body.setCollisionFlags(description.collision_flags)}world.addRigidBody(body);body.id=description.id;_objects[body.id]=body;_motion_states[body.id]=motionState;var ptr=body.a!=undefined?body.a:body.ptr;_objects_ammo[ptr]=body.id;_num_objects++;transferableMessage({cmd:"objectReady",params:body.id})};public_functions.addVehicle=function(description){var vehicle_tuning=new Ammo.btVehicleTuning,vehicle;vehicle_tuning.set_m_suspensionStiffness(description.suspension_stiffness);vehicle_tuning.set_m_suspensionCompression(description.suspension_compression);vehicle_tuning.set_m_suspensionDamping(description.suspension_damping);vehicle_tuning.set_m_maxSuspensionTravelCm(description.max_suspension_travel);vehicle_tuning.set_m_maxSuspensionForce(description.max_suspension_force);vehicle=new Ammo.btRaycastVehicle(vehicle_tuning,_objects[description.rigidBody],new Ammo.btDefaultVehicleRaycaster(world));vehicle.tuning=vehicle_tuning;_objects[description.rigidBody].setActivationState(4);vehicle.setCoordinateSystem(0,1,2);world.addVehicle(vehicle);_vehicles[description.id]=vehicle};public_functions.removeVehicle=function(description){delete _vehicles[description.id]};public_functions.addWheel=function(description){if(_vehicles[description.id]!==undefined){var tuning=_vehicles[description.id].tuning;if(description.tuning!==undefined){tuning=new Ammo.btVehicleTuning;tuning.set_m_suspensionStiffness(description.tuning.suspension_stiffness);tuning.set_m_suspensionCompression(description.tuning.suspension_compression);tuning.set_m_suspensionDamping(description.tuning.suspension_damping);tuning.set_m_maxSuspensionTravelCm(description.tuning.max_suspension_travel);tuning.set_m_maxSuspensionForce(description.tuning.max_suspension_force)}_vec3_1.setX(description.connection_point.x);_vec3_1.setY(description.connection_point.y);_vec3_1.setZ(description.connection_point.z);_vec3_2.setX(description.wheel_direction.x);_vec3_2.setY(description.wheel_direction.y);_vec3_2.setZ(description.wheel_direction.z);_vec3_3.setX(description.wheel_axle.x);_vec3_3.setY(description.wheel_axle.y);_vec3_3.setZ(description.wheel_axle.z);_vehicles[description.id].addWheel(_vec3_1,_vec3_2,_vec3_3,description.suspension_rest_length,description.wheel_radius,tuning,description.is_front_wheel)}_num_wheels++;if(SUPPORT_TRANSFERABLE){vehiclereport=new Float32Array(1+_num_wheels*VEHICLEREPORT_ITEMSIZE);vehiclereport[0]=MESSAGE_TYPES.VEHICLEREPORT}else{vehiclereport=[MESSAGE_TYPES.VEHICLEREPORT]}};public_functions.setSteering=function(details){if(_vehicles[details.id]!==undefined){_vehicles[details.id].setSteeringValue(details.steering,details.wheel)}};public_functions.setBrake=function(details){if(_vehicles[details.id]!==undefined){_vehicles[details.id].setBrake(details.brake,details.wheel)}};public_functions.applyEngineForce=function(details){if(_vehicles[details.id]!==undefined){_vehicles[details.id].applyEngineForce(details.force,details.wheel)}};public_functions.removeObject=function(details){world.removeRigidBody(_objects[details.id]);Ammo.destroy(_objects[details.id]);Ammo.destroy(_motion_states[details.id]);if(_compound_shapes[details.id])Ammo.destroy(_compound_shapes[details.id]);if(_noncached_shapes[details.id])Ammo.destroy(_noncached_shapes[details.id]);var ptr=_objects[details.id].a!=undefined?_objects[details.id].a:_objects[details.id].ptr;delete _objects_ammo[ptr];delete _objects[details.id];delete _motion_states[details.id];if(_compound_shapes[details.id])delete _compound_shapes[details.id];if(_noncached_shapes[details.id])delete _noncached_shapes[details.id];_num_objects--};public_functions.updateTransform=function(details){_object=_objects[details.id];_object.getMotionState().getWorldTransform(_transform);if(details.pos){_vec3_1.setX(details.pos.x);_vec3_1.setY(details.pos.y);_vec3_1.setZ(details.pos.z);_transform.setOrigin(_vec3_1)}if(details.quat){_quat.setX(details.quat.x);_quat.setY(details.quat.y);_quat.setZ(details.quat.z);_quat.setW(details.quat.w);_transform.setRotation(_quat)}_object.setWorldTransform(_transform);_object.activate()};public_functions.updateMass=function(details){_object=_objects[details.id];world.removeRigidBody(_object);_vec3_1.setX(0);_vec3_1.setY(0);_vec3_1.setZ(0);_object.setMassProps(details.mass,_vec3_1);world.addRigidBody(_object);_object.activate()};public_functions.applyCentralImpulse=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].applyCentralImpulse(_vec3_1);_objects[details.id].activate()};public_functions.applyImpulse=function(details){_vec3_1.setX(details.impulse_x);_vec3_1.setY(details.impulse_y);_vec3_1.setZ(details.impulse_z);_vec3_2.setX(details.x);_vec3_2.setY(details.y);_vec3_2.setZ(details.z);_objects[details.id].applyImpulse(_vec3_1,_vec3_2);_objects[details.id].activate()};public_functions.applyTorque=function(details){_vec3_1.setX(details.torque_x);_vec3_1.setY(details.torque_y);_vec3_1.setZ(details.torque_z);_objects[details.id].applyTorque(_vec3_1);_objects[details.id].activate()};public_functions.applyCentralForce=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].applyCentralForce(_vec3_1);_objects[details.id].activate()};public_functions.applyForce=function(details){_vec3_1.setX(details.force_x);_vec3_1.setY(details.force_y);_vec3_1.setZ(details.force_z);_vec3_2.setX(details.x);_vec3_2.setY(details.y);_vec3_2.setZ(details.z);_objects[details.id].applyForce(_vec3_1,_vec3_2);_objects[details.id].activate()};public_functions.onSimulationResume=function(params){last_simulation_time=Date.now()};public_functions.setAngularVelocity=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].setAngularVelocity(_vec3_1);_objects[details.id].activate()};public_functions.setLinearVelocity=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].setLinearVelocity(_vec3_1);_objects[details.id].activate()};public_functions.setAngularFactor=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].setAngularFactor(_vec3_1)};public_functions.setLinearFactor=function(details){_vec3_1.setX(details.x);_vec3_1.setY(details.y);_vec3_1.setZ(details.z);_objects[details.id].setLinearFactor(_vec3_1)};public_functions.setDamping=function(details){_objects[details.id].setDamping(details.linear,details.angular)};public_functions.setCcdMotionThreshold=function(details){_objects[details.id].setCcdMotionThreshold(details.threshold)};public_functions.setCcdSweptSphereRadius=function(details){_objects[details.id].setCcdSweptSphereRadius(details.radius)};public_functions.addConstraint=function(details){var constraint;switch(details.type){case"point":if(details.objectb===undefined){_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);constraint=new Ammo.btPoint2PointConstraint(_objects[details.objecta],_vec3_1)}else{_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);_vec3_2.setX(details.positionb.x);_vec3_2.setY(details.positionb.y);_vec3_2.setZ(details.positionb.z);constraint=new Ammo.btPoint2PointConstraint(_objects[details.objecta],_objects[details.objectb],_vec3_1,_vec3_2)}break;case"hinge":if(details.objectb===undefined){_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);_vec3_2.setX(details.axis.x);_vec3_2.setY(details.axis.y);_vec3_2.setZ(details.axis.z);constraint=new Ammo.btHingeConstraint(_objects[details.objecta],_vec3_1,_vec3_2)}else{_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);_vec3_2.setX(details.positionb.x);_vec3_2.setY(details.positionb.y);_vec3_2.setZ(details.positionb.z);_vec3_3.setX(details.axis.x);_vec3_3.setY(details.axis.y);_vec3_3.setZ(details.axis.z);constraint=new Ammo.btHingeConstraint(_objects[details.objecta],_objects[details.objectb],_vec3_1,_vec3_2,_vec3_3,_vec3_3)}break;case"slider":var transforma,transformb,rotation;transforma=new Ammo.btTransform;_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);transforma.setOrigin(_vec3_1);var rotation=transforma.getRotation();rotation.setEuler(details.axis.x,details.axis.y,details.axis.z);transforma.setRotation(rotation);if(details.objectb){transformb=new Ammo.btTransform;_vec3_2.setX(details.positionb.x);_vec3_2.setY(details.positionb.y);_vec3_2.setZ(details.positionb.z);transformb.setOrigin(_vec3_2);rotation=transformb.getRotation();rotation.setEuler(details.axis.x,details.axis.y,details.axis.z);transformb.setRotation(rotation);constraint=new Ammo.btSliderConstraint(_objects[details.objecta],_objects[details.objectb],transforma,transformb,true)}else{constraint=new Ammo.btSliderConstraint(_objects[details.objecta],transforma,true)}Ammo.destroy(transforma);if(transformb!=undefined){Ammo.destroy(transformb)}break;case"conetwist":var transforma,transformb;transforma=new Ammo.btTransform;transforma.setIdentity();transformb=new Ammo.btTransform;transformb.setIdentity();_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);_vec3_2.setX(details.positionb.x);_vec3_2.setY(details.positionb.y);_vec3_2.setZ(details.positionb.z);transforma.setOrigin(_vec3_1);transformb.setOrigin(_vec3_2);var rotation=transforma.getRotation();rotation.setEulerZYX(-details.axisa.z,-details.axisa.y,-details.axisa.x);transforma.setRotation(rotation);rotation=transformb.getRotation();rotation.setEulerZYX(-details.axisb.z,-details.axisb.y,-details.axisb.x);transformb.setRotation(rotation);constraint=new Ammo.btConeTwistConstraint(_objects[details.objecta],_objects[details.objectb],transforma,transformb);constraint.setLimit(Math.PI,0,Math.PI);Ammo.destroy(transforma);Ammo.destroy(transformb);break;case"dof":var transforma,transformb,rotation;transforma=new Ammo.btTransform;transforma.setIdentity();_vec3_1.setX(details.positiona.x);_vec3_1.setY(details.positiona.y);_vec3_1.setZ(details.positiona.z);transforma.setOrigin(_vec3_1);rotation=transforma.getRotation();rotation.setEulerZYX(-details.axisa.z,-details.axisa.y,-details.axisa.x);transforma.setRotation(rotation);if(details.objectb){transformb=new Ammo.btTransform;transformb.setIdentity();_vec3_2.setX(details.positionb.x);_vec3_2.setY(details.positionb.y);_vec3_2.setZ(details.positionb.z);transformb.setOrigin(_vec3_2);rotation=transformb.getRotation();rotation.setEulerZYX(-details.axisb.z,-details.axisb.y,-details.axisb.x);transformb.setRotation(rotation);constraint=new Ammo.btGeneric6DofConstraint(_objects[details.objecta],_objects[details.objectb],transforma,transformb)}else{constraint=new Ammo.btGeneric6DofConstraint(_objects[details.objecta],transforma)}Ammo.destroy(transforma);if(transformb!=undefined){Ammo.destroy(transformb)}break;default:return}world.addConstraint(constraint);constraint.enableFeedback();_constraints[details.id]=constraint;_num_constraints++;if(SUPPORT_TRANSFERABLE){constraintreport=new Float32Array(1+_num_constraints*CONSTRAINTREPORT_ITEMSIZE);constraintreport[0]=MESSAGE_TYPES.CONSTRAINTREPORT}else{constraintreport=[MESSAGE_TYPES.CONSTRAINTREPORT]}};public_functions.removeConstraint=function(details){var constraint=_constraints[details.id];if(constraint!==undefined){world.removeConstraint(constraint);delete _constraints[details.id];_num_constraints--}};public_functions.constraint_setBreakingImpulseThreshold=function(details){var constraint=_constraints[details.id];if(constraint!==undefind){constraint.setBreakingImpulseThreshold(details.threshold)}};public_functions.simulate=function simulate(params){if(world){params=params||{};if(!params.timeStep){if(last_simulation_time){params.timeStep=0;while(params.timeStep+last_simulation_duration<=fixedTimeStep){params.timeStep=(Date.now()-last_simulation_time)/1e3}}else{params.timeStep=fixedTimeStep}}else{if(params.timeStep<fixedTimeStep){params.timeStep=fixedTimeStep}}params.maxSubSteps=params.maxSubSteps||Math.ceil(params.timeStep/fixedTimeStep);last_simulation_duration=Date.now();world.stepSimulation(params.timeStep,params.maxSubSteps,fixedTimeStep);reportVehicles();reportCollisions();reportConstraints();reportWorld();last_simulation_duration=(Date.now()-last_simulation_duration)/1e3;last_simulation_time=Date.now()}};public_functions.hinge_setLimits=function(params){_constraints[params.constraint].setLimit(params.low,params.high,0,params.bias_factor,params.relaxation_factor)};public_functions.hinge_enableAngularMotor=function(params){var constraint=_constraints[params.constraint];constraint.enableAngularMotor(true,params.velocity,params.acceleration);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.hinge_disableMotor=function(params){_constraints[params.constraint].enableMotor(false);if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.slider_setLimits=function(params){var constraint=_constraints[params.constraint];constraint.setLowerLinLimit(params.lin_lower||0);constraint.setUpperLinLimit(params.lin_upper||0);constraint.setLowerAngLimit(params.ang_lower||0);constraint.setUpperAngLimit(params.ang_upper||0)};public_functions.slider_setRestitution=function(params){var constraint=_constraints[params.constraint];constraint.setSoftnessLimLin(params.linear||0);constraint.setSoftnessLimAng(params.angular||0)};public_functions.slider_enableLinearMotor=function(params){var constraint=_constraints[params.constraint];constraint.setTargetLinMotorVelocity(params.velocity);constraint.setMaxLinMotorForce(params.acceleration);constraint.setPoweredLinMotor(true);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.slider_disableLinearMotor=function(params){var constraint=_constraints[params.constraint];constraint.setPoweredLinMotor(false);if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.slider_enableAngularMotor=function(params){var constraint=_constraints[params.constraint];constraint.setTargetAngMotorVelocity(params.velocity);constraint.setMaxAngMotorForce(params.acceleration);constraint.setPoweredAngMotor(true);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.slider_disableAngularMotor=function(params){var constraint=_constraints[params.constraint];constraint.setPoweredAngMotor(false);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.conetwist_setLimit=function(params){_constraints[params.constraint].setLimit(params.z,params.y,params.x)};public_functions.conetwist_enableMotor=function(params){var constraint=_constraints[params.constraint];constraint.enableMotor(true);constraint.getRigidBodyA().activate();constraint.getRigidBodyB().activate()};public_functions.conetwist_setMaxMotorImpulse=function(params){var constraint=_constraints[params.constraint];constraint.setMaxMotorImpulse(params.max_impulse);constraint.getRigidBodyA().activate();constraint.getRigidBodyB().activate()};public_functions.conetwist_setMotorTarget=function(params){var constraint=_constraints[params.constraint];_quat.setX(params.x);_quat.setY(params.y);_quat.setZ(params.z);_quat.setW(params.w);constraint.setMotorTarget(_quat);constraint.getRigidBodyA().activate();constraint.getRigidBodyB().activate()};public_functions.conetwist_disableMotor=function(params){var constraint=_constraints[params.constraint];constraint.enableMotor(false);constraint.getRigidBodyA().activate();constraint.getRigidBodyB().activate()};public_functions.dof_setLinearLowerLimit=function(params){var constraint=_constraints[params.constraint];_vec3_1.setX(params.x);_vec3_1.setY(params.y);_vec3_1.setZ(params.z);constraint.setLinearLowerLimit(_vec3_1);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_setLinearUpperLimit=function(params){var constraint=_constraints[params.constraint];_vec3_1.setX(params.x);_vec3_1.setY(params.y);_vec3_1.setZ(params.z);constraint.setLinearUpperLimit(_vec3_1);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_setAngularLowerLimit=function(params){var constraint=_constraints[params.constraint];_vec3_1.setX(params.x);_vec3_1.setY(params.y);_vec3_1.setZ(params.z);constraint.setAngularLowerLimit(_vec3_1);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_setAngularUpperLimit=function(params){var constraint=_constraints[params.constraint];_vec3_1.setX(params.x);_vec3_1.setY(params.y);_vec3_1.setZ(params.z);constraint.setAngularUpperLimit(_vec3_1);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_enableAngularMotor=function(params){var constraint=_constraints[params.constraint];var motor=constraint.getRotationalLimitMotor(params.which);motor.set_m_enableMotor(true);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_configureAngularMotor=function(params){var constraint=_constraints[params.constraint];var motor=constraint.getRotationalLimitMotor(params.which);motor.set_m_loLimit(params.low_angle);motor.set_m_hiLimit(params.high_angle);motor.set_m_targetVelocity(params.velocity);motor.set_m_maxMotorForce(params.max_force);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};public_functions.dof_disableAngularMotor=function(params){var constraint=_constraints[params.constraint];var motor=constraint.getRotationalLimitMotor(params.which);motor.set_m_enableMotor(false);constraint.getRigidBodyA().activate();if(constraint.getRigidBodyB()){constraint.getRigidBodyB().activate()}};reportWorld=function(){var index,object,transform,origin,rotation,offset=0,i=0;if(SUPPORT_TRANSFERABLE){if(worldreport.length<2+_num_objects*WORLDREPORT_ITEMSIZE){worldreport=new Float32Array(2+Math.ceil(_num_objects/REPORT_CHUNKSIZE)*REPORT_CHUNKSIZE*WORLDREPORT_ITEMSIZE);worldreport[0]=MESSAGE_TYPES.WORLDREPORT}}worldreport[1]=_num_objects;for(index in _objects){if(_objects.hasOwnProperty(index)){object=_objects[index];transform=object.getCenterOfMassTransform();origin=transform.getOrigin();rotation=transform.getRotation();offset=2+i++*WORLDREPORT_ITEMSIZE;worldreport[offset]=object.id;worldreport[offset+1]=origin.x();worldreport[offset+2]=origin.y();worldreport[offset+3]=origin.z();worldreport[offset+4]=rotation.x();worldreport[offset+5]=rotation.y();worldreport[offset+6]=rotation.z();worldreport[offset+7]=rotation.w();_vector=object.getLinearVelocity();worldreport[offset+8]=_vector.x();worldreport[offset+9]=_vector.y();worldreport[offset+10]=_vector.z();_vector=object.getAngularVelocity();worldreport[offset+11]=_vector.x();worldreport[offset+12]=_vector.y();worldreport[offset+13]=_vector.z()}}if(SUPPORT_TRANSFERABLE){transferableMessage(worldreport.buffer,[worldreport.buffer])}else{transferableMessage(worldreport)}};reportCollisions=function(){var i,offset,dp=world.getDispatcher(),num=dp.getNumManifolds(),manifold,num_contacts,j,pt,_collided=false;if(SUPPORT_TRANSFERABLE){if(collisionreport.length<2+num*COLLISIONREPORT_ITEMSIZE){collisionreport=new Float32Array(2+Math.ceil(_num_objects/REPORT_CHUNKSIZE)*REPORT_CHUNKSIZE*COLLISIONREPORT_ITEMSIZE);collisionreport[0]=MESSAGE_TYPES.COLLISIONREPORT}}collisionreport[1]=0;for(i=0;i<num;i++){manifold=dp.getManifoldByIndexInternal(i);num_contacts=manifold.getNumContacts();if(num_contacts===0){continue}for(j=0;j<num_contacts;j++){pt=manifold.getContactPoint(j);offset=2+collisionreport[1]++*COLLISIONREPORT_ITEMSIZE;collisionreport[offset]=_objects_ammo[manifold.getBody0()];collisionreport[offset+1]=_objects_ammo[manifold.getBody1()];_vector=pt.get_m_normalWorldOnB();collisionreport[offset+2]=_vector.x();collisionreport[offset+3]=_vector.y();collisionreport[offset+4]=_vector.z();break;transferableMessage(_objects_ammo)}}if(SUPPORT_TRANSFERABLE){transferableMessage(collisionreport.buffer,[collisionreport.buffer])}else{transferableMessage(collisionreport)}};reportVehicles=function(){var index,vehicle,transform,origin,rotation,offset=0,i=0,j=0;if(SUPPORT_TRANSFERABLE){if(vehiclereport.length<2+_num_wheels*VEHICLEREPORT_ITEMSIZE){vehiclereport=new Float32Array(2+Math.ceil(_num_wheels/REPORT_CHUNKSIZE)*REPORT_CHUNKSIZE*VEHICLEREPORT_ITEMSIZE);vehiclereport[0]=MESSAGE_TYPES.VEHICLEREPORT}}for(index in _vehicles){if(_vehicles.hasOwnProperty(index)){vehicle=_vehicles[index];for(j=0;j<vehicle.getNumWheels();j++){transform=vehicle.getWheelInfo(j).get_m_worldTransform();origin=transform.getOrigin();rotation=transform.getRotation();offset=1+i++*VEHICLEREPORT_ITEMSIZE;vehiclereport[offset]=index;vehiclereport[offset+1]=j;vehiclereport[offset+2]=origin.x();vehiclereport[offset+3]=origin.y();vehiclereport[offset+4]=origin.z();vehiclereport[offset+5]=rotation.x();vehiclereport[offset+6]=rotation.y();vehiclereport[offset+7]=rotation.z();vehiclereport[offset+8]=rotation.w()}}}if(j!==0){if(SUPPORT_TRANSFERABLE){transferableMessage(vehiclereport.buffer,[vehiclereport.buffer])}else{transferableMessage(vehiclereport)}}};reportConstraints=function(){var index,constraint,offset_body,transform,origin,offset=0,i=0;if(SUPPORT_TRANSFERABLE){if(constraintreport.length<2+_num_constraints*CONSTRAINTREPORT_ITEMSIZE){constraintreport=new Float32Array(2+Math.ceil(_num_constraints/REPORT_CHUNKSIZE)*REPORT_CHUNKSIZE*CONSTRAINTREPORT_ITEMSIZE);constraintreport[0]=MESSAGE_TYPES.CONSTRAINTREPORT}}for(index in _constraints){if(_constraints.hasOwnProperty(index)){constraint=_constraints[index];offset_body=constraint.getRigidBodyA();transform=constraint.getFrameOffsetA();origin=transform.getOrigin();offset=1+i++*CONSTRAINTREPORT_ITEMSIZE;constraintreport[offset]=index;constraintreport[offset+1]=offset_body.id;constraintreport[offset+2]=origin.getX();constraintreport[offset+3]=origin.getY();constraintreport[offset+4]=origin.getZ();constraintreport[offset+5]=constraint.getAppliedImpulse()}}if(i!==0){if(SUPPORT_TRANSFERABLE){transferableMessage(constraintreport.buffer,[constraintreport.buffer])}else{transferableMessage(constraintreport)}}};self.onmessage=function(event){if(event.data instanceof Float32Array){switch(event.data[0]){case MESSAGE_TYPES.WORLDREPORT:worldreport=new Float32Array(event.data);break;case MESSAGE_TYPES.COLLISIONREPORT:collisionreport=new Float32Array(event.data);break;case MESSAGE_TYPES.VEHICLEREPORT:vehiclereport=new Float32Array(event.data);break;case MESSAGE_TYPES.CONSTRAINTREPORT:constraintreport=new Float32Array(event.data);break}return}if(event.data.cmd&&public_functions[event.data.cmd]){public_functions[event.data.cmd](event.data.params)}};