From 7e68bc35a2b1363eedfe3498d5d31968315d8c45 Mon Sep 17 00:00:00 2001
From: saharan <saharan.contact@gmail.com>
Date: Sun, 31 Dec 2017 22:36:38 +0900
Subject: [PATCH] added new demo and some APIs

---
 README.md                                   |  1 +
 bin/js/OimoPhysics.min.js                   |  2 +-
 docs/oimo/common/Transform.html             |  2 +-
 docs/oimo/dynamics/rigidbody/RigidBody.html |  2 +-
 src/demo/common/DemoMain.hx                 |  1 +
 src/demo/common/OimoUtil.hx                 | 10 ++--
 src/demo/core/BasicDemo.hx                  |  4 +-
 src/demo/core/BridgeDemo.hx                 |  2 +-
 src/demo/core/ConvexCastingDemo.hx          | 12 ++---
 src/demo/core/ConvexHullDemo.hx             |  4 +-
 src/demo/core/GearsDemo.hx                  |  3 +-
 src/demo/core/JointsDemo.hx                 |  2 +-
 src/demo/core/LimitRotationDemo.hx          | 59 +++++++++++++++++++++
 src/demo/core/RayCastingDemo.hx             | 12 ++---
 src/demo/core/SpringsDemo.hx                |  2 +-
 src/demo/core/VariableTimeStepDemo.hx       |  6 +--
 src/demo/core/VerticalStackingDemo.hx       |  4 +-
 src/oimo/common/Transform.hx                | 20 +++++++
 src/oimo/dynamics/rigidbody/RigidBody.hx    | 29 +++++-----
 19 files changed, 125 insertions(+), 52 deletions(-)
 create mode 100644 src/demo/core/LimitRotationDemo.hx

diff --git a/README.md b/README.md
index 7922ef6..6c22072 100644
--- a/README.md
+++ b/README.md
@@ -40,6 +40,7 @@ A lightweight 3D physics engine.
 	* Direct block MLCP solver
 	* Projected Gauss-Seidel solver
 * Sleepings with island splittings
+* Limit rotations
 * Collision event callbacks
 * Collision filterings
 * Collision queries
diff --git a/bin/js/OimoPhysics.min.js b/bin/js/OimoPhysics.min.js
index 14e9e87..23536ab 100644
--- a/bin/js/OimoPhysics.min.js
+++ b/bin/js/OimoPhysics.min.js
@@ -1 +1 @@
-/* OimoPhysics (c) 2017 saharan, The MIT License */'use strict';(function(){function Og(){this.position=new t;this.rotation=new O;this.friction=F.defaultFriction;this.restitution=F.defaultRestitution;this.density=F.defaultDensity;this.collisionGroup=F.defaultCollisionGroup;this.collisionMask=F.defaultCollisionMask;this.contactCallback=this.geometry=null}function za(a){this.sc=-1;this.ha=new wa;this.pa=new wa;this.a=new wa;var b=a.position;this.ha.v=b.x;this.ha.A=b.y;this.ha.B=b.z;b=a.rotation;this.ha.o=b.e00;this.ha.f=b.e01;this.ha.h=b.e02;this.ha.i=b.e10;this.ha.m=b.e11;this.ha.j=b.e12;this.ha.l=b.e20;this.ha.g=b.e21;this.ha.s=b.e22;var b=this.pa,e=this.ha;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;b=this.a;e=this.ha;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;this.Pj=a.restitution;this.Fj=a.friction;this.jk=a.density;this.Ib=a.geometry;this.Aj=a.collisionGroup;this.Bj=a.collisionMask;this.Cj=a.contactCallback;this.u=new Ca;this.Na=null;this.nc=new t}function Qd(){}function Zj(){this.position=new t;this.rotation=new O;this.linearVelocity=new t;this.angularVelocity=new t;this.type=0;this.autoSleep=!0;this.angularDamping=this.linearDamping=0}function C(a){this.ni=this.Ac=this.ia=this.M=null;this.pg=0;this.ec=this.Mb=null;this.se=0;this.Oe=this.re=null;this.$g=0;var b=a.linearVelocity;this.cb=b.x;this.eb=b.y;this.fb=b.z;b=a.angularVelocity;this.hb=b.x;this.ib=b.y;this.jb=b.z;this.Qc=this.Pc=this.Oc=this.Uc=this.Tc=this.Sc=0;this.pa=new wa;this.a=new wa;b=a.position;this.pa.v=b.x;this.pa.A=b.y;this.pa.B=b.z;b=a.rotation;this.pa.o=b.e00;this.pa.f=b.e01;this.pa.h=b.e02;this.pa.i=b.e10;this.pa.m=b.e11;this.pa.j=b.e12;this.pa.l=b.e20;this.pa.g=b.e21;this.pa.s=b.e22;var b=this.a,e=this.pa;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;this.Wb=a.type;this.xb=0;this.Fb=!1;this.hk=a.autoSleep;this.ga=this.fa=this.ea=this.da=this.ca=this.ba=this.aa=this.$=this.Z=this.Jh=this.Ih=this.Hh=this.Gh=this.Fh=this.Eh=this.Dh=this.Ch=this.Bh=this.Ya=this.Xa=this.Wa=this.Va=this.Ua=this.Ta=this.Sa=this.Ra=this.Qa=this.Ed=this.Dd=this.Cd=this.Bd=this.Ad=this.zd=this.yd=this.xd=this.wd=this.Za=this.Lc=0;this.Il=a.linearDamping;this.Al=a.angularDamping;this.mf=this.lf=this.kf=this.Ah=this.zh=this.yh=0;this.jc=new t(1,1,1);this.Cf=!1;this.Ug=1;this.kc=null}function Ne(){this.mass=0;this.localInertia=new O}function nc(a){Tb.call(this);this.P=a;this.info=new Oe;this.Xb=Array(F.maxJacobianRows);a=0;for(var b=this.Xb.length;a<b;){var e=a++;this.Xb[e]=new Pe}}function Kb(a){Tb.call(this);this.ti=a;this.info=new Sf;this.Xb=Array(F.maxManifoldPoints);a=0;for(var b=this.Xb.length;a<b;){var e=a++;this.Xb[e]=new of}}function Tf(a){this.sg=a;this.ck=Array(this.sg);this.Za=Array(this.sg);this.Oi=Array(this.sg);a=0;for(var b=this.sg;a<b;){var e=a++;this.ck[e]=Array(this.sg);this.Za[e]=Array(this.sg);this.Oi[e]=Array(this.sg);for(var d=0,c=this.sg;d<c;){var f=d++;this.ck[e][f]=0;this.Za[e][f]=0;this.Oi[e][f]=0}}this.Ij=1<<this.sg;this.zj=Array(this.Ij);this.ik=Array(this.Ij);a=0;for(b=this.Ij;a<b;){for(var d=e=a++,d=(d&85)+(d>>1&85),d=(d&51)+(d>>2&51),d=(d&15)+(d>>4&15),c=Array(d),f=0,h=d;f<h;){var l=f++;c[l]=Array(d);for(var g=0,k=d;g<k;){var m=g++;c[l][m]=0}}this.zj[e]=!1;this.ik[e]=c}}function cc(a){Tb.call(this);this.P=a;this.info=new Oe;a=F.maxJacobianRows;this.$h=new Tf(a);this.Ee=new Bk(a);this.Xb=Array(a);for(var b=0,e=this.Xb.length;b<e;){var d=b++;this.Xb[d]=new Pe}b=this.Ee.Nh.length;this.ul=new Rd(b);this.ui=new Rd(b);this.Hg=Array(a);this.Th=Array(a);this.sf=Array(a);this.lj=Array(a);for(b=0;b<a;)e=b++,this.Hg[e]=0,this.Th[e]=0,this.sf[e]=0,this.lj[e]=0}function Rd(a){this.n=a;this.oc=Array(a);this.af=Array(a);for(var b=0;b<a;){var e=b++;this.oc[e]=e}}function Bk(a){this.Dn=a;this.Ze=0;this.Nh=Array(1<<a);this.Te=new sg(a)}function sg(a){this.size=a;this.Nc=0;this.gh=Array(a);this.kh=Array(a);this.je=0;this.Dg=Array(a)}function ak(a){this.gh=Array(a);this.Dg=Array(a);this.kh=Array(a);this.Rk=Array(a);this.je=this.Nc=0}function Pe(){this.tf=this.mass=this.ld=this.kd=this.jd=this.hd=this.gd=this.fd=this.rd=this.qd=this.pd=this.od=this.nd=this.md=0}function of(){this.rm=this.qm=this.pm=this.om=this.ie=this.Yj=this.Xj=this.Wj=this.Vj=this.Uj=this.Tj=this.fl=this.el=this.dl=this.cl=this.bl=this.al=this.tj=this.sj=this.rj=this.qj=this.pj=this.oj=this.ll=this.kl=this.jl=this.il=this.hl=this.gl=this.Sf=this.Rf=this.Qf=this.Pf=this.Of=this.Nf=this.Zh=this.Yh=this.Xh=this.Wh=this.Vh=this.Uh=0}function pe(){}function qe(){Ec.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.springDamper1=new Lb;this.springDamper2=new Lb;this.limitMotor1=new Gc;this.limitMotor2=new Gc}function ab(a){L.call(this,a,hc.UNIVERSAL);var b=a.localAxis1;this.ra=b.x;this.sa=b.y;this.ta=b.z;b=a.localAxis2;this.Ic=b.x;this.Jc=b.y;this.Kc=b.z;this.ra*this.ra+this.sa*this.sa+this.ta*this.ta?(b=this.ra*this.ra+this.sa*this.sa+this.ta*this.ta,0<b&&(b=1/Math.sqrt(b)),this.ra*=b,this.sa*=b,this.ta*=b):(this.ra=1,this.ta=this.sa=0);this.Ic*this.Ic+this.Jc*this.Jc+this.Kc*this.Kc?(b=this.Ic*this.Ic+this.Jc*this.Jc+this.Kc*this.Kc,0<b&&(b=1/Math.sqrt(b)),this.Ic*=b,this.Jc*=b,this.Kc*=b):(this.Jc=this.Ic=0,this.Kc=1);var e=this.C.a,b=this.D.a,d,c,f,h,l,g,k,m,n,q,p,r,v;r=e.o*this.ra+e.f*this.sa+e.h*this.ta;v=e.i*this.ra+e.m*this.sa+e.j*this.ta;d=e.l*this.ra+e.g*this.sa+e.s*this.ta;var aa,w;aa=b.o*this.Ic+b.f*this.Jc+b.h*this.Kc;w=b.i*this.Ic+b.m*this.Jc+b.j*this.Kc;p=b.l*this.Ic+b.g*this.Jc+b.s*this.Kc;l=w*d-p*v;g=p*r-aa*d;k=aa*v-w*r;l*l+g*g+k*k||(l=r*r,g=v*v,k=d*d,l<g?l<k?(k=1/Math.sqrt(g+k),l=0,g=d*k,k*=-v):(k=1/Math.sqrt(l+g),l=v*k,g=-r*k,k=0):g<k?(k=1/Math.sqrt(k+l),l=-d*k,g=0,k*=r):(k=1/Math.sqrt(l+g),l=v*k,g=-r*k,k=0));c=v*k-d*g;f=d*l-r*k;h=r*g-v*l;m=g*p-k*w;n=k*aa-l*p;q=l*w-g*aa;var A,u;A=e.o*r+e.i*v+e.l*d;u=e.f*r+e.m*v+e.g*d;d=e.h*r+e.j*v+e.s*d;this.ra=A;this.sa=u;this.ta=d;d=e.o*l+e.i*g+e.l*k;r=e.f*l+e.m*g+e.g*k;v=e.h*l+e.j*g+e.s*k;this.zb=d;this.Ab=r;this.Bb=v;d=e.o*c+e.i*f+e.l*h;r=e.f*c+e.m*f+e.g*h;e=e.h*c+e.j*f+e.s*h;this.gc=d;this.hc=r;this.ic=e;e=b.o*m+b.i*n+b.l*q;c=b.f*m+b.m*n+b.g*q;m=b.h*m+b.j*n+b.s*q;this.kb=e;this.lb=c;this.mb=m;e=b.o*l+b.i*g+b.l*k;m=b.f*l+b.m*g+b.g*k;l=b.h*l+b.j*g+b.s*k;this.Wg=e;this.Xg=m;this.Yg=l;l=b.o*aa+b.i*w+b.l*p;g=b.f*aa+b.m*w+b.g*p;b=b.h*aa+b.j*w+b.s*p;this.Ic=l;this.Jc=g;this.Kc=b;this.zi=this.zl=this.yi=0;this.Em=this.Dm=this.Cm=!1;this.Fk=a.springDamper1.clone();this.Gk=a.springDamper2.clone();this.xk=a.limitMotor1.clone();this.yk=a.limitMotor2.clone()}function wc(){this.lowerLimit=1;this.motorForce=this.upperLimit=0}function Lb(){this.dampingRatio=this.frequency=0;this.useSymplecticEuler=!1}function re(){Ec.call(this);this.springDamper=new Lb}function se(a){L.call(this,a,0);this.ue=a.springDamper.clone()}function Gc(){this.lowerLimit=1;this.motorTorque=this.upperLimit=0}function Ce(){Ec.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.springDamper=new Lb;this.limitMotor=new Gc}function Mb(a){L.call(this,a,1);var b=a.localAxis1;this.ra=b.x;this.sa=b.y;this.ta=b.z;b=a.localAxis2;this.kb=b.x;this.lb=b.y;this.mb=b.z;this.ra*this.ra+this.sa*this.sa+this.ta*this.ta?(b=this.ra*this.ra+this.sa*this.sa+this.ta*this.ta,0<b&&(b=1/Math.sqrt(b)),this.ra*=b,this.sa*=b,this.ta*=b):(this.ra=1,this.ta=this.sa=0);this.kb*this.kb+this.lb*this.lb+this.mb*this.mb?(b=this.kb*this.kb+this.lb*this.lb+this.mb*this.mb,0<b&&(b=1/Math.sqrt(b)),this.kb*=b,this.lb*=b,this.mb*=b):(this.kb=1,this.mb=this.lb=0);var e,d,c,f,h,l,g,k;d=this.ra*this.kb+this.sa*this.lb+this.ta*this.mb;-1.000001<d&&-.999999>d?(b=this.ra,e=this.sa,c=this.ta,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.sa*this.mb-this.ta*this.lb,e=this.ta*this.kb-this.ra*this.mb,f=this.ra*this.lb-this.sa*this.kb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.ra,m=this.sa,q=this.ta,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.zb=0,this.Ab=q*p,this.Bb=-m*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0):r<v?(p=1/Math.sqrt(v+p),this.zb=-q*p,this.Ab=0,this.Bb=n*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0);this.gc=this.sa*this.Bb-this.ta*this.Ab;this.hc=this.ta*this.zb-this.ra*this.Bb;this.ic=this.ra*this.Ab-this.sa*this.zb;n=b*this.ra+e*this.sa+c*this.ta;m=d*this.ra+f*this.sa+h*this.ta;q=l*this.ra+g*this.sa+k*this.ta;this.kb=n;this.lb=m;this.mb=q;n=b*this.zb+e*this.Ab+c*this.Bb;m=d*this.zb+f*this.Ab+h*this.Bb;q=l*this.zb+g*this.Ab+k*this.Bb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.gc+e*this.hc+c*this.ic;e=d*this.gc+f*this.hc+h*this.ic;c=l*this.gc+g*this.hc+k*this.ic;this.Ic=b;this.Jc=e;this.Kc=c;this.angularErrorZ=this.angularErrorY=this.angle=0;this.V=new Qe(this);this.ue=a.springDamper.clone();this.Lh=a.limitMotor.clone()}function Wd(){Ec.call(this);this.localTwistAxis1=new t(1,0,0);this.localTwistAxis2=new t(1,0,0);this.localSwingAxis1=new t(0,1,0);this.twistSpringDamper=new Lb;this.swingSpringDamper=new Lb;this.twistLimitMotor=new Gc;this.maxSwingAngle2=this.maxSwingAngle1=3.14159265358979}function wb(a){L.call(this,a,hc.RAGDOLL);var b=a.localTwistAxis1;this.ra=b.x;this.sa=b.y;this.ta=b.z;b=a.localSwingAxis1;this.zb=b.x;this.Ab=b.y;this.Bb=b.z;b=a.localTwistAxis2;this.kb=b.x;this.lb=b.y;this.mb=b.z;this.ra*this.ra+this.sa*this.sa+this.ta*this.ta?(b=this.ra*this.ra+this.sa*this.sa+this.ta*this.ta,0<b&&(b=1/Math.sqrt(b)),this.ra*=b,this.sa*=b,this.ta*=b):(this.ra=1,this.ta=this.sa=0);this.gc=this.sa*this.Bb-this.ta*this.Ab;this.hc=this.ta*this.zb-this.ra*this.Bb;this.ic=this.ra*this.Ab-this.sa*this.zb;if(this.gc*this.gc+this.hc*this.hc+this.ic*this.ic)b=this.gc*this.gc+this.hc*this.hc+this.ic*this.ic,0<b&&(b=1/Math.sqrt(b)),this.gc*=b,this.hc*=b,this.ic*=b,this.zb=this.hc*this.ta-this.ic*this.sa,this.Ab=this.ic*this.ra-this.gc*this.ta,this.Bb=this.gc*this.sa-this.hc*this.ra;else{var b=this.ra,e=this.sa,d=this.ta,c=b*b,f=e*e,h=d*d;c<f?c<h?(c=1/Math.sqrt(f+h),this.zb=0,this.Ab=d*c,this.Bb=-e*c):(c=1/Math.sqrt(c+f),this.zb=e*c,this.Ab=-b*c,this.Bb=0):f<h?(c=1/Math.sqrt(h+c),this.zb=-d*c,this.Ab=0,this.Bb=b*c):(c=1/Math.sqrt(c+f),this.zb=e*c,this.Ab=-b*c,this.Bb=0);this.gc=this.sa*this.Bb-this.ta*this.Ab;this.hc=this.ta*this.zb-this.ra*this.Bb;this.ic=this.ra*this.Ab-this.sa*this.zb}var l,g,k,m,c=this.ra*this.kb+this.sa*this.lb+this.ta*this.mb;-1.000001<c&&-.999999>c?(b=this.ra,e=this.sa,d=this.ta,c=b*b,f=e*e,h=d*d,c<f?c<h?(f=1/Math.sqrt(f+h),c=0,d*=f,f*=-e):(f=1/Math.sqrt(c+f),c=e*f,d=-b*f,f=0):f<h?(f=1/Math.sqrt(h+c),c=-d*f,d=0,f*=b):(f=1/Math.sqrt(c+f),c=e*f,d=-b*f,f=0),b=c,e=d,c=f,d=0):(b=this.sa*this.mb-this.ta*this.lb,e=this.ta*this.kb-this.ra*this.mb,f=this.ra*this.lb-this.sa*this.kb,d=Math.sqrt(.5*(1+c)),c=.5/d,b*=c,e*=c,c*=f);k=e;var h=c,e=d,n=2*b;g=2*k;d=2*h;c=b*n;f=k*g;l=h*d;h=b*g;m=k*d;k=b*d;var n=e*n,q=e*g;g=e*d;b=1-f-l;e=h-g;d=k+q;h+=g;l=1-c-l;g=m-n;k-=q;m+=n;c=1-c-f;f=b*this.ra+e*this.sa+d*this.ta;n=h*this.ra+l*this.sa+g*this.ta;q=k*this.ra+m*this.sa+c*this.ta;this.kb=f;this.lb=n;this.mb=q;f=b*this.zb+e*this.Ab+d*this.Bb;n=h*this.zb+l*this.Ab+g*this.Bb;q=k*this.zb+m*this.Ab+c*this.Bb;this.Wg=f;this.Xg=n;this.Yg=q;b=b*this.gc+e*this.hc+d*this.ic;e=h*this.gc+l*this.hc+g*this.ic;d=k*this.gc+m*this.hc+c*this.ic;this.Ic=b;this.Jc=e;this.Kc=d;this.Nk=a.twistSpringDamper.clone();this.Mk=a.twistLimitMotor.clone();this.Hk=a.swingSpringDamper.clone();this.Jj=a.maxSwingAngle1;this.Kj=a.maxSwingAngle2;this.Jj<F.minRagdollMaxSwingAngle&&(this.Jj=F.minRagdollMaxSwingAngle);this.Kj<F.minRagdollMaxSwingAngle&&(this.Kj=F.minRagdollMaxSwingAngle);this.Wk=new Gc;this.Wk.lowerLimit=-1;this.swingConstraintAxisZ=this.swingConstraintAxisY=this.swingConstraintAxisX=this.swingConstraintAxis1Z=this.swingConstraintAxis1Y=this.swingConstraintAxis1X=this.twistAxisZ=this.twistAxisY=this.twistAxisX=this.swingAxisZ=this.swingAxisY=this.swingAxisX=this.swingError=this.ej=this.Wi=this.Wk.upperLimit=0}function Dd(){Ec.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.limitMotor=new wc;this.springDamper=new Lb}function Bb(a){L.call(this,a,hc.PRISMATIC);var b=a.localAxis1;this.ra=b.x;this.sa=b.y;this.ta=b.z;b=a.localAxis2;this.kb=b.x;this.lb=b.y;this.mb=b.z;this.ra*this.ra+this.sa*this.sa+this.ta*this.ta?(b=this.ra*this.ra+this.sa*this.sa+this.ta*this.ta,0<b&&(b=1/Math.sqrt(b)),this.ra*=b,this.sa*=b,this.ta*=b):(this.ra=1,this.ta=this.sa=0);this.kb*this.kb+this.lb*this.lb+this.mb*this.mb?(b=this.kb*this.kb+this.lb*this.lb+this.mb*this.mb,0<b&&(b=1/Math.sqrt(b)),this.kb*=b,this.lb*=b,this.mb*=b):(this.kb=1,this.mb=this.lb=0);var e,d,c,f,h,l,g,k;d=this.ra*this.kb+this.sa*this.lb+this.ta*this.mb;-1.000001<d&&-.999999>d?(b=this.ra,e=this.sa,c=this.ta,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.sa*this.mb-this.ta*this.lb,e=this.ta*this.kb-this.ra*this.mb,f=this.ra*this.lb-this.sa*this.kb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.ra,m=this.sa,q=this.ta,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.zb=0,this.Ab=q*p,this.Bb=-m*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0):r<v?(p=1/Math.sqrt(v+p),this.zb=-q*p,this.Ab=0,this.Bb=n*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0);this.gc=this.sa*this.Bb-this.ta*this.Ab;this.hc=this.ta*this.zb-this.ra*this.Bb;this.ic=this.ra*this.Ab-this.sa*this.zb;n=b*this.ra+e*this.sa+c*this.ta;m=d*this.ra+f*this.sa+h*this.ta;q=l*this.ra+g*this.sa+k*this.ta;this.kb=n;this.lb=m;this.mb=q;n=b*this.zb+e*this.Ab+c*this.Bb;m=d*this.zb+f*this.Ab+h*this.Bb;q=l*this.zb+g*this.Ab+k*this.Bb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.gc+e*this.hc+c*this.ic;e=d*this.gc+f*this.hc+h*this.ic;c=l*this.gc+g*this.hc+k*this.ic;this.Ic=b;this.Jc=e;this.Kc=c;this.V=new Qe(this);this.angularErrorZ=this.angularErrorY=this.angularErrorX=this.linearErrorZ=this.linearErrorY=this.Vf=0;this.ue=a.springDamper.clone();this.Lh=a.limitMotor.clone()}function hc(){}function Oc(a){this.wk=a}function Ck(){this.tb=this.Wc=this.ua=0}function Qe(a){this.P=a;this.me=this.le=this.ke=this.Od=this.Nd=this.Md=this.$c=this.Zc=this.Yc=0}function te(){Ec.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.translationalLimitMotor=new wc;this.translationalSpringDamper=new Lb;this.rotationalLimitMotor=new Gc;this.rotationalSpringDamper=new Lb}function Ec(){this.rigidBody2=this.rigidBody1=null;this.localAnchor1=new t;this.localAnchor2=new t;this.allowCollision=!1;this.solverType=F.defaultJointConstraintSolverType;this.positionCorrectionAlgorithm=F.defaultJointPositionCorrectionAlgorithm;this.breakTorque=this.breakForce=0}function tb(a){L.call(this,a,2);var b=a.localAxis1;this.ra=b.x;this.sa=b.y;this.ta=b.z;b=a.localAxis2;this.kb=b.x;this.lb=b.y;this.mb=b.z;this.ra*this.ra+this.sa*this.sa+this.ta*this.ta?(b=this.ra*this.ra+this.sa*this.sa+this.ta*this.ta,0<b&&(b=1/Math.sqrt(b)),this.ra*=b,this.sa*=b,this.ta*=b):(this.ra=1,this.ta=this.sa=0);this.kb*this.kb+this.lb*this.lb+this.mb*this.mb?(b=this.kb*this.kb+this.lb*this.lb+this.mb*this.mb,0<b&&(b=1/Math.sqrt(b)),this.kb*=b,this.lb*=b,this.mb*=b):(this.kb=1,this.mb=this.lb=0);var e,d,c,f,h,l,g,k;d=this.ra*this.kb+this.sa*this.lb+this.ta*this.mb;-1.000001<d&&-.999999>d?(b=this.ra,e=this.sa,c=this.ta,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.sa*this.mb-this.ta*this.lb,e=this.ta*this.kb-this.ra*this.mb,f=this.ra*this.lb-this.sa*this.kb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.ra,m=this.sa,q=this.ta,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.zb=0,this.Ab=q*p,this.Bb=-m*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0):r<v?(p=1/Math.sqrt(v+p),this.zb=-q*p,this.Ab=0,this.Bb=n*p):(p=1/Math.sqrt(p+r),this.zb=m*p,this.Ab=-n*p,this.Bb=0);this.gc=this.sa*this.Bb-this.ta*this.Ab;this.hc=this.ta*this.zb-this.ra*this.Bb;this.ic=this.ra*this.Ab-this.sa*this.zb;n=b*this.ra+e*this.sa+c*this.ta;m=d*this.ra+f*this.sa+h*this.ta;q=l*this.ra+g*this.sa+k*this.ta;this.kb=n;this.lb=m;this.mb=q;n=b*this.zb+e*this.Ab+c*this.Bb;m=d*this.zb+f*this.Ab+h*this.Bb;q=l*this.zb+g*this.Ab+k*this.Bb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.gc+e*this.hc+c*this.ic;e=d*this.gc+f*this.hc+h*this.ic;c=l*this.gc+g*this.hc+k*this.ic;this.Ic=b;this.Jc=e;this.Kc=c;this.linearErrorZ=this.linearErrorY=this.Vf=this.angularErrorZ=this.angularErrorY=this.angle=0;this.V=new Qe(this);this.Lk=a.translationalSpringDamper.clone();this.Kk=a.translationalLimitMotor.clone();this.Ek=a.rotationalSpringDamper.clone();this.Dk=a.rotationalLimitMotor.clone()}function L(a,b){this.qb=new Oc(this);this.rb=new Oc(this);this.Ec=F.defaultJointPositionCorrectionAlgorithm;this.Wb=b;this.kc=null;this.C=a.rigidBody1;this.D=a.rigidBody2;this.gk=a.allowCollision;this.Ji=a.breakForce;this.Ki=a.breakTorque;switch(a.solverType){case 0:this.Rj=new nc(this);break;case 1:this.Rj=new cc(this)}b=a.localAnchor1;this.Pi=b.x;this.Qi=b.y;this.Ri=b.z;a=a.localAnchor2;this.Si=a.x;this.Ti=a.y;this.Ui=a.z;this.Kc=this.Jc=this.Ic=this.Yg=this.Xg=this.Wg=this.mb=this.lb=this.kb=this.ic=this.hc=this.gc=this.Bb=this.Ab=this.zb=this.ta=this.sa=this.ra=this.If=this.Hf=this.Gf=this.Ff=this.Ef=this.Df=this.Ub=this.Tb=this.Sb=this.Rb=this.Qb=this.Pb=0;this.Nb=Array(F.maxJacobianRows);a=0;for(b=F.maxJacobianRows;a<b;){var e=a++;this.Nb[e]=new Ck}}function gj(){this.Aa=new bd;this.bb=this.motorSpeed=this.Ha=this.Ia=this.Ma=this.Fa=0;this.ua=null}function Oe(){this.De=this.Ce=null;this.Ka=0;this.rows=Array(F.maxJacobianRows);for(var a=0,b=this.rows.length;a<b;){var e=a++;this.rows[e]=new gj}}function hj(){this.Eg=new bd;this.vj=new bd;this.uj=new bd;this.friction=this.Ma=this.Fa=0;this.ua=null}function Sf(){this.De=this.Ce=null;this.Ka=0;this.rows=Array(F.maxManifoldPoints);for(var a=0,b=this.rows.length;a<b;){var e=a++;this.rows[e]=new hj}}function bd(){this.wc=this.Y=this.X=this.W=this.U=this.T=this.S=this.Da=this.Ca=this.Ba=this.xa=this.wa=this.va=0}function ij(a){this.Ja=a;this.ol=0;this.pl=Array(F.maxManifoldPoints);a=0;for(var b=F.maxManifoldPoints;a<b;){var e=a++;this.pl[e]=new Ab}}function Ab(){this.Dc=this.Kd=this.Jd=this.Id=this.Hd=this.Gd=this.Fd=this.cc=this.bc=this.ac=this.Eb=this.Db=this.Cb=this.gf=this.ff=this.ef=this.df=this.cf=this.bf=0;this.Wd=new jj;this.Jf=this.Se=!1;this.sc=-1}function Ac(){this.Xd=this.Ii=this.Hi=this.Gi=this.Zi=this.Yi=this.Xi=this.og=this.ng=this.mg=0;this.tc=Array(F.maxManifoldPoints);for(var a=0,b=F.maxManifoldPoints;a<b;){var e=a++;this.tc[e]=new Ab}}function jj(){this.We=this.Ve=this.Ue=this.tb=this.xc=this.yc=this.Xc=0}function ld(a){this.Rj=new Kb(this);this.Ja=a}function ic(){}function Tb(){this.D=this.C=null;this.Cf=!1}function Rc(){}function Re(){this.jointRotationalConstraintRadius=.3;this.jointErrorColor=new t(1,.1,.1);this.jointLineColor=new t(.8,.8,.8);this.contactNormalLength=this.contactTangentLength=this.contactBinormalLength=.5;this.contactBinormalColor=new t(.2,.2,1);this.contactTangentColor=new t(.1,.8,.1);this.contactNormalColor=new t(1,.1,.1);this.disabledContactColor=new t(.5,.1,.1);this.newContactColor=new t(1,1,.1);this.contactColor=new t(1,.1,.1);this.pairColor=new t(1,1,.1);this.bvhNodeColor=new t(.4,.4,.4);this.aabbColor=new t(1,.1,.1);this.kinematicShapeColor=new t(1,.5,.1);this.staticShapeColor=new t(.7,.7,.7);this.sleepingShapeColor2=new t(.2,.8,.5);this.sleepingShapeColor1=new t(.3,.3,.8);this.sleepyShapeColor2=new t(.6,.8,.3);this.sleepyShapeColor1=new t(.5,.25,.6);this.shapeColor2=new t(1,.8,.1);this.shapeColor1=new t(.7,.2,.4)}function Eb(){this.p=new Ub;this.wireframe=!1;this.drawShapes=!0;this.drawBvh=!1;this.drawBvhMinLevel=0;this.drawBvhMaxLevel=65536;this.drawContacts=this.drawPairs=this.drawAabbs=!1;this.drawJoints=!0;this.drawJointLimits=!1;this.bk=Array(5);this.rh=Array(5);this.dk=Array(5);for(var a=0;5>a;){var b=a++,e=b&&4!=b?8:1;this.bk[b]=Array(e);this.rh[b]=Array(e);this.dk[b]=Array(e);for(e=0;8>e;){var d=e++,c=.7853981633974475*b,f=.7853981633974475*d;this.bk[b][d]=new t(Math.sin(c)*Math.cos(f),Math.cos(c),-Math.sin(c)*Math.sin(f));this.rh[b][d]=new t;this.dk[b][d]=new t}}this.jj=Array(8);this.Sl=Array(8);this.ae=Array(8);this.Fe=Array(8);this.Af=Array(8);for(a=0;8>a;)b=a++,this.jj[b]=new t(Math.cos(.7853981633974475*b),0,-Math.sin(.7853981633974475*b)),this.Sl[b]=new t(Math.cos(.7853981633974475*(b+.5)),0,-Math.sin(.7853981633974475*(b+.5))),this.ae[b]=new t,this.Fe[b]=new t,this.Af[b]=new t;this.style=new Re}function vd(){this.position=new t;this.normal=new t;this.shape=null;this.fraction=1;this.position.O();this.normal.O();this.hit=!1}function Mc(){}function Xc(){}function cd(){}function pf(){this.u=new Ca;this.Bl=null}function ue(){this.wi=new Ed;this.gj=new wa;this.Vf=new t;this.O=new t;this.Ul=this.ij=null}function Se(){this.wi=new Ed;this.gj=new t;this.end=new t;this.ij=null}function qa(a,b){null==a&&(a=2);switch(a){case 1:this.dc=new uc;break;case 2:this.dc=new dc}this.wh=new Fd(this.dc);null==b&&(b=new t(0,-9.80665,0));this.lk=new t(b.x,b.y,b.z);this.hi=this.Kh=this.mi=this.jf=null;this.Mj=this.zk=this.pg=this.Vi=0;this.Bk=10;this.Ak=5;this.Oj=new Se;this.Mi=new ue;this.ek=new pf;this.lg=new Dk;this.Qe=Array(F.islandInitialConstraintArraySize);this.dh=Array(F.islandInitialRigidBodyArraySize);this.Mh=new kj;this.Ga=new Ub;this.Jl=0}function kj(){this.invDt=this.dt=0;this.dtRatio=1}function Dk(){this.xf=Array(F.islandInitialRigidBodyArraySize);this.yf=Array(F.islandInitialConstraintArraySize);this.ph=Array(F.islandInitialConstraintArraySize);this.oh=Array(F.islandInitialConstraintArraySize);this.hh=this.ih=this.wf=this.vf=0}function Fd(a){this.dc=a;this.Km=new Sd;this.ji=0}function Nc(){this.Mc=this.Ud=this.M=this.ia=null}function tc(){this.ia=this.M=null;this.qb=new Nc;this.rb=new Nc;this.xh=this.D=this.C=this.vc=this.uc=null;this.Li=new bk;this.Lm=new md;this.Qj=this.Hj=!1;this.Ja=new Ac;this.Ll=new ij(this.Ja);this.Ke=new ld(this.Ja);this.ug=!1}function ga(a,b,e,d){null==d&&(d=1);null==e&&(e=0);null==b&&(b=0);null==a&&(a=0);this.x=a;this.y=b;this.z=e;this.w=d;ga.numCreations++}function 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Zb(){this.Oa=Array(4);this.gb=Array(4);this.ob=Array(4);this.fj=Array(3);this.fj[0]=new t(1,0,0);this.fj[1]=new t(0,1,0);this.fj[2]=new t(0,0,1);this.Nn=new t;this.On=new t;this.Gn=new t;this.Fn=new t;this.Mn=new wa;for(var a=0;4>a;){var b=a++;this.Oa[b]=new t;this.gb[b]=new t;this.ob[b]=new t}this.dir=new t;this.closest=new t;this.closestPoint1=new t;this.closestPoint2=new t;this.Fg=new lj}function F(){}function wa(){this.B=this.A=this.v=0;this.o=1;this.i=this.h=this.f=0;this.m=1;this.g=this.l=this.j=0;this.s=1}function t(a,b,e){null==e&&(e=0);null==b&&(b=0);null==a&&(a=0);this.x=a;this.y=b;this.z=e;t.numCreations++}function Ek(){this.ql=new t}function Dc(){this.ud=new t;this.gb=new t;this.ob=new t}function nd(){this.id=++nd.Cc;this.ia=this.M=null;this.Lj=new t;this.Jk=this.Ej=0;this.cj=!1;this.yb=Array(3);this.we=Array(3);this.Ie=Array(3);this.ai=new t;this.ii=Array(3);this.ii[0]=1;this.ii[1]=2;this.ii[2]=0}function lj(){this.yb=Array(F.maxEPAVertices);this.ei=new 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f=this.u.min;f.x=a.J;f.y=a.K;f.z=a.L;f=this.u.max;f.x=a.G;f.y=a.H;f.z=a.I;this.Dj.za(b,e,d);f=Zb.Pa;0==f.kj(this.Dj,this.u,e,this.Mf,null,!1)&&0>=f.distance&&(0==a.N?c.td(a.Na):(this.Vk(a.F[0],b,e,d,c),this.Vk(a.F[1],b,e,d,c)))},Qk:function(a,b,e){a.J<b.ja&&a.G>b.ma&&a.K<b.ka&&a.H>b.na&&a.L<b.la&&a.I>b.oa&&(0==a.N?e.td(a.Na):(this.Qk(a.F[0],b,e),this.Qk(a.F[1],b,e)))},Ph:function(a,b){a=new oj(a,this.Fl++);this.ki++;null==this.te?this.te=a:(this.Pe.M=a,a.ia=this.Pe);this.Pe=a;a.J=b.ma;a.K=b.na;a.L=b.oa;a.G=b.ja;a.H=b.ka;a.I=b.la;b=F.bvhProxyPadding;a.J-=b;a.K-=b;a.L-=b;a.G+=b;a.H+=b;a.I+=b;b=this.he;var e=b.Rc;null!=e?(b.Rc=e.M,e.M=null):e=new ee;var d=e;d.Na=a;a.Qd=d;d.J=a.J;d.K=a.K;d.L=a.L;d.G=a.G;d.H=a.H;d.I=a.I;b.Nj++;null==b.Tf?b.Tf=d:(b.Xe.Kf=d,d.Lf=b.Xe);b.Xe=d;if(null==d.Na||d.Na.Qd!=d||null!=d.F[0]||null!=d.F[1]||0!=d.N)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(null==b.Ob)b.Ob=d;else{for(var c=b.Ob;0<c.N&&(e=b.oi.Dl(c,d),-1!=e);)c=c.F[e];var f=c.Ea,e=b.Rc;null!=e?(b.Rc=e.M,e.M=null):e=new ee;if(null==f)b.Ob=e;else{var h=c.La;f.F[h]=e;e.Ea=f;e.La=h}f=c.La;e.F[f]=c;c.Ea=e;c.La=f;c=c.La^1;e.F[c]=d;d.Ea=e;for(d.La=c;null!=e;){if(b.oi.yj&&!(2>e.N)){var d=e.Ea,f=e.F[0],h=e.F[1],l=f.N-h.N,c=e.La;1<l?(h=f.F[0],l=f.F[1],h.N>l.N?(f.F[1]=e,e.Ea=f,e.La=1,e.F[0]=l,l.Ea=e,l.La=0):(f.F[0]=e,e.Ea=f,e.La=0,e.F[0]=h,h.Ea=e,h.La=0),h=f.F[0],l=f.F[1],f.J=h.J<l.J?h.J:l.J,f.K=h.K<l.K?h.K:l.K,f.L=h.L<l.L?h.L:l.L,f.G=h.G>l.G?h.G:l.G,f.H=h.H>l.H?h.H:l.H,f.I=h.I>l.I?h.I:l.I,h=f.F[0].N,l=f.F[1].N,f.N=(h>l?h:l)+1,h=e.F[0],l=e.F[1],e.J=h.J<l.J?h.J:l.J,e.K=h.K<l.K?h.K:l.K,e.L=h.L<l.L?h.L:l.L,e.G=h.G>l.G?h.G:l.G,e.H=h.H>l.H?h.H:l.H,e.I=h.I>l.I?h.I:l.I,h=e.F[0].N,l=e.F[1].N,e.N=(h>l?h:l)+1,null!=d?(d.F[c]=f,f.Ea=d,f.La=c):(b.Ob=f,f.Ea=null),e=f):-1>l&&(f=h.F[0],l=h.F[1],f.N>l.N?(h.F[1]=e,e.Ea=h,e.La=1,e.F[1]=l,l.Ea=e,l.La=1):(h.F[0]=e,e.Ea=h,e.La=0,e.F[1]=f,f.Ea=e,f.La=1),f=h.F[0],l=h.F[1],h.J=f.J<l.J?f.J:l.J,h.K=f.K<l.K?f.K:l.K,h.L=f.L<l.L?f.L:l.L,h.G=f.G>l.G?f.G:l.G,h.H=f.H>l.H?f.H:l.H,h.I=f.I>l.I?f.I:l.I,f=h.F[0].N,l=h.F[1].N,h.N=(f>l?f:l)+1,f=e.F[0],l=e.F[1],e.J=f.J<l.J?f.J:l.J,e.K=f.K<l.K?f.K:l.K,e.L=f.L<l.L?f.L:l.L,e.G=f.G>l.G?f.G:l.G,e.H=f.H>l.H?f.H:l.H,e.I=f.I>l.I?f.I:l.I,f=e.F[0].N,l=e.F[1].N,e.N=(f>l?f:l)+1,null!=d?(d.F[c]=h,h.Ea=d,h.La=c):(b.Ob=h,h.Ea=null),e=h)}d=e.F[0].N;c=e.F[1].N;e.N=(d>c?d:c)+1;d=e.F[0];c=e.F[1];e.J=d.J<c.J?d.J:c.J;e.K=d.K<c.K?d.K:c.K;e.L=d.L<c.L?d.L:c.L;e.G=d.G>c.G?d.G:c.G;e.H=d.H>c.H?d.H:c.H;e.I=d.I>c.I?d.I:c.I;e=e.Ea}}if(!a.Zg){a.Zg=!0;if(this.Ye.length==this.uf){b=Array(this.uf<<1);e=0;for(d=this.uf;e<d;)c=e++,b[c]=this.Ye[c],this.Ye[c]=null;this.Ye=b}this.Ye[this.uf++]=a}return a},Qh:function(a){this.ki--;var b=a.ia,e=a.M;null!=b&&(b.M=e);null!=e&&(e.ia=b);a==this.te&&(this.te=this.te.M);a==this.Pe&&(this.Pe=this.Pe.ia);a.M=null;a.ia=null;b=this.he;e=a.Qd;b.Nj--;var d=e.Lf,c=e.Kf;null!=d&&(d.Kf=c);null!=c&&(c.Lf=d);e==b.Tf&&(b.Tf=b.Tf.Kf);e==b.Xe&&(b.Xe=b.Xe.Lf);e.Kf=null;e.Lf=null;if(null==e.Na||e.Na.Qd!=e||null!=e.F[0]||null!=e.F[1]||0!=e.N)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(b.Ob==e)b.Ob=null;else{var d=e.Ea,c=d.F[e.La^1],f=d.Ea;if(null==f){c.Ea=null;c.La=0;b.Ob=c;if(null!=d.Na&&null!=d.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");d.F[0]=null;d.F[1]=null;d.La=0;d.Ea=null;d.N=0;d.Na=null;d.M=b.Rc;b.Rc=d}else{var h=d.La;f.F[h]=c;c.Ea=f;c.La=h;if(null!=d.Na&&null!=d.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");d.F[0]=null;d.F[1]=null;d.La=0;d.Ea=null;d.N=0;d.Na=null;d.M=b.Rc;b.Rc=d;for(d=f;null!=d;){if(b.oi.yj&&!(2>d.N)){var c=d.Ea,h=d.F[0],l=d.F[1],g=h.N-l.N,f=d.La;1<g?(l=h.F[0],g=h.F[1],l.N>g.N?(h.F[1]=d,d.Ea=h,d.La=1,d.F[0]=g,g.Ea=d,g.La=0):(h.F[0]=d,d.Ea=h,d.La=0,d.F[0]=l,l.Ea=d,l.La=0),l=h.F[0],g=h.F[1],h.J=l.J<g.J?l.J:g.J,h.K=l.K<g.K?l.K:g.K,h.L=l.L<g.L?l.L:g.L,h.G=l.G>g.G?l.G:g.G,h.H=l.H>g.H?l.H:g.H,h.I=l.I>g.I?l.I:g.I,l=h.F[0].N,g=h.F[1].N,h.N=(l>g?l:g)+1,l=d.F[0],g=d.F[1],d.J=l.J<g.J?l.J:g.J,d.K=l.K<g.K?l.K:g.K,d.L=l.L<g.L?l.L:g.L,d.G=l.G>g.G?l.G:g.G,d.H=l.H>g.H?l.H:g.H,d.I=l.I>g.I?l.I:g.I,l=d.F[0].N,g=d.F[1].N,d.N=(l>g?l:g)+1,null!=c?(c.F[f]=h,h.Ea=c,h.La=f):(b.Ob=h,h.Ea=null),d=h):-1>g&&(h=l.F[0],g=l.F[1],h.N>g.N?(l.F[1]=d,d.Ea=l,d.La=1,d.F[1]=g,g.Ea=d,g.La=1):(l.F[0]=d,d.Ea=l,d.La=0,d.F[1]=h,h.Ea=d,h.La=1),h=l.F[0],g=l.F[1],l.J=h.J<g.J?h.J:g.J,l.K=h.K<g.K?h.K:g.K,l.L=h.L<g.L?h.L:g.L,l.G=h.G>g.G?h.G:g.G,l.H=h.H>g.H?h.H:g.H,l.I=h.I>g.I?h.I:g.I,h=l.F[0].N,g=l.F[1].N,l.N=(h>g?h:g)+1,h=d.F[0],g=d.F[1],d.J=h.J<g.J?h.J:g.J,d.K=h.K<g.K?h.K:g.K,d.L=h.L<g.L?h.L:g.L,d.G=h.G>g.G?h.G:g.G,d.H=h.H>g.H?h.H:g.H,d.I=h.I>g.I?h.I:g.I,h=d.F[0].N,g=d.F[1].N,d.N=(h>g?h:g)+1,null!=c?(c.F[f]=l,l.Ea=c,l.La=f):(b.Ob=l,l.Ea=null),d=l)}c=d.F[0].N;f=d.F[1].N;d.N=(c>f?c:f)+1;c=d.F[0];f=d.F[1];d.J=c.J<f.J?c.J:f.J;d.K=c.K<f.K?c.K:f.K;d.L=c.L<f.L?c.L:f.L;d.G=c.G>f.G?c.G:f.G;d.H=c.H>f.H?c.H:f.H;d.I=c.I>f.I?c.I:f.I;d=d.Ea}}}a.Qd=null;if(null!=e.Na&&null!=e.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");e.F[0]=null;e.F[1]=null;e.La=0;e.Ea=null;e.N=0;e.Na=null;e.M=b.Rc;b.Rc=e;a.userData=null;a.M=null;a.ia=null;a.Zg&&(a.Zg=!1)},sd:function(a,b,e){if(!(a.J<=b.ma&&a.G>=b.ja&&a.K<=b.na&&a.H>=b.ka&&a.L<=b.oa&&a.I>=b.la)){a.J=b.ma;a.K=b.na;a.L=b.oa;a.G=b.ja;a.H=b.ka;a.I=b.la;b=F.bvhProxyPadding;a.J-=b;a.K-=b;a.L-=b;a.G+=b;a.H+=b;a.I+=b;if(null!=e){var d;b=e.x;d=e.y;e=e.z;a.J+=0<b?0:b;a.K+=0<d?0:d;a.L+=0<e?0:e;a.G+=0>b?0:b;a.H+=0>d?0:d;a.I+=0>e?0:e}if(!a.Zg){a.Zg=!0;if(this.Ye.length==this.uf){e=Array(this.uf<<1);b=0;for(d=this.uf;b<d;){var c=b++;e[c]=this.Ye[c];this.Ye[c]=null}this.Ye=e}this.Ye[this.uf++]=a}}},si:function(){var a=this.Yd;if(null!=a){for(;a.qg=null,a.rg=null,a=a.M,null!=a;);this.Yd.M=this.bh;this.bh=this.Yd;this.Yd=null}this.$i=0;if(!(2>this.ki)){for(var b=this.uf/this.ki<F.bvhIncrementalCollisionThreshold,e=0,d=this.uf;e<d;){var c=e++,f=this.Ye[c];if(f.Zg){var h=this.he,l=f.Qd;h.Nj--;var g=l.Lf,k=l.Kf;null!=g&&(g.Kf=k);null!=k&&(k.Lf=g);l==h.Tf&&(h.Tf=h.Tf.Kf);l==h.Xe&&(h.Xe=h.Xe.Lf);l.Kf=null;l.Lf=null;if(null==l.Na||l.Na.Qd!=l||null!=l.F[0]||null!=l.F[1]||0!=l.N)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(h.Ob==l)h.Ob=null;else{var m=l.Ea,n=m.F[l.La^1],q=m.Ea;if(null==q){n.Ea=null;n.La=0;h.Ob=n;if(null!=m.Na&&null!=m.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");m.M=null;m.La=0;m.F[0]=null;m.F[1]=null;m.La=0;m.Ea=null;m.N=0;m.Na=null;m.M=h.Rc;h.Rc=m}else{n.Ea=q;var p=m.La;q.F[p]=n;n.Ea=q;n.La=p;if(null!=m.Na&&null!=m.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");m.M=null;m.La=0;m.F[0]=null;m.F[1]=null;m.La=0;m.Ea=null;m.N=0;m.Na=null;m.M=h.Rc;h.Rc=m;for(var r=q;null!=r;){if(h.oi.yj&&!(2>r.N)){var v=r.Ea,aa=r.F[0],w=r.F[1],A=aa.N-w.N,u=r.La;if(1<A){var D=aa.F[0],t=aa.F[1];if(D.N>t.N){aa.F[1]=r;r.Ea=aa;r.La=1;r.F[0]=t;t.Ea=r;t.La=0;var z=aa.F[0],E=aa.F[1];aa.J=z.J<E.J?z.J:E.J;aa.K=z.K<E.K?z.K:E.K;aa.L=z.L<E.L?z.L:E.L;aa.G=z.G>E.G?z.G:E.G;aa.H=z.H>E.H?z.H:E.H;aa.I=z.I>E.I?z.I:E.I;var x=aa.F[0].N,zb=aa.F[1].N;aa.N=(x>zb?x:zb)+1;var N=r.F[0],G=r.F[1];r.J=N.J<G.J?N.J:G.J;r.K=N.K<G.K?N.K:G.K;r.L=N.L<G.L?N.L:G.L;r.G=N.G>G.G?N.G:G.G;r.H=N.H>G.H?N.H:G.H;r.I=N.I>G.I?N.I:G.I;var al=r.F[0].N,Fl=r.F[1].N;r.N=(al>Fl?al:Fl)+1}else{aa.F[0]=r;r.Ea=aa;r.La=0;r.F[0]=D;D.Ea=r;D.La=0;var C=aa.F[0],ha=aa.F[1];aa.J=C.J<ha.J?C.J:ha.J;aa.K=C.K<ha.K?C.K:ha.K;aa.L=C.L<ha.L?C.L:ha.L;aa.G=C.G>ha.G?C.G:ha.G;aa.H=C.H>ha.H?C.H:ha.H;aa.I=C.I>ha.I?C.I:ha.I;var O=aa.F[0].N,Vb=aa.F[1].N;aa.N=(O>Vb?O:Vb)+1;var L=r.F[0],ka=r.F[1];r.J=L.J<ka.J?L.J:ka.J;r.K=L.K<ka.K?L.K:ka.K;r.L=L.L<ka.L?L.L:ka.L;r.G=L.G>ka.G?L.G:ka.G;r.H=L.H>ka.H?L.H:ka.H;r.I=L.I>ka.I?L.I:ka.I;var bb=r.F[0].N,U=r.F[1].N;r.N=(bb>U?bb:U)+1}null!=v?(v.F[u]=aa,aa.Ea=v,aa.La=u):(h.Ob=aa,aa.Ea=null);r=aa}else if(-1>A){var R=w.F[0],lc=w.F[1];if(R.N>lc.N){w.F[1]=r;r.Ea=w;r.La=1;r.F[1]=lc;lc.Ea=r;lc.La=1;var Na=w.F[0],Ra=w.F[1];w.J=Na.J<Ra.J?Na.J:Ra.J;w.K=Na.K<Ra.K?Na.K:Ra.K;w.L=Na.L<Ra.L?Na.L:Ra.L;w.G=Na.G>Ra.G?Na.G:Ra.G;w.H=Na.H>Ra.H?Na.H:Ra.H;w.I=Na.I>Ra.I?Na.I:Ra.I;var M=w.F[0].N,Pa=w.F[1].N;w.N=(M>Pa?M:Pa)+1;var Ba=r.F[0],Hb=r.F[1];r.J=Ba.J<Hb.J?Ba.J:Hb.J;r.K=Ba.K<Hb.K?Ba.K:Hb.K;r.L=Ba.L<Hb.L?Ba.L:Hb.L;r.G=Ba.G>Hb.G?Ba.G:Hb.G;r.H=Ba.H>Hb.H?Ba.H:Hb.H;r.I=Ba.I>Hb.I?Ba.I:Hb.I;var J=r.F[0].N,Qa=r.F[1].N;r.N=(J>Qa?J:Qa)+1}else{w.F[0]=r;r.Ea=w;r.La=0;r.F[1]=R;R.Ea=r;R.La=1;var ba=w.F[0],Q=w.F[1];w.J=ba.J<Q.J?ba.J:Q.J;w.K=ba.K<Q.K?ba.K:Q.K;w.L=ba.L<Q.L?ba.L:Q.L;w.G=ba.G>Q.G?ba.G:Q.G;w.H=ba.H>Q.H?ba.H:Q.H;w.I=ba.I>Q.I?ba.I:Q.I;var P=w.F[0].N,xa=w.F[1].N;w.N=(P>xa?P:xa)+1;var ta=r.F[0],W=r.F[1];r.J=ta.J<W.J?ta.J:W.J;r.K=ta.K<W.K?ta.K:W.K;r.L=ta.L<W.L?ta.L:W.L;r.G=ta.G>W.G?ta.G:W.G;r.H=ta.H>W.H?ta.H:W.H;r.I=ta.I>W.I?ta.I:W.I;var pa=r.F[0].N,y=r.F[1].N;r.N=(pa>y?pa:y)+1}null!=v?(v.F[u]=w,w.Ea=v,w.La=u):(h.Ob=w,w.Ea=null);r=w}}var Ia=r.F[0].N,ca=r.F[1].N;r.N=(Ia>ca?Ia:ca)+1;var Ea=r.F[0],ya=r.F[1];r.J=Ea.J<ya.J?Ea.J:ya.J;r.K=Ea.K<ya.K?Ea.K:ya.K;r.L=Ea.L<ya.L?Ea.L:ya.L;r.G=Ea.G>ya.G?Ea.G:ya.G;r.H=Ea.H>ya.H?Ea.H:ya.H;r.I=Ea.I>ya.I?Ea.I:ya.I;r=r.Ea}}}f.Qd=null;if(null!=l.Na&&null!=l.Na.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");l.M=null;l.La=0;l.F[0]=null;l.F[1]=null;l.La=0;l.Ea=null;l.N=0;l.Na=null;l.M=h.Rc;h.Rc=l;var Fa=this.he,Sa=Fa.Rc;null!=Sa?(Fa.Rc=Sa.M,Sa.M=null):Sa=new ee;var la=Sa;la.Na=f;f.Qd=la;la.J=f.J;la.K=f.K;la.L=f.L;la.G=f.G;la.H=f.H;la.I=f.I;Fa.Nj++;null==Fa.Tf?Fa.Tf=la:(Fa.Xe.Kf=la,la.Lf=Fa.Xe);Fa.Xe=la;if(null==la.Na||la.Na.Qd!=la||null!=la.F[0]||null!=la.F[1]||0!=la.N)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(null==Fa.Ob)Fa.Ob=la;else{for(var Z=Fa.Ob;0<Z.N;){var Ga=Fa.oi.Dl(Z,la);if(-1==Ga)break;else Z=Z.F[Ga]}var ra=Z.Ea,va=Fa.Rc;null!=va?(Fa.Rc=va.M,va.M=null):va=new ee;var I=va;if(null==ra)Fa.Ob=I;else{var La=Z.La;ra.F[La]=I;I.Ea=ra;I.La=La}var Wa=Z.La;I.F[Wa]=Z;Z.Ea=I;Z.La=Wa;var S=Z.La^1;I.F[S]=la;la.Ea=I;for(la.La=S;null!=I;){if(Fa.oi.yj&&!(2>I.N)){var Xa=I.Ea,T=I.F[0],K=I.F[1],ia=T.N-K.N,gb=I.La;if(1<ia){var da=T.F[0],Hc=T.F[1];if(da.N>Hc.N){T.F[1]=I;I.Ea=T;I.La=1;I.F[0]=Hc;Hc.Ea=I;Hc.La=0;var sa=T.F[0],fb=T.F[1];T.J=sa.J<fb.J?sa.J:fb.J;T.K=sa.K<fb.K?sa.K:fb.K;T.L=sa.L<fb.L?sa.L:fb.L;T.G=sa.G>fb.G?sa.G:fb.G;T.H=sa.H>fb.H?sa.H:fb.H;T.I=sa.I>fb.I?sa.I:fb.I;var kb=T.F[0].N,Ya=T.F[1].N;T.N=(kb>Ya?kb:Ya)+1;var ma=I.F[0],oa=I.F[1];I.J=ma.J<oa.J?ma.J:oa.J;I.K=ma.K<oa.K?ma.K:oa.K;I.L=ma.L<oa.L?ma.L:oa.L;I.G=ma.G>oa.G?ma.G:oa.G;I.H=ma.H>oa.H?ma.H:oa.H;I.I=ma.I>oa.I?ma.I:oa.I;var Ja=I.F[0].N,Ha=I.F[1].N;I.N=(Ja>Ha?Ja:Ha)+1}else{T.F[0]=I;I.Ea=T;I.La=0;I.F[0]=da;da.Ea=I;da.La=0;var ob=T.F[0],fa=T.F[1];T.J=ob.J<fa.J?ob.J:fa.J;T.K=ob.K<fa.K?ob.K:fa.K;T.L=ob.L<fa.L?ob.L:fa.L;T.G=ob.G>fa.G?ob.G:fa.G;T.H=ob.H>fa.H?ob.H:fa.H;T.I=ob.I>fa.I?ob.I:fa.I;var ea=T.F[0].N,ja=T.F[1].N;T.N=(ea>ja?ea:ja)+1;var cb=I.F[0],Aa=I.F[1];I.J=cb.J<Aa.J?cb.J:Aa.J;I.K=cb.K<Aa.K?cb.K:Aa.K;I.L=cb.L<Aa.L?cb.L:Aa.L;I.G=cb.G>Aa.G?cb.G:Aa.G;I.H=cb.H>Aa.H?cb.H:Aa.H;I.I=cb.I>Aa.I?cb.I:Aa.I;var sb=I.F[0].N,Ua=I.F[1].N;I.N=(sb>Ua?sb:Ua)+1}null!=Xa?(Xa.F[gb]=T,T.Ea=Xa,T.La=gb):(Fa.Ob=T,T.Ea=null);I=T}else if(-1>ia){var qb=K.F[0],rb=K.F[1];if(qb.N>rb.N){K.F[1]=I;I.Ea=K;I.La=1;I.F[1]=rb;rb.Ea=I;rb.La=1;var ub=K.F[0],Va=K.F[1];K.J=ub.J<Va.J?ub.J:Va.J;K.K=ub.K<Va.K?ub.K:Va.K;K.L=ub.L<Va.L?ub.L:Va.L;K.G=ub.G>Va.G?ub.G:Va.G;K.H=ub.H>Va.H?ub.H:Va.H;K.I=ub.I>Va.I?ub.I:Va.I;var xb=K.F[0].N,rc=K.F[1].N;K.N=(xb>rc?xb:rc)+1;var Za=I.F[0],ua=I.F[1];I.J=Za.J<ua.J?Za.J:ua.J;I.K=Za.K<ua.K?Za.K:ua.K;I.L=Za.L<ua.L?Za.L:ua.L;I.G=Za.G>ua.G?Za.G:ua.G;I.H=Za.H>ua.H?Za.H:ua.H;I.I=Za.I>ua.I?Za.I:ua.I;var Qb=I.F[0].N,H=I.F[1].N;I.N=(Qb>H?Qb:H)+1}else{K.F[0]=I;I.Ea=K;I.La=0;I.F[1]=qb;qb.Ea=I;qb.La=1;var pb=K.F[0],db=K.F[1];K.J=pb.J<db.J?pb.J:db.J;K.K=pb.K<db.K?pb.K:db.K;K.L=pb.L<db.L?pb.L:db.L;K.G=pb.G>db.G?pb.G:db.G;K.H=pb.H>db.H?pb.H:db.H;K.I=pb.I>db.I?pb.I:db.I;var oc=K.F[0].N,$a=K.F[1].N;K.N=(oc>$a?oc:$a)+1;var hb=I.F[0],B=I.F[1];I.J=hb.J<B.J?hb.J:B.J;I.K=hb.K<B.K?hb.K:B.K;I.L=hb.L<B.L?hb.L:B.L;I.G=hb.G>B.G?hb.G:B.G;I.H=hb.H>B.H?hb.H:B.H;I.I=hb.I>B.I?hb.I:B.I;var Db=I.F[0].N,fe=I.F[1].N;I.N=(Db>fe?Db:fe)+1}null!=Xa?(Xa.F[gb]=K,K.Ea=Xa,K.La=gb):(Fa.Ob=K,K.Ea=null);I=K}}var Tc=I.F[0].N,Fb=I.F[1].N;I.N=(Tc>Fb?Tc:Fb)+1;var Oa=I.F[0],nb=I.F[1];I.J=Oa.J<nb.J?Oa.J:nb.J;I.K=Oa.K<nb.K?Oa.K:nb.K;I.L=Oa.L<nb.L?Oa.L:nb.L;I.G=Oa.G>nb.G?Oa.G:nb.G;I.H=Oa.H>nb.H?Oa.H:nb.H;I.I=Oa.I>nb.I?Oa.I:nb.I;I=I.Ea}}b&&this.fh(this.he.Ob,f.Qd);f.Zg=!1}this.Ye[c]=null}b||this.fh(this.he.Ob,this.he.Ob);this.uf=0}},Sd:function(a,b,e){null!=this.he.Ob&&this.rl(this.he.Ob,a.x,a.y,a.z,b.x,b.y,b.z,e)},rf:function(a,b,e,d){null!=this.he.Ob&&this.Vk(this.he.Ob,a,b,e,d)},eh:function(a,b){null!=this.he.Ob&&this.Qk(this.he.Ob,a,b)},wn:function(){return this.he.Qm()},qa:dc});ee.R=!0;ee.prototype={qa:ee};oj.R=!0;oj.Jb=Jc;oj.prototype=Gb(Jc.prototype,{qa:oj});nj.R=!0;nj.prototype={Dl:function(a,b){switch(this.Gl){case 0:var e,d,c;e=b.J+b.G;d=b.K+b.H;c=b.L+b.I;var f=a.F[0],h=a.F[1],l,g;b=f.J+f.G;a=f.K+f.H;f=f.L+f.I;l=h.J+h.G;g=h.K+h.H;h=h.L+h.I;b-=e;a-=d;f-=c;l-=e;g-=d;h-=c;return b*b+a*a+f*f<l*l+g*g+h*h?0:1;case 1:f=a.F[0];e=a.F[1];d=a.H-a.K;c=a.I-a.L;var h=2*((a.G-a.J)*(d+c)+d*c),k,m;d=a.J<b.J?a.J:b.J;k=a.K<b.K?a.K:b.K;l=a.L<b.L?a.L:b.L;c=a.G>b.G?a.G:b.G;m=a.H>b.H?a.H:b.H;g=a.I>b.I?a.I:b.I;a=m-k;l=g-l;d=2*((c-d)*(a+l)+a*l);a=2*d;var n=2*(d-h),h=n;d=f.J<b.J?f.J:b.J;k=f.K<b.K?f.K:b.K;l=f.L<b.L?f.L:b.L;c=f.G>b.G?f.G:b.G;m=f.H>b.H?f.H:b.H;g=f.I>b.I?f.I:b.I;0==f.N?(f=m-k,l=g-l,h+=2*((c-d)*(f+l)+f*l)):(k=m-k,l=g-l,g=f.H-f.K,m=f.I-f.L,h+=2*((c-d)*(k+l)+k*l)-2*((f.G-f.J)*(g+m)+g*m));f=n;d=e.J<b.J?e.J:b.J;k=e.K<b.K?e.K:b.K;l=e.L<b.L?e.L:b.L;c=e.G>b.G?e.G:b.G;m=e.H>b.H?e.H:b.H;g=e.I>b.I?e.I:b.I;0==e.N?(e=m-k,b=g-l,f+=2*((c-d)*(e+b)+e*b)):(b=m-k,l=g-l,g=e.H-e.K,n=e.I-e.L,f+=2*((c-d)*(b+l)+b*l)-2*((e.G-e.J)*(g+n)+g*n));return a<h?a<f?-1:1:h<f?0:1;default:return console.log("BvhStrategy.hx:37:","invalid BVH insertion strategy: "+this.Gl),-1}},qa:nj};Fk.R=!0;Fk.prototype={Qm:function(){return this.Yk(this.Ob)},Yk:function(a){if(null==a||0==a.N)return 0;var b=a.F[0].N-a.F[1].N;0>b&&(b=-b);return b+this.Yk(a.F[0])+this.Yk(a.F[1])},qa:Fk};Ca.R=!0;Ca.prototype={za:function(a,b){this.ma=a.x;this.na=a.y;this.oa=a.z;this.ja=b.x;this.ka=b.y;this.la=b.z;return this},Hc:function(){var a=new t;a.x=this.ma;a.y=this.na;a.z=this.oa;return a},ad:function(a){a.x=this.ma;a.y=this.na;a.z=this.oa},Pd:function(a){this.ma=a.x;this.na=a.y;this.oa=a.z;return this},zc:function(){var a=new t;a.x=this.ja;a.y=this.ka;a.z=this.la;return a},Cc:function(a){a.x=this.ja;a.y=this.ka;a.z=this.la},cd:function(a){this.ja=a.x;this.ka=a.y;this.la=a.z;return this},sb:function(){var a=new t,b,e,d;b=this.ma+this.ja;e=this.na+this.ka;d=this.oa+this.la;a.x=.5*b;a.y=.5*e;a.z=.5*d;return a},Kb:function(a){var b,e,d;b=this.ma+this.ja;e=this.na+this.ka;d=this.oa+this.la;a.x=.5*b;a.y=.5*e;a.z=.5*d},lc:function(){var a=new t,b,e,d;b=this.ja-this.ma;e=this.ka-this.na;d=this.la-this.oa;a.x=.5*b;a.y=.5*e;a.z=.5*d;return a},mc:function(a){var b,e,d;b=this.ja-this.ma;e=this.ka-this.na;d=this.la-this.oa;a.x=.5*b;a.y=.5*e;a.z=.5*d},Pa:function(a){this.ma=this.ma<a.ma?this.ma:a.ma;this.na=this.na<a.na?this.na:a.na;this.oa=this.oa<a.oa?this.oa:a.oa;this.ja=this.ja>a.ja?this.ja:a.ja;this.ka=this.ka>a.ka?this.ka:a.ka;this.la=this.la>a.la?this.la:a.la;return this},ab:function(a){var b=new Ca;b.ma=this.ma<a.ma?this.ma:a.ma;b.na=this.na<a.na?this.na:a.na;b.oa=this.oa<a.oa?this.oa:a.oa;b.ja=this.ja>a.ja?this.ja:a.ja;b.ka=this.ka>a.ka?this.ka:a.ka;b.la=this.la>a.la?this.la:a.la;return b},bd:function(a){return this.ma<a.ja&&this.ja>a.ma&&this.na<a.ka&&this.ka>a.na&&this.oa<a.la?this.la>a.oa:!1},qc:function(a){var b=new Ca;b.ma=this.ma>a.ma?this.ma:a.ma;b.na=this.na>a.na?this.na:a.na;b.oa=this.oa>a.oa?this.oa:a.oa;b.ja=this.ja<a.ja?this.ja:a.ja;b.ka=this.ka<a.ka?this.ka:a.ka;b.la=this.la<a.la?this.la:a.la;return b},rc:function(a,b){b.ma=this.ma>a.ma?this.ma:a.ma;b.na=this.na>a.na?this.na:a.na;b.oa=this.oa>a.oa?this.oa:a.oa;b.ja=this.ja<a.ja?this.ja:a.ja;b.ka=this.ka<a.ka?this.ka:a.ka;b.la=this.la<a.la?this.la:a.la},Zd:function(a){this.ma=a.ma;this.na=a.na;this.oa=a.oa;this.ja=a.ja;this.ka=a.ka;this.la=a.la;return this},clone:function(){var a=new Ca;a.ma=this.ma;a.na=this.na;a.oa=this.oa;a.ja=this.ja;a.ka=this.ka;a.la=this.la;return a},qa:Ca};gd.R=!0;gd.Jb=Da;gd.prototype=Gb(Da.prototype,{hn:function(){var a=new t;a.x=this.Le;a.y=this.Me;a.z=this.Ne;return a},jn:function(a){a.x=this.Le;a.y=this.Me;a.z=this.Ne},Be:function(){this.nf=8*this.Le*this.Me*this.Ne;var a,b,e;a=this.Le*this.Le;b=this.Me*this.Me;e=this.Ne*this.Ne;this.cg=.3333333333333333*(b+e);this.fg=this.eg=this.dg=0;this.gg=.3333333333333333*(e+a);this.jg=this.ig=this.hg=0;this.kg=.3333333333333333*(a+b)},Lb:function(a,b){var e,d,c,f,h;f=b.o*this.mk+b.f*this.nk+b.h*this.pk;h=b.i*this.mk+b.m*this.nk+b.j*this.pk;e=b.l*this.mk+b.g*this.nk+b.s*this.pk;var l,g;l=b.o*this.qk+b.f*this.rk+b.h*this.sk;g=b.i*this.qk+b.m*this.rk+b.j*this.sk;d=b.l*this.qk+b.g*this.rk+b.s*this.sk;var k,m;k=b.o*this.tk+b.f*this.uk+b.h*this.vk;m=b.i*this.tk+b.m*this.uk+b.j*this.vk;c=b.l*this.tk+b.g*this.uk+b.s*this.vk;f=(0>f?-f:f)+(0>l?-l:l)+(0>k?-k:k);h=(0>h?-h:h)+(0>g?-g:g)+(0>m?-m:m);e=(0>e?-e:e)+(0>d?-d:d)+(0>c?-c:c);a.ma=b.v-f;a.na=b.A-h;a.oa=b.B-e;a.ja=b.v+f;a.ka=b.A+h;a.la=b.B+e},Ld:function(a,b){var e,d,c;c=d=e=this.fc;e=e<this.Le?e:this.Le;d=d<this.Me?d:this.Me;c=c<this.Ne?c:this.Ne;e=this.Le-e;d=this.Me-d;c=this.Ne-c;b.x=0<a.x?e:-e;b.y=0<a.y?d:-d;b.z=0<a.z?c:-c},li:function(a,b,e,d,c,f,h){var l=this.Le,g=this.Me,k=this.Ne;d-=a;c-=b;f-=e;var m=0,n=0,q=0,p=1,r=1,v=1;if(-1E-6<d&&1E-6>d){if(a<=-l||a>=l)return!1}else{var aa=1/d,w=(-l-a)*aa,l=(l-a)*aa;w>l&&(aa=w,w=l,l=aa);0<w&&(m=w);1>l&&(p=l)}if(-1E-6<c&&1E-6>c){if(b<=-g||b>=g)return!1}else w=1/c,l=(-g-b)*w,g=(g-b)*w,l>g&&(w=l,l=g,g=w),0<l&&(n=l),1>g&&(r=g);if(-1E-6<f&&1E-6>f){if(e<=-k||e>=k)return!1}else l=1/f,g=(-k-e)*l,k=(k-e)*l,g>k&&(l=g,g=k,k=l),0<g&&(q=g),1>k&&(v=k);if(1<=m||1<=n||1<=q||0>=p||0>=r||0>=v)return!1;k=m;m=0;n>k&&(k=n,m=1);q>k&&(k=q,m=2);r<p&&(p=r);v<p&&(p=v);if(k>p||!k)return!1;switch(m){case 0:h.normal.za(0<d?-1:1,0,0);break;case 1:h.normal.za(0,0<c?-1:1,0);break;case 2:h.normal.za(0,0,0<f?-1:1)}h.position.za(a+k*d,b+k*c,e+k*f);h.fraction=k;return!0},qa:gd});fd.R=!0;fd.Jb=Da;fd.prototype=Gb(Da.prototype,{Sh:function(){return this.$a},mj:function(){return this.Gb},Be:function(){var a=this.$a*this.$a,b=this.Gb*this.Gb,e=6.28318530717958*a*this.Gb,d=3.14159265358979*a*this.$a*4/3,c=(this.nf=e+d)?1/this.nf:0;this.cg=b=c*(e*(.25*a+b/3)+d*(.4*a+this.Gb*this.$a*.75+b));this.fg=this.eg=this.dg=0;this.gg=c*(e*a*.5+d*a*.4);this.jg=this.ig=this.hg=0;this.kg=b},Lb:function(a,b){var e,d,c;c=d=e=this.$a;var f,h,l;f=b.f;h=b.m;l=b.g;f=(0>f?-f:f)*this.Gb;h=(0>h?-h:h)*this.Gb;l=(0>l?-l:l)*this.Gb;e+=f;d+=h;c+=l;a.ma=b.v-e;a.na=b.A-d;a.oa=b.B-c;a.ja=b.v+e;a.ka=b.A+d;a.la=b.B+c},Ld:function(a,b){0<a.y?b.za(0,this.Gb,0):b.za(0,-this.Gb,0)},li:function(a,b,e,d,c,f,h){var l=this.Gb,g=d-a,k=f-e,m,n=g*g+k*k,q=a*g+e*k;m=a*a+e*e-this.$a*this.$a;var p=q*q-n*m;if(0>p)return!1;if(0<n){if(p=Math.sqrt(p),m=(-q-p)/n,1<=m||0>=(-q+p)/n)return!1}else{if(0<=m)return!1;m=0}n=b+(c-b)*m;if(n>-l&&n<l)return 0<m?(f=m,q=h.normal.za(a+g*f,0,e+k*f),b=Math.sqrt(q.x*q.x+q.y*q.y+q.z*q.z),0<b&&(b=1/b),c=q.y*b,d=q.z*b,q.x=q.x*b,q.y=c,q.z=d,h.position.za(a+f*g,n,e+f*k),h.fraction=f,!0):!1;var g=0>n?-l:l,r;r=a-0;l=b-g;k=e-0;a=d-a;b=c-b;e=f-e;n=a*a+b*b+e*e;q=r*a+l*b+k*e;m=r*r+l*l+k*k-this.$a*this.$a;p=q*q-n*m;if(0>p)return!1;f=(-q-Math.sqrt(p))/n;if(0>f||1<f)return!1;a=r+a*f;n=l+b*f;e=k+e*f;q=a*a+n*n+e*e;0<q&&(q=1/Math.sqrt(q));b=h.position;b.x=a+0;b.y=n+g;b.z=e+0;g=h.normal;g.x=a*q;g.y=n*q;g.z=e*q;h.fraction=f;return!0},qa:fd});$c.R=!0;$c.Jb=Da;$c.prototype=Gb(Da.prototype,{Sh:function(){return this.$a},mj:function(){return this.Gb},Be:function(){var a=this.$a*this.$a,b=this.Gb*this.Gb*4;this.nf=3.14159265358979*a*this.Gb*2/3;this.cg=.05*(3*a+2*b);this.fg=this.eg=this.dg=0;this.gg=.3*a;this.jg=this.ig=this.hg=0;this.kg=.08333333333333333*(3*a+2*b)},Lb:function(a,b){var e,d,c,f,h,l;e=b.f;d=b.m;c=b.g;f=Math.sqrt(1-e*e);h=Math.sqrt(1-d*d);l=Math.sqrt(1-c*c);f*=this.$a;h*=this.$a;l*=this.$a;e*=this.Gb;d*=this.Gb;c*=this.Gb;var g,k,m,n,q,p;g=-e-f;k=-d-h;m=-c-l;n=-e+f;q=-d+h;p=-c+l;l=g>n?g:n;h=k>q?k:q;f=m>p?m:p;g=g<n?g:n;k=k<q?k:q;m=m<p?m:p;a.ma=b.v+(g<e?g:e);a.na=b.A+(k<d?k:d);a.oa=b.B+(m<c?m:c);a.ja=b.v+(l>e?l:e);a.ka=b.A+(h>d?h:d);a.la=b.B+(f>c?f:c)},Ld:function(a,b){var e=a.x,d=a.y,c=a.z;0<d&&d*d>this.ak*this.ak*(e*e+d*d+c*c)?(b.za(0,this.Gb-this.fc/this.ak,0),0>b.y&&(b.y=0)):(e=a.x,a=a.z,d=e*e+a*a,c=2*this.Gb,c=(c-this.fc)/c*this.$a-this.fc/this.Sj,0>c&&(c=0),d=0<d?c/Math.sqrt(d):0,c=this.Gb-this.fc,0>c&&(c=0),b.x=e*d,b.y=-c,b.z=a*d)},li:function(a,b,e,d,c,f,h){var l=this.Gb;d-=a;c-=b;f-=e;var g=0,k=1;if(-1E-6<c&&1E-6>c){if(b<=-l||b>=l)return!1}else{var m=1/c,n=(-l-b)*m,m=(l-b)*m;if(n>m)var q=n,n=m,m=q;0<n&&(g=n);1>m&&(k=m)}if(1<=g||0>=k)return!1;b-=l;var q=this.Sj*this.Sj,m=q*(d*d+c*c+f*f)-c*c,n=q*(a*d+b*c+e*f)-b*c,q=q*(a*a+b*b+e*e)-b*b,p=n*n-m*q;if(m){if(0>p)return!1;p=Math.sqrt(p);if(0>m)if(0<c){if(q=0,n=(-n+p)/m,0>=n)return!1}else{if(q=(-n-p)/m,n=1,1<=q)return!1}else if(q=(-n-p)/m,n=(-n+p)/m,1<=q||0>=n)return!1}else if(m=-q/(2*n),0<n){if(q=0,n=m,0>=m)return!1}else if(q=m,n=1,1<=m)return!1;b+=l;if(n<=g||k<=q)return!1;if(q<g){l=g;if(!l)return!1;h.normal.za(0,0<c?-1:1,0)}else{l=q;if(!l)return!1;g=h.normal.za(a+d*l,0,e+f*l);k=Math.sqrt(g.x*g.x+g.y*g.y+g.z*g.z);0<k&&(k=1/k);n=g.y*k;m=g.z*k;g.x=g.x*k;g.y=n;g.z=m;k=this.Sj;n=g.y*k;m=g.z*k;g.x=g.x*k;g.y=n;g.z=m;h.normal.y+=this.ak}h.position.za(a+l*d,b+l*c,e+l*f);h.fraction=l;return!0},qa:$c});od.R=!0;od.Jb=Da;od.prototype=Gb(Da.prototype,{An:function(){return this.yb},Be:function(){this.cg=this.nf=1;this.fg=this.eg=this.dg=0;this.gg=1;this.jg=this.ig=this.hg=0;this.kg=1;for(var a=this.yb[0].x,b=this.yb[0].y,e=this.yb[0].z,d=this.yb[0].x,c=this.yb[0].y,f=this.yb[0].z,h=1,l=this.Ae;h<l;){var g=h++,k=this.yb[g].x,m=this.yb[g].y,g=this.yb[g].z;k<a?a=k:k>d&&(d=k);m<b?b=m:m>c&&(c=m);g<e?e=g:g>f&&(f=g)}h=d-a;l=c-b;k=f-e;this.nf=h*l*k;a=.25*((a+d)*(a+d)+(b+c)*(b+c)+(e+f)*(e+f));h=h*h*.25;l=l*l*.25;k=k*k*.25;this.cg=.3333333333333333*(l+k)+a;this.fg=this.eg=this.dg=0;this.gg=.3333333333333333*(k+h)+a;this.jg=this.ig=this.hg=0;this.kg=.3333333333333333*(h+l)+a},Lb:function(a,b){var e,d,c,f,h,l,g,k,m;m=k=g=this.fc;var n,q,p;e=this.yb[0];n=e.x;q=e.y;p=e.z;d=b.o*n+b.f*q+b.h*p;e=b.i*n+b.m*q+b.j*p;c=b.l*n+b.g*q+b.s*p;n=d+b.v;q=e+b.A;p=c+b.B;e=n;d=q;c=p;f=n;h=q;l=p;for(var r=1,v=this.Ae;r<v;){n=r++;p=this.yb[n];n=p.x;q=p.y;p=p.z;var aa,w;aa=b.o*n+b.f*q+b.h*p;w=b.i*n+b.m*q+b.j*p;p=b.l*n+b.g*q+b.s*p;n=aa;q=w;n+=b.v;q+=b.A;p+=b.B;e=e<n?e:n;d=d<q?d:q;c=c<p?c:p;f=f>n?f:n;h=h>q?h:q;l=l>p?l:p}a.ma=e-g;a.na=d-k;a.oa=c-m;a.ja=f+g;a.ka=h+k;a.la=l+m},Ld:function(a,b){for(var e=this.yb[0],e=e.x*a.x+e.y*a.y+e.z*a.z,d=0,c=1,f=this.Ae;c<f;){var h=c++,l=this.yb[h],l=l.x*a.x+l.y*a.y+l.z*a.z;l>e&&(e=l,d=h)}a=this.yb[d];b.x=a.x;b.y=a.y;b.z=a.z},qa:od});Zc.R=!0;Zc.Jb=Da;Zc.prototype=Gb(Da.prototype,{Sh:function(){return this.$a},mj:function(){return this.Gb},Be:function(){var a=this.$a*this.$a,b=this.Gb*this.Gb*4;this.nf=3.14159265358979*a*this.Gb*2;this.cg=.08333333333333333*(3*a+b);this.fg=this.eg=this.dg=0;this.gg=.5*a;this.jg=this.ig=this.hg=0;this.kg=.08333333333333333*(3*a+b)},Lb:function(a,b){var e,d,c,f,h,l;e=b.f;d=b.m;c=b.g;e=0>e?-e:e;d=0>d?-d:d;c=0>c?-c:c;f=Math.sqrt(1-e*e);h=Math.sqrt(1-d*d);l=Math.sqrt(1-c*c);f*=this.$a;h*=this.$a;l*=this.$a;e*=this.Gb;d*=this.Gb;c*=this.Gb;f+=e;h+=d;l+=c;a.ma=b.v-f;a.na=b.A-h;a.oa=b.B-l;a.ja=b.v+f;a.ka=b.A+h;a.la=b.B+l},Ld:function(a,b){var e=a.x,d=a.z,c=e*e+d*d,f=this.$a-this.fc;0>f&&(f=0);c=0<c?f/Math.sqrt(c):0;f=this.Gb-this.fc;0>f&&(f=0);b.x=e*c;b.y=0<a.y?f:-f;b.z=d*c},li:function(a,b,e,d,c,f,h){var l=this.Gb;d-=a;c-=b;f-=e;var g=0,k=1;if(-1E-6<c&&1E-6>c){if(b<=-l||b>=l)return!1}else{var m=1/c,n=(-l-b)*m,l=(l-b)*m;n>l&&(m=n,n=l,l=m);0<n&&(g=n);1>l&&(k=l)}if(1<=g||0>=k)return!1;var l=d*d+f*f,n=a*d+e*f,m=a*a+e*e-this.$a*this.$a,q=n*n-l*m;if(0>q)return!1;if(0<l){if(q=Math.sqrt(q),m=(-n-q)/l,l=(-n+q)/l,1<=m||0>=l)return!1}else{if(0<=m)return!1;m=0;l=1}if(l<=g||k<=m)return!1;if(m<g){if(!g)return!1;h.normal.za(0,0<c?-1:1,0)}else{g=m;if(!g)return!1;k=h.normal.za(a+d*g,0,e+f*g);l=Math.sqrt(k.x*k.x+k.y*k.y+k.z*k.z);0<l&&(l=1/l);n=k.y*l;m=k.z*l;k.x=k.x*l;k.y=n;k.z=m}h.position.za(a+g*d,b+g*c,e+g*f);h.fraction=g;return!0},qa:Zc});Nb.R=!0;Ed.R=!0;Ed.prototype={qa:Ed};xd.R=!0;xd.Jb=Da;xd.prototype=Gb(Da.prototype,{Sh:function(){return this.$a},Be:function(){this.nf=4.188790204786386*this.$a*this.$a*this.$a;this.cg=.4*this.$a*this.$a;this.fg=this.eg=this.dg=0;this.gg=.4*this.$a*this.$a;this.jg=this.ig=this.hg=0;this.kg=.4*this.$a*this.$a},Lb:function(a,b){var e,d,c;c=d=e=this.$a;a.ma=b.v-e;a.na=b.A-d;a.oa=b.B-c;a.ja=b.v+e;a.ka=b.A+d;a.la=b.B+c},Ld:function(a,b){b.O()},li:function(a,b,e,d,c,f,h){var l;d-=a;c-=b;l=f-e;f=d*d+c*c+l*l;var g=a*d+b*c+e*l,k=g*g-f*(a*a+b*b+e*e-this.$a*this.$a);if(0>k)return!1;f=(-g-Math.sqrt(k))/f;if(0>f||1<f)return!1;a+=d*f;b+=c*f;e+=l*f;d=a*a+b*b+e*e;0<d&&(d=1/Math.sqrt(d));c=h.position;c.x=a;c.y=b;c.z=e;c=h.normal;c.x=a*d;c.y=b*d;c.z=e*d;h.fraction=f;return!0},qa:xd});Sd.R=!0;Sd.prototype={Pa:function(a,b){return this.Hb[a][b]},qa:Sd};md.R=!0;md.prototype={cm:function(){for(var a=0,b=0,e=this.numPoints;b<e;){var d=b++;this.points[d].depth>a&&(a=this.points[d].depth)}return a},clear:function(){for(var a=this.numPoints=0,b=this.points;a<b.length;){var e=b[a];++a;e.position1.O();e.position2.O();e.depth=0;e.id=0}this.normal.O()},qa:md};mj.R=!0;mj.prototype={qa:mj};bk.R=!0;bk.prototype={Je:function(){null!=this.gi&&this.gi.clear()},qa:bk};ed.R=!0;ed.prototype={xi:function(a,b,e,d){var c=a.normal;c.x=b;c.y=e;c.z=d;this.qh&&(a=a.normal,b=-a.y,e=-a.z,a.x=-a.x,a.y=b,a.z=e)},ri:function(a,b,e,d,c,f,h,l,g){a=a.points[a.numPoints++];a.depth=l;a.id=g;this.qh?(l=a.position1,l.x=c,l.y=f,l.z=h,c=a.position2,c.x=b,c.y=e,c.z=d):(l=a.position1,l.x=b,l.y=e,l.z=d,b=a.position2,b.x=c,b.y=f,b.z=h)},Rh:function(){},Yl:function(a,b,e,d,c,f){for(var h=a.numPoints=0,l=a.points;h<l.length;){var g=l[h];++h;g.position1.O();g.position2.O();g.depth=0;g.id=0}a.normal.O();this.qh?this.Rh(a,e,b,c,d,f):this.Rh(a,b,e,d,c,f)},qa:ed};Gd.R=!0;Gd.Jb=ed;Gd.prototype=Gb(ed.prototype,{Rh:function(a,b,e,d,c){a.incremental=!1;var f,h,l,g,k,m;f=d.f;h=d.m;l=d.g;g=c.f;k=c.m;m=c.g;var n=b.Gb,q=e.Gb;b=b.$a;e=e.$a;var p,r,v,aa,w,A;p=d.v+f*-n;r=d.A+h*-n;v=d.B+l*-n;f=d.v+f*n;aa=d.A+h*n;w=d.B+l*n;h=c.v+g*-q;l=c.A+k*-q;d=c.B+m*-q;g=c.v+g*q;k=c.A+k*q;A=c.B+m*q;var u,D,t;u=p-h;D=r-l;t=v-d;f-=p;aa-=r;c=w-v;m=g-h;w=k-l;g=A-d;k=-(u*f+D*aa+t*c);u=u*m+D*w+t*g;D=n*n*4;t=f*m+aa*w+c*g;A=q*q*4;D||A?D?A?((q=D*A-t*t)?(n=t*u+A*k,n=0>n?0:n>q?1:n/q):n=0,q=n*t+u,0>q?(q=0,n=k,n=0>n?0:n>D?1:n/D):q>A?(q=1,n=t+k,n=0>n?0:n>D?1:n/D):q/=A):(q=0,n=k,n=0>n?0:n>D?1:n/D):(n=0,q=u,q=0>q?0:q>A?1:q/A):q=n=0;p+=f*n;r+=aa*n;v+=c*n;h+=m*q;l+=w*q;d+=g*q;aa=p-h;f=r-l;q=v-d;n=aa*aa+f*f+q*q;n>=(b+e)*(b+e)||(n=Math.sqrt(n),0<n?(aa*=1/n,f*=1/n,q*=1/n):(aa=1,q=f=0),this.xi(a,aa,f,q),this.ri(a,p+aa*-b,r+f*-b,v+q*-b,h+aa*e,l+f*e,d+q*e,b+e-n,0))},qa:Gd});de.R=!0;de.Jb=ed;de.prototype=Gb(ed.prototype,{Rh:function(a,b,e,d,c,f){var h=Zb.Pa;d=h.kj(b,e,d,c,F.enableGJKCaching?f:null,!0);a.incremental=!0;if(d!=Pb.SUCCEEDED)console.log("GjkEpaDetector.hx:28:","GJK/EPA failed: status="+d);else if(!(h.distance>b.fc+e.fc)){var l,g,k;f=h.closestPoint1;d=f.x;c=f.y;f=f.z;k=h.closestPoint2;l=k.x;g=k.y;k=k.z;var m,n,q;m=d-l;n=c-g;q=f-k;if(m*m+n*n+q*q){0>h.distance&&(m=-m,n=-n,q=-q);var p=m*m+n*n+q*q;0<p&&(p=1/Math.sqrt(p));m*=p;n*=p;q*=p;this.xi(a,m,n,q);d+=m*-b.fc;c+=n*-b.fc;f+=q*-b.fc;l+=m*e.fc;g+=n*e.fc;k+=q*e.fc;this.ri(a,d,c,f,l,g,k,b.fc+e.fc-h.distance,0)}}},qa:de});wd.R=!0;wd.Jb=ed;wd.prototype=Gb(ed.prototype,{Rh:function(a,b,e,d,c){a.incremental=!1;var f,h,l,g,k;f=e.Le;h=e.Me;e=e.Ne;l=-f;g=-h;k=-e;b=b.$a;var m,n,q;m=d.v-c.v;n=d.A-c.A;q=d.B-c.B;var p,r;p=c.o*m+c.i*n+c.l*q;r=c.f*m+c.m*n+c.g*q;m=c.h*m+c.j*n+c.s*q;if(l<p&&f>p&&g<r&&h>r&&k<m&&e>m){var v;n=f-(0>p?-p:p);v=h-(0>r?-r:r);var aa=e-(0>m?-m:m),w,A;n<v?n<aa?(l=0<p?1:-1,w=k=g=0,q=A=1):(0<m?(g=l=0,k=1):(g=l=0,k=-1),A=w=1,q=0,n=aa):v<aa?(0<r?(l=0,g=1):(l=0,g=-1),k=0,w=1,A=0,q=1,n=v):(0<m?(g=l=0,k=1):(g=l=0,k=-1),A=w=1,q=0,n=aa);p=l*f+w*p;h=g*h+A*r;m=k*e+q*m;e=c.o*p+c.f*h+c.h*m;r=c.i*p+c.m*h+c.j*m;h=c.l*p+c.g*h+c.s*m;m=c.o*l+c.f*g+c.h*k;p=c.i*l+c.m*g+c.j*k;f=c.l*l+c.g*g+c.s*k;this.xi(a,m,p,f);this.ri(a,d.v+m*-b,d.A+p*-b,d.B+f*-b,c.v+e,c.A+r,c.B+h,n,0)}else f-=1E-9,h-=1E-9,e-=1E-9,l+=1E-9,g+=1E-9,k+=1E-9,f=p<f?p:f,n=r<h?r:h,q=m<e?m:e,f=f>l?f:l,n=n>g?n:g,q=q>k?q:k,p-=f,l=r-n,g=m-q,e=p*p+l*l+g*g,e>=b*b||(e=Math.sqrt(e),r=c.o*f+c.f*n+c.h*q,h=c.i*f+c.m*n+c.j*q,m=c.l*f+c.g*n+c.s*q,k=c.o*p+c.f*l+c.h*g,f=c.i*p+c.m*l+c.j*g,p=c.l*p+c.g*l+c.s*g,g=k*k+f*f+p*p,0<g&&(g=1/Math.sqrt(g)),l=k*g,f*=g,p*=g,this.xi(a,l,f,p),this.ri(a,d.v+l*-b,d.A+f*-b,d.B+p*-b,c.v+r,c.A+h,c.B+m,b-e,0))},qa:wd});Nd.R=!0;Nd.Jb=ed;Nd.prototype=Gb(ed.prototype,{Rh:function(a,b,e,d,c){a.incremental=!1;var f=e.Gb;b=b.$a;e=e.$a;var h,l,g;h=c.f;l=c.m;g=c.g;var k,m;k=d.v;m=d.A;d=d.B;var 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b,e,d,c;b=this.o;e=this.m;d=this.s;c=b+e+d;var f;0<c?(f=Math.sqrt(c+1),c=.5*f,f=.5/f,b=(this.g-this.j)*f,e=(this.h-this.l)*f,d=(this.i-this.f)*f):b>e?b>d?(f=Math.sqrt(b-e-d+1),b=.5*f,f=.5/f,e=(this.f+this.i)*f,d=(this.h+this.l)*f,c=(this.g-this.j)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f):e>d?(f=Math.sqrt(e-d-b+1),e=.5*f,f=.5/f,b=(this.f+this.i)*f,d=(this.j+this.g)*f,c=(this.h-this.l)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f);a.x=b;a.y=e;a.z=d;a.w=c},rc:function(a){var b,e,d;b=a.x;e=a.y;d=a.z;var c=a.w,f=2*b,h=2*e,l=2*d;a=b*f;var g=e*h;d*=l;var k=b*h;e*=l;b*=l;f*=c;h*=c;c*=l;this.o=1-g-d;this.f=k-c;this.h=b+h;this.i=k+c;this.m=1-a-d;this.j=e-f;this.l=b-h;this.g=e+f;this.s=1-a-g;return this},clone:function(){var a=new wa;a.v=this.v;a.A=this.A;a.B=this.B;a.o=this.o;a.f=this.f;a.h=this.h;a.i=this.i;a.m=this.m;a.j=this.j;a.l=this.l;a.g=this.g;a.s=this.s;return a},Zd:function(a){this.v=a.v;this.A=a.A;this.B=a.B;this.o=a.o;this.f=a.f;this.h=a.h;this.i=a.i;this.m=a.m;this.j=a.j;this.l=a.l;this.g=a.g;this.s=a.s;return this},qa:wa};F.R=!0;Zb.R=!0;Zb.ad=function(){return Zb.Pa};Zb.prototype={kj:function(a,b,e,d,c,f){this.hj=a;this.Sk=b;this.pc=e;this.Gc=d;var h=this.Oa,l=this.gb,g=this.ob,k=this.closest,m=this.dir;null!=c?(null==c.gi&&(c.gi=new Ek),this.Cn(c.gi)):m.O();if(!(m.x*m.x+m.y*m.y+m.z*m.z)){var n,q,p;n=d.v-e.v;q=d.A-e.A;p=d.B-e.B;m.x=n;m.y=q;m.z=p;1E-6>m.x*m.x+m.y*m.y+m.z*m.z&&m.za(1,0,0)}this.ya=0;this.pf(!1);this.qf(!1);var r=this.Oa[this.ya],v=this.gb[this.ya];r.x=v.x;r.y=v.y;r.z=v.z;var aa=this.ob[this.ya],w=r.y-aa.y,A=r.z-aa.z;r.x=r.x-aa.x;r.y=w;r.z=A;this.ya=1;for(var u=0;40>u;){var D=0;switch(this.ya){case 1:var t=h[0];k.x=t.x;k.y=t.y;k.z=t.z;D=1;break;case 2:var z,E,x,zb,N,G,F=h[0];z=F.x;E=F.y;x=F.z;var C=h[1];zb=C.x;N=C.y;G=C.z;var O,ha,L;O=zb-z;ha=N-E;L=G-x;var Vb=O*z+ha*E+L*x,Vb=-Vb/(O*O+ha*ha+L*L);if(0>Vb){var M=k;M.x=z;M.y=E;M.z=x;D=1}else if(1<Vb){var ka=k;ka.x=zb;ka.y=N;ka.z=G;D=2}else{var bb,U,R;bb=z+O*Vb;U=E+ha*Vb;R=x+L*Vb;var lc=k;lc.x=bb;lc.y=U;lc.z=R;D=3}break;case 3:var Na=h[0],Ra=h[1],yc=h[2],Pa,Ba,Hb,J,Qa,ba,Q,P,xa,ta,W,pa,y,Ia,ca,Ea,ya,Fa,Sa=Na;Pa=Sa.x;Ba=Sa.y;Hb=Sa.z;var la=Ra;J=la.x;Qa=la.y;ba=la.z;var Z=yc;Q=Z.x;P=Z.y;xa=Z.z;ta=J-Pa;W=Qa-Ba;pa=ba-Hb;y=Q-J;Ia=P-Qa;ca=xa-ba;Ea=Pa-Q;ya=Ba-P;Fa=Hb-xa;var Ga,ra,va;Ga=W*ca-pa*Ia;ra=pa*y-ta*ca;va=ta*Ia-W*y;var I=Pa*(W*va-pa*ra)+Ba*(pa*Ga-ta*va)+Hb*(ta*ra-W*Ga),La=J*(Ia*va-ca*ra)+Qa*(ca*Ga-y*va)+ba*(y*ra-Ia*Ga),Wa=Q*(ya*va-Fa*ra)+P*(Fa*Ga-Ea*va)+xa*(Ea*ra-ya*Ga),S=-1,Xa,T,K,ia=0;K=T=Xa=0;if(0>I){var gb,da,Hc,sa,fb,kb,Ya=Na;gb=Ya.x;da=Ya.y;Hc=Ya.z;var ma=Ra;sa=ma.x;fb=ma.y;kb=ma.z;var oa,Ja,Ha;oa=sa-gb;Ja=fb-da;Ha=kb-Hc;var ob=oa*gb+Ja*da+Ha*Hc,ob=-ob/(oa*oa+Ja*Ja+Ha*Ha),fa;if(0>ob){var ea=k;ea.x=gb;ea.y=da;ea.z=Hc;fa=1}else if(1<ob){var ja=k;ja.x=sa;ja.y=fb;ja.z=kb;fa=2}else{var cb,Aa,sb;cb=gb+oa*ob;Aa=da+Ja*ob;sb=Hc+Ha*ob;var Ua=k;Ua.x=cb;Ua.y=Aa;Ua.z=sb;fa=3}var qb=k.x*k.x+k.y*k.y+k.z*k.z,ia=fa,S=qb,rb=k;Xa=rb.x;T=rb.y;K=rb.z}if(0>La){var ub,Va,xb,rc,Za,ua,Qb=Ra;ub=Qb.x;Va=Qb.y;xb=Qb.z;var H=yc;rc=H.x;Za=H.y;ua=H.z;var pb,db,oc;pb=rc-ub;db=Za-Va;oc=ua-xb;var $a=pb*ub+db*Va+oc*xb,$a=-$a/(pb*pb+db*db+oc*oc),hb;if(0>$a){var B=k;B.x=ub;B.y=Va;B.z=xb;hb=1}else if(1<$a){var Db=k;Db.x=rc;Db.y=Za;Db.z=ua;hb=2}else{var fe,Tc,Fb;fe=ub+pb*$a;Tc=Va+db*$a;Fb=xb+oc*$a;var Oa=k;Oa.x=fe;Oa.y=Tc;Oa.z=Fb;hb=3}var nb=k.x*k.x+k.y*k.y+k.z*k.z;if(0>S||nb<S){var ia=hb<<1,S=nb,vb=k;Xa=vb.x;T=vb.y;K=vb.z}}if(0>Wa){var yb,eb,Y,Ma,lb,Ta,ib=Na;yb=ib.x;eb=ib.y;Y=ib.z;var Ka=yc;Ma=Ka.x;lb=Ka.y;Ta=Ka.z;var Jb,bl,X;Jb=Ma-yb;bl=lb-eb;X=Ta-Y;var Cb=Jb*yb+bl*eb+X*Y,Cb=-Cb/(Jb*Jb+bl*bl+X*X),hd;if(0>Cb){var Cc=k;Cc.x=yb;Cc.y=eb;Cc.z=Y;hd=1}else if(1<Cb){var ql=k;ql.x=Ma;ql.y=lb;ql.z=Ta;hd=2}else{var ec,qd,ga;ec=yb+Jb*Cb;qd=eb+bl*Cb;ga=Y+X*Cb;var na=k;na.x=ec;na.y=qd;na.z=ga;hd=3}var xc=k.x*k.x+k.y*k.y+k.z*k.z;if(0>S||xc<S){var ia=hd&1|(hd&2)<<1,S=xc,qa=k;Xa=qa.x;T=qa.y;K=qa.z}}if(0<S){var jc=k;jc.x=Xa;jc.y=T;jc.z=K;D=ia}else{var pc=Ga*Ga+ra*ra+va*va;0<pc&&(pc=1/Math.sqrt(pc));Ga*=pc;ra*=pc;va*=pc;var kc=Ga*Ga+ra*ra+va*va,kc=(Pa*Ga+Ba*ra+Hb*va)/kc;Xa=Ga*kc;T=ra*kc;K=va*kc;var ac=k;ac.x=Xa;ac.y=T;ac.z=K;D=7}break;case 4:var Wb=h[0],Xb=h[1],Rb=h[2],fc=h[3],Sb,Ob,Yb,gc,Ib,$b,mb,za,tg,Ca,qc,mc,id,Ic,wa,sc,vc,Da,Uf,Gb,yd,Fc,wb,Ue,ab,Id,Pg,rl=Wb;Sb=rl.x;Ob=rl.y;Yb=rl.z;var tb=Xb;gc=tb.x;Ib=tb.y;$b=tb.z;var jb=Rb;mb=jb.x;za=jb.y;tg=jb.z;var zc=fc;Ca=zc.x;qc=zc.y;mc=zc.z;id=gc-Sb;Ic=Ib-Ob;wa=$b-Yb;sc=mb-Sb;vc=za-Ob;Da=tg-Yb;Uf=Ca-Sb;Gb=qc-Ob;yd=mc-Yb;Fc=mb-gc;wb=za-Ib;Ue=tg-$b;ab=Ca-gc;Id=qc-Ib;Pg=mc-$b;var Eb,Tb,Gk,Mb,Qc,Gl,Bb,ic,Ab,Ub,dc,Zb;Eb=Ic*Da-wa*vc;Tb=wa*sc-id*Da;Gk=id*vc-Ic*sc;Mb=vc*yd-Da*Gb;Qc=Da*Uf-sc*yd;Gl=sc*Gb-vc*Uf;Bb=Gb*wa-yd*Ic;ic=yd*id-Uf*wa;Ab=Uf*Ic-Gb*id;Ub=Id*Ue-Pg*wb;dc=Pg*Fc-ab*Ue;Zb=ab*wb-Id*Fc;var nc=0<id*Ub+Ic*dc+wa*Zb?1:-1,cc=Sb*Eb+Ob*Tb+Yb*Gk,Ec=Sb*Mb+Ob*Qc+Yb*Gl,Kc=Sb*Bb+Ob*ic+Yb*Ab,Ac=gc*Ub+Ib*dc+$b*Zb,ug=-1,Kb,Lb,pj,uc=0;pj=Lb=Kb=0;if(0>cc*nc){var rd,Uc,Vf,tc,Pb,Gc,Df,hl,vh,cl,hc,sd,Qg,Rg,vg,wh,Jd,sl,xh=Wb;rd=xh.x;Uc=xh.y;Vf=xh.z;var ed=Xb;tc=ed.x;Pb=ed.y;Gc=ed.z;var ck=Rb;Df=ck.x;hl=ck.y;vh=ck.z;cl=tc-rd;hc=Pb-Uc;sd=Gc-Vf;Qg=Df-tc;Rg=hl-Pb;vg=vh-Gc;wh=rd-Df;Jd=Uc-hl;sl=Vf-vh;var Lc,jd,kd;Lc=hc*vg-sd*Rg;jd=sd*Qg-cl*vg;kd=cl*Rg-hc*Qg;var Oc=rd*(hc*kd-sd*jd)+Uc*(sd*Lc-cl*kd)+Vf*(cl*jd-hc*Lc),Pl=tc*(Rg*kd-vg*jd)+Pb*(vg*Lc-Qg*kd)+Gc*(Qg*jd-Rg*Lc),Vc=Df*(Jd*kd-sl*jd)+hl*(sl*Lc-wh*kd)+vh*(wh*jd-Jd*Lc),Wc=-1,Yc,td,ad,Sc=0;ad=td=Yc=0;if(0>Oc){var Ee,Ve,We,Kd,qj,ve,we=Wb;Ee=we.x;Ve=we.y;We=we.z;var Nc=Xb;Kd=Nc.x;qj=Nc.y;ve=Nc.z;var dl,el,fl;dl=Kd-Ee;el=qj-Ve;fl=ve-We;var wg=dl*Ee+el*Ve+fl*We,wg=-wg/(dl*dl+el*el+fl*fl),Nb;if(0>wg){var Jc=k;Jc.x=Ee;Jc.y=Ve;Jc.z=We;Nb=1}else if(1<wg){var yh=k;yh.x=Kd;yh.y=qj;yh.z=ve;Nb=2}else{var bc,Fe,dk;bc=Ee+dl*wg;Fe=Ve+el*wg;dk=We+fl*wg;var wc=k;wc.x=bc;wc.y=Fe;wc.z=dk;Nb=3}var ld=k.x*k.x+k.y*k.y+k.z*k.z,Sc=Nb,Wc=ld,Xc=k;Yc=Xc.x;td=Xc.y;ad=Xc.z}if(0>Pl){var Pc,Bc,Xe,dd,ek,zh,Ah=Xb;Pc=Ah.x;Bc=Ah.y;Xe=Ah.z;var Bh=Rb;dd=Bh.x;ek=Bh.y;zh=Bh.z;var Ye,Ze,$e;Ye=dd-Pc;Ze=ek-Bc;$e=zh-Xe;var Zd=Ye*Pc+Ze*Bc+$e*Xe,Zd=-Zd/(Ye*Ye+Ze*Ze+$e*$e),rj;if(0>Zd){var tl=k;tl.x=Pc;tl.y=Bc;tl.z=Xe;rj=1}else if(1<Zd){var ul=k;ul.x=dd;ul.y=ek;ul.z=zh;rj=2}else{var Zc,Ef,Ff;Zc=Pc+Ye*Zd;Ef=Bc+Ze*Zd;Ff=Xe+$e*Zd;var Gf=k;Gf.x=Zc;Gf.y=Ef;Gf.z=Ff;rj=3}var Hl=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Wc||Hl<Wc){var Sc=rj<<1,Wc=Hl,$c=k;Yc=$c.x;td=$c.y;ad=$c.z}}if(0>Vc){var Wf,Xf,af,Yf,Hf,xe,bf=Wb;Wf=bf.x;Xf=bf.y;af=bf.z;var Zf=Rb;Yf=Zf.x;Hf=Zf.y;xe=Zf.z;var $f,ag,bg;$f=Yf-Wf;ag=Hf-Xf;bg=xe-af;var Ge=$f*Wf+ag*Xf+bg*af,Ge=-Ge/($f*$f+ag*ag+bg*bg),He;if(0>Ge){var cf=k;cf.x=Wf;cf.y=Xf;cf.z=af;He=1}else if(1<Ge){var cg=k;cg.x=Yf;cg.y=Hf;cg.z=xe;He=2}else{var qf,Ie,rf;qf=Wf+$f*Ge;Ie=Xf+ag*Ge;rf=af+bg*Ge;var dg=k;dg.x=qf;dg.y=Ie;dg.z=rf;He=3}var fd=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Wc||fd<Wc){var Sc=He&1|(He&2)<<1,Wc=fd,gd=k;Yc=gd.x;td=gd.y;ad=gd.z}}var vl;if(0<Wc){var wl=k;wl.x=Yc;wl.y=td;wl.z=ad;vl=Sc}else{var df=Lc*Lc+jd*jd+kd*kd;0<df&&(df=1/Math.sqrt(df));Lc*=df;jd*=df;kd*=df;var sf=Lc*Lc+jd*jd+kd*kd,sf=(rd*Lc+Uc*jd+Vf*kd)/sf;Yc=Lc*sf;td=jd*sf;ad=kd*sf;var If=k;If.x=Yc;If.y=td;If.z=ad;vl=7}var Ql=k.x*k.x+k.y*k.y+k.z*k.z,uc=vl,ug=Ql,Jf=k;Kb=Jf.x;Lb=Jf.y;pj=Jf.z}if(0>Ec*nc){var ge,ye,Kf,Rc,eg,zd,Ad,Bd,il,fg,gg,$d,he,ie,ae,tf,ef,ff,gf=Wb;ge=gf.x;ye=gf.y;Kf=gf.z;var Lf=Rb;Rc=Lf.x;eg=Lf.y;zd=Lf.z;var xl=fc;Ad=xl.x;Bd=xl.y;il=xl.z;fg=Rc-ge;gg=eg-ye;$d=zd-Kf;he=Ad-Rc;ie=Bd-eg;ae=il-zd;tf=ge-Ad;ef=ye-Bd;ff=Kf-il;var Td,Ld,Md;Td=gg*ae-$d*ie;Ld=$d*he-fg*ae;Md=fg*ie-gg*he;var Rl=ge*(gg*Md-$d*Ld)+ye*($d*Td-fg*Md)+Kf*(fg*Ld-gg*Td),Mf=Rc*(ie*Md-ae*Ld)+eg*(ae*Td-he*Md)+zd*(he*Ld-ie*Td),Xd=Ad*(ef*Md-ff*Ld)+Bd*(ff*Td-tf*Md)+il*(tf*Ld-ef*Td),ud=-1,Cd,hg,Ch,ig=0;Ch=hg=Cd=0;if(0>Rl){var Yd,be,ze,hf,jg,jf,kf=Wb;Yd=kf.x;be=kf.y;ze=kf.z;var lf=Rb;hf=lf.x;jg=lf.y;jf=lf.z;var Ae,uf,kg;Ae=hf-Yd;uf=jg-be;kg=jf-ze;var vf=Ae*Yd+uf*be+kg*ze,vf=-vf/(Ae*Ae+uf*uf+kg*kg),xg;if(0>vf){var lg=k;lg.x=Yd;lg.y=be;lg.z=ze;xg=1}else if(1<vf){var mf=k;mf.x=hf;mf.y=jg;mf.z=jf;xg=2}else{var wf,Je,yg;wf=Yd+Ae*vf;Je=be+uf*vf;yg=ze+kg*vf;var zg=k;zg.x=wf;zg.y=Je;zg.z=yg;xg=3}var nd=k.x*k.x+k.y*k.y+k.z*k.z,ig=xg,ud=nd,mg=k;Cd=mg.x;hg=mg.y;Ch=mg.z}if(0>Mf){var xf,yf,Be,Ag,yl,ng,og=Rb;xf=og.x;yf=og.y;Be=og.z;var pg=fc;Ag=pg.x;yl=pg.y;ng=pg.z;var Nf,Ke,nf;Nf=Ag-xf;Ke=yl-yf;nf=ng-Be;var zf=Nf*xf+Ke*yf+nf*Be,zf=-zf/(Nf*Nf+Ke*Ke+nf*nf),bd;if(0>zf){var vd=k;vd.x=xf;vd.y=yf;vd.z=Be;bd=1}else if(1<zf){var Fd=k;Fd.x=Ag;Fd.y=yl;Fd.z=ng;bd=2}else{var md,Sg,xd;md=xf+Nf*zf;Sg=yf+Ke*zf;xd=Be+nf*zf;var od=k;od.x=md;od.y=Sg;od.z=xd;bd=3}var Qd=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ud||Qd<ud){var ig=bd<<1,ud=Qd,Mc=k;Cd=Mc.x;hg=Mc.y;Ch=Mc.z}}if(0>Xd){var Dc,pd,Dh,qe,re,Eh,Fh=Wb;Dc=Fh.x;pd=Fh.y;Dh=Fh.z;var Gh=fc;qe=Gh.x;re=Gh.y;Eh=Gh.z;var Hh,Ih,Jh;Hh=qe-Dc;Ih=re-pd;Jh=Eh-Dh;var Bg=Hh*Dc+Ih*pd+Jh*Dh,Bg=-Bg/(Hh*Hh+Ih*Ih+Jh*Jh),Kh;if(0>Bg){var Lh=k;Lh.x=Dc;Lh.y=pd;Lh.z=Dh;Kh=1}else if(1<Bg){var Mh=k;Mh.x=qe;Mh.y=re;Mh.z=Eh;Kh=2}else{var sj,Tg,tj;sj=Dc+Hh*Bg;Tg=pd+Ih*Bg;tj=Dh+Jh*Bg;var se=k;se.x=sj;se.y=Tg;se.z=tj;Kh=3}var Ce=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ud||Ce<ud){var ig=Kh&1|(Kh&2)<<1,ud=Ce,Wd=k;Cd=Wd.x;hg=Wd.y;Ch=Wd.z}}var Dd;if(0<ud){var te=k;te.x=Cd;te.y=hg;te.z=Ch;Dd=ig}else{var Ug=Td*Td+Ld*Ld+Md*Md;0<Ug&&(Ug=1/Math.sqrt(Ug));Td*=Ug;Ld*=Ug;Md*=Ug;var uj=Td*Td+Ld*Ld+Md*Md,uj=(ge*Td+ye*Ld+Kf*Md)/uj;Cd=Td*uj;hg=Ld*uj;Ch=Md*uj;var Ed=k;Ed.x=Cd;Ed.y=hg;Ed.z=Ch;Dd=7}var Sd=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ug||Sd<ug){var uc=Dd&1|(Dd&6)<<1,ug=Sd,Nd=k;Kb=Nd.x;Lb=Nd.y;pj=Nd.z}}if(0>Kc*nc){var qg,Cg,Nh,wd,vj,Vg,Wg,Xg,Oh,Yg,Zg,$g,ah,bh,Dg,Ph,Qh,Rh,Sh=Wb;qg=Sh.x;Cg=Sh.y;Nh=Sh.z;var Th=Xb;wd=Th.x;vj=Th.y;Vg=Th.z;var ee=fc;Wg=ee.x;Xg=ee.y;Oh=ee.z;Yg=wd-qg;Zg=vj-Cg;$g=Vg-Nh;ah=Wg-wd;bh=Xg-vj;Dg=Oh-Vg;Ph=qg-Wg;Qh=Cg-Xg;Rh=Nh-Oh;var je,ke,le;je=Zg*Dg-$g*bh;ke=$g*ah-Yg*Dg;le=Yg*bh-Zg*ah;var pe=qg*(Zg*le-$g*ke)+Cg*($g*je-Yg*le)+Nh*(Yg*ke-Zg*je),Qe=wd*(bh*le-Dg*ke)+vj*(Dg*je-ah*le)+Vg*(ah*ke-bh*je),Le=Wg*(Qh*le-Rh*ke)+Xg*(Rh*je-Ph*le)+Oh*(Ph*ke-Qh*je),Od=-1,Ud,Uh,Vh,cd=0;Vh=Uh=Ud=0;if(0>pe){var Af,Of,Pf,Eg,wj,Wh,Xh=Wb;Af=Xh.x;Of=Xh.y;Pf=Xh.z;var Yh=Xb;Eg=Yh.x;wj=Yh.y;Wh=Yh.z;var Zh,$h,ai;Zh=Eg-Af;$h=wj-Of;ai=Wh-Pf;var Fg=Zh*Af+$h*Of+ai*Pf,Fg=-Fg/(Zh*Zh+$h*$h+ai*ai),xj;if(0>Fg){var bi=k;bi.x=Af;bi.y=Of;bi.z=Pf;xj=1}else if(1<Fg){var ci=k;ci.x=Eg;ci.y=wj;ci.z=Wh;xj=2}else{var yj,ch,fk;yj=Af+Zh*Fg;ch=Of+$h*Fg;fk=Pf+ai*Fg;var gk=k;gk.x=yj;gk.y=ch;gk.z=fk;xj=3}var Te=k.x*k.x+k.y*k.y+k.z*k.z,cd=xj,Od=Te,de=k;Ud=de.x;Uh=de.y;Vh=de.z}if(0>Qe){var zj,Aj,di,Gd,hk,ei,fi=Xb;zj=fi.x;Aj=fi.y;di=fi.z;var gi=fc;Gd=gi.x;hk=gi.y;ei=gi.z;var hi,ii,ji;hi=Gd-zj;ii=hk-Aj;ji=ei-di;var Gg=hi*zj+ii*Aj+ji*di,Gg=-Gg/(hi*hi+ii*ii+ji*ji),Bj;if(0>Gg){var ki=k;ki.x=zj;ki.y=Aj;ki.z=di;Bj=1}else if(1<Gg){var li=k;li.x=Gd;li.y=hk;li.z=ei;Bj=2}else{var Cj,dh,ik;Cj=zj+hi*Gg;dh=Aj+ii*Gg;ik=di+ji*Gg;var jk=k;jk.x=Cj;jk.y=dh;jk.z=ik;Bj=3}var Hd=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Od||Hd<Od){var cd=Bj<<1,Od=Hd,Hk=k;Ud=Hk.x;Uh=Hk.y;Vh=Hk.z}}if(0>Le){var Dj,Ej,mi,Ik,kk,ni,oi=Wb;Dj=oi.x;Ej=oi.y;mi=oi.z;var pi=fc;Ik=pi.x;kk=pi.y;ni=pi.z;var qi,ri,si;qi=Ik-Dj;ri=kk-Ej;si=ni-mi;var Hg=qi*Dj+ri*Ej+si*mi,Hg=-Hg/(qi*qi+ri*ri+si*si),ti;if(0>Hg){var ui=k;ui.x=Dj;ui.y=Ej;ui.z=mi;ti=1}else if(1<Hg){var vi=k;vi.x=Ik;vi.y=kk;vi.z=ni;ti=2}else{var Fj,eh,Gj;Fj=Dj+qi*Hg;eh=Ej+ri*Hg;Gj=mi+si*Hg;var lk=k;lk.x=Fj;lk.y=eh;lk.z=Gj;ti=3}var Jk=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Od||Jk<Od){var cd=ti&1|(ti&2)<<1,Od=Jk,Kk=k;Ud=Kk.x;Uh=Kk.y;Vh=Kk.z}}var mk;if(0<Od){var Lk=k;Lk.x=Ud;Lk.y=Uh;Lk.z=Vh;mk=cd}else{var fh=je*je+ke*ke+le*le;0<fh&&(fh=1/Math.sqrt(fh));je*=fh;ke*=fh;le*=fh;var Hj=je*je+ke*ke+le*le,Hj=(qg*je+Cg*ke+Nh*le)/Hj;Ud=je*Hj;Uh=ke*Hj;Vh=le*Hj;var nk=k;nk.x=Ud;nk.y=Uh;nk.z=Vh;mk=7}var ok=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ug||ok<ug){var uc=mk&3|(mk&4)<<1,ug=ok,pk=k;Kb=pk.x;Lb=pk.y;pj=pk.z}}if(0>Ac*nc){var rg,Ig,wi,qk,Ij,gh,hh,ih,xi,jh,kh,lh,mh,nh,Jg,yi,zi,Ai,Bi=Xb;rg=Bi.x;Ig=Bi.y;wi=Bi.z;var Ci=Rb;qk=Ci.x;Ij=Ci.y;gh=Ci.z;var rk=fc;hh=rk.x;ih=rk.y;xi=rk.z;jh=qk-rg;kh=Ij-Ig;lh=gh-wi;mh=hh-qk;nh=ih-Ij;Jg=xi-gh;yi=rg-hh;zi=Ig-ih;Ai=wi-xi;var me,ne,oe;me=kh*Jg-lh*nh;ne=lh*mh-jh*Jg;oe=jh*nh-kh*mh;var Ne=rg*(kh*oe-lh*ne)+Ig*(lh*me-jh*oe)+wi*(jh*ne-kh*me),Oe=qk*(nh*oe-Jg*ne)+Ij*(Jg*me-mh*oe)+gh*(mh*ne-nh*me),Me=hh*(zi*oe-Ai*ne)+ih*(Ai*me-yi*oe)+xi*(yi*ne-zi*me),Pd=-1,Vd,Di,Ei,Mk=0;Ei=Di=Vd=0;if(0>Ne){var Bf,Qf,Rf,Kg,Jj,Fi,Gi=Xb;Bf=Gi.x;Qf=Gi.y;Rf=Gi.z;var Hi=Rb;Kg=Hi.x;Jj=Hi.y;Fi=Hi.z;var Ii,Ji,Ki;Ii=Kg-Bf;Ji=Jj-Qf;Ki=Fi-Rf;var Lg=Ii*Bf+Ji*Qf+Ki*Rf,Lg=-Lg/(Ii*Ii+Ji*Ji+Ki*Ki),Kj;if(0>Lg){var Li=k;Li.x=Bf;Li.y=Qf;Li.z=Rf;Kj=1}else if(1<Lg){var Mi=k;Mi.x=Kg;Mi.y=Jj;Mi.z=Fi;Kj=2}else{var Lj,oh,sk;Lj=Bf+Ii*Lg;oh=Qf+Ji*Lg;sk=Rf+Ki*Lg;var tk=k;tk.x=Lj;tk.y=oh;tk.z=sk;Kj=3}var Pe=k.x*k.x+k.y*k.y+k.z*k.z,Mk=Kj,Pd=Pe,Nk=k;Vd=Nk.x;Di=Nk.y;Ei=Nk.z}if(0>Oe){var Mj,Nj,Ni,Rd,uk,Oi,Pi=Rb;Mj=Pi.x;Nj=Pi.y;Ni=Pi.z;var Qi=fc;Rd=Qi.x;uk=Qi.y;Oi=Qi.z;var Ri,Si,Ti;Ri=Rd-Mj;Si=uk-Nj;Ti=Oi-Ni;var Mg=Ri*Mj+Si*Nj+Ti*Ni,Mg=-Mg/(Ri*Ri+Si*Si+Ti*Ti),Oj;if(0>Mg){var Ui=k;Ui.x=Mj;Ui.y=Nj;Ui.z=Ni;Oj=1}else if(1<Mg){var Vi=k;Vi.x=Rd;Vi.y=uk;Vi.z=Oi;Oj=2}else{var Pj,ph,vk;Pj=Mj+Ri*Mg;ph=Nj+Si*Mg;vk=Ni+Ti*Mg;var wk=k;wk.x=Pj;wk.y=ph;wk.z=vk;Oj=3}var Ok=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Pd||Ok<Pd){var Mk=Oj<<1,Pd=Ok,Pk=k;Vd=Pk.x;Di=Pk.y;Ei=Pk.z}}if(0>Me){var Qj,Rj,Wi,Qk,xk,Xi,Yi=Xb;Qj=Yi.x;Rj=Yi.y;Wi=Yi.z;var Zi=fc;Qk=Zi.x;xk=Zi.y;Xi=Zi.z;var $i,aj,bj;$i=Qk-Qj;aj=xk-Rj;bj=Xi-Wi;var Ng=$i*Qj+aj*Rj+bj*Wi,Ng=-Ng/($i*$i+aj*aj+bj*bj),cj;if(0>Ng){var dj=k;dj.x=Qj;dj.y=Rj;dj.z=Wi;cj=1}else if(1<Ng){var ej=k;ej.x=Qk;ej.y=xk;ej.z=Xi;cj=2}else{var Sj,qh,Tj;Sj=Qj+$i*Ng;qh=Rj+aj*Ng;Tj=Wi+bj*Ng;var yk=k;yk.x=Sj;yk.y=qh;yk.z=Tj;cj=3}var Rk=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Pd||Rk<Pd){var Mk=cj&1|(cj&2)<<1,Pd=Rk,Sk=k;Vd=Sk.x;Di=Sk.y;Ei=Sk.z}}var Tk;if(0<Pd){var Uk=k;Uk.x=Vd;Uk.y=Di;Uk.z=Ei;Tk=Mk}else{var rh=me*me+ne*ne+oe*oe;0<rh&&(rh=1/Math.sqrt(rh));me*=rh;ne*=rh;oe*=rh;var Uj=me*me+ne*ne+oe*oe,Uj=(rg*me+Ig*ne+wi*oe)/Uj;Vd=me*Uj;Di=ne*Uj;Ei=oe*Uj;var zk=k;zk.x=Vd;zk.y=Di;zk.z=Ei;Tk=7}var Vk=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ug||Vk<ug){var uc=Tk<<1,ug=Vk,Ak=k;Kb=Ak.x;Lb=Ak.y;pj=Ak.z}}if(0<ug){var sh=k;sh.x=Kb;sh.y=Lb;sh.z=pj;D=uc}else k.O(),D=15}if(1E-8>k.x*k.x+k.y*k.y+k.z*k.z){if(!f)return this.distance=0;switch(this.ya){case 1:this.En();break;case 2:this.ml();break;case 3:this.tl()}if(4==this.ya){var Vj=this.Zm(a,b,e,d,h,l,g);if(0!=Vj)return this.distance=0,Vj;this.distance=-this.depth;return 0}this.distance=0;return 1}this.zm(D);m.x=k.x;m.y=k.y;m.z=k.z;var th=m,Re=-th.y,pf=-th.z;th.x=-th.x;th.y=Re;th.z=pf;this.pf(!1);this.qf(!1);var Wj=this.Oa[this.ya],Xj=this.gb[this.ya];Wj.x=Xj.x;Wj.y=Xj.y;Wj.z=Xj.z;var ce=Wj,uh=this.ob[this.ya],ue=ce.y-uh.y,Se=ce.z-uh.z;ce.x=ce.x-uh.x;ce.y=ue;ce.z=Se;if(1E-8>m.x*m.x+m.y*m.y+m.z*m.z)throw Error("!?");var Yj=h[this.ya];if(1E-8>Yj.x*m.x+Yj.y*m.y+Yj.z*m.z-(k.x*m.x+k.y*m.y+k.z*m.z))return this.im(),this.distance=Math.sqrt(k.x*k.x+k.y*k.y+k.z*k.z),null!=c&&null!=c.gi&&this.In(c.gi),0;this.ya++;++u}return 2},Vl:function(a,b,e,d,c,f,h){this.hj=a;this.Sk=b;this.pc=e;this.Gc=d;var l=this.Oa,g=this.closest,k=this.dir,m,n,q;m=d.v-e.v;n=d.A-e.A;q=d.B-e.B;k.x=m;k.y=n;k.z=q;1E-6>k.x*k.x+k.y*k.y+k.z*k.z&&k.za(1,0,0);this.ya=0;if(null!=this.hj)this.pf(!0);else{var p=this.gb[this.ya];p.x=this.pc.v;p.y=this.pc.A;p.z=this.pc.B}this.qf(!0);var r=this.Oa[this.ya],v=this.gb[this.ya];r.x=v.x;r.y=v.y;r.z=v.z;var aa=this.ob[this.ya],w=r.y-aa.y,A=r.z-aa.z;r.x=r.x-aa.x;r.y=w;r.z=A;this.ya=1;var u=0,D=0,t=this.Gn,z=this.Fn;t.O();z.x=f.x;z.y=f.y;z.z=f.z;var E=z.y-c.y,x=z.z-c.z;z.x=z.x-c.x;z.y=E;for(z.z=x;40>u;){var zb=0;switch(this.ya){case 1:var N=l[0];g.x=N.x;g.y=N.y;g.z=N.z;zb=1;break;case 2:var G,F,C,O,ha,L,Vb=l[0];G=Vb.x;F=Vb.y;C=Vb.z;var M=l[1];O=M.x;ha=M.y;L=M.z;var ka,bb,U;ka=O-G;bb=ha-F;U=L-C;var R=ka*G+bb*F+U*C,R=-R/(ka*ka+bb*bb+U*U);if(0>R){var lc=g;lc.x=G;lc.y=F;lc.z=C;zb=1}else if(1<R){var Na=g;Na.x=O;Na.y=ha;Na.z=L;zb=2}else{var Ra,yc,Pa;Ra=G+ka*R;yc=F+bb*R;Pa=C+U*R;var Ba=g;Ba.x=Ra;Ba.y=yc;Ba.z=Pa;zb=3}break;case 3:var Hb=l[0],J=l[1],Qa=l[2],ba,Q,P,xa,ta,W,pa,y,Ia,ca,Ea,ya,Fa,Sa,la,Z,Ga,ra,va=Hb;ba=va.x;Q=va.y;P=va.z;var I=J;xa=I.x;ta=I.y;W=I.z;var La=Qa;pa=La.x;y=La.y;Ia=La.z;ca=xa-ba;Ea=ta-Q;ya=W-P;Fa=pa-xa;Sa=y-ta;la=Ia-W;Z=ba-pa;Ga=Q-y;ra=P-Ia;var Wa,S,Xa;Wa=Ea*la-ya*Sa;S=ya*Fa-ca*la;Xa=ca*Sa-Ea*Fa;var T=ba*(Ea*Xa-ya*S)+Q*(ya*Wa-ca*Xa)+P*(ca*S-Ea*Wa),K=xa*(Sa*Xa-la*S)+ta*(la*Wa-Fa*Xa)+W*(Fa*S-Sa*Wa),ia=pa*(Ga*Xa-ra*S)+y*(ra*Wa-Z*Xa)+Ia*(Z*S-Ga*Wa),gb=-1,da,Hc,sa,fb=0;sa=Hc=da=0;if(0>T){var kb,Ya,ma,oa,Ja,Ha,ob=Hb;kb=ob.x;Ya=ob.y;ma=ob.z;var fa=J;oa=fa.x;Ja=fa.y;Ha=fa.z;var ea,ja,cb;ea=oa-kb;ja=Ja-Ya;cb=Ha-ma;var Aa=ea*kb+ja*Ya+cb*ma,Aa=-Aa/(ea*ea+ja*ja+cb*cb),sb;if(0>Aa){var Ua=g;Ua.x=kb;Ua.y=Ya;Ua.z=ma;sb=1}else if(1<Aa){var qb=g;qb.x=oa;qb.y=Ja;qb.z=Ha;sb=2}else{var rb,ub,Va;rb=kb+ea*Aa;ub=Ya+ja*Aa;Va=ma+cb*Aa;var xb=g;xb.x=rb;xb.y=ub;xb.z=Va;sb=3}var rc=g.x*g.x+g.y*g.y+g.z*g.z,fb=sb,gb=rc,Za=g;da=Za.x;Hc=Za.y;sa=Za.z}if(0>K){var ua,Qb,H,pb,db,oc,$a=J;ua=$a.x;Qb=$a.y;H=$a.z;var hb=Qa;pb=hb.x;db=hb.y;oc=hb.z;var B,Db,fe;B=pb-ua;Db=db-Qb;fe=oc-H;var Tc=B*ua+Db*Qb+fe*H,Tc=-Tc/(B*B+Db*Db+fe*fe),Fb;if(0>Tc){var Oa=g;Oa.x=ua;Oa.y=Qb;Oa.z=H;Fb=1}else if(1<Tc){var nb=g;nb.x=pb;nb.y=db;nb.z=oc;Fb=2}else{var vb,yb,eb;vb=ua+B*Tc;yb=Qb+Db*Tc;eb=H+fe*Tc;var Y=g;Y.x=vb;Y.y=yb;Y.z=eb;Fb=3}var Ma=g.x*g.x+g.y*g.y+g.z*g.z;if(0>gb||Ma<gb){var fb=Fb<<1,gb=Ma,lb=g;da=lb.x;Hc=lb.y;sa=lb.z}}if(0>ia){var Ta,ib,Ka,Jb,ga,X,Cb=Hb;Ta=Cb.x;ib=Cb.y;Ka=Cb.z;var hd=Qa;Jb=hd.x;ga=hd.y;X=hd.z;var Cc,na,ec;Cc=Jb-Ta;na=ga-ib;ec=X-Ka;var qd=Cc*Ta+na*ib+ec*Ka,qd=-qd/(Cc*Cc+na*na+ec*ec),qa;if(0>qd){var za=g;za.x=Ta;za.y=ib;za.z=Ka;qa=1}else if(1<qd){var xc=g;xc.x=Jb;xc.y=ga;xc.z=X;qa=2}else{var wa,jc,pc;wa=Ta+Cc*qd;jc=ib+na*qd;pc=Ka+ec*qd;var kc=g;kc.x=wa;kc.y=jc;kc.z=pc;qa=3}var ac=g.x*g.x+g.y*g.y+g.z*g.z;if(0>gb||ac<gb){var fb=qa&1|(qa&2)<<1,gb=ac,Wb=g;da=Wb.x;Hc=Wb.y;sa=Wb.z}}if(0<gb){var Xb=g;Xb.x=da;Xb.y=Hc;Xb.z=sa;zb=fb}else{var Rb=Wa*Wa+S*S+Xa*Xa;0<Rb&&(Rb=1/Math.sqrt(Rb));Wa*=Rb;S*=Rb;Xa*=Rb;var fc=Wa*Wa+S*S+Xa*Xa,fc=(ba*Wa+Q*S+P*Xa)/fc;da=Wa*fc;Hc=S*fc;sa=Xa*fc;var Sb=g;Sb.x=da;Sb.y=Hc;Sb.z=sa;zb=7}break;case 4:var Ob=l[0],Yb=l[1],gc=l[2],Ib=l[3],$b,mb,Ca,tg,Da,qc,mc,id,Ic,Gb,sc,vc,wb,Uf,ab,yd,Fc,tb,Ue,jb,Id,Pg,Eb,Tb,Mb,zc,Bb,ic=Ob;$b=ic.x;mb=ic.y;Ca=ic.z;var Gk=Yb;tg=Gk.x;Da=Gk.y;qc=Gk.z;var Ab=gc;mc=Ab.x;id=Ab.y;Ic=Ab.z;var Qc=Ib;Gb=Qc.x;sc=Qc.y;vc=Qc.z;wb=tg-$b;Uf=Da-mb;ab=qc-Ca;yd=mc-$b;Fc=id-mb;tb=Ic-Ca;Ue=Gb-$b;jb=sc-mb;Id=vc-Ca;Pg=mc-tg;Eb=id-Da;Tb=Ic-qc;Mb=Gb-tg;zc=sc-Da;Bb=vc-qc;var Ub,dc,nc,Kb,Lb,Zb,uc,cc,Ec,tc,Pb,Kc;Ub=Uf*tb-ab*Fc;dc=ab*yd-wb*tb;nc=wb*Fc-Uf*yd;Kb=Fc*Id-tb*jb;Lb=tb*Ue-yd*Id;Zb=yd*jb-Fc*Ue;uc=jb*ab-Id*Uf;cc=Id*wb-Ue*ab;Ec=Ue*Uf-jb*wb;tc=zc*Tb-Bb*Eb;Pb=Bb*Pg-Mb*Tb;Kc=Mb*Eb-zc*Pg;var hc=0<wb*tc+Uf*Pb+ab*Kc?1:-1,Ac=$b*Ub+mb*dc+Ca*nc,Gc=$b*Kb+mb*Lb+Ca*Zb,pj=$b*uc+mb*cc+Ca*Ec,ed=tg*tc+Da*Pb+qc*Kc,rd=-1,Uc,Vf,Nb,Nc=0;Nb=Vf=Uc=0;if(0>Ac*hc){var Jc,Df,Pc,vh,Bc,wc,sd,Qg,Rg,vg,wh,Jd,bc,xh,Oc,ck,Lc,jd,kd=Ob;Jc=kd.x;Df=kd.y;Pc=kd.z;var Xc=Yb;vh=Xc.x;Bc=Xc.y;wc=Xc.z;var ld=gc;sd=ld.x;Qg=ld.y;Rg=ld.z;vg=vh-Jc;wh=Bc-Df;Jd=wc-Pc;bc=sd-vh;xh=Qg-Bc;Oc=Rg-wc;ck=Jc-sd;Lc=Df-Qg;jd=Pc-Rg;var Vc,Wc,Yc;Vc=wh*Oc-Jd*xh;Wc=Jd*bc-vg*Oc;Yc=vg*xh-wh*bc;var td=Jc*(wh*Yc-Jd*Wc)+Df*(Jd*Vc-vg*Yc)+Pc*(vg*Wc-wh*Vc),ad=vh*(xh*Yc-Oc*Wc)+Bc*(Oc*Vc-bc*Yc)+wc*(bc*Wc-xh*Vc),Sc=sd*(Lc*Yc-jd*Wc)+Qg*(jd*Vc-ck*Yc)+Rg*(ck*Wc-Lc*Vc),Ee=-1,Ve,We,Kd,qj=0;Kd=We=Ve=0;if(0>td){var ve,we,Rc,dd,$c,gd,wg=Ob;ve=wg.x;we=wg.y;Rc=wg.z;var bd=Yb;dd=bd.x;$c=bd.y;gd=bd.z;var Dc,yh,Zc;Dc=dd-ve;yh=$c-we;Zc=gd-Rc;var Fe=Dc*ve+yh*we+Zc*Rc,Fe=-Fe/(Dc*Dc+yh*yh+Zc*Zc),dk;if(0>Fe){var fd=g;fd.x=ve;fd.y=we;fd.z=Rc;dk=1}else if(1<Fe){var pd=g;pd.x=dd;pd.y=$c;pd.z=gd;dk=2}else{var vd,Fd,od;vd=ve+Dc*Fe;Fd=we+yh*Fe;od=Rc+Zc*Fe;var Xe=g;Xe.x=vd;Xe.y=Fd;Xe.z=od;dk=3}var Dd=g.x*g.x+g.y*g.y+g.z*g.z,qj=dk,Ee=Dd,ek=g;Ve=ek.x;We=ek.y;Kd=ek.z}if(0>ad){var zh,Ah,Bh,Ye,Ze,$e,Zd=Yb;zh=Zd.x;Ah=Zd.y;Bh=Zd.z;var rj=gc;Ye=rj.x;Ze=rj.y;$e=rj.z;var Mc,md,nd;Mc=Ye-zh;md=Ze-Ah;nd=$e-Bh;var Ef=Mc*zh+md*Ah+nd*Bh,Ef=-Ef/(Mc*Mc+md*md+nd*nd),Ff;if(0>Ef){var Gf=g;Gf.x=zh;Gf.y=Ah;Gf.z=Bh;Ff=1}else if(1<Ef){var wd=g;wd.x=Ye;wd.y=Ze;wd.z=$e;Ff=2}else{var xd,Wf,Xf;xd=zh+Mc*Ef;Wf=Ah+md*Ef;Xf=Bh+nd*Ef;var af=g;af.x=xd;af.y=Wf;af.z=Xf;Ff=3}var Yf=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Ee||Yf<Ee){var qj=Ff<<1,Ee=Yf,Hf=g;Ve=Hf.x;We=Hf.y;Kd=Hf.z}}if(0>Sc){var xe,bf,Zf,$f,ag,bg,Ge=Ob;xe=Ge.x;bf=Ge.y;Zf=Ge.z;var He=gc;$f=He.x;ag=He.y;bg=He.z;var cf,cg,qf;cf=$f-xe;cg=ag-bf;qf=bg-Zf;var Ie=cf*xe+cg*bf+qf*Zf,Ie=-Ie/(cf*cf+cg*cg+qf*qf),rf;if(0>Ie){var dg=g;dg.x=xe;dg.y=bf;dg.z=Zf;rf=1}else if(1<Ie){var Qd=g;Qd.x=$f;Qd.y=ag;Qd.z=bg;rf=2}else{var qe,re,se;qe=xe+cf*Ie;re=bf+cg*Ie;se=Zf+qf*Ie;var df=g;df.x=qe;df.y=re;df.z=se;rf=3}var sf=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Ee||sf<Ee){var qj=rf&1|(rf&2)<<1,Ee=sf,If=g;Ve=If.x;We=If.y;Kd=If.z}}var Wd;if(0<Ee){var Jf=g;Jf.x=Ve;Jf.y=We;Jf.z=Kd;Wd=qj}else{var ge=Vc*Vc+Wc*Wc+Yc*Yc;0<ge&&(ge=1/Math.sqrt(ge));Vc*=ge;Wc*=ge;Yc*=ge;var ye=Vc*Vc+Wc*Wc+Yc*Yc,ye=(Jc*Vc+Df*Wc+Pc*Yc)/ye;Ve=Vc*ye;We=Wc*ye;Kd=Yc*ye;var Kf=g;Kf.x=Ve;Kf.y=We;Kf.z=Kd;Wd=7}var te=g.x*g.x+g.y*g.y+g.z*g.z,Nc=Wd,rd=te,eg=g;Uc=eg.x;Vf=eg.y;Nb=eg.z}if(0>Gc*hc){var zd,Ad,Bd,cd,fg,gg,$d,he,ie,ae,tf,ef,ff,gf,Lf,Ed,Td,Ld,Md=Ob;zd=Md.x;Ad=Md.y;Bd=Md.z;var Nd=gc;cd=Nd.x;fg=Nd.y;gg=Nd.z;var Mf=Ib;$d=Mf.x;he=Mf.y;ie=Mf.z;ae=cd-zd;tf=fg-Ad;ef=gg-Bd;ff=$d-cd;gf=he-fg;Lf=ie-gg;Ed=zd-$d;Td=Ad-he;Ld=Bd-ie;var Xd,ud,Cd;Xd=tf*Lf-ef*gf;ud=ef*ff-ae*Lf;Cd=ae*gf-tf*ff;var hg=zd*(tf*Cd-ef*ud)+Ad*(ef*Xd-ae*Cd)+Bd*(ae*ud-tf*Xd),ee=cd*(gf*Cd-Lf*ud)+fg*(Lf*Xd-ff*Cd)+gg*(ff*ud-gf*Xd),ig=$d*(Td*Cd-Ld*ud)+he*(Ld*Xd-Ed*Cd)+ie*(Ed*ud-Td*Xd),Yd=-1,be,ze,hf,jg=0;hf=ze=be=0;if(0>hg){var jf,kf,lf,Ae,uf,kg,vf=Ob;jf=vf.x;kf=vf.y;lf=vf.z;var xg=gc;Ae=xg.x;uf=xg.y;kg=xg.z;var lg,mf,wf;lg=Ae-jf;mf=uf-kf;wf=kg-lf;var Je=lg*jf+mf*kf+wf*lf,Je=-Je/(lg*lg+mf*mf+wf*wf),yg;if(0>Je){var zg=g;zg.x=jf;zg.y=kf;zg.z=lf;yg=1}else if(1<Je){var Ce=g;Ce.x=Ae;Ce.y=uf;Ce.z=kg;yg=2}else{var mg,xf,yf;mg=jf+lg*Je;xf=kf+mf*Je;yf=lf+wf*Je;var Be=g;Be.x=mg;Be.y=xf;Be.z=yf;yg=3}var Ag=g.x*g.x+g.y*g.y+g.z*g.z,jg=yg,Yd=Ag,Sd=g;be=Sd.x;ze=Sd.y;hf=Sd.z}if(0>ee){var ng,og,pg,Nf,Ke,nf,zf=gc;ng=zf.x;og=zf.y;pg=zf.z;var de=Ib;Nf=de.x;Ke=de.y;nf=de.z;var Gd,Rd,Hd;Gd=Nf-ng;Rd=Ke-og;Hd=nf-pg;var Sg=Gd*ng+Rd*og+Hd*pg,Sg=-Sg/(Gd*Gd+Rd*Rd+Hd*Hd),pe;if(0>Sg){var Qe=g;Qe.x=ng;Qe.y=og;Qe.z=pg;pe=1}else if(1<Sg){var Te=g;Te.x=Nf;Te.y=Ke;Te.z=nf;pe=2}else{var Ne,Oe,Pe;Ne=ng+Gd*Sg;Oe=og+Rd*Sg;Pe=pg+Hd*Sg;var Dh=g;Dh.x=Ne;Dh.y=Oe;Dh.z=Pe;pe=3}var Re=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Yd||Re<Yd){var jg=pe<<1,Yd=Re,pf=g;be=pf.x;ze=pf.y;hf=pf.z}}if(0>ig){var Eh,Fh,Gh,Hh,Ih,Jh,Bg=Ob;Eh=Bg.x;Fh=Bg.y;Gh=Bg.z;var Kh=Ib;Hh=Kh.x;Ih=Kh.y;Jh=Kh.z;var Lh,Mh,sj;Lh=Hh-Eh;Mh=Ih-Fh;sj=Jh-Gh;var Tg=Lh*Eh+Mh*Fh+sj*Gh,Tg=-Tg/(Lh*Lh+Mh*Mh+sj*sj),tj;if(0>Tg){var ue=g;ue.x=Eh;ue.y=Fh;ue.z=Gh;tj=1}else if(1<Tg){var Se=g;Se.x=Hh;Se.y=Ih;Se.z=Jh;tj=2}else{var kj,mj,oj;kj=Eh+Lh*Tg;mj=Fh+Mh*Tg;oj=Gh+sj*Tg;var Ug=g;Ug.x=kj;Ug.y=mj;Ug.z=oj;tj=3}var uj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Yd||uj<Yd){var jg=tj&1|(tj&2)<<1,Yd=uj,Cf=g;be=Cf.x;ze=Cf.y;hf=Cf.z}}var De;if(0<Yd){var Og=g;Og.x=be;Og.y=ze;Og.z=hf;De=jg}else{var qg=Xd*Xd+ud*ud+Cd*Cd;0<qg&&(qg=1/Math.sqrt(qg));Xd*=qg;ud*=qg;Cd*=qg;var Cg=Xd*Xd+ud*ud+Cd*Cd,Cg=(zd*Xd+Ad*ud+Bd*Cd)/Cg;be=Xd*Cg;ze=ud*Cg;hf=Cd*Cg;var Nh=g;Nh.x=be;Nh.y=ze;Nh.z=hf;De=7}var Zj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||Zj<rd){var Nc=De&1|(De&6)<<1,rd=Zj,vj=g;Uc=vj.x;Vf=vj.y;Nb=vj.z}}if(0>pj*hc){var Vg,Wg,Xg,Oh,Yg,Zg,$g,ah,bh,Dg,Ph,Qh,Rh,Sh,Th,Sf,je,ke,le=Ob;Vg=le.x;Wg=le.y;Xg=le.z;var of=Yb;Oh=of.x;Yg=of.y;Zg=of.z;var Tf=Ib;$g=Tf.x;ah=Tf.y;bh=Tf.z;Dg=Oh-Vg;Ph=Yg-Wg;Qh=Zg-Xg;Rh=$g-Oh;Sh=ah-Yg;Th=bh-Zg;Sf=Vg-$g;je=Wg-ah;ke=Xg-bh;var Le,Od,Ud;Le=Ph*Th-Qh*Sh;Od=Qh*Rh-Dg*Th;Ud=Dg*Sh-Ph*Rh;var Uh=Vg*(Ph*Ud-Qh*Od)+Wg*(Qh*Le-Dg*Ud)+Xg*(Dg*Od-Ph*Le),Vh=Oh*(Sh*Ud-Th*Od)+Yg*(Th*Le-Rh*Ud)+Zg*(Rh*Od-Sh*Le),Bk=$g*(je*Ud-ke*Od)+ah*(ke*Le-Sf*Ud)+bh*(Sf*Od-je*Le),Af=-1,Of,Pf,Eg,wj=0;Eg=Pf=Of=0;if(0>Uh){var Wh,Xh,Yh,Zh,$h,ai,Fg=Ob;Wh=Fg.x;Xh=Fg.y;Yh=Fg.z;var xj=Yb;Zh=xj.x;$h=xj.y;ai=xj.z;var bi,ci,yj;bi=Zh-Wh;ci=$h-Xh;yj=ai-Yh;var ch=bi*Wh+ci*Xh+yj*Yh,ch=-ch/(bi*bi+ci*ci+yj*yj),fk;if(0>ch){var gk=g;gk.x=Wh;gk.y=Xh;gk.z=Yh;fk=1}else if(1<ch){var sg=g;sg.x=Zh;sg.y=$h;sg.z=ai;fk=2}else{var ak,zj,Aj;ak=Wh+bi*ch;zj=Xh+ci*ch;Aj=Yh+yj*ch;var di=g;di.x=ak;di.y=zj;di.z=Aj;fk=3}var Ck=g.x*g.x+g.y*g.y+g.z*g.z,wj=fk,Af=Ck,hk=g;Of=hk.x;Pf=hk.y;Eg=hk.z}if(0>Vh){var ei,fi,gi,hi,ii,ji,Gg=Yb;ei=Gg.x;fi=Gg.y;gi=Gg.z;var Bj=Ib;hi=Bj.x;ii=Bj.y;ji=Bj.z;var ki,li,Cj;ki=hi-ei;li=ii-fi;Cj=ji-gi;var dh=ki*ei+li*fi+Cj*gi,dh=-dh/(ki*ki+li*li+Cj*Cj),ik;if(0>dh){var jk=g;jk.x=ei;jk.y=fi;jk.z=gi;ik=1}else if(1<dh){var gj=g;gj.x=hi;gj.y=ii;gj.z=ji;ik=2}else{var Hk,Dj,Ej;Hk=ei+ki*dh;Dj=fi+li*dh;Ej=gi+Cj*dh;var mi=g;mi.x=Hk;mi.y=Dj;mi.z=Ej;ik=3}var Ik=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Af||Ik<Af){var wj=ik<<1,Af=Ik,kk=g;Of=kk.x;Pf=kk.y;Eg=kk.z}}if(0>Bk){var ni,oi,pi,qi,ri,si,Hg=Ob;ni=Hg.x;oi=Hg.y;pi=Hg.z;var ti=Ib;qi=ti.x;ri=ti.y;si=ti.z;var ui,vi,Fj;ui=qi-ni;vi=ri-oi;Fj=si-pi;var eh=ui*ni+vi*oi+Fj*pi,eh=-eh/(ui*ui+vi*vi+Fj*Fj),Gj;if(0>eh){var lk=g;lk.x=ni;lk.y=oi;lk.z=pi;Gj=1}else if(1<eh){var Jk=g;Jk.x=qi;Jk.y=ri;Jk.z=si;Gj=2}else{var Kk,mk,Lk;Kk=ni+ui*eh;mk=oi+vi*eh;Lk=pi+Fj*eh;var fh=g;fh.x=Kk;fh.y=mk;fh.z=Lk;Gj=3}var Hj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Af||Hj<Af){var wj=Gj&1|(Gj&2)<<1,Af=Hj,nk=g;Of=nk.x;Pf=nk.y;Eg=nk.z}}var ok;if(0<Af){var pk=g;pk.x=Of;pk.y=Pf;pk.z=Eg;ok=wj}else{var rg=Le*Le+Od*Od+Ud*Ud;0<rg&&(rg=1/Math.sqrt(rg));Le*=rg;Od*=rg;Ud*=rg;var Ig=Le*Le+Od*Od+Ud*Ud,Ig=(Vg*Le+Wg*Od+Xg*Ud)/Ig;Of=Le*Ig;Pf=Od*Ig;Eg=Ud*Ig;var wi=g;wi.x=Of;wi.y=Pf;wi.z=Eg;ok=7}var qk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||qk<rd){var Nc=ok&3|(ok&4)<<1,rd=qk,Ij=g;Uc=Ij.x;Vf=Ij.y;Nb=Ij.z}}if(0>ed*hc){var gh,hh,ih,xi,jh,kh,lh,mh,nh,Jg,yi,zi,Ai,Bi,Ci,rk,me,ne,oe=Yb;gh=oe.x;hh=oe.y;ih=oe.z;var hj=gc;xi=hj.x;jh=hj.y;kh=hj.z;var ij=Ib;lh=ij.x;mh=ij.y;nh=ij.z;Jg=xi-gh;yi=jh-hh;zi=kh-ih;Ai=lh-xi;Bi=mh-jh;Ci=nh-kh;rk=gh-lh;me=hh-mh;ne=ih-nh;var Me,Pd,Vd;Me=yi*Ci-zi*Bi;Pd=zi*Ai-Jg*Ci;Vd=Jg*Bi-yi*Ai;var Di=gh*(yi*Vd-zi*Pd)+hh*(zi*Me-Jg*Vd)+ih*(Jg*Pd-yi*Me),Ei=xi*(Bi*Vd-Ci*Pd)+jh*(Ci*Me-Ai*Vd)+kh*(Ai*Pd-Bi*Me),Mk=lh*(me*Vd-ne*Pd)+mh*(ne*Me-rk*Vd)+nh*(rk*Pd-me*Me),Bf=-1,Qf,Rf,Kg,Jj=0;Kg=Rf=Qf=0;if(0>Di){var Fi,Gi,Hi,Ii,Ji,Ki,Lg=Yb;Fi=Lg.x;Gi=Lg.y;Hi=Lg.z;var Kj=gc;Ii=Kj.x;Ji=Kj.y;Ki=Kj.z;var Li,Mi,Lj;Li=Ii-Fi;Mi=Ji-Gi;Lj=Ki-Hi;var oh=Li*Fi+Mi*Gi+Lj*Hi,oh=-oh/(Li*Li+Mi*Mi+Lj*Lj),sk;if(0>oh){var tk=g;tk.x=Fi;tk.y=Gi;tk.z=Hi;sk=1}else if(1<oh){var jj=g;jj.x=Ii;jj.y=Ji;jj.z=Ki;sk=2}else{var Nk,Mj,Nj;Nk=Fi+Li*oh;Mj=Gi+Mi*oh;Nj=Hi+Lj*oh;var Ni=g;Ni.x=Nk;Ni.y=Mj;Ni.z=Nj;sk=3}var Dk=g.x*g.x+g.y*g.y+g.z*g.z,Jj=sk,Bf=Dk,uk=g;Qf=uk.x;Rf=uk.y;Kg=uk.z}if(0>Ei){var Oi,Pi,Qi,Ri,Si,Ti,Mg=gc;Oi=Mg.x;Pi=Mg.y;Qi=Mg.z;var Oj=Ib;Ri=Oj.x;Si=Oj.y;Ti=Oj.z;var Ui,Vi,Pj;Ui=Ri-Oi;Vi=Si-Pi;Pj=Ti-Qi;var ph=Ui*Oi+Vi*Pi+Pj*Qi,ph=-ph/(Ui*Ui+Vi*Vi+Pj*Pj),vk;if(0>ph){var wk=g;wk.x=Oi;wk.y=Pi;wk.z=Qi;vk=1}else if(1<ph){var Ok=g;Ok.x=Ri;Ok.y=Si;Ok.z=Ti;vk=2}else{var Pk,Qj,Rj;Pk=Oi+Ui*ph;Qj=Pi+Vi*ph;Rj=Qi+Pj*ph;var Wi=g;Wi.x=Pk;Wi.y=Qj;Wi.z=Rj;vk=3}var Qk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Bf||Qk<Bf){var Jj=vk<<1,Bf=Qk,xk=g;Qf=xk.x;Rf=xk.y;Kg=xk.z}}if(0>Mk){var Xi,Yi,Zi,$i,aj,bj,Ng=Yb;Xi=Ng.x;Yi=Ng.y;Zi=Ng.z;var cj=Ib;$i=cj.x;aj=cj.y;bj=cj.z;var dj,ej,Sj;dj=$i-Xi;ej=aj-Yi;Sj=bj-Zi;var qh=dj*Xi+ej*Yi+Sj*Zi,qh=-qh/(dj*dj+ej*ej+Sj*Sj),Tj;if(0>qh){var yk=g;yk.x=Xi;yk.y=Yi;yk.z=Zi;Tj=1}else if(1<qh){var Rk=g;Rk.x=$i;Rk.y=aj;Rk.z=bj;Tj=2}else{var Sk,Tk,Uk;Sk=Xi+dj*qh;Tk=Yi+ej*qh;Uk=Zi+Sj*qh;var rh=g;rh.x=Sk;rh.y=Tk;rh.z=Uk;Tj=3}var Uj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Bf||Uj<Bf){var Jj=Tj&1|(Tj&2)<<1,Bf=Uj,zk=g;Qf=zk.x;Rf=zk.y;Kg=zk.z}}var Vk;if(0<Bf){var Ak=g;Ak.x=Qf;Ak.y=Rf;Ak.z=Kg;Vk=Jj}else{var sh=Me*Me+Pd*Pd+Vd*Vd;0<sh&&(sh=1/Math.sqrt(sh));Me*=sh;Pd*=sh;Vd*=sh;var Vj=Me*Me+Pd*Pd+Vd*Vd,Vj=(gh*Me+hh*Pd+ih*Vd)/Vj;Qf=Me*Vj;Rf=Pd*Vj;Kg=Vd*Vj;var th=g;th.x=Qf;th.y=Rf;th.z=Kg;Vk=7}var bk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||bk<rd){var Nc=Vk<<1,rd=bk,lj=g;Uc=lj.x;Vf=lj.y;Nb=lj.z}}if(0<rd){var Wj=g;Wj.x=Uc;Wj.y=Vf;Wj.z=Nb;zb=Nc}else g.O(),zb=15}this.zm(zb);if(1E-8>g.x*g.x+g.y*g.y+g.z*g.z){if(!D||4==this.ya){h.fraction=D;break}this.im();h.fraction=D;var Xj=h.normal;Xj.x=k.x;Xj.y=k.y;Xj.z=k.z;var ce=Xj,uh=Math.sqrt(ce.x*ce.x+ce.y*ce.y+ce.z*ce.z);0<uh&&(uh=1/uh);var Ek=ce.y*uh,Fk=ce.z*uh;ce.x=ce.x*uh;ce.y=Ek;ce.z=Fk;var Yj=h.position,nj=this.closestPoint1;Yj.x=nj.x;Yj.y=nj.y;Yj.z=nj.z;var Wk=Yj,kl=Wk.y+c.y*D,ll=Wk.z+c.z*D;Wk.x+=c.x*D;Wk.y=kl;Wk.z=ll;return!0}k.x=g.x;k.y=g.y;k.z=g.z;var Xk=k,ml=-Xk.y,nl=-Xk.z;Xk.x=-Xk.x;Xk.y=ml;Xk.z=nl;if(null!=this.hj)this.pf(!0);else{var zl=this.gb[this.ya];zl.x=this.pc.v;zl.y=this.pc.A;zl.z=this.pc.B}this.qf(!0);var jl=this.Oa[this.ya],Al=this.gb[this.ya];jl.x=Al.x;jl.y=Al.y;jl.z=Al.z;var Yk=jl,Bl=this.ob[this.ya],ol=Yk.y-Bl.y,pl=Yk.z-Bl.z;Yk.x=Yk.x-Bl.x;Yk.y=ol;Yk.z=pl;var Zk=l[this.ya],Sl=Zk.y-t.y,Tl=Zk.z-t.z;Zk.x=Zk.x-t.x;Zk.y=Sl;Zk.z=Tl;if(1E-8>k.x*k.x+k.y*k.y+k.z*k.z)throw Error("!?");var Cl=l[this.ya],fj=k,Il=Cl.x*fj.x+Cl.y*fj.y+Cl.z*fj.z;if(0>Il){if(0<=z.x*fj.x+z.y*fj.y+z.z*fj.z)break;var gl=Il/(z.x*fj.x+z.y*fj.y+z.z*fj.z),D=D+gl;if(1<=D)break;var Ul=t.y+z.y*gl,Vl=t.z+z.z*gl;t.x=t.x+z.x*gl;t.y=Ul;t.z=Vl;for(var Jl=0,Wl=this.ya+1;Jl<Wl;){var Xl=Jl++,$k=l[Xl],Dl=-gl,Yl=$k.y+z.y*Dl,Zl=$k.z+z.z*Dl;$k.x=$k.x+z.x*Dl;$k.y=Yl;$k.z=Zl}}for(var Kl=!1,Ll=0,$l=this.ya;Ll<$l;){var El=Ll++,Ml=l[El].x-l[this.ya].x,Nl=l[El].y-l[this.ya].y,Ol=l[El].z-l[this.ya].z;if(1E-8>Ml*Ml+Nl*Nl+Ol*Ol){Kl=!0;break}}Kl||this.ya++;++u}return!1},im:function(){switch(this.ya){case 1:var a=this.closestPoint1,b=this.gb[0];a.x=b.x;a.y=b.y;a.z=b.z;var e=this.closestPoint2,d=this.ob[0];e.x=d.x;e.y=d.y;e.z=d.z;break;case 2:var c,f,h,l=this.closest;c=l.x;f=l.y;h=l.z;var g,k,m,n,q,p,r,v,aa,w,A,u,D,t,z,E,x,zb,N=this.Oa[0];g=N.x;k=N.y;m=N.z;var G=this.gb[0];n=G.x;q=G.y;p=G.z;var F=this.ob[0];r=F.x;v=F.y;aa=F.z;var C=this.Oa[1];w=C.x;A=C.y;u=C.z;var O=this.gb[1];D=O.x;t=O.y;z=O.z;var ha=this.ob[1];E=ha.x;x=ha.y;zb=ha.z;var L,Vb,M;L=w-g;Vb=A-k;M=u-m;var ka=L*L+Vb*Vb+M*M;ka&&(ka=1/ka);var bb=((c-g)*L+(f-k)*Vb+(h-m)*M)*ka,U,R,lc,Na,Ra,yc,Pa,Ba,Hb;U=D-n;R=t-q;lc=z-p;Na=n+U*bb;Ra=q+R*bb;yc=p+lc*bb;U=E-r;R=x-v;lc=zb-aa;Pa=r+U*bb;Ba=v+R*bb;Hb=aa+lc*bb;var J=this.closestPoint1;J.x=Na;J.y=Ra;J.z=yc;var Qa=this.closestPoint2;Qa.x=Pa;Qa.y=Ba;Qa.z=Hb;break;case 3:var ba,Q,P,xa=this.closest;ba=xa.x;Q=xa.y;P=xa.z;var ta,W,pa,y,Ia,ca,Ea,ya,Fa,Sa,la,Z,Ga,ra,va,I,La,Wa,S,Xa,T,K,ia,gb,da,Hc,sa,fb=this.Oa[0];ta=fb.x;W=fb.y;pa=fb.z;var kb=this.gb[0];y=kb.x;Ia=kb.y;ca=kb.z;var Ya=this.ob[0];Ea=Ya.x;ya=Ya.y;Fa=Ya.z;var ma=this.Oa[1];Sa=ma.x;la=ma.y;Z=ma.z;var oa=this.gb[1];Ga=oa.x;ra=oa.y;va=oa.z;var Ja=this.ob[1];I=Ja.x;La=Ja.y;Wa=Ja.z;var Ha=this.Oa[2];S=Ha.x;Xa=Ha.y;T=Ha.z;var ob=this.gb[2];K=ob.x;ia=ob.y;gb=ob.z;var fa=this.ob[2];da=fa.x;Hc=fa.y;sa=fa.z;var ea,ja,cb,Aa,sb,Ua,qb,rb,ub;ea=Sa-ta;ja=la-W;cb=Z-pa;Aa=S-ta;sb=Xa-W;Ua=T-pa;qb=ba-ta;rb=Q-W;ub=P-pa;var Va=ea*ea+ja*ja+cb*cb,xb=ea*Aa+ja*sb+cb*Ua,rc=Aa*Aa+sb*sb+Ua*Ua,Za=ea*qb+ja*rb+cb*ub,ua=Aa*qb+sb*rb+Ua*ub,Qb=Va*rc-xb*xb;Qb&&(Qb=1/Qb);var H=(Za*rc-ua*xb)*Qb,pb=(-Za*xb+ua*Va)*Qb,db,oc,$a,hb,B,Db,fe,Tc,Fb;db=Ga-y;oc=ra-Ia;$a=va-ca;hb=y+db*H;B=Ia+oc*H;Db=ca+$a*H;db=K-y;oc=ia-Ia;$a=gb-ca;hb+=db*pb;B+=oc*pb;Db+=$a*pb;db=I-Ea;oc=La-ya;$a=Wa-Fa;fe=Ea+db*H;Tc=ya+oc*H;Fb=Fa+$a*H;db=da-Ea;oc=Hc-ya;$a=sa-Fa;fe+=db*pb;Tc+=oc*pb;Fb+=$a*pb;var Oa=this.closestPoint1;Oa.x=hb;Oa.y=B;Oa.z=Db;var nb=this.closestPoint2;nb.x=fe;nb.y=Tc;nb.z=Fb;break;default:throw Error("!?");}},Cn:function(a){var b=this.dir;a=a.ql;b.x=a.x;b.y=a.y;b.z=a.z},In:function(a){a=a.ql;var b=this.closest;a.x=b.x;a.y=b.y;a.z=b.z;var b=-a.y,e=-a.z;a.x=-a.x;a.y=b;a.z=e},zm:function(a){this.ya=a;this.ya=(this.ya&5)+(this.ya>>1&5);this.ya=(this.ya&3)+(this.ya>>2&3);switch(a){case 2:a=this.Oa[0];var b=this.Oa[1];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[1];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[1];a.x=b.x;a.y=b.y;a.z=b.z;break;case 4:a=this.Oa[0];b=this.Oa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 5:a=this.Oa[1];b=this.Oa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[1];b=this.gb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[1];b=this.ob[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 6:a=this.Oa[0];b=this.Oa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 8:a=this.Oa[0];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 9:a=this.Oa[1];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[1];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[1];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 10:a=this.Oa[0];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 11:a=this.Oa[2];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[2];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[2];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 12:a=this.Oa[0];b=this.Oa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[0];b=this.gb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[0];b=this.ob[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.Oa[1];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[1];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[1];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 13:a=this.Oa[1];b=this.Oa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.gb[1];b=this.gb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.ob[1];b=this.ob[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 14:a=this.Oa[0],b=this.Oa[3],a.x=b.x,a.y=b.y,a.z=b.z,a=this.gb[0],b=this.gb[3],a.x=b.x,a.y=b.y,a.z=b.z,a=this.ob[0],b=this.ob[3],a.x=b.x,a.y=b.y,a.z=b.z}},pf:function(a){var b,e,d,c,f,h;h=this.dir;c=h.x;f=h.y;h=h.z;var l;e=this.pc.o*c+this.pc.i*f+this.pc.l*h;l=this.pc.f*c+this.pc.m*f+this.pc.g*h;b=this.pc.h*c+this.pc.j*f+this.pc.s*h;d=this.dir;d.x=e;d.y=l;d.z=b;this.hj.Ld(this.dir,this.gb[this.ya]);a&&(a=this.dir,b=Math.sqrt(a.x*a.x+a.y*a.y+a.z*a.z),0<b&&(b=1/b),e=a.y*b,l=a.z*b,a.x=a.x*b,a.y=e,a.z=l,a=this.gb[this.ya],b=this.dir,e=this.hj.fc,l=a.y+b.y*e,d=a.z+b.z*e,a.x+=b.x*e,a.y=l,a.z=d);a=this.gb[this.ya];b=a.x;e=a.y;d=a.z;l=this.pc.o*b+this.pc.f*e+this.pc.h*d;a=this.pc.i*b+this.pc.m*e+this.pc.j*d;e=this.pc.l*b+this.pc.g*e+this.pc.s*d;b=l+this.pc.v;a+=this.pc.A;e+=this.pc.B;l=this.gb[this.ya];l.x=b;l.y=a;l.z=e;a=this.dir;a.x=c;a.y=f;a.z=h},qf:function(a){var b,e,d,c,f,h;h=this.dir;c=h.x;f=h.y;h=h.z;var l;b=this.Gc.o*c+this.Gc.i*f+this.Gc.l*h;e=this.Gc.f*c+this.Gc.m*f+this.Gc.g*h;l=this.Gc.h*c+this.Gc.j*f+this.Gc.s*h;d=this.dir;d.x=-b;d.y=-e;d.z=-l;this.Sk.Ld(this.dir,this.ob[this.ya]);a&&(a=this.dir,b=Math.sqrt(a.x*a.x+a.y*a.y+a.z*a.z),0<b&&(b=1/b),e=a.y*b,l=a.z*b,a.x=a.x*b,a.y=e,a.z=l,a=this.ob[this.ya],b=this.dir,e=this.Sk.fc,l=a.y+b.y*e,d=a.z+b.z*e,a.x+=b.x*e,a.y=l,a.z=d);a=this.ob[this.ya];b=a.x;e=a.y;d=a.z;l=this.Gc.o*b+this.Gc.f*e+this.Gc.h*d;a=this.Gc.i*b+this.Gc.m*e+this.Gc.j*d;e=this.Gc.l*b+this.Gc.g*e+this.Gc.s*d;b=l+this.Gc.v;a+=this.Gc.A;e+=this.Gc.B;l=this.ob[this.ya];l.x=b;l.y=a;l.z=e;a=this.dir;a.x=c;a.y=f;a.z=h},En:function(){for(var a=0;3>a;){var b=a++,e=this.dir,b=this.fj[b];e.x=b.x;e.y=b.y;e.z=b.z;this.pf(!1);this.qf(!1);e=this.Oa[this.ya];b=this.gb[this.ya];e.x=b.x;e.y=b.y;e.z=b.z;var b=this.ob[this.ya],d=e.y-b.y,c=e.z-b.z;e.x=e.x-b.x;e.y=d;e.z=c;this.ya++;this.ml();if(4==this.ya)break;this.ya--;e=this.dir;b=-e.y;d=-e.z;e.x=-e.x;e.y=b;e.z=d;this.pf(!1);this.qf(!1);e=this.Oa[this.ya];b=this.gb[this.ya];e.x=b.x;e.y=b.y;e.z=b.z;b=this.ob[this.ya];d=e.y-b.y;c=e.z-b.z;e.x=e.x-b.x;e.y=d;e.z=c;this.ya++;this.ml();if(4==this.ya)break;this.ya--}},ml:function(){var a,b,e;e=this.dir;a=e.x;b=e.y;e=e.z;var d,c,f,h,l,g;f=this.Oa[0];d=f.x;c=f.y;f=f.z;g=this.Oa[1];h=g.x;l=g.y;g=g.z;d-=h;c-=l;f-=g;for(l=0;3>l;){g=l++;var k,m;g=this.fj[g];h=g.x;k=g.y;m=g.z;g=c*m-f*k;m=f*h-d*m;h=d*k-c*h;k=this.dir;k.x=g;k.y=m;k.z=h;this.pf(!1);this.qf(!1);g=this.Oa[this.ya];h=this.gb[this.ya];g.x=h.x;g.y=h.y;g.z=h.z;h=this.ob[this.ya];k=g.y-h.y;m=g.z-h.z;g.x=g.x-h.x;g.y=k;g.z=m;this.ya++;this.tl();if(4==this.ya)break;this.ya--;g=this.dir;h=-g.y;k=-g.z;g.x=-g.x;g.y=h;g.z=k;this.pf(!1);this.qf(!1);g=this.Oa[this.ya];h=this.gb[this.ya];g.x=h.x;g.y=h.y;g.z=h.z;h=this.ob[this.ya];k=g.y-h.y;m=g.z-h.z;g.x=g.x-h.x;g.y=k;g.z=m;this.ya++;this.tl();if(4==this.ya)break;this.ya--}d=this.dir;d.x=a;d.y=b;d.z=e},tl:function(){var a,b,e;e=this.dir;a=e.x;b=e.y;for(e=e.z;;){var d,c,f,h,l,g,k,m,n;f=this.Oa[0];d=f.x;c=f.y;f=f.z;m=this.Oa[1];h=m.x;l=m.y;g=m.z;n=this.Oa[2];k=n.x;m=n.y;n=n.z;h-=d;l-=c;g-=f;d=k-d;c=m-c;m=n-f;f=l*m-g*c;m=g*d-h*m;c=h*c-l*d;h=this.dir;h.x=f;h.y=m;h.z=c;this.pf(!1);this.qf(!1);c=this.Oa[this.ya];f=this.gb[this.ya];c.x=f.x;c.y=f.y;c.z=f.z;f=this.ob[this.ya];h=c.y-f.y;d=c.z-f.z;c.x=c.x-f.x;c.y=h;c.z=d;this.ya++;if(this.jm())break;this.ya--;c=this.dir;f=-c.y;h=-c.z;c.x=-c.x;c.y=f;c.z=h;this.pf(!1);this.qf(!1);c=this.Oa[this.ya];f=this.gb[this.ya];c.x=f.x;c.y=f.y;c.z=f.z;f=this.ob[this.ya];h=c.y-f.y;d=c.z-f.z;c.x=c.x-f.x;c.y=h;c.z=d;this.ya++;if(this.jm())break;this.ya--;break}c=this.dir;c.x=a;c.y=b;c.z=e},jm:function(){var a=this.Oa[2].x-this.Oa[0].x,b=this.Oa[2].y-this.Oa[0].y,e=this.Oa[2].z-this.Oa[0].z,d=this.Oa[3].x-this.Oa[0].x,c=this.Oa[3].y-this.Oa[0].y,f=this.Oa[3].z-this.Oa[0].z,a=(this.Oa[1].x-this.Oa[0].x)*(b*f-e*c)-(this.Oa[1].y-this.Oa[0].y)*(a*f-e*d)+(this.Oa[1].z-this.Oa[0].z)*(a*c-b*d);return 1E-12<a?!0:-1E-12>a},Zm:function(a,b,e,d,c,f,h){for(var l=this.Fg;0<l.ah;){var g=l.Vc;l.ah--;var k=g.ia,m=g.M;null!=k&&(k.M=m);null!=m&&(m.ia=k);g==l.Vc&&(l.Vc=l.Vc.M);g==l.Fc&&(l.Fc=l.Fc.ia);g.M=null;g.ia=null;g.$j();g.M=l.ve;l.ve=g}if(null!=l.Vc)throw Error("assertion error: _triangleList == null is false");if(null!=l.Fc)throw Error("assertion error: _triangleListLast == null is false");for(;0<l.Ae;){var n=l.yb[--l.Ae];n.$j();n.M=l.Re;l.Re=n}var q=this.Fg,p=this.Fg,r=p.Re;null!=r?(p.Re=r.M,r.M=null):r=new Dc;var v=r.za(c[0],f[0],h[0]),aa=this.Fg,w=aa.Re;null!=w?(aa.Re=w.M,w.M=null):w=new Dc;var A=w.za(c[1],f[1],h[1]),u=this.Fg,D=u.Re;null!=D?(u.Re=D.M,D.M=null):D=new Dc;var t=D.za(c[2],f[2],h[2]),z=this.Fg,E=z.Re;null!=E?(z.Re=E.M,E.M=null):E=new Dc;if(!q.Vg(v,A,t,E.za(c[3],f[3],h[3])))return Pb.EPA_FAILED_TO_INIT;this.ya=0;for(var x=this.Oa[0],zb=this.gb[0],N=this.ob[0],G=0;40>G;){for(var F=this.Fg.Vc,C=1/0,O=null;null!=F;){var ha=F.M;F.Ej<C&&(C=F.Ej,O=F);F=ha}var L=O,M=this.dir,na=L.Lj;M.x=na.x;M.y=na.y;M.z=na.z;var ka=M,bb=Math.sqrt(ka.x*ka.x+ka.y*ka.y+ka.z*ka.z);0<bb&&(bb=1/bb);var U=ka.y*bb,R=ka.z*bb;ka.x=ka.x*bb;ka.y=U;ka.z=R;this.pf(!1);this.qf(!1);var lc=this.Oa[this.ya],Na=this.gb[this.ya];lc.x=Na.x;lc.y=Na.y;lc.z=Na.z;var Ra=lc,yc=this.ob[this.ya],Pa=Ra.y-yc.y,Ba=Ra.z-yc.z;Ra.x=Ra.x-yc.x;Ra.y=Pa;Ra.z=Ba;var Hb=L.yb[0],J=L.yb[1],Qa=L.yb[2],ba=Hb.ud,Q=this.dir,P=this.dir;if(1E-6>x.x*P.x+x.y*P.y+x.z*P.z-(ba.x*Q.x+ba.y*Q.y+ba.z*Q.z)||39==G){var xa=this.closest,ta=this.dir;xa.x=ta.x;xa.y=ta.y;xa.z=ta.z;var W=xa,pa=this.dir,y=Hb.ud,Ia=this.dir,ca=(pa.x*y.x+pa.y*y.y+pa.z*y.z)/(Ia.x*Ia.x+Ia.y*Ia.y+Ia.z*Ia.z),Ea=W.y*ca,ya=W.z*ca;W.x=W.x*ca;W.y=Ea;W.z=ya;var Fa,Sa,la,Z=this.closest;Fa=Z.x;Sa=Z.y;la=Z.z;var Ga,ra,va,I,La,Wa,S,Xa,T,K,ia,gb,da,Hc,sa,fb,kb,Ya,ma,oa,Ja,Ha,ob,fa,ea,ja,cb,Aa=Hb.ud;Ga=Aa.x;ra=Aa.y;va=Aa.z;var sb=Hb.gb;I=sb.x;La=sb.y;Wa=sb.z;var Ua=Hb.ob;S=Ua.x;Xa=Ua.y;T=Ua.z;var qb=J.ud;K=qb.x;ia=qb.y;gb=qb.z;var rb=J.gb;da=rb.x;Hc=rb.y;sa=rb.z;var ub=J.ob;fb=ub.x;kb=ub.y;Ya=ub.z;var Va=Qa.ud;ma=Va.x;oa=Va.y;Ja=Va.z;var xb=Qa.gb;Ha=xb.x;ob=xb.y;fa=xb.z;var rc=Qa.ob;ea=rc.x;ja=rc.y;cb=rc.z;var Za,ua,Qb,H,pb,db,oc,$a,hb;Za=K-Ga;ua=ia-ra;Qb=gb-va;H=ma-Ga;pb=oa-ra;db=Ja-va;oc=Fa-Ga;$a=Sa-ra;hb=la-va;var B=Za*Za+ua*ua+Qb*Qb,Db=Za*H+ua*pb+Qb*db,fe=H*H+pb*pb+db*db,Tc=Za*oc+ua*$a+Qb*hb,Fb=H*oc+pb*$a+db*hb,Oa=B*fe-Db*Db;Oa&&(Oa=1/Oa);var nb=(Tc*fe-Fb*Db)*Oa,vb=(-Tc*Db+Fb*B)*Oa,yb,eb,Y,Ma,lb,Ta,ib,Ka,Jb;yb=da-I;eb=Hc-La;Y=sa-Wa;Ma=I+yb*nb;lb=La+eb*nb;Ta=Wa+Y*nb;yb=Ha-I;eb=ob-La;Y=fa-Wa;Ma+=yb*vb;lb+=eb*vb;Ta+=Y*vb;yb=fb-S;eb=kb-Xa;Y=Ya-T;ib=S+yb*nb;Ka=Xa+eb*nb;Jb=T+Y*nb;yb=ea-S;eb=ja-Xa;Y=cb-T;ib+=yb*vb;Ka+=eb*vb;Jb+=Y*vb;var ga=this.closestPoint1;ga.x=Ma;ga.y=lb;ga.z=Ta;var X=this.closestPoint2;X.x=ib;X.y=Ka;X.z=Jb;var Cb=this.closest;this.depth=Math.sqrt(Cb.x*Cb.x+Cb.y*Cb.y+Cb.z*Cb.z);return Pb.SUCCEEDED}var hd=this.Fg,Cc=hd.Re;null!=Cc?(hd.Re=Cc.M,Cc.M=null):Cc=new Dc;var qa=Cc.za(x,zb,N);if(!this.Fg.Im(qa,L))return Pb.EPA_FAILED_TO_ADD_VERTEX;++G}return Pb.EPA_DID_NOT_CONVERGE},Pa:function(a,b,e,d,c){return this.kj(a,b,e,d,c,!0)},ab:function(a,b,e,d,c){return this.kj(a,b,e,d,c,!1)},rf:function(a,b,e,d,c,f,h){return this.Vl(a,b,e,d,c,f,h)},Sd:function(a,b,e,d,c){var f=this.Mn;f.v=e.x;f.A=e.y;f.B=e.z;var h=this.Nn,l=this.On;h.x=d.x;h.y=d.y;h.z=d.z;d=h.y-e.y;var g=h.z-e.z;h.x=h.x-e.x;h.y=d;h.z=g;l.O();return this.Vl(null,a,f,b,h,l,c)},qa:Zb};Pb.R=!0;dd.R=!0;dd.bd=function(a,b,e){var d,c,f,h;d=a.x;c=a.y;a=a.z;f=b.x;h=b.y;b=b.z;var l,g,k;l=f-d;g=h-c;k=b-a;var m;m=-(l*d+g*c+k*a)/(l*l+g*g+k*k);if(0>m)return e.x=d,e.y=c,e.z=a,1;if(1<m)return e.x=f,e.y=h,e.z=b,2;e.x=d+l*m;e.y=c+g*m;e.z=a+k*m;return 3};dd.cd=function(a,b,e,d){var c,f,h,l,g,k,m,n,q,p,r,v,aa,w,A,u,D,t;c=a.x;f=a.y;h=a.z;l=b.x;g=b.y;k=b.z;m=e.x;n=e.y;q=e.z;p=l-c;r=g-f;v=k-h;aa=m-l;w=n-g;A=q-k;u=c-m;D=f-n;t=h-q;var z,E,x;z=r*A-v*w;E=v*aa-p*A;x=p*w-r*aa;var zb=-1,N,G,F,C=0;F=G=N=0;if(0>c*(r*x-v*E)+f*(v*z-p*x)+h*(p*E-r*z)){var L;p=a.x;zb=a.y;N=a.z;r=b.x;v=b.y;L=b.z;var ha;ha=r-p;F=v-zb;G=L-N;C=-(ha*p+F*zb+G*N)/(ha*ha+F*F+G*G);0>C?(d.x=p,d.y=zb,d.z=N,G=1):1<C?(d.x=r,d.y=v,d.z=L,G=2):(p+=ha*C,zb+=F*C,N+=G*C,d.x=p,d.y=zb,d.z=N,G=3);N=d.x*d.x+d.y*d.y+d.z*d.z;C=G;zb=N;N=d.x;G=d.y;F=d.z}0>l*(w*x-A*E)+g*(A*z-aa*x)+k*(aa*E-w*z)&&(aa=b.x,l=b.y,b=b.z,A=e.x,p=e.y,r=e.z,v=A-aa,w=p-l,g=r-b,k=-(v*aa+w*l+g*b)/(v*v+w*w+g*g),0>k?(d.x=aa,d.y=l,d.z=b,b=1):1<k?(d.x=A,d.y=p,d.z=r,b=2):(aa+=v*k,l+=w*k,b+=g*k,d.x=aa,d.y=l,d.z=b,b=3),l=d.x*d.x+d.y*d.y+d.z*d.z,0>zb||l<zb)&&(C=b<<1,zb=l,N=d.x,G=d.y,F=d.z);0>m*(D*x-t*E)+n*(t*z-u*x)+q*(u*E-D*z)&&(n=a.x,m=a.y,a=a.z,u=e.x,D=e.y,b=e.z,l=u-n,t=D-m,e=b-a,q=-(l*n+t*m+e*a)/(l*l+t*t+e*e),0>q?(d.x=n,d.y=m,d.z=a,e=1):1<q?(d.x=u,d.y=D,d.z=b,e=2):(n+=l*q,m+=t*q,e=a+e*q,d.x=n,d.y=m,d.z=e,e=3),a=d.x*d.x+d.y*d.y+d.z*d.z,0>zb||a<zb)&&(C=e&1|(e&2)<<1,zb=a,N=d.x,G=d.y,F=d.z);if(0<zb)return d.x=N,d.y=G,d.z=F,C;e=z*z+E*E+x*x;0<e&&(e=1/Math.sqrt(e));z*=e;E*=e;x*=e;c=(c*z+f*E+h*x)/(z*z+E*E+x*x);N=z*c;G=E*c;F=x*c;d.x=N;d.y=G;d.z=F;return 7};dd.Pd=function(a,b,e,d,c){var f,h,l,g,k,m,n,q,p,r,v,t,w,A,u,D,V,z,E,x,zb,N,G,F,C,L,ha;f=a.x;h=a.y;l=a.z;g=b.x;k=b.y;m=b.z;n=e.x;q=e.y;p=e.z;r=d.x;v=d.y;t=d.z;w=g-f;A=k-h;u=m-l;D=n-f;V=q-h;z=p-l;E=r-f;x=v-h;zb=t-l;N=n-g;G=q-k;F=p-m;C=r-g;L=v-k;ha=t-m;var O,M,na,ka,bb,U,R,lc,Na,Ra,yc,Pa;O=A*z-u*V;M=u*D-w*z;na=w*V-A*D;ka=V*zb-z*x;bb=z*E-D*zb;U=D*x-V*E;R=x*u-zb*A;lc=zb*w-E*u;Na=E*A-x*w;Ra=L*F-ha*G;yc=ha*N-C*F;Pa=C*G-L*N;var Ba=0<w*Ra+A*yc+u*Pa?1:-1,Hb=f*O+h*M+l*na,J=f*ka+h*bb+l*U,Qa=f*R+h*lc+l*Na,ba=g*Ra+k*yc+m*Pa,Q=-1,P,xa,ta,W=0;ta=xa=P=0;if(0>Hb*Ba){var pa,y,Ia,ca,Ea,ya,Fa,Sa,la,Z,Ga,ra,va,I,La,Wa,S,Xa;pa=a.x;y=a.y;Ia=a.z;ca=b.x;Ea=b.y;ya=b.z;Fa=e.x;Sa=e.y;la=e.z;Z=ca-pa;Ga=Ea-y;ra=ya-Ia;va=Fa-ca;I=Sa-Ea;La=la-ya;Wa=pa-Fa;S=y-Sa;Xa=Ia-la;var T,K,ia;T=Ga*La-ra*I;K=ra*va-Z*La;ia=Z*I-Ga*va;var gb=pa*(Ga*ia-ra*K)+y*(ra*T-Z*ia)+Ia*(Z*K-Ga*T),da=ca*(I*ia-La*K)+Ea*(La*T-va*ia)+ya*(va*K-I*T),Hc=Fa*(S*ia-Xa*K)+Sa*(Xa*T-Wa*ia)+la*(Wa*K-S*T),sa=-1,fb,kb,Ya,ma=0;Ya=kb=fb=0;if(0>gb){var oa,Ja,Ha,ob,fa,ea;oa=a.x;Ja=a.y;Ha=a.z;ob=b.x;fa=b.y;ea=b.z;var ja,cb,Aa;ja=ob-oa;cb=fa-Ja;Aa=ea-Ha;var sb=ja*oa+cb*Ja+Aa*Ha,sb=-sb/(ja*ja+cb*cb+Aa*Aa),Ua;if(0>sb)c.x=oa,c.y=Ja,c.z=Ha,Ua=1;else if(1<sb)c.x=ob,c.y=fa,c.z=ea,Ua=2;else{var qb,rb,ub;qb=oa+ja*sb;rb=Ja+cb*sb;ub=Ha+Aa*sb;c.x=qb;c.y=rb;c.z=ub;Ua=3}var Va=c.x*c.x+c.y*c.y+c.z*c.z,ma=Ua,sa=Va;fb=c.x;kb=c.y;Ya=c.z}if(0>da){var xb,rc,Za,ua,Qb,H;xb=b.x;rc=b.y;Za=b.z;ua=e.x;Qb=e.y;H=e.z;var pb,db,oc;pb=ua-xb;db=Qb-rc;oc=H-Za;var $a=pb*xb+db*rc+oc*Za,$a=-$a/(pb*pb+db*db+oc*oc),hb;if(0>$a)c.x=xb,c.y=rc,c.z=Za,hb=1;else if(1<$a)c.x=ua,c.y=Qb,c.z=H,hb=2;else{var B,Db,ga;B=xb+pb*$a;Db=rc+db*$a;ga=Za+oc*$a;c.x=B;c.y=Db;c.z=ga;hb=3}var Tc=c.x*c.x+c.y*c.y+c.z*c.z;if(0>sa||Tc<sa)ma=hb<<1,sa=Tc,fb=c.x,kb=c.y,Ya=c.z}if(0>Hc){var Fb,Oa,nb,vb,yb,eb;Fb=a.x;Oa=a.y;nb=a.z;vb=e.x;yb=e.y;eb=e.z;var Y,Ma,lb;Y=vb-Fb;Ma=yb-Oa;lb=eb-nb;var Ta=Y*Fb+Ma*Oa+lb*nb,Ta=-Ta/(Y*Y+Ma*Ma+lb*lb),ib;if(0>Ta)c.x=Fb,c.y=Oa,c.z=nb,ib=1;else if(1<Ta)c.x=vb,c.y=yb,c.z=eb,ib=2;else{var Ka,Jb,qa;Ka=Fb+Y*Ta;Jb=Oa+Ma*Ta;qa=nb+lb*Ta;c.x=Ka;c.y=Jb;c.z=qa;ib=3}var X=c.x*c.x+c.y*c.y+c.z*c.z;if(0>sa||X<sa)ma=ib&1|(ib&2)<<1,sa=X,fb=c.x,kb=c.y,Ya=c.z}var Cb;if(0<sa)c.x=fb,c.y=kb,c.z=Ya,Cb=ma;else{var hd=T*T+K*K+ia*ia;0<hd&&(hd=1/Math.sqrt(hd));T*=hd;K*=hd;ia*=hd;var Cc=T*T+K*K+ia*ia,Cc=(pa*T+y*K+Ia*ia)/Cc;fb=T*Cc;kb=K*Cc;Ya=ia*Cc;c.x=fb;c.y=kb;c.z=Ya;Cb=7}var za=c.x*c.x+c.y*c.y+c.z*c.z,W=Cb,Q=za;P=c.x;xa=c.y;ta=c.z}if(0>J*Ba){var ec,qd,Ca,wa,xc,Da,jc,pc,kc,ac,Wb,Xb,Rb,fc,Sb,Ob,Yb,gc;ec=a.x;qd=a.y;Ca=a.z;wa=e.x;xc=e.y;Da=e.z;jc=d.x;pc=d.y;kc=d.z;ac=wa-ec;Wb=xc-qd;Xb=Da-Ca;Rb=jc-wa;fc=pc-xc;Sb=kc-Da;Ob=ec-jc;Yb=qd-pc;gc=Ca-kc;var Ib,$b,mb;Ib=Wb*Sb-Xb*fc;$b=Xb*Rb-ac*Sb;mb=ac*fc-Wb*Rb;var Gb=ec*(Wb*mb-Xb*$b)+qd*(Xb*Ib-ac*mb)+Ca*(ac*$b-Wb*Ib),tg=wa*(fc*mb-Sb*$b)+xc*(Sb*Ib-Rb*mb)+Da*(Rb*$b-fc*Ib),wb=jc*(Yb*mb-gc*$b)+pc*(gc*Ib-Ob*mb)+kc*(Ob*$b-Yb*Ib),qc=-1,mc,id,Ic,ab=0;Ic=id=mc=0;if(0>Gb){var sc,vc,tb,jb,Eb,yd;sc=a.x;vc=a.y;tb=a.z;jb=e.x;Eb=e.y;yd=e.z;var Fc,Tb,Ue;Fc=jb-sc;Tb=Eb-vc;Ue=yd-tb;var Mb=Fc*sc+Tb*vc+Ue*tb,Mb=-Mb/(Fc*Fc+Tb*Tb+Ue*Ue),Id;if(0>Mb)c.x=sc,c.y=vc,c.z=tb,Id=1;else if(1<Mb)c.x=jb,c.y=Eb,c.z=yd,Id=2;else{var Pg,Bb,ic;Pg=sc+Fc*Mb;Bb=vc+Tb*Mb;ic=tb+Ue*Mb;c.x=Pg;c.y=Bb;c.z=ic;Id=3}var Ab=c.x*c.x+c.y*c.y+c.z*c.z,ab=Id,qc=Ab;mc=c.x;id=c.y;Ic=c.z}if(0>tg){var zc,Ub,dc,nc,Kb,Qc;zc=e.x;Ub=e.y;dc=e.z;nc=d.x;Kb=d.y;Qc=d.z;var Lb,Zb,uc;Lb=nc-zc;Zb=Kb-Ub;uc=Qc-dc;var hc=Lb*zc+Zb*Ub+uc*dc,hc=-hc/(Lb*Lb+Zb*Zb+uc*uc),tc;if(0>hc)c.x=zc,c.y=Ub,c.z=dc,tc=1;else if(1<hc)c.x=nc,c.y=Kb,c.z=Qc,tc=2;else{var Pb,Kc,cc;Pb=zc+Lb*hc;Kc=Ub+Zb*hc;cc=dc+uc*hc;c.x=Pb;c.y=Kc;c.z=cc;tc=3}var Ec=c.x*c.x+c.y*c.y+c.z*c.z;if(0>qc||Ec<qc)ab=tc<<1,qc=Ec,mc=c.x,id=c.y,Ic=c.z}if(0>wb){var Nb,Ac,Gc,Nc,Jc,Pc;Nb=a.x;Ac=a.y;Gc=a.z;Nc=d.x;Jc=d.y;Pc=d.z;var Bc,bc,rd;Bc=Nc-Nb;bc=Jc-Ac;rd=Pc-Gc;var Uc=Bc*Nb+bc*Ac+rd*Gc,Uc=-Uc/(Bc*Bc+bc*bc+rd*rd),wc;if(0>Uc)c.x=Nb,c.y=Ac,c.z=Gc,wc=1;else if(1<Uc)c.x=Nc,c.y=Jc,c.z=Pc,wc=2;else{var Oc,ed,Rc;Oc=Nb+Bc*Uc;ed=Ac+bc*Uc;Rc=Gc+rd*Uc;c.x=Oc;c.y=ed;c.z=Rc;wc=3}var Df=c.x*c.x+c.y*c.y+c.z*c.z;if(0>qc||Df<qc)ab=wc&1|(wc&2)<<1,qc=Df,mc=c.x,id=c.y,Ic=c.z}var Xc;if(0<qc)c.x=mc,c.y=id,c.z=Ic,Xc=ab;else{var Dc=Ib*Ib+$b*$b+mb*mb;0<Dc&&(Dc=1/Math.sqrt(Dc));Ib*=Dc;$b*=Dc;mb*=Dc;var Zc=Ib*Ib+$b*$b+mb*mb,Zc=(ec*Ib+qd*$b+Ca*mb)/Zc;mc=Ib*Zc;id=$b*Zc;Ic=mb*Zc;c.x=mc;c.y=id;c.z=Ic;Xc=7}var ld=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||ld<Q)W=Xc&1|(Xc&6)<<1,Q=ld,P=c.x,xa=c.y,ta=c.z}if(0>Qa*Ba){var sd,dd,$c,gd,bd,Jd,Mc,md,nd,fd,Lc,jd,kd,pd,vd,Vc,Wc,Yc;sd=a.x;dd=a.y;$c=a.z;gd=b.x;bd=b.y;Jd=b.z;Mc=d.x;md=d.y;nd=d.z;fd=gd-sd;Lc=bd-dd;jd=Jd-$c;kd=Mc-gd;pd=md-bd;vd=nd-Jd;Vc=sd-Mc;Wc=dd-md;Yc=$c-nd;var td,ad,Sc;td=Lc*vd-jd*pd;ad=jd*kd-fd*vd;Sc=fd*pd-Lc*kd;var Ee=sd*(Lc*Sc-jd*ad)+dd*(jd*td-fd*Sc)+$c*(fd*ad-Lc*td),Ve=gd*(pd*Sc-vd*ad)+bd*(vd*td-kd*Sc)+Jd*(kd*ad-pd*td),We=Mc*(Wc*Sc-Yc*ad)+md*(Yc*td-Vc*Sc)+nd*(Vc*ad-Wc*td),Kd=-1,cd,ve,we,Fd=0;we=ve=cd=0;if(0>Ee){var wd,Gd,od,Qd,Rd,Wd;wd=a.x;Gd=a.y;od=a.z;Qd=b.x;Rd=b.y;Wd=b.z;var Ed,Nd,Fe;Ed=Qd-wd;Nd=Rd-Gd;Fe=Wd-od;var xd=Ed*wd+Nd*Gd+Fe*od,xd=-xd/(Ed*Ed+Nd*Nd+Fe*Fe),Hd;if(0>xd)c.x=wd,c.y=Gd,c.z=od,Hd=1;else if(1<xd)c.x=Qd,c.y=Rd,c.z=Wd,Hd=2;else{var qe,re,se;qe=wd+Ed*xd;re=Gd+Nd*xd;se=od+Fe*xd;c.x=qe;c.y=re;c.z=se;Hd=3}var Ce=c.x*c.x+c.y*c.y+c.z*c.z,Fd=Hd,Kd=Ce;cd=c.x;ve=c.y;we=c.z}if(0>Ve){var Xe,Dd,Sd,de,pe,te;Xe=b.x;Dd=b.y;Sd=b.z;de=d.x;pe=d.y;te=d.z;var Ye,Ze,$e;Ye=de-Xe;Ze=pe-Dd;$e=te-Sd;var Zd=Ye*Xe+Ze*Dd+$e*Sd,Zd=-Zd/(Ye*Ye+Ze*Ze+$e*$e),ee;if(0>Zd)c.x=Xe,c.y=Dd,c.z=Sd,ee=1;else if(1<Zd)c.x=de,c.y=pe,c.z=te,ee=2;else{var Qe,Te,pf;Qe=Xe+Ye*Zd;Te=Dd+Ze*Zd;pf=Sd+$e*Zd;c.x=Qe;c.y=Te;c.z=pf;ee=3}var Ef=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Kd||Ef<Kd)Fd=ee<<1,Kd=Ef,cd=c.x,ve=c.y,we=c.z}if(0>We){var Ff,Gf,ue,Se,Wf,Xf;Ff=a.x;Gf=a.y;ue=a.z;Se=d.x;Wf=d.y;Xf=d.z;var af,Yf,Hf;af=Se-Ff;Yf=Wf-Gf;Hf=Xf-ue;var xe=af*Ff+Yf*Gf+Hf*ue,xe=-xe/(af*af+Yf*Yf+Hf*Hf),bf;if(0>xe)c.x=Ff,c.y=Gf,c.z=ue,bf=1;else if(1<xe)c.x=Se,c.y=Wf,c.z=Xf,bf=2;else{var Zf,$f,ag;Zf=Ff+af*xe;$f=Gf+Yf*xe;ag=ue+Hf*xe;c.x=Zf;c.y=$f;c.z=ag;bf=3}var bg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Kd||bg<Kd)Fd=bf&1|(bf&2)<<1,Kd=bg,cd=c.x,ve=c.y,we=c.z}var Ge;if(0<Kd)c.x=cd,c.y=ve,c.z=we,Ge=Fd;else{var He=td*td+ad*ad+Sc*Sc;0<He&&(He=1/Math.sqrt(He));td*=He;ad*=He;Sc*=He;var cf=td*td+ad*ad+Sc*Sc,cf=(sd*td+dd*ad+$c*Sc)/cf;cd=td*cf;ve=ad*cf;we=Sc*cf;c.x=cd;c.y=ve;c.z=we;Ge=7}var cg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||cg<Q)W=Ge&3|(Ge&4)<<1,Q=cg,P=c.x,xa=c.y,ta=c.z}if(0>ba*Ba){var qf,Ie,rf,dg,Ne,Oe,Pe,Re,df,sf,If,De,Jf,ge,ye,Kf,Cf,eg;qf=b.x;Ie=b.y;rf=b.z;dg=e.x;Ne=e.y;Oe=e.z;Pe=d.x;Re=d.y;df=d.z;sf=dg-qf;If=Ne-Ie;De=Oe-rf;Jf=Pe-dg;ge=Re-Ne;ye=df-Oe;Kf=qf-Pe;Cf=Ie-Re;eg=rf-df;var zd,Ad,Bd;zd=If*ye-De*ge;Ad=De*Jf-sf*ye;Bd=sf*ge-If*Jf;var Og=qf*(If*Bd-De*Ad)+Ie*(De*zd-sf*Bd)+rf*(sf*Ad-If*zd),fg=dg*(ge*Bd-ye*Ad)+Ne*(ye*zd-Jf*Bd)+Oe*(Jf*Ad-ge*zd),gg=Pe*(Cf*Bd-eg*Ad)+Re*(eg*zd-Kf*Bd)+df*(Kf*Ad-Cf*zd),$d=-1,he,ie,ae,tf=0;ae=ie=he=0;if(0>Og){var ef,ff,gf,Lf,Sf,Td;ef=b.x;ff=b.y;gf=b.z;Lf=e.x;Sf=e.y;Td=e.z;var Ld,Md,of;Ld=Lf-ef;Md=Sf-ff;of=Td-gf;var Mf=Ld*ef+Md*ff+of*gf,Mf=-Mf/(Ld*Ld+Md*Md+of*of),Xd;if(0>Mf)c.x=ef,c.y=ff,c.z=gf,Xd=1;else if(1<Mf)c.x=Lf,c.y=Sf,c.z=Td,Xd=2;else{var ud,Cd,hg;ud=ef+Ld*Mf;Cd=ff+Md*Mf;hg=gf+of*Mf;c.x=ud;c.y=Cd;c.z=hg;Xd=3}var Ch=c.x*c.x+c.y*c.y+c.z*c.z,tf=Xd,$d=Ch;he=c.x;ie=c.y;ae=c.z}if(0>fg){var ig,Yd,be,ze,hf,jg;ig=e.x;Yd=e.y;be=e.z;ze=d.x;hf=d.y;jg=d.z;var jf,kf,lf;jf=ze-ig;kf=hf-Yd;lf=jg-be;var Ae=jf*ig+kf*Yd+lf*be,Ae=-Ae/(jf*jf+kf*kf+lf*lf),uf;if(0>Ae)c.x=ig,c.y=Yd,c.z=be,uf=1;else if(1<Ae)c.x=ze,c.y=hf,c.z=jg,uf=2;else{var kg,vf,xg;kg=ig+jf*Ae;vf=Yd+kf*Ae;xg=be+lf*Ae;c.x=kg;c.y=vf;c.z=xg;uf=3}var lg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>$d||lg<$d)tf=uf<<1,$d=lg,he=c.x,ie=c.y,ae=c.z}if(0>gg){var mf,wf,Je,yg,zg,Tf;mf=b.x;wf=b.y;Je=b.z;yg=d.x;zg=d.y;Tf=d.z;var mg,xf,yf;mg=yg-mf;xf=zg-wf;yf=Tf-Je;var Be=mg*mf+xf*wf+yf*Je,Be=-Be/(mg*mg+xf*xf+yf*yf),Ag;if(0>Be)c.x=mf,c.y=wf,c.z=Je,Ag=1;else if(1<Be)c.x=yg,c.y=zg,c.z=Tf,Ag=2;else{var sg,ng,og;sg=mf+mg*Be;ng=wf+xf*Be;og=Je+yf*Be;c.x=sg;c.y=ng;c.z=og;Ag=3}var pg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>$d||pg<$d)tf=Ag&1|(Ag&2)<<1,$d=pg,he=c.x,ie=c.y,ae=c.z}var Nf;if(0<$d)c.x=he,c.y=ie,c.z=ae,Nf=tf;else{var Ke=zd*zd+Ad*Ad+Bd*Bd;0<Ke&&(Ke=1/Math.sqrt(Ke));zd*=Ke;Ad*=Ke;Bd*=Ke;var nf=zd*zd+Ad*Ad+Bd*Bd,nf=(qf*zd+Ie*Ad+rf*Bd)/nf;he=zd*nf;ie=Ad*nf;ae=Bd*nf;c.x=he;c.y=ie;c.z=ae;Nf=7}var zf=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||zf<Q)W=Nf<<1,Q=zf,P=c.x,xa=c.y,ta=c.z}if(0<Q)return c.x=P,c.y=xa,c.z=ta,W;c.O();return 15};O.R=!0;O.prototype={za:function(a,b,e,d,c,f,h,l,g){this.e00=a;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Mf:function(){this.e00=1;this.e10=this.e02=this.e01=0;this.e11=1;this.e21=this.e20=this.e12=0;this.e22=1;return this},zc:function(a){return new O(this.e00+a.e00,this.e01+a.e01,this.e02+a.e02,this.e10+a.e10,this.e11+a.e11,this.e12+a.e12,this.e20+a.e20,this.e21+a.e21,this.e22+a.e22)},Kg:function(a){return new O(this.e00-a.e00,this.e01-a.e01,this.e02-a.e02,this.e10-a.e10,this.e11-a.e11,this.e12-a.e12,this.e20-a.e20,this.e21-a.e21,this.e22-a.e22)},Bf:function(a){return new O(this.e00*a,this.e01*a,this.e02*a,this.e10*a,this.e11*a,this.e12*a,this.e20*a,this.e21*a,this.e22*a)},de:function(a){return new O(this.e00*a.e00+this.e01*a.e10+this.e02*a.e20,this.e00*a.e01+this.e01*a.e11+this.e02*a.e21,this.e00*a.e02+this.e01*a.e12+this.e02*a.e22,this.e10*a.e00+this.e11*a.e10+this.e12*a.e20,this.e10*a.e01+this.e11*a.e11+this.e12*a.e21,this.e10*a.e02+this.e11*a.e12+this.e12*a.e22,this.e20*a.e00+this.e21*a.e10+this.e22*a.e20,this.e20*a.e01+this.e21*a.e11+this.e22*a.e21,this.e20*a.e02+this.e21*a.e12+this.e22*a.e22)},Cc:function(a){var b=this.e01+a.e01,e=this.e02+a.e02,d=this.e10+a.e10,c=this.e11+a.e11,f=this.e12+a.e12,h=this.e20+a.e20,l=this.e21+a.e21,g=this.e22+a.e22;this.e00+=a.e00;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Lg:function(a){var b=this.e01-a.e01,e=this.e02-a.e02,d=this.e10-a.e10,c=this.e11-a.e11,f=this.e12-a.e12,h=this.e20-a.e20,l=this.e21-a.e21,g=this.e22-a.e22;this.e00=this.e00-a.e00;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Jg:function(a){var b=this.e01*a,e=this.e02*a,d=this.e10*a,c=this.e11*a,f=this.e12*a,h=this.e20*a,l=this.e21*a,g=this.e22*a;this.e00=this.e00*a;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},ee:function(a){var b=this.e00*a.e01+this.e01*a.e11+this.e02*a.e21,e=this.e00*a.e02+this.e01*a.e12+this.e02*a.e22,d=this.e10*a.e00+this.e11*a.e10+this.e12*a.e20,c=this.e10*a.e01+this.e11*a.e11+this.e12*a.e21,f=this.e10*a.e02+this.e11*a.e12+this.e12*a.e22,h=this.e20*a.e00+this.e21*a.e10+this.e22*a.e20,l=this.e20*a.e01+this.e21*a.e11+this.e22*a.e21,g=this.e20*a.e02+this.e21*a.e12+this.e22*a.e22;this.e00=this.e00*a.e00+this.e01*a.e10+this.e02*a.e20;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Ge:function(a,b,e){return new O(this.e00*a,this.e01*a,this.e02*a,this.e10*b,this.e11*b,this.e12*b,this.e20*e,this.e21*e,this.e22*e)},bd:function(a,b,e){return new O(this.e00*a,this.e01*b,this.e02*e,this.e10*a,this.e11*b,this.e12*e,this.e20*a,this.e21*b,this.e22*e)},fe:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;d=d*d*h+f;return new O(a*this.e00+l*this.e10+g*this.e20,a*this.e01+l*this.e11+g*this.e21,a*this.e02+l*this.e12+g*this.e22,k*this.e00+m*this.e10+n*this.e20,k*this.e01+m*this.e11+n*this.e21,k*this.e02+m*this.e12+n*this.e22,q*this.e00+b*this.e10+d*this.e20,q*this.e01+b*this.e11+d*this.e21,q*this.e02+b*this.e12+d*this.e22)},Hc:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;d=d*d*h+f;return new O(this.e00*a+this.e01*k+this.e02*q,this.e00*l+this.e01*m+this.e02*b,this.e00*g+this.e01*n+this.e02*d,this.e10*a+this.e11*k+this.e12*q,this.e10*l+this.e11*m+this.e12*b,this.e10*g+this.e11*n+this.e12*d,this.e20*a+this.e21*k+this.e22*q,this.e20*l+this.e21*m+this.e22*b,this.e20*g+this.e21*n+this.e22*d)},He:function(a,b,e){var d=this.e01*a,c=this.e02*a,f=this.e10*b,h=this.e11*b;b=this.e12*b;var l=this.e20*e,g=this.e21*e;e=this.e22*e;this.e00=this.e00*a;this.e01=d;this.e02=c;this.e10=f;this.e11=h;this.e12=b;this.e20=l;this.e21=g;this.e22=e;return this},cd:function(a,b,e){var d=this.e01*b,c=this.e02*e,f=this.e10*a,h=this.e11*b,l=this.e12*e,g=this.e20*a;b=this.e21*b;e=this.e22*e;this.e00=this.e00*a;this.e01=d;this.e02=c;this.e10=f;this.e11=h;this.e12=l;this.e20=g;this.e21=b;this.e22=e;return this},ge:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;h=d*d*h+f;d=a*this.e01+l*this.e11+g*this.e21;e=a*this.e02+l*this.e12+g*this.e22;c=k*this.e00+m*this.e10+n*this.e20;f=k*this.e01+m*this.e11+n*this.e21;k=k*this.e02+m*this.e12+n*this.e22;m=q*this.e00+b*this.e10+h*this.e20;n=q*this.e01+b*this.e11+h*this.e21;q=q*this.e02+b*this.e12+h*this.e22;this.e00=a*this.e00+l*this.e10+g*this.e20;this.e01=d;this.e02=e;this.e10=c;this.e11=f;this.e12=k;this.e20=m;this.e21=n;this.e22=q;return this},ad:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;var p=d*d*h+f;d=this.e00*l+this.e01*m+this.e02*b;e=this.e00*g+this.e01*n+this.e02*p;var c=this.e10*a+this.e11*k+this.e12*q,f=this.e10*l+this.e11*m+this.e12*b,h=this.e10*g+this.e11*n+this.e12*p,r=this.e20*a+this.e21*k+this.e22*q,l=this.e20*l+this.e21*m+this.e22*b,g=this.e20*g+this.e21*n+this.e22*p;this.e00=this.e00*a+this.e01*k+this.e02*q;this.e01=d;this.e02=e;this.e10=c;this.e11=f;this.e12=h;this.e20=r;this.e21=l;this.e22=g;return this},bi:function(){return new O(this.e00,this.e10,this.e20,this.e01,this.e11,this.e21,this.e02,this.e12,this.e22)},ci:function(){var a=this.e10,b=this.e20,e=this.e01,d=this.e11,c=this.e21,f=this.e02,h=this.e12,l=this.e22;this.e00=this.e00;this.e01=a;this.e02=b;this.e10=e;this.e11=d;this.e12=c;this.e20=f;this.e21=h;this.e22=l;return this},Pd:function(){return this.e00*(this.e11*this.e22-this.e12*this.e21)-this.e01*(this.e10*this.e22-this.e12*this.e20)+this.e02*(this.e10*this.e21-this.e11*this.e20)},Ng:function(){return this.e00+this.e11+this.e22},be:function(){var a=this.e11*this.e22-this.e12*this.e21,b=this.e10*this.e22-this.e12*this.e20,e=this.e10*this.e21-this.e11*this.e20,d=this.e01*this.e22-this.e02*this.e21,c=this.e00*this.e22-this.e02*this.e20,f=this.e00*this.e21-this.e01*this.e20,h=this.e01*this.e12-this.e02*this.e11,l=this.e00*this.e12-this.e02*this.e10,g=this.e00*this.e11-this.e01*this.e10,k=this.e00*a-this.e01*b+this.e02*e;k&&(k=1/k);return new O(a*k,-d*k,h*k,-b*k,c*k,-l*k,e*k,-f*k,g*k)},ce:function(){var a=this.e11*this.e22-this.e12*this.e21,b=this.e10*this.e22-this.e12*this.e20,e=this.e10*this.e21-this.e11*this.e20,d=this.e01*this.e22-this.e02*this.e21,c=this.e00*this.e22-this.e02*this.e20,f=this.e00*this.e21-this.e01*this.e20,h=this.e01*this.e12-this.e02*this.e11,l=this.e00*this.e12-this.e02*this.e10,g=this.e00*this.e11-this.e01*this.e10,k=this.e00*a-this.e01*b+this.e02*e;k&&(k=1/k);this.e00=a*k;this.e01=-d*k;this.e02=h*k;this.e10=-b*k;this.e11=c*k;this.e12=-l*k;this.e20=e*k;this.e21=-f*k;this.e22=g*k;return 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ib=this.Ga;if(null!=U){U.e00=1;U.e01=0;U.e02=0;U.e10=0;U.e11=1;U.e12=0;U.e20=0;U.e21=0;U.e22=1;if(ib.pb==ib.nb.length){for(var Ka=Array(ib.pb<<1),Jb=0,Ca=ib.pb;Jb<Ca;){var X=Jb++;Ka[X]=ib.nb[X];ib.nb[X]=null}ib.nb=Ka}ib.nb[ib.pb++]=U}var Cb=this.Ga;if(null!=lc){lc.O();if(Cb.c==Cb.b.length){for(var hd=Array(Cb.c<<1),Cc=0,za=Cb.c;Cc<za;){var ec=Cc++;hd[ec]=Cb.b[ec];Cb.b[ec]=null}Cb.b=hd}Cb.b[Cb.c++]=lc}}}if(a.drawAabbs){var qd=h.u,wa=b.aabbColor,Da=this.Ga,xc=0==Da.c?new t:Da.b[--Da.c],ab=this.Ga,jc=0==ab.c?new t:ab.b[--ab.c],pc=xc;pc.x=qd.ma;pc.y=qd.na;pc.z=qd.oa;var kc=jc;kc.x=qd.ja;kc.y=qd.ka;kc.z=qd.la;a.Pk(xc,jc,wa);var ac=this.Ga;if(null!=xc){xc.O();if(ac.c==ac.b.length){for(var Wb=Array(ac.c<<1),Xb=0,Rb=ac.c;Xb<Rb;){var fc=Xb++;Wb[fc]=ac.b[fc];ac.b[fc]=null}ac.b=Wb}ac.b[ac.c++]=xc}var Sb=this.Ga;if(null!=jc){jc.O();if(Sb.c==Sb.b.length){for(var Ob=Array(Sb.c<<1),Yb=0,gc=Sb.c;Yb<gc;){var Ib=Yb++;Ob[Ib]=Sb.b[Ib];Sb.b[Ib]=null}Sb.b=Ob}Sb.b[Sb.c++]=jc}}h=l}e=d}},Nm:function(a){if(a.drawPairs||a.drawContacts)for(var b=this.wh.vd;null!=b;){var e=b.M;if(a.drawPairs){var d=this.Ga,c=0==d.c?new t:d.b[--d.c],f=this.Ga,h=0==f.c?new t:f.b[--f.c],l=c;l.x=b.uc.a.v;l.y=b.uc.a.A;l.z=b.uc.a.B;var g=h;g.x=b.vc.a.v;g.y=b.vc.a.A;g.z=b.vc.a.B;var k=this.Ga;if(null!=c){c.O();if(k.c==k.b.length){for(var m=Array(k.c<<1),n=0,q=k.c;n<q;){var p=n++;m[p]=k.b[p];k.b[p]=null}k.b=m}k.b[k.c++]=c}var r=this.Ga;if(null!=h){h.O();if(r.c==r.b.length){for(var v=Array(r.c<<1),aa=0,w=r.c;aa<w;){var A=aa++;v[A]=r.b[A];r.b[A]=null}r.b=v}r.b[r.c++]=h}}if(a.drawContacts)for(var u=b.Ke,D=b.Ke.Ja.tc,V=0,z=b.Ke.Ja.Xd;V<z;){var E=V++,x=D[E],zb=a.style,N=this.Ga,G=0==N.c?new t:N.b[--N.c],F=this.Ga,C=0==F.c?new t:F.b[--F.c],L=this.Ga,ha=0==L.c?new t:L.b[--L.c],O=this.Ga,M=0==O.c?new t:O.b[--O.c],ga=this.Ga,ka=0==ga.c?new t:ga.b[--ga.c],bb=G;bb.x=x.Fd;bb.y=x.Gd;bb.z=x.Hd;var U=C;U.x=x.Id;U.y=x.Jd;U.z=x.Kd;var R=ha;R.x=u.Ja.mg;R.y=u.Ja.ng;R.z=u.Ja.og;var lc=M;lc.x=u.Ja.Xi;lc.y=u.Ja.Yi;lc.z=u.Ja.Zi;var Na=ka;Na.x=u.Ja.Gi;Na.y=u.Ja.Hi;Na.z=u.Ja.Ii;C.x=G.x;C.y=G.y;C.z=G.z;var Ra=C,yc=zb.contactNormalLength,Pa=Ra.y+ha.y*yc,Ba=Ra.z+ha.z*yc;Ra.x=Ra.x+ha.x*yc;Ra.y=Pa;Ra.z=Ba;if(a.drawContactBases){C.x=G.x;C.y=G.y;C.z=G.z;var Hb=C,J=zb.contactTangentLength,Qa=Hb.y+M.y*J,ba=Hb.z+M.z*J;Hb.x=Hb.x+M.x*J;Hb.y=Qa;Hb.z=ba;C.x=G.x;C.y=G.y;C.z=G.z;var Q=C,P=zb.contactBinormalLength,xa=Q.y+ka.y*P,ta=Q.z+ka.z*P;Q.x=Q.x+ka.x*P;Q.y=xa;Q.z=ta}var W=this.Ga;if(null!=G){G.O();if(W.c==W.b.length){for(var pa=Array(W.c<<1),y=0,Ia=W.c;y<Ia;){var ca=y++;pa[ca]=W.b[ca];W.b[ca]=null}W.b=pa}W.b[W.c++]=G}var Ea=this.Ga;if(null!=C){C.O();if(Ea.c==Ea.b.length){for(var ya=Array(Ea.c<<1),Fa=0,Sa=Ea.c;Fa<Sa;){var la=Fa++;ya[la]=Ea.b[la];Ea.b[la]=null}Ea.b=ya}Ea.b[Ea.c++]=C}var Z=this.Ga;if(null!=ha){ha.O();if(Z.c==Z.b.length){for(var Ga=Array(Z.c<<1),ra=0,va=Z.c;ra<va;){var I=ra++;Ga[I]=Z.b[I];Z.b[I]=null}Z.b=Ga}Z.b[Z.c++]=ha}var La=this.Ga;if(null!=M){M.O();if(La.c==La.b.length){for(var Wa=Array(La.c<<1),S=0,Xa=La.c;S<Xa;){var T=S++;Wa[T]=La.b[T];La.b[T]=null}La.b=Wa}La.b[La.c++]=M}var K=this.Ga;if(null!=ka){ka.O();if(K.c==K.b.length){for(var ia=Array(K.c<<1),gb=0,da=K.c;gb<da;){var na=gb++;ia[na]=K.b[na];K.b[na]=null}K.b=ia}K.b[K.c++]=ka}}b=e}if(a.drawJoints)for(var sa=this.Kh;null!=sa;){var fb=sa.M,kb=this.Ga,Ya=0==kb.c?new t:kb.b[--kb.c],ma=this.Ga,oa=0==ma.c?new t:ma.b[--ma.c],Ja=Ya;Ja.x=sa.C.a.v;Ja.y=sa.C.a.A;Ja.z=sa.C.a.B;var Ha=oa;Ha.x=sa.D.a.v;Ha.y=sa.D.a.A;Ha.z=sa.D.a.B;var ob=this.Ga,fa=0==ob.c?new t:ob.b[--ob.c],ea=this.Ga,ja=0==ea.c?new t:ea.b[--ea.c],cb=this.Ga,Aa=0==cb.c?new t:cb.b[--cb.c],sb=this.Ga,Ua=0==sb.c?new t:sb.b[--sb.c],qb=this.Ga,rb=0==qb.c?new t:qb.b[--qb.c],ub=this.Ga,Va=0==ub.c?new t:ub.b[--ub.c],xb=this.Ga,rc=0==xb.c?new t:xb.b[--xb.c],Za=this.Ga,ua=0==Za.c?new t:Za.b[--Za.c],Qb=fa;Qb.x=sa.Df;Qb.y=sa.Ef;Qb.z=sa.Ff;var H=ja;H.x=sa.Gf;H.y=sa.Hf;H.z=sa.If;var pb=Aa;pb.x=sa.ub;pb.y=sa.vb;pb.z=sa.wb;var db=Ua;db.x=sa.xe;db.y=sa.ye;db.z=sa.ze;var oc=rb;oc.x=sa.th;oc.y=sa.uh;oc.z=sa.vh;var $a=Va;$a.x=sa.Yb;$a.y=sa.Zb;$a.z=sa.$b;var hb=rc;hb.x=sa.ne;hb.y=sa.oe;hb.z=sa.pe;var B=ua;B.x=sa.Rg;B.y=sa.Sg;B.z=sa.Tg;if(a.drawJointLimits)switch(sa.Wb){case 1:var Db=sa.Lh;this.Ni(a,fa,Ua,rb,rc,a.style.jointRotationalConstraintRadius,Db.lowerLimit,Db.upperLimit,a.style.jointLineColor);break;case 2:var qa=sa,Tc=a.style.jointLineColor,Fb=qa.Dk,Oa=qa.Kk;this.Ni(a,ja,Ua,rb,rc,a.style.jointRotationalConstraintRadius,Fb.lowerLimit,Fb.upperLimit,Tc);this.El(a,fa,Aa,Oa.lowerLimit,Oa.upperLimit,Tc);break;case 3:var nb=sa.Lh;this.El(a,fa,Aa,nb.lowerLimit,nb.upperLimit,a.style.jointLineColor);break;case 4:var vb=sa,yb=a.style.jointRotationalConstraintRadius,eb=a.style.jointLineColor,Y=vb.xk,Ma=vb.yk;this.Ni(a,fa,Ua,rb,Ua,yb,vb.yi-Y.upperLimit,vb.yi-Y.lowerLimit,eb);this.Ni(a,ja,Va,rc,Va,yb,Ma.lowerLimit-vb.zi,Ma.upperLimit-vb.zi,eb);break;case 5:var lb=sa,Ta=a.style.jointRotationalConstraintRadius,ib=a.style.jointLineColor,Ka=lb.Mk;this.Ni(a,ja,rc,ua,rc,Ta,Ka.lowerLimit-lb.ej,Ka.upperLimit-lb.ej,ib);this.Om(a,fa,Aa,Ua,rb,lb.Jj,lb.Kj,Ta,ib);var Jb=this.Ga,Ca=0==Jb.c?new t:Jb.b[--Jb.c];Ca.x=ja.x;Ca.y=ja.y;Ca.z=ja.z;var X=Ca,Cb=X.y+Va.y*Ta,hd=X.z+Va.z*Ta;X.x=X.x+Va.x*Ta;X.y=Cb;X.z=hd;var Cc=X,za=this.Ga;if(null!=Cc){Cc.O();if(za.c==za.b.length){for(var ec=Array(za.c<<1),qd=0,wa=za.c;qd<wa;){var Da=qd++;ec[Da]=za.b[Da];za.b[Da]=null}za.b=ec}za.b[za.c++]=Cc}}var xc=this.Ga;if(null!=Ya){Ya.O();if(xc.c==xc.b.length){for(var ab=Array(xc.c<<1),jc=0,pc=xc.c;jc<pc;){var kc=jc++;ab[kc]=xc.b[kc];xc.b[kc]=null}xc.b=ab}xc.b[xc.c++]=Ya}var ac=this.Ga;if(null!=oa){oa.O();if(ac.c==ac.b.length){for(var Wb=Array(ac.c<<1),Xb=0,Rb=ac.c;Xb<Rb;){var fc=Xb++;Wb[fc]=ac.b[fc];ac.b[fc]=null}ac.b=Wb}ac.b[ac.c++]=oa}var Sb=this.Ga;if(null!=fa){fa.O();if(Sb.c==Sb.b.length){for(var Ob=Array(Sb.c<<1),Yb=0,gc=Sb.c;Yb<gc;){var Ib=Yb++;Ob[Ib]=Sb.b[Ib];Sb.b[Ib]=null}Sb.b=Ob}Sb.b[Sb.c++]=fa}var $b=this.Ga;if(null!=ja){ja.O();if($b.c==$b.b.length){for(var mb=Array($b.c<<1),tb=0,Gb=$b.c;tb<Gb;){var wb=tb++;mb[wb]=$b.b[wb];$b.b[wb]=null}$b.b=mb}$b.b[$b.c++]=ja}var qc=this.Ga;if(null!=Aa){Aa.O();if(qc.c==qc.b.length){for(var mc=Array(qc.c<<1),id=0,Ic=qc.c;id<Ic;){var jb=id++;mc[jb]=qc.b[jb];qc.b[jb]=null}qc.b=mc}qc.b[qc.c++]=Aa}var sc=this.Ga;if(null!=Ua){Ua.O();if(sc.c==sc.b.length){for(var vc=Array(sc.c<<1),Tb=0,Mb=sc.c;Tb<Mb;){var Eb=Tb++;vc[Eb]=sc.b[Eb];sc.b[Eb]=null}sc.b=vc}sc.b[sc.c++]=Ua}var yd=this.Ga;if(null!=rb){rb.O();if(yd.c==yd.b.length){for(var Fc=Array(yd.c<<1),Bb=0,ic=yd.c;Bb<ic;){var Ub=Bb++;Fc[Ub]=yd.b[Ub];yd.b[Ub]=null}yd.b=Fc}yd.b[yd.c++]=rb}var Id=this.Ga;if(null!=Va){Va.O();if(Id.c==Id.b.length){for(var dc=Array(Id.c<<1),Lb=0,hc=Id.c;Lb<hc;){var Zb=Lb++;dc[Zb]=Id.b[Zb];Id.b[Zb]=null}Id.b=dc}Id.b[Id.c++]=Va}var zc=this.Ga;if(null!=rc){rc.O();if(zc.c==zc.b.length){for(var Ab=Array(zc.c<<1),uc=0,nc=zc.c;uc<nc;){var Kb=uc++;Ab[Kb]=zc.b[Kb];zc.b[Kb]=null}zc.b=Ab}zc.b[zc.c++]=rc}var Qc=this.Ga;if(null!=ua){ua.O();if(Qc.c==Qc.b.length){for(var tc=Array(Qc.c<<1),Nb=0,Ac=Qc.c;Nb<Ac;){var Pb=Nb++;tc[Pb]=Qc.b[Pb];Qc.b[Pb]=null}Qc.b=tc}Qc.b[Qc.c++]=ua}sa=fb}},Ni:function(a,b,e,d,c,f,h,l,g){if(h!=l){var k=this.Ga,k=0==k.c?new t:k.b[--k.c];k.x=b.x;k.y=b.y;k.z=b.z;var m=k.y+c.y*f,n=k.z+c.z*f;k.x+=c.x*f;k.y=m;k.z=n;c=this.Ga;if(null!=k){k.O();if(c.c==c.b.length){for(var m=Array(c.c<<1),n=0,q=c.c;n<q;){var p=n++;m[p]=c.b[p];c.b[p]=null}c.b=m}c.b[c.c++]=k}}h>l?a.ellipse(b,e,d,f,f,g):a.arc(b,e,d,f,f,h,l,!0,g)},El:function(a,b,e,d,c){if(d<c){a=this.Ga;a=0==a.c?new t:a.b[--a.c];a.x=b.x;a.y=b.y;a.z=b.z;var f=a.y+e.y*d,h=a.z+e.z*d;a.x+=e.x*d;a.y=f;a.z=h;d=this.Ga;d=0==d.c?new t:d.b[--d.c];d.x=b.x;d.y=b.y;d.z=b.z;b=d.y+e.y*c;f=d.z+e.z*c;d.x+=e.x*c;d.y=b;d.z=f;e=this.Ga;if(null!=a){a.O();if(e.c==e.b.length){c=Array(e.c<<1);b=0;for(f=e.c;b<f;)h=b++,c[h]=e.b[h],e.b[h]=null;e.b=c}e.b[e.c++]=a}a=this.Ga;if(null!=d){d.O();if(a.c==a.b.length){e=Array(a.c<<1);c=0;for(b=a.c;c<b;)f=c++,e[f]=a.b[f],a.b[f]=null;a.b=e}a.b[a.c++]=d}}},Om:function(a,b,e,d,c,f,h,l){var g=0;a=this.Ga;var k=0==a.c?new t:a.b[--a.c];a=this.Ga;var m=0==a.$d?new ga:a.Td[--a.$d];a=this.Ga;var n=0==a.pb?new O:a.nb[--a.pb];a=this.Ga;a=0==a.c?new t:a.b[--a.c];for(var q=0;17>q;){q++;var p=Math.cos(g)*f,r=Math.sin(g)*h,v=Math.sqrt(p*p+r*r),aa=Math.sin(.5*v),w=Math.cos(.5*v),A=k.O(),u=A.y+d.y*p,D=A.z+d.z*p;A.x=A.x+d.x*p;A.y=u;A.z=D;p=A;A=p.y+c.y*r;u=p.z+c.z*r;p.x=p.x+c.x*r;p.y=A;p.z=u;r=1/v*aa;v=k.y*r;aa=k.z*r;k.x=k.x*r;k.y=v;k.z=aa;m.x=k.x;m.y=k.y;m.z=k.z;m.w=w;var V=m.x,D=m.y,p=m.z,v=m.w,z=2*V,u=2*D,aa=2*p,w=V*z,r=D*u,p=p*aa,A=V*u,D=D*aa,V=V*aa,z=v*z,u=v*u,v=v*aa;n.e00=1-r-p;n.e01=A-v;n.e02=V+u;n.e10=A+v;n.e11=1-w-p;n.e12=D-z;n.e20=V-u;n.e21=D+z;n.e22=1-w-r;w=this.Ga;w=0==w.c?new t:w.b[--w.c];r=w.y+e.y*l;v=w.z+e.z*l;w.x=w.x+e.x*l;w.y=r;w.z=v;r=w.x*n.e10+w.y*n.e11+w.z*n.e12;v=w.x*n.e20+w.y*n.e21+w.z*n.e22;w.x=w.x*n.e00+w.y*n.e01+w.z*n.e02;w.y=r;w.z=v;r=w;v=r.y+b.y;aa=r.z+b.z;r.x=r.x+b.x;r.y=v;r.z=aa;r=this.Ga;if(null!=a){a.O();if(r.c==r.b.length){v=Array(r.c<<1);aa=0;for(p=r.c;aa<p;)A=aa++,v[A]=r.b[A],r.b[A]=null;r.b=v}r.b[r.c++]=a}a=w;g+=.39269908169872375}b=this.Ga;if(null!=k){k.O();if(b.c==b.b.length){e=Array(b.c<<1);d=0;for(c=b.c;d<c;)f=d++,e[f]=b.b[f],b.b[f]=null;b.b=e}b.b[b.c++]=k}k=this.Ga;if(null!=m){m.x=0;m.y=0;m.z=0;m.w=1;if(k.$d==k.Td.length){b=Array(k.$d<<1);e=0;for(d=k.$d;e<d;)c=e++,b[c]=k.Td[c],k.Td[c]=null;k.Td=b}k.Td[k.$d++]=m}m=this.Ga;if(null!=n){n.e00=1;n.e01=0;n.e02=0;n.e10=0;n.e11=1;n.e12=0;n.e20=0;n.e21=0;n.e22=1;if(m.pb==m.nb.length){k=Array(m.pb<<1);b=0;for(e=m.pb;b<e;)d=b++,k[d]=m.nb[d],m.nb[d]=null;m.nb=k}m.nb[m.pb++]=n}n=this.Ga;if(null!=a){a.O();if(n.c==n.b.length){m=Array(n.c<<1);k=0;for(b=n.c;k<b;)e=k++,m[e]=n.b[e],n.b[e]=null;n.b=m}n.b[n.c++]=a}},be:function(a){0<this.Mh.dt&&(this.Mh.dtRatio=a/this.Mh.dt);this.Mh.dt=a;this.Mh.invDt=1/a;a=(new 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this.fi},sb:function(){null!=this.fi&&(Kc.ab(this.dc,dc)&&this.Mm(this.fi,Kc.lc(this.dc,dc).he),this.Pm(this.fi),this.Nm(this.fi))},Sd:function(a,b,e){var d=this.Oj.gj;d.x=a.x;d.y=a.y;d.z=a.z;d=this.Oj.end;d.x=b.x;d.y=b.y;d.z=b.z;this.Oj.ij=e;this.dc.Sd(a,b,this.Oj)},rf:function(a,b,e,d){this.Mi.Ul=a;var c=this.Mi.gj;c.v=b.v;c.A=b.A;c.B=b.B;c.o=b.o;c.f=b.f;c.h=b.h;c.i=b.i;c.m=b.m;c.j=b.j;c.l=b.l;c.g=b.g;c.s=b.s;c=this.Mi.Vf;c.x=e.x;c.y=e.y;c.z=e.z;this.Mi.ij=d;this.dc.rf(a,b,e,this.Mi)},eh:function(a,b){this.ek.u.Zd(a);this.ek.Bl=b;this.dc.eh(a,this.ek)},cd:function(){return this.jf},rc:function(){return this.Kh},Kb:function(){return this.dc},lc:function(){return this.wh},ad:function(){return this.Vi},Cc:function(){return this.zk},Pd:function(){return this.pg},zc:function(){return this.Mj},bd:function(){return this.Bk},ge:function(a){this.Bk=a},Hc:function(){return this.Ak},fe:function(a){this.Ak=a},qc:function(){return this.lk},ee:function(a){var b=this.lk;b.x=a.x;b.y=a.y;b.z=a.z},qa:qa};Se.R=!0;Se.Jb=Bc;Se.prototype=Gb(Bc.prototype,{td:function(a){a=a.userData;a.Ib.Sd(this.gj,this.end,a.a,this.wi)&&this.ij.td(a,this.wi)},qa:Se});ue.R=!0;ue.Jb=Bc;ue.prototype=Gb(Bc.prototype,{td:function(a){a=a.userData;Kc.ab(a.Ib,Da)&&Zb.Pa.rf(this.Ul,a.Ib,this.gj,a.a,this.Vf,this.O,this.wi)&&this.ij.td(a,this.wi)},qa:ue});pf.R=!0;pf.Jb=Bc;pf.prototype=Gb(Bc.prototype,{td:function(a){a=a.userData;var b=a.u;b.ma<this.u.ja&&b.ja>this.u.ma&&b.na<this.u.ka&&b.ka>this.u.na&&b.oa<this.u.la&&b.la>this.u.oa&&this.Bl.td(a)},qa:pf});cd.R=!0;cd.prototype={td:function(){},qa:cd};Xc.R=!0;Xc.prototype={Pa:function(){},sb:function(){},$e:function(){},ab:function(){},qa:Xc};Mc.R=!0;Mc.prototype={td:function(){},qa:Mc};vd.R=!0;vd.Jb=Mc;vd.prototype=Gb(Mc.prototype,{clear:function(){this.shape=null;this.fraction=1;this.position.O();this.normal.O();this.hit=!1},td:function(a,b){if(b.fraction<this.fraction){this.shape=a;this.hit=!0;this.fraction=b.fraction;a=this.position;var e=b.position;a.x=e.x;a.y=e.y;a.z=e.z;a=this.normal;b=b.normal;a.x=b.x;a.y=b.y;a.z=b.z}},qa:vd});Eb.R=!0;Eb.prototype={Pk:function(a,b){var e=this.p,d=(0==e.c?new t:e.b[--e.c]).za(a.x,a.y,a.z),e=this.p,c=(0==e.c?new t:e.b[--e.c]).za(a.x,a.y,b.z),e=this.p,f=(0==e.c?new t:e.b[--e.c]).za(a.x,b.y,a.z),e=this.p,h=(0==e.c?new t:e.b[--e.c]).za(a.x,b.y,b.z),e=this.p,l=(0==e.c?new t:e.b[--e.c]).za(b.x,a.y,a.z),e=this.p,e=(0==e.c?new t:e.b[--e.c]).za(b.x,a.y,b.z),g=this.p;a=(0==g.c?new t:g.b[--g.c]).za(b.x,b.y,a.z);g=this.p;b=(0==g.c?new t:g.b[--g.c]).za(b.x,b.y,b.z);g=this.p;if(null!=d){d.O();if(g.c==g.b.length){for(var k=Array(g.c<<1),m=0,n=g.c;m<n;){var q=m++;k[q]=g.b[q];g.b[q]=null}g.b=k}g.b[g.c++]=d}d=this.p;if(null!=c){c.O();if(d.c==d.b.length){g=Array(d.c<<1);k=0;for(m=d.c;k<m;)n=k++,g[n]=d.b[n],d.b[n]=null;d.b=g}d.b[d.c++]=c}c=this.p;if(null!=f){f.O();if(c.c==c.b.length){d=Array(c.c<<1);g=0;for(k=c.c;g<k;)m=g++,d[m]=c.b[m],c.b[m]=null;c.b=d}c.b[c.c++]=f}f=this.p;if(null!=h){h.O();if(f.c==f.b.length){c=Array(f.c<<1);d=0;for(g=f.c;d<g;)k=d++,c[k]=f.b[k],f.b[k]=null;f.b=c}f.b[f.c++]=h}h=this.p;if(null!=l){l.O();if(h.c==h.b.length){f=Array(h.c<<1);c=0;for(d=h.c;c<d;)g=c++,f[g]=h.b[g],h.b[g]=null;h.b=f}h.b[h.c++]=l}l=this.p;if(null!=e){e.O();if(l.c==l.b.length){h=Array(l.c<<1);f=0;for(c=l.c;f<c;)d=f++,h[d]=l.b[d],l.b[d]=null;l.b=h}l.b[l.c++]=e}e=this.p;if(null!=a){a.O();if(e.c==e.b.length){l=Array(e.c<<1);h=0;for(f=e.c;h<f;)c=h++,l[c]=e.b[c],e.b[c]=null;e.b=l}e.b[e.c++]=a}a=this.p;if(null!=b){b.O();if(a.c==a.b.length){e=Array(a.c<<1);l=0;for(h=a.c;l<h;)f=l++,e[f]=a.b[f],a.b[f]=null;a.b=e}a.b[a.c++]=b}},ellipse:function(a,b,e,d,c,f){this.arc(a,b,e,d,c,0,6.28318530717958,!1,f)},arc:function(a,b,e,d,c,f,h){var l=this.p,l=0==l.c?new t:l.b[--l.c];l.x=b.x;l.y=b.y;l.z=b.z;b=l.y*d;var g=l.z*d;l.x=l.x*d;l.y=b;l.z=g;b=l;d=this.p;d=0==d.c?new t:d.b[--d.c];d.x=e.x;d.y=e.y;d.z=e.z;e=d.y*c;l=d.z*c;d.x=d.x*c;d.y=e;d.z=l;e=d;c=h-f;0>c&&(c=-c);(l=c/.5235987755982984+.5|0)||(l=1);c=f;f=(h-f)/l;h=this.p;h=0==h.c?new t:h.b[--h.c];h.x=a.x;h.y=a.y;h.z=a.z;d=Math.cos(c);var g=h.y+b.y*d,k=h.z+b.z*d;h.x+=b.x*d;h.y=g;h.z=k;d=Math.sin(c);g=h.y+e.y*d;k=h.z+e.z*d;h.x+=e.x*d;h.y=g;h.z=k;for(d=0;d<l;){d++;c+=f;g=this.p;g=0==g.c?new t:g.b[--g.c];g.x=a.x;g.y=a.y;g.z=a.z;var k=Math.cos(c),m=g.y+b.y*k,n=g.z+b.z*k;g.x=g.x+b.x*k;g.y=m;g.z=n;k=Math.sin(c);m=g.y+e.y*k;n=g.z+e.z*k;g.x=g.x+e.x*k;g.y=m;g.z=n;k=this.p;if(null!=h){h.O();if(k.c==k.b.length){for(var m=Array(k.c<<1),n=0,q=k.c;n<q;){var p=n++;m[p]=k.b[p];k.b[p]=null}k.b=m}k.b[k.c++]=h}h=g}a=this.p;if(null!=h){h.O();if(a.c==a.b.length){c=Array(a.c<<1);f=0;for(d=a.c;f<d;)l=f++,c[l]=a.b[l],a.b[l]=null;a.b=c}a.b[a.c++]=h}a=this.p;if(null!=b){b.O();if(a.c==a.b.length){c=Array(a.c<<1);f=0;for(h=a.c;f<h;)d=f++,c[d]=a.b[d],a.b[d]=null;a.b=c}a.b[a.c++]=b}b=this.p;if(null!=e){e.O();if(b.c==b.b.length){a=Array(b.c<<1);c=0;for(f=b.c;c<f;)h=c++,a[h]=b.b[h],b.b[h]=null;b.b=a}b.b[b.c++]=e}},Tl:function(a,b,e,d){var c=this.p,f=0==c.c?new t:c.b[--c.c],h=this.p,l=0==h.c?new t:h.b[--h.c],g=this.p,k=0==g.c?new t:g.b[--g.c],m=this.p,n=0==m.c?new t:m.b[--m.c],q=this.p,p=0==q.pb?new O:q.nb[--q.pb];n.x=a.v;n.y=a.A;n.z=a.B;p.e00=a.o;p.e01=a.f;p.e02=a.h;p.e10=a.i;p.e11=a.m;p.e12=a.j;p.e20=a.l;p.e21=a.g;p.e22=a.s;f.za(p.e00,p.e10,p.e20);l.za(p.e01,p.e11,p.e21);k.za(p.e02,p.e12,p.e22);var r=this.p,v=0==r.c?new t:r.b[--r.c];v.x=n.x;v.y=n.y;v.z=n.z;var aa=v.y+l.y*e,w=v.z+l.z*e;v.x+=l.x*e;v.y=aa;v.z=w;var A=this.p,u=0==A.c?new 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mc=this.p;if(null!=v){v.O();if(mc.c==mc.b.length){for(var id=Array(mc.c<<1),Ic=0,Mb=mc.c;Ic<Mb;){var sc=Ic++;id[sc]=mc.b[sc];mc.b[sc]=null}mc.b=id}mc.b[mc.c++]=v}var vc=this.p;if(null!=u){u.O();if(vc.c==vc.b.length){for(var Ub=Array(vc.c<<1),Bb=0,dc=vc.c;Bb<dc;){var Zb=Bb++;Ub[Zb]=vc.b[Zb];vc.b[Zb]=null}vc.b=Ub}vc.b[vc.c++]=u}var Fc=this.p;if(null!=n){n.O();if(Fc.c==Fc.b.length){for(var Lb=Array(Fc.c<<1),ic=0,Kb=Fc.c;ic<Kb;){var hc=ic++;Lb[hc]=Fc.b[hc];Fc.b[hc]=null}Fc.b=Lb}Fc.b[Fc.c++]=n}var Ab=this.p;if(null!=p){p.e00=1;p.e01=0;p.e02=0;p.e10=0;p.e11=1;p.e12=0;p.e20=0;p.e21=0;p.e22=1;if(Ab.pb==Ab.nb.length){for(var uc=Array(Ab.pb<<1),nc=0,tc=Ab.pb;nc<tc;){var zc=nc++;uc[zc]=Ab.nb[zc];Ab.nb[zc]=null}Ab.nb=uc}Ab.nb[Ab.pb++]=p}var Pb=this.p;if(null!=f){f.O();if(Pb.c==Pb.b.length){for(var Nb=Array(Pb.c<<1),Ac=0,Kc=Pb.c;Ac<Kc;){var Qc=Ac++;Nb[Qc]=Pb.b[Qc];Pb.b[Qc]=null}Pb.b=Nb}Pb.b[Pb.c++]=f}var cc=this.p;if(null!=l){l.O();if(cc.c==cc.b.length){for(var 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b=b.Hd-b.Kd,c=this.Ja.mg*e+this.Ja.ng*d+this.Ja.og*b;c>F.contactPersistenceThreshold?this.xm(a):(e+=this.Ja.mg*-c,d+=this.Ja.ng*-c,b+=this.Ja.og*-c,e*e+d*d+b*b>F.contactPersistenceThreshold*F.contactPersistenceThreshold&&this.xm(a))}},xm:function(a){var b=--this.Ja.Xd;if(a!=b){var e=this.Ja.tc[a];this.Ja.tc[a]=this.Ja.tc[b];this.Ja.tc[b]=e}a=this.Ja.tc[b];a.bf=0;a.cf=0;a.df=0;a.ef=0;a.ff=0;a.gf=0;a.Cb=0;a.Db=0;a.Eb=0;a.ac=0;a.bc=0;a.cc=0;a.Fd=0;a.Gd=0;a.Hd=0;a.Id=0;a.Jd=0;a.Kd=0;a.Dc=0;b=a.Wd;b.Xc=0;b.yc=0;b.xc=0;b.tb=0;b.Ue=0;b.Ve=0;b.We=0;a.Se=!1;a.Jf=!1;a.sc=-1},Wm:function(a,b,e){var d=this.Ja.Xd;if(d==F.maxManifoldPoints){var d=this.Ja.tc[this.an(a,b,e)],c=a.position1;d.Fd=c.x;d.Gd=c.y;d.Hd=c.z;c=a.position2;d.Id=c.x;d.Jd=c.y;d.Kd=c.z;d.Cb=d.Fd-b.v;d.Db=d.Gd-b.A;d.Eb=d.Hd-b.B;d.ac=d.Id-e.v;d.bc=d.Jd-e.A;d.cc=d.Kd-e.B;var f,c=b.o*d.Cb+b.i*d.Db+b.l*d.Eb;f=b.f*d.Cb+b.m*d.Db+b.g*d.Eb;b=b.h*d.Cb+b.j*d.Db+b.s*d.Eb;d.bf=c;d.cf=f;d.df=b;b=e.o*d.ac+e.i*d.bc+e.l*d.cc;c=e.f*d.ac+e.m*d.bc+e.g*d.cc;e=e.h*d.ac+e.j*d.bc+e.s*d.cc;d.ef=b;d.ff=c;d.gf=e;d.Dc=a.depth;e=d.Wd;e.Xc=0;e.yc=0;e.xc=0;e.tb=0;e.Ue=0;e.Ve=0;e.We=0;d.sc=a.id;d.Se=!1;d.Jf=!1}else d=this.Ja.tc[d],c=a.position1,d.Fd=c.x,d.Gd=c.y,d.Hd=c.z,c=a.position2,d.Id=c.x,d.Jd=c.y,d.Kd=c.z,d.Cb=d.Fd-b.v,d.Db=d.Gd-b.A,d.Eb=d.Hd-b.B,d.ac=d.Id-e.v,d.bc=d.Jd-e.A,d.cc=d.Kd-e.B,c=b.o*d.Cb+b.i*d.Db+b.l*d.Eb,f=b.f*d.Cb+b.m*d.Db+b.g*d.Eb,b=b.h*d.Cb+b.j*d.Db+b.s*d.Eb,d.bf=c,d.cf=f,d.df=b,b=e.o*d.ac+e.i*d.bc+e.l*d.cc,c=e.f*d.ac+e.m*d.bc+e.g*d.cc,e=e.h*d.ac+e.j*d.bc+e.s*d.cc,d.ef=b,d.ff=c,d.gf=e,d.Dc=a.depth,e=d.Wd,e.Xc=0,e.yc=0,e.xc=0,e.tb=0,e.Ue=0,e.Ve=0,e.We=0,d.sc=a.id,d.Se=!1,d.Jf=!1,this.Ja.Xd++},an:function(a,b){var e=this.Ja.tc[0],d=this.Ja.tc[1],c=this.Ja.tc[2],f=this.Ja.tc[3],h=e.Dc,l=0;d.Dc>h&&(h=d.Dc,l=1);c.Dc>h&&(h=c.Dc,l=2);f.Dc>h&&(h=f.Dc,l=3);var g,k,m,n=a.position1;g=n.x;k=n.y;m=n.z;g-=b.v;k-=b.A;m-=b.B;var q=d.Cb,p=d.Db,r=d.Eb,v=c.Cb,t=c.Db,w=c.Eb,A=f.Cb,u=f.Db,D=f.Eb,V,z,E,x,F,N,G,C,L,M,O,ga,Vb,na,ka,bb,U,R;V=v-q;z=t-p;E=w-r;x=g-A;F=k-u;N=m-D;G=A-q;C=u-p;L=D-r;M=g-v;O=k-t;ga=m-w;Vb=g-q;na=k-p;ka=m-r;bb=A-v;U=u-t;R=D-w;var lc,Na,Ra,yc,Pa,Ba,Hb,J,Qa;lc=z*N-E*F;Na=E*x-V*N;Ra=V*F-z*x;yc=C*ga-L*O;Pa=L*M-G*ga;Ba=G*O-C*M;Hb=na*R-ka*U;J=ka*bb-Vb*R;Qa=Vb*U-na*bb;var ba=lc*lc+Na*Na+Ra*Ra,Q=yc*yc+Pa*Pa+Ba*Ba,P=Hb*Hb+J*J+Qa*Qa,xa=ba>Q?ba>P?ba:P:Q>P?Q:P,ta=e.Cb,W=e.Db,pa=e.Eb,y=c.Cb,Ia=c.Db,ca=c.Eb,Ea=f.Cb,ya=f.Db,Fa=f.Eb,Sa,la,Z,Ga,ra,va,I,La,Wa,S,Xa,T,K,ia,gb,da,qa,sa;Sa=y-ta;la=Ia-W;Z=ca-pa;Ga=g-Ea;ra=k-ya;va=m-Fa;I=Ea-ta;La=ya-W;Wa=Fa-pa;S=g-y;Xa=k-Ia;T=m-ca;K=g-ta;ia=k-W;gb=m-pa;da=Ea-y;qa=ya-Ia;sa=Fa-ca;var fb,kb,Ya,ma,oa,Ja,Ha,ob,fa;fb=la*va-Z*ra;kb=Z*Ga-Sa*va;Ya=Sa*ra-la*Ga;ma=La*T-Wa*Xa;oa=Wa*S-I*T;Ja=I*Xa-La*S;Ha=ia*sa-gb*qa;ob=gb*da-K*sa;fa=K*qa-ia*da;var ea=fb*fb+kb*kb+Ya*Ya,ja=ma*ma+oa*oa+Ja*Ja,cb=Ha*Ha+ob*ob+fa*fa,Aa=ea>ja?ea>cb?ea:cb:ja>cb?ja:cb,sb=e.Cb,Ua=e.Db,qb=e.Eb,rb=d.Cb,ub=d.Db,Va=d.Eb,xb=f.Cb,rc=f.Db,Za=f.Eb,ua,Qb,H,pb,db,za,$a,hb,B,Db,wa,Da,Fb,Oa,nb,vb,yb,eb;ua=rb-sb;Qb=ub-Ua;H=Va-qb;pb=g-xb;db=k-rc;za=m-Za;$a=xb-sb;hb=rc-Ua;B=Za-qb;Db=g-rb;wa=k-ub;Da=m-Va;Fb=g-sb;Oa=k-Ua;nb=m-qb;vb=xb-rb;yb=rc-ub;eb=Za-Va;var Y,Ma,lb,Ta,ib,Ka,Ca,jb,X;Y=Qb*za-H*db;Ma=H*pb-ua*za;lb=ua*db-Qb*pb;Ta=hb*Da-B*wa;ib=B*Db-$a*Da;Ka=$a*wa-hb*Db;Ca=Oa*eb-nb*yb;jb=nb*vb-Fb*eb;X=Fb*yb-Oa*vb;var Cb=Y*Y+Ma*Ma+lb*lb,wb=Ta*Ta+ib*ib+Ka*Ka,ab=Ca*Ca+jb*jb+X*X,tb=Cb>wb?Cb>ab?Cb:ab:wb>ab?wb:ab,ec=e.Cb,Ab=e.Db,Bb=e.Eb,Eb=d.Cb,xc=d.Db,Gb=d.Eb,jc=c.Cb,pc=c.Db,kc=c.Eb,ac,Wb,Xb,Rb,fc,Sb,Ob,Yb,gc,Ib,$b,mb,Lb,Kb,Nb,qc,mc,Tb;ac=Eb-ec;Wb=xc-Ab;Xb=Gb-Bb;Rb=g-jc;fc=k-pc;Sb=m-kc;Ob=jc-ec;Yb=pc-Ab;gc=kc-Bb;Ib=g-Eb;$b=k-xc;mb=m-Gb;Lb=g-ec;Kb=k-Ab;Nb=m-Bb;qc=jc-Eb;mc=pc-xc;Tb=kc-Gb;var Pb,Mb,sc,vc,Ub,bc,cc,dc,hc;Pb=Wb*Sb-Xb*fc;Mb=Xb*Rb-ac*Sb;sc=ac*fc-Wb*Rb;vc=Yb*mb-gc*$b;Ub=gc*Ib-Ob*mb;bc=Ob*$b-Yb*Ib;cc=Kb*Tb-Nb*mc;dc=Nb*qc-Lb*Tb;hc=Lb*mc-Kb*qc;var Zb=Pb*Pb+Mb*Mb+sc*sc,nc=vc*vc+Ub*Ub+bc*bc,ic=cc*cc+dc*dc+hc*hc,uc=Zb>nc?Zb>ic?Zb:ic:nc>ic?nc:ic,tc=xa,wc=0;if(Aa>tc&&1!=l||!l)tc=Aa,wc=1;tb>tc&&2!=l&&(tc=tb,wc=2);uc>tc&&3!=l&&(tc=uc,wc=3);return wc},dn:function(a,b,e){for(var d=F.contactPersistenceThreshold*F.contactPersistenceThreshold,c=-1,f=0,h=this.Ja.Xd;f<h;){var l=f++,g=this.Ja.tc[l],k,m,n,q,p,r;p=a.position1;k=p.x;m=p.y;n=p.z;r=a.position2;q=r.x;p=r.y;r=r.z;k-=b.v;m-=b.A;n-=b.B;q-=e.v;p-=e.A;r-=e.B;k=g.Cb-k;m=g.Db-m;n=g.Eb-n;q=g.ac-q;p=g.bc-p;g=g.cc-r;r=k*k+m*m+n*n;g=q*q+p*p+g*g;g=r<g?r:g;g<d&&(d=g,c=l)}return c},Pn:function(a,b,e){this.ol=this.Ja.Xd;for(var d=0,c=this.ol;d<c;){var f=d++,h=this.pl[f],f=this.Ja.tc[f];h.bf=f.bf;h.cf=f.cf;h.df=f.df;h.ef=f.ef;h.ff=f.ff;h.gf=f.gf;h.Cb=f.Cb;h.Db=f.Db;h.Eb=f.Eb;h.ac=f.ac;h.bc=f.bc;h.cc=f.cc;h.Fd=f.Fd;h.Gd=f.Gd;h.Hd=f.Hd;h.Id=f.Id;h.Jd=f.Jd;h.Kd=f.Kd;h.Dc=f.Dc;h.Wd.Zd(f.Wd);h.sc=f.sc;h.Se=f.Se;h.Jf=!1}d=a.numPoints;this.Ja.Xd=d;for(c=0;c<d;){var f=c++,h=this.Ja.tc[f],f=a.points[f],l=f.position1;h.Fd=l.x;h.Gd=l.y;h.Hd=l.z;l=f.position2;h.Id=l.x;h.Jd=l.y;h.Kd=l.z;h.Cb=h.Fd-b.v;h.Db=h.Gd-b.A;h.Eb=h.Hd-b.B;h.ac=h.Id-e.v;h.bc=h.Jd-e.A;h.cc=h.Kd-e.B;var g,k,l=b.o*h.Cb+b.i*h.Db+b.l*h.Eb;g=b.f*h.Cb+b.m*h.Db+b.g*h.Eb;k=b.h*h.Cb+b.j*h.Db+b.s*h.Eb;h.bf=l;h.cf=g;h.df=k;l=e.o*h.ac+e.i*h.bc+e.l*h.cc;g=e.f*h.ac+e.m*h.bc+e.g*h.cc;k=e.h*h.ac+e.j*h.bc+e.s*h.cc;h.ef=l;h.ff=g;h.gf=k;h.Dc=f.depth;l=h.Wd;l.Xc=0;l.yc=0;l.xc=0;l.tb=0;l.Ue=0;l.Ve=0;l.We=0;h.sc=f.id;h.Se=!1;h.Jf=!1;f=0;for(l=this.ol;f<l;)if(g=f++,g=this.pl[g],h.sc==g.sc){h.Wd.Zd(g.Wd);h.Se=!0;break}}},Bn:function(a,b,e){this.Ja.Kl(b,e);for(var d=0,c=this.Ja.Xd;d<c;){var f=d++;this.Ja.tc[f].Se=!0}if(1!=a.numPoints)throw Error("assertion error: result.numPoints == 1 is false");a=a.points[0];d=this.dn(a,b,e);-1==d?this.Wm(a,b,e):(d=this.Ja.tc[d],c=a.position1,d.Fd=c.x,d.Gd=c.y,d.Hd=c.z,c=a.position2,d.Id=c.x,d.Jd=c.y,d.Kd=c.z,d.Cb=d.Fd-b.v,d.Db=d.Gd-b.A,d.Eb=d.Hd-b.B,d.ac=d.Id-e.v,d.bc=d.Jd-e.A,d.cc=d.Kd-e.B,c=b.o*d.Cb+b.i*d.Db+b.l*d.Eb,f=b.f*d.Cb+b.m*d.Db+b.g*d.Eb,b=b.h*d.Cb+b.j*d.Db+b.s*d.Eb,d.bf=c,d.cf=f,d.df=b,b=e.o*d.ac+e.i*d.bc+e.l*d.cc,c=e.f*d.ac+e.m*d.bc+e.g*d.cc,e=e.h*d.ac+e.j*d.bc+e.s*d.cc,d.ef=b,d.ff=c,d.gf=e,d.Dc=a.depth);this.Hn()},qa:ij};bd.R=!0;bd.prototype={Bm:function(){this.wc=0;if(0!=this.va||0!=this.wa||0!=this.xa||0!=this.Ba||0!=this.Ca||0!=this.Da)this.wc|=1;if(0!=this.S||0!=this.T||0!=this.U||0!=this.W||0!=this.X||0!=this.Y)this.wc|=2},qa:bd};Sf.R=!0;Sf.prototype={qa:Sf};hj.R=!0;hj.prototype={qa:hj};Oe.R=!0;Oe.prototype={qa:Oe};gj.R=!0;gj.prototype={qa:gj};L.R=!0;L.prototype={ed:function(){var a=this.C.a,b=this.D.a,e,d,c;e=a.o*this.Pi+a.f*this.Qi+a.h*this.Ri;d=a.i*this.Pi+a.m*this.Qi+a.j*this.Ri;c=a.l*this.Pi+a.g*this.Qi+a.s*this.Ri;this.Pb=e;this.Qb=d;this.Rb=c;e=b.o*this.Si+b.f*this.Ti+b.h*this.Ui;d=b.i*this.Si+b.m*this.Ti+b.j*this.Ui;c=b.l*this.Si+b.g*this.Ti+b.s*this.Ui;this.Sb=e;this.Tb=d;this.Ub=c;this.Df=this.Pb+a.v;this.Ef=this.Qb+a.A;this.Ff=this.Rb+a.B;this.Gf=this.Sb+b.v;this.Hf=this.Tb+b.A;this.If=this.Ub+b.B;e=a.o*this.ra+a.f*this.sa+a.h*this.ta;d=a.i*this.ra+a.m*this.sa+a.j*this.ta;c=a.l*this.ra+a.g*this.sa+a.s*this.ta;this.ub=e;this.vb=d;this.wb=c;e=a.o*this.zb+a.f*this.Ab+a.h*this.Bb;d=a.i*this.zb+a.m*this.Ab+a.j*this.Bb;c=a.l*this.zb+a.g*this.Ab+a.s*this.Bb;this.xe=e;this.ye=d;this.ze=c;e=a.o*this.gc+a.f*this.hc+a.h*this.ic;d=a.i*this.gc+a.m*this.hc+a.j*this.ic;a=a.l*this.gc+a.g*this.hc+a.s*this.ic;this.th=e;this.uh=d;this.vh=a;a=b.o*this.kb+b.f*this.lb+b.h*this.mb;e=b.i*this.kb+b.m*this.lb+b.j*this.mb;d=b.l*this.kb+b.g*this.lb+b.s*this.mb;this.Yb=a;this.Zb=e;this.$b=d;a=b.o*this.Wg+b.f*this.Xg+b.h*this.Yg;e=b.i*this.Wg+b.m*this.Xg+b.j*this.Yg;d=b.l*this.Wg+b.g*this.Xg+b.s*this.Yg;this.ne=a;this.oe=e;this.pe=d;a=b.o*this.Ic+b.f*this.Jc+b.h*this.Kc;e=b.i*this.Ic+b.m*this.Jc+b.j*this.Kc;b=b.l*this.Ic+b.g*this.Jc+b.s*this.Kc;this.Rg=a;this.Sg=e;this.Tg=b},Vd:function(a,b){b.Ce=this.C;b.De=this.D;b.Ka=0},dd:function(a){a.Ce=this.C;a.De=this.D;a.Ka=0},Cl:function(){var a=this.Ai*this.Ai+this.Bi*this.Bi+this.Ci*this.Ci,b=this.Di*this.Di+this.Ei*this.Ei+this.Fi*this.Fi;0<this.Ji&&a>this.Ji*this.Ji?this.kc.sl(this):0<this.Ki&&b>this.Ki*this.Ki&&this.kc.sl(this)},ge:function(){return this.C},Ge:function(){return this.D},Jg:function(){return this.Wb},ab:function(){var a=new t;a.x=this.Df;a.y=this.Ef;a.z=this.Ff;return a},Kb:function(){var a=new t;a.x=this.Gf;a.y=this.Hf;a.z=this.If;return a},sb:function(a){a.x=this.Df;a.y=this.Ef;a.z=this.Ff},lc:function(a){a.x=this.Gf;a.y=this.Hf;a.z=this.If},be:function(){var a=new t;a.x=this.Pi;a.y=this.Qi;a.z=this.Ri;return a},de:function(){var a=new t;a.x=this.Si;a.y=this.Ti;a.z=this.Ui;return a},ce:function(a){a.x=this.Pi;a.y=this.Qi;a.z=this.Ri},ee:function(a){a.x=this.Si;a.y=this.Ti;a.z=this.Ui},Cc:function(){var a=new O,b,e,d,c,f,h,l,g,k;b=this.ub;e=this.xe;d=this.th;c=this.vb;f=this.ye;h=this.uh;l=this.wb;g=this.ze;k=this.vh;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k;return a},ad:function(){var a=new O,b,e,d,c,f,h,l,g,k;b=this.Yb;e=this.ne;d=this.Rg;c=this.Zb;f=this.oe;h=this.Sg;l=this.$b;g=this.pe;k=this.Tg;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k;return a},Hc:function(a){var b,e,d,c,f,h,l,g,k;b=this.ub;e=this.xe;d=this.th;c=this.vb;f=this.ye;h=this.uh;l=this.wb;g=this.ze;k=this.vh;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k},bd:function(a){var b,e,d,c,f,h,l,g,k;b=this.Yb;e=this.ne;d=this.Rg;c=this.Zb;f=this.oe;h=this.Sg;l=this.$b;g=this.pe;k=this.Tg;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k},Pa:function(){return this.gk},Kg:function(a){this.gk=a},cd:function(){return this.Ji},Lg:function(a){this.Ji=a},Pd:function(){return this.Ki},Mg:function(a){this.Ki=a},fe:function(){return this.Ec},Ng:function(a){switch(a){case 0:case 1:case 2:break;default:throw Error("invalid position correction algorithm id: "+a);}this.Ec=a},mc:function(){var a=new t;a.x=this.Ai;a.y=this.Bi;a.z=this.Ci;return a},qc:function(a){a.x=this.Ai;a.y=this.Bi;a.z=this.Ci},rc:function(){var a=new t;a.x=this.Di;a.y=this.Ei;a.z=this.Fi;return a},zc:function(a){a.x=this.Di;a.y=this.Ei;a.z=this.Fi},Bf:function(){return this.ia},He:function(){return this.M},qa:L};tb.R=!0;tb.Jb=L;tb.prototype=Gb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c=this.linearErrorY*d,f=this.linearErrorZ*d,h=this.angularErrorY*d,d=this.angularErrorZ*d,l,g,k,m,n,q,p,r,v,t,w,A;l=-this.Rb;g=this.Qb;k=this.Rb;m=-this.Pb;n=-this.Qb;q=this.Pb;p=-this.Ub;r=this.Tb;v=this.Ub;t=-this.Sb;w=-this.Tb;A=this.Sb;var u,D=1/(this.C.Za+this.D.Za),V=this.V.Yc,z=this.V.Zc,E=this.V.$c,x=(this.C.Z*V+this.C.$*z+this.C.aa*E)*V+(this.C.ba*V+this.C.ca*z+this.C.da*E)*z+(this.C.ea*V+this.C.fa*z+this.C.ga*E)*E;u=(this.D.Z*V+this.D.$*z+this.D.aa*E)*V+(this.D.ba*V+this.D.ca*z+this.D.da*E)*z+(this.D.ea*V+this.D.fa*z+this.D.ga*E)*E;if(0<x){var C=V*this.Pb+z*this.Qb+E*this.Rb,C=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-C*C;0<C&&(x=0<this.C.Za?1/(1/x+this.C.Lc*C):0)}0<u&&(V=V*this.Sb+z*this.Tb+E*this.Ub,V=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-V*V,0<V&&(u=0<this.D.Za?1/(1/u+this.D.Lc*V):0));x=x+u?1/(x+u):0;if(0>=this.Lk.frequency||!e){u=this.Nb[0];V=a.rows[a.Ka++];z=V.Aa;z.va=0;z.wa=0;z.xa=0;z.Ba=0;z.Ca=0;z.Da=0;z.S=0;z.T=0;z.U=0;z.W=0;z.X=0;z.Y=0;V.Fa=0;V.Ma=0;V.Ia=0;V.Ha=0;V.motorSpeed=0;V.bb=0;V.ua=null;V.ua=u;u=V;var V=this.Vf,C=this.Kk,E=this.Lk,N,z=F.linearSlop;if(e)E=0,N=1;else{if(0<E.frequency){var z=0,G=6.28318530717958*E.frequency,L=E.dampingRatio;L<F.minSpringDamperDampingRatio&&(L=F.minSpringDamperDampingRatio);N=b.dt;L=2*L*G;G*=G;E.useSymplecticEuler?(E=1/(N*L),N=G/L):(E=1/(N*(N*G+L)),N=G/(N*G+L))}else E=0,N=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<C.motorForce?(u.motorSpeed=C.motorSpeed,u.bb=C.motorForce*b.dt):(u.motorSpeed=0,u.bb=0)}var L=C.lowerLimit,M=C.upperLimit;L>M?V=G=C=0:L==M?(C=-1/0,G=1/0,V-=L):V<L?(C=-1/0,G=0,V=V-L+z,0<V&&(V=0)):V>M?(C=0,G=1/0,V=V-M-z,0>V&&(V=0)):V=G=C=0;u.Ia=C;u.Ha=G;u.Ma=E*(D?1/D:0);u.Fa=V*N;u=u.Aa;u.va=this.V.Yc;u.wa=this.V.Zc;u.xa=this.V.$c;u.Ba=this.V.Yc;u.Ca=this.V.Zc;u.Da=this.V.$c;u.S=-0;u.T=-l;u.U=-g;u.W=-0;u.X=-p;u.Y=-r}u=this.Nb[1];l=a.rows[a.Ka++];g=l.Aa;g.va=0;g.wa=0;g.xa=0;g.Ba=0;g.Ca=0;g.Da=0;g.S=0;g.T=0;g.U=0;g.W=0;g.X=0;g.Y=0;l.Fa=0;l.Ma=0;l.Ia=0;l.Ha=0;l.motorSpeed=0;l.bb=0;l.ua=u;u=l;u.Fa=c;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.va=this.V.Md;u.wa=this.V.Nd;u.xa=this.V.Od;u.Ba=this.V.Md;u.Ca=this.V.Nd;u.Da=this.V.Od;u.S=-k;u.T=-0;u.U=-m;u.W=-v;u.X=-0;u.Y=-t;c=this.Nb[2];u=a.rows[a.Ka++];k=u.Aa;k.va=0;k.wa=0;k.xa=0;k.Ba=0;k.Ca=0;k.Da=0;k.S=0;k.T=0;k.U=0;k.W=0;k.X=0;k.Y=0;u.Fa=0;u.Ma=0;u.Ia=0;u.Ha=0;u.motorSpeed=0;u.bb=0;u.ua=c;u.Fa=f;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.va=this.V.ke;u.wa=this.V.le;u.xa=this.V.me;u.Ba=this.V.ke;u.Ca=this.V.le;u.Da=this.V.me;u.S=-n;u.T=-q;u.U=-0;u.W=-w;u.X=-A;u.Y=-0;if(0>=this.Ek.frequency||!e)f=this.Nb[3],n=a.rows[a.Ka++],q=n.Aa,q.va=0,q.wa=0,q.xa=0,q.Ba=0,q.Ca=0,q.Da=0,q.S=0,q.T=0,q.U=0,q.W=0,q.X=0,q.Y=0,n.Fa=0,n.Ma=0,n.Ia=0,n.Ha=0,n.motorSpeed=0,n.bb=0,n.ua=f,u=n,f=this.angle,q=this.Dk,w=this.Ek,n=F.angularSlop,e?(e=0,w=1):(0<w.frequency?(n=0,e=6.28318530717958*w.frequency,c=w.dampingRatio,c<F.minSpringDamperDampingRatio&&(c=F.minSpringDamperDampingRatio),A=b.dt,c=2*c*e,k=e*e,w.useSymplecticEuler?(e=1/(A*c),w=k/c):(e=1/(A*(A*k+c)),w=k/(A*k+c))):(e=0,w=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<q.motorTorque?(u.motorSpeed=q.motorSpeed,u.bb=q.motorTorque*b.dt):(u.motorSpeed=0,u.bb=0)),b=q.lowerLimit,q=q.upperLimit,A=.5*(b+q),f=((f-A+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979+A,b>q?b=c=A=0:b==q?(A=-1/0,c=1/0,b=f-b):f<b?(A=-1/0,c=0,b=f-b+n,0<b&&(b=0)):f>q?(A=0,c=1/0,b=f-q-n,0>b&&(b=0)):b=c=A=0,u.Ia=A,u.Ha=c,u.Ma=e*(x?1/x:0),u.Fa=b*w,u=u.Aa,u.S=this.V.Yc,u.T=this.V.Zc,u.U=this.V.$c,u.W=this.V.Yc,u.X=this.V.Zc,u.Y=this.V.$c;b=this.Nb[4];x=a.rows[a.Ka++];e=x.Aa;e.va=0;e.wa=0;e.xa=0;e.Ba=0;e.Ca=0;e.Da=0;e.S=0;e.T=0;e.U=0;e.W=0;e.X=0;e.Y=0;x.Fa=0;x.Ma=0;x.Ia=0;x.Ha=0;x.motorSpeed=0;x.bb=0;x.ua=b;u=x;u.Fa=h;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.S=this.V.Md;u.T=this.V.Nd;u.U=this.V.Od;u.W=this.V.Md;u.X=this.V.Nd;u.Y=this.V.Od;h=this.Nb[5];a=a.rows[a.Ka++];b=a.Aa;b.va=0;b.wa=0;b.xa=0;b.Ba=0;b.Ca=0;b.Da=0;b.S=0;b.T=0;b.U=0;b.W=0;b.X=0;b.Y=0;a.Fa=0;a.Ma=0;a.Ia=0;a.Ha=0;a.motorSpeed=0;a.bb=0;a.ua=h;u=a;u.Fa=d;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.S=this.V.ke;u.T=this.V.le;u.U=this.V.me;u.W=this.V.ke;u.X=this.V.le;u.Y=this.V.me},ed:function(){L.prototype.ed.call(this);var a=this.V,b=a.P.C.Za,e=a.P.D.Za,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u,D,V,z,E,x,F,C,G,M,O,ga,ha,na,Vb=a.P.ub*a.P.Yb+a.P.vb*a.P.Zb+a.P.wb*a.P.$b;if(-1.000001<Vb&&-.999999>Vb){var qa,ka,bb,U=a.P.ub,R=a.P.vb,lc=a.P.wb,Na=U*U,Ra=R*R,yc=lc*lc,Pa;Na<Ra?Na<yc?(Pa=1/Math.sqrt(Ra+yc),qa=0,ka=lc*Pa,bb=-R*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0):Ra<yc?(Pa=1/Math.sqrt(yc+Na),qa=-lc*Pa,ka=0,bb=U*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0);d=qa;c=ka;f=bb;h=0}else{var Ba,Hb,J;Ba=a.P.vb*a.P.$b-a.P.wb*a.P.Zb;Hb=a.P.wb*a.P.Yb-a.P.ub*a.P.$b;J=a.P.ub*a.P.Zb-a.P.vb*a.P.Yb;var Qa=Math.sqrt(.5*(1+Vb)),Vb=.5/Qa;Ba*=Vb;Hb*=Vb;J*=Vb;d=Ba;c=Hb;f=J;h=Qa}var ba,Q,P,xa,ta,W,pa,y;P=Q=ba=0;xa=1;ta=d;W=c;pa=f;y=h;var Ia=ba*ta+Q*W+P*pa+xa*y;0>Ia&&(Ia=-Ia,ta=-ta,W=-W,pa=-pa,y=-y);if(.999999<Ia){var ca,Ea,ya,Fa;ca=ta-ba;Ea=W-Q;ya=pa-P;Fa=y-xa;ta=ba+b/(b+e)*ca;W=Q+b/(b+e)*Ea;pa=P+b/(b+e)*ya;y=xa+b/(b+e)*Fa;var Sa=ta*ta+W*W+pa*pa+y*y;1E-32<Sa&&(Sa=1/Math.sqrt(Sa));l=ta*Sa;g=W*Sa;k=pa*Sa;m=y*Sa}else{var la=b/(b+e)*Math.acos(Ia);ta+=ba*-Ia;W+=Q*-Ia;pa+=P*-Ia;y+=xa*-Ia;var Z=ta*ta+W*W+pa*pa+y*y;1E-32<Z&&(Z=1/Math.sqrt(Z));ta*=Z;W*=Z;pa*=Z;y*=Z;var Ga=Math.sin(la),ra=Math.cos(la);ba*=ra;Q*=ra;P*=ra;xa*=ra;l=ba+ta*Ga;g=Q+W*Ga;k=P+pa*Ga;m=xa+y*Ga}var va=l,I=g,La=k,Wa=m,S=2*va,Xa=2*I,T=2*La,K=va*S,ia=I*Xa,gb=La*T,da=va*Xa,za=I*T,sa=va*T,fb=Wa*S,kb=Wa*Xa,Ya=Wa*T;n=1-ia-gb;q=da-Ya;p=sa+kb;r=da+Ya;v=1-K-gb;t=za-fb;w=sa-kb;A=za+fb;u=1-K-ia;var ma,oa;ma=n*a.P.ub+q*a.P.vb+p*a.P.wb;oa=r*a.P.ub+v*a.P.vb+t*a.P.wb;D=w*a.P.ub+A*a.P.vb+u*a.P.wb;G=a.Yc;M=a.Zc;O=a.$c;ga=a.Md;ha=a.Nd;na=a.Od;var Ja=G*ma+M*oa+O*D;if(-1.000001<Ja&&-.999999>Ja){var Ha,ob,fa,ea=G*G,ja=M*M,cb=O*O,Aa;ea<ja?ea<cb?(Aa=1/Math.sqrt(ja+cb),Ha=0,ob=O*Aa,fa=-M*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0):ja<cb?(Aa=1/Math.sqrt(cb+ea),Ha=-O*Aa,ob=0,fa=G*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0);l=Ha;g=ob;k=fa;m=0}else{var sb,Ua,qb;sb=M*D-O*oa;Ua=O*ma-G*D;qb=G*oa-M*ma;var rb=Math.sqrt(.5*(1+Ja)),Ja=.5/rb;sb*=Ja;Ua*=Ja;qb*=Ja;l=sb;g=Ua;k=qb;m=rb}var ub=l,Va=g,xb=k,wa=m,Za=2*ub,ua=2*Va,Da=2*xb,H=ub*Za,pb=Va*ua,db=xb*Da,Ca=ub*ua,$a=Va*Da,hb=ub*Da,B=wa*Za,Db=wa*ua,jb=wa*Da;n=1-pb-db;q=Ca-jb;p=hb+Db;r=Ca+jb;v=1-H-db;t=$a-B;w=hb-Db;A=$a+B;u=1-H-pb;var ab,Fb,Oa;ab=n*ga+q*ha+p*na;Fb=r*ga+v*ha+t*na;Oa=w*ga+A*ha+u*na;V=ab;z=Fb;E=Oa;x=oa*E-D*z;F=D*V-ma*E;C=ma*z-oa*V;if(1E-6<x*x+F*F+C*C){var nb=x*x+F*F+C*C;0<nb&&(nb=1/Math.sqrt(nb));x*=nb;F*=nb;C*=nb}else{var vb=ma*ma,yb=oa*oa,eb=D*D,Y;vb<yb?vb<eb?(Y=1/Math.sqrt(yb+eb),x=0,F=D*Y,C=-oa*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,F=-ma*Y,C=0):yb<eb?(Y=1/Math.sqrt(eb+vb),x=-D*Y,F=0,C=ma*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,F=-ma*Y,C=0)}V=F*D-C*oa;z=C*ma-x*D;E=x*oa-F*ma;a.Yc=ma;a.Zc=oa;a.$c=D;a.Md=V;a.Nd=z;a.Od=E;a.ke=x;a.le=F;a.me=C;var Ma,lb,Ta;Ma=this.vb*this.$b-this.wb*this.Zb;lb=this.wb*this.Yb-this.ub*this.$b;Ta=this.ub*this.Zb-this.vb*this.Yb;var ib=this.ub*this.Yb+this.vb*this.Zb+this.wb*this.$b,Ka=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib),Jb=Ma*Ma+lb*lb+Ta*Ta;0<Jb&&(Jb=1/Math.sqrt(Jb));Ma*=Jb;lb*=Jb;Ta*=Jb;Ma*=Ka;lb*=Ka;Ta*=Ka;this.angularErrorY=Ma*this.V.Md+lb*this.V.Nd+Ta*this.V.Od;this.angularErrorZ=Ma*this.V.ke+lb*this.V.le+Ta*this.V.me;var wb,X,Cb;wb=this.ye*this.pe-this.ze*this.oe;X=this.ze*this.ne-this.xe*this.pe;Cb=this.xe*this.oe-this.ye*this.ne;ib=this.xe*this.ne+this.ye*this.oe+this.ze*this.pe;this.angle=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib);0>wb*this.V.Yc+X*this.V.Zc+Cb*this.V.$c&&(this.angle=-this.angle);var tb,Ab,Bb;tb=this.Gf-this.Df;Ab=this.Hf-this.Ef;Bb=this.If-this.Ff;this.Vf=tb*this.V.Yc+Ab*this.V.Zc+Bb*this.V.$c;this.linearErrorY=tb*this.V.Md+Ab*this.V.Nd+Bb*this.V.Od;this.linearErrorZ=tb*this.V.ke+Ab*this.V.le+Bb*this.V.me},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.ub;a.y=this.vb;a.z=this.wb;return a},xg:function(){var a=new t;a.x=this.Yb;a.y=this.Zb;a.z=this.$b;return a},wg:function(a){a.x=this.ub;a.y=this.vb;a.z=this.wb},yg:function(a){a.x=this.Yb;a.y=this.Zb;a.z=this.$b},zg:function(){var a=new t;a.x=this.ra;a.y=this.sa;a.z=this.ta;return a},Bg:function(){var a=new t;a.x=this.kb;a.y=this.lb;a.z=this.mb;return a},Ag:function(a){a.x=this.ra;a.y=this.sa;a.z=this.ta},Cg:function(a){a.x=this.kb;a.y=this.lb;a.z=this.mb},vn:function(){return this.Lk},nn:function(){return this.Ek},un:function(){return this.Kk},mn:function(){return this.Dk},Xk:function(){return this.angle},$k:function(){return this.Vf},qa:tb});Ec.R=!0;Ec.prototype={Vg:function(a,b,e){this.rigidBody1=a;this.rigidBody2=b;var d=this.rigidBody1,c,f,h;c=e.x;f=e.y;h=e.z;c-=d.a.v;f-=d.a.A;h-=d.a.B;a=d.a.o*c+d.a.i*f+d.a.l*h;b=d.a.f*c+d.a.m*f+d.a.g*h;d=d.a.h*c+d.a.j*f+d.a.s*h;c=this.localAnchor1;c.x=a;c.y=b;c.z=d;b=this.rigidBody2;d=e.x;c=e.y;f=e.z;d-=b.a.v;c-=b.a.A;f-=b.a.B;e=b.a.o*d+b.a.i*c+b.a.l*f;a=b.a.f*d+b.a.m*c+b.a.g*f;b=b.a.h*d+b.a.j*c+b.a.s*f;d=this.localAnchor2;d.x=e;d.y=a;d.z=b},qa:Ec};te.R=!0;te.Jb=Ec;te.prototype=Gb(Ec.prototype,{za:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},qa:te});Qe.R=!0;Qe.prototype={qa:Qe};Ck.R=!0;Ck.prototype={qa:Ck};Oc.R=!0;Oc.prototype={Pa:function(){return this.wk},sb:function(){return this.Mc},Kb:function(){return this.ia},ab:function(){return this.M},qa:Oc};hc.R=!0;Bb.R=!0;Bb.Jb=L;Bb.prototype=Gb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c=this.linearErrorY*d,f=this.linearErrorZ*d,h=this.angularErrorX*d,l=this.angularErrorY*d,d=this.angularErrorZ*d,g,k,m,n,q,p,r,v,t,w,A,u;g=-this.Rb;k=this.Qb;m=this.Rb;n=-this.Pb;q=-this.Qb;p=this.Pb;r=-this.Ub;v=this.Tb;t=this.Ub;w=-this.Sb;A=-this.Tb;u=this.Sb;var D,V;V=1/(this.C.Za+this.D.Za);if(0>=this.ue.frequency||!e){D=this.Nb[0];var z=a.rows[a.Ka++],E=z.Aa;E.va=0;E.wa=0;E.xa=0;E.Ba=0;E.Ca=0;E.Da=0;E.S=0;E.T=0;E.U=0;E.W=0;E.X=0;E.Y=0;z.Fa=0;z.Ma=0;z.Ia=0;z.Ha=0;z.motorSpeed=0;z.bb=0;z.ua=D;D=z;var z=this.Vf,x=this.Lh,C=this.ue,E=F.linearSlop;if(e)C=0,e=1;else{if(0<C.frequency){var E=0,N=6.28318530717958*C.frequency,G=C.dampingRatio;G<F.minSpringDamperDampingRatio&&(G=F.minSpringDamperDampingRatio);e=b.dt;G=2*G*N;N*=N;C.useSymplecticEuler?(C=1/(e*G),e=N/G):(C=1/(e*(e*N+G)),e=N/(e*N+G))}else C=0,e=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<x.motorForce?(D.motorSpeed=x.motorSpeed,D.bb=x.motorForce*b.dt):(D.motorSpeed=0,D.bb=0)}b=x.lowerLimit;N=x.upperLimit;b>N?b=G=x=0:b==N?(x=-1/0,G=1/0,b=z-b):z<b?(x=-1/0,G=0,b=z-b+E,0<b&&(b=0)):z>N?(x=0,G=1/0,b=z-N-E,0>b&&(b=0)):b=G=x=0;D.Ia=x;D.Ha=G;D.Ma=C*(V?1/V:0);D.Fa=b*e;V=D.Aa;V.va=this.V.Yc;V.wa=this.V.Zc;V.xa=this.V.$c;V.Ba=this.V.Yc;V.Ca=this.V.Zc;V.Da=this.V.$c;V.S=-0;V.T=-g;V.U=-k;V.W=-0;V.X=-r;V.Y=-v}g=this.Nb[1];k=a.rows[a.Ka++];r=k.Aa;r.va=0;r.wa=0;r.xa=0;r.Ba=0;r.Ca=0;r.Da=0;r.S=0;r.T=0;r.U=0;r.W=0;r.X=0;r.Y=0;k.Fa=0;k.Ma=0;k.Ia=0;k.Ha=0;k.motorSpeed=0;k.bb=0;k.ua=g;D=k;D.Fa=c;D.Ma=0;D.Ia=-1/0;D.Ha=1/0;V=D.Aa;V.va=this.V.Md;V.wa=this.V.Nd;V.xa=this.V.Od;V.Ba=this.V.Md;V.Ca=this.V.Nd;V.Da=this.V.Od;V.S=-m;V.T=-0;V.U=-n;V.W=-t;V.X=-0;V.Y=-w;c=this.Nb[2];m=a.rows[a.Ka++];n=m.Aa;n.va=0;n.wa=0;n.xa=0;n.Ba=0;n.Ca=0;n.Da=0;n.S=0;n.T=0;n.U=0;n.W=0;n.X=0;n.Y=0;m.Fa=0;m.Ma=0;m.Ia=0;m.Ha=0;m.motorSpeed=0;m.bb=0;m.ua=c;D=m;D.Fa=f;D.Ma=0;D.Ia=-1/0;D.Ha=1/0;V=D.Aa;V.va=this.V.ke;V.wa=this.V.le;V.xa=this.V.me;V.Ba=this.V.ke;V.Ca=this.V.le;V.Da=this.V.me;V.S=-q;V.T=-p;V.U=-0;V.W=-A;V.X=-u;V.Y=-0;f=this.Nb[3];q=a.rows[a.Ka++];p=q.Aa;p.va=0;p.wa=0;p.xa=0;p.Ba=0;p.Ca=0;p.Da=0;p.S=0;p.T=0;p.U=0;p.W=0;p.X=0;p.Y=0;q.Fa=0;q.Ma=0;q.Ia=0;q.Ha=0;q.motorSpeed=0;q.bb=0;q.ua=f;D=q;D.Fa=h;D.Ma=0;D.Ia=-1/0;D.Ha=1/0;V=D.Aa;V.S=1;V.T=0;V.U=0;V.W=1;V.X=0;V.Y=0;h=this.Nb[4];f=a.rows[a.Ka++];q=f.Aa;q.va=0;q.wa=0;q.xa=0;q.Ba=0;q.Ca=0;q.Da=0;q.S=0;q.T=0;q.U=0;q.W=0;q.X=0;q.Y=0;f.Fa=0;f.Ma=0;f.Ia=0;f.Ha=0;f.motorSpeed=0;f.bb=0;f.ua=h;D=f;D.Fa=l;D.Ma=0;D.Ia=-1/0;D.Ha=1/0;V=D.Aa;V.S=0;V.T=1;V.U=0;V.W=0;V.X=1;V.Y=0;l=this.Nb[5];a=a.rows[a.Ka++];h=a.Aa;h.va=0;h.wa=0;h.xa=0;h.Ba=0;h.Ca=0;h.Da=0;h.S=0;h.T=0;h.U=0;h.W=0;h.X=0;h.Y=0;a.Fa=0;a.Ma=0;a.Ia=0;a.Ha=0;a.motorSpeed=0;a.bb=0;a.ua=l;D=a;D.Fa=d;D.Ma=0;D.Ia=-1/0;D.Ha=1/0;V=D.Aa;V.S=0;V.T=0;V.U=1;V.W=0;V.X=0;V.Y=1},ed:function(){L.prototype.ed.call(this);var a=this.V,b=a.P.C.Za,e=a.P.D.Za,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u,D,F,z,E,x,C,N,G,M,O,ga,ha,na,Vb=a.P.ub*a.P.Yb+a.P.vb*a.P.Zb+a.P.wb*a.P.$b;if(-1.000001<Vb&&-.999999>Vb){var qa,ka,bb,U=a.P.ub,R=a.P.vb,Da=a.P.wb,Na=U*U,Ra=R*R,za=Da*Da,Pa;Na<Ra?Na<za?(Pa=1/Math.sqrt(Ra+za),qa=0,ka=Da*Pa,bb=-R*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0):Ra<za?(Pa=1/Math.sqrt(za+Na),qa=-Da*Pa,ka=0,bb=U*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0);d=qa;c=ka;f=bb;h=0}else{var Ba,Hb,J;Ba=a.P.vb*a.P.$b-a.P.wb*a.P.Zb;Hb=a.P.wb*a.P.Yb-a.P.ub*a.P.$b;J=a.P.ub*a.P.Zb-a.P.vb*a.P.Yb;var Qa=Math.sqrt(.5*(1+Vb)),Vb=.5/Qa;Ba*=Vb;Hb*=Vb;J*=Vb;d=Ba;c=Hb;f=J;h=Qa}var ba,Q,P,xa,ta,W,pa,y;P=Q=ba=0;xa=1;ta=d;W=c;pa=f;y=h;var Ia=ba*ta+Q*W+P*pa+xa*y;0>Ia&&(Ia=-Ia,ta=-ta,W=-W,pa=-pa,y=-y);if(.999999<Ia){var ca,Ea,ya,Fa;ca=ta-ba;Ea=W-Q;ya=pa-P;Fa=y-xa;ta=ba+b/(b+e)*ca;W=Q+b/(b+e)*Ea;pa=P+b/(b+e)*ya;y=xa+b/(b+e)*Fa;var Sa=ta*ta+W*W+pa*pa+y*y;1E-32<Sa&&(Sa=1/Math.sqrt(Sa));l=ta*Sa;g=W*Sa;k=pa*Sa;m=y*Sa}else{var la=b/(b+e)*Math.acos(Ia);ta+=ba*-Ia;W+=Q*-Ia;pa+=P*-Ia;y+=xa*-Ia;var Z=ta*ta+W*W+pa*pa+y*y;1E-32<Z&&(Z=1/Math.sqrt(Z));ta*=Z;W*=Z;pa*=Z;y*=Z;var Ga=Math.sin(la),ra=Math.cos(la);ba*=ra;Q*=ra;P*=ra;xa*=ra;l=ba+ta*Ga;g=Q+W*Ga;k=P+pa*Ga;m=xa+y*Ga}var va=l,I=g,La=k,Wa=m,S=2*va,Xa=2*I,T=2*La,K=va*S,ia=I*Xa,gb=La*T,da=va*Xa,wa=I*T,sa=va*T,fb=Wa*S,kb=Wa*Xa,Ya=Wa*T;n=1-ia-gb;q=da-Ya;p=sa+kb;r=da+Ya;v=1-K-gb;t=wa-fb;w=sa-kb;A=wa+fb;u=1-K-ia;var ma,oa;ma=n*a.P.ub+q*a.P.vb+p*a.P.wb;oa=r*a.P.ub+v*a.P.vb+t*a.P.wb;D=w*a.P.ub+A*a.P.vb+u*a.P.wb;G=a.Yc;M=a.Zc;O=a.$c;ga=a.Md;ha=a.Nd;na=a.Od;var Ja=G*ma+M*oa+O*D;if(-1.000001<Ja&&-.999999>Ja){var Ha,ob,fa,ea=G*G,ja=M*M,cb=O*O,Aa;ea<ja?ea<cb?(Aa=1/Math.sqrt(ja+cb),Ha=0,ob=O*Aa,fa=-M*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0):ja<cb?(Aa=1/Math.sqrt(cb+ea),Ha=-O*Aa,ob=0,fa=G*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0);l=Ha;g=ob;k=fa;m=0}else{var sb,Ua,qb;sb=M*D-O*oa;Ua=O*ma-G*D;qb=G*oa-M*ma;var rb=Math.sqrt(.5*(1+Ja)),Ja=.5/rb;sb*=Ja;Ua*=Ja;qb*=Ja;l=sb;g=Ua;k=qb;m=rb}var ub=l,Va=g,xb=k,Ca=m,Za=2*ub,ua=2*Va,Qb=2*xb,H=ub*Za,pb=Va*ua,db=xb*Qb,jb=ub*ua,$a=Va*Qb,hb=ub*Qb,B=Ca*Za,Db=Ca*ua,ab=Ca*Qb;n=1-pb-db;q=jb-ab;p=hb+Db;r=jb+ab;v=1-H-db;t=$a-B;w=hb-Db;A=$a+B;u=1-H-pb;var wb,Fb,Oa;wb=n*ga+q*ha+p*na;Fb=r*ga+v*ha+t*na;Oa=w*ga+A*ha+u*na;F=wb;z=Fb;E=Oa;x=oa*E-D*z;C=D*F-ma*E;N=ma*z-oa*F;if(1E-6<x*x+C*C+N*N){var nb=x*x+C*C+N*N;0<nb&&(nb=1/Math.sqrt(nb));x*=nb;C*=nb;N*=nb}else{var vb=ma*ma,yb=oa*oa,eb=D*D,Y;vb<yb?vb<eb?(Y=1/Math.sqrt(yb+eb),x=0,C=D*Y,N=-oa*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,C=-ma*Y,N=0):yb<eb?(Y=1/Math.sqrt(eb+vb),x=-D*Y,C=0,N=ma*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,C=-ma*Y,N=0)}F=C*D-N*oa;z=N*ma-x*D;E=x*oa-C*ma;a.Yc=ma;a.Zc=oa;a.$c=D;a.Md=F;a.Nd=z;a.Od=E;a.ke=x;a.le=C;a.me=N;var Ma,lb,Ta,ib,Ka,Jb,tb,X,Cb,Ab,Bb,Eb,ec,Gb,Lb,Kb,xc,Nb;Ma=this.ub;lb=this.xe;Ta=this.th;ib=this.vb;Ka=this.ye;Jb=this.uh;tb=this.wb;X=this.ze;Cb=this.vh;Ab=this.Yb;Bb=this.ne;Eb=this.Rg;ec=this.Zb;Gb=this.oe;Lb=this.Sg;Kb=this.$b;xc=this.pe;Nb=this.Tg;var jc,pc,kc,ac,Wb,Xb,Rb,fc;jc=Ab*Ma+Bb*lb+Eb*Ta;pc=Ab*ib+Bb*Ka+Eb*Jb;kc=Ab*tb+Bb*X+Eb*Cb;ac=ec*Ma+Gb*lb+Lb*Ta;Wb=ec*ib+Gb*Ka+Lb*Jb;Xb=ec*tb+Gb*X+Lb*Cb;Rb=Kb*Ma+xc*lb+Nb*Ta;fc=Kb*ib+xc*Ka+Nb*Jb;var Sb,Ob,Yb,gc,Ib=Kb*tb+xc*X+Nb*Cb,$b=jc+Wb+Ib,mb;0<$b?(mb=Math.sqrt($b+1),gc=.5*mb,mb=.5/mb,Sb=(fc-Xb)*mb,Ob=(kc-Rb)*mb,Yb=(ac-pc)*mb):jc>Wb?jc>Ib?(mb=Math.sqrt(jc-Wb-Ib+1),Sb=.5*mb,mb=.5/mb,Ob=(pc+ac)*mb,Yb=(kc+Rb)*mb,gc=(fc-Xb)*mb):(mb=Math.sqrt(Ib-jc-Wb+1),Yb=.5*mb,mb=.5/mb,Sb=(kc+Rb)*mb,Ob=(Xb+fc)*mb,gc=(ac-pc)*mb):Wb>Ib?(mb=Math.sqrt(Wb-Ib-jc+1),Ob=.5*mb,mb=.5/mb,Sb=(pc+ac)*mb,Yb=(Xb+fc)*mb,gc=(kc-Rb)*mb):(mb=Math.sqrt(Ib-jc-Wb+1),Yb=.5*mb,mb=.5/mb,Sb=(kc+Rb)*mb,Ob=(Xb+fc)*mb,gc=(ac-pc)*mb);var Tb=gc,Pb=2*(-1>=Tb?3.14159265358979:1<=Tb?0:Math.acos(Tb));this.angularErrorX=Sb;this.angularErrorY=Ob;this.angularErrorZ=Yb;var Mb=this.angularErrorX*this.angularErrorX+this.angularErrorY*this.angularErrorY+this.angularErrorZ*this.angularErrorZ;0<Mb&&(Mb=1/Math.sqrt(Mb));this.angularErrorX*=Mb;this.angularErrorY*=Mb;this.angularErrorZ*=Mb;this.angularErrorX*=Pb;this.angularErrorY*=Pb;this.angularErrorZ*=Pb;var qc,mc,Ub;qc=this.Gf-this.Df;mc=this.Hf-this.Ef;Ub=this.If-this.Ff;this.Vf=qc*this.V.Yc+mc*this.V.Zc+Ub*this.V.$c;this.linearErrorY=qc*this.V.Md+mc*this.V.Nd+Ub*this.V.Od;this.linearErrorZ=qc*this.V.ke+mc*this.V.le+Ub*this.V.me},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.ub;a.y=this.vb;a.z=this.wb;return a},xg:function(){var a=new t;a.x=this.Yb;a.y=this.Zb;a.z=this.$b;return a},wg:function(a){a.x=this.ub;a.y=this.vb;a.z=this.wb},yg:function(a){a.x=this.Yb;a.y=this.Zb;a.z=this.$b},zg:function(){var a=new t;a.x=this.ra;a.y=this.sa;a.z=this.ta;return a},Bg:function(){var a=new t;a.x=this.kb;a.y=this.lb;a.z=this.mb;return a},Ag:function(a){a.x=this.ra;a.y=this.sa;a.z=this.ta},Cg:function(a){a.x=this.kb;a.y=this.lb;a.z=this.mb},nj:function(){return this.ue},Zk:function(){return this.Lh},$k:function(){return this.Vf},qa:Bb});Dd.R=!0;Dd.Jb=Ec;Dd.prototype=Gb(Ec.prototype,{za:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},qa:Dd});wb.R=!0;wb.Jb=L;wb.prototype=Gb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l,g,k,m,n,q,p,r,v,t,w,A;l=-this.Rb;g=this.Qb;k=this.Rb;m=-this.Pb;n=-this.Qb;q=this.Pb;p=-this.Ub;r=this.Tb;v=this.Ub;t=-this.Sb;w=-this.Tb;A=this.Sb;var u=this.swingAxisX,D=this.swingAxisY,C=this.swingAxisZ,d=(this.C.Z*u+this.C.$*D+this.C.aa*C)*u+(this.C.ba*u+this.C.ca*D+this.C.da*C)*D+(this.C.ea*u+this.C.fa*D+this.C.ga*C)*C,z=(this.D.Z*u+this.D.$*D+this.D.aa*C)*u+(this.D.ba*u+this.D.ca*D+this.D.da*C)*D+(this.D.ea*u+this.D.fa*D+this.D.ga*C)*C;if(0<d){var E=u*this.Pb+D*this.Qb+C*this.Rb,E=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-E*E;0<E&&(d=0<this.C.Za?1/(1/d+this.C.Lc*E):0)}0<z&&(u=u*this.Sb+D*this.Tb+C*this.Ub,u=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-u*u,0<u&&(z=0<this.D.Za?1/(1/z+this.D.Lc*u):0));z=d+z?1/(d+z):0;D=this.Yb;C=this.Zb;E=this.$b;d=(this.C.Z*D+this.C.$*C+this.C.aa*E)*D+(this.C.ba*D+this.C.ca*C+this.C.da*E)*C+(this.C.ea*D+this.C.fa*C+this.C.ga*E)*E;u=(this.D.Z*D+this.D.$*C+this.D.aa*E)*D+(this.D.ba*D+this.D.ca*C+this.D.da*E)*C+(this.D.ea*D+this.D.fa*C+this.D.ga*E)*E;if(0<d){var x=D*this.Pb+C*this.Qb+E*this.Rb,x=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-x*x;0<x&&(d=0<this.C.Za?1/(1/d+this.C.Lc*x):0)}0<u&&(D=D*this.Sb+C*this.Tb+E*this.Ub,D=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-D*D,0<D&&(u=0<this.D.Za?1/(1/u+this.D.Lc*D):0));d=d+u?1/(d+u):0;u=this.Nb[0];D=a.rows[a.Ka++];C=D.Aa;C.va=0;C.wa=0;C.xa=0;C.Ba=0;C.Ca=0;C.Da=0;C.S=0;C.T=0;C.U=0;C.W=0;C.X=0;C.Y=0;D.Fa=0;D.Ma=0;D.Ia=0;D.Ha=0;D.motorSpeed=0;D.bb=0;D.ua=u;u=D;u.Fa=c;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.va=1;u.wa=0;u.xa=0;u.Ba=1;u.Ca=0;u.Da=0;u.S=-0;u.T=-l;u.U=-g;u.W=-0;u.X=-p;u.Y=-r;u=this.Nb[1];c=a.rows[a.Ka++];l=c.Aa;l.va=0;l.wa=0;l.xa=0;l.Ba=0;l.Ca=0;l.Da=0;l.S=0;l.T=0;l.U=0;l.W=0;l.X=0;l.Y=0;c.Fa=0;c.Ma=0;c.Ia=0;c.Ha=0;c.motorSpeed=0;c.bb=0;c.ua=u;u=c;u.Fa=f;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.va=0;u.wa=1;u.xa=0;u.Ba=0;u.Ca=1;u.Da=0;u.S=-k;u.T=-0;u.U=-m;u.W=-v;u.X=-0;u.Y=-t;u=this.Nb[2];f=a.rows[a.Ka++];k=f.Aa;k.va=0;k.wa=0;k.xa=0;k.Ba=0;k.Ca=0;k.Da=0;k.S=0;k.T=0;k.U=0;k.W=0;k.X=0;k.Y=0;f.Fa=0;f.Ma=0;f.Ia=0;f.Ha=0;f.motorSpeed=0;f.bb=0;f.ua=u;u=f;u.Fa=h;u.Ma=0;u.Ia=-1/0;u.Ha=1/0;u=u.Aa;u.va=0;u.wa=0;u.xa=1;u.Ba=0;u.Ca=0;u.Da=1;u.S=-n;u.T=-q;u.U=-0;u.W=-w;u.X=-A;u.Y=-0;0<this.swingError&&(0>=this.Hk.frequency||!e)&&(u=this.Nb[3],h=a.rows[a.Ka++],n=h.Aa,n.va=0,n.wa=0,n.xa=0,n.Ba=0,n.Ca=0,n.Da=0,n.S=0,n.T=0,n.U=0,n.W=0,n.X=0,n.Y=0,h.Fa=0,h.Ma=0,h.Ia=0,h.Ha=0,h.motorSpeed=0,h.bb=0,h.ua=u,u=h,h=this.swingError,w=this.Wk,q=this.Hk,n=F.angularSlop,e?(q=0,A=1):(0<q.frequency?(n=0,k=6.28318530717958*q.frequency,f=q.dampingRatio,f<F.minSpringDamperDampingRatio&&(f=F.minSpringDamperDampingRatio),A=b.dt,f=2*f*k,k*=k,q.useSymplecticEuler?(q=1/(A*f),A=k/f):(q=1/(A*(A*k+f)),A=k/(A*k+f))):(q=0,A=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<w.motorTorque?(u.motorSpeed=w.motorSpeed,u.bb=w.motorTorque*b.dt):(u.motorSpeed=0,u.bb=0)),f=w.lowerLimit,w=w.upperLimit,k=.5*(f+w),h=((h-k+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,h+=k,f>w?h=m=k=0:f==w?(k=-1/0,m=1/0,h-=f):h<f?(k=-1/0,m=0,h=h-f+n,0<h&&(h=0)):h>w?(k=0,m=1/0,h=h-w-n,0>h&&(h=0)):h=m=k=0,u.Ia=k,u.Ha=m,u.Ma=q*(z?1/z:0),u.Fa=h*A,u=u.Aa,u.S=this.swingAxisX,u.T=this.swingAxisY,u.U=this.swingAxisZ,u.W=this.swingAxisX,u.X=this.swingAxisY,u.Y=this.swingAxisZ);if(0>=this.Nk.frequency||!e)z=this.Nb[4],a=a.rows[a.Ka++],u=a.Aa,u.va=0,u.wa=0,u.xa=0,u.Ba=0,u.Ca=0,u.Da=0,u.S=0,u.T=0,u.U=0,u.W=0,u.X=0,u.Y=0,a.Fa=0,a.Ma=0,a.Ia=0,a.Ha=0,a.motorSpeed=0,a.bb=0,a.ua=z,u=a,a=this.ej,h=this.Mk,n=this.Nk,z=F.angularSlop,e?(e=0,n=1):(0<n.frequency?(z=0,e=6.28318530717958*n.frequency,w=n.dampingRatio,w<F.minSpringDamperDampingRatio&&(w=F.minSpringDamperDampingRatio),q=b.dt,w=2*w*e,A=e*e,n.useSymplecticEuler?(e=1/(q*w),n=A/w):(e=1/(q*(q*A+w)),n=A/(q*A+w))):(e=0,n=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<h.motorTorque?(u.motorSpeed=h.motorSpeed,u.bb=h.motorTorque*b.dt):(u.motorSpeed=0,u.bb=0)),b=h.lowerLimit,h=h.upperLimit,q=.5*(b+h),a=((a-q+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,a+=q,b>h?b=w=q=0:b==h?(q=-1/0,w=1/0,b=a-b):a<b?(q=-1/0,w=0,b=a-b+z,0<b&&(b=0)):a>h?(q=0,w=1/0,b=a-h-z,0>b&&(b=0)):b=w=q=0,u.Ia=q,u.Ha=w,u.Ma=e*(d?1/d:0),u.Fa=b*n,u=u.Aa,u.S=this.twistAxisX,u.T=this.twistAxisY,u.U=this.twistAxisZ,u.W=this.twistAxisX,u.X=this.twistAxisY,u.Y=this.twistAxisZ},ed:function(){L.prototype.ed.call(this);var a,b,e,d,c,f;a=this.ub;b=this.vb;e=this.wb;d=this.Yb;c=this.Zb;f=this.$b;var h,l,g,k,m,n,q,p,r;h=this.ub;l=this.xe;g=this.th;k=this.vb;m=this.ye;n=this.uh;q=this.wb;p=this.ze;r=this.vh;var v,t,w,A,u,D,C,z;D=a*d+b*c+e*f;-1.000001<D&&-.999999>D?(u=a*a,d=b*b,c=e*e,u<d?u<c?(d=1/Math.sqrt(d+c),u=0,e*=d,a=-b*d):(d=1/Math.sqrt(u+d),u=b*d,e=-a*d,a=0):d<c?(d=1/Math.sqrt(c+u),u=-e*d,e=0,a*=d):(d=1/Math.sqrt(u+d),u=b*d,e=-a*d,a=0),v=u,t=e,w=a,A=0):(u=Math.sqrt(.5*(1+D)),D=.5/u,v=(b*f-e*c)*D,t=(e*d-a*f)*D,w=(a*c-b*d)*D,A=u);D=v;f=t;u=w;a=A;c=2*D;e=2*f;b=2*u;C=D*c;z=f*e;d=u*b;u=D*e;f*=b;D*=b;var E=a*c,x=a*e;c=a*b;a=1-z-d;b=u-c;e=D+x;u+=c;d=1-C-d;c=f-E;D-=x;f+=E;C=1-C-z;this.Wi=2*(-1>=A?3.14159265358979:1<=A?0:Math.acos(A));A=v;z=w;w=a*this.ne+u*this.oe+D*this.pe;E=b*this.ne+d*this.oe+f*this.pe;v=e*this.ne+c*this.oe+C*this.pe;this.ej=Math.atan2(this.th*w+this.uh*E+this.vh*v,this.xe*w+this.ye*E+this.ze*v);this.twistAxisX=this.ub+this.Yb;this.twistAxisY=this.vb+this.Zb;this.twistAxisZ=this.wb+this.$b;v=this.twistAxisX*this.twistAxisX+this.twistAxisY*this.twistAxisY+this.twistAxisZ*this.twistAxisZ;0<v&&(v=1/Math.sqrt(v));this.twistAxisX*=v;this.twistAxisY*=v;this.twistAxisZ*=v;w=Math.sqrt(A*A+t*t+z*z);0<w&&(w=1/w);A*=w*this.Wi;t*=w*this.Wi;z*=w*this.Wi;v=l*A+m*t+p*z;t=g*A+n*t+r*z;w=this.Jj;A=this.Kj;w=1/(w*w);z=1/(A*A);(A=v*v*w+t*t*z)?(E=Math.sqrt(1/A),A=v*E,E*=t,x=A*w,z*=E,w=1/Math.sqrt(x*x+z*z),x*=w,z*=w,v=(v-A)*x+(t-E)*z,0<v?(this.swingError=v,this.swingAxisX=0,this.swingAxisY=x,this.swingAxisZ=z,h=h*this.swingAxisX+l*this.swingAxisY+g*this.swingAxisZ,k=k*this.swingAxisX+m*this.swingAxisY+n*this.swingAxisZ,q=q*this.swingAxisX+p*this.swingAxisY+r*this.swingAxisZ,this.swingAxisX=h,this.swingAxisY=k,this.swingAxisZ=q,q=a*this.swingAxisX+b*this.swingAxisY+e*this.swingAxisZ,p=u*this.swingAxisX+d*this.swingAxisY+c*this.swingAxisZ,r=D*this.swingAxisX+f*this.swingAxisY+C*this.swingAxisZ,this.swingAxisX=q,this.swingAxisY=p,this.swingAxisZ=r,this.swingConstraintAxisX=this.swingAxisX,this.swingConstraintAxisY=this.swingAxisY,this.swingConstraintAxisZ=this.swingAxisZ):this.swingError=0):this.swingError=this.swingAxisZ=this.swingAxisY=this.swingAxisX=0;this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.ub;a.y=this.vb;a.z=this.wb;return a},xg:function(){var a=new t;a.x=this.Yb;a.y=this.Zb;a.z=this.$b;return a},wg:function(a){a.x=this.ub;a.y=this.vb;a.z=this.wb},yg:function(a){a.x=this.Yb;a.y=this.Zb;a.z=this.$b},zg:function(){var a=new t;a.x=this.ra;a.y=this.sa;a.z=this.ta;return a},Bg:function(){var a=new t;a.x=this.kb;a.y=this.lb;a.z=this.mb;return a},Ag:function(a){a.x=this.ra;a.y=this.sa;a.z=this.ta},Cg:function(a){a.x=this.kb;a.y=this.lb;a.z=this.mb},zn:function(){return this.Nk},yn:function(){return this.Mk},tn:function(){return this.Hk},rn:function(){var a=new t;a.x=this.swingAxisX;a.y=this.swingAxisY;a.z=this.swingAxisZ;return a},sn:function(a){a.x=this.swingAxisX;a.y=this.swingAxisY;a.z=this.swingAxisZ},qn:function(){return this.Wi},xn:function(){return this.ej},qa:wb});Wd.R=!0;Wd.Jb=Ec;Wd.prototype=Gb(Ec.prototype,{za:function(a,b,e,d,c){this.Vg(a,b,e);var f,h,l;f=d.x;h=d.y;l=d.z;var g;e=a.a.o*f+a.a.i*h+a.a.l*l;g=a.a.f*f+a.a.m*h+a.a.g*l;f=a.a.h*f+a.a.j*h+a.a.s*l;h=this.localTwistAxis1;h.x=e;h.y=g;h.z=f;g=d.x;f=d.y;h=d.z;d=b.a.o*g+b.a.i*f+b.a.l*h;e=b.a.f*g+b.a.m*f+b.a.g*h;b=b.a.h*g+b.a.j*f+b.a.s*h;g=this.localTwistAxis2;g.x=d;g.y=e;g.z=b;d=c.x;e=c.y;g=c.z;c=a.a.o*d+a.a.i*e+a.a.l*g;b=a.a.f*d+a.a.m*e+a.a.g*g;a=a.a.h*d+a.a.j*e+a.a.s*g;d=this.localSwingAxis1;d.x=c;d.y=b;d.z=a;return this},qa:Wd});Mb.R=!0;Mb.Jb=L;Mb.prototype=Gb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l=this.angularErrorY*d,d=this.angularErrorZ*d,g,k,m,n,q,p,r,v,t,w,A,u;g=-this.Rb;k=this.Qb;m=this.Rb;n=-this.Pb;q=-this.Qb;p=this.Pb;r=-this.Ub;v=this.Tb;t=this.Ub;w=-this.Sb;A=-this.Tb;u=this.Sb;var D=this.V.Yc,C=this.V.Zc,z=this.V.$c,E=(this.C.Z*D+this.C.$*C+this.C.aa*z)*D+(this.C.ba*D+this.C.ca*C+this.C.da*z)*C+(this.C.ea*D+this.C.fa*C+this.C.ga*z)*z,x=(this.D.Z*D+this.D.$*C+this.D.aa*z)*D+(this.D.ba*D+this.D.ca*C+this.D.da*z)*C+(this.D.ea*D+this.D.fa*C+this.D.ga*z)*z;if(0<E){var L=D*this.Pb+C*this.Qb+z*this.Rb,L=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-L*L;0<L&&(E=0<this.C.Za?1/(1/E+this.C.Lc*L):0)}0<x&&(D=D*this.Sb+C*this.Tb+z*this.Ub,D=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-D*D,0<D&&(x=0<this.D.Za?1/(1/x+this.D.Lc*D):0));E=E+x?1/(E+x):0;x=this.Nb[0];D=a.rows[a.Ka++];C=D.Aa;C.va=0;C.wa=0;C.xa=0;C.Ba=0;C.Ca=0;C.Da=0;C.S=0;C.T=0;C.U=0;C.W=0;C.X=0;C.Y=0;D.Fa=0;D.Ma=0;D.Ia=0;D.Ha=0;D.motorSpeed=0;D.bb=0;D.ua=x;x=D;x.Fa=c;x.Ma=0;x.Ia=-1/0;x.Ha=1/0;x=x.Aa;x.va=1;x.wa=0;x.xa=0;x.Ba=1;x.Ca=0;x.Da=0;x.S=-0;x.T=-g;x.U=-k;x.W=-0;x.X=-r;x.Y=-v;x=this.Nb[1];c=a.rows[a.Ka++];g=c.Aa;g.va=0;g.wa=0;g.xa=0;g.Ba=0;g.Ca=0;g.Da=0;g.S=0;g.T=0;g.U=0;g.W=0;g.X=0;g.Y=0;c.Fa=0;c.Ma=0;c.Ia=0;c.Ha=0;c.motorSpeed=0;c.bb=0;c.ua=x;x=c;x.Fa=f;x.Ma=0;x.Ia=-1/0;x.Ha=1/0;x=x.Aa;x.va=0;x.wa=1;x.xa=0;x.Ba=0;x.Ca=1;x.Da=0;x.S=-m;x.T=-0;x.U=-n;x.W=-t;x.X=-0;x.Y=-w;f=this.Nb[2];x=a.rows[a.Ka++];m=x.Aa;m.va=0;m.wa=0;m.xa=0;m.Ba=0;m.Ca=0;m.Da=0;m.S=0;m.T=0;m.U=0;m.W=0;m.X=0;m.Y=0;x.Fa=0;x.Ma=0;x.Ia=0;x.Ha=0;x.motorSpeed=0;x.bb=0;x.ua=f;x.Fa=h;x.Ma=0;x.Ia=-1/0;x.Ha=1/0;x=x.Aa;x.va=0;x.wa=0;x.xa=1;x.Ba=0;x.Ca=0;x.Da=1;x.S=-q;x.T=-p;x.U=-0;x.W=-A;x.X=-u;x.Y=-0;if(0>=this.ue.frequency||!e)h=this.Nb[3],q=a.rows[a.Ka++],p=q.Aa,p.va=0,p.wa=0,p.xa=0,p.Ba=0,p.Ca=0,p.Da=0,p.S=0,p.T=0,p.U=0,p.W=0,p.X=0,p.Y=0,q.Fa=0,q.Ma=0,q.Ia=0,q.Ha=0,q.motorSpeed=0,q.bb=0,q.ua=h,x=q,h=this.angle,p=this.Lh,A=this.ue,q=F.angularSlop,e?(e=0,A=1):(0<A.frequency?(q=0,e=6.28318530717958*A.frequency,f=A.dampingRatio,f<F.minSpringDamperDampingRatio&&(f=F.minSpringDamperDampingRatio),u=b.dt,f=2*f*e,m=e*e,A.useSymplecticEuler?(e=1/(u*f),A=m/f):(e=1/(u*(u*m+f)),A=m/(u*m+f))):(e=0,A=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<p.motorTorque?(x.motorSpeed=p.motorSpeed,x.bb=p.motorTorque*b.dt):(x.motorSpeed=0,x.bb=0)),b=p.lowerLimit,p=p.upperLimit,u=.5*(b+p),h=((h-u+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979+u,b>p?b=f=u=0:b==p?(u=-1/0,f=1/0,b=h-b):h<b?(u=-1/0,f=0,b=h-b+q,0<b&&(b=0)):h>p?(u=0,f=1/0,b=h-p-q,0>b&&(b=0)):b=f=u=0,x.Ia=u,x.Ha=f,x.Ma=e*(E?1/E:0),x.Fa=b*A,x=x.Aa,x.S=this.V.Yc,x.T=this.V.Zc,x.U=this.V.$c,x.W=this.V.Yc,x.X=this.V.Zc,x.Y=this.V.$c;b=this.Nb[4];E=a.rows[a.Ka++];e=E.Aa;e.va=0;e.wa=0;e.xa=0;e.Ba=0;e.Ca=0;e.Da=0;e.S=0;e.T=0;e.U=0;e.W=0;e.X=0;e.Y=0;E.Fa=0;E.Ma=0;E.Ia=0;E.Ha=0;E.motorSpeed=0;E.bb=0;E.ua=b;x=E;x.Fa=l;x.Ma=0;x.Ia=-1/0;x.Ha=1/0;x=x.Aa;x.S=this.V.Md;x.T=this.V.Nd;x.U=this.V.Od;x.W=this.V.Md;x.X=this.V.Nd;x.Y=this.V.Od;l=this.Nb[5];a=a.rows[a.Ka++];b=a.Aa;b.va=0;b.wa=0;b.xa=0;b.Ba=0;b.Ca=0;b.Da=0;b.S=0;b.T=0;b.U=0;b.W=0;b.X=0;b.Y=0;a.Fa=0;a.Ma=0;a.Ia=0;a.Ha=0;a.motorSpeed=0;a.bb=0;a.ua=l;x=a;x.Fa=d;x.Ma=0;x.Ia=-1/0;x.Ha=1/0;x=x.Aa;x.S=this.V.ke;x.T=this.V.le;x.U=this.V.me;x.W=this.V.ke;x.X=this.V.le;x.Y=this.V.me},ed:function(){L.prototype.ed.call(this);var 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la=b/(b+e)*Math.acos(Ia);ta+=ba*-Ia;W+=Q*-Ia;pa+=P*-Ia;y+=xa*-Ia;var Z=ta*ta+W*W+pa*pa+y*y;1E-32<Z&&(Z=1/Math.sqrt(Z));ta*=Z;W*=Z;pa*=Z;y*=Z;var Ga=Math.sin(la),ra=Math.cos(la);ba*=ra;Q*=ra;P*=ra;xa*=ra;l=ba+ta*Ga;g=Q+W*Ga;k=P+pa*Ga;m=xa+y*Ga}var va=l,I=g,La=k,Wa=m,S=2*va,Xa=2*I,T=2*La,K=va*S,ia=I*Xa,gb=La*T,da=va*Xa,Ca=I*T,sa=va*T,fb=Wa*S,kb=Wa*Xa,Ya=Wa*T;n=1-ia-gb;q=da-Ya;p=sa+kb;r=da+Ya;v=1-K-gb;t=Ca-fb;w=sa-kb;A=Ca+fb;u=1-K-ia;var ma,oa;ma=n*a.P.ub+q*a.P.vb+p*a.P.wb;oa=r*a.P.ub+v*a.P.vb+t*a.P.wb;D=w*a.P.ub+A*a.P.vb+u*a.P.wb;G=a.Yc;M=a.Zc;O=a.$c;ga=a.Md;ha=a.Nd;na=a.Od;var Ja=G*ma+M*oa+O*D;if(-1.000001<Ja&&-.999999>Ja){var Ha,ob,fa,ea=G*G,ja=M*M,cb=O*O,Aa;ea<ja?ea<cb?(Aa=1/Math.sqrt(ja+cb),Ha=0,ob=O*Aa,fa=-M*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0):ja<cb?(Aa=1/Math.sqrt(cb+ea),Ha=-O*Aa,ob=0,fa=G*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-G*Aa,fa=0);l=Ha;g=ob;k=fa;m=0}else{var sb,Ua,qb;sb=M*D-O*oa;Ua=O*ma-G*D;qb=G*oa-M*ma;var rb=Math.sqrt(.5*(1+Ja)),Ja=.5/rb;sb*=Ja;Ua*=Ja;qb*=Ja;l=sb;g=Ua;k=qb;m=rb}var ub=l,Va=g,xb=k,jb=m,Za=2*ub,ua=2*Va,Qb=2*xb,H=ub*Za,pb=Va*ua,db=xb*Qb,ab=ub*ua,$a=Va*Qb,hb=ub*Qb,B=jb*Za,Db=jb*ua,wb=jb*Qb;n=1-pb-db;q=ab-wb;p=hb+Db;r=ab+wb;v=1-H-db;t=$a-B;w=hb-Db;A=$a+B;u=1-H-pb;var tb,Fb,Oa;tb=n*ga+q*ha+p*na;Fb=r*ga+v*ha+t*na;Oa=w*ga+A*ha+u*na;C=tb;z=Fb;E=Oa;x=oa*E-D*z;F=D*C-ma*E;N=ma*z-oa*C;if(1E-6<x*x+F*F+N*N){var nb=x*x+F*F+N*N;0<nb&&(nb=1/Math.sqrt(nb));x*=nb;F*=nb;N*=nb}else{var vb=ma*ma,yb=oa*oa,eb=D*D,Y;vb<yb?vb<eb?(Y=1/Math.sqrt(yb+eb),x=0,F=D*Y,N=-oa*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,F=-ma*Y,N=0):yb<eb?(Y=1/Math.sqrt(eb+vb),x=-D*Y,F=0,N=ma*Y):(Y=1/Math.sqrt(vb+yb),x=oa*Y,F=-ma*Y,N=0)}C=F*D-N*oa;z=N*ma-x*D;E=x*oa-F*ma;a.Yc=ma;a.Zc=oa;a.$c=D;a.Md=C;a.Nd=z;a.Od=E;a.ke=x;a.le=F;a.me=N;var Ma,lb,Ta;Ma=this.vb*this.$b-this.wb*this.Zb;lb=this.wb*this.Yb-this.ub*this.$b;Ta=this.ub*this.Zb-this.vb*this.Yb;var ib=this.ub*this.Yb+this.vb*this.Zb+this.wb*this.$b,Ka=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib),Jb=Ma*Ma+lb*lb+Ta*Ta;0<Jb&&(Jb=1/Math.sqrt(Jb));Ma*=Jb;lb*=Jb;Ta*=Jb;Ma*=Ka;lb*=Ka;Ta*=Ka;this.angularErrorY=Ma*this.V.Md+lb*this.V.Nd+Ta*this.V.Od;this.angularErrorZ=Ma*this.V.ke+lb*this.V.le+Ta*this.V.me;var Ab,X,Cb;Ab=this.ye*this.pe-this.ze*this.oe;X=this.ze*this.ne-this.xe*this.pe;Cb=this.xe*this.oe-this.ye*this.ne;ib=this.xe*this.ne+this.ye*this.oe+this.ze*this.pe;this.angle=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib);0>Ab*this.V.Yc+X*this.V.Zc+Cb*this.V.$c&&(this.angle=-this.angle);this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.ub;a.y=this.vb;a.z=this.wb;return a},xg:function(){var a=new t;a.x=this.Yb;a.y=this.Zb;a.z=this.$b;return a},wg:function(a){a.x=this.ub;a.y=this.vb;a.z=this.wb},yg:function(a){a.x=this.Yb;a.y=this.Zb;a.z=this.$b},zg:function(){var a=new t;a.x=this.ra;a.y=this.sa;a.z=this.ta;return a},Bg:function(){var a=new t;a.x=this.kb;a.y=this.lb;a.z=this.mb;return a},Ag:function(a){a.x=this.ra;a.y=this.sa;a.z=this.ta},Cg:function(a){a.x=this.kb;a.y=this.lb;a.z=this.mb},nj:function(){return this.ue},Zk:function(){return this.Lh},Xk:function(){return this.angle},qa:Mb});Ce.R=!0;Ce.Jb=Ec;Ce.prototype=Gb(Ec.prototype,{za:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},qa:Ce});Gc.R=!0;Gc.prototype={Pa:function(a,b){this.lowerLimit=a;this.upperLimit=b;return this},ab:function(a,b){this.motorSpeed=a;this.motorTorque=b;return this},clone:function(){var a=new Gc;a.lowerLimit=this.lowerLimit;a.upperLimit=this.upperLimit;a.motorSpeed=this.motorSpeed;a.motorTorque=this.motorTorque;return a},qa:Gc};se.R=!0;se.Jb=L;se.prototype=Gb(L.prototype,{Rd:function(a,b,e){if(!(0<this.ue.frequency&&e)){var d,c,f;d=this.Gf-this.Df;c=this.Hf-this.Ef;f=this.If-this.Ff;var h;if(0<this.ue.frequency){h=6.28318530717958*this.ue.frequency;e=this.ue.dampingRatio;e<F.minSpringDamperDampingRatio&&(e=F.minSpringDamperDampingRatio);b=b.dt;e=2*e*h;var l=h*h;this.ue.useSymplecticEuler?(h=1/(b*e),b=l/e):(h=1/(b*(b*l+e)),b=l/(b*l+e));h*=this.C.Za+this.D.Za}else h=0,b=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;var g,k,m,n,q,p,r,v,t,w;g=-this.Rb;k=this.Qb;m=this.Rb;n=-this.Pb;e=-this.Qb;l=this.Pb;q=-this.Ub;p=this.Tb;r=this.Ub;v=-this.Sb;t=-this.Tb;w=this.Sb;var A=this.Nb[0],u=a.rows[a.Ka++],D=u.Aa;D.va=0;D.wa=0;D.xa=0;D.Ba=0;D.Ca=0;D.Da=0;D.S=0;D.T=0;D.U=0;D.W=0;D.X=0;D.Y=0;u.Fa=0;u.Ma=0;u.Ia=0;u.Ha=0;u.motorSpeed=0;u.bb=0;u.ua=A;A=u;A.Fa=d*b;A.Ma=h;A.Ia=-1/0;A.Ha=1/0;d=A.Aa;d.va=1;d.wa=0;d.xa=0;d.Ba=1;d.Ca=0;d.Da=0;d.S=-0;d.T=-g;d.U=-k;d.W=-0;d.X=-q;d.Y=-p;d=this.Nb[1];g=a.rows[a.Ka++];k=g.Aa;k.va=0;k.wa=0;k.xa=0;k.Ba=0;k.Ca=0;k.Da=0;k.S=0;k.T=0;k.U=0;k.W=0;k.X=0;k.Y=0;g.Fa=0;g.Ma=0;g.Ia=0;g.Ha=0;g.motorSpeed=0;g.bb=0;g.ua=d;A=g;A.Fa=c*b;A.Ma=h;A.Ia=-1/0;A.Ha=1/0;d=A.Aa;d.va=0;d.wa=1;d.xa=0;d.Ba=0;d.Ca=1;d.Da=0;d.S=-m;d.T=-0;d.U=-n;d.W=-r;d.X=-0;d.Y=-v;c=this.Nb[2];a=a.rows[a.Ka++];d=a.Aa;d.va=0;d.wa=0;d.xa=0;d.Ba=0;d.Ca=0;d.Da=0;d.S=0;d.T=0;d.U=0;d.W=0;d.X=0;d.Y=0;a.Fa=0;a.Ma=0;a.Ia=0;a.Ha=0;a.motorSpeed=0;a.bb=0;a.ua=c;A=a;A.Fa=f*b;A.Ma=h;A.Ia=-1/0;A.Ha=1/0;d=A.Aa;d.va=0;d.wa=0;d.xa=1;d.Ba=0;d.Ca=0;d.Da=1;d.S=-e;d.T=-l;d.U=-0;d.W=-t;d.X=-w;d.Y=-0}},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},nj:function(){return this.ue},qa:se});re.R=!0;re.Jb=Ec;re.prototype=Gb(Ec.prototype,{za:function(a,b,e){this.Vg(a,b,e);return this},qa:re});Lb.R=!0;Lb.prototype={Pa:function(a,b){this.frequency=a;this.dampingRatio=b;return this},ab:function(a){this.useSymplecticEuler=a;return this},clone:function(){var a=new Lb;a.frequency=this.frequency;a.dampingRatio=this.dampingRatio;a.useSymplecticEuler=this.useSymplecticEuler;return a},qa:Lb};wc.R=!0;wc.prototype={Pa:function(a,b){this.lowerLimit=a;this.upperLimit=b;return this},ab:function(a,b){this.motorSpeed=a;this.motorForce=b;return this},clone:function(){var a=new wc;a.lowerLimit=this.lowerLimit;a.upperLimit=this.upperLimit;a.motorSpeed=this.motorSpeed;a.motorForce=this.motorForce;return a},qa:wc};ab.R=!0;ab.Jb=L;ab.prototype=Gb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l=this.zl*d,g,k,m,n,q,p,r,v,t,w,A,u,D,C,z,E,x,L;g=0;k=-this.Rb;m=this.Qb;n=this.Rb;q=0;p=-this.Pb;r=-this.Qb;v=this.Pb;w=t=0;A=-this.Ub;u=this.Tb;D=this.Ub;C=0;z=-this.Sb;E=-this.Tb;x=this.Sb;L=0;g=-g;k=-k;m=-m;n=-n;q=-q;p=-p;r=-r;v=-v;t=-t;w=-w;A=-A;u=-u;D=-D;C=-C;z=-z;E=-E;x=-x;L=-L;var N=this.Wf,G=this.Xf,M=this.Yf,O=(this.C.Z*N+this.C.$*G+this.C.aa*M)*N+(this.C.ba*N+this.C.ca*G+this.C.da*M)*G+(this.C.ea*N+this.C.fa*G+this.C.ga*M)*M,ga=(this.D.Z*N+this.D.$*G+this.D.aa*M)*N+(this.D.ba*N+this.D.ca*G+this.D.da*M)*G+(this.D.ea*N+this.D.fa*G+this.D.ga*M)*M;if(0<O){var ha=N*this.Pb+G*this.Qb+M*this.Rb,na=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-ha*ha;0<na&&(O=0<this.C.Za?1/(1/O+this.C.Lc*na):0)}if(0<ga){var qa=N*this.Sb+G*this.Tb+M*this.Ub,Da=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-qa*qa;0<Da&&(ga=0<this.D.Za?1/(1/ga+this.D.Lc*Da):0)}var ka=O+ga?1/(O+ga):0,bb=this.Zf,U=this.$f,R=this.ag,za=(this.C.Z*bb+this.C.$*U+this.C.aa*R)*bb+(this.C.ba*bb+this.C.ca*U+this.C.da*R)*U+(this.C.ea*bb+this.C.fa*U+this.C.ga*R)*R,Na=(this.D.Z*bb+this.D.$*U+this.D.aa*R)*bb+(this.D.ba*bb+this.D.ca*U+this.D.da*R)*U+(this.D.ea*bb+this.D.fa*U+this.D.ga*R)*R;if(0<za){var Ra=bb*this.Pb+U*this.Qb+R*this.Rb,wa=this.Pb*this.Pb+this.Qb*this.Qb+this.Rb*this.Rb-Ra*Ra;0<wa&&(za=0<this.C.Za?1/(1/za+this.C.Lc*wa):0)}if(0<Na){var Pa=bb*this.Sb+U*this.Tb+R*this.Ub,Ba=this.Sb*this.Sb+this.Tb*this.Tb+this.Ub*this.Ub-Pa*Pa;0<Ba&&(Na=0<this.D.Za?1/(1/Na+this.D.Lc*Ba):0)}var Ca=za+Na?1/(za+Na):0,J=this.Nb[0],Qa=a.rows[a.Ka++],ba=Qa.Aa;ba.va=0;ba.wa=0;ba.xa=0;ba.Ba=0;ba.Ca=0;ba.Da=0;ba.S=0;ba.T=0;ba.U=0;ba.W=0;ba.X=0;ba.Y=0;Qa.Fa=0;Qa.Ma=0;Qa.Ia=0;Qa.Ha=0;Qa.motorSpeed=0;Qa.bb=0;Qa.ua=J;var Q=Qa;Q.Fa=c;Q.Ma=0;Q.Ia=-1/0;Q.Ha=1/0;var P=Q.Aa;P.va=1;P.wa=0;P.xa=0;P.Ba=1;P.Ca=0;P.Da=0;P.S=g;P.T=k;P.U=m;P.W=w;P.X=A;P.Y=u;var xa=this.Nb[1],ta=a.rows[a.Ka++],W=ta.Aa;W.va=0;W.wa=0;W.xa=0;W.Ba=0;W.Ca=0;W.Da=0;W.S=0;W.T=0;W.U=0;W.W=0;W.X=0;W.Y=0;ta.Fa=0;ta.Ma=0;ta.Ia=0;ta.Ha=0;ta.motorSpeed=0;ta.bb=0;ta.ua=xa;Q=ta;Q.Fa=f;Q.Ma=0;Q.Ia=-1/0;Q.Ha=1/0;P=Q.Aa;P.va=0;P.wa=1;P.xa=0;P.Ba=0;P.Ca=1;P.Da=0;P.S=n;P.T=q;P.U=p;P.W=D;P.X=C;P.Y=z;var pa=this.Nb[2],y=a.rows[a.Ka++],Ia=y.Aa;Ia.va=0;Ia.wa=0;Ia.xa=0;Ia.Ba=0;Ia.Ca=0;Ia.Da=0;Ia.S=0;Ia.T=0;Ia.U=0;Ia.W=0;Ia.X=0;Ia.Y=0;y.Fa=0;y.Ma=0;y.Ia=0;y.Ha=0;y.motorSpeed=0;y.bb=0;y.ua=pa;Q=y;Q.Fa=h;Q.Ma=0;Q.Ia=-1/0;Q.Ha=1/0;P=Q.Aa;P.va=0;P.wa=0;P.xa=1;P.Ba=0;P.Ca=0;P.Da=1;P.S=r;P.T=v;P.U=t;P.W=E;P.X=x;P.Y=L;if(!this.Cm&&(0>=this.Fk.frequency||!e)){var ca=this.Nb[3],Ea=a.rows[a.Ka++],ya=Ea.Aa;ya.va=0;ya.wa=0;ya.xa=0;ya.Ba=0;ya.Ca=0;ya.Da=0;ya.S=0;ya.T=0;ya.U=0;ya.W=0;ya.X=0;ya.Y=0;Ea.Fa=0;Ea.Ma=0;Ea.Ia=0;Ea.Ha=0;Ea.motorSpeed=0;Ea.bb=0;Ea.ua=ca;var Q=Ea,Fa=this.yi,Sa=this.xk,la=this.Fk,Z,Ga,ra=F.angularSlop;if(e)Z=0,Ga=1;else{if(0<la.frequency){var ra=0,va=6.28318530717958*la.frequency,I=la.dampingRatio;I<F.minSpringDamperDampingRatio&&(I=F.minSpringDamperDampingRatio);var La=b.dt,Wa=2*I*va,S=va*va;la.useSymplecticEuler?(Z=1/(La*Wa),Ga=S/Wa):(Z=1/(La*(La*S+Wa)),Ga=S/(La*S+Wa))}else Z=0,Ga=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<Sa.motorTorque?(Q.motorSpeed=Sa.motorSpeed,Q.bb=Sa.motorTorque*b.dt):(Q.motorSpeed=0,Q.bb=0)}var Xa=Sa.lowerLimit,T=Sa.upperLimit,K=.5*(Xa+T),Fa=Fa-K,Fa=((Fa+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,Fa=Fa+K,ia,gb,da;Xa>T?da=gb=ia=0:Xa==T?(ia=-1/0,gb=1/0,da=Fa-Xa):Fa<Xa?(ia=-1/0,gb=0,da=Fa-Xa+ra,0<da&&(da=0)):Fa>T?(ia=0,gb=1/0,da=Fa-T-ra,0>da&&(da=0)):da=gb=ia=0;var jb=ka?1/ka:0;Q.Ia=ia;Q.Ha=gb;Q.Ma=Z*jb;Q.Fa=da*Ga;P=Q.Aa;P.S=this.Wf;P.T=this.Xf;P.U=this.Yf;P.W=this.Wf;P.X=this.Xf;P.Y=this.Yf}if(!this.Dm){var sa=this.Nb[4],fb=a.rows[a.Ka++],kb=fb.Aa;kb.va=0;kb.wa=0;kb.xa=0;kb.Ba=0;kb.Ca=0;kb.Da=0;kb.S=0;kb.T=0;kb.U=0;kb.W=0;kb.X=0;kb.Y=0;fb.Fa=0;fb.Ma=0;fb.Ia=0;fb.Ha=0;fb.motorSpeed=0;fb.bb=0;fb.ua=sa;Q=fb;Q.Fa=l;Q.Ma=0;Q.Ia=-1/0;Q.Ha=1/0;P=Q.Aa;P.S=this.Og;P.T=this.Pg;P.U=this.Qg;P.W=this.Og;P.X=this.Pg;P.Y=this.Qg}if(!this.Em&&(0>=this.Gk.frequency||!e)){var Ya=this.Nb[5],ma=a.rows[a.Ka++],oa=ma.Aa;oa.va=0;oa.wa=0;oa.xa=0;oa.Ba=0;oa.Ca=0;oa.Da=0;oa.S=0;oa.T=0;oa.U=0;oa.W=0;oa.X=0;oa.Y=0;ma.Fa=0;ma.Ma=0;ma.Ia=0;ma.Ha=0;ma.motorSpeed=0;ma.bb=0;ma.ua=Ya;var Q=ma,Ja=this.zi,Ha=this.yk,ob=this.Gk,fa,ea,ja=F.angularSlop;if(e)fa=0,ea=1;else{if(0<ob.frequency){var ja=0,cb=6.28318530717958*ob.frequency,Aa=ob.dampingRatio;Aa<F.minSpringDamperDampingRatio&&(Aa=F.minSpringDamperDampingRatio);var sb=b.dt,Ua=2*Aa*cb,qb=cb*cb;ob.useSymplecticEuler?(fa=1/(sb*Ua),ea=qb/Ua):(fa=1/(sb*(sb*qb+Ua)),ea=qb/(sb*qb+Ua))}else fa=0,ea=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<Ha.motorTorque?(Q.motorSpeed=Ha.motorSpeed,Q.bb=Ha.motorTorque*b.dt):(Q.motorSpeed=0,Q.bb=0)}var rb=Ha.lowerLimit,ub=Ha.upperLimit,Va=.5*(rb+ub),Ja=Ja-Va,Ja=((Ja+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,Ja=Ja+Va,xb,ab,Za;rb>ub?Za=ab=xb=0:rb==ub?(xb=-1/0,ab=1/0,Za=Ja-rb):Ja<rb?(xb=-1/0,ab=0,Za=Ja-rb+ja,0<Za&&(Za=0)):Ja>ub?(xb=0,ab=1/0,Za=Ja-ub-ja,0>Za&&(Za=0)):Za=ab=xb=0;var ua=Ca?1/Ca:0;Q.Ia=xb;Q.Ha=ab;Q.Ma=fa*ua;Q.Fa=Za*ea;P=Q.Aa;P.S=this.Zf;P.T=this.$f;P.U=this.ag;P.W=this.Zf;P.X=this.$f;P.Y=this.ag}},ed:function(){L.prototype.ed.call(this);var 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A,u,D;A=k*h+m*l+n*g;u=a*p+e*v+c*w;D=b*p+d*v+f*w;-1>=A?(e=Math.atan2(D,u),a=.5*e,b=-1.570796326794895,e=.5*-e):1<=A?(e=Math.atan2(D,u),a=.5*e,b=1.570796326794895,e*=.5):(A=Math.asin(A),k=Math.atan2(-(k*p+m*v+n*w),k*q+m*r+n*t),a=Math.atan2(-(a*h+e*l+c*g),b*h+d*l+f*g),b=A,e=k);this.yi=a;this.zl=b;this.zi=e;this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.ub;a.y=this.vb;a.z=this.wb;return a},xg:function(){var a=new t;a.x=this.Rg;a.y=this.Sg;a.z=this.Tg;return a},wg:function(a){a.x=this.ub;a.y=this.vb;a.z=this.wb},yg:function(a){a.x=this.Rg;a.y=this.Sg;a.z=this.Tg},zg:function(){var a=new t;a.x=this.ra;a.y=this.sa;a.z=this.ta;return a},Bg:function(){var a=new t;a.x=this.Ic;a.y=this.Jc;a.z=this.Kc;return a},Ag:function(a){a.x=this.ra;a.y=this.sa;a.z=this.ta},Cg:function(a){a.x=this.Ic;a.y=this.Jc;a.z=this.Kc},on:function(){return this.Fk},pn:function(){return this.Gk},kn:function(){return this.xk},ln:function(){return this.yk},en:function(){return this.yi},fn:function(){return this.zi},qa:ab});qe.R=!0;qe.Jb=Ec;qe.prototype=Gb(Ec.prototype,{za:function(a,b,e,d,c){this.Vg(a,b,e);var f,h,l;f=d.x;h=d.y;l=d.z;d=a.a.o*f+a.a.i*h+a.a.l*l;e=a.a.f*f+a.a.m*h+a.a.g*l;a=a.a.h*f+a.a.j*h+a.a.s*l;f=this.localAxis1;f.x=d;f.y=e;f.z=a;d=c.x;e=c.y;f=c.z;c=b.a.o*d+b.a.i*e+b.a.l*f;a=b.a.f*d+b.a.m*e+b.a.g*f;b=b.a.h*d+b.a.j*e+b.a.s*f;d=this.localAxis2;d.x=c;d.y=a;d.z=b;return this},qa:qe});pe.R=!0;of.R=!0;of.prototype={qa:of};Pe.R=!0;Pe.prototype={qa:Pe};ak.R=!0;ak.prototype={za:function(a){this.Nc=a.Nc;for(var b=0,e=this.Nc;b<e;){var d=b++;this.gh[d]=a.gh[d];this.kh[d]=a.kh[d]}this.je=a.je;b=0;for(e=this.je;b<e;)d=b++,this.Dg[d]=a.Dg[d]},Tk:function(a,b,e,d,c,f,h){for(var l=0,g=this.je;l<g;){var k=l++,k=this.Dg[k],m=a.rows[k];this.Rk[k]=m.Fa*f-e[k]-m.Ma*d[k]}l=b.Oi;g=0;for(k=this.Nc;g<k;){var n=g++,m=this.gh[n],n=this.kh[n],q=a.rows[m],n=(0>n?q.Ia:0<n?q.Ha:0)-d[m];if(c[m]=n)for(var q=0,p=this.je;q<p;){var r=q++,v=r=this.Dg[r],t=this.Rk;t[v]-=l[m][r]*n}}g=this.Dg;k=this.je;for(n=m=0;n<k;)q=n++,m|=1<<g[q];b.zj[m]||(b.$m(m,g,k),b.zj[m]=!0);g=b.ik[m];b=!0;k=0;for(m=this.je;k<m;){for(var n=k++,q=this.Dg[n],p=a.rows[q],v=r=d[q],t=0,w=this.je;t<w;)var A=t++,v=v+this.Rk[this.Dg[A]]*g[n][A];if(v<p.Ia-F.directMlcpSolverEps||v>p.Ha+F.directMlcpSolverEps){b=!1;break}c[q]=v-r}if(h)return!0;if(!b)return!1;h=0;for(g=this.Nc;h<g;){n=h++;k=this.gh[n];m=a.rows[k];n=this.kh[n];q=d[k]+c[k];p=e[k];r=0;for(v=a.Ka;r<v;)t=r++,p+=l[k][t]*c[t];k=m.Fa*f-p-m.Ma*q;if(0>n&&k>F.directMlcpSolverEps||0<n&&k<-F.directMlcpSolverEps){b=!1;break}}return b},qa:ak};sg.R=!0;sg.prototype={qa:sg};Bk.R=!0;Bk.prototype={Oh:function(a,b){if(b==a.Ka)null==this.Nh[this.Ze]&&(this.Nh[this.Ze]=new ak(this.Dn)),this.Nh[this.Ze++].za(this.Te);else{var e=a.rows[b],d=e.Ia>-1/0,c=e.Ha<1/0;0==e.Ia&&0==e.Ha?(c=this.Te,c.gh[c.Nc]=b,c.kh[c.Nc]=0,c.Nc++,this.Oh(a,b+1),this.Te.Nc--):(e=this.Te,e.Dg[e.je]=b,e.je++,this.Oh(a,b+1),this.Te.je--,d&&(d=this.Te,d.gh[d.Nc]=b,d.kh[d.Nc]=-1,d.Nc++,this.Oh(a,b+1),this.Te.Nc--),c&&(c=this.Te,c.gh[c.Nc]=b,c.kh[c.Nc]=1,c.Nc++,this.Oh(a,b+1),this.Te.Nc--))}},qa:Bk};Rd.R=!0;Rd.prototype={qa:Rd};cc.R=!0;cc.Jb=Tb;cc.prototype=Gb(Tb.prototype,{jh:function(a){this.P.ed();this.P.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;this.$h.Uk(this.info,this.Xb);a=this.Ee;a.Ze=0;var b=a.Te;b.Nc=0;b.je=0;a.Oh(this.info,0);a=this.ul;for(var b=this.Ee.Ze,e=0,d=0,c=0,f=a.n;c<f;){var h=c++,h=a.oc[h];h<b?(a.af[e]=h,++e):(a.af[b+d]=h,++d)}b=a.oc;a.oc=a.af;a.af=b},sh:function(a){var b=this.P.Ec==ic.BAUMGARTE?F.jointWarmStartingFactorForBaungarte:F.jointWarmStartingFactor,b=b*a.dtRatio;if(0>=b)for(b=0,a=this.info.Ka;b<a;){var e=b++,e=this.info.rows[e].ua;e.ua=0;e.Wc=0;e.tb=0}else{a=0;for(e=this.info.Ka;a<e;){var d=a++,c=this.info.rows[d],f=c.ua,h=f.ua*b;h<c.Ia?h=c.Ia:h>c.Ha&&(h=c.Ha);f.ua=h;0<c.bb?(h=f.Wc*b,c=c.bb,h<-c?h=-c:h>c&&(h=c),f.Wc=h):f.Wc=0;this.sf[d]=f.ua+f.Wc}var b=this.sf,e=a=!1,l,g,k,m,n,q,p,r,d=this.C.cb,f=this.C.eb,c=this.C.fb,h=this.D.cb;l=this.D.eb;g=this.D.fb;k=this.C.hb;m=this.C.ib;n=this.C.jb;q=this.D.hb;p=this.D.ib;r=this.D.jb;for(var v=0,t=this.info.Ka;v<t;){var w=v++,A=this.info.rows[w].Aa,u=this.Xb[w],w=b[w];A.wc&1&&(d+=u.md*w,f+=u.nd*w,c+=u.od*w,h+=u.pd*-w,l+=u.qd*-w,g+=u.rd*-w,a=!0);A.wc&2&&(k+=u.fd*w,m+=u.gd*w,n+=u.hd*w,q+=u.jd*-w,p+=u.kd*-w,r+=u.ld*-w,e=!0)}a&&(this.C.cb=d,this.C.eb=f,this.C.fb=c,this.D.cb=h,this.D.eb=l,this.D.fb=g);e&&(this.C.hb=k,this.C.ib=m,this.C.jb=n,this.D.hb=q,this.D.ib=p,this.D.jb=r)}},nh:function(){var a=this.info.Ka,b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.cb;e=this.C.eb;d=this.C.fb;c=this.D.cb;f=this.D.eb;h=this.D.fb;l=this.C.hb;g=this.C.ib;k=this.C.jb;m=this.D.hb;n=this.D.ib;q=this.D.jb;for(var p=0;p<a;){var r=p++,v=this.info.rows[r],t=v.ua,v=v.Aa,w=0,w=w+(b*v.va+e*v.wa+d*v.xa),w=w-(c*v.Ba+f*v.Ca+h*v.Da),w=w+(l*v.S+g*v.T+k*v.U),w=w-(m*v.W+n*v.X+q*v.Y);this.Hg[r]=w;this.Th[r]=t.ua;this.lj[r]=0}b=this.$h.Oi;for(e=0;e<a;)if(d=e++,h=this.info.rows[d],c=h.ua,l=this.Xb[d],0<h.bb)for(f=c.Wc,h=f+l.tf*(-h.motorSpeed-this.Hg[d]),l=c.Wc,h<-l?h=-l:h>l&&(h=l),c.Wc=h,c=h-f,this.lj[d]=c,f=0,h=a;f<h;)g=l=f++,k=this.Hg,k[g]+=c*b[d][l];e=!1;d=0;for(c=this.Ee.Ze;d<c;)if(b=d++,b=this.ul.oc[b],this.Ee.Nh[b].Tk(this.info,this.$h,this.Hg,this.Th,this.sf,1,!1)){for(e=0;e<a;)c=e++,d=this.sf[c],this.info.rows[c].ua.ua+=d,f=this.lj,f[c]+=d;a=this.lj;d=e=!1;c=this.C.cb;f=this.C.eb;h=this.C.fb;l=this.D.cb;g=this.D.eb;k=this.D.fb;m=this.C.hb;n=this.C.ib;q=this.C.jb;p=this.D.hb;r=this.D.ib;t=this.D.jb;v=0;for(w=this.info.Ka;v<w;){var A=v++,u=this.info.rows[A].Aa,D=this.Xb[A],A=a[A];u.wc&1&&(c+=D.md*A,f+=D.nd*A,h+=D.od*A,l+=D.pd*-A,g+=D.qd*-A,k+=D.rd*-A,e=!0);u.wc&2&&(m+=D.fd*A,n+=D.gd*A,q+=D.hd*A,p+=D.jd*-A,r+=D.kd*-A,t+=D.ld*-A,d=!0)}e&&(this.C.cb=c,this.C.eb=f,this.C.fb=h,this.D.cb=l,this.D.eb=g,this.D.fb=k);d&&(this.C.hb=m,this.C.ib=n,this.C.jb=q,this.D.hb=p,this.D.ib=r,this.D.jb=t);a=this.ul;for(e=0;a.oc[e]!=b;)++e;for(;0<e;)b=a.oc[e],a.oc[e]=a.oc[e-1],a.oc[e-1]=b,--e;e=!0;break}e||console.log("DirectJointConstraintSolver.hx:338:","could not find solution. (velocity)")},vi:function(a){for(var b,e,d,c,f,h,l=h=f=c=d=e=b=0,g=this.info.Ka;l<g;){var k=l++,m=this.info.rows[k],k=m.ua,m=m.Aa;m.wc&1?(b+=m.va*k.ua,e+=m.wa*k.ua,d+=m.xa*k.ua):m.wc&2&&(c+=m.S*k.ua,f+=m.T*k.ua,h+=m.U*k.ua)}this.P.Ai=b*a.invDt;this.P.Bi=e*a.invDt;this.P.Ci=d*a.invDt;this.P.Di=c*a.invDt;this.P.Ei=f*a.invDt;this.P.Fi=h*a.invDt},Gg:function(){this.P.ed();this.P.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;this.$h.Uk(this.info,this.Xb);var a=this.Ee;a.Ze=0;var b=a.Te;b.Nc=0;b.je=0;a.Oh(this.info,0);for(var a=this.ui,b=this.Ee.Ze,e=0,d=0,c=0,f=a.n;c<f;){var h=c++,h=a.oc[h];h<b?(a.af[e]=h,++e):(a.af[b+d]=h,++d)}b=a.oc;a.oc=a.af;a.af=b;a=0;for(b=this.info.Ka;a<b;)e=a++,this.info.rows[e].ua.tb=0},mh:function(){var a=this.info.Ka,b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.Sc;e=this.C.Tc;d=this.C.Uc;c=this.D.Sc;f=this.D.Tc;h=this.D.Uc;l=this.C.Oc;g=this.C.Pc;k=this.C.Qc;m=this.D.Oc;n=this.D.Pc;q=this.D.Qc;for(var p=0;p<a;){var r=p++,v=this.info.rows[r],t=v.ua,v=v.Aa,w=0,w=w+(b*v.va+e*v.wa+d*v.xa),w=w-(c*v.Ba+f*v.Ca+h*v.Da),w=w+(l*v.S+g*v.T+k*v.U),w=w-(m*v.W+n*v.X+q*v.Y);this.Hg[r]=w;this.Th[r]=t.tb}e=!1;d=0;for(c=this.Ee.Ze;d<c;)if(b=d++,b=this.ui.oc[b],this.Ee.Nh[b].Tk(this.info,this.$h,this.Hg,this.Th,this.sf,F.positionSplitImpulseBaumgarte,!1)){for(e=0;e<a;)d=e++,this.info.rows[d].ua.tb+=this.sf[d];a=this.sf;d=e=!1;c=this.C.Sc;f=this.C.Tc;h=this.C.Uc;l=this.D.Sc;g=this.D.Tc;k=this.D.Uc;m=this.C.Oc;n=this.C.Pc;q=this.C.Qc;p=this.D.Oc;r=this.D.Pc;t=this.D.Qc;v=0;for(w=this.info.Ka;v<w;){var A=v++,u=this.info.rows[A].Aa,D=this.Xb[A],A=a[A];u.wc&1&&(c+=D.md*A,f+=D.nd*A,h+=D.od*A,l+=D.pd*-A,g+=D.qd*-A,k+=D.rd*-A,e=!0);u.wc&2&&(m+=D.fd*A,n+=D.gd*A,q+=D.hd*A,p+=D.jd*-A,r+=D.kd*-A,t+=D.ld*-A,d=!0)}e&&(this.C.Sc=c,this.C.Tc=f,this.C.Uc=h,this.D.Sc=l,this.D.Tc=g,this.D.Uc=k);d&&(this.C.Oc=m,this.C.Pc=n,this.C.Qc=q,this.D.Oc=p,this.D.Pc=r,this.D.Qc=t);a=this.ui;for(e=0;a.oc[e]!=b;)++e;for(;0<e;)b=a.oc[e],a.oc[e]=a.oc[e-1],a.oc[e-1]=b,--e;e=!0;break}e||console.log("DirectJointConstraintSolver.hx:454:","could not find solution. (split impulse)")},lh:function(){this.P.ed();this.P.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;this.$h.Uk(this.info,this.Xb);var a=this.Ee;a.Ze=0;var b=a.Te;b.Nc=0;b.je=0;a.Oh(this.info,0);for(var e=this.ui,d=this.Ee.Ze,c=0,f=0,h=0,l=e.n;h<l;){var g=h++,k=e.oc[g];k<d?(e.af[c]=k,++c):(e.af[d+f]=k,++f)}var m=e.oc;e.oc=e.af;e.af=m;for(var n=this.info.Ka,q=0;q<n;){var p=q++,r=this.info.rows[p].ua;this.Hg[p]=0;this.Th[p]=r.tb}for(var v=!1,t=0,w=this.Ee.Ze;t<w;){var A=t++,u=this.ui.oc[A];if(this.Ee.Nh[u].Tk(this.info,this.$h,this.Hg,this.Th,this.sf,F.positionNgsBaumgarte,!1)){for(var D=0,C=n;D<C;){var z=D++;this.info.rows[z].ua.tb+=this.sf[z]}for(var E=this.sf,x=!1,L=!1,N,G,M,O,ga,ha,na,qa,za,ka,bb,U,R=U=bb=ka=za=qa=na=ha=ga=O=M=G=N=0,Da=this.info.Ka;R<Da;){var Na=R++,Ra=this.info.rows[Na].Aa,wa=this.Xb[Na],Pa=E[Na];Ra.wc&1&&(N+=wa.md*Pa,G+=wa.nd*Pa,M+=wa.od*Pa,O+=wa.pd*-Pa,ga+=wa.qd*-Pa,ha+=wa.rd*-Pa,x=!0);Ra.wc&2&&(na+=wa.fd*Pa,qa+=wa.gd*Pa,za+=wa.hd*Pa,ka+=wa.jd*-Pa,bb+=wa.kd*-Pa,U+=wa.ld*-Pa,L=!0)}if(x){var Ba=this.C;Ba.a.v+=N;Ba.a.A+=G;Ba.a.B+=M;var Ca=this.D;Ca.a.v+=O;Ca.a.A+=ga;Ca.a.B+=ha}if(L){var J=this.C,Qa=Math.sqrt(na*na+qa*qa+za*za),ba=.5*Qa,Q,P;if(.5>ba){var xa=ba*ba;Q=.5*(1-.16666666666666666*xa+xa*xa*.008333333333333333);P=1-.5*xa+xa*xa*.041666666666666664}else Q=Math.sin(ba)/Qa,P=Math.cos(ba);var ta,W,pa;ta=na*Q;W=qa*Q;pa=za*Q;var y,Ia,ca,Ea;y=ta;Ia=W;ca=pa;Ea=P;var ya,Fa,Sa,la,Z=J.a.o,Ga=J.a.m,ra=J.a.s,va=Z+Ga+ra,I;0<va?(I=Math.sqrt(va+1),la=.5*I,I=.5/I,ya=(J.a.g-J.a.j)*I,Fa=(J.a.h-J.a.l)*I,Sa=(J.a.i-J.a.f)*I):Z>Ga?Z>ra?(I=Math.sqrt(Z-Ga-ra+1),ya=.5*I,I=.5/I,Fa=(J.a.f+J.a.i)*I,Sa=(J.a.h+J.a.l)*I,la=(J.a.g-J.a.j)*I):(I=Math.sqrt(ra-Z-Ga+1),Sa=.5*I,I=.5/I,ya=(J.a.h+J.a.l)*I,Fa=(J.a.j+J.a.g)*I,la=(J.a.i-J.a.f)*I):Ga>ra?(I=Math.sqrt(Ga-ra-Z+1),Fa=.5*I,I=.5/I,ya=(J.a.f+J.a.i)*I,Sa=(J.a.j+J.a.g)*I,la=(J.a.h-J.a.l)*I):(I=Math.sqrt(ra-Z-Ga+1),Sa=.5*I,I=.5/I,ya=(J.a.h+J.a.l)*I,Fa=(J.a.j+J.a.g)*I,la=(J.a.i-J.a.f)*I);ya=Ea*ya+y*la+Ia*Sa-ca*Fa;Fa=Ea*Fa-y*Sa+Ia*la+ca*ya;Sa=Ea*Sa+y*Fa-Ia*ya+ca*la;la=Ea*la-y*ya-Ia*Fa-ca*Sa;var La=ya*ya+Fa*Fa+Sa*Sa+la*la;1E-32<La&&(La=1/Math.sqrt(La));ya*=La;Fa*=La;Sa*=La;la*=La;var Wa=ya,S=Fa,Xa=Sa,T=la,K=2*Wa,ia=2*S,gb=2*Xa,da=Wa*K,ab=S*ia,sa=Xa*gb,fb=Wa*ia,kb=S*gb,Ya=Wa*gb,ma=T*K,oa=T*ia,Ja=T*gb;J.a.o=1-ab-sa;J.a.f=fb-Ja;J.a.h=Ya+oa;J.a.i=fb+Ja;J.a.m=1-da-sa;J.a.j=kb-ma;J.a.l=Ya-oa;J.a.g=kb+ma;J.a.s=1-da-ab;var Ha,ob,fa,ea,ja,cb,Aa,sb,Ua;Ha=J.a.o*J.Qa+J.a.f*J.Ta+J.a.h*J.Wa;ob=J.a.o*J.Ra+J.a.f*J.Ua+J.a.h*J.Xa;fa=J.a.o*J.Sa+J.a.f*J.Va+J.a.h*J.Ya;ea=J.a.i*J.Qa+J.a.m*J.Ta+J.a.j*J.Wa;ja=J.a.i*J.Ra+J.a.m*J.Ua+J.a.j*J.Xa;cb=J.a.i*J.Sa+J.a.m*J.Va+J.a.j*J.Ya;Aa=J.a.l*J.Qa+J.a.g*J.Ta+J.a.s*J.Wa;sb=J.a.l*J.Ra+J.a.g*J.Ua+J.a.s*J.Xa;Ua=J.a.l*J.Sa+J.a.g*J.Va+J.a.s*J.Ya;J.Z=Ha;J.$=ob;J.aa=fa;J.ba=ea;J.ca=ja;J.da=cb;J.ea=Aa;J.fa=sb;J.ga=Ua;var qb,rb,ub,Va,xb,jb,Za,ua,wb;qb=J.Z*J.a.o+J.$*J.a.f+J.aa*J.a.h;rb=J.Z*J.a.i+J.$*J.a.m+J.aa*J.a.j;ub=J.Z*J.a.l+J.$*J.a.g+J.aa*J.a.s;Va=J.ba*J.a.o+J.ca*J.a.f+J.da*J.a.h;xb=J.ba*J.a.i+J.ca*J.a.m+J.da*J.a.j;jb=J.ba*J.a.l+J.ca*J.a.g+J.da*J.a.s;Za=J.ea*J.a.o+J.fa*J.a.f+J.ga*J.a.h;ua=J.ea*J.a.i+J.fa*J.a.m+J.ga*J.a.j;wb=J.ea*J.a.l+J.fa*J.a.g+J.ga*J.a.s;J.Z=qb;J.$=rb;J.aa=ub;J.ba=Va;J.ca=xb;J.da=jb;J.ea=Za;J.fa=ua;J.ga=wb;var H=this.D,pb=Math.sqrt(ka*ka+bb*bb+U*U),db=.5*pb,tb,$a;if(.5>db){var hb=db*db;tb=.5*(1-.16666666666666666*hb+hb*hb*.008333333333333333);$a=1-.5*hb+hb*hb*.041666666666666664}else tb=Math.sin(db)/pb,$a=Math.cos(db);var B,Db,Ab;B=ka*tb;Db=bb*tb;Ab=U*tb;var Bb,Fb,Oa,nb;Bb=B;Fb=Db;Oa=Ab;nb=$a;var vb,yb,eb,Y,Ma=H.a.o,lb=H.a.m,Ta=H.a.s,ib=Ma+lb+Ta,Ka;0<ib?(Ka=Math.sqrt(ib+1),Y=.5*Ka,Ka=.5/Ka,vb=(H.a.g-H.a.j)*Ka,yb=(H.a.h-H.a.l)*Ka,eb=(H.a.i-H.a.f)*Ka):Ma>lb?Ma>Ta?(Ka=Math.sqrt(Ma-lb-Ta+1),vb=.5*Ka,Ka=.5/Ka,yb=(H.a.f+H.a.i)*Ka,eb=(H.a.h+H.a.l)*Ka,Y=(H.a.g-H.a.j)*Ka):(Ka=Math.sqrt(Ta-Ma-lb+1),eb=.5*Ka,Ka=.5/Ka,vb=(H.a.h+H.a.l)*Ka,yb=(H.a.j+H.a.g)*Ka,Y=(H.a.i-H.a.f)*Ka):lb>Ta?(Ka=Math.sqrt(lb-Ta-Ma+1),yb=.5*Ka,Ka=.5/Ka,vb=(H.a.f+H.a.i)*Ka,eb=(H.a.j+H.a.g)*Ka,Y=(H.a.h-H.a.l)*Ka):(Ka=Math.sqrt(Ta-Ma-lb+1),eb=.5*Ka,Ka=.5/Ka,vb=(H.a.h+H.a.l)*Ka,yb=(H.a.j+H.a.g)*Ka,Y=(H.a.i-H.a.f)*Ka);vb=nb*vb+Bb*Y+Fb*eb-Oa*yb;yb=nb*yb-Bb*eb+Fb*Y+Oa*vb;eb=nb*eb+Bb*yb-Fb*vb+Oa*Y;Y=nb*Y-Bb*vb-Fb*yb-Oa*eb;var Jb=vb*vb+yb*yb+eb*eb+Y*Y;1E-32<Jb&&(Jb=1/Math.sqrt(Jb));vb*=Jb;yb*=Jb;eb*=Jb;Y*=Jb;var Eb=vb,X=yb,Cb=eb,Gb=Y,Lb=2*Eb,Kb=2*X,ec=2*Cb,Mb=Eb*Lb,Nb=X*Kb,Tb=Cb*ec,Pb=Eb*Kb,Ub=X*ec,jc=Eb*ec,pc=Gb*Lb,kc=Gb*Kb,ac=Gb*ec;H.a.o=1-Nb-Tb;H.a.f=Pb-ac;H.a.h=jc+kc;H.a.i=Pb+ac;H.a.m=1-Mb-Tb;H.a.j=Ub-pc;H.a.l=jc-kc;H.a.g=Ub+pc;H.a.s=1-Mb-Nb;var Wb,Xb,Rb,fc,Sb,Ob,Yb,gc,Ib;Wb=H.a.o*H.Qa+H.a.f*H.Ta+H.a.h*H.Wa;Xb=H.a.o*H.Ra+H.a.f*H.Ua+H.a.h*H.Xa;Rb=H.a.o*H.Sa+H.a.f*H.Va+H.a.h*H.Ya;fc=H.a.i*H.Qa+H.a.m*H.Ta+H.a.j*H.Wa;Sb=H.a.i*H.Ra+H.a.m*H.Ua+H.a.j*H.Xa;Ob=H.a.i*H.Sa+H.a.m*H.Va+H.a.j*H.Ya;Yb=H.a.l*H.Qa+H.a.g*H.Ta+H.a.s*H.Wa;gc=H.a.l*H.Ra+H.a.g*H.Ua+H.a.s*H.Xa;Ib=H.a.l*H.Sa+H.a.g*H.Va+H.a.s*H.Ya;H.Z=Wb;H.$=Xb;H.aa=Rb;H.ba=fc;H.ca=Sb;H.da=Ob;H.ea=Yb;H.fa=gc;H.ga=Ib;var $b,mb,bc,cc,dc,qc,mc,hc,ic;$b=H.Z*H.a.o+H.$*H.a.f+H.aa*H.a.h;mb=H.Z*H.a.i+H.$*H.a.m+H.aa*H.a.j;bc=H.Z*H.a.l+H.$*H.a.g+H.aa*H.a.s;cc=H.ba*H.a.o+H.ca*H.a.f+H.da*H.a.h;dc=H.ba*H.a.i+H.ca*H.a.m+H.da*H.a.j;qc=H.ba*H.a.l+H.ca*H.a.g+H.da*H.a.s;mc=H.ea*H.a.o+H.fa*H.a.f+H.ga*H.a.h;hc=H.ea*H.a.i+H.fa*H.a.m+H.ga*H.a.j;ic=H.ea*H.a.l+H.fa*H.a.g+H.ga*H.a.s;H.Z=$b;H.$=mb;H.aa=bc;H.ba=cc;H.ca=dc;H.da=qc;H.ea=mc;H.fa=hc;H.ga=ic}for(var Zb=this.ui,sc=0;Zb.oc[sc]!=u;)++sc;for(;0<sc;){var vc=Zb.oc[sc];Zb.oc[sc]=Zb.oc[sc-1];Zb.oc[sc-1]=vc;--sc}v=!0;break}}v||console.log("DirectJointConstraintSolver.hx:506:","could not find solution. (NGS)")},$e:function(){this.P.ed();this.P.Cl()},qa:cc});Tf.R=!0;Tf.prototype={$m:function(a,b,e){for(var d=0;d<e;)for(var c=d++,f=b[c],h=0,l=e;h<l;){var g=h++;this.ck[c][g]=this.Za[f][b[g]]}d=this.ck;a=this.ik[a];var k;switch(e){case 4:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];break;case 5:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;c[4]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[4];k=a[4];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[4];k=a[4];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[4];k=a[4];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g[4]-=c[4]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g[4]-=c[4]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];g[4]-=c[4]*g[3];g=d[4];k=a[4];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];c=d[4];b=a[4];e=1/c[4];b[4]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[4];g=d[1];k=a[1];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];g=d[2];k=a[2];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];g=d[3];k=a[3];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];b=a[4];a[0][4]=b[0];a[1][4]=b[1];a[2][4]=b[2];a[3][4]=b[3];break;case 6:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[4];k=a[4];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[5];k=a[5];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[4];k=a[4];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[5];k=a[5];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[4];k=a[4];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[5];k=a[5];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[4];k=a[4];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[5];k=a[5];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];c=d[4];b=a[4];e=1/c[4];b[4]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[4];g[5]-=c[5]*g[4];g=d[1];k=a[1];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];g[5]-=c[5]*g[4];g=d[2];k=a[2];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];g[5]-=c[5]*g[4];g=d[3];k=a[3];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];g[5]-=c[5]*g[4];g=d[5];k=a[5];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];k[4]=-e*g[4];g[5]-=c[5]*g[4];c=d[5];b=a[5];e=1/c[5];b[5]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;b[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[5];g=d[1];k=a[1];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];g=d[2];k=a[2];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];g=d[3];k=a[3];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];k[3]-=b[3]*g[5];g=d[4];k=a[4];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];k[3]-=b[3]*g[5];k[4]-=b[4]*g[5];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];b=a[4];a[0][4]=b[0];a[1][4]=b[1];a[2][4]=b[2];a[3][4]=b[3];b=a[5];a[0][5]=b[0];a[1][5]=b[1];a[2][5]=b[2];a[3][5]=b[3];a[4][5]=b[4];break;default:for(f=0;f<e;){h=f++;c=d[h];b=a[h];l=1/c[h];b[h]=l;g=0;for(k=h;g<k;){var m=g++;b[m]*=l}g=h+1;for(k=e;g<k;)m=g++,c[m]*=l;for(var m=0,n=h;m<n;){var q=m++,g=d[q];k=a[q];for(var p=0,q=q+1;p<q;){var r=p++;k[r]-=b[r]*g[h]}k=h+1;for(p=e;k<p;)q=k++,g[q]-=c[q]*g[h]}m=h+1;for(n=e;m<n;){k=m++;g=d[k];k=a[k];p=0;for(q=h;p<q;)r=p++,k[r]-=b[r]*g[h];k[h]=-l*g[h];k=h+1;for(p=e;k<p;)q=k++,g[q]-=c[q]*g[h]}}for(d=1;d<e;)for(c=d++,b=a[c],f=0,h=c;f<h;)l=f++,a[l][c]=b[l]}},Uk:function(a,b){var e=this.Za,d=this.Oi,c=a.Ka,f=a.Ce,h=a.De,l=f.Za,g=h.Za,k,m,n,q,p,r,v,t,w,A,u,D,C,z,E,x;k=f.Z;m=f.$;n=f.aa;q=f.ba;p=f.ca;r=f.da;v=f.ea;t=f.fa;f=f.ga;w=h.Z;A=h.$;u=h.aa;D=h.ba;C=h.ca;z=h.da;E=h.ea;x=h.fa;for(var h=h.ga,F=0;F<c;){var N=F++,G=a.rows[N].Aa,N=b[N];G.Bm();G.wc&1?(N.md=G.va*l,N.nd=G.wa*l,N.od=G.xa*l,N.pd=G.Ba*g,N.qd=G.Ca*g,N.rd=G.Da*g):(N.md=0,N.nd=0,N.od=0,N.pd=0,N.qd=0,N.rd=0);if(G.wc&2){var L,M,O;L=k*G.S+m*G.T+n*G.U;M=q*G.S+p*G.T+r*G.U;O=v*G.S+t*G.T+f*G.U;N.fd=L;N.gd=M;N.hd=O;L=w*G.W+A*G.X+u*G.Y;M=D*G.W+C*G.X+z*G.Y;G=E*G.W+x*G.X+h*G.Y;N.jd=L;N.kd=M;N.ld=G}else N.fd=0,N.gd=0,N.hd=0,N.jd=0,N.kd=0,N.ld=0}for(l=0;l<c;)for(g=l++,k=a.rows[g].Aa,m=g,n=c;m<n;)q=m++,p=b[q],r=k.va*p.md+k.wa*p.nd+k.xa*p.od+(k.S*p.fd+k.T*p.gd+k.U*p.hd)+(k.Ba*p.pd+k.Ca*p.qd+k.Da*p.rd)+(k.W*p.jd+k.X*p.kd+k.Y*p.ld),g==q?(e[g][q]=r+a.rows[g].Ma,d[g][q]=r,p.mass=r+a.rows[g].Ma,p.tf=r,0!=p.mass&&(p.mass=1/p.mass),p.tf&&(p.tf=1/p.tf)):(e[g][q]=r,e[q][g]=r,d[g][q]=r,d[q][g]=r);a=0;for(b=this.Ij;a<b;)e=a++,this.zj[e]=!1},qa:Tf};Kb.R=!0;Kb.Jb=Tb;Kb.prototype=Gb(Tb.prototype,{jh:function(a){this.ti.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;a=this.C.Za;var b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;v=this.D.ca;t=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,C=this.info.Ka;D<C;){var z=D++,E=this.info.rows[z],z=this.Xb[z],x=E.Eg;z.Uh=x.va*a;z.Vh=x.wa*a;z.Wh=x.xa*a;z.Xh=x.Ba*b;z.Yh=x.Ca*b;z.Zh=x.Da*b;var F,N,G;F=e*x.S+d*x.T+c*x.U;N=f*x.S+h*x.T+l*x.U;G=g*x.S+k*x.T+m*x.U;z.Nf=F;z.Of=N;z.Pf=G;F=n*x.W+q*x.X+p*x.Y;N=r*x.W+v*x.X+t*x.Y;G=w*x.W+A*x.X+u*x.Y;z.Qf=F;z.Rf=N;z.Sf=G;z.ie=a+b+(z.Nf*x.S+z.Of*x.T+z.Pf*x.U)+(z.Qf*x.W+z.Rf*x.X+z.Sf*x.Y);0!=z.ie&&(z.ie=1/z.ie);x=E.vj;E=E.uj;z.gl=x.va*a;z.hl=x.wa*a;z.il=x.xa*a;z.jl=x.Ba*b;z.kl=x.Ca*b;z.ll=x.Da*b;z.al=E.va*a;z.bl=E.wa*a;z.cl=E.xa*a;z.dl=E.Ba*b;z.el=E.Ca*b;z.fl=E.Da*b;F=e*x.S+d*x.T+c*x.U;N=f*x.S+h*x.T+l*x.U;G=g*x.S+k*x.T+m*x.U;z.oj=F;z.pj=N;z.qj=G;F=n*x.W+q*x.X+p*x.Y;N=r*x.W+v*x.X+t*x.Y;G=w*x.W+A*x.X+u*x.Y;z.rj=F;z.sj=N;z.tj=G;F=e*E.S+d*E.T+c*E.U;N=f*E.S+h*E.T+l*E.U;G=g*E.S+k*E.T+m*E.U;z.Tj=F;z.Uj=N;z.Vj=G;F=n*E.W+q*E.X+p*E.Y;N=r*E.W+v*E.X+t*E.Y;G=w*E.W+A*E.X+u*E.Y;z.Wj=F;z.Xj=N;z.Yj=G;x=a+b+(z.oj*x.S+z.pj*x.T+z.qj*x.U)+(z.rj*x.W+z.sj*x.X+z.tj*x.Y);N=F=z.oj*E.S+z.pj*E.T+z.qj*E.U+(z.rj*E.W+z.sj*E.X+z.tj*E.Y);E=a+b+(z.Tj*E.S+z.Uj*E.T+z.Vj*E.U)+(z.Wj*E.W+z.Xj*E.X+z.Yj*E.Y);(G=x*E-F*N)&&(G=1/G);z.om=E*G;z.pm=-F*G;z.qm=-N*G;z.rm=x*G}},sh:function(a){var b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.cb;e=this.C.eb;d=this.C.fb;c=this.D.cb;f=this.D.eb;h=this.D.fb;l=this.C.hb;g=this.C.ib;k=this.C.jb;m=this.D.hb;n=this.D.ib;q=this.D.jb;for(var p=0,r=this.info.Ka;p<r;){var v=p++,t=this.info.rows[v],w=t.ua,v=this.Xb[v],A=t.vj,u=t.uj,t=w.Xc,A=w.Ue*A.va+w.Ve*A.wa+w.We*A.xa,u=w.Ue*u.va+w.Ve*u.wa+w.We*u.xa;w.yc=A;w.xc=u;w.Xc*=a.dtRatio;w.yc*=a.dtRatio;w.xc*=a.dtRatio;b+=v.Uh*t;e+=v.Vh*t;d+=v.Wh*t;b+=v.gl*A;e+=v.hl*A;d+=v.il*A;b+=v.al*u;e+=v.bl*u;d+=v.cl*u;c+=v.Xh*-t;f+=v.Yh*-t;h+=v.Zh*-t;c+=v.jl*-A;f+=v.kl*-A;h+=v.ll*-A;c+=v.dl*-u;f+=v.el*-u;h+=v.fl*-u;l+=v.Nf*t;g+=v.Of*t;k+=v.Pf*t;l+=v.oj*A;g+=v.pj*A;k+=v.qj*A;l+=v.Tj*u;g+=v.Uj*u;k+=v.Vj*u;m+=v.Qf*-t;n+=v.Rf*-t;q+=v.Sf*-t;m+=v.rj*-A;n+=v.sj*-A;q+=v.tj*-A;m+=v.Wj*-u;n+=v.Xj*-u;q+=v.Yj*-u}this.C.cb=b;this.C.eb=e;this.C.fb=d;this.D.cb=c;this.D.eb=f;this.D.fb=h;this.C.hb=l;this.C.ib=g;this.C.jb=k;this.D.hb=m;this.D.ib=n;this.D.jb=q},nh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.cb;b=this.C.eb;e=this.C.fb;d=this.D.cb;c=this.D.eb;f=this.D.fb;h=this.C.hb;l=this.C.ib;g=this.C.jb;k=this.D.hb;m=this.D.ib;n=this.D.jb;for(var q=0,p=this.info.Ka;q<p;){var r=q++,v=this.info.rows[r],r=this.Xb[r],t=v.ua,w=0,A=v.vj,w=w+(a*A.va+b*A.wa+e*A.xa),w=w-(d*A.Ba+c*A.Ca+f*A.Da),w=w+(h*A.S+l*A.T+g*A.U),w=w-(k*A.W+m*A.X+n*A.Y),u=0,A=v.uj,u=u+(a*A.va+b*A.wa+e*A.xa),u=u-(d*A.Ba+c*A.Ca+f*A.Da),u=u+(h*A.S+l*A.T+g*A.U),u=u-(k*A.W+m*A.X+n*A.Y),A=-(w*r.om+u*r.pm),D=-(w*r.qm+u*r.rm),w=t.yc,u=t.xc;t.yc+=A;t.xc+=D;(v=v.friction*t.Xc)?(A=t.yc*t.yc+t.xc*t.xc,A>v*v&&(v/=Math.sqrt(A),t.yc*=v,t.xc*=v)):(t.yc=0,t.xc=0);A=t.yc-w;D=t.xc-u;a+=r.gl*A;b+=r.hl*A;e+=r.il*A;a+=r.al*D;b+=r.bl*D;e+=r.cl*D;d+=r.jl*-A;c+=r.kl*-A;f+=r.ll*-A;d+=r.dl*-D;c+=r.el*-D;f+=r.fl*-D;h+=r.oj*A;l+=r.pj*A;g+=r.qj*A;h+=r.Tj*D;l+=r.Uj*D;g+=r.Vj*D;k+=r.rj*-A;m+=r.sj*-A;n+=r.tj*-A;k+=r.Wj*-D;m+=r.Xj*-D;n+=r.Yj*-D}q=0;for(p=this.info.Ka;q<p;)r=q++,v=this.info.rows[r],r=this.Xb[r],t=v.ua,w=0,u=v.Eg,w+=a*u.va+b*u.wa+e*u.xa,w-=d*u.Ba+c*u.Ca+f*u.Da,w+=h*u.S+l*u.T+g*u.U,w-=k*u.W+m*u.X+n*u.Y,v=(v.Fa-w)*r.ie,w=t.Xc,t.Xc+=v,0>t.Xc&&(t.Xc=0),v=t.Xc-w,a+=r.Uh*v,b+=r.Vh*v,e+=r.Wh*v,d+=r.Xh*-v,c+=r.Yh*-v,f+=r.Zh*-v,h+=r.Nf*v,l+=r.Of*v,g+=r.Pf*v,k+=r.Qf*-v,m+=r.Rf*-v,n+=r.Sf*-v;this.C.cb=a;this.C.eb=b;this.C.fb=e;this.D.cb=d;this.D.eb=c;this.D.fb=f;this.C.hb=h;this.C.ib=l;this.C.jb=g;this.D.hb=k;this.D.ib=m;this.D.jb=n},Gg:function(){this.ti.Ik();this.ti.dd(this.info);var a=this.C.Za,b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;v=this.D.ca;t=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,C=this.info.Ka;D<C;){var z=D++,E=this.Xb[z],z=this.info.rows[z].Eg;E.Uh=z.va*a;E.Vh=z.wa*a;E.Wh=z.xa*a;E.Xh=z.Ba*b;E.Yh=z.Ca*b;E.Zh=z.Da*b;var x,F,N;x=e*z.S+d*z.T+c*z.U;F=f*z.S+h*z.T+l*z.U;N=g*z.S+k*z.T+m*z.U;E.Nf=x;E.Of=F;E.Pf=N;x=n*z.W+q*z.X+p*z.Y;F=r*z.W+v*z.X+t*z.Y;N=w*z.W+A*z.X+u*z.Y;E.Qf=x;E.Rf=F;E.Sf=N;E.ie=a+b+(E.Nf*z.S+E.Of*z.T+E.Pf*z.U)+(E.Qf*z.W+E.Rf*z.X+E.Sf*z.Y);0!=E.ie&&(E.ie=1/E.ie)}a=0;for(b=this.info.Ka;a<b;)e=a++,this.info.rows[e].ua.tb=0},mh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.Sc;b=this.C.Tc;e=this.C.Uc;d=this.D.Sc;c=this.D.Tc;f=this.D.Uc;h=this.C.Oc;l=this.C.Pc;g=this.C.Qc;k=this.D.Oc;m=this.D.Pc;n=this.D.Qc;for(var q=0,p=this.info.Ka;q<p;){var r=q++,v=this.info.rows[r],r=this.Xb[r],t=v.ua,w=v.Eg,A=0,A=A+(a*w.va+b*w.wa+e*w.xa),A=A-(d*w.Ba+c*w.Ca+f*w.Da),A=A+(h*w.S+l*w.T+g*w.U),A=A-(k*w.W+m*w.X+n*w.Y),v=(v.Fa-A)*r.ie*F.positionSplitImpulseBaumgarte,w=t.tb;t.tb+=v;0>t.tb&&(t.tb=0);v=t.tb-w;a+=r.Uh*v;b+=r.Vh*v;e+=r.Wh*v;d+=r.Xh*-v;c+=r.Yh*-v;f+=r.Zh*-v;h+=r.Nf*v;l+=r.Of*v;g+=r.Pf*v;k+=r.Qf*-v;m+=r.Rf*-v;n+=r.Sf*-v}this.C.Sc=a;this.C.Tc=b;this.C.Uc=e;this.D.Sc=d;this.D.Tc=c;this.D.Uc=f;this.C.Oc=h;this.C.Pc=l;this.C.Qc=g;this.D.Oc=k;this.D.Pc=m;this.D.Qc=n},lh:function(){this.ti.Ik();this.ti.dd(this.info);var a=this.C.Za,b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;v=this.D.ca;t=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,C=this.info.Ka;D<C;){var z=D++,E=this.Xb[z],x=this.info.rows[z].Eg;E.Uh=x.va*a;E.Vh=x.wa*a;E.Wh=x.xa*a;E.Xh=x.Ba*b;E.Yh=x.Ca*b;E.Zh=x.Da*b;var L,N,G;L=e*x.S+d*x.T+c*x.U;N=f*x.S+h*x.T+l*x.U;G=g*x.S+k*x.T+m*x.U;E.Nf=L;E.Of=N;E.Pf=G;var M,O,ga;M=n*x.W+q*x.X+p*x.Y;O=r*x.W+v*x.X+t*x.Y;ga=w*x.W+A*x.X+u*x.Y;E.Qf=M;E.Rf=O;E.Sf=ga;E.ie=a+b+(E.Nf*x.S+E.Of*x.T+E.Pf*x.U)+(E.Qf*x.W+E.Rf*x.X+E.Sf*x.Y);0!=E.ie&&(E.ie=1/E.ie)}for(var ha,na,qa,wa,ka,za,U,R,Da,Na,Ra,Ca,Pa=Ca=Ra=Na=Da=R=U=za=ka=wa=qa=na=ha=0,Ba=this.info.Ka;Pa<Ba;){var ab=Pa++,J=this.info.rows[ab],Qa=this.Xb[ab],ba=J.ua,Q=J.Eg,P=0,P=P+(ha*Q.va+na*Q.wa+qa*Q.xa),P=P-(wa*Q.Ba+ka*Q.Ca+za*Q.Da),P=P+(U*Q.S+R*Q.T+Da*Q.U),P=P-(Na*Q.W+Ra*Q.X+Ca*Q.Y),xa=(J.Fa-P)*Qa.ie*F.positionNgsBaumgarte,ta=ba.tb;ba.tb+=xa;0>ba.tb&&(ba.tb=0);xa=ba.tb-ta;ha+=Qa.Uh*xa;na+=Qa.Vh*xa;qa+=Qa.Wh*xa;wa+=Qa.Xh*-xa;ka+=Qa.Yh*-xa;za+=Qa.Zh*-xa;U+=Qa.Nf*xa;R+=Qa.Of*xa;Da+=Qa.Pf*xa;Na+=Qa.Qf*-xa;Ra+=Qa.Rf*-xa;Ca+=Qa.Sf*-xa}var W=this.C;W.a.v+=ha;W.a.A+=na;W.a.B+=qa;var pa=this.D;pa.a.v+=wa;pa.a.A+=ka;pa.a.B+=za;var y=this.C,Ia=Math.sqrt(U*U+R*R+Da*Da),ca=.5*Ia,Ea,ya;if(.5>ca){var Fa=ca*ca;Ea=.5*(1-.16666666666666666*Fa+Fa*Fa*.008333333333333333);ya=1-.5*Fa+Fa*Fa*.041666666666666664}else Ea=Math.sin(ca)/Ia,ya=Math.cos(ca);var Sa,la;Sa=U*Ea;la=R*Ea;var Z,Ga;Z=Da*Ea;Ga=ya;var ra,va,I,La,Wa=y.a.o,S=y.a.m,Xa=y.a.s,T=Wa+S+Xa,K;0<T?(K=Math.sqrt(T+1),La=.5*K,K=.5/K,ra=(y.a.g-y.a.j)*K,va=(y.a.h-y.a.l)*K,I=(y.a.i-y.a.f)*K):Wa>S?Wa>Xa?(K=Math.sqrt(Wa-S-Xa+1),ra=.5*K,K=.5/K,va=(y.a.f+y.a.i)*K,I=(y.a.h+y.a.l)*K,La=(y.a.g-y.a.j)*K):(K=Math.sqrt(Xa-Wa-S+1),I=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K):S>Xa?(K=Math.sqrt(S-Xa-Wa+1),va=.5*K,K=.5/K,ra=(y.a.f+y.a.i)*K,I=(y.a.j+y.a.g)*K,La=(y.a.h-y.a.l)*K):(K=Math.sqrt(Xa-Wa-S+1),I=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K);ra=Ga*ra+Sa*La+la*I-Z*va;va=Ga*va-Sa*I+la*La+Z*ra;I=Ga*I+Sa*va-la*ra+Z*La;La=Ga*La-Sa*ra-la*va-Z*I;var ia=ra*ra+va*va+I*I+La*La;1E-32<ia&&(ia=1/Math.sqrt(ia));ra*=ia;va*=ia;I*=ia;La*=ia;var gb=ra,da=va,jb=I,sa=La,fb=2*gb,kb=2*da,Ya=2*jb,ma=gb*fb,oa=da*kb,Ja=jb*Ya,Ha=gb*kb,ob=da*Ya,fa=gb*Ya,ea=sa*fb,ja=sa*kb,cb=sa*Ya;y.a.o=1-oa-Ja;y.a.f=Ha-cb;y.a.h=fa+ja;y.a.i=Ha+cb;y.a.m=1-ma-Ja;y.a.j=ob-ea;y.a.l=fa-ja;y.a.g=ob+ea;y.a.s=1-ma-oa;var Aa,sb,Ua,qb,rb,ub,Va,xb,tb;Aa=y.a.o*y.Qa+y.a.f*y.Ta+y.a.h*y.Wa;sb=y.a.o*y.Ra+y.a.f*y.Ua+y.a.h*y.Xa;Ua=y.a.o*y.Sa+y.a.f*y.Va+y.a.h*y.Ya;qb=y.a.i*y.Qa+y.a.m*y.Ta+y.a.j*y.Wa;rb=y.a.i*y.Ra+y.a.m*y.Ua+y.a.j*y.Xa;ub=y.a.i*y.Sa+y.a.m*y.Va+y.a.j*y.Ya;Va=y.a.l*y.Qa+y.a.g*y.Ta+y.a.s*y.Wa;xb=y.a.l*y.Ra+y.a.g*y.Ua+y.a.s*y.Xa;tb=y.a.l*y.Sa+y.a.g*y.Va+y.a.s*y.Ya;y.Z=Aa;y.$=sb;y.aa=Ua;y.ba=qb;y.ca=rb;y.da=ub;y.ea=Va;y.fa=xb;y.ga=tb;var Za,ua,wb,H,pb,db,Ab,$a,hb;Za=y.Z*y.a.o+y.$*y.a.f+y.aa*y.a.h;ua=y.Z*y.a.i+y.$*y.a.m+y.aa*y.a.j;wb=y.Z*y.a.l+y.$*y.a.g+y.aa*y.a.s;H=y.ba*y.a.o+y.ca*y.a.f+y.da*y.a.h;pb=y.ba*y.a.i+y.ca*y.a.m+y.da*y.a.j;db=y.ba*y.a.l+y.ca*y.a.g+y.da*y.a.s;Ab=y.ea*y.a.o+y.fa*y.a.f+y.ga*y.a.h;$a=y.ea*y.a.i+y.fa*y.a.m+y.ga*y.a.j;hb=y.ea*y.a.l+y.fa*y.a.g+y.ga*y.a.s;y.Z=Za;y.$=ua;y.aa=wb;y.ba=H;y.ca=pb;y.da=db;y.ea=Ab;y.fa=$a;y.ga=hb;var B=this.D,Db=Math.sqrt(Na*Na+Ra*Ra+Ca*Ca),Bb=.5*Db,Eb,Fb;if(.5>Bb){var Oa=Bb*Bb;Eb=.5*(1-.16666666666666666*Oa+Oa*Oa*.008333333333333333);Fb=1-.5*Oa+Oa*Oa*.041666666666666664}else Eb=Math.sin(Bb)/Db,Fb=Math.cos(Bb);var nb,vb;nb=Na*Eb;vb=Ra*Eb;var yb,eb;yb=Ca*Eb;eb=Fb;var Y,Ma,lb,Ta,ib=B.a.o,Ka=B.a.m,Jb=B.a.s,Gb=ib+Ka+Jb,X;0<Gb?(X=Math.sqrt(Gb+1),Ta=.5*X,X=.5/X,Y=(B.a.g-B.a.j)*X,Ma=(B.a.h-B.a.l)*X,lb=(B.a.i-B.a.f)*X):ib>Ka?ib>Jb?(X=Math.sqrt(ib-Ka-Jb+1),Y=.5*X,X=.5/X,Ma=(B.a.f+B.a.i)*X,lb=(B.a.h+B.a.l)*X,Ta=(B.a.g-B.a.j)*X):(X=Math.sqrt(Jb-ib-Ka+1),lb=.5*X,X=.5/X,Y=(B.a.h+B.a.l)*X,Ma=(B.a.j+B.a.g)*X,Ta=(B.a.i-B.a.f)*X):Ka>Jb?(X=Math.sqrt(Ka-Jb-ib+1),Ma=.5*X,X=.5/X,Y=(B.a.f+B.a.i)*X,lb=(B.a.j+B.a.g)*X,Ta=(B.a.h-B.a.l)*X):(X=Math.sqrt(Jb-ib-Ka+1),lb=.5*X,X=.5/X,Y=(B.a.h+B.a.l)*X,Ma=(B.a.j+B.a.g)*X,Ta=(B.a.i-B.a.f)*X);Y=eb*Y+nb*Ta+vb*lb-yb*Ma;Ma=eb*Ma-nb*lb+vb*Ta+yb*Y;lb=eb*lb+nb*Ma-vb*Y+yb*Ta;Ta=eb*Ta-nb*Y-vb*Ma-yb*lb;var Cb=Y*Y+Ma*Ma+lb*lb+Ta*Ta;1E-32<Cb&&(Cb=1/Math.sqrt(Cb));Y*=Cb;Ma*=Cb;lb*=Cb;Ta*=Cb;var Lb=Y,Kb=Ma,Mb=lb,ec=Ta,Nb=2*Lb,Tb=2*Kb,Pb=2*Mb,Ub=Lb*Nb,Zb=Kb*Tb,jc=Mb*Pb,pc=Lb*Tb,kc=Kb*Pb,ac=Lb*Pb,Wb=ec*Nb,Xb=ec*Tb,Rb=ec*Pb;B.a.o=1-Zb-jc;B.a.f=pc-Rb;B.a.h=ac+Xb;B.a.i=pc+Rb;B.a.m=1-Ub-jc;B.a.j=kc-Wb;B.a.l=ac-Xb;B.a.g=kc+Wb;B.a.s=1-Ub-Zb;var fc,Sb,Ob,Yb,gc,Ib,$b,mb,bc;fc=B.a.o*B.Qa+B.a.f*B.Ta+B.a.h*B.Wa;Sb=B.a.o*B.Ra+B.a.f*B.Ua+B.a.h*B.Xa;Ob=B.a.o*B.Sa+B.a.f*B.Va+B.a.h*B.Ya;Yb=B.a.i*B.Qa+B.a.m*B.Ta+B.a.j*B.Wa;gc=B.a.i*B.Ra+B.a.m*B.Ua+B.a.j*B.Xa;Ib=B.a.i*B.Sa+B.a.m*B.Va+B.a.j*B.Ya;$b=B.a.l*B.Qa+B.a.g*B.Ta+B.a.s*B.Wa;mb=B.a.l*B.Ra+B.a.g*B.Ua+B.a.s*B.Xa;bc=B.a.l*B.Sa+B.a.g*B.Va+B.a.s*B.Ya;B.Z=fc;B.$=Sb;B.aa=Ob;B.ba=Yb;B.ca=gc;B.da=Ib;B.ea=$b;B.fa=mb;B.ga=bc;var cc,dc,qc,mc,hc,ic,nc,sc,vc;cc=B.Z*B.a.o+B.$*B.a.f+B.aa*B.a.h;dc=B.Z*B.a.i+B.$*B.a.m+B.aa*B.a.j;qc=B.Z*B.a.l+B.$*B.a.g+B.aa*B.a.s;mc=B.ba*B.a.o+B.ca*B.a.f+B.da*B.a.h;hc=B.ba*B.a.i+B.ca*B.a.m+B.da*B.a.j;ic=B.ba*B.a.l+B.ca*B.a.g+B.da*B.a.s;nc=B.ea*B.a.o+B.fa*B.a.f+B.ga*B.a.h;sc=B.ea*B.a.i+B.fa*B.a.m+B.ga*B.a.j;vc=B.ea*B.a.l+B.fa*B.a.g+B.ga*B.a.s;B.Z=cc;B.$=dc;B.aa=qc;B.ba=mc;B.ca=hc;B.da=ic;B.ea=nc;B.fa=sc;B.ga=vc},$e:function(){for(var a=0,b=this.info.Ka;a<b;){var e=a++,d=this.info.rows[e],e=d.ua,c=d.vj,d=d.uj,f,h,l;l=h=f=0;f+=c.va*e.yc;h+=c.wa*e.yc;l+=c.xa*e.yc;f+=d.va*e.xc;h+=d.wa*e.xc;l+=d.xa*e.xc;e.Ue=f;e.Ve=h;e.We=l}this.ti.Ik()},qa:Kb});nc.R=!0;nc.Jb=Tb;nc.prototype=Gb(Tb.prototype,{jh:function(a){this.P.ed();this.P.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;a=this.C.Za;var b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;v=this.D.ca;t=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,C=this.info.Ka;D<C;){var z=D++,E=this.info.rows[z],z=this.Xb[z],x=E.Aa;x.Bm();x.wc&1?(z.md=x.va*a,z.nd=x.wa*a,z.od=x.xa*a,z.pd=x.Ba*b,z.qd=x.Ca*b,z.rd=x.Da*b):(z.md=0,z.nd=0,z.od=0,z.pd=0,z.qd=0,z.rd=0);if(x.wc&2){var F,N,G;F=e*x.S+d*x.T+c*x.U;N=f*x.S+h*x.T+l*x.U;G=g*x.S+k*x.T+m*x.U;z.fd=F;z.gd=N;z.hd=G;F=n*x.W+q*x.X+p*x.Y;N=r*x.W+v*x.X+t*x.Y;G=w*x.W+A*x.X+u*x.Y;z.jd=F;z.kd=N;z.ld=G}else z.fd=0,z.gd=0,z.hd=0,z.jd=0,z.kd=0,z.ld=0;z.tf=z.md*x.va+z.nd*x.wa+z.od*x.xa+(z.pd*x.Ba+z.qd*x.Ca+z.rd*x.Da)+(z.fd*x.S+z.gd*x.T+z.hd*x.U)+(z.jd*x.W+z.kd*x.X+z.ld*x.Y);z.mass=z.tf+E.Ma;z.tf&&(z.tf=1/z.tf);0!=z.mass&&(z.mass=1/z.mass)}},sh:function(a){var b=this.P.Ec==ic.BAUMGARTE?F.jointWarmStartingFactorForBaungarte:F.jointWarmStartingFactor,b=b*a.dtRatio;if(0>=b)for(b=0,a=this.info.Ka;b<a;){var e=b++,e=this.info.rows[e].ua;e.ua=0;e.Wc=0;e.tb=0}else{var d,c,f,h,l,g,k,m,n,q;a=this.C.cb;e=this.C.eb;d=this.C.fb;c=this.D.cb;f=this.D.eb;h=this.D.fb;l=this.C.hb;g=this.C.ib;k=this.C.jb;m=this.D.hb;n=this.D.ib;q=this.D.jb;for(var p=0,r=this.info.Ka;p<r;){var v=p++,t=this.Xb[v],v=this.info.rows[v].ua;v.ua*=b;v.Wc*=b;v=v.ua+v.Wc;a+=t.md*v;e+=t.nd*v;d+=t.od*v;c+=t.pd*-v;f+=t.qd*-v;h+=t.rd*-v;l+=t.fd*v;g+=t.gd*v;k+=t.hd*v;m+=t.jd*-v;n+=t.kd*-v;q+=t.ld*-v}this.C.cb=a;this.C.eb=e;this.C.fb=d;this.D.cb=c;this.D.eb=f;this.D.fb=h;this.C.hb=l;this.C.ib=g;this.C.jb=k;this.D.hb=m;this.D.ib=n;this.D.jb=q}},nh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.cb;b=this.C.eb;e=this.C.fb;d=this.D.cb;c=this.D.eb;f=this.D.fb;h=this.C.hb;l=this.C.ib;g=this.C.jb;k=this.D.hb;m=this.D.ib;n=this.D.jb;for(var q=0,p=this.info.Ka;q<p;){var r=q++,v=this.info.rows[r],r=this.Xb[r],t=v.ua,w=v.Aa;if(0!=v.bb){var A=0,A=A+(a*w.va+b*w.wa+e*w.xa),A=A-(d*w.Ba+c*w.Ca+f*w.Da),A=A+(h*w.S+l*w.T+g*w.U),A=A-(k*w.W+m*w.X+n*w.Y),A=(-v.motorSpeed-A)*r.tf,u=t.Wc;t.Wc+=A;t.Wc<-v.bb?t.Wc=-v.bb:t.Wc>v.bb&&(t.Wc=v.bb);A=t.Wc-u;w.wc&1&&(a+=r.md*A,b+=r.nd*A,e+=r.od*A,d+=r.pd*-A,c+=r.qd*-A,f+=r.rd*-A);w.wc&2&&(h+=r.fd*A,l+=r.gd*A,g+=r.hd*A,k+=r.jd*-A,m+=r.kd*-A,n+=r.ld*-A)}}q=0;for(p=this.info.Ka;q<p;)r=q++,v=this.info.rows[r],r=this.Xb[r],t=v.ua,w=v.Aa,A=0,A+=a*w.va+b*w.wa+e*w.xa,A-=d*w.Ba+c*w.Ca+f*w.Da,A+=h*w.S+l*w.T+g*w.U,A-=k*w.W+m*w.X+n*w.Y,A=(v.Fa-A-t.ua*v.Ma)*r.mass,u=t.ua,t.ua+=A,t.ua<v.Ia?t.ua=v.Ia:t.ua>v.Ha&&(t.ua=v.Ha),A=t.ua-u,w.wc&1&&(a+=r.md*A,b+=r.nd*A,e+=r.od*A,d+=r.pd*-A,c+=r.qd*-A,f+=r.rd*-A),w.wc&2&&(h+=r.fd*A,l+=r.gd*A,g+=r.hd*A,k+=r.jd*-A,m+=r.kd*-A,n+=r.ld*-A);this.C.cb=a;this.C.eb=b;this.C.fb=e;this.D.cb=d;this.D.eb=c;this.D.fb=f;this.C.hb=h;this.C.ib=l;this.C.jb=g;this.D.hb=k;this.D.ib=m;this.D.jb=n},vi:function(a){for(var b,e,d,c,f,h,l=h=f=c=d=e=b=0,g=this.info.Ka;l<g;){var k=l++,m=this.info.rows[k],k=m.ua,m=m.Aa;m.wc&1?(b+=m.va*k.ua,e+=m.wa*k.ua,d+=m.xa*k.ua):m.wc&2&&(c+=m.S*k.ua,f+=m.T*k.ua,h+=m.U*k.ua)}this.P.Ai=b*a.invDt;this.P.Bi=e*a.invDt;this.P.Ci=d*a.invDt;this.P.Di=c*a.invDt;this.P.Ei=f*a.invDt;this.P.Fi=h*a.invDt},Gg:function(){this.P.ed();this.P.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;var a=this.C.Za,b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;v=this.D.ca;t=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,C=this.info.Ka;D<C;){var z=D++,E=this.Xb[z],z=this.info.rows[z].Aa;E.md=z.va*a;E.nd=z.wa*a;E.od=z.xa*a;E.pd=z.Ba*b;E.qd=z.Ca*b;E.rd=z.Da*b;var x,F,N;x=e*z.S+d*z.T+c*z.U;F=f*z.S+h*z.T+l*z.U;N=g*z.S+k*z.T+m*z.U;E.fd=x;E.gd=F;E.hd=N;x=n*z.W+q*z.X+p*z.Y;F=r*z.W+v*z.X+t*z.Y;N=w*z.W+A*z.X+u*z.Y;E.jd=x;E.kd=F;E.ld=N;E.mass=E.md*z.va+E.nd*z.wa+E.od*z.xa+(E.pd*z.Ba+E.qd*z.Ca+E.rd*z.Da)+(E.fd*z.S+E.gd*z.T+E.hd*z.U)+(E.jd*z.W+E.kd*z.X+E.ld*z.Y);E.mass&&(E.mass=1/E.mass)}a=0;for(b=this.info.Ka;a<b;)e=a++,this.info.rows[e].ua.tb=0},mh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.Sc;b=this.C.Tc;e=this.C.Uc;d=this.D.Sc;c=this.D.Tc;f=this.D.Uc;h=this.C.Oc;l=this.C.Pc;g=this.C.Qc;k=this.D.Oc;m=this.D.Pc;n=this.D.Qc;for(var q=0,p=this.info.Ka;q<p;){var r=q++,t=this.info.rows[r],r=this.Xb[r],C=t.ua,w=t.Aa,A=0,A=A+(a*w.va+b*w.wa+e*w.xa),A=A-(d*w.Ba+c*w.Ca+f*w.Da),A=A+(h*w.S+l*w.T+g*w.U),A=A-(k*w.W+m*w.X+n*w.Y),w=(t.Fa*F.positionSplitImpulseBaumgarte-A)*r.mass,A=C.tb;C.tb+=w;C.tb<t.Ia?C.tb=t.Ia:C.tb>t.Ha&&(C.tb=t.Ha);w=C.tb-A;a+=r.md*w;b+=r.nd*w;e+=r.od*w;d+=r.pd*-w;c+=r.qd*-w;f+=r.rd*-w;h+=r.fd*w;l+=r.gd*w;g+=r.hd*w;k+=r.jd*-w;m+=r.kd*-w;n+=r.ld*-w}this.C.Sc=a;this.C.Tc=b;this.C.Uc=e;this.D.Sc=d;this.D.Tc=c;this.D.Uc=f;this.C.Oc=h;this.C.Pc=l;this.C.Qc=g;this.D.Oc=k;this.D.Pc=m;this.D.Qc=n},lh:function(){this.P.ed();this.P.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;var a=this.C.Za,b=this.D.Za,e,d,c,f,h,l,g,k,m,n,q,p,r,t,C,w,A,u;e=this.C.Z;d=this.C.$;c=this.C.aa;f=this.C.ba;h=this.C.ca;l=this.C.da;g=this.C.ea;k=this.C.fa;m=this.C.ga;n=this.D.Z;q=this.D.$;p=this.D.aa;r=this.D.ba;t=this.D.ca;C=this.D.da;w=this.D.ea;A=this.D.fa;u=this.D.ga;for(var D=0,L=this.info.Ka;D<L;){var z=D++,E=this.Xb[z],x=this.info.rows[z].Aa;E.md=x.va*a;E.nd=x.wa*a;E.od=x.xa*a;E.pd=x.Ba*b;E.qd=x.Ca*b;E.rd=x.Da*b;var M,N,G;M=e*x.S+d*x.T+c*x.U;N=f*x.S+h*x.T+l*x.U;G=g*x.S+k*x.T+m*x.U;E.fd=M;E.gd=N;E.hd=G;var O,ga,na;O=n*x.W+q*x.X+p*x.Y;ga=r*x.W+t*x.X+C*x.Y;na=w*x.W+A*x.X+u*x.Y;E.jd=O;E.kd=ga;E.ld=na;E.mass=E.md*x.va+E.nd*x.wa+E.od*x.xa+(E.pd*x.Ba+E.qd*x.Ca+E.rd*x.Da)+(E.fd*x.S+E.gd*x.T+E.hd*x.U)+(E.jd*x.W+E.kd*x.X+E.ld*x.Y);E.mass&&(E.mass=1/E.mass)}for(var ha,qa,wa,za,ka,Da,U,R,Ca,Na,Ra,ab,Pa=ab=Ra=Na=Ca=R=U=Da=ka=za=wa=qa=ha=0,Ba=this.info.Ka;Pa<Ba;){var jb=Pa++,J=this.info.rows[jb],Qa=this.Xb[jb],ba=J.ua,Q=J.Aa,P=0,P=P+(ha*Q.va+qa*Q.wa+wa*Q.xa),P=P-(za*Q.Ba+ka*Q.Ca+Da*Q.Da),P=P+(U*Q.S+R*Q.T+Ca*Q.U),P=P-(Na*Q.W+Ra*Q.X+ab*Q.Y),xa=(J.Fa*F.positionNgsBaumgarte-P)*Qa.mass,ta=ba.tb;ba.tb+=xa;ba.tb<J.Ia?ba.tb=J.Ia:ba.tb>J.Ha&&(ba.tb=J.Ha);xa=ba.tb-ta;ha+=Qa.md*xa;qa+=Qa.nd*xa;wa+=Qa.od*xa;za+=Qa.pd*-xa;ka+=Qa.qd*-xa;Da+=Qa.rd*-xa;U+=Qa.fd*xa;R+=Qa.gd*xa;Ca+=Qa.hd*xa;Na+=Qa.jd*-xa;Ra+=Qa.kd*-xa;ab+=Qa.ld*-xa}var W=this.C;W.a.v+=ha;W.a.A+=qa;W.a.B+=wa;var pa=this.D;pa.a.v+=za;pa.a.A+=ka;pa.a.B+=Da;var y=this.C,Ia=Math.sqrt(U*U+R*R+Ca*Ca),ca=.5*Ia,Ea,ya;if(.5>ca){var Fa=ca*ca;Ea=.5*(1-.16666666666666666*Fa+Fa*Fa*.008333333333333333);ya=1-.5*Fa+Fa*Fa*.041666666666666664}else Ea=Math.sin(ca)/Ia,ya=Math.cos(ca);var Sa,la;Sa=U*Ea;la=R*Ea;var Z,Ga;Z=Ca*Ea;Ga=ya;var ra,va,I,La,Wa=y.a.o,S=y.a.m,Xa=y.a.s,T=Wa+S+Xa,K;0<T?(K=Math.sqrt(T+1),La=.5*K,K=.5/K,ra=(y.a.g-y.a.j)*K,va=(y.a.h-y.a.l)*K,I=(y.a.i-y.a.f)*K):Wa>S?Wa>Xa?(K=Math.sqrt(Wa-S-Xa+1),ra=.5*K,K=.5/K,va=(y.a.f+y.a.i)*K,I=(y.a.h+y.a.l)*K,La=(y.a.g-y.a.j)*K):(K=Math.sqrt(Xa-Wa-S+1),I=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K):S>Xa?(K=Math.sqrt(S-Xa-Wa+1),va=.5*K,K=.5/K,ra=(y.a.f+y.a.i)*K,I=(y.a.j+y.a.g)*K,La=(y.a.h-y.a.l)*K):(K=Math.sqrt(Xa-Wa-S+1),I=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K);ra=Ga*ra+Sa*La+la*I-Z*va;va=Ga*va-Sa*I+la*La+Z*ra;I=Ga*I+Sa*va-la*ra+Z*La;La=Ga*La-Sa*ra-la*va-Z*I;var ia=ra*ra+va*va+I*I+La*La;1E-32<ia&&(ia=1/Math.sqrt(ia));ra*=ia;va*=ia;I*=ia;La*=ia;var gb=ra,da=va,tb=I,sa=La,fb=2*gb,kb=2*da,Ya=2*tb,ma=gb*fb,oa=da*kb,Ja=tb*Ya,Ha=gb*kb,ob=da*Ya,fa=gb*Ya,ea=sa*fb,ja=sa*kb,cb=sa*Ya;y.a.o=1-oa-Ja;y.a.f=Ha-cb;y.a.h=fa+ja;y.a.i=Ha+cb;y.a.m=1-ma-Ja;y.a.j=ob-ea;y.a.l=fa-ja;y.a.g=ob+ea;y.a.s=1-ma-oa;var Aa,sb,Ua,qb,rb,ub,Va,xb,wb;Aa=y.a.o*y.Qa+y.a.f*y.Ta+y.a.h*y.Wa;sb=y.a.o*y.Ra+y.a.f*y.Ua+y.a.h*y.Xa;Ua=y.a.o*y.Sa+y.a.f*y.Va+y.a.h*y.Ya;qb=y.a.i*y.Qa+y.a.m*y.Ta+y.a.j*y.Wa;rb=y.a.i*y.Ra+y.a.m*y.Ua+y.a.j*y.Xa;ub=y.a.i*y.Sa+y.a.m*y.Va+y.a.j*y.Ya;Va=y.a.l*y.Qa+y.a.g*y.Ta+y.a.s*y.Wa;xb=y.a.l*y.Ra+y.a.g*y.Ua+y.a.s*y.Xa;wb=y.a.l*y.Sa+y.a.g*y.Va+y.a.s*y.Ya;y.Z=Aa;y.$=sb;y.aa=Ua;y.ba=qb;y.ca=rb;y.da=ub;y.ea=Va;y.fa=xb;y.ga=wb;var Za,ua,Ab,H,pb,db,Bb,$a,hb;Za=y.Z*y.a.o+y.$*y.a.f+y.aa*y.a.h;ua=y.Z*y.a.i+y.$*y.a.m+y.aa*y.a.j;Ab=y.Z*y.a.l+y.$*y.a.g+y.aa*y.a.s;H=y.ba*y.a.o+y.ca*y.a.f+y.da*y.a.h;pb=y.ba*y.a.i+y.ca*y.a.m+y.da*y.a.j;db=y.ba*y.a.l+y.ca*y.a.g+y.da*y.a.s;Bb=y.ea*y.a.o+y.fa*y.a.f+y.ga*y.a.h;$a=y.ea*y.a.i+y.fa*y.a.m+y.ga*y.a.j;hb=y.ea*y.a.l+y.fa*y.a.g+y.ga*y.a.s;y.Z=Za;y.$=ua;y.aa=Ab;y.ba=H;y.ca=pb;y.da=db;y.ea=Bb;y.fa=$a;y.ga=hb;var B=this.D,Db=Math.sqrt(Na*Na+Ra*Ra+ab*ab),Eb=.5*Db,Gb,Fb;if(.5>Eb){var Oa=Eb*Eb;Gb=.5*(1-.16666666666666666*Oa+Oa*Oa*.008333333333333333);Fb=1-.5*Oa+Oa*Oa*.041666666666666664}else Gb=Math.sin(Eb)/Db,Fb=Math.cos(Eb);var nb,vb;nb=Na*Gb;vb=Ra*Gb;var yb,eb;yb=ab*Gb;eb=Fb;var Y,Ma,lb,Ta,ib=B.a.o,Ka=B.a.m,Jb=B.a.s,Lb=ib+Ka+Jb,X;0<Lb?(X=Math.sqrt(Lb+1),Ta=.5*X,X=.5/X,Y=(B.a.g-B.a.j)*X,Ma=(B.a.h-B.a.l)*X,lb=(B.a.i-B.a.f)*X):ib>Ka?ib>Jb?(X=Math.sqrt(ib-Ka-Jb+1),Y=.5*X,X=.5/X,Ma=(B.a.f+B.a.i)*X,lb=(B.a.h+B.a.l)*X,Ta=(B.a.g-B.a.j)*X):(X=Math.sqrt(Jb-ib-Ka+1),lb=.5*X,X=.5/X,Y=(B.a.h+B.a.l)*X,Ma=(B.a.j+B.a.g)*X,Ta=(B.a.i-B.a.f)*X):Ka>Jb?(X=Math.sqrt(Ka-Jb-ib+1),Ma=.5*X,X=.5/X,Y=(B.a.f+B.a.i)*X,lb=(B.a.j+B.a.g)*X,Ta=(B.a.h-B.a.l)*X):(X=Math.sqrt(Jb-ib-Ka+1),lb=.5*X,X=.5/X,Y=(B.a.h+B.a.l)*X,Ma=(B.a.j+B.a.g)*X,Ta=(B.a.i-B.a.f)*X);Y=eb*Y+nb*Ta+vb*lb-yb*Ma;Ma=eb*Ma-nb*lb+vb*Ta+yb*Y;lb=eb*lb+nb*Ma-vb*Y+yb*Ta;Ta=eb*Ta-nb*Y-vb*Ma-yb*lb;var Cb=Y*Y+Ma*Ma+lb*lb+Ta*Ta;1E-32<Cb&&(Cb=1/Math.sqrt(Cb));Y*=Cb;Ma*=Cb;lb*=Cb;Ta*=Cb;var Kb=Y,Mb=Ma,Pb=lb,Nb=Ta,Tb=2*Kb,Ub=2*Mb,Zb=2*Pb,bc=Kb*Tb,cc=Mb*Ub,jc=Pb*Zb,dc=Kb*Ub,kc=Mb*Zb,ac=Kb*Zb,Wb=Nb*Tb,Xb=Nb*Ub,Rb=Nb*Zb;B.a.o=1-cc-jc;B.a.f=dc-Rb;B.a.h=ac+Xb;B.a.i=dc+Rb;B.a.m=1-bc-jc;B.a.j=kc-Wb;B.a.l=ac-Xb;B.a.g=kc+Wb;B.a.s=1-bc-cc;var fc,Sb,Ob,Yb,gc,Ib,$b,mb,hc;fc=B.a.o*B.Qa+B.a.f*B.Ta+B.a.h*B.Wa;Sb=B.a.o*B.Ra+B.a.f*B.Ua+B.a.h*B.Xa;Ob=B.a.o*B.Sa+B.a.f*B.Va+B.a.h*B.Ya;Yb=B.a.i*B.Qa+B.a.m*B.Ta+B.a.j*B.Wa;gc=B.a.i*B.Ra+B.a.m*B.Ua+B.a.j*B.Xa;Ib=B.a.i*B.Sa+B.a.m*B.Va+B.a.j*B.Ya;$b=B.a.l*B.Qa+B.a.g*B.Ta+B.a.s*B.Wa;mb=B.a.l*B.Ra+B.a.g*B.Ua+B.a.s*B.Xa;hc=B.a.l*B.Sa+B.a.g*B.Va+B.a.s*B.Ya;B.Z=fc;B.$=Sb;B.aa=Ob;B.ba=Yb;B.ca=gc;B.da=Ib;B.ea=$b;B.fa=mb;B.ga=hc;var ic,nc,qc,mc,tc,uc,wc,sc,vc;ic=B.Z*B.a.o+B.$*B.a.f+B.aa*B.a.h;nc=B.Z*B.a.i+B.$*B.a.m+B.aa*B.a.j;qc=B.Z*B.a.l+B.$*B.a.g+B.aa*B.a.s;mc=B.ba*B.a.o+B.ca*B.a.f+B.da*B.a.h;tc=B.ba*B.a.i+B.ca*B.a.m+B.da*B.a.j;uc=B.ba*B.a.l+B.ca*B.a.g+B.da*B.a.s;wc=B.ea*B.a.o+B.fa*B.a.f+B.ga*B.a.h;sc=B.ea*B.a.i+B.fa*B.a.m+B.ga*B.a.j;vc=B.ea*B.a.l+B.fa*B.a.g+B.ga*B.a.s;B.Z=ic;B.$=nc;B.aa=qc;B.ba=mc;B.ca=tc;B.da=uc;B.ea=wc;B.fa=sc;B.ga=vc},$e:function(){this.P.ed();this.P.Cl()},qa:nc});Ne.R=!0;Ne.prototype={qa:Ne};C.R=!0;C.prototype={Hl:function(a){switch(this.Wb){case 1:this.Qc=this.Pc=this.Oc=this.Uc=this.Tc=this.Sc=this.jb=this.ib=this.hb=this.fb=this.eb=this.cb=0;break;case 0:case 2:var b,e,d,c,f;b=this.cb*a;e=this.eb*a;d=this.fb*a;c=this.hb*a;f=this.ib*a;a=this.jb*a;var h=b*b+e*e+d*d,l=c*c+f*f+a*a;if(h||l){h>F.maxTranslationPerStep*F.maxTranslationPerStep&&(h=F.maxTranslationPerStep/Math.sqrt(h),this.cb*=h,this.eb*=h,this.fb*=h,b*=h,e*=h,d*=h);l>F.maxRotationPerStep*F.maxRotationPerStep&&(l=F.maxRotationPerStep/Math.sqrt(l),this.hb*=l,this.ib*=l,this.jb*=l,c*=l,f*=l,a*=l);this.a.v+=b;this.a.A+=e;this.a.B+=d;b=Math.sqrt(c*c+f*f+a*a);e=.5*b;.5>e?(e*=e,b=.5*(1-.16666666666666666*e+e*e*.008333333333333333),e=1-.5*e+e*e*.041666666666666664):(b=Math.sin(e)/b,e=Math.cos(e));c*=b;f*=b;a*=b;b=e;e=this.a.o;d=this.a.m;var l=this.a.s,h=e+d+l,g;0<h?(g=Math.sqrt(h+1),e=.5*g,g=.5/g,h=(this.a.g-this.a.j)*g,l=(this.a.h-this.a.l)*g,d=(this.a.i-this.a.f)*g):e>d?e>l?(g=Math.sqrt(e-d-l+1),h=.5*g,g=.5/g,l=(this.a.f+this.a.i)*g,d=(this.a.h+this.a.l)*g,e=(this.a.g-this.a.j)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g):d>l?(g=Math.sqrt(d-l-e+1),l=.5*g,g=.5/g,h=(this.a.f+this.a.i)*g,d=(this.a.j+this.a.g)*g,e=(this.a.h-this.a.l)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g);h=b*h+c*e+f*d-a*l;l=b*l-c*d+f*e+a*h;d=b*d+c*l-f*h+a*e;e=b*e-c*h-f*l-a*d;a=h*h+l*l+d*d+e*e;1E-32<a&&(a=1/Math.sqrt(a));f=h*a;h=l*a;d*=a;b=e*a;var k=2*f;g=2*h;e=2*d;a=f*k;c=h*g;d*=e;l=f*g;h*=e;f*=e;k*=b;g*=b;b*=e;this.a.o=1-c-d;this.a.f=l-b;this.a.h=f+g;this.a.i=l+b;this.a.m=1-a-d;this.a.j=h-k;this.a.l=f-g;this.a.g=h+k;this.a.s=1-a-c;f=this.a.o*this.Qa+this.a.f*this.Ta+this.a.h*this.Wa;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;c=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;b=this.a.i*this.Qa+this.a.m*this.Ta+this.a.j*this.Wa;e=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;d=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;l=this.a.l*this.Qa+this.a.g*this.Ta+this.a.s*this.Wa;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;g=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;this.Z=f;this.$=a;this.aa=c;this.ba=b;this.ca=e;this.da=d;this.ea=l;this.fa=h;this.ga=g;f=this.Z*this.a.o+this.$*this.a.f+this.aa*this.a.h;a=this.Z*this.a.i+this.$*this.a.m+this.aa*this.a.j;c=this.Z*this.a.l+this.$*this.a.g+this.aa*this.a.s;b=this.ba*this.a.o+this.ca*this.a.f+this.da*this.a.h;e=this.ba*this.a.i+this.ca*this.a.m+this.da*this.a.j;d=this.ba*this.a.l+this.ca*this.a.g+this.da*this.a.s;l=this.ea*this.a.o+this.fa*this.a.f+this.ga*this.a.h;h=this.ea*this.a.i+this.fa*this.a.m+this.ga*this.a.j;g=this.ea*this.a.l+this.fa*this.a.g+this.ga*this.a.s;this.Z=f;this.$=a;this.aa=c;this.ba=b;this.ca=e;this.da=d;this.ea=l;this.fa=h;this.ga=g}}},Rm:function(){var a=this.Oc*this.Oc+this.Pc*this.Pc+this.Qc*this.Qc;if(this.Sc*this.Sc+this.Tc*this.Tc+this.Uc*this.Uc||a)switch(this.Wb){case 1:this.Qc=this.Pc=this.Oc=this.Uc=this.Tc=this.Sc=0;break;case 0:case 2:var b,e,d,c,f;b=this.Sc;e=this.Tc;d=this.Uc;a=this.Oc;c=this.Pc;f=this.Qc;this.Qc=this.Pc=this.Oc=this.Uc=this.Tc=this.Sc=0;this.a.v+=b;this.a.A+=e;this.a.B+=d;b=Math.sqrt(a*a+c*c+f*f);e=.5*b;.5>e?(e*=e,b=.5*(1-.16666666666666666*e+e*e*.008333333333333333),e=1-.5*e+e*e*.041666666666666664):(b=Math.sin(e)/b,e=Math.cos(e));a*=b;c*=b;f*=b;b=e;var h,l;e=this.a.o;d=this.a.m;l=this.a.s;h=e+d+l;var g;0<h?(g=Math.sqrt(h+1),e=.5*g,g=.5/g,h=(this.a.g-this.a.j)*g,l=(this.a.h-this.a.l)*g,d=(this.a.i-this.a.f)*g):e>d?e>l?(g=Math.sqrt(e-d-l+1),h=.5*g,g=.5/g,l=(this.a.f+this.a.i)*g,d=(this.a.h+this.a.l)*g,e=(this.a.g-this.a.j)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g):d>l?(g=Math.sqrt(d-l-e+1),l=.5*g,g=.5/g,h=(this.a.f+this.a.i)*g,d=(this.a.j+this.a.g)*g,e=(this.a.h-this.a.l)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g);h=b*h+a*e+c*d-f*l;l=b*l-a*d+c*e+f*h;d=b*d+a*l-c*h+f*e;e=b*e-a*h-c*l-f*d;c=h*h+l*l+d*d+e*e;1E-32<c&&(c=1/Math.sqrt(c));a=h*c;h=l*c;d*=c;b=e*c;var k=2*a;g=2*h;e=2*d;c=a*k;f=h*g;d*=e;l=a*g;h*=e;a*=e;k*=b;g*=b;b*=e;this.a.o=1-f-d;this.a.f=l-b;this.a.h=a+g;this.a.i=l+b;this.a.m=1-c-d;this.a.j=h-k;this.a.l=a-g;this.a.g=h+k;this.a.s=1-c-f;a=this.a.o*this.Qa+this.a.f*this.Ta+this.a.h*this.Wa;c=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;f=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;b=this.a.i*this.Qa+this.a.m*this.Ta+this.a.j*this.Wa;e=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;d=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;l=this.a.l*this.Qa+this.a.g*this.Ta+this.a.s*this.Wa;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;g=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;this.Z=a;this.$=c;this.aa=f;this.ba=b;this.ca=e;this.da=d;this.ea=l;this.fa=h;this.ga=g;a=this.Z*this.a.o+this.$*this.a.f+this.aa*this.a.h;c=this.Z*this.a.i+this.$*this.a.m+this.aa*this.a.j;f=this.Z*this.a.l+this.$*this.a.g+this.aa*this.a.s;b=this.ba*this.a.o+this.ca*this.a.f+this.da*this.a.h;e=this.ba*this.a.i+this.ca*this.a.m+this.da*this.a.j;d=this.ba*this.a.l+this.ca*this.a.g+this.da*this.a.s;l=this.ea*this.a.o+this.fa*this.a.f+this.ga*this.a.h;h=this.ea*this.a.i+this.fa*this.a.m+this.ga*this.a.j;g=this.ea*this.a.l+this.fa*this.a.g+this.ga*this.a.s;this.Z=a;this.$=c;this.aa=f;this.ba=b;this.ca=e;this.da=d;this.ea=l;this.fa=h;this.ga=g}},wj:function(){for(var a,b,e,d,c,f,h,l,g,k=g=l=h=f=c=d=e=b=a=0,m=this.Ac;null!=m;){var n=m.M,q=m.Ib;q.Be();var p=m.jk*q.nf,r,t,C,w,A,u,D,F;r=m.ha.o*q.cg+m.ha.f*q.fg+m.ha.h*q.ig;t=m.ha.o*q.dg+m.ha.f*q.gg+m.ha.h*q.jg;C=m.ha.o*q.eg+m.ha.f*q.hg+m.ha.h*q.kg;w=m.ha.i*q.cg+m.ha.m*q.fg+m.ha.j*q.ig;A=m.ha.i*q.dg+m.ha.m*q.gg+m.ha.j*q.jg;u=m.ha.i*q.eg+m.ha.m*q.hg+m.ha.j*q.kg;D=m.ha.l*q.cg+m.ha.g*q.fg+m.ha.s*q.ig;F=m.ha.l*q.dg+m.ha.g*q.gg+m.ha.s*q.jg;var q=m.ha.l*q.eg+m.ha.g*q.hg+m.ha.s*q.kg,z,E,x,L,N,G;z=r*m.ha.o+t*m.ha.f+C*m.ha.h;E=r*m.ha.i+t*m.ha.m+C*m.ha.j;C=r*m.ha.l+t*m.ha.g+C*m.ha.s;x=w*m.ha.o+A*m.ha.f+u*m.ha.h;L=w*m.ha.i+A*m.ha.m+u*m.ha.j;u=w*m.ha.l+A*m.ha.g+u*m.ha.s;N=D*m.ha.o+F*m.ha.f+q*m.ha.h;G=D*m.ha.i+F*m.ha.m+q*m.ha.j;q=D*m.ha.l+F*m.ha.g+q*m.ha.s;r=z;t=E;w=x;A=L;D=N;F=G;r*=p;t*=p;C*=p;w*=p;A*=p;u*=p;D*=p;F*=p;var q=q*p,M,O,ga;x=m.ha.v*m.ha.v;L=m.ha.A*m.ha.A;M=m.ha.B*m.ha.B;N=-m.ha.v*m.ha.A;G=-m.ha.A*m.ha.B;ga=-m.ha.B*m.ha.v;m=L+M;z=N;E=ga;M=x+M;O=G;x+=L;r+=m*p;t+=z*p;C+=E*p;w+=N*p;A+=M*p;u+=O*p;D+=ga*p;F+=G*p;q+=x*p;k+=p;a+=r;b+=t;e+=C;d+=w;c+=A;f+=u;h+=D;l+=F;g+=q;m=n}this.Lc=k;this.wd=a;this.xd=b;this.yd=e;this.zd=d;this.Ad=c;this.Bd=f;this.Cd=h;this.Dd=l;this.Ed=g;a=this.wd*(this.Ad*this.Ed-this.Bd*this.Dd)-this.xd*(this.zd*this.Ed-this.Bd*this.Cd)+this.yd*(this.zd*this.Dd-this.Ad*this.Cd);if(0<this.Lc&&0<a&&0==this.Wb){this.Za=1/this.Lc;a=this.Ad*this.Ed-this.Bd*this.Dd;b=this.zd*this.Ed-this.Bd*this.Cd;e=this.zd*this.Dd-this.Ad*this.Cd;d=this.xd*this.Ed-this.yd*this.Dd;c=this.wd*this.Ed-this.yd*this.Cd;f=this.wd*this.Dd-this.xd*this.Cd;h=this.xd*this.Bd-this.yd*this.Ad;l=this.wd*this.Bd-this.yd*this.zd;g=this.wd*this.Ad-this.xd*this.zd;k=this.wd*a-this.xd*b+this.yd*e;if(-1E-32>k||1E-32<k)k=1/k;this.Qa=a*k;this.Ra=-d*k;this.Sa=h*k;this.Ta=-b*k;this.Ua=c*k;this.Va=-l*k;this.Wa=e*k;this.Xa=-f*k;this.Ya=g*k;this.Bh=this.Qa;this.Ch=this.Ra;this.Dh=this.Sa;this.Eh=this.Ta;this.Fh=this.Ua;this.Gh=this.Va;this.Hh=this.Wa;this.Ih=this.Xa;this.Jh=this.Ya;this.Qa=this.Bh*this.jc.x;this.Ra=this.Ch*this.jc.x;this.Sa=this.Dh*this.jc.x;this.Ta=this.Eh*this.jc.y;this.Ua=this.Fh*this.jc.y;this.Va=this.Gh*this.jc.y;this.Wa=this.Hh*this.jc.z;this.Xa=this.Ih*this.jc.z;this.Ya=this.Jh*this.jc.z;a=this.a.o*this.Qa+this.a.f*this.Ta+this.a.h*this.Wa;b=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;e=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;d=this.a.i*this.Qa+this.a.m*this.Ta+this.a.j*this.Wa;c=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;f=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;h=this.a.l*this.Qa+this.a.g*this.Ta+this.a.s*this.Wa;l=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;g=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;this.Z=a;this.$=b;this.aa=e;this.ba=d;this.ca=c;this.da=f;this.ea=h;this.fa=l;this.ga=g;a=this.Z*this.a.o+this.$*this.a.f+this.aa*this.a.h;b=this.Z*this.a.i+this.$*this.a.m+this.aa*this.a.j;e=this.Z*this.a.l+this.$*this.a.g+this.aa*this.a.s;d=this.ba*this.a.o+this.ca*this.a.f+this.da*this.a.h;c=this.ba*this.a.i+this.ca*this.a.m+this.da*this.a.j;f=this.ba*this.a.l+this.ca*this.a.g+this.da*this.a.s;h=this.ea*this.a.o+this.fa*this.a.f+this.ga*this.a.h;l=this.ea*this.a.i+this.fa*this.a.m+this.ga*this.a.j;g=this.ea*this.a.l+this.fa*this.a.g+this.ga*this.a.s;this.Z=a;this.$=b;this.aa=e;this.ba=d;this.ca=c;this.da=f;this.ea=h;this.fa=l;this.ga=g}else this.ga=this.fa=this.ea=this.da=this.ca=this.ba=this.aa=this.$=this.Z=this.Jh=this.Ih=this.Hh=this.Gh=this.Fh=this.Eh=this.Dh=this.Ch=this.Bh=this.Ya=this.Xa=this.Wa=this.Va=this.Ua=this.Ta=this.Sa=this.Ra=this.Qa=this.Za=0,0==this.Wb&&(this.Wb=1);this.Fb=!1;this.xb=0},Xl:function(){var a=new t;a.x=this.a.v;a.y=this.a.A;a.z=this.a.B;return a},Zl:function(a){a.x=this.a.v;a.y=this.a.A;a.z=this.a.B},sm:function(a){this.a.v=a.x;this.a.A=a.y;this.a.B=a.z;a=this.pa;var b=this.a;a.v=b.v;a.A=b.A;a.B=b.B;a.o=b.o;a.f=b.f;a.h=b.h;a.i=b.i;a.m=b.m;a.j=b.j;a.l=b.l;a.g=b.g;a.s=b.s;for(a=this.Ac;null!=a;){var b=a.M,e=a.pa,d=a.ha,c=this.pa,f,h,l,g,k,m,n,q,p;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;e.v=f;e.A=h;e.B=d;e.v+=c.v;e.A+=c.A;e.B+=c.B;e=a.a;d=a.ha;c=this.a;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;e.v=f;e.A=h;e.B=d;e.v+=c.v;e.A+=c.A;e.B+=c.B;a.Ib.Lb(a.u,a.pa);e=a.u.ma;c=a.u.na;d=a.u.oa;f=a.u.ja;h=a.u.ka;l=a.u.la;a.Ib.Lb(a.u,a.a);a.u.ma=e<a.u.ma?e:a.u.ma;a.u.na=c<a.u.na?c:a.u.na;a.u.oa=d<a.u.oa?d:a.u.oa;a.u.ja=f>a.u.ja?f:a.u.ja;a.u.ka=h>a.u.ka?h:a.u.ka;a.u.la=l>a.u.la?l:a.u.la;null!=a.Na&&(e=a.a.v-a.pa.v,c=a.a.A-a.pa.A,d=a.a.B-a.pa.B,f=a.nc,f.x=e,f.y=c,f.z=d,a.Vb.kc.dc.sd(a.Na,a.u,a.nc));a=b}this.Fb=!1;this.xb=0},vm:function(a){var b,e;b=a.x;e=a.y;a=a.z;this.a.v+=b;this.a.A+=e;this.a.B+=a;b=this.pa;e=this.a;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;for(b=this.Ac;null!=b;){e=b.M;a=b.pa;var d=b.ha,c=this.pa,f,h,l,g,k,m,n,q,p;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;a.o=f;a.f=h;a.h=l;a.i=g;a.m=k;a.j=m;a.l=n;a.g=q;a.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;a.v=f;a.A=h;a.B=d;a.v+=c.v;a.A+=c.A;a.B+=c.B;a=b.a;d=b.ha;c=this.a;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;a.o=f;a.f=h;a.h=l;a.i=g;a.m=k;a.j=m;a.l=n;a.g=q;a.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;a.v=f;a.A=h;a.B=d;a.v+=c.v;a.A+=c.A;a.B+=c.B;b.Ib.Lb(b.u,b.pa);a=b.u.ma;c=b.u.na;d=b.u.oa;f=b.u.ja;h=b.u.ka;l=b.u.la;b.Ib.Lb(b.u,b.a);b.u.ma=a<b.u.ma?a:b.u.ma;b.u.na=c<b.u.na?c:b.u.na;b.u.oa=d<b.u.oa?d:b.u.oa;b.u.ja=f>b.u.ja?f:b.u.ja;b.u.ka=h>b.u.ka?h:b.u.ka;b.u.la=l>b.u.la?l:b.u.la;null!=b.Na&&(a=b.a.v-b.pa.v,c=b.a.A-b.pa.A,d=b.a.B-b.pa.B,f=b.nc,f.x=a,f.y=c,f.z=d,b.Vb.kc.dc.sd(b.Na,b.u,b.nc));b=e}this.Fb=!1;this.xb=0},bm:function(){var a=new O;a.e00=this.a.o;a.e01=this.a.f;a.e02=this.a.h;a.e10=this.a.i;a.e11=this.a.m;a.e12=this.a.j;a.e20=this.a.l;a.e21=this.a.g;a.e22=this.a.s;return a},gm:function(a){a.e00=this.a.o;a.e01=this.a.f;a.e02=this.a.h;a.e10=this.a.i;a.e11=this.a.m;a.e12=this.a.j;a.e20=this.a.l;a.e21=this.a.g;a.e22=this.a.s},tm:function(a){this.a.o=a.e00;this.a.f=a.e01;this.a.h=a.e02;this.a.i=a.e10;this.a.m=a.e11;this.a.j=a.e12;this.a.l=a.e20;this.a.g=a.e21;this.a.s=a.e22;var 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b,e,d;b=a.x;e=a.y;d=a.z;a=Math.sin(b);var c=Math.sin(e),f=Math.sin(d);b=Math.cos(b);e=Math.cos(e);d=Math.cos(d);this.a.o=e*d;this.a.f=-e*f;this.a.h=c;this.a.i=b*f+d*a*c;this.a.m=b*d-a*c*f;this.a.j=-e*a;this.a.l=a*f-b*d*c;this.a.g=d*a+b*c*f;this.a.s=b*e;var 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this.u.clone()},ab:function(a){a.Zd(this.u)},rc:function(){return this.Ib},ad:function(){return this.Vb},sb:function(){return this.Aj},ce:function(a){this.Aj=a},Kb:function(){return this.Bj},de:function(a){this.Bj=a},lc:function(){return this.Cj},ee:function(a){this.Cj=a},cd:function(){return this.ia},bd:function(){return this.M},qa:za};Og.R=!0;Og.prototype={qa:Og};String.prototype.qa=String;String.R=!0;Array.R=!0;Date.prototype.qa=Date;Date.R=["Date"];var nl={},ll={},ml=Number,kl=Boolean,ol={},pl={};Kc.rc={}.toString;Hd.Ng=1;Hd.bi=2;Hd.BRUTE_FORCE=1;Hd.BVH=2;Nb.sm=0;Nb.Mg=1;Nb.wl=2;Nb.di=3;Nb.ci=4;Nb.xj=5;Nb.SPHERE=0;Nb.BOX=1;Nb.CYLINDER=2;Nb.CONE=3;Nb.CAPSULE=4;Nb.CONVEX_HULL=5;nd.Cc=0;t.numCreations=0;F.defaultFriction=.2;F.defaultRestitution=.2;F.defaultDensity=1;F.defaultCollisionGroup=1;F.defaultCollisionMask=1;F.maxTranslationPerStep=20;F.maxRotationPerStep=3.14159265358979;F.bvhProxyPadding=.1;F.bvhIncrementalCollisionThreshold=.45;F.defaultGJKMargin=.05;F.enableGJKCaching=!0;F.maxEPAVertices=128;F.maxEPAPolyhedronFaces=128;F.contactEnableBounceThreshold=.5;F.velocityBaumgarte=.2;F.positionSplitImpulseBaumgarte=.4;F.positionNgsBaumgarte=1;F.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold=.05;F.defaultContactPositionCorrectionAlgorithm=0;F.alternativeContactPositionCorrectionAlgorithm=1;F.contactPersistenceThreshold=.05;F.maxManifoldPoints=4;F.defaultJointConstraintSolverType=0;F.defaultJointPositionCorrectionAlgorithm=0;F.jointWarmStartingFactorForBaungarte=.8;F.jointWarmStartingFactor=.95;F.minSpringDamperDampingRatio=1E-6;F.minRagdollMaxSwingAngle=1E-6;F.maxJacobianRows=6;F.directMlcpSolverEps=1E-9;F.islandInitialRigidBodyArraySize=128;F.islandInitialConstraintArraySize=128;F.sleepingVelocityThreshold=.2;F.sleepingAngularVelocityThreshold=.5;F.sleepingTimeThreshold=1;F.disableSleeping=!1;F.linearSlop=.005;F.angularSlop=.017453292519943278;Zb.Pa=new Zb;Pb.wm=0;Pb.bm=1;Pb.$l=2;Pb.Zl=257;Pb.Xl=258;Pb.Ql=259;Pb.SUCCEEDED=0;Pb.GJK_FAILED_TO_MAKE_TETRAHEDRON=1;Pb.GJK_DID_NOT_CONVERGE=2;Pb.EPA_FAILED_TO_INIT=257;Pb.EPA_FAILED_TO_ADD_VERTEX=258;Pb.EPA_DID_NOT_CONVERGE=259;O.numCreations=0;M.numCreations=0;na.POSITIVE_INFINITY=1/0;na.NEGATIVE_INFINITY=-1/0;na.PI=3.14159265358979;na.TWO_PI=6.28318530717958;na.HALF_PI=1.570796326794895;na.TO_RADIANS=.017453292519943278;na.TO_DEGREES=57.29577951308238;ga.numCreations=0;Eb.Jg=8;Eb.Kg=4;Eb.Bf=8;Rc.broadPhaseCollisionTime=0;Rc.narrowPhaseCollisionTime=0;Rc.dynamicsTime=0;Rc.totalTime=0;ic.Lg=0;ic.um=1;ic.km=2;ic.BAUMGARTE=0;ic.SPLIT_IMPULSE=1;ic.NGS=2;bd.He=1;bd.Ge=2;hc.tm=0;hc.nm=1;hc.vl=2;hc.lm=3;hc.ym=4;hc.mm=5;hc.SPHERICAL=0;hc.REVOLUTE=1;hc.CYLINDRICAL=2;hc.PRISMATIC=3;hc.UNIVERSAL=4;hc.RAGDOLL=5;pe.gm=0;pe.Nl=1;pe.ITERATIVE=0;pe.DIRECT=1;Qd.Ol=0;Qd.vm=1;Qd.hm=2;Qd.DYNAMIC=0;Qd.STATIC=1;Qd.KINEMATIC=2;window.OIMO={};window.OIMO.DebugDraw=Eb;Eb.prototype.aabb=Eb.prototype.Pk;Eb.prototype.ellipse=Eb.prototype.ellipse;Eb.prototype.arc=Eb.prototype.arc;Eb.prototype.cone=Eb.prototype.Tl;Eb.prototype.cylinder=Eb.prototype.Wl;Eb.prototype.capsule=Eb.prototype.Rl;Eb.prototype.sphere=Eb.prototype.Am;Eb.prototype.box=Eb.prototype.Pl;Eb.prototype.rect=Eb.prototype.rect;Eb.prototype.point=Eb.prototype.ab;Eb.prototype.triangle=Eb.prototype.sb;Eb.prototype.line=Eb.prototype.Pa;window.OIMO.BroadPhase=jb;jb.prototype.createProxy=jb.prototype.Ph;jb.prototype.destroyProxy=jb.prototype.Qh;jb.prototype.moveProxy=jb.prototype.sd;jb.prototype.isOverlapping=jb.prototype.Kb;jb.prototype.collectPairs=jb.prototype.si;jb.prototype.getProxyPairList=jb.prototype.Pa;jb.prototype.isIncremental=jb.prototype.sb;jb.prototype.getTestCount=jb.prototype.ab;jb.prototype.rayCast=jb.prototype.Sd;jb.prototype.convexCast=jb.prototype.rf;jb.prototype.aabbTest=jb.prototype.eh;window.OIMO.Geometry=bc;bc.prototype.getType=bc.prototype.ab;bc.prototype.getVolume=bc.prototype.Pa;bc.prototype.rayCast=bc.prototype.Sd;window.OIMO.ConvexGeometry=Da;Da.prototype.getGjkMergin=Da.prototype.gn;Da.prototype.setGjkMergin=Da.prototype.Jn;Da.prototype.computeLocalSupportingVertex=Da.prototype.Ld;Da.prototype.rayCast=Da.prototype.Sd;window.OIMO.BroadPhaseProxyCallback=Bc;Bc.prototype.process=Bc.prototype.td;window.OIMO.BroadPhaseType=Hd;window.OIMO.Proxy=Jc;Jc.prototype.getId=Jc.prototype.sb;Jc.prototype.getFatAabb=Jc.prototype.Pa;Jc.prototype.getFatAabbTo=Jc.prototype.ab;window.OIMO.ProxyPair=Pc;Pc.prototype.getProxy1=Pc.prototype.Pa;Pc.prototype.getProxy2=Pc.prototype.ab;Pc.prototype.getNext=Pc.prototype.sb;window.OIMO.BruteForceBroadPhase=uc;uc.prototype.createProxy=uc.prototype.Ph;uc.prototype.destroyProxy=uc.prototype.Qh;uc.prototype.moveProxy=uc.prototype.sd;uc.prototype.collectPairs=uc.prototype.si;uc.prototype.rayCast=uc.prototype.Sd;uc.prototype.convexCast=uc.prototype.rf;uc.prototype.aabbTest=uc.prototype.eh;window.OIMO.BvhBroadPhase=dc;dc.prototype.createProxy=dc.prototype.Ph;dc.prototype.destroyProxy=dc.prototype.Qh;dc.prototype.moveProxy=dc.prototype.sd;dc.prototype.collectPairs=dc.prototype.si;dc.prototype.rayCast=dc.prototype.Sd;dc.prototype.convexCast=dc.prototype.rf;dc.prototype.aabbTest=dc.prototype.eh;dc.prototype.getTreeBalance=dc.prototype.wn;window.OIMO.Aabb=Ca;Ca.prototype.init=Ca.prototype.za;Ca.prototype.getMin=Ca.prototype.Hc;Ca.prototype.getMinTo=Ca.prototype.ad;Ca.prototype.setMin=Ca.prototype.Pd;Ca.prototype.getMax=Ca.prototype.zc;Ca.prototype.getMaxTo=Ca.prototype.Cc;Ca.prototype.setMax=Ca.prototype.cd;Ca.prototype.getCenter=Ca.prototype.sb;Ca.prototype.getCenterTo=Ca.prototype.Kb;Ca.prototype.getExtents=Ca.prototype.lc;Ca.prototype.getExtentsTo=Ca.prototype.mc;Ca.prototype.combine=Ca.prototype.Pa;Ca.prototype.combined=Ca.prototype.ab;Ca.prototype.overlap=Ca.prototype.bd;Ca.prototype.getIntersection=Ca.prototype.qc;Ca.prototype.getIntersectionTo=Ca.prototype.rc;Ca.prototype.copyFrom=Ca.prototype.Zd;Ca.prototype.clone=Ca.prototype.clone;window.OIMO.BoxGeometry=gd;gd.prototype.getHalfExtents=gd.prototype.hn;gd.prototype.getHalfExtentsTo=gd.prototype.jn;gd.prototype.computeLocalSupportingVertex=gd.prototype.Ld;window.OIMO.CapsuleGeometry=fd;fd.prototype.getRadius=fd.prototype.Sh;fd.prototype.getHalfHeight=fd.prototype.mj;fd.prototype.computeLocalSupportingVertex=fd.prototype.Ld;window.OIMO.ConeGeometry=$c;$c.prototype.getRadius=$c.prototype.Sh;$c.prototype.getHalfHeight=$c.prototype.mj;$c.prototype.computeLocalSupportingVertex=$c.prototype.Ld;window.OIMO.ConvexHullGeometry=od;od.prototype.getVertices=od.prototype.An;od.prototype.computeLocalSupportingVertex=od.prototype.Ld;window.OIMO.CylinderGeometry=Zc;Zc.prototype.getRadius=Zc.prototype.Sh;Zc.prototype.getHalfHeight=Zc.prototype.mj;Zc.prototype.computeLocalSupportingVertex=Zc.prototype.Ld;window.OIMO.GeometryType=Nb;window.OIMO.RayCastHit=Ed;window.OIMO.SphereGeometry=xd;xd.prototype.getRadius=xd.prototype.Sh;xd.prototype.computeLocalSupportingVertex=xd.prototype.Ld;window.OIMO.CollisionMatrix=Sd;Sd.prototype.getDetector=Sd.prototype.Pa;window.OIMO.DetectorResult=md;md.prototype.getMaxDepth=md.prototype.cm;md.prototype.clear=md.prototype.clear;window.OIMO.DetectorResultPoint=mj;window.OIMO.Detector=ed;ed.prototype.detect=ed.prototype.Yl;window.OIMO.CapsuleCapsuleDetector=Gd;window.OIMO.GjkEpaDetector=de;window.OIMO.SphereBoxDetector=wd;window.OIMO.SphereCapsuleDetector=Nd;window.OIMO.SphereSphereDetector=Te;window.OIMO.Vec3=t;t.prototype.init=t.prototype.za;t.prototype.zero=t.prototype.O;t.prototype.add=t.prototype.bd;t.prototype.addScaled=t.prototype.Pa;t.prototype.sub=t.prototype.ge;t.prototype.scale=t.prototype.ee;t.prototype.scale3=t.prototype.He;t.prototype.dot=t.prototype.Pd;t.prototype.cross=t.prototype.sb;t.prototype.addEq=t.prototype.cd;t.prototype.addScaledEq=t.prototype.ab;t.prototype.subEq=t.prototype.Ge;t.prototype.scaleEq=t.prototype.fe;t.prototype.scale3Eq=t.prototype.Bf;t.prototype.crossEq=t.prototype.Kb;t.prototype.mulMat3=t.prototype.lc;t.prototype.mulMat4=t.prototype.qc;t.prototype.mulTransform=t.prototype.zc;t.prototype.mulMat3Eq=t.prototype.mc;t.prototype.mulMat4Eq=t.prototype.rc;t.prototype.mulTransformEq=t.prototype.Cc;t.prototype.length=t.prototype.length;t.prototype.lengthSq=t.prototype.be;t.prototype.normalized=t.prototype.de;t.prototype.normalize=t.prototype.ce;t.prototype.negate=t.prototype.Hc;t.prototype.negateEq=t.prototype.ad;t.prototype.copyFrom=t.prototype.Zd;t.prototype.clone=t.prototype.clone;t.prototype.toString=t.prototype.toString;window.OIMO.Transform=wa;wa.prototype.identity=wa.prototype.Mf;wa.prototype.getPosition=wa.prototype.sb;wa.prototype.getPositionTo=wa.prototype.Kb;wa.prototype.setPosition=wa.prototype.zc;wa.prototype.translate=wa.prototype.Hc;wa.prototype.getRotation=wa.prototype.lc;wa.prototype.getRotationTo=wa.prototype.mc;wa.prototype.setRotation=wa.prototype.Cc;wa.prototype.rotate=wa.prototype.qc;wa.prototype.getOrientation=wa.prototype.Pa;wa.prototype.getOrientationTo=wa.prototype.ab;wa.prototype.setOrientation=wa.prototype.rc;wa.prototype.clone=wa.prototype.clone;wa.prototype.copyFrom=wa.prototype.Zd;window.OIMO.Setting=F;window.OIMO.GjkEpa=Zb;Zb.prototype.computeClosestPoints=Zb.prototype.Pa;Zb.prototype.computeDistance=Zb.prototype.ab;Zb.prototype.convexCast=Zb.prototype.rf;Zb.prototype.rayCast=Zb.prototype.Sd;Zb.getInstance=Zb.ad;window.OIMO.GjkEpaResultState=Pb;window.OIMO.SimplexUtil=dd;dd.projectOrigin2=dd.bd;dd.projectOrigin3=dd.cd;dd.projectOrigin4=dd.Pd;window.OIMO.Mat3=O;O.prototype.init=O.prototype.za;O.prototype.identity=O.prototype.Mf;O.prototype.add=O.prototype.zc;O.prototype.sub=O.prototype.Kg;O.prototype.scale=O.prototype.Bf;O.prototype.mul=O.prototype.de;O.prototype.addEq=O.prototype.Cc;O.prototype.subEq=O.prototype.Lg;O.prototype.scaleEq=O.prototype.Jg;O.prototype.mulEq=O.prototype.ee;O.prototype.prependScale=O.prototype.Ge;O.prototype.appendScale=O.prototype.bd;O.prototype.prependRotation=O.prototype.fe;O.prototype.appendRotation=O.prototype.Hc;O.prototype.prependScaleEq=O.prototype.He;O.prototype.appendScaleEq=O.prototype.cd;O.prototype.prependRotationEq=O.prototype.ge;O.prototype.appendRotationEq=O.prototype.ad;O.prototype.transpose=O.prototype.bi;O.prototype.transposeEq=O.prototype.ci;O.prototype.determinant=O.prototype.Pd;O.prototype.trace=O.prototype.Ng;O.prototype.inverse=O.prototype.be;O.prototype.inverseEq=O.prototype.ce;O.prototype.toArray=O.prototype.Mg;O.prototype.copyFrom=O.prototype.Zd;O.prototype.clone=O.prototype.clone;O.prototype.fromQuat=O.prototype.sb;O.prototype.toQuat=O.prototype.xj;O.prototype.fromEulerXyz=O.prototype.ab;O.prototype.toEulerXyz=O.prototype.di;O.prototype.getRow=O.prototype.qc;O.prototype.getCol=O.prototype.lc;O.prototype.getRowTo=O.prototype.rc;O.prototype.getColTo=O.prototype.mc;O.prototype.fromRows=O.prototype.Kb;O.prototype.fromCols=O.prototype.Pa;O.prototype.toString=O.prototype.toString;window.OIMO.Mat4=M;M.prototype.init=M.prototype.za;M.prototype.identity=M.prototype.Mf;M.prototype.add=M.prototype.lc;M.prototype.sub=M.prototype.Bf;M.prototype.scale=M.prototype.Ge;M.prototype.mul=M.prototype.Pd;M.prototype.addEq=M.prototype.mc;M.prototype.subEq=M.prototype.Jg;M.prototype.scaleEq=M.prototype.He;M.prototype.mulEq=M.prototype.be;M.prototype.prependScale=M.prototype.fe;M.prototype.appendScale=M.prototype.zc;M.prototype.prependRotation=M.prototype.de;M.prototype.appendRotation=M.prototype.qc;M.prototype.prependTranslation=M.prototype.ci;M.prototype.appendTranslation=M.prototype.Pa;M.prototype.prependScaleEq=M.prototype.ge;M.prototype.appendScaleEq=M.prototype.Cc;M.prototype.prependRotationEq=M.prototype.ee;M.prototype.appendRotationEq=M.prototype.rc;M.prototype.prependTranslationEq=M.prototype.di;M.prototype.appendTranslationEq=M.prototype.ab;M.prototype.transpose=M.prototype.Mg;M.prototype.transposeEq=M.prototype.Ng;M.prototype.determinant=M.prototype.Hc;M.prototype.trace=M.prototype.Lg;M.prototype.inverse=M.prototype.bd;M.prototype.inverseEq=M.prototype.cd;M.prototype.lookAt=M.prototype.Kb;M.prototype.perspective=M.prototype.ce;M.prototype.ortho=M.prototype.bi;M.prototype.toArray=M.prototype.Kg;M.prototype.copyFrom=M.prototype.Zd;M.prototype.fromMat3=M.prototype.ad;M.prototype.fromTransform=M.prototype.sb;M.prototype.clone=M.prototype.clone;M.prototype.toString=M.prototype.toString;window.OIMO.MathUtil=na;na.abs=na.abs;na.sin=na.sin;na.cos=na.cos;na.tan=na.tan;na.asin=na.asin;na.acos=na.acos;na.atan=na.atan;na.safeAsin=na.ge;na.safeAcos=na.fe;na.atan2=na.atan2;na.sqrt=na.sqrt;na.clamp=na.zc;na.rand=na.be;na.randIn=na.ce;na.randVec3In=na.ee;na.randVec3=na.de;window.OIMO.Pool=Ub;Ub.prototype.vec3=Ub.prototype.zc;Ub.prototype.mat3=Ub.prototype.mc;Ub.prototype.mat4=Ub.prototype.qc;Ub.prototype.quat=Ub.prototype.rc;Ub.prototype.dispose=Ub.prototype.Pa;Ub.prototype.disposeVec3=Ub.prototype.lc;Ub.prototype.disposeMat3=Ub.prototype.ab;Ub.prototype.disposeMat4=Ub.prototype.sb;Ub.prototype.disposeQuat=Ub.prototype.Kb;window.OIMO.Quat=ga;ga.prototype.identity=ga.prototype.Mf;ga.prototype.init=ga.prototype.za;ga.prototype.add=ga.prototype.Pa;ga.prototype.sub=ga.prototype.Cc;ga.prototype.scale=ga.prototype.rc;ga.prototype.addEq=ga.prototype.ab;ga.prototype.subEq=ga.prototype.Hc;ga.prototype.scaleEq=ga.prototype.zc;ga.prototype.length=ga.prototype.length;ga.prototype.lengthSq=ga.prototype.lc;ga.prototype.dot=ga.prototype.sb;ga.prototype.normalized=ga.prototype.qc;ga.prototype.normalize=ga.prototype.mc;ga.prototype.setArc=ga.prototype.ad;ga.prototype.slerp=ga.prototype.bd;ga.prototype.copyFrom=ga.prototype.Zd;ga.prototype.clone=ga.prototype.clone;ga.prototype.fromMat3=ga.prototype.Kb;ga.prototype.toMat3=ga.prototype.cd;ga.prototype.toString=ga.prototype.toString;window.OIMO.Contact=tc;tc.prototype.getShape1=tc.prototype.lc;tc.prototype.getShape2=tc.prototype.mc;tc.prototype.isTouching=tc.prototype.Zj;tc.prototype.getManifold=tc.prototype.ab;tc.prototype.getContactConstraint=tc.prototype.Pa;tc.prototype.getPrev=tc.prototype.Kb;tc.prototype.getNext=tc.prototype.sb;window.OIMO.ContactLink=Nc;Nc.prototype.getContact=Nc.prototype.Pa;Nc.prototype.getOther=Nc.prototype.sb;Nc.prototype.getPrev=Nc.prototype.Kb;Nc.prototype.getNext=Nc.prototype.ab;window.OIMO.ContactManager=Fd;Fd.prototype.getNumContacts=Fd.prototype.ab;Fd.prototype.getContactList=Fd.prototype.Pa;window.OIMO.TimeStep=kj;window.OIMO.World=qa;qa.prototype.step=qa.prototype.be;qa.prototype.addRigidBody=qa.prototype.ab;qa.prototype.removeRigidBody=qa.prototype.ce;qa.prototype.addJoint=qa.prototype.Pa;qa.prototype.removeJoint=qa.prototype.sl;qa.prototype.setDebugDraw=qa.prototype.de;qa.prototype.getDebugDraw=qa.prototype.mc;qa.prototype.debugDraw=qa.prototype.sb;qa.prototype.rayCast=qa.prototype.Sd;qa.prototype.convexCast=qa.prototype.rf;qa.prototype.aabbTest=qa.prototype.eh;qa.prototype.getRigidBodyList=qa.prototype.cd;qa.prototype.getJointList=qa.prototype.rc;qa.prototype.getBroadPhase=qa.prototype.Kb;qa.prototype.getContactManager=qa.prototype.lc;qa.prototype.getNumRigidBodies=qa.prototype.ad;qa.prototype.getNumJoints=qa.prototype.Cc;qa.prototype.getNumShapes=qa.prototype.Pd;qa.prototype.getNumIslands=qa.prototype.zc;qa.prototype.getNumVelocityIterations=qa.prototype.bd;qa.prototype.setNumVelocityIterations=qa.prototype.ge;qa.prototype.getNumPositionIterations=qa.prototype.Hc;qa.prototype.setNumPositionIterations=qa.prototype.fe;qa.prototype.getGravity=qa.prototype.qc;qa.prototype.setGravity=qa.prototype.ee;window.OIMO.AabbTestCallback=cd;cd.prototype.process=cd.prototype.td;window.OIMO.ContactCallback=Xc;Xc.prototype.beginContact=Xc.prototype.Pa;Xc.prototype.preSolve=Xc.prototype.sb;Xc.prototype.postSolve=Xc.prototype.$e;Xc.prototype.endContact=Xc.prototype.ab;window.OIMO.RayCastCallback=Mc;Mc.prototype.process=Mc.prototype.td;window.OIMO.RayCastClosest=vd;vd.prototype.clear=vd.prototype.clear;vd.prototype.process=vd.prototype.td;window.OIMO.DebugDrawStyle=Re;window.OIMO.Performance=Rc;window.OIMO.ConstraintSolver=Tb;Tb.prototype.preSolveVelocity=Tb.prototype.jh;Tb.prototype.warmStart=Tb.prototype.sh;Tb.prototype.solveVelocity=Tb.prototype.nh;Tb.prototype.postSolveVelocity=Tb.prototype.vi;Tb.prototype.preSolvePosition=Tb.prototype.Gg;Tb.prototype.solvePositionSplitImpulse=Tb.prototype.mh;Tb.prototype.solvePositionNgs=Tb.prototype.lh;Tb.prototype.postSolve=Tb.prototype.$e;window.OIMO.PositionCorrectionAlgorithm=ic;window.OIMO.ContactConstraint=ld;ld.prototype.getShape1=ld.prototype.ab;ld.prototype.getShape2=ld.prototype.sb;ld.prototype.getManifold=ld.prototype.Pa;ld.prototype.isTouching=ld.prototype.Zj;window.OIMO.Manifold=Ac;Ac.prototype.getNormal=Ac.prototype.sb;Ac.prototype.getNormalTo=Ac.prototype.Kb;Ac.prototype.getTangent=Ac.prototype.qc;Ac.prototype.getTangentTo=Ac.prototype.rc;Ac.prototype.getBinormal=Ac.prototype.Pa;Ac.prototype.getBinormalTo=Ac.prototype.ab;Ac.prototype.getPoints=Ac.prototype.mc;Ac.prototype.getNumPoints=Ac.prototype.lc;window.OIMO.ManifoldPoint=Ab;Ab.prototype.getPosition1=Ab.prototype.Kb;Ab.prototype.getPosition1To=Ab.prototype.lc;Ab.prototype.getPosition2=Ab.prototype.mc;Ab.prototype.getPosition2To=Ab.prototype.qc;Ab.prototype.getDepth=Ab.prototype.ab;Ab.prototype.isWarmStarted=Ab.prototype.zc;Ab.prototype.getNormalImpulse=Ab.prototype.sb;Ab.prototype.getTangentImpulse=Ab.prototype.rc;Ab.prototype.getBinormalImpulse=Ab.prototype.Pa;Ab.prototype.isEnabled=Ab.prototype.Cc;window.OIMO.Joint=L;L.prototype.getRigidBody1=L.prototype.ge;L.prototype.getRigidBody2=L.prototype.Ge;L.prototype.getType=L.prototype.Jg;L.prototype.getAnchor1=L.prototype.ab;L.prototype.getAnchor2=L.prototype.Kb;L.prototype.getAnchor1To=L.prototype.sb;L.prototype.getAnchor2To=L.prototype.lc;L.prototype.getLocalAnchor1=L.prototype.be;L.prototype.getLocalAnchor2=L.prototype.de;L.prototype.getLocalAnchor1To=L.prototype.ce;L.prototype.getLocalAnchor2To=L.prototype.ee;L.prototype.getBasis1=L.prototype.Cc;L.prototype.getBasis2=L.prototype.ad;L.prototype.getBasis1To=L.prototype.Hc;L.prototype.getBasis2To=L.prototype.bd;L.prototype.getAllowCollision=L.prototype.Pa;L.prototype.setAllowCollision=L.prototype.Kg;L.prototype.getBreakForce=L.prototype.cd;L.prototype.setBreakForce=L.prototype.Lg;L.prototype.getBreakTorque=L.prototype.Pd;L.prototype.setBreakTorque=L.prototype.Mg;L.prototype.getPositionCorrectionAlgorithm=L.prototype.fe;L.prototype.setPositionCorrectionAlgorithm=L.prototype.Ng;L.prototype.getAppliedForce=L.prototype.mc;L.prototype.getAppliedForceTo=L.prototype.qc;L.prototype.getAppliedTorque=L.prototype.rc;L.prototype.getAppliedTorqueTo=L.prototype.zc;L.prototype.getPrev=L.prototype.Bf;L.prototype.getNext=L.prototype.He;window.OIMO.CylindricalJoint=tb;tb.prototype.getAxis1=tb.prototype.vg;tb.prototype.getAxis2=tb.prototype.xg;tb.prototype.getAxis1To=tb.prototype.wg;tb.prototype.getAxis2To=tb.prototype.yg;tb.prototype.getLocalAxis1=tb.prototype.zg;tb.prototype.getLocalAxis2=tb.prototype.Bg;tb.prototype.getLocalAxis1To=tb.prototype.Ag;tb.prototype.getLocalAxis2To=tb.prototype.Cg;tb.prototype.getTranslationalSpringDamper=tb.prototype.vn;tb.prototype.getRotationalSpringDamper=tb.prototype.nn;tb.prototype.getTranslationalLimitMotor=tb.prototype.un;tb.prototype.getRotationalLimitMotor=tb.prototype.mn;tb.prototype.getAngle=tb.prototype.Xk;tb.prototype.getTranslation=tb.prototype.$k;window.OIMO.JointConfig=Ec;window.OIMO.CylindricalJointConfig=te;te.prototype.init=te.prototype.za;window.OIMO.JointLink=Oc;Oc.prototype.getContact=Oc.prototype.Pa;Oc.prototype.getOther=Oc.prototype.sb;Oc.prototype.getPrev=Oc.prototype.Kb;Oc.prototype.getNext=Oc.prototype.ab;window.OIMO.JointType=hc;window.OIMO.PrismaticJoint=Bb;Bb.prototype.getAxis1=Bb.prototype.vg;Bb.prototype.getAxis2=Bb.prototype.xg;Bb.prototype.getAxis1To=Bb.prototype.wg;Bb.prototype.getAxis2To=Bb.prototype.yg;Bb.prototype.getLocalAxis1=Bb.prototype.zg;Bb.prototype.getLocalAxis2=Bb.prototype.Bg;Bb.prototype.getLocalAxis1To=Bb.prototype.Ag;Bb.prototype.getLocalAxis2To=Bb.prototype.Cg;Bb.prototype.getSpringDamper=Bb.prototype.nj;Bb.prototype.getLimitMotor=Bb.prototype.Zk;Bb.prototype.getTranslation=Bb.prototype.$k;window.OIMO.PrismaticJointConfig=Dd;Dd.prototype.init=Dd.prototype.za;window.OIMO.RagdollJoint=wb;wb.prototype.getAxis1=wb.prototype.vg;wb.prototype.getAxis2=wb.prototype.xg;wb.prototype.getAxis1To=wb.prototype.wg;wb.prototype.getAxis2To=wb.prototype.yg;wb.prototype.getLocalAxis1=wb.prototype.zg;wb.prototype.getLocalAxis2=wb.prototype.Bg;wb.prototype.getLocalAxis1To=wb.prototype.Ag;wb.prototype.getLocalAxis2To=wb.prototype.Cg;wb.prototype.getTwistSpringDamper=wb.prototype.zn;wb.prototype.getTwistLimitMotor=wb.prototype.yn;wb.prototype.getSwingSpringDamper=wb.prototype.tn;wb.prototype.getSwingAxis=wb.prototype.rn;wb.prototype.getSwingAxisTo=wb.prototype.sn;wb.prototype.getSwingAngle=wb.prototype.qn;wb.prototype.getTwistAngle=wb.prototype.xn;window.OIMO.RagdollJointConfig=Wd;Wd.prototype.init=Wd.prototype.za;window.OIMO.RevoluteJoint=Mb;Mb.prototype.getAxis1=Mb.prototype.vg;Mb.prototype.getAxis2=Mb.prototype.xg;Mb.prototype.getAxis1To=Mb.prototype.wg;Mb.prototype.getAxis2To=Mb.prototype.yg;Mb.prototype.getLocalAxis1=Mb.prototype.zg;Mb.prototype.getLocalAxis2=Mb.prototype.Bg;Mb.prototype.getLocalAxis1To=Mb.prototype.Ag;Mb.prototype.getLocalAxis2To=Mb.prototype.Cg;Mb.prototype.getSpringDamper=Mb.prototype.nj;Mb.prototype.getLimitMotor=Mb.prototype.Zk;Mb.prototype.getAngle=Mb.prototype.Xk;window.OIMO.RevoluteJointConfig=Ce;Ce.prototype.init=Ce.prototype.za;window.OIMO.RotationalLimitMotor=Gc;Gc.prototype.setLimits=Gc.prototype.Pa;Gc.prototype.setMotor=Gc.prototype.ab;Gc.prototype.clone=Gc.prototype.clone;window.OIMO.SphericalJoint=se;se.prototype.getSpringDamper=se.prototype.nj;window.OIMO.SphericalJointConfig=re;re.prototype.init=re.prototype.za;window.OIMO.SpringDamper=Lb;Lb.prototype.setSpring=Lb.prototype.Pa;Lb.prototype.setSymplecticEuler=Lb.prototype.ab;Lb.prototype.clone=Lb.prototype.clone;window.OIMO.TranslationalLimitMotor=wc;wc.prototype.setLimits=wc.prototype.Pa;wc.prototype.setMotor=wc.prototype.ab;wc.prototype.clone=wc.prototype.clone;window.OIMO.UniversalJoint=ab;ab.prototype.getAxis1=ab.prototype.vg;ab.prototype.getAxis2=ab.prototype.xg;ab.prototype.getAxis1To=ab.prototype.wg;ab.prototype.getAxis2To=ab.prototype.yg;ab.prototype.getLocalAxis1=ab.prototype.zg;ab.prototype.getLocalAxis2=ab.prototype.Bg;ab.prototype.getLocalAxis1To=ab.prototype.Ag;ab.prototype.getLocalAxis2To=ab.prototype.Cg;ab.prototype.getSpringDamper1=ab.prototype.on;ab.prototype.getSpringDamper2=ab.prototype.pn;ab.prototype.getLimitMotor1=ab.prototype.kn;ab.prototype.getLimitMotor2=ab.prototype.ln;ab.prototype.getAngle1=ab.prototype.en;ab.prototype.getAngle2=ab.prototype.fn;window.OIMO.UniversalJointConfig=qe;qe.prototype.init=qe.prototype.za;window.OIMO.ConstraintSolverType=pe;window.OIMO.DirectJointConstraintSolver=cc;cc.prototype.preSolveVelocity=cc.prototype.jh;cc.prototype.warmStart=cc.prototype.sh;cc.prototype.solveVelocity=cc.prototype.nh;cc.prototype.postSolveVelocity=cc.prototype.vi;cc.prototype.preSolvePosition=cc.prototype.Gg;cc.prototype.solvePositionSplitImpulse=cc.prototype.mh;cc.prototype.solvePositionNgs=cc.prototype.lh;cc.prototype.postSolve=cc.prototype.$e;window.OIMO.PgsContactConstraintSolver=Kb;Kb.prototype.preSolveVelocity=Kb.prototype.jh;Kb.prototype.warmStart=Kb.prototype.sh;Kb.prototype.solveVelocity=Kb.prototype.nh;Kb.prototype.preSolvePosition=Kb.prototype.Gg;Kb.prototype.solvePositionSplitImpulse=Kb.prototype.mh;Kb.prototype.solvePositionNgs=Kb.prototype.lh;Kb.prototype.postSolve=Kb.prototype.$e;window.OIMO.PgsJointConstraintSolver=nc;nc.prototype.preSolveVelocity=nc.prototype.jh;nc.prototype.warmStart=nc.prototype.sh;nc.prototype.solveVelocity=nc.prototype.nh;nc.prototype.postSolveVelocity=nc.prototype.vi;nc.prototype.preSolvePosition=nc.prototype.Gg;nc.prototype.solvePositionSplitImpulse=nc.prototype.mh;nc.prototype.solvePositionNgs=nc.prototype.lh;nc.prototype.postSolve=nc.prototype.$e;window.OIMO.MassData=Ne;window.OIMO.RigidBody=C;C.prototype.getPosition=C.prototype.Xl;C.prototype.getPositionTo=C.prototype.Zl;C.prototype.setPosition=C.prototype.sm;C.prototype.translate=C.prototype.vm;C.prototype.getRotation=C.prototype.bm;C.prototype.getRotationTo=C.prototype.gm;C.prototype.setRotation=C.prototype.tm;C.prototype.setRotationXyz=C.prototype.Wn;C.prototype.rotate=C.prototype.mm;C.prototype.rotateXyz=C.prototype.ym;C.prototype.getOrientation=C.prototype.Ol;C.prototype.getOrientationTo=C.prototype.Ql;C.prototype.setOrientation=C.prototype.nm;C.prototype.getTransform=C.prototype.hm;C.prototype.getTransformTo=C.prototype.km;C.prototype.setTransform=C.prototype.um;C.prototype.getMass=C.prototype.He;C.prototype.getLocalInertia=C.prototype.ce;C.prototype.getLocalInertiaTo=C.prototype.de;C.prototype.getMassData=C.prototype.Bf;C.prototype.getMassDataTo=C.prototype.Jg;C.prototype.setMassData=C.prototype.Un;C.prototype.getRotationFactor=C.prototype.Mg;C.prototype.setRotationFactor=C.prototype.Vn;C.prototype.getLinearVelocity=C.prototype.Pd;C.prototype.getLinearVelocityTo=C.prototype.be;C.prototype.setLinearVelocity=C.prototype.Tn;C.prototype.getAngularVelocity=C.prototype.Cc;C.prototype.getAngularVelocityTo=C.prototype.Hc;C.prototype.setAngularVelocity=C.prototype.Ln;C.prototype.addLinearVelocity=C.prototype.ab;C.prototype.addAngularVelocity=C.prototype.Pa;C.prototype.applyImpulse=C.prototype.qc;C.prototype.applyLinearImpulse=C.prototype.rc;C.prototype.applyAngularImpulse=C.prototype.Kb;C.prototype.applyForce=C.prototype.lc;C.prototype.applyForceToCenter=C.prototype.mc;C.prototype.applyTorque=C.prototype.zc;C.prototype.getGravityScale=C.prototype.bd;C.prototype.setGravityScale=C.prototype.Rn;C.prototype.getLocalPoint=C.prototype.ee;C.prototype.getLocalPointTo=C.prototype.fe;C.prototype.getLocalVector=C.prototype.ge;C.prototype.getLocalVectorTo=C.prototype.Ge;C.prototype.getWorldPoint=C.prototype.ci;C.prototype.getWorldPointTo=C.prototype.di;C.prototype.getWorldVector=C.prototype.xj;C.prototype.getWorldVectorTo=C.prototype.wl;C.prototype.getNumShapes=C.prototype.Nl;C.prototype.getShapeList=C.prototype.Ng;C.prototype.getNumContectLinks=C.prototype.Kg;C.prototype.getContactLinkList=C.prototype.ad;C.prototype.getNumJointLinks=C.prototype.Lg;C.prototype.getJointLinkList=C.prototype.cd;C.prototype.addShape=C.prototype.sb;C.prototype.removeShape=C.prototype.wm;C.prototype.getType=C.prototype.lm;C.prototype.setType=C.prototype.Fm;C.prototype.wakeUp=C.prototype.Hm;C.prototype.sleep=C.prototype.Gm;C.prototype.getSleepTime=C.prototype.bi;C.prototype.setAutoSleep=C.prototype.Qn;C.prototype.getPrev=C.prototype.$l;C.prototype.getNext=C.prototype.vl;window.OIMO.RigidBodyConfig=Zj;window.OIMO.RigidBodyType=Qd;window.OIMO.Shape=za;za.prototype.getFriction=za.prototype.qc;za.prototype.setFriction=za.prototype.ge;za.prototype.getRestitution=za.prototype.Hc;za.prototype.setRestitution=za.prototype.He;za.prototype.getLocalTransform=za.prototype.zc;za.prototype.getLocalTransformTo=za.prototype.Cc;za.prototype.getTransform=za.prototype.Pd;za.prototype.getTransformTo=za.prototype.be;za.prototype.setLocalTransform=za.prototype.Ge;za.prototype.getDensity=za.prototype.mc;za.prototype.setDensity=za.prototype.fe;za.prototype.getAabb=za.prototype.Pa;za.prototype.getAabbTo=za.prototype.ab;za.prototype.getGeometry=za.prototype.rc;za.prototype.getRigidBody=za.prototype.ad;za.prototype.getCollisionGroup=za.prototype.sb;za.prototype.setCollisionGroup=za.prototype.ce;za.prototype.getCollisionMask=za.prototype.Kb;za.prototype.setCollisionMask=za.prototype.de;za.prototype.getContactCallback=za.prototype.lc;za.prototype.setContactCallback=za.prototype.ee;za.prototype.getPrev=za.prototype.cd;za.prototype.getNext=za.prototype.bd;window.OIMO.ShapeConfig=Og})(window);
+/* OimoPhysics (c) 2017 saharan, The MIT License */'use strict';(function(){function Og(){this.position=new t;this.rotation=new O;this.friction=F.defaultFriction;this.restitution=F.defaultRestitution;this.density=F.defaultDensity;this.collisionGroup=F.defaultCollisionGroup;this.collisionMask=F.defaultCollisionMask;this.contactCallback=this.geometry=null}function wa(a){this.sc=-1;this.ia=new Ca;this.qa=new Ca;this.a=new Ca;var b=a.position;this.ia.v=b.x;this.ia.A=b.y;this.ia.B=b.z;b=a.rotation;this.ia.o=b.e00;this.ia.f=b.e01;this.ia.h=b.e02;this.ia.i=b.e10;this.ia.m=b.e11;this.ia.j=b.e12;this.ia.l=b.e20;this.ia.g=b.e21;this.ia.s=b.e22;var b=this.qa,e=this.ia;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;b=this.a;e=this.ia;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;this.Pj=a.restitution;this.Fj=a.friction;this.jk=a.density;this.Jb=a.geometry;this.Aj=a.collisionGroup;this.Bj=a.collisionMask;this.Cj=a.contactCallback;this.u=new Da;this.Oa=null;this.nc=new t}function vd(){}function Zj(){this.position=new t;this.rotation=new O;this.linearVelocity=new t;this.angularVelocity=new t;this.type=0;this.autoSleep=!0;this.angularDamping=this.linearDamping=0}function C(a){this.ni=this.Ac=this.ja=this.M=null;this.pg=0;this.fc=this.Nb=null;this.se=0;this.Oe=this.re=null;this.$g=0;var b=a.linearVelocity;this.eb=b.x;this.fb=b.y;this.gb=b.z;b=a.angularVelocity;this.ib=b.x;this.jb=b.y;this.kb=b.z;this.Sc=this.Rc=this.Qc=this.Wc=this.Vc=this.Uc=0;this.qa=new Ca;this.a=new Ca;b=a.position;this.qa.v=b.x;this.qa.A=b.y;this.qa.B=b.z;b=a.rotation;this.qa.o=b.e00;this.qa.f=b.e01;this.qa.h=b.e02;this.qa.i=b.e10;this.qa.m=b.e11;this.qa.j=b.e12;this.qa.l=b.e20;this.qa.g=b.e21;this.qa.s=b.e22;var b=this.a,e=this.qa;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;this.Xb=a.type;this.yb=0;this.Gb=!1;this.hk=a.autoSleep;this.Y=this.X=this.W=this.V=this.U=this.T=this.S=this.R=this.P=this.gi=this.fi=this.ei=this.di=this.ci=this.bi=this.ai=this.$h=this.Zh=this.Za=this.Ya=this.Xa=this.Wa=this.Va=this.Ua=this.Ta=this.Sa=this.Ra=this.Ed=this.Dd=this.Cd=this.Bd=this.Ad=this.zd=this.yd=this.xd=this.wd=this.$a=this.Nc=0;this.Il=a.linearDamping;this.Al=a.angularDamping;this.mf=this.lf=this.kf=this.Ah=this.zh=this.yh=0;this.N=new t(1,1,1);this.Cf=!1;this.Ug=1;this.kc=null}function Me(){this.mass=0;this.localInertia=new O}function bc(a){Sb.call(this);this.$=a;this.info=new Ne;this.Yb=Array(F.maxJacobianRows);a=0;for(var b=this.Yb.length;a<b;){var e=a++;this.Yb[e]=new Oe}}function zb(a){Sb.call(this);this.ti=a;this.info=new Tf;this.Yb=Array(F.maxManifoldPoints);a=0;for(var b=this.Yb.length;a<b;){var e=a++;this.Yb[e]=new of}}function Uf(a){this.sg=a;this.ck=Array(this.sg);this.$a=Array(this.sg);this.Oi=Array(this.sg);a=0;for(var b=this.sg;a<b;){var e=a++;this.ck[e]=Array(this.sg);this.$a[e]=Array(this.sg);this.Oi[e]=Array(this.sg);for(var d=0,c=this.sg;d<c;){var f=d++;this.ck[e][f]=0;this.$a[e][f]=0;this.Oi[e][f]=0}}this.Ij=1<<this.sg;this.zj=Array(this.Ij);this.ik=Array(this.Ij);a=0;for(b=this.Ij;a<b;){for(var d=e=a++,d=(d&85)+(d>>1&85),d=(d&51)+(d>>2&51),d=(d&15)+(d>>4&15),c=Array(d),f=0,h=d;f<h;){var l=f++;c[l]=Array(d);for(var g=0,k=d;g<k;){var m=g++;c[l][m]=0}}this.zj[e]=!1;this.ik[e]=c}}function wc(a){Sb.call(this);this.$=a;this.info=new Ne;a=F.maxJacobianRows;this.Rh=new Uf(a);this.Ee=new Bk(a);this.Yb=Array(a);for(var b=0,e=this.Yb.length;b<e;){var d=b++;this.Yb[d]=new Oe}b=this.Ee.Eh.length;this.ul=new Md(b);this.ui=new Md(b);this.Hg=Array(a);this.Kh=Array(a);this.sf=Array(a);this.lj=Array(a);for(b=0;b<a;)e=b++,this.Hg[e]=0,this.Kh[e]=0,this.sf[e]=0,this.lj[e]=0}function Md(a){this.n=a;this.oc=Array(a);this.af=Array(a);for(var b=0;b<a;){var e=b++;this.oc[e]=e}}function Bk(a){this.Dn=a;this.Ze=0;this.Eh=Array(1<<a);this.Te=new tg(a)}function tg(a){this.size=a;this.Pc=0;this.gh=Array(a);this.kh=Array(a);this.je=0;this.Dg=Array(a)}function ak(a){this.gh=Array(a);this.Dg=Array(a);this.kh=Array(a);this.Rk=Array(a);this.je=this.Pc=0}function Oe(){this.tf=this.mass=this.ld=this.kd=this.jd=this.hd=this.gd=this.fd=this.rd=this.qd=this.pd=this.od=this.nd=this.md=0}function of(){this.rm=this.qm=this.pm=this.om=this.ie=this.Yj=this.Xj=this.Wj=this.Vj=this.Uj=this.Tj=this.fl=this.el=this.dl=this.cl=this.bl=this.al=this.tj=this.sj=this.rj=this.qj=this.pj=this.oj=this.ll=this.kl=this.jl=this.il=this.hl=this.gl=this.Sf=this.Rf=this.Qf=this.Pf=this.Of=this.Nf=this.Qh=this.Ph=this.Oh=this.Nh=this.Mh=this.Lh=0}function ne(){}function Qd(){$b.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.springDamper1=new nc;this.springDamper2=new nc;this.limitMotor1=new Ec;this.limitMotor2=new Ec}function ub(a){L.call(this,a,uc.UNIVERSAL);var b=a.localAxis1;this.sa=b.x;this.ta=b.y;this.ua=b.z;b=a.localAxis2;this.Kc=b.x;this.Lc=b.y;this.Mc=b.z;this.sa*this.sa+this.ta*this.ta+this.ua*this.ua?(b=this.sa*this.sa+this.ta*this.ta+this.ua*this.ua,0<b&&(b=1/Math.sqrt(b)),this.sa*=b,this.ta*=b,this.ua*=b):(this.sa=1,this.ua=this.ta=0);this.Kc*this.Kc+this.Lc*this.Lc+this.Mc*this.Mc?(b=this.Kc*this.Kc+this.Lc*this.Lc+this.Mc*this.Mc,0<b&&(b=1/Math.sqrt(b)),this.Kc*=b,this.Lc*=b,this.Mc*=b):(this.Lc=this.Kc=0,this.Mc=1);var e=this.C.a,b=this.D.a,d,c,f,h,l,g,k,m,n,q,p,r,v;r=e.o*this.sa+e.f*this.ta+e.h*this.ua;v=e.i*this.sa+e.m*this.ta+e.j*this.ua;d=e.l*this.sa+e.g*this.ta+e.s*this.ua;var aa,w;aa=b.o*this.Kc+b.f*this.Lc+b.h*this.Mc;w=b.i*this.Kc+b.m*this.Lc+b.j*this.Mc;p=b.l*this.Kc+b.g*this.Lc+b.s*this.Mc;l=w*d-p*v;g=p*r-aa*d;k=aa*v-w*r;l*l+g*g+k*k||(l=r*r,g=v*v,k=d*d,l<g?l<k?(k=1/Math.sqrt(g+k),l=0,g=d*k,k*=-v):(k=1/Math.sqrt(l+g),l=v*k,g=-r*k,k=0):g<k?(k=1/Math.sqrt(k+l),l=-d*k,g=0,k*=r):(k=1/Math.sqrt(l+g),l=v*k,g=-r*k,k=0));c=v*k-d*g;f=d*l-r*k;h=r*g-v*l;m=g*p-k*w;n=k*aa-l*p;q=l*w-g*aa;var B,u;B=e.o*r+e.i*v+e.l*d;u=e.f*r+e.m*v+e.g*d;d=e.h*r+e.j*v+e.s*d;this.sa=B;this.ta=u;this.ua=d;d=e.o*l+e.i*g+e.l*k;r=e.f*l+e.m*g+e.g*k;v=e.h*l+e.j*g+e.s*k;this.Ab=d;this.Bb=r;this.Cb=v;d=e.o*c+e.i*f+e.l*h;r=e.f*c+e.m*f+e.g*h;e=e.h*c+e.j*f+e.s*h;this.hc=d;this.ic=r;this.jc=e;e=b.o*m+b.i*n+b.l*q;c=b.f*m+b.m*n+b.g*q;m=b.h*m+b.j*n+b.s*q;this.lb=e;this.mb=c;this.nb=m;e=b.o*l+b.i*g+b.l*k;m=b.f*l+b.m*g+b.g*k;l=b.h*l+b.j*g+b.s*k;this.Wg=e;this.Xg=m;this.Yg=l;l=b.o*aa+b.i*w+b.l*p;g=b.f*aa+b.m*w+b.g*p;b=b.h*aa+b.j*w+b.s*p;this.Kc=l;this.Lc=g;this.Mc=b;this.zi=this.zl=this.yi=0;this.Em=this.Dm=this.Cm=!1;this.Fk=a.springDamper1.clone();this.Gk=a.springDamper2.clone();this.xk=a.limitMotor1.clone();this.yk=a.limitMotor2.clone()}function zc(){this.lowerLimit=1;this.motorForce=this.upperLimit=0}function nc(){this.dampingRatio=this.frequency=0;this.useSymplecticEuler=!1}function oe(){$b.call(this);this.springDamper=new nc}function pe(a){L.call(this,a,0);this.ue=a.springDamper.clone()}function Ec(){this.lowerLimit=1;this.motorTorque=this.upperLimit=0}function qe(){$b.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.springDamper=new nc;this.limitMotor=new Ec}function Lb(a){L.call(this,a,1);var b=a.localAxis1;this.sa=b.x;this.ta=b.y;this.ua=b.z;b=a.localAxis2;this.lb=b.x;this.mb=b.y;this.nb=b.z;this.sa*this.sa+this.ta*this.ta+this.ua*this.ua?(b=this.sa*this.sa+this.ta*this.ta+this.ua*this.ua,0<b&&(b=1/Math.sqrt(b)),this.sa*=b,this.ta*=b,this.ua*=b):(this.sa=1,this.ua=this.ta=0);this.lb*this.lb+this.mb*this.mb+this.nb*this.nb?(b=this.lb*this.lb+this.mb*this.mb+this.nb*this.nb,0<b&&(b=1/Math.sqrt(b)),this.lb*=b,this.mb*=b,this.nb*=b):(this.lb=1,this.nb=this.mb=0);var e,d,c,f,h,l,g,k;d=this.sa*this.lb+this.ta*this.mb+this.ua*this.nb;-1.000001<d&&-.999999>d?(b=this.sa,e=this.ta,c=this.ua,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.ta*this.nb-this.ua*this.mb,e=this.ua*this.lb-this.sa*this.nb,f=this.sa*this.mb-this.ta*this.lb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.sa,m=this.ta,q=this.ua,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.Ab=0,this.Bb=q*p,this.Cb=-m*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0):r<v?(p=1/Math.sqrt(v+p),this.Ab=-q*p,this.Bb=0,this.Cb=n*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0);this.hc=this.ta*this.Cb-this.ua*this.Bb;this.ic=this.ua*this.Ab-this.sa*this.Cb;this.jc=this.sa*this.Bb-this.ta*this.Ab;n=b*this.sa+e*this.ta+c*this.ua;m=d*this.sa+f*this.ta+h*this.ua;q=l*this.sa+g*this.ta+k*this.ua;this.lb=n;this.mb=m;this.nb=q;n=b*this.Ab+e*this.Bb+c*this.Cb;m=d*this.Ab+f*this.Bb+h*this.Cb;q=l*this.Ab+g*this.Bb+k*this.Cb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.hc+e*this.ic+c*this.jc;e=d*this.hc+f*this.ic+h*this.jc;c=l*this.hc+g*this.ic+k*this.jc;this.Kc=b;this.Lc=e;this.Mc=c;this.angularErrorZ=this.angularErrorY=this.angle=0;this.ea=new Pe(this);this.ue=a.springDamper.clone();this.Ch=a.limitMotor.clone()}function Rd(){$b.call(this);this.localTwistAxis1=new t(1,0,0);this.localTwistAxis2=new t(1,0,0);this.localSwingAxis1=new t(0,1,0);this.twistSpringDamper=new nc;this.swingSpringDamper=new nc;this.twistLimitMotor=new Ec;this.maxSwingAngle2=this.maxSwingAngle1=3.14159265358979}function Ab(a){L.call(this,a,uc.RAGDOLL);var b=a.localTwistAxis1;this.sa=b.x;this.ta=b.y;this.ua=b.z;b=a.localSwingAxis1;this.Ab=b.x;this.Bb=b.y;this.Cb=b.z;b=a.localTwistAxis2;this.lb=b.x;this.mb=b.y;this.nb=b.z;this.sa*this.sa+this.ta*this.ta+this.ua*this.ua?(b=this.sa*this.sa+this.ta*this.ta+this.ua*this.ua,0<b&&(b=1/Math.sqrt(b)),this.sa*=b,this.ta*=b,this.ua*=b):(this.sa=1,this.ua=this.ta=0);this.hc=this.ta*this.Cb-this.ua*this.Bb;this.ic=this.ua*this.Ab-this.sa*this.Cb;this.jc=this.sa*this.Bb-this.ta*this.Ab;if(this.hc*this.hc+this.ic*this.ic+this.jc*this.jc)b=this.hc*this.hc+this.ic*this.ic+this.jc*this.jc,0<b&&(b=1/Math.sqrt(b)),this.hc*=b,this.ic*=b,this.jc*=b,this.Ab=this.ic*this.ua-this.jc*this.ta,this.Bb=this.jc*this.sa-this.hc*this.ua,this.Cb=this.hc*this.ta-this.ic*this.sa;else{var b=this.sa,e=this.ta,d=this.ua,c=b*b,f=e*e,h=d*d;c<f?c<h?(c=1/Math.sqrt(f+h),this.Ab=0,this.Bb=d*c,this.Cb=-e*c):(c=1/Math.sqrt(c+f),this.Ab=e*c,this.Bb=-b*c,this.Cb=0):f<h?(c=1/Math.sqrt(h+c),this.Ab=-d*c,this.Bb=0,this.Cb=b*c):(c=1/Math.sqrt(c+f),this.Ab=e*c,this.Bb=-b*c,this.Cb=0);this.hc=this.ta*this.Cb-this.ua*this.Bb;this.ic=this.ua*this.Ab-this.sa*this.Cb;this.jc=this.sa*this.Bb-this.ta*this.Ab}var l,g,k,m,c=this.sa*this.lb+this.ta*this.mb+this.ua*this.nb;-1.000001<c&&-.999999>c?(b=this.sa,e=this.ta,d=this.ua,c=b*b,f=e*e,h=d*d,c<f?c<h?(f=1/Math.sqrt(f+h),c=0,d*=f,f*=-e):(f=1/Math.sqrt(c+f),c=e*f,d=-b*f,f=0):f<h?(f=1/Math.sqrt(h+c),c=-d*f,d=0,f*=b):(f=1/Math.sqrt(c+f),c=e*f,d=-b*f,f=0),b=c,e=d,c=f,d=0):(b=this.ta*this.nb-this.ua*this.mb,e=this.ua*this.lb-this.sa*this.nb,f=this.sa*this.mb-this.ta*this.lb,d=Math.sqrt(.5*(1+c)),c=.5/d,b*=c,e*=c,c*=f);k=e;var h=c,e=d,n=2*b;g=2*k;d=2*h;c=b*n;f=k*g;l=h*d;h=b*g;m=k*d;k=b*d;var n=e*n,q=e*g;g=e*d;b=1-f-l;e=h-g;d=k+q;h+=g;l=1-c-l;g=m-n;k-=q;m+=n;c=1-c-f;f=b*this.sa+e*this.ta+d*this.ua;n=h*this.sa+l*this.ta+g*this.ua;q=k*this.sa+m*this.ta+c*this.ua;this.lb=f;this.mb=n;this.nb=q;f=b*this.Ab+e*this.Bb+d*this.Cb;n=h*this.Ab+l*this.Bb+g*this.Cb;q=k*this.Ab+m*this.Bb+c*this.Cb;this.Wg=f;this.Xg=n;this.Yg=q;b=b*this.hc+e*this.ic+d*this.jc;e=h*this.hc+l*this.ic+g*this.jc;d=k*this.hc+m*this.ic+c*this.jc;this.Kc=b;this.Lc=e;this.Mc=d;this.Nk=a.twistSpringDamper.clone();this.Mk=a.twistLimitMotor.clone();this.Hk=a.swingSpringDamper.clone();this.Jj=a.maxSwingAngle1;this.Kj=a.maxSwingAngle2;this.Jj<F.minRagdollMaxSwingAngle&&(this.Jj=F.minRagdollMaxSwingAngle);this.Kj<F.minRagdollMaxSwingAngle&&(this.Kj=F.minRagdollMaxSwingAngle);this.Wk=new Ec;this.Wk.lowerLimit=-1;this.swingConstraintAxisZ=this.swingConstraintAxisY=this.swingConstraintAxisX=this.swingConstraintAxis1Z=this.swingConstraintAxis1Y=this.swingConstraintAxis1X=this.twistAxisZ=this.twistAxisY=this.twistAxisX=this.swingAxisZ=this.swingAxisY=this.swingAxisX=this.swingError=this.ej=this.Wi=this.Wk.upperLimit=0}function Be(){$b.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.limitMotor=new zc;this.springDamper=new nc}function Gb(a){L.call(this,a,uc.PRISMATIC);var b=a.localAxis1;this.sa=b.x;this.ta=b.y;this.ua=b.z;b=a.localAxis2;this.lb=b.x;this.mb=b.y;this.nb=b.z;this.sa*this.sa+this.ta*this.ta+this.ua*this.ua?(b=this.sa*this.sa+this.ta*this.ta+this.ua*this.ua,0<b&&(b=1/Math.sqrt(b)),this.sa*=b,this.ta*=b,this.ua*=b):(this.sa=1,this.ua=this.ta=0);this.lb*this.lb+this.mb*this.mb+this.nb*this.nb?(b=this.lb*this.lb+this.mb*this.mb+this.nb*this.nb,0<b&&(b=1/Math.sqrt(b)),this.lb*=b,this.mb*=b,this.nb*=b):(this.lb=1,this.nb=this.mb=0);var e,d,c,f,h,l,g,k;d=this.sa*this.lb+this.ta*this.mb+this.ua*this.nb;-1.000001<d&&-.999999>d?(b=this.sa,e=this.ta,c=this.ua,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.ta*this.nb-this.ua*this.mb,e=this.ua*this.lb-this.sa*this.nb,f=this.sa*this.mb-this.ta*this.lb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.sa,m=this.ta,q=this.ua,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.Ab=0,this.Bb=q*p,this.Cb=-m*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0):r<v?(p=1/Math.sqrt(v+p),this.Ab=-q*p,this.Bb=0,this.Cb=n*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0);this.hc=this.ta*this.Cb-this.ua*this.Bb;this.ic=this.ua*this.Ab-this.sa*this.Cb;this.jc=this.sa*this.Bb-this.ta*this.Ab;n=b*this.sa+e*this.ta+c*this.ua;m=d*this.sa+f*this.ta+h*this.ua;q=l*this.sa+g*this.ta+k*this.ua;this.lb=n;this.mb=m;this.nb=q;n=b*this.Ab+e*this.Bb+c*this.Cb;m=d*this.Ab+f*this.Bb+h*this.Cb;q=l*this.Ab+g*this.Bb+k*this.Cb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.hc+e*this.ic+c*this.jc;e=d*this.hc+f*this.ic+h*this.jc;c=l*this.hc+g*this.ic+k*this.jc;this.Kc=b;this.Lc=e;this.Mc=c;this.ea=new Pe(this);this.angularErrorZ=this.angularErrorY=this.angularErrorX=this.linearErrorZ=this.linearErrorY=this.Vf=0;this.ue=a.springDamper.clone();this.Ch=a.limitMotor.clone()}function uc(){}function Lc(a){this.wk=a}function Ck(){this.ub=this.Yc=this.va=0}function Pe(a){this.$=a;this.me=this.le=this.ke=this.Od=this.Nd=this.Md=this.bd=this.ad=this.$c=0}function re(){$b.call(this);this.localAxis1=new t(1,0,0);this.localAxis2=new t(1,0,0);this.translationalLimitMotor=new zc;this.translationalSpringDamper=new nc;this.rotationalLimitMotor=new Ec;this.rotationalSpringDamper=new nc}function $b(){this.rigidBody2=this.rigidBody1=null;this.localAnchor1=new t;this.localAnchor2=new t;this.allowCollision=!1;this.solverType=F.defaultJointConstraintSolverType;this.positionCorrectionAlgorithm=F.defaultJointPositionCorrectionAlgorithm;this.breakTorque=this.breakForce=0}function vb(a){L.call(this,a,2);var b=a.localAxis1;this.sa=b.x;this.ta=b.y;this.ua=b.z;b=a.localAxis2;this.lb=b.x;this.mb=b.y;this.nb=b.z;this.sa*this.sa+this.ta*this.ta+this.ua*this.ua?(b=this.sa*this.sa+this.ta*this.ta+this.ua*this.ua,0<b&&(b=1/Math.sqrt(b)),this.sa*=b,this.ta*=b,this.ua*=b):(this.sa=1,this.ua=this.ta=0);this.lb*this.lb+this.mb*this.mb+this.nb*this.nb?(b=this.lb*this.lb+this.mb*this.mb+this.nb*this.nb,0<b&&(b=1/Math.sqrt(b)),this.lb*=b,this.mb*=b,this.nb*=b):(this.lb=1,this.nb=this.mb=0);var e,d,c,f,h,l,g,k;d=this.sa*this.lb+this.ta*this.mb+this.ua*this.nb;-1.000001<d&&-.999999>d?(b=this.sa,e=this.ta,c=this.ua,d=b*b,f=e*e,h=c*c,d<f?d<h?(f=1/Math.sqrt(f+h),d=0,c*=f,f*=-e):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0):f<h?(f=1/Math.sqrt(h+d),d=-c*f,c=0,f*=b):(f=1/Math.sqrt(d+f),d=e*f,c=-b*f,f=0),b=d,e=c,d=f,c=0):(b=this.ta*this.nb-this.ua*this.mb,e=this.ua*this.lb-this.sa*this.nb,f=this.sa*this.mb-this.ta*this.lb,c=Math.sqrt(.5*(1+d)),d=.5/c,b*=d,e*=d,d*=f);l=e;e=c;var m=2*b;h=2*l;c=2*d;k=b*m;var n=l*h;f=d*c;d=b*h;g=l*c;l=b*c;var m=e*m,q=e*h;h=e*c;b=1-n-f;e=d-h;c=l+q;d+=h;f=1-k-f;h=g-m;l-=q;g+=m;k=1-k-n;var n=this.sa,m=this.ta,q=this.ua,p=n*n,r=m*m,v=q*q;p<r?p<v?(p=1/Math.sqrt(r+v),this.Ab=0,this.Bb=q*p,this.Cb=-m*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0):r<v?(p=1/Math.sqrt(v+p),this.Ab=-q*p,this.Bb=0,this.Cb=n*p):(p=1/Math.sqrt(p+r),this.Ab=m*p,this.Bb=-n*p,this.Cb=0);this.hc=this.ta*this.Cb-this.ua*this.Bb;this.ic=this.ua*this.Ab-this.sa*this.Cb;this.jc=this.sa*this.Bb-this.ta*this.Ab;n=b*this.sa+e*this.ta+c*this.ua;m=d*this.sa+f*this.ta+h*this.ua;q=l*this.sa+g*this.ta+k*this.ua;this.lb=n;this.mb=m;this.nb=q;n=b*this.Ab+e*this.Bb+c*this.Cb;m=d*this.Ab+f*this.Bb+h*this.Cb;q=l*this.Ab+g*this.Bb+k*this.Cb;this.Wg=n;this.Xg=m;this.Yg=q;b=b*this.hc+e*this.ic+c*this.jc;e=d*this.hc+f*this.ic+h*this.jc;c=l*this.hc+g*this.ic+k*this.jc;this.Kc=b;this.Lc=e;this.Mc=c;this.linearErrorZ=this.linearErrorY=this.Vf=this.angularErrorZ=this.angularErrorY=this.angle=0;this.ea=new Pe(this);this.Lk=a.translationalSpringDamper.clone();this.Kk=a.translationalLimitMotor.clone();this.Ek=a.rotationalSpringDamper.clone();this.Dk=a.rotationalLimitMotor.clone()}function L(a,b){this.rb=new Lc(this);this.sb=new Lc(this);this.Ec=F.defaultJointPositionCorrectionAlgorithm;this.Xb=b;this.kc=null;this.C=a.rigidBody1;this.D=a.rigidBody2;this.gk=a.allowCollision;this.Ji=a.breakForce;this.Ki=a.breakTorque;switch(a.solverType){case 0:this.Rj=new bc(this);break;case 1:this.Rj=new wc(this)}b=a.localAnchor1;this.Pi=b.x;this.Qi=b.y;this.Ri=b.z;a=a.localAnchor2;this.Si=a.x;this.Ti=a.y;this.Ui=a.z;this.Mc=this.Lc=this.Kc=this.Yg=this.Xg=this.Wg=this.nb=this.mb=this.lb=this.jc=this.ic=this.hc=this.Cb=this.Bb=this.Ab=this.ua=this.ta=this.sa=this.If=this.Hf=this.Gf=this.Ff=this.Ef=this.Df=this.Vb=this.Ub=this.Tb=this.Sb=this.Rb=this.Qb=0;this.Ob=Array(F.maxJacobianRows);a=0;for(b=F.maxJacobianRows;a<b;){var e=a++;this.Ob[e]=new Ck}}function hj(){this.Ba=new ld;this.cb=this.motorSpeed=this.Ia=this.Ja=this.Na=this.Ga=0;this.va=null}function Ne(){this.De=this.Ce=null;this.La=0;this.rows=Array(F.maxJacobianRows);for(var a=0,b=this.rows.length;a<b;){var e=a++;this.rows[e]=new hj}}function ij(){this.Eg=new ld;this.vj=new ld;this.uj=new ld;this.friction=this.Na=this.Ga=0;this.va=null}function Tf(){this.De=this.Ce=null;this.La=0;this.rows=Array(F.maxManifoldPoints);for(var a=0,b=this.rows.length;a<b;){var e=a++;this.rows[e]=new ij}}function ld(){this.wc=this.ha=this.ga=this.fa=this.da=this.ca=this.ba=this.Ea=this.Da=this.Ca=this.ya=this.xa=this.wa=0}function jj(a){this.Ka=a;this.ol=0;this.pl=Array(F.maxManifoldPoints);a=0;for(var b=F.maxManifoldPoints;a<b;){var e=a++;this.pl[e]=new hc}}function hc(){this.Dc=this.Kd=this.Jd=this.Id=this.Hd=this.Gd=this.Fd=this.dc=this.cc=this.bc=this.Fb=this.Eb=this.Db=this.gf=this.ff=this.ef=this.df=this.cf=this.bf=0;this.Wd=new kj;this.Jf=this.Se=!1;this.sc=-1}function Pb(){this.Xd=this.Ii=this.Hi=this.Gi=this.Zi=this.Yi=this.Xi=this.og=this.ng=this.mg=0;this.tc=Array(F.maxManifoldPoints);for(var a=0,b=F.maxManifoldPoints;a<b;){var e=a++;this.tc[e]=new hc}}function kj(){this.We=this.Ve=this.Ue=this.ub=this.xc=this.yc=this.Zc=0}function bd(a){this.Rj=new zb(this);this.Ka=a}function ic(){}function Sb(){this.D=this.C=null;this.Cf=!1}function cd(){}function Qe(){this.jointRotationalConstraintRadius=.3;this.jointErrorColor=new t(1,.1,.1);this.jointLineColor=new t(.8,.8,.8);this.contactNormalLength=this.contactTangentLength=this.contactBinormalLength=.5;this.contactBinormalColor=new t(.2,.2,1);this.contactTangentColor=new t(.1,.8,.1);this.contactNormalColor=new t(1,.1,.1);this.disabledContactColor=new t(.5,.1,.1);this.newContactColor=new t(1,1,.1);this.contactColor=new t(1,.1,.1);this.pairColor=new t(1,1,.1);this.bvhNodeColor=new t(.4,.4,.4);this.aabbColor=new t(1,.1,.1);this.kinematicShapeColor=new t(1,.5,.1);this.staticShapeColor=new t(.7,.7,.7);this.sleepingShapeColor2=new t(.2,.8,.5);this.sleepingShapeColor1=new t(.3,.3,.8);this.sleepyShapeColor2=new t(.6,.8,.3);this.sleepyShapeColor1=new t(.5,.25,.6);this.shapeColor2=new t(1,.8,.1);this.shapeColor1=new t(.7,.2,.4)}function Tb(){this.p=new Mb;this.wireframe=!1;this.drawShapes=!0;this.drawBvh=!1;this.drawBvhMinLevel=0;this.drawBvhMaxLevel=65536;this.drawContacts=this.drawPairs=this.drawAabbs=!1;this.drawJoints=!0;this.drawJointLimits=!1;this.bk=Array(5);this.rh=Array(5);this.dk=Array(5);for(var a=0;5>a;){var b=a++,e=b&&4!=b?8:1;this.bk[b]=Array(e);this.rh[b]=Array(e);this.dk[b]=Array(e);for(e=0;8>e;){var d=e++,c=.7853981633974475*b,f=.7853981633974475*d;this.bk[b][d]=new t(Math.sin(c)*Math.cos(f),Math.cos(c),-Math.sin(c)*Math.sin(f));this.rh[b][d]=new t;this.dk[b][d]=new t}}this.jj=Array(8);this.Sl=Array(8);this.ae=Array(8);this.Fe=Array(8);this.Af=Array(8);for(a=0;8>a;)b=a++,this.jj[b]=new t(Math.cos(.7853981633974475*b),0,-Math.sin(.7853981633974475*b)),this.Sl[b]=new t(Math.cos(.7853981633974475*(b+.5)),0,-Math.sin(.7853981633974475*(b+.5))),this.ae[b]=new t,this.Fe[b]=new t,this.Af[b]=new t;this.style=new Qe}function Dd(){this.position=new t;this.normal=new t;this.shape=null;this.fraction=1;this.position.Z();this.normal.Z();this.hit=!1}function md(){}function wd(){}function nd(){}function pf(){this.u=new Da;this.Bl=null}function se(){this.wi=new Wd;this.gj=new Ca;this.Vf=new t;this.Z=new t;this.Ul=this.ij=null}function Re(){this.wi=new Wd;this.gj=new t;this.end=new t;this.ij=null}function qa(a,b){null==a&&(a=2);switch(a){case 1:this.ec=new Eb;break;case 2:this.ec=new tc}this.wh=new Qc(this.ec);null==b&&(b=new t(0,-9.80665,0));this.lk=new t(b.x,b.y,b.z);this.hi=this.Bh=this.mi=this.jf=null;this.Mj=this.zk=this.pg=this.Vi=0;this.Bk=10;this.Ak=5;this.Oj=new Re;this.Mi=new se;this.ek=new pf;this.lg=new Dk;this.Qe=Array(F.islandInitialConstraintArraySize);this.dh=Array(F.islandInitialRigidBodyArraySize);this.Dh=new lj;this.Ha=new Mb;this.Jl=0}function lj(){this.invDt=this.dt=0;this.dtRatio=1}function Dk(){this.xf=Array(F.islandInitialRigidBodyArraySize);this.yf=Array(F.islandInitialConstraintArraySize);this.ph=Array(F.islandInitialConstraintArraySize);this.oh=Array(F.islandInitialConstraintArraySize);this.hh=this.ih=this.wf=this.vf=0}function Qc(a){this.ec=a;this.Km=new Ed;this.ji=0}function Gc(){this.Oc=this.Ud=this.M=this.ja=null}function cc(){this.ja=this.M=null;this.rb=new Gc;this.sb=new Gc;this.xh=this.D=this.C=this.vc=this.uc=null;this.Li=new bk;this.Lm=new dd;this.Qj=this.Hj=!1;this.Ka=new Pb;this.Ll=new jj(this.Ka);this.Ke=new bd(this.Ka);this.ug=!1}function ga(a,b,e,d){null==d&&(d=1);null==e&&(e=0);null==b&&(b=0);null==a&&(a=0);this.x=a;this.y=b;this.z=e;this.w=d;ga.numCreations++}function Mb(){this.b=Array(256);this.c=0;this.ob=Array(256);this.qb=0;this.zf=Array(256);this.Uf=0;this.Td=Array(256);this.$d=0}function na(){}function M(a,b,e,d,c,f,h,l,g,k,m,n,q,p,r,v){null==v&&(v=1);null==r&&(r=0);null==p&&(p=0);null==q&&(q=0);null==n&&(n=0);null==m&&(m=1);null==k&&(k=0);null==g&&(g=0);null==l&&(l=0);null==h&&(h=0);null==f&&(f=1);null==c&&(c=0);null==d&&(d=0);null==e&&(e=0);null==b&&(b=0);null==a&&(a=1);this.e00=a;this.e01=b;this.e02=e;this.e03=d;this.e10=c;this.e11=f;this.e12=h;this.e13=l;this.e20=g;this.e21=k;this.e22=m;this.e23=n;this.e30=q;this.e31=p;this.e32=r;this.e33=v;M.numCreations++}function O(a,b,e,d,c,f,h,l,g){null==g&&(g=1);null==l&&(l=0);null==h&&(h=0);null==f&&(f=0);null==c&&(c=1);null==d&&(d=0);null==e&&(e=0);null==b&&(b=0);null==a&&(a=1);this.e00=a;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;O.numCreations++}function xd(){}function Nb(){}function Jb(){this.Pa=Array(4);this.hb=Array(4);this.pb=Array(4);this.fj=Array(3);this.fj[0]=new t(1,0,0);this.fj[1]=new t(0,1,0);this.fj[2]=new t(0,0,1);this.Nn=new t;this.On=new t;this.Gn=new t;this.Fn=new t;this.Mn=new Ca;for(var a=0;4>a;){var b=a++;this.Pa[b]=new t;this.hb[b]=new t;this.pb[b]=new t}this.dir=new t;this.closest=new t;this.closestPoint1=new t;this.closestPoint2=new t;this.Fg=new mj}function F(){}function Ca(){this.B=this.A=this.v=0;this.o=1;this.i=this.h=this.f=0;this.m=1;this.g=this.l=this.j=0;this.s=1}function t(a,b,e){null==e&&(e=0);null==b&&(b=0);null==a&&(a=0);this.x=a;this.y=b;this.z=e;t.numCreations++}function Ek(){this.ql=new t}function Oc(){this.ud=new t;this.hb=new t;this.pb=new t}function Mc(){this.id=++Mc.Cc;this.ja=this.M=null;this.Lj=new t;this.Jk=this.Ej=0;this.cj=!1;this.zb=Array(3);this.we=Array(3);this.Ie=Array(3);this.Sh=new t;this.ii=Array(3);this.ii[0]=1;this.ii[1]=2;this.ii[2]=0}function mj(){this.zb=Array(F.maxEPAVertices);this.Wh=new 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a},Hh:function(a){this.ki--;var b=a.ja,e=a.M;null!=b&&(b.M=e);null!=e&&(e.ja=b);a==this.te&&(this.te=this.te.M);a==this.Pe&&(this.Pe=this.Pe.ja);a.M=null;a.ja=null;b=this.he;e=a.Qd;b.Nj--;var d=e.Lf,c=e.Kf;null!=d&&(d.Kf=c);null!=c&&(c.Lf=d);e==b.Tf&&(b.Tf=b.Tf.Kf);e==b.Xe&&(b.Xe=b.Xe.Lf);e.Kf=null;e.Lf=null;if(null==e.Oa||e.Oa.Qd!=e||null!=e.F[0]||null!=e.F[1]||0!=e.O)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(b.Pb==e)b.Pb=null;else{var d=e.Fa,c=d.F[e.Ma^1],f=d.Fa;if(null==f){c.Fa=null;c.Ma=0;b.Pb=c;if(null!=d.Oa&&null!=d.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");d.F[0]=null;d.F[1]=null;d.Ma=0;d.Fa=null;d.O=0;d.Oa=null;d.M=b.Tc;b.Tc=d}else{var h=d.Ma;f.F[h]=c;c.Fa=f;c.Ma=h;if(null!=d.Oa&&null!=d.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");d.F[0]=null;d.F[1]=null;d.Ma=0;d.Fa=null;d.O=0;d.Oa=null;d.M=b.Tc;b.Tc=d;for(d=f;null!=d;){if(b.oi.yj&&!(2>d.O)){var c=d.Fa,h=d.F[0],l=d.F[1],g=h.O-l.O,f=d.Ma;1<g?(l=h.F[0],g=h.F[1],l.O>g.O?(h.F[1]=d,d.Fa=h,d.Ma=1,d.F[0]=g,g.Fa=d,g.Ma=0):(h.F[0]=d,d.Fa=h,d.Ma=0,d.F[0]=l,l.Fa=d,l.Ma=0),l=h.F[0],g=h.F[1],h.J=l.J<g.J?l.J:g.J,h.K=l.K<g.K?l.K:g.K,h.L=l.L<g.L?l.L:g.L,h.G=l.G>g.G?l.G:g.G,h.H=l.H>g.H?l.H:g.H,h.I=l.I>g.I?l.I:g.I,l=h.F[0].O,g=h.F[1].O,h.O=(l>g?l:g)+1,l=d.F[0],g=d.F[1],d.J=l.J<g.J?l.J:g.J,d.K=l.K<g.K?l.K:g.K,d.L=l.L<g.L?l.L:g.L,d.G=l.G>g.G?l.G:g.G,d.H=l.H>g.H?l.H:g.H,d.I=l.I>g.I?l.I:g.I,l=d.F[0].O,g=d.F[1].O,d.O=(l>g?l:g)+1,null!=c?(c.F[f]=h,h.Fa=c,h.Ma=f):(b.Pb=h,h.Fa=null),d=h):-1>g&&(h=l.F[0],g=l.F[1],h.O>g.O?(l.F[1]=d,d.Fa=l,d.Ma=1,d.F[1]=g,g.Fa=d,g.Ma=1):(l.F[0]=d,d.Fa=l,d.Ma=0,d.F[1]=h,h.Fa=d,h.Ma=1),h=l.F[0],g=l.F[1],l.J=h.J<g.J?h.J:g.J,l.K=h.K<g.K?h.K:g.K,l.L=h.L<g.L?h.L:g.L,l.G=h.G>g.G?h.G:g.G,l.H=h.H>g.H?h.H:g.H,l.I=h.I>g.I?h.I:g.I,h=l.F[0].O,g=l.F[1].O,l.O=(h>g?h:g)+1,h=d.F[0],g=d.F[1],d.J=h.J<g.J?h.J:g.J,d.K=h.K<g.K?h.K:g.K,d.L=h.L<g.L?h.L:g.L,d.G=h.G>g.G?h.G:g.G,d.H=h.H>g.H?h.H:g.H,d.I=h.I>g.I?h.I:g.I,h=d.F[0].O,g=d.F[1].O,d.O=(h>g?h:g)+1,null!=c?(c.F[f]=l,l.Fa=c,l.Ma=f):(b.Pb=l,l.Fa=null),d=l)}c=d.F[0].O;f=d.F[1].O;d.O=(c>f?c:f)+1;c=d.F[0];f=d.F[1];d.J=c.J<f.J?c.J:f.J;d.K=c.K<f.K?c.K:f.K;d.L=c.L<f.L?c.L:f.L;d.G=c.G>f.G?c.G:f.G;d.H=c.H>f.H?c.H:f.H;d.I=c.I>f.I?c.I:f.I;d=d.Fa}}}a.Qd=null;if(null!=e.Oa&&null!=e.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");e.F[0]=null;e.F[1]=null;e.Ma=0;e.Fa=null;e.O=0;e.Oa=null;e.M=b.Tc;b.Tc=e;a.userData=null;a.M=null;a.ja=null;a.Zg&&(a.Zg=!1)},sd:function(a,b,e){if(!(a.J<=b.na&&a.G>=b.ka&&a.K<=b.oa&&a.H>=b.la&&a.L<=b.pa&&a.I>=b.ma)){a.J=b.na;a.K=b.oa;a.L=b.pa;a.G=b.ka;a.H=b.la;a.I=b.ma;b=F.bvhProxyPadding;a.J-=b;a.K-=b;a.L-=b;a.G+=b;a.H+=b;a.I+=b;if(null!=e){var d;b=e.x;d=e.y;e=e.z;a.J+=0<b?0:b;a.K+=0<d?0:d;a.L+=0<e?0:e;a.G+=0>b?0:b;a.H+=0>d?0:d;a.I+=0>e?0:e}if(!a.Zg){a.Zg=!0;if(this.Ye.length==this.uf){e=Array(this.uf<<1);b=0;for(d=this.uf;b<d;){var c=b++;e[c]=this.Ye[c];this.Ye[c]=null}this.Ye=e}this.Ye[this.uf++]=a}}},si:function(){var a=this.Yd;if(null!=a){for(;a.qg=null,a.rg=null,a=a.M,null!=a;);this.Yd.M=this.bh;this.bh=this.Yd;this.Yd=null}this.$i=0;if(!(2>this.ki)){for(var b=this.uf/this.ki<F.bvhIncrementalCollisionThreshold,e=0,d=this.uf;e<d;){var c=e++,f=this.Ye[c];if(f.Zg){var h=this.he,l=f.Qd;h.Nj--;var g=l.Lf,k=l.Kf;null!=g&&(g.Kf=k);null!=k&&(k.Lf=g);l==h.Tf&&(h.Tf=h.Tf.Kf);l==h.Xe&&(h.Xe=h.Xe.Lf);l.Kf=null;l.Lf=null;if(null==l.Oa||l.Oa.Qd!=l||null!=l.F[0]||null!=l.F[1]||0!=l.O)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(h.Pb==l)h.Pb=null;else{var m=l.Fa,n=m.F[l.Ma^1],q=m.Fa;if(null==q){n.Fa=null;n.Ma=0;h.Pb=n;if(null!=m.Oa&&null!=m.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");m.M=null;m.Ma=0;m.F[0]=null;m.F[1]=null;m.Ma=0;m.Fa=null;m.O=0;m.Oa=null;m.M=h.Tc;h.Tc=m}else{n.Fa=q;var p=m.Ma;q.F[p]=n;n.Fa=q;n.Ma=p;if(null!=m.Oa&&null!=m.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");m.M=null;m.Ma=0;m.F[0]=null;m.F[1]=null;m.Ma=0;m.Fa=null;m.O=0;m.Oa=null;m.M=h.Tc;h.Tc=m;for(var r=q;null!=r;){if(h.oi.yj&&!(2>r.O)){var v=r.Fa,aa=r.F[0],w=r.F[1],B=aa.O-w.O,u=r.Ma;if(1<B){var D=aa.F[0],t=aa.F[1];if(D.O>t.O){aa.F[1]=r;r.Fa=aa;r.Ma=1;r.F[0]=t;t.Fa=r;t.Ma=0;var A=aa.F[0],E=aa.F[1];aa.J=A.J<E.J?A.J:E.J;aa.K=A.K<E.K?A.K:E.K;aa.L=A.L<E.L?A.L:E.L;aa.G=A.G>E.G?A.G:E.G;aa.H=A.H>E.H?A.H:E.H;aa.I=A.I>E.I?A.I:E.I;var x=aa.F[0].O,Bb=aa.F[1].O;aa.O=(x>Bb?x:Bb)+1;var N=r.F[0],I=r.F[1];r.J=N.J<I.J?N.J:I.J;r.K=N.K<I.K?N.K:I.K;r.L=N.L<I.L?N.L:I.L;r.G=N.G>I.G?N.G:I.G;r.H=N.H>I.H?N.H:I.H;r.I=N.I>I.I?N.I:I.I;var al=r.F[0].O,Fl=r.F[1].O;r.O=(al>Fl?al:Fl)+1}else{aa.F[0]=r;r.Fa=aa;r.Ma=0;r.F[0]=D;D.Fa=r;D.Ma=0;var C=aa.F[0],ha=aa.F[1];aa.J=C.J<ha.J?C.J:ha.J;aa.K=C.K<ha.K?C.K:ha.K;aa.L=C.L<ha.L?C.L:ha.L;aa.G=C.G>ha.G?C.G:ha.G;aa.H=C.H>ha.H?C.H:ha.H;aa.I=C.I>ha.I?C.I:ha.I;var O=aa.F[0].O,Ub=aa.F[1].O;aa.O=(O>Ub?O:Ub)+1;var L=r.F[0],ka=r.F[1];r.J=L.J<ka.J?L.J:ka.J;r.K=L.K<ka.K?L.K:ka.K;r.L=L.L<ka.L?L.L:ka.L;r.G=L.G>ka.G?L.G:ka.G;r.H=L.H>ka.H?L.H:ka.H;r.I=L.I>ka.I?L.I:ka.I;var bb=r.F[0].O,U=r.F[1].O;r.O=(bb>U?bb:U)+1}null!=v?(v.F[u]=aa,aa.Fa=v,aa.Ma=u):(h.Pb=aa,aa.Fa=null);r=aa}else if(-1>B){var R=w.F[0],lc=w.F[1];if(R.O>lc.O){w.F[1]=r;r.Fa=w;r.Ma=1;r.F[1]=lc;lc.Fa=r;lc.Ma=1;var Na=w.F[0],Ra=w.F[1];w.J=Na.J<Ra.J?Na.J:Ra.J;w.K=Na.K<Ra.K?Na.K:Ra.K;w.L=Na.L<Ra.L?Na.L:Ra.L;w.G=Na.G>Ra.G?Na.G:Ra.G;w.H=Na.H>Ra.H?Na.H:Ra.H;w.I=Na.I>Ra.I?Na.I:Ra.I;var M=w.F[0].O,Pa=w.F[1].O;w.O=(M>Pa?M:Pa)+1;var Ba=r.F[0],Hb=r.F[1];r.J=Ba.J<Hb.J?Ba.J:Hb.J;r.K=Ba.K<Hb.K?Ba.K:Hb.K;r.L=Ba.L<Hb.L?Ba.L:Hb.L;r.G=Ba.G>Hb.G?Ba.G:Hb.G;r.H=Ba.H>Hb.H?Ba.H:Hb.H;r.I=Ba.I>Hb.I?Ba.I:Hb.I;var H=r.F[0].O,Qa=r.F[1].O;r.O=(H>Qa?H:Qa)+1}else{w.F[0]=r;r.Fa=w;r.Ma=0;r.F[1]=R;R.Fa=r;R.Ma=1;var ba=w.F[0],Q=w.F[1];w.J=ba.J<Q.J?ba.J:Q.J;w.K=ba.K<Q.K?ba.K:Q.K;w.L=ba.L<Q.L?ba.L:Q.L;w.G=ba.G>Q.G?ba.G:Q.G;w.H=ba.H>Q.H?ba.H:Q.H;w.I=ba.I>Q.I?ba.I:Q.I;var P=w.F[0].O,ya=w.F[1].O;w.O=(P>ya?P:ya)+1;var ta=r.F[0],W=r.F[1];r.J=ta.J<W.J?ta.J:W.J;r.K=ta.K<W.K?ta.K:W.K;r.L=ta.L<W.L?ta.L:W.L;r.G=ta.G>W.G?ta.G:W.G;r.H=ta.H>W.H?ta.H:W.H;r.I=ta.I>W.I?ta.I:W.I;var pa=r.F[0].O,y=r.F[1].O;r.O=(pa>y?pa:y)+1}null!=v?(v.F[u]=w,w.Fa=v,w.Ma=u):(h.Pb=w,w.Fa=null);r=w}}var Ia=r.F[0].O,ca=r.F[1].O;r.O=(Ia>ca?Ia:ca)+1;var Ea=r.F[0],za=r.F[1];r.J=Ea.J<za.J?Ea.J:za.J;r.K=Ea.K<za.K?Ea.K:za.K;r.L=Ea.L<za.L?Ea.L:za.L;r.G=Ea.G>za.G?Ea.G:za.G;r.H=Ea.H>za.H?Ea.H:za.H;r.I=Ea.I>za.I?Ea.I:za.I;r=r.Fa}}}f.Qd=null;if(null!=l.Oa&&null!=l.Oa.Qd)throw Error("assertion error: node._proxy == null || node._proxy._leaf == null is false");l.M=null;l.Ma=0;l.F[0]=null;l.F[1]=null;l.Ma=0;l.Fa=null;l.O=0;l.Oa=null;l.M=h.Tc;h.Tc=l;var Fa=this.he,Sa=Fa.Tc;null!=Sa?(Fa.Tc=Sa.M,Sa.M=null):Sa=new te;var la=Sa;la.Oa=f;f.Qd=la;la.J=f.J;la.K=f.K;la.L=f.L;la.G=f.G;la.H=f.H;la.I=f.I;Fa.Nj++;null==Fa.Tf?Fa.Tf=la:(Fa.Xe.Kf=la,la.Lf=Fa.Xe);Fa.Xe=la;if(null==la.Oa||la.Oa.Qd!=la||null!=la.F[0]||null!=la.F[1]||0!=la.O)throw Error("assertion error: leaf._proxy != null && leaf._proxy._leaf == leaf && leaf._children[0] == null && leaf._children[1] == null && leaf._height == 0 is false");if(null==Fa.Pb)Fa.Pb=la;else{for(var Z=Fa.Pb;0<Z.O;){var Ga=Fa.oi.Dl(Z,la);if(-1==Ga)break;else Z=Z.F[Ga]}var ra=Z.Fa,va=Fa.Tc;null!=va?(Fa.Tc=va.M,va.M=null):va=new te;var J=va;if(null==ra)Fa.Pb=J;else{var La=Z.Ma;ra.F[La]=J;J.Fa=ra;J.Ma=La}var Xa=Z.Ma;J.F[Xa]=Z;Z.Fa=J;Z.Ma=Xa;var S=Z.Ma^1;J.F[S]=la;la.Fa=J;for(la.Ma=S;null!=J;){if(Fa.oi.yj&&!(2>J.O)){var Ya=J.Fa,T=J.F[0],K=J.F[1],ia=T.O-K.O,gb=J.Ma;if(1<ia){var da=T.F[0],Hc=T.F[1];if(da.O>Hc.O){T.F[1]=J;J.Fa=T;J.Ma=1;J.F[0]=Hc;Hc.Fa=J;Hc.Ma=0;var sa=T.F[0],fb=T.F[1];T.J=sa.J<fb.J?sa.J:fb.J;T.K=sa.K<fb.K?sa.K:fb.K;T.L=sa.L<fb.L?sa.L:fb.L;T.G=sa.G>fb.G?sa.G:fb.G;T.H=sa.H>fb.H?sa.H:fb.H;T.I=sa.I>fb.I?sa.I:fb.I;var jb=T.F[0].O,Za=T.F[1].O;T.O=(jb>Za?jb:Za)+1;var ma=J.F[0],oa=J.F[1];J.J=ma.J<oa.J?ma.J:oa.J;J.K=ma.K<oa.K?ma.K:oa.K;J.L=ma.L<oa.L?ma.L:oa.L;J.G=ma.G>oa.G?ma.G:oa.G;J.H=ma.H>oa.H?ma.H:oa.H;J.I=ma.I>oa.I?ma.I:oa.I;var Ja=J.F[0].O,Ha=J.F[1].O;J.O=(Ja>Ha?Ja:Ha)+1}else{T.F[0]=J;J.Fa=T;J.Ma=0;J.F[0]=da;da.Fa=J;da.Ma=0;var ob=T.F[0],fa=T.F[1];T.J=ob.J<fa.J?ob.J:fa.J;T.K=ob.K<fa.K?ob.K:fa.K;T.L=ob.L<fa.L?ob.L:fa.L;T.G=ob.G>fa.G?ob.G:fa.G;T.H=ob.H>fa.H?ob.H:fa.H;T.I=ob.I>fa.I?ob.I:fa.I;var ea=T.F[0].O,ja=T.F[1].O;T.O=(ea>ja?ea:ja)+1;var cb=J.F[0],Aa=J.F[1];J.J=cb.J<Aa.J?cb.J:Aa.J;J.K=cb.K<Aa.K?cb.K:Aa.K;J.L=cb.L<Aa.L?cb.L:Aa.L;J.G=cb.G>Aa.G?cb.G:Aa.G;J.H=cb.H>Aa.H?cb.H:Aa.H;J.I=cb.I>Aa.I?cb.I:Aa.I;var sb=J.F[0].O,Ua=J.F[1].O;J.O=(sb>Ua?sb:Ua)+1}null!=Ya?(Ya.F[gb]=T,T.Fa=Ya,T.Ma=gb):(Fa.Pb=T,T.Fa=null);J=T}else if(-1>ia){var qb=K.F[0],rb=K.F[1];if(qb.O>rb.O){K.F[1]=J;J.Fa=K;J.Ma=1;J.F[1]=rb;rb.Fa=J;rb.Ma=1;var 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Tc=J.F[0].O,Fb=J.F[1].O;J.O=(Tc>Fb?Tc:Fb)+1;var Oa=J.F[0],nb=J.F[1];J.J=Oa.J<nb.J?Oa.J:nb.J;J.K=Oa.K<nb.K?Oa.K:nb.K;J.L=Oa.L<nb.L?Oa.L:nb.L;J.G=Oa.G>nb.G?Oa.G:nb.G;J.H=Oa.H>nb.H?Oa.H:nb.H;J.I=Oa.I>nb.I?Oa.I:nb.I;J=J.Fa}}b&&this.fh(this.he.Pb,f.Qd);f.Zg=!1}this.Ye[c]=null}b||this.fh(this.he.Pb,this.he.Pb);this.uf=0}},Sd:function(a,b,e){null!=this.he.Pb&&this.rl(this.he.Pb,a.x,a.y,a.z,b.x,b.y,b.z,e)},rf:function(a,b,e,d){null!=this.he.Pb&&this.Vk(this.he.Pb,a,b,e,d)},eh:function(a,b){null!=this.he.Pb&&this.Qk(this.he.Pb,a,b)},wn:function(){return this.he.Qm()},ra:tc});te.aa=!0;te.prototype={ra:te};pj.aa=!0;pj.Kb=Jc;pj.prototype=mb(Jc.prototype,{ra:pj});oj.aa=!0;oj.prototype={Dl:function(a,b){switch(this.Gl){case 0:var e,d,c;e=b.J+b.G;d=b.K+b.H;c=b.L+b.I;var f=a.F[0],h=a.F[1],l,g;b=f.J+f.G;a=f.K+f.H;f=f.L+f.I;l=h.J+h.G;g=h.K+h.H;h=h.L+h.I;b-=e;a-=d;f-=c;l-=e;g-=d;h-=c;return b*b+a*a+f*f<l*l+g*g+h*h?0:1;case 1:f=a.F[0];e=a.F[1];d=a.H-a.K;c=a.I-a.L;var h=2*((a.G-a.J)*(d+c)+d*c),k,m;d=a.J<b.J?a.J:b.J;k=a.K<b.K?a.K:b.K;l=a.L<b.L?a.L:b.L;c=a.G>b.G?a.G:b.G;m=a.H>b.H?a.H:b.H;g=a.I>b.I?a.I:b.I;a=m-k;l=g-l;d=2*((c-d)*(a+l)+a*l);a=2*d;var n=2*(d-h),h=n;d=f.J<b.J?f.J:b.J;k=f.K<b.K?f.K:b.K;l=f.L<b.L?f.L:b.L;c=f.G>b.G?f.G:b.G;m=f.H>b.H?f.H:b.H;g=f.I>b.I?f.I:b.I;0==f.O?(f=m-k,l=g-l,h+=2*((c-d)*(f+l)+f*l)):(k=m-k,l=g-l,g=f.H-f.K,m=f.I-f.L,h+=2*((c-d)*(k+l)+k*l)-2*((f.G-f.J)*(g+m)+g*m));f=n;d=e.J<b.J?e.J:b.J;k=e.K<b.K?e.K:b.K;l=e.L<b.L?e.L:b.L;c=e.G>b.G?e.G:b.G;m=e.H>b.H?e.H:b.H;g=e.I>b.I?e.I:b.I;0==e.O?(e=m-k,b=g-l,f+=2*((c-d)*(e+b)+e*b)):(b=m-k,l=g-l,g=e.H-e.K,n=e.I-e.L,f+=2*((c-d)*(b+l)+b*l)-2*((e.G-e.J)*(g+n)+g*n));return a<h?a<f?-1:1:h<f?0:1;default:return console.log("BvhStrategy.hx:37:","invalid BVH insertion strategy: "+this.Gl),-1}},ra:oj};Fk.aa=!0;Fk.prototype={Qm:function(){return this.Yk(this.Pb)},Yk:function(a){if(null==a||0==a.O)return 0;var b=a.F[0].O-a.F[1].O;0>b&&(b=-b);return b+this.Yk(a.F[0])+this.Yk(a.F[1])},ra:Fk};Da.aa=!0;Da.prototype={Aa:function(a,b){this.na=a.x;this.oa=a.y;this.pa=a.z;this.ka=b.x;this.la=b.y;this.ma=b.z;return this},Hc:function(){var a=new t;a.x=this.na;a.y=this.oa;a.z=this.pa;return a},Ic:function(a){a.x=this.na;a.y=this.oa;a.z=this.pa},Pd:function(a){this.na=a.x;this.oa=a.y;this.pa=a.z;return this},zc:function(){var a=new t;a.x=this.ka;a.y=this.la;a.z=this.ma;return a},Cc:function(a){a.x=this.ka;a.y=this.la;a.z=this.ma},cd:function(a){this.ka=a.x;this.la=a.y;this.ma=a.z;return this},tb:function(){var a=new t,b,e,d;b=this.na+this.ka;e=this.oa+this.la;d=this.pa+this.ma;a.x=.5*b;a.y=.5*e;a.z=.5*d;return a},Lb:function(a){var b,e,d;b=this.na+this.ka;e=this.oa+this.la;d=this.pa+this.ma;a.x=.5*b;a.y=.5*e;a.z=.5*d},lc:function(){var a=new t,b,e,d;b=this.ka-this.na;e=this.la-this.oa;d=this.ma-this.pa;a.x=.5*b;a.y=.5*e;a.z=.5*d;return a},mc:function(a){var b,e,d;b=this.ka-this.na;e=this.la-this.oa;d=this.ma-this.pa;a.x=.5*b;a.y=.5*e;a.z=.5*d},Qa:function(a){this.na=this.na<a.na?this.na:a.na;this.oa=this.oa<a.oa?this.oa:a.oa;this.pa=this.pa<a.pa?this.pa:a.pa;this.ka=this.ka>a.ka?this.ka:a.ka;this.la=this.la>a.la?this.la:a.la;this.ma=this.ma>a.ma?this.ma:a.ma;return this},bb:function(a){var b=new Da;b.na=this.na<a.na?this.na:a.na;b.oa=this.oa<a.oa?this.oa:a.oa;b.pa=this.pa<a.pa?this.pa:a.pa;b.ka=this.ka>a.ka?this.ka:a.ka;b.la=this.la>a.la?this.la:a.la;b.ma=this.ma>a.ma?this.ma:a.ma;return b},Jc:function(a){return this.na<a.ka&&this.ka>a.na&&this.oa<a.la&&this.la>a.oa&&this.pa<a.ma?this.ma>a.pa:!1},qc:function(a){var b=new Da;b.na=this.na>a.na?this.na:a.na;b.oa=this.oa>a.oa?this.oa:a.oa;b.pa=this.pa>a.pa?this.pa:a.pa;b.ka=this.ka<a.ka?this.ka:a.ka;b.la=this.la<a.la?this.la:a.la;b.ma=this.ma<a.ma?this.ma:a.ma;return b},rc:function(a,b){b.na=this.na>a.na?this.na:a.na;b.oa=this.oa>a.oa?this.oa:a.oa;b.pa=this.pa>a.pa?this.pa:a.pa;b.ka=this.ka<a.ka?this.ka:a.ka;b.la=this.la<a.la?this.la:a.la;b.ma=this.ma<a.ma?this.ma:a.ma},Zd:function(a){this.na=a.na;this.oa=a.oa;this.pa=a.pa;this.ka=a.ka;this.la=a.la;this.ma=a.ma;return this},clone:function(){var a=new Da;a.na=this.na;a.oa=this.oa;a.pa=this.pa;a.ka=this.ka;a.la=this.la;a.ma=this.ma;return a},ra:Da};fd.aa=!0;fd.Kb=xa;fd.prototype=mb(xa.prototype,{hn:function(){var a=new t;a.x=this.Le;a.y=this.Me;a.z=this.Ne;return a},jn:function(a){a.x=this.Le;a.y=this.Me;a.z=this.Ne},Be:function(){this.nf=8*this.Le*this.Me*this.Ne;var a,b,e;a=this.Le*this.Le;b=this.Me*this.Me;e=this.Ne*this.Ne;this.cg=.3333333333333333*(b+e);this.fg=this.eg=this.dg=0;this.gg=.3333333333333333*(e+a);this.jg=this.ig=this.hg=0;this.kg=.3333333333333333*(a+b)},Mb:function(a,b){var e,d,c,f,h;f=b.o*this.mk+b.f*this.nk+b.h*this.pk;h=b.i*this.mk+b.m*this.nk+b.j*this.pk;e=b.l*this.mk+b.g*this.nk+b.s*this.pk;var l,g;l=b.o*this.qk+b.f*this.rk+b.h*this.sk;g=b.i*this.qk+b.m*this.rk+b.j*this.sk;d=b.l*this.qk+b.g*this.rk+b.s*this.sk;var k,m;k=b.o*this.tk+b.f*this.uk+b.h*this.vk;m=b.i*this.tk+b.m*this.uk+b.j*this.vk;c=b.l*this.tk+b.g*this.uk+b.s*this.vk;f=(0>f?-f:f)+(0>l?-l:l)+(0>k?-k:k);h=(0>h?-h:h)+(0>g?-g:g)+(0>m?-m:m);e=(0>e?-e:e)+(0>d?-d:d)+(0>c?-c:c);a.na=b.v-f;a.oa=b.A-h;a.pa=b.B-e;a.ka=b.v+f;a.la=b.A+h;a.ma=b.B+e},Ld:function(a,b){var e,d,c;c=d=e=this.gc;e=e<this.Le?e:this.Le;d=d<this.Me?d:this.Me;c=c<this.Ne?c:this.Ne;e=this.Le-e;d=this.Me-d;c=this.Ne-c;b.x=0<a.x?e:-e;b.y=0<a.y?d:-d;b.z=0<a.z?c:-c},li:function(a,b,e,d,c,f,h){var l=this.Le,g=this.Me,k=this.Ne;d-=a;c-=b;f-=e;var m=0,n=0,q=0,p=1,r=1,v=1;if(-1E-6<d&&1E-6>d){if(a<=-l||a>=l)return!1}else{var aa=1/d,w=(-l-a)*aa,l=(l-a)*aa;w>l&&(aa=w,w=l,l=aa);0<w&&(m=w);1>l&&(p=l)}if(-1E-6<c&&1E-6>c){if(b<=-g||b>=g)return!1}else w=1/c,l=(-g-b)*w,g=(g-b)*w,l>g&&(w=l,l=g,g=w),0<l&&(n=l),1>g&&(r=g);if(-1E-6<f&&1E-6>f){if(e<=-k||e>=k)return!1}else l=1/f,g=(-k-e)*l,k=(k-e)*l,g>k&&(l=g,g=k,k=l),0<g&&(q=g),1>k&&(v=k);if(1<=m||1<=n||1<=q||0>=p||0>=r||0>=v)return!1;k=m;m=0;n>k&&(k=n,m=1);q>k&&(k=q,m=2);r<p&&(p=r);v<p&&(p=v);if(k>p||!k)return!1;switch(m){case 0:h.normal.Aa(0<d?-1:1,0,0);break;case 1:h.normal.Aa(0,0<c?-1:1,0);break;case 2:h.normal.Aa(0,0,0<f?-1:1)}h.position.Aa(a+k*d,b+k*c,e+k*f);h.fraction=k;return!0},ra:fd});od.aa=!0;od.Kb=xa;od.prototype=mb(xa.prototype,{Jh:function(){return this.ab},mj:function(){return this.Hb},Be:function(){var a=this.ab*this.ab,b=this.Hb*this.Hb,e=6.28318530717958*a*this.Hb,d=3.14159265358979*a*this.ab*4/3,c=(this.nf=e+d)?1/this.nf:0;this.cg=b=c*(e*(.25*a+b/3)+d*(.4*a+this.Hb*this.ab*.75+b));this.fg=this.eg=this.dg=0;this.gg=c*(e*a*.5+d*a*.4);this.jg=this.ig=this.hg=0;this.kg=b},Mb:function(a,b){var e,d,c;c=d=e=this.ab;var f,h,l;f=b.f;h=b.m;l=b.g;f=(0>f?-f:f)*this.Hb;h=(0>h?-h:h)*this.Hb;l=(0>l?-l:l)*this.Hb;e+=f;d+=h;c+=l;a.na=b.v-e;a.oa=b.A-d;a.pa=b.B-c;a.ka=b.v+e;a.la=b.A+d;a.ma=b.B+c},Ld:function(a,b){0<a.y?b.Aa(0,this.Hb,0):b.Aa(0,-this.Hb,0)},li:function(a,b,e,d,c,f,h){var l=this.Hb,g=d-a,k=f-e,m,n=g*g+k*k,q=a*g+e*k;m=a*a+e*e-this.ab*this.ab;var p=q*q-n*m;if(0>p)return!1;if(0<n){if(p=Math.sqrt(p),m=(-q-p)/n,1<=m||0>=(-q+p)/n)return!1}else{if(0<=m)return!1;m=0}n=b+(c-b)*m;if(n>-l&&n<l)return 0<m?(f=m,q=h.normal.Aa(a+g*f,0,e+k*f),b=Math.sqrt(q.x*q.x+q.y*q.y+q.z*q.z),0<b&&(b=1/b),c=q.y*b,d=q.z*b,q.x=q.x*b,q.y=c,q.z=d,h.position.Aa(a+f*g,n,e+f*k),h.fraction=f,!0):!1;var g=0>n?-l:l,r;r=a-0;l=b-g;k=e-0;a=d-a;b=c-b;e=f-e;n=a*a+b*b+e*e;q=r*a+l*b+k*e;m=r*r+l*l+k*k-this.ab*this.ab;p=q*q-n*m;if(0>p)return!1;f=(-q-Math.sqrt(p))/n;if(0>f||1<f)return!1;a=r+a*f;n=l+b*f;e=k+e*f;q=a*a+n*n+e*e;0<q&&(q=1/Math.sqrt(q));b=h.position;b.x=a+0;b.y=n+g;b.z=e+0;g=h.normal;g.x=a*q;g.y=n*q;g.z=e*q;h.fraction=f;return!0},ra:od});ed.aa=!0;ed.Kb=xa;ed.prototype=mb(xa.prototype,{Jh:function(){return this.ab},mj:function(){return this.Hb},Be:function(){var a=this.ab*this.ab,b=this.Hb*this.Hb*4;this.nf=3.14159265358979*a*this.Hb*2/3;this.cg=.05*(3*a+2*b);this.fg=this.eg=this.dg=0;this.gg=.3*a;this.jg=this.ig=this.hg=0;this.kg=.08333333333333333*(3*a+2*b)},Mb:function(a,b){var e,d,c,f,h,l;e=b.f;d=b.m;c=b.g;f=Math.sqrt(1-e*e);h=Math.sqrt(1-d*d);l=Math.sqrt(1-c*c);f*=this.ab;h*=this.ab;l*=this.ab;e*=this.Hb;d*=this.Hb;c*=this.Hb;var g,k,m,n,q,p;g=-e-f;k=-d-h;m=-c-l;n=-e+f;q=-d+h;p=-c+l;l=g>n?g:n;h=k>q?k:q;f=m>p?m:p;g=g<n?g:n;k=k<q?k:q;m=m<p?m:p;a.na=b.v+(g<e?g:e);a.oa=b.A+(k<d?k:d);a.pa=b.B+(m<c?m:c);a.ka=b.v+(l>e?l:e);a.la=b.A+(h>d?h:d);a.ma=b.B+(f>c?f:c)},Ld:function(a,b){var e=a.x,d=a.y,c=a.z;0<d&&d*d>this.ak*this.ak*(e*e+d*d+c*c)?(b.Aa(0,this.Hb-this.gc/this.ak,0),0>b.y&&(b.y=0)):(e=a.x,a=a.z,d=e*e+a*a,c=2*this.Hb,c=(c-this.gc)/c*this.ab-this.gc/this.Sj,0>c&&(c=0),d=0<d?c/Math.sqrt(d):0,c=this.Hb-this.gc,0>c&&(c=0),b.x=e*d,b.y=-c,b.z=a*d)},li:function(a,b,e,d,c,f,h){var l=this.Hb;d-=a;c-=b;f-=e;var g=0,k=1;if(-1E-6<c&&1E-6>c){if(b<=-l||b>=l)return!1}else{var m=1/c,n=(-l-b)*m,m=(l-b)*m;if(n>m)var q=n,n=m,m=q;0<n&&(g=n);1>m&&(k=m)}if(1<=g||0>=k)return!1;b-=l;var q=this.Sj*this.Sj,m=q*(d*d+c*c+f*f)-c*c,n=q*(a*d+b*c+e*f)-b*c,q=q*(a*a+b*b+e*e)-b*b,p=n*n-m*q;if(m){if(0>p)return!1;p=Math.sqrt(p);if(0>m)if(0<c){if(q=0,n=(-n+p)/m,0>=n)return!1}else{if(q=(-n-p)/m,n=1,1<=q)return!1}else if(q=(-n-p)/m,n=(-n+p)/m,1<=q||0>=n)return!1}else if(m=-q/(2*n),0<n){if(q=0,n=m,0>=m)return!1}else if(q=m,n=1,1<=m)return!1;b+=l;if(n<=g||k<=q)return!1;if(q<g){l=g;if(!l)return!1;h.normal.Aa(0,0<c?-1:1,0)}else{l=q;if(!l)return!1;g=h.normal.Aa(a+d*l,0,e+f*l);k=Math.sqrt(g.x*g.x+g.y*g.y+g.z*g.z);0<k&&(k=1/k);n=g.y*k;m=g.z*k;g.x=g.x*k;g.y=n;g.z=m;k=this.Sj;n=g.y*k;m=g.z*k;g.x=g.x*k;g.y=n;g.z=m;h.normal.y+=this.ak}h.position.Aa(a+l*d,b+l*c,e+l*f);h.fraction=l;return!0},ra:ed});Hd.aa=!0;Hd.Kb=xa;Hd.prototype=mb(xa.prototype,{An:function(){return this.zb},Be:function(){this.cg=this.nf=1;this.fg=this.eg=this.dg=0;this.gg=1;this.jg=this.ig=this.hg=0;this.kg=1;for(var a=this.zb[0].x,b=this.zb[0].y,e=this.zb[0].z,d=this.zb[0].x,c=this.zb[0].y,f=this.zb[0].z,h=1,l=this.Ae;h<l;){var g=h++,k=this.zb[g].x,m=this.zb[g].y,g=this.zb[g].z;k<a?a=k:k>d&&(d=k);m<b?b=m:m>c&&(c=m);g<e?e=g:g>f&&(f=g)}h=d-a;l=c-b;k=f-e;this.nf=h*l*k;a=.25*((a+d)*(a+d)+(b+c)*(b+c)+(e+f)*(e+f));h=h*h*.25;l=l*l*.25;k=k*k*.25;this.cg=.3333333333333333*(l+k)+a;this.fg=this.eg=this.dg=0;this.gg=.3333333333333333*(k+h)+a;this.jg=this.ig=this.hg=0;this.kg=.3333333333333333*(h+l)+a},Mb:function(a,b){var e,d,c,f,h,l,g,k,m;m=k=g=this.gc;var n,q,p;e=this.zb[0];n=e.x;q=e.y;p=e.z;d=b.o*n+b.f*q+b.h*p;e=b.i*n+b.m*q+b.j*p;c=b.l*n+b.g*q+b.s*p;n=d+b.v;q=e+b.A;p=c+b.B;e=n;d=q;c=p;f=n;h=q;l=p;for(var r=1,v=this.Ae;r<v;){n=r++;p=this.zb[n];n=p.x;q=p.y;p=p.z;var aa,w;aa=b.o*n+b.f*q+b.h*p;w=b.i*n+b.m*q+b.j*p;p=b.l*n+b.g*q+b.s*p;n=aa;q=w;n+=b.v;q+=b.A;p+=b.B;e=e<n?e:n;d=d<q?d:q;c=c<p?c:p;f=f>n?f:n;h=h>q?h:q;l=l>p?l:p}a.na=e-g;a.oa=d-k;a.pa=c-m;a.ka=f+g;a.la=h+k;a.ma=l+m},Ld:function(a,b){for(var e=this.zb[0],e=e.x*a.x+e.y*a.y+e.z*a.z,d=0,c=1,f=this.Ae;c<f;){var h=c++,l=this.zb[h],l=l.x*a.x+l.y*a.y+l.z*a.z;l>e&&(e=l,d=h)}a=this.zb[d];b.x=a.x;b.y=a.y;b.z=a.z},ra:Hd});Dc.aa=!0;Dc.Kb=xa;Dc.prototype=mb(xa.prototype,{Jh:function(){return this.ab},mj:function(){return this.Hb},Be:function(){var a=this.ab*this.ab,b=this.Hb*this.Hb*4;this.nf=3.14159265358979*a*this.Hb*2;this.cg=.08333333333333333*(3*a+b);this.fg=this.eg=this.dg=0;this.gg=.5*a;this.jg=this.ig=this.hg=0;this.kg=.08333333333333333*(3*a+b)},Mb:function(a,b){var e,d,c,f,h,l;e=b.f;d=b.m;c=b.g;e=0>e?-e:e;d=0>d?-d:d;c=0>c?-c:c;f=Math.sqrt(1-e*e);h=Math.sqrt(1-d*d);l=Math.sqrt(1-c*c);f*=this.ab;h*=this.ab;l*=this.ab;e*=this.Hb;d*=this.Hb;c*=this.Hb;f+=e;h+=d;l+=c;a.na=b.v-f;a.oa=b.A-h;a.pa=b.B-l;a.ka=b.v+f;a.la=b.A+h;a.ma=b.B+l},Ld:function(a,b){var e=a.x,d=a.z,c=e*e+d*d,f=this.ab-this.gc;0>f&&(f=0);c=0<c?f/Math.sqrt(c):0;f=this.Hb-this.gc;0>f&&(f=0);b.x=e*c;b.y=0<a.y?f:-f;b.z=d*c},li:function(a,b,e,d,c,f,h){var l=this.Hb;d-=a;c-=b;f-=e;var g=0,k=1;if(-1E-6<c&&1E-6>c){if(b<=-l||b>=l)return!1}else{var m=1/c,n=(-l-b)*m,l=(l-b)*m;n>l&&(m=n,n=l,l=m);0<n&&(g=n);1>l&&(k=l)}if(1<=g||0>=k)return!1;var l=d*d+f*f,n=a*d+e*f,m=a*a+e*e-this.ab*this.ab,q=n*n-l*m;if(0>q)return!1;if(0<l){if(q=Math.sqrt(q),m=(-n-q)/l,l=(-n+q)/l,1<=m||0>=l)return!1}else{if(0<=m)return!1;m=0;l=1}if(l<=g||k<=m)return!1;if(m<g){if(!g)return!1;h.normal.Aa(0,0<c?-1:1,0)}else{g=m;if(!g)return!1;k=h.normal.Aa(a+d*g,0,e+f*g);l=Math.sqrt(k.x*k.x+k.y*k.y+k.z*k.z);0<l&&(l=1/l);n=k.y*l;m=k.z*l;k.x=k.x*l;k.y=n;k.z=m}h.position.Aa(a+g*d,b+g*c,e+g*f);h.fraction=g;return!0},ra:Dc});Nc.aa=!0;Wd.aa=!0;Wd.prototype={ra:Wd};Nd.aa=!0;Nd.Kb=xa;Nd.prototype=mb(xa.prototype,{Jh:function(){return this.ab},Be:function(){this.nf=4.188790204786386*this.ab*this.ab*this.ab;this.cg=.4*this.ab*this.ab;this.fg=this.eg=this.dg=0;this.gg=.4*this.ab*this.ab;this.jg=this.ig=this.hg=0;this.kg=.4*this.ab*this.ab},Mb:function(a,b){var e,d,c;c=d=e=this.ab;a.na=b.v-e;a.oa=b.A-d;a.pa=b.B-c;a.ka=b.v+e;a.la=b.A+d;a.ma=b.B+c},Ld:function(a,b){b.Z()},li:function(a,b,e,d,c,f,h){var l;d-=a;c-=b;l=f-e;f=d*d+c*c+l*l;var g=a*d+b*c+e*l,k=g*g-f*(a*a+b*b+e*e-this.ab*this.ab);if(0>k)return!1;f=(-g-Math.sqrt(k))/f;if(0>f||1<f)return!1;a+=d*f;b+=c*f;e+=l*f;d=a*a+b*b+e*e;0<d&&(d=1/Math.sqrt(d));c=h.position;c.x=a;c.y=b;c.z=e;c=h.normal;c.x=a*d;c.y=b*d;c.z=e*d;h.fraction=f;return!0},ra:Nd});Ed.aa=!0;Ed.prototype={Qa:function(a,b){return this.Ib[a][b]},ra:Ed};dd.aa=!0;dd.prototype={cm:function(){for(var a=0,b=0,e=this.numPoints;b<e;){var d=b++;this.points[d].depth>a&&(a=this.points[d].depth)}return a},clear:function(){for(var a=this.numPoints=0,b=this.points;a<b.length;){var e=b[a];++a;e.position1.Z();e.position2.Z();e.depth=0;e.id=0}this.normal.Z()},ra:dd};nj.aa=!0;nj.prototype={ra:nj};bk.aa=!0;bk.prototype={Je:function(){null!=this.Yh&&this.Yh.clear()},ra:bk};Xc.aa=!0;Xc.prototype={xi:function(a,b,e,d){var c=a.normal;c.x=b;c.y=e;c.z=d;this.qh&&(a=a.normal,b=-a.y,e=-a.z,a.x=-a.x,a.y=b,a.z=e)},ri:function(a,b,e,d,c,f,h,l,g){a=a.points[a.numPoints++];a.depth=l;a.id=g;this.qh?(l=a.position1,l.x=c,l.y=f,l.z=h,c=a.position2,c.x=b,c.y=e,c.z=d):(l=a.position1,l.x=b,l.y=e,l.z=d,b=a.position2,b.x=c,b.y=f,b.z=h)},Ih:function(){},Yl:function(a,b,e,d,c,f){for(var h=a.numPoints=0,l=a.points;h<l.length;){var g=l[h];++h;g.position1.Z();g.position2.Z();g.depth=0;g.id=0}a.normal.Z();this.qh?this.Ih(a,e,b,c,d,f):this.Ih(a,b,e,d,c,f)},ra:Xc};yd.aa=!0;yd.Kb=Xc;yd.prototype=mb(Xc.prototype,{Ih:function(a,b,e,d,c){a.incremental=!1;var f,h,l,g,k,m;f=d.f;h=d.m;l=d.g;g=c.f;k=c.m;m=c.g;var n=b.Hb,q=e.Hb;b=b.ab;e=e.ab;var p,r,v,aa,w,B;p=d.v+f*-n;r=d.A+h*-n;v=d.B+l*-n;f=d.v+f*n;aa=d.A+h*n;w=d.B+l*n;h=c.v+g*-q;l=c.A+k*-q;d=c.B+m*-q;g=c.v+g*q;k=c.A+k*q;B=c.B+m*q;var u,D,t;u=p-h;D=r-l;t=v-d;f-=p;aa-=r;c=w-v;m=g-h;w=k-l;g=B-d;k=-(u*f+D*aa+t*c);u=u*m+D*w+t*g;D=n*n*4;t=f*m+aa*w+c*g;B=q*q*4;D||B?D?B?((q=D*B-t*t)?(n=t*u+B*k,n=0>n?0:n>q?1:n/q):n=0,q=n*t+u,0>q?(q=0,n=k,n=0>n?0:n>D?1:n/D):q>B?(q=1,n=t+k,n=0>n?0:n>D?1:n/D):q/=B):(q=0,n=k,n=0>n?0:n>D?1:n/D):(n=0,q=u,q=0>q?0:q>B?1:q/B):q=n=0;p+=f*n;r+=aa*n;v+=c*n;h+=m*q;l+=w*q;d+=g*q;aa=p-h;f=r-l;q=v-d;n=aa*aa+f*f+q*q;n>=(b+e)*(b+e)||(n=Math.sqrt(n),0<n?(aa*=1/n,f*=1/n,q*=1/n):(aa=1,q=f=0),this.xi(a,aa,f,q),this.ri(a,p+aa*-b,r+f*-b,v+q*-b,h+aa*e,l+f*e,d+q*e,b+e-n,0))},ra:yd});Sd.aa=!0;Sd.Kb=Xc;Sd.prototype=mb(Xc.prototype,{Ih:function(a,b,e,d,c,f){var h=Jb.Qa;d=h.kj(b,e,d,c,F.enableGJKCaching?f:null,!0);a.incremental=!0;if(d!=Nb.SUCCEEDED)console.log("GjkEpaDetector.hx:28:","GJK/EPA failed: status="+d);else if(!(h.distance>b.gc+e.gc)){var l,g,k;f=h.closestPoint1;d=f.x;c=f.y;f=f.z;k=h.closestPoint2;l=k.x;g=k.y;k=k.z;var m,n,q;m=d-l;n=c-g;q=f-k;if(m*m+n*n+q*q){0>h.distance&&(m=-m,n=-n,q=-q);var p=m*m+n*n+q*q;0<p&&(p=1/Math.sqrt(p));m*=p;n*=p;q*=p;this.xi(a,m,n,q);d+=m*-b.gc;c+=n*-b.gc;f+=q*-b.gc;l+=m*e.gc;g+=n*e.gc;k+=q*e.gc;this.ri(a,d,c,f,l,g,k,b.gc+e.gc-h.distance,0)}}},ra:Sd});Gd.aa=!0;Gd.Kb=Xc;Gd.prototype=mb(Xc.prototype,{Ih:function(a,b,e,d,c){a.incremental=!1;var f,h,l,g,k;f=e.Le;h=e.Me;e=e.Ne;l=-f;g=-h;k=-e;b=b.ab;var m,n,q;m=d.v-c.v;n=d.A-c.A;q=d.B-c.B;var p,r;p=c.o*m+c.i*n+c.l*q;r=c.f*m+c.m*n+c.g*q;m=c.h*m+c.j*n+c.s*q;if(l<p&&f>p&&g<r&&h>r&&k<m&&e>m){var v;n=f-(0>p?-p:p);v=h-(0>r?-r:r);var aa=e-(0>m?-m:m),w,B;n<v?n<aa?(l=0<p?1:-1,w=k=g=0,q=B=1):(0<m?(g=l=0,k=1):(g=l=0,k=-1),B=w=1,q=0,n=aa):v<aa?(0<r?(l=0,g=1):(l=0,g=-1),k=0,w=1,B=0,q=1,n=v):(0<m?(g=l=0,k=1):(g=l=0,k=-1),B=w=1,q=0,n=aa);p=l*f+w*p;h=g*h+B*r;m=k*e+q*m;e=c.o*p+c.f*h+c.h*m;r=c.i*p+c.m*h+c.j*m;h=c.l*p+c.g*h+c.s*m;m=c.o*l+c.f*g+c.h*k;p=c.i*l+c.m*g+c.j*k;f=c.l*l+c.g*g+c.s*k;this.xi(a,m,p,f);this.ri(a,d.v+m*-b,d.A+p*-b,d.B+f*-b,c.v+e,c.A+r,c.B+h,n,0)}else f-=1E-9,h-=1E-9,e-=1E-9,l+=1E-9,g+=1E-9,k+=1E-9,f=p<f?p:f,n=r<h?r:h,q=m<e?m:e,f=f>l?f:l,n=n>g?n:g,q=q>k?q:k,p-=f,l=r-n,g=m-q,e=p*p+l*l+g*g,e>=b*b||(e=Math.sqrt(e),r=c.o*f+c.f*n+c.h*q,h=c.i*f+c.m*n+c.j*q,m=c.l*f+c.g*n+c.s*q,k=c.o*p+c.f*l+c.h*g,f=c.i*p+c.m*l+c.j*g,p=c.l*p+c.g*l+c.s*g,g=k*k+f*f+p*p,0<g&&(g=1/Math.sqrt(g)),l=k*g,f*=g,p*=g,this.xi(a,l,f,p),this.ri(a,d.v+l*-b,d.A+f*-b,d.B+p*-b,c.v+r,c.A+h,c.B+m,b-e,0))},ra:Gd});Fd.aa=!0;Fd.Kb=Xc;Fd.prototype=mb(Xc.prototype,{Ih:function(a,b,e,d,c){a.incremental=!1;var f=e.Hb;b=b.ab;e=e.ab;var h,l,g;h=c.f;l=c.m;g=c.g;var k,m;k=d.v;m=d.A;d=d.B;var n,q,p,r;n=c.v+h*-f;q=c.A+l*-f;p=c.B+g*-f;h=c.v+h*f;l=c.A+l*f;r=c.B+g*f;c=h-n;g=l-q;l=r-p;f=f*f*4;h=(k-n)*c+(m-q)*g+(d-p)*l;h=0>h?0:h>f?1:h/f;f=n+c*h;q+=g*h;p+=l*h;l=k-f;g=m-q;n=d-p;c=l*l+g*g+n*n;c>=(b+e)*(b+e)||(c=Math.sqrt(c),0<c?(l*=1/c,g*=1/c,n*=1/c):(l=1,n=g=0),this.xi(a,l,g,n),this.ri(a,k+l*-b,m+g*-b,d+n*-b,f+l*e,q+g*e,p+n*e,b+e-c,0))},ra:Fd});Se.aa=!0;Se.Kb=Xc;Se.prototype=mb(Xc.prototype,{Ih:function(a,b,e,d,c){a.incremental=!1;var f,h,l;f=d.v-c.v;h=d.A-c.A;l=d.B-c.B;b=b.ab;e=e.ab;var g=f*f+h*h+l*l;g>=(b+e)*(b+e)||(g=Math.sqrt(g),0<g?(f*=1/g,h*=1/g,l*=1/g):(f=1,l=h=0),this.xi(a,f,h,l),this.ri(a,d.v+f*-b,d.A+h*-b,d.B+l*-b,c.v+f*e,c.A+h*e,c.B+l*e,b+e-g,0))},ra:Se});mj.aa=!0;mj.prototype={Sn:function(){for(var a=this.Xc;null!=a;){for(var b=a.M,e=0;3>e;){var d=e++;a.zb[d].dj=null;a.zb[d].pi=null;if(-1==a.Ie[d])return this.Bc=2,!1;if(null==a.we[d])return this.Bc=3,!1}a=b}return!0},am:function(a,b,e){if(b.Jk!=a){b.Jk=a;var d=b.Sh;d.x=e.x;d.y=e.y;d.z=e.z;var 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n=Math.cos(a);d=l*n;c=-l*k;a=m*k+n*h*g;b=m*n-h*g*k;f=-l*h;e=h*k-m*n*g;h=n*h+m*g*k;l*=m;k=d*this.o+c*this.i+g*this.l;m=d*this.f+c*this.m+g*this.g;g=d*this.h+c*this.j+g*this.s;d=a*this.o+b*this.i+f*this.l;c=a*this.f+b*this.m+f*this.g;a=a*this.h+b*this.j+f*this.s;b=e*this.o+h*this.i+l*this.l;f=e*this.f+h*this.m+l*this.g;e=e*this.h+h*this.j+l*this.s;this.o=k;this.f=m;this.h=g;this.i=d;this.m=c;this.j=a;this.l=b;this.g=f;this.s=e},Qa:function(){var a=new ga,b,e,d,c;b=this.o;e=this.m;d=this.s;c=b+e+d;var f;0<c?(f=Math.sqrt(c+1),c=.5*f,f=.5/f,b=(this.g-this.j)*f,e=(this.h-this.l)*f,d=(this.i-this.f)*f):b>e?b>d?(f=Math.sqrt(b-e-d+1),b=.5*f,f=.5/f,e=(this.f+this.i)*f,d=(this.h+this.l)*f,c=(this.g-this.j)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f):e>d?(f=Math.sqrt(e-d-b+1),e=.5*f,f=.5/f,b=(this.f+this.i)*f,d=(this.j+this.g)*f,c=(this.h-this.l)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f);a.x=b;a.y=e;a.z=d;a.w=c;return a},bb:function(a){var b,e,d,c;b=this.o;e=this.m;d=this.s;c=b+e+d;var f;0<c?(f=Math.sqrt(c+1),c=.5*f,f=.5/f,b=(this.g-this.j)*f,e=(this.h-this.l)*f,d=(this.i-this.f)*f):b>e?b>d?(f=Math.sqrt(b-e-d+1),b=.5*f,f=.5/f,e=(this.f+this.i)*f,d=(this.h+this.l)*f,c=(this.g-this.j)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f):e>d?(f=Math.sqrt(e-d-b+1),e=.5*f,f=.5/f,b=(this.f+this.i)*f,d=(this.j+this.g)*f,c=(this.h-this.l)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.h+this.l)*f,e=(this.j+this.g)*f,c=(this.i-this.f)*f);a.x=b;a.y=e;a.z=d;a.w=c},zc:function(a){var b,e,d;b=a.x;e=a.y;d=a.z;var c=a.w,f=2*b,h=2*e,l=2*d;a=b*f;var g=e*h;d*=l;var k=b*h;e*=l;b*=l;f*=c;h*=c;c*=l;this.o=1-g-d;this.f=k-c;this.h=b+h;this.i=k+c;this.m=1-a-d;this.j=e-f;this.l=b-h;this.g=e+f;this.s=1-a-g;return this},clone:function(){var a=new Ca;a.v=this.v;a.A=this.A;a.B=this.B;a.o=this.o;a.f=this.f;a.h=this.h;a.i=this.i;a.m=this.m;a.j=this.j;a.l=this.l;a.g=this.g;a.s=this.s;return a},Zd:function(a){this.v=a.v;this.A=a.A;this.B=a.B;this.o=a.o;this.f=a.f;this.h=a.h;this.i=a.i;this.m=a.m;this.j=a.j;this.l=a.l;this.g=a.g;this.s=a.s;return this},ra:Ca};F.aa=!0;Jb.aa=!0;Jb.Ic=function(){return Jb.Qa};Jb.prototype={kj:function(a,b,e,d,c,f){this.hj=a;this.Sk=b;this.pc=e;this.Gc=d;var h=this.Pa,l=this.hb,g=this.pb,k=this.closest,m=this.dir;null!=c?(null==c.Yh&&(c.Yh=new Ek),this.Cn(c.Yh)):m.Z();if(!(m.x*m.x+m.y*m.y+m.z*m.z)){var n,q,p;n=d.v-e.v;q=d.A-e.A;p=d.B-e.B;m.x=n;m.y=q;m.z=p;1E-6>m.x*m.x+m.y*m.y+m.z*m.z&&m.Aa(1,0,0)}this.za=0;this.pf(!1);this.qf(!1);var r=this.Pa[this.za],v=this.hb[this.za];r.x=v.x;r.y=v.y;r.z=v.z;var aa=this.pb[this.za],w=r.y-aa.y,B=r.z-aa.z;r.x=r.x-aa.x;r.y=w;r.z=B;this.za=1;for(var u=0;40>u;){var D=0;switch(this.za){case 1:var t=h[0];k.x=t.x;k.y=t.y;k.z=t.z;D=1;break;case 2:var A,E,x,Bb,N,I,F=h[0];A=F.x;E=F.y;x=F.z;var C=h[1];Bb=C.x;N=C.y;I=C.z;var O,ha,L;O=Bb-A;ha=N-E;L=I-x;var Ub=O*A+ha*E+L*x,Ub=-Ub/(O*O+ha*ha+L*L);if(0>Ub){var M=k;M.x=A;M.y=E;M.z=x;D=1}else if(1<Ub){var ka=k;ka.x=Bb;ka.y=N;ka.z=I;D=2}else{var bb,U,R;bb=A+O*Ub;U=E+ha*Ub;R=x+L*Ub;var lc=k;lc.x=bb;lc.y=U;lc.z=R;D=3}break;case 3:var Na=h[0],Ra=h[1],yc=h[2],Pa,Ba,Hb,H,Qa,ba,Q,P,ya,ta,W,pa,y,Ia,ca,Ea,za,Fa,Sa=Na;Pa=Sa.x;Ba=Sa.y;Hb=Sa.z;var la=Ra;H=la.x;Qa=la.y;ba=la.z;var Z=yc;Q=Z.x;P=Z.y;ya=Z.z;ta=H-Pa;W=Qa-Ba;pa=ba-Hb;y=Q-H;Ia=P-Qa;ca=ya-ba;Ea=Pa-Q;za=Ba-P;Fa=Hb-ya;var Ga,ra,va;Ga=W*ca-pa*Ia;ra=pa*y-ta*ca;va=ta*Ia-W*y;var J=Pa*(W*va-pa*ra)+Ba*(pa*Ga-ta*va)+Hb*(ta*ra-W*Ga),La=H*(Ia*va-ca*ra)+Qa*(ca*Ga-y*va)+ba*(y*ra-Ia*Ga),Xa=Q*(za*va-Fa*ra)+P*(Fa*Ga-Ea*va)+ya*(Ea*ra-za*Ga),S=-1,Ya,T,K,ia=0;K=T=Ya=0;if(0>J){var gb,da,Hc,sa,fb,jb,Za=Na;gb=Za.x;da=Za.y;Hc=Za.z;var ma=Ra;sa=ma.x;fb=ma.y;jb=ma.z;var oa,Ja,Ha;oa=sa-gb;Ja=fb-da;Ha=jb-Hc;var ob=oa*gb+Ja*da+Ha*Hc,ob=-ob/(oa*oa+Ja*Ja+Ha*Ha),fa;if(0>ob){var ea=k;ea.x=gb;ea.y=da;ea.z=Hc;fa=1}else if(1<ob){var ja=k;ja.x=sa;ja.y=fb;ja.z=jb;fa=2}else{var cb,Aa,sb;cb=gb+oa*ob;Aa=da+Ja*ob;sb=Hc+Ha*ob;var Ua=k;Ua.x=cb;Ua.y=Aa;Ua.z=sb;fa=3}var qb=k.x*k.x+k.y*k.y+k.z*k.z,ia=fa,S=qb,rb=k;Ya=rb.x;T=rb.y;K=rb.z}if(0>La){var tb,Va,xb,rc,$a,ua,Yb=Ra;tb=Yb.x;Va=Yb.y;xb=Yb.z;var G=yc;rc=G.x;$a=G.y;ua=G.z;var pb,db,oc;pb=rc-tb;db=$a-Va;oc=ua-xb;var ab=pb*tb+db*Va+oc*xb,ab=-ab/(pb*pb+db*db+oc*oc),hb;if(0>ab){var z=k;z.x=tb;z.y=Va;z.z=xb;hb=1}else if(1<ab){var Db=k;Db.x=rc;Db.y=$a;Db.z=ua;hb=2}else{var de,Tc,Fb;de=tb+pb*ab;Tc=Va+db*ab;Fb=xb+oc*ab;var Oa=k;Oa.x=de;Oa.y=Tc;Oa.z=Fb;hb=3}var nb=k.x*k.x+k.y*k.y+k.z*k.z;if(0>S||nb<S){var ia=hb<<1,S=nb,wb=k;Ya=wb.x;T=wb.y;K=wb.z}}if(0>Xa){var yb,eb,Y,Ma,kb,Ta,ib=Na;yb=ib.x;eb=ib.y;Y=ib.z;var Ka=yc;Ma=Ka.x;kb=Ka.y;Ta=Ka.z;var Kb,bl,X;Kb=Ma-yb;bl=kb-eb;X=Ta-Y;var Cb=Kb*yb+bl*eb+X*Y,Cb=-Cb/(Kb*Kb+bl*bl+X*X),hd;if(0>Cb){var Rc=k;Rc.x=yb;Rc.y=eb;Rc.z=Y;hd=1}else if(1<Cb){var ql=k;ql.x=Ma;ql.y=kb;ql.z=Ta;hd=2}else{var ec,qd,ga;ec=yb+Kb*Cb;qd=eb+bl*Cb;ga=Y+X*Cb;var na=k;na.x=ec;na.y=qd;na.z=ga;hd=3}var xc=k.x*k.x+k.y*k.y+k.z*k.z;if(0>S||xc<S){var ia=hd&1|(hd&2)<<1,S=xc,qa=k;Ya=qa.x;T=qa.y;K=qa.z}}if(0<S){var jc=k;jc.x=Ya;jc.y=T;jc.z=K;D=ia}else{var pc=Ga*Ga+ra*ra+va*va;0<pc&&(pc=1/Math.sqrt(pc));Ga*=pc;ra*=pc;va*=pc;var kc=Ga*Ga+ra*ra+va*va,kc=(Pa*Ga+Ba*ra+Hb*va)/kc;Ya=Ga*kc;T=ra*kc;K=va*kc;var ac=k;ac.x=Ya;ac.y=T;ac.z=K;D=7}break;case 4:var Vb=h[0],Wb=h[1],Qb=h[2],fc=h[3],Rb,Ob,Xb,gc,Ib,Zb,lb,wa,Ca,Da,qc,mc,id,Ic,Pg,sc,vc,xa,Vf,mb,Te,Fc,Ab,Ue,ub,$c,Qg,rl=Vb;Rb=rl.x;Ob=rl.y;Xb=rl.z;var vb=Wb;gc=vb.x;Ib=vb.y;Zb=vb.z;var Wa=Qb;lb=Wa.x;wa=Wa.y;Ca=Wa.z;var Ac=fc;Da=Ac.x;qc=Ac.y;mc=Ac.z;id=gc-Rb;Ic=Ib-Ob;Pg=Zb-Xb;sc=lb-Rb;vc=wa-Ob;xa=Ca-Xb;Vf=Da-Rb;mb=qc-Ob;Te=mc-Xb;Fc=lb-gc;Ab=wa-Ib;Ue=Ca-Zb;ub=Da-gc;$c=qc-Ib;Qg=mc-Zb;var Tb,Sb,Gk,Lb,Pc,Gl,Gb,ic,hc,Mb,tc,Jb;Tb=Ic*xa-Pg*vc;Sb=Pg*sc-id*xa;Gk=id*vc-Ic*sc;Lb=vc*Te-xa*mb;Pc=xa*Vf-sc*Te;Gl=sc*mb-vc*Vf;Gb=mb*Pg-Te*Ic;ic=Te*id-Vf*Pg;hc=Vf*Ic-mb*id;Mb=$c*Ue-Qg*Ab;tc=Qg*Fc-ub*Ue;Jb=ub*Ab-$c*Fc;var bc=0<id*Mb+Ic*tc+Pg*Jb?1:-1,wc=Rb*Tb+Ob*Sb+Xb*Gk,$b=Rb*Lb+Ob*Pc+Xb*Gl,dc=Rb*Gb+Ob*ic+Xb*hc,Pb=gc*Mb+Ib*tc+Zb*Jb,ug=-1,zb,nc,qj,Eb=0;qj=nc=zb=0;if(0>wc*bc){var rd,Uc,Wf,cc,Nb,Ec,Df,hl,wh,cl,uc,sd,Rg,Sg,vg,xh,Id,sl,yh=Vb;rd=yh.x;Uc=yh.y;Wf=yh.z;var Xc=Wb;cc=Xc.x;Nb=Xc.y;Ec=Xc.z;var ck=Qb;Df=ck.x;hl=ck.y;wh=ck.z;cl=cc-rd;uc=Nb-Uc;sd=Ec-Wf;Rg=Df-cc;Sg=hl-Nb;vg=wh-Ec;xh=rd-Df;Id=Uc-hl;sl=Wf-wh;var Kc,jd,kd;Kc=uc*vg-sd*Sg;jd=sd*Rg-cl*vg;kd=cl*Sg-uc*Rg;var Lc=rd*(uc*kd-sd*jd)+Uc*(sd*Kc-cl*kd)+Wf*(cl*jd-uc*Kc),Pl=cc*(Sg*kd-vg*jd)+Nb*(vg*Kc-Rg*kd)+Ec*(Rg*jd-Sg*Kc),Vc=Df*(Id*kd-sl*jd)+hl*(sl*Kc-xh*kd)+wh*(xh*jd-Id*Kc),Wc=-1,Zc,td,ad,Sc=0;ad=td=Zc=0;if(0>Lc){var De,Ve,We,Jd,rj,ue,ve=Vb;De=ve.x;Ve=ve.y;We=ve.z;var Gc=Wb;Jd=Gc.x;rj=Gc.y;ue=Gc.z;var dl,el,fl;dl=Jd-De;el=rj-Ve;fl=ue-We;var wg=dl*De+el*Ve+fl*We,wg=-wg/(dl*dl+el*el+fl*fl),Nc;if(0>wg){var Jc=k;Jc.x=De;Jc.y=Ve;Jc.z=We;Nc=1}else if(1<wg){var zh=k;zh.x=Jd;zh.y=rj;zh.z=ue;Nc=2}else{var Bc,Ee,dk;Bc=De+dl*wg;Ee=Ve+el*wg;dk=We+fl*wg;var zc=k;zc.x=Bc;zc.y=Ee;zc.z=dk;Nc=3}var bd=k.x*k.x+k.y*k.y+k.z*k.z,Sc=Nc,Wc=bd,wd=k;Zc=wd.x;td=wd.y;ad=wd.z}if(0>Pl){var Cc,Yc,Xe,xd,ek,Ah,Bh=Wb;Cc=Bh.x;Yc=Bh.y;Xe=Bh.z;var Ch=Qb;xd=Ch.x;ek=Ch.y;Ah=Ch.z;var Ye,Ze,$e;Ye=xd-Cc;Ze=ek-Yc;$e=Ah-Xe;var Zd=Ye*Cc+Ze*Yc+$e*Xe,Zd=-Zd/(Ye*Ye+Ze*Ze+$e*$e),Ef;if(0>Zd){var tl=k;tl.x=Cc;tl.y=Yc;tl.z=Xe;Ef=1}else if(1<Zd){var ul=k;ul.x=xd;ul.y=ek;ul.z=Ah;Ef=2}else{var Dc,Ff,Gf;Dc=Cc+Ye*Zd;Ff=Yc+Ze*Zd;Gf=Xe+$e*Zd;var Hf=k;Hf.x=Dc;Hf.y=Ff;Hf.z=Gf;Ef=3}var Hl=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Wc||Hl<Wc){var Sc=Ef<<1,Wc=Hl,ed=k;Zc=ed.x;td=ed.y;ad=ed.z}}if(0>Vc){var Xf,Yf,af,Zf,If,we,bf=Vb;Xf=bf.x;Yf=bf.y;af=bf.z;var $f=Qb;Zf=$f.x;If=$f.y;we=$f.z;var ag,bg,cg;ag=Zf-Xf;bg=If-Yf;cg=we-af;var Fe=ag*Xf+bg*Yf+cg*af,Fe=-Fe/(ag*ag+bg*bg+cg*cg),Ge;if(0>Fe){var cf=k;cf.x=Xf;cf.y=Yf;cf.z=af;Ge=1}else if(1<Fe){var dg=k;dg.x=Zf;dg.y=If;dg.z=we;Ge=2}else{var qf,He,rf;qf=Xf+ag*Fe;He=Yf+bg*Fe;rf=af+cg*Fe;var eg=k;eg.x=qf;eg.y=He;eg.z=rf;Ge=3}var od=k.x*k.x+k.y*k.y+k.z*k.z;if(0>Wc||od<Wc){var Sc=Ge&1|(Ge&2)<<1,Wc=od,fd=k;Zc=fd.x;td=fd.y;ad=fd.z}}var vl;if(0<Wc){var wl=k;wl.x=Zc;wl.y=td;wl.z=ad;vl=Sc}else{var df=Kc*Kc+jd*jd+kd*kd;0<df&&(df=1/Math.sqrt(df));Kc*=df;jd*=df;kd*=df;var sf=Kc*Kc+jd*jd+kd*kd,sf=(rd*Kc+Uc*jd+Wf*kd)/sf;Zc=Kc*sf;td=jd*sf;ad=kd*sf;var Jf=k;Jf.x=Zc;Jf.y=td;Jf.z=ad;vl=7}var Ql=k.x*k.x+k.y*k.y+k.z*k.z,Eb=vl,ug=Ql,Kf=k;zb=Kf.x;nc=Kf.y;qj=Kf.z}if(0>$b*bc){var ee,xe,Lf,cd,fg,zd,Ad,Bd,il,gg,hg,$d,fe,ge,ae,tf,ef,ff,gf=Vb;ee=gf.x;xe=gf.y;Lf=gf.z;var Mf=Qb;cd=Mf.x;fg=Mf.y;zd=Mf.z;var xl=fc;Ad=xl.x;Bd=xl.y;il=xl.z;gg=cd-ee;hg=fg-xe;$d=zd-Lf;fe=Ad-cd;ge=Bd-fg;ae=il-zd;tf=ee-Ad;ef=xe-Bd;ff=Lf-il;var Td,Kd,Ld;Td=hg*ae-$d*ge;Kd=$d*fe-gg*ae;Ld=gg*ge-hg*fe;var Rl=ee*(hg*Ld-$d*Kd)+xe*($d*Td-gg*Ld)+Lf*(gg*Kd-hg*Td),Nf=cd*(ge*Ld-ae*Kd)+fg*(ae*Td-fe*Ld)+zd*(fe*Kd-ge*Td),Xd=Ad*(ef*Ld-ff*Kd)+Bd*(ff*Td-tf*Ld)+il*(tf*Kd-ef*Td),ud=-1,Cd,ig,Dh,jg=0;Dh=ig=Cd=0;if(0>Rl){var Yd,be,ye,hf,kg,jf,kf=Vb;Yd=kf.x;be=kf.y;ye=kf.z;var lf=Qb;hf=lf.x;kg=lf.y;jf=lf.z;var ze,uf,lg;ze=hf-Yd;uf=kg-be;lg=jf-ye;var vf=ze*Yd+uf*be+lg*ye,vf=-vf/(ze*ze+uf*uf+lg*lg),xg;if(0>vf){var mg=k;mg.x=Yd;mg.y=be;mg.z=ye;xg=1}else if(1<vf){var mf=k;mf.x=hf;mf.y=kg;mf.z=jf;xg=2}else{var wf,Ie,yg;wf=Yd+ze*vf;Ie=be+uf*vf;yg=ye+lg*vf;var zg=k;zg.x=wf;zg.y=Ie;zg.z=yg;xg=3}var Mc=k.x*k.x+k.y*k.y+k.z*k.z,jg=xg,ud=Mc,ng=k;Cd=ng.x;ig=ng.y;Dh=ng.z}if(0>Nf){var xf,yf,Ae,Ag,yl,og,pg=Qb;xf=pg.x;yf=pg.y;Ae=pg.z;var qg=fc;Ag=qg.x;yl=qg.y;og=qg.z;var Of,Je,nf;Of=Ag-xf;Je=yl-yf;nf=og-Ae;var zf=Of*xf+Je*yf+nf*Ae,zf=-zf/(Of*Of+Je*Je+nf*nf),ld;if(0>zf){var Dd=k;Dd.x=xf;Dd.y=yf;Dd.z=Ae;ld=1}else if(1<zf){var Qc=k;Qc.x=Ag;Qc.y=yl;Qc.z=og;ld=2}else{var dd,Tg,Nd;dd=xf+Of*zf;Tg=yf+Je*zf;Nd=Ae+nf*zf;var Hd=k;Hd.x=dd;Hd.y=Tg;Hd.z=Nd;ld=3}var vd=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ud||vd<ud){var jg=ld<<1,ud=vd,md=k;Cd=md.x;ig=md.y;Dh=md.z}}if(0>Xd){var Oc,gd,Eh,Qd,oe,Fh,Gh=Vb;Oc=Gh.x;gd=Gh.y;Eh=Gh.z;var Hh=fc;Qd=Hh.x;oe=Hh.y;Fh=Hh.z;var Ih,Jh,Kh;Ih=Qd-Oc;Jh=oe-gd;Kh=Fh-Eh;var Bg=Ih*Oc+Jh*gd+Kh*Eh,Bg=-Bg/(Ih*Ih+Jh*Jh+Kh*Kh),Lh;if(0>Bg){var Mh=k;Mh.x=Oc;Mh.y=gd;Mh.z=Eh;Lh=1}else if(1<Bg){var Nh=k;Nh.x=Qd;Nh.y=oe;Nh.z=Fh;Lh=2}else{var sj,Ug,tj;sj=Oc+Ih*Bg;Ug=gd+Jh*Bg;tj=Eh+Kh*Bg;var pe=k;pe.x=sj;pe.y=Ug;pe.z=tj;Lh=3}var qe=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ud||qe<ud){var jg=Lh&1|(Lh&2)<<1,ud=qe,Rd=k;Cd=Rd.x;ig=Rd.y;Dh=Rd.z}}var Be;if(0<ud){var re=k;re.x=Cd;re.y=ig;re.z=Dh;Be=jg}else{var Vg=Td*Td+Kd*Kd+Ld*Ld;0<Vg&&(Vg=1/Math.sqrt(Vg));Td*=Vg;Kd*=Vg;Ld*=Vg;var uj=Td*Td+Kd*Kd+Ld*Ld,uj=(ee*Td+xe*Kd+Lf*Ld)/uj;Cd=Td*uj;ig=Kd*uj;Dh=Ld*uj;var Wd=k;Wd.x=Cd;Wd.y=ig;Wd.z=Dh;Be=7}var Ed=k.x*k.x+k.y*k.y+k.z*k.z;if(0>ug||Ed<ug){var Eb=Be&1|(Be&6)<<1,ug=Ed,Fd=k;zb=Fd.x;nc=Fd.y;qj=Fd.z}}if(0>dc*bc){var rg,Cg,Oh,Gd,vj,Wg,Xg,Yg,Ph,Zg,$g,ah,bh,ch,Dg,Qh,Rh,Sh,Th=Vb;rg=Th.x;Cg=Th.y;Oh=Th.z;var Uh=Wb;Gd=Uh.x;vj=Uh.y;Wg=Uh.z;var te=fc;Xg=te.x;Yg=te.y;Ph=te.z;Zg=Gd-rg;$g=vj-Cg;ah=Wg-Oh;bh=Xg-Gd;ch=Yg-vj;Dg=Ph-Wg;Qh=rg-Xg;Rh=Cg-Yg;Sh=Oh-Ph;var 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ce=Wj,vh=this.pb[this.za],se=ce.y-vh.y,Re=ce.z-vh.z;ce.x=ce.x-vh.x;ce.y=se;ce.z=Re;if(1E-8>m.x*m.x+m.y*m.y+m.z*m.z)throw Error("!?");var Yj=h[this.za];if(1E-8>Yj.x*m.x+Yj.y*m.y+Yj.z*m.z-(k.x*m.x+k.y*m.y+k.z*m.z))return this.im(),this.distance=Math.sqrt(k.x*k.x+k.y*k.y+k.z*k.z),null!=c&&null!=c.Yh&&this.In(c.Yh),0;this.za++;++u}return 2},Vl:function(a,b,e,d,c,f,h){this.hj=a;this.Sk=b;this.pc=e;this.Gc=d;var l=this.Pa,g=this.closest,k=this.dir,m,n,q;m=d.v-e.v;n=d.A-e.A;q=d.B-e.B;k.x=m;k.y=n;k.z=q;1E-6>k.x*k.x+k.y*k.y+k.z*k.z&&k.Aa(1,0,0);this.za=0;if(null!=this.hj)this.pf(!0);else{var p=this.hb[this.za];p.x=this.pc.v;p.y=this.pc.A;p.z=this.pc.B}this.qf(!0);var r=this.Pa[this.za],v=this.hb[this.za];r.x=v.x;r.y=v.y;r.z=v.z;var aa=this.pb[this.za],w=r.y-aa.y,B=r.z-aa.z;r.x=r.x-aa.x;r.y=w;r.z=B;this.za=1;var u=0,D=0,t=this.Gn,A=this.Fn;t.Z();A.x=f.x;A.y=f.y;A.z=f.z;var E=A.y-c.y,x=A.z-c.z;A.x=A.x-c.x;A.y=E;for(A.z=x;40>u;){var Bb=0;switch(this.za){case 1:var N=l[0];g.x=N.x;g.y=N.y;g.z=N.z;Bb=1;break;case 2:var I,F,C,O,ha,L,Ub=l[0];I=Ub.x;F=Ub.y;C=Ub.z;var M=l[1];O=M.x;ha=M.y;L=M.z;var ka,bb,U;ka=O-I;bb=ha-F;U=L-C;var R=ka*I+bb*F+U*C,R=-R/(ka*ka+bb*bb+U*U);if(0>R){var lc=g;lc.x=I;lc.y=F;lc.z=C;Bb=1}else if(1<R){var Na=g;Na.x=O;Na.y=ha;Na.z=L;Bb=2}else{var Ra,yc,Pa;Ra=I+ka*R;yc=F+bb*R;Pa=C+U*R;var Ba=g;Ba.x=Ra;Ba.y=yc;Ba.z=Pa;Bb=3}break;case 3:var Hb=l[0],H=l[1],Qa=l[2],ba,Q,P,ya,ta,W,pa,y,Ia,ca,Ea,za,Fa,Sa,la,Z,Ga,ra,va=Hb;ba=va.x;Q=va.y;P=va.z;var J=H;ya=J.x;ta=J.y;W=J.z;var La=Qa;pa=La.x;y=La.y;Ia=La.z;ca=ya-ba;Ea=ta-Q;za=W-P;Fa=pa-ya;Sa=y-ta;la=Ia-W;Z=ba-pa;Ga=Q-y;ra=P-Ia;var Xa,S,Ya;Xa=Ea*la-za*Sa;S=za*Fa-ca*la;Ya=ca*Sa-Ea*Fa;var T=ba*(Ea*Ya-za*S)+Q*(za*Xa-ca*Ya)+P*(ca*S-Ea*Xa),K=ya*(Sa*Ya-la*S)+ta*(la*Xa-Fa*Ya)+W*(Fa*S-Sa*Xa),ia=pa*(Ga*Ya-ra*S)+y*(ra*Xa-Z*Ya)+Ia*(Z*S-Ga*Xa),gb=-1,da,Hc,sa,fb=0;sa=Hc=da=0;if(0>T){var jb,Za,ma,oa,Ja,Ha,ob=Hb;jb=ob.x;Za=ob.y;ma=ob.z;var fa=H;oa=fa.x;Ja=fa.y;Ha=fa.z;var ea,ja,cb;ea=oa-jb;ja=Ja-Za;cb=Ha-ma;var Aa=ea*jb+ja*Za+cb*ma,Aa=-Aa/(ea*ea+ja*ja+cb*cb),sb;if(0>Aa){var Ua=g;Ua.x=jb;Ua.y=Za;Ua.z=ma;sb=1}else if(1<Aa){var qb=g;qb.x=oa;qb.y=Ja;qb.z=Ha;sb=2}else{var rb,tb,Va;rb=jb+ea*Aa;tb=Za+ja*Aa;Va=ma+cb*Aa;var xb=g;xb.x=rb;xb.y=tb;xb.z=Va;sb=3}var rc=g.x*g.x+g.y*g.y+g.z*g.z,fb=sb,gb=rc,$a=g;da=$a.x;Hc=$a.y;sa=$a.z}if(0>K){var ua,Yb,G,pb,db,oc,ab=H;ua=ab.x;Yb=ab.y;G=ab.z;var hb=Qa;pb=hb.x;db=hb.y;oc=hb.z;var z,Db,de;z=pb-ua;Db=db-Yb;de=oc-G;var Tc=z*ua+Db*Yb+de*G,Tc=-Tc/(z*z+Db*Db+de*de),Fb;if(0>Tc){var Oa=g;Oa.x=ua;Oa.y=Yb;Oa.z=G;Fb=1}else if(1<Tc){var nb=g;nb.x=pb;nb.y=db;nb.z=oc;Fb=2}else{var wb,yb,eb;wb=ua+z*Tc;yb=Yb+Db*Tc;eb=G+de*Tc;var Y=g;Y.x=wb;Y.y=yb;Y.z=eb;Fb=3}var Ma=g.x*g.x+g.y*g.y+g.z*g.z;if(0>gb||Ma<gb){var fb=Fb<<1,gb=Ma,kb=g;da=kb.x;Hc=kb.y;sa=kb.z}}if(0>ia){var Ta,ib,Ka,Kb,ga,X,Cb=Hb;Ta=Cb.x;ib=Cb.y;Ka=Cb.z;var hd=Qa;Kb=hd.x;ga=hd.y;X=hd.z;var Rc,na,ec;Rc=Kb-Ta;na=ga-ib;ec=X-Ka;var qd=Rc*Ta+na*ib+ec*Ka,qd=-qd/(Rc*Rc+na*na+ec*ec),qa;if(0>qd){var wa=g;wa.x=Ta;wa.y=ib;wa.z=Ka;qa=1}else if(1<qd){var xc=g;xc.x=Kb;xc.y=ga;xc.z=X;qa=2}else{var Ca,jc,pc;Ca=Ta+Rc*qd;jc=ib+na*qd;pc=Ka+ec*qd;var kc=g;kc.x=Ca;kc.y=jc;kc.z=pc;qa=3}var ac=g.x*g.x+g.y*g.y+g.z*g.z;if(0>gb||ac<gb){var fb=qa&1|(qa&2)<<1,gb=ac,Vb=g;da=Vb.x;Hc=Vb.y;sa=Vb.z}}if(0<gb){var Wb=g;Wb.x=da;Wb.y=Hc;Wb.z=sa;Bb=fb}else{var Qb=Xa*Xa+S*S+Ya*Ya;0<Qb&&(Qb=1/Math.sqrt(Qb));Xa*=Qb;S*=Qb;Ya*=Qb;var fc=Xa*Xa+S*S+Ya*Ya,fc=(ba*Xa+Q*S+P*Ya)/fc;da=Xa*fc;Hc=S*fc;sa=Ya*fc;var Rb=g;Rb.x=da;Rb.y=Hc;Rb.z=sa;Bb=7}break;case 4:var Ob=l[0],Xb=l[1],gc=l[2],Ib=l[3],Zb,lb,Da,xa,mb,qc,mc,id,Ic,Pg,sc,vc,Ab,Vf,ub,Te,Fc,vb,Ue,Wa,$c,Qg,Tb,Sb,Lb,Ac,Gb,ic=Ob;Zb=ic.x;lb=ic.y;Da=ic.z;var Gk=Xb;xa=Gk.x;mb=Gk.y;qc=Gk.z;var hc=gc;mc=hc.x;id=hc.y;Ic=hc.z;var Pc=Ib;Pg=Pc.x;sc=Pc.y;vc=Pc.z;Ab=xa-Zb;Vf=mb-lb;ub=qc-Da;Te=mc-Zb;Fc=id-lb;vb=Ic-Da;Ue=Pg-Zb;Wa=sc-lb;$c=vc-Da;Qg=mc-xa;Tb=id-mb;Sb=Ic-qc;Lb=Pg-xa;Ac=sc-mb;Gb=vc-qc;var Mb,tc,bc,zb,nc,Jb,Eb,wc,$b,cc,Nb,dc;Mb=Vf*vb-ub*Fc;tc=ub*Te-Ab*vb;bc=Ab*Fc-Vf*Te;zb=Fc*$c-vb*Wa;nc=vb*Ue-Te*$c;Jb=Te*Wa-Fc*Ue;Eb=Wa*ub-$c*Vf;wc=$c*Ab-Ue*ub;$b=Ue*Vf-Wa*Ab;cc=Ac*Sb-Gb*Tb;Nb=Gb*Qg-Lb*Sb;dc=Lb*Tb-Ac*Qg;var uc=0<Ab*cc+Vf*Nb+ub*dc?1:-1,Pb=Zb*Mb+lb*tc+Da*bc,Ec=Zb*zb+lb*nc+Da*Jb,qj=Zb*Eb+lb*wc+Da*$b,Xc=xa*cc+mb*Nb+qc*dc,rd=-1,Uc,Wf,Nc,Gc=0;Nc=Wf=Uc=0;if(0>Pb*uc){var Jc,Df,Cc,wh,Yc,zc,sd,Rg,Sg,vg,xh,Id,Bc,yh,Lc,ck,Kc,jd,kd=Ob;Jc=kd.x;Df=kd.y;Cc=kd.z;var wd=Xb;wh=wd.x;Yc=wd.y;zc=wd.z;var bd=gc;sd=bd.x;Rg=bd.y;Sg=bd.z;vg=wh-Jc;xh=Yc-Df;Id=zc-Cc;Bc=sd-wh;yh=Rg-Yc;Lc=Sg-zc;ck=Jc-sd;Kc=Df-Rg;jd=Cc-Sg;var Vc,Wc,Zc;Vc=xh*Lc-Id*yh;Wc=Id*Bc-vg*Lc;Zc=vg*yh-xh*Bc;var td=Jc*(xh*Zc-Id*Wc)+Df*(Id*Vc-vg*Zc)+Cc*(vg*Wc-xh*Vc),ad=wh*(yh*Zc-Lc*Wc)+Yc*(Lc*Vc-Bc*Zc)+zc*(Bc*Wc-yh*Vc),Sc=sd*(Kc*Zc-jd*Wc)+Rg*(jd*Vc-ck*Zc)+Sg*(ck*Wc-Kc*Vc),De=-1,Ve,We,Jd,rj=0;Jd=We=Ve=0;if(0>td){var ue,ve,cd,xd,ed,fd,wg=Ob;ue=wg.x;ve=wg.y;cd=wg.z;var ld=Xb;xd=ld.x;ed=ld.y;fd=ld.z;var Oc,zh,Dc;Oc=xd-ue;zh=ed-ve;Dc=fd-cd;var Ee=Oc*ue+zh*ve+Dc*cd,Ee=-Ee/(Oc*Oc+zh*zh+Dc*Dc),dk;if(0>Ee){var od=g;od.x=ue;od.y=ve;od.z=cd;dk=1}else if(1<Ee){var gd=g;gd.x=xd;gd.y=ed;gd.z=fd;dk=2}else{var Dd,Qc,Hd;Dd=ue+Oc*Ee;Qc=ve+zh*Ee;Hd=cd+Dc*Ee;var Xe=g;Xe.x=Dd;Xe.y=Qc;Xe.z=Hd;dk=3}var Be=g.x*g.x+g.y*g.y+g.z*g.z,rj=dk,De=Be,ek=g;Ve=ek.x;We=ek.y;Jd=ek.z}if(0>ad){var Ah,Bh,Ch,Ye,Ze,$e,Zd=Xb;Ah=Zd.x;Bh=Zd.y;Ch=Zd.z;var Ef=gc;Ye=Ef.x;Ze=Ef.y;$e=Ef.z;var md,dd,Mc;md=Ye-Ah;dd=Ze-Bh;Mc=$e-Ch;var Ff=md*Ah+dd*Bh+Mc*Ch,Ff=-Ff/(md*md+dd*dd+Mc*Mc),Gf;if(0>Ff){var Hf=g;Hf.x=Ah;Hf.y=Bh;Hf.z=Ch;Gf=1}else if(1<Ff){var Gd=g;Gd.x=Ye;Gd.y=Ze;Gd.z=$e;Gf=2}else{var Nd,Xf,Yf;Nd=Ah+md*Ff;Xf=Bh+dd*Ff;Yf=Ch+Mc*Ff;var af=g;af.x=Nd;af.y=Xf;af.z=Yf;Gf=3}var Zf=g.x*g.x+g.y*g.y+g.z*g.z;if(0>De||Zf<De){var rj=Gf<<1,De=Zf,If=g;Ve=If.x;We=If.y;Jd=If.z}}if(0>Sc){var we,bf,$f,ag,bg,cg,Fe=Ob;we=Fe.x;bf=Fe.y;$f=Fe.z;var Ge=gc;ag=Ge.x;bg=Ge.y;cg=Ge.z;var cf,dg,qf;cf=ag-we;dg=bg-bf;qf=cg-$f;var He=cf*we+dg*bf+qf*$f,He=-He/(cf*cf+dg*dg+qf*qf),rf;if(0>He){var eg=g;eg.x=we;eg.y=bf;eg.z=$f;rf=1}else if(1<He){var vd=g;vd.x=ag;vd.y=bg;vd.z=cg;rf=2}else{var Qd,oe,pe;Qd=we+cf*He;oe=bf+dg*He;pe=$f+qf*He;var df=g;df.x=Qd;df.y=oe;df.z=pe;rf=3}var sf=g.x*g.x+g.y*g.y+g.z*g.z;if(0>De||sf<De){var rj=rf&1|(rf&2)<<1,De=sf,Jf=g;Ve=Jf.x;We=Jf.y;Jd=Jf.z}}var Rd;if(0<De){var Kf=g;Kf.x=Ve;Kf.y=We;Kf.z=Jd;Rd=rj}else{var ee=Vc*Vc+Wc*Wc+Zc*Zc;0<ee&&(ee=1/Math.sqrt(ee));Vc*=ee;Wc*=ee;Zc*=ee;var xe=Vc*Vc+Wc*Wc+Zc*Zc,xe=(Jc*Vc+Df*Wc+Cc*Zc)/xe;Ve=Vc*xe;We=Wc*xe;Jd=Zc*xe;var Lf=g;Lf.x=Ve;Lf.y=We;Lf.z=Jd;Rd=7}var re=g.x*g.x+g.y*g.y+g.z*g.z,Gc=Rd,rd=re,fg=g;Uc=fg.x;Wf=fg.y;Nc=fg.z}if(0>Ec*uc){var zd,Ad,Bd,nd,gg,hg,$d,fe,ge,ae,tf,ef,ff,gf,Mf,Wd,Td,Kd,Ld=Ob;zd=Ld.x;Ad=Ld.y;Bd=Ld.z;var Fd=gc;nd=Fd.x;gg=Fd.y;hg=Fd.z;var Nf=Ib;$d=Nf.x;fe=Nf.y;ge=Nf.z;ae=nd-zd;tf=gg-Ad;ef=hg-Bd;ff=$d-nd;gf=fe-gg;Mf=ge-hg;Wd=zd-$d;Td=Ad-fe;Kd=Bd-ge;var Xd,ud,Cd;Xd=tf*Mf-ef*gf;ud=ef*ff-ae*Mf;Cd=ae*gf-tf*ff;var ig=zd*(tf*Cd-ef*ud)+Ad*(ef*Xd-ae*Cd)+Bd*(ae*ud-tf*Xd),te=nd*(gf*Cd-Mf*ud)+gg*(Mf*Xd-ff*Cd)+hg*(ff*ud-gf*Xd),jg=$d*(Td*Cd-Kd*ud)+fe*(Kd*Xd-Wd*Cd)+ge*(Wd*ud-Td*Xd),Yd=-1,be,ye,hf,kg=0;hf=ye=be=0;if(0>ig){var jf,kf,lf,ze,uf,lg,vf=Ob;jf=vf.x;kf=vf.y;lf=vf.z;var xg=gc;ze=xg.x;uf=xg.y;lg=xg.z;var mg,mf,wf;mg=ze-jf;mf=uf-kf;wf=lg-lf;var Ie=mg*jf+mf*kf+wf*lf,Ie=-Ie/(mg*mg+mf*mf+wf*wf),yg;if(0>Ie){var zg=g;zg.x=jf;zg.y=kf;zg.z=lf;yg=1}else if(1<Ie){var qe=g;qe.x=ze;qe.y=uf;qe.z=lg;yg=2}else{var ng,xf,yf;ng=jf+mg*Ie;xf=kf+mf*Ie;yf=lf+wf*Ie;var Ae=g;Ae.x=ng;Ae.y=xf;Ae.z=yf;yg=3}var Ag=g.x*g.x+g.y*g.y+g.z*g.z,kg=yg,Yd=Ag,Ed=g;be=Ed.x;ye=Ed.y;hf=Ed.z}if(0>te){var og,pg,qg,Of,Je,nf,zf=gc;og=zf.x;pg=zf.y;qg=zf.z;var Sd=Ib;Of=Sd.x;Je=Sd.y;nf=Sd.z;var yd,Md,pd;yd=Of-og;Md=Je-pg;pd=nf-qg;var Tg=yd*og+Md*pg+pd*qg,Tg=-Tg/(yd*yd+Md*Md+pd*pd),ne;if(0>Tg){var Pe=g;Pe.x=og;Pe.y=pg;Pe.z=qg;ne=1}else if(1<Tg){var Se=g;Se.x=Of;Se.y=Je;Se.z=nf;ne=2}else{var Me,Ne,Oe;Me=og+yd*Tg;Ne=pg+Md*Tg;Oe=qg+pd*Tg;var Eh=g;Eh.x=Me;Eh.y=Ne;Eh.z=Oe;ne=3}var Qe=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Yd||Qe<Yd){var kg=ne<<1,Yd=Qe,pf=g;be=pf.x;ye=pf.y;hf=pf.z}}if(0>jg){var Fh,Gh,Hh,Ih,Jh,Kh,Bg=Ob;Fh=Bg.x;Gh=Bg.y;Hh=Bg.z;var Lh=Ib;Ih=Lh.x;Jh=Lh.y;Kh=Lh.z;var Mh,Nh,sj;Mh=Ih-Fh;Nh=Jh-Gh;sj=Kh-Hh;var Ug=Mh*Fh+Nh*Gh+sj*Hh,Ug=-Ug/(Mh*Mh+Nh*Nh+sj*sj),tj;if(0>Ug){var se=g;se.x=Fh;se.y=Gh;se.z=Hh;tj=1}else if(1<Ug){var Re=g;Re.x=Ih;Re.y=Jh;Re.z=Kh;tj=2}else{var lj,nj,pj;lj=Fh+Mh*Ug;nj=Gh+Nh*Ug;pj=Hh+sj*Ug;var Vg=g;Vg.x=lj;Vg.y=nj;Vg.z=pj;tj=3}var uj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Yd||uj<Yd){var kg=tj&1|(tj&2)<<1,Yd=uj,Cf=g;be=Cf.x;ye=Cf.y;hf=Cf.z}}var Ce;if(0<Yd){var Og=g;Og.x=be;Og.y=ye;Og.z=hf;Ce=kg}else{var rg=Xd*Xd+ud*ud+Cd*Cd;0<rg&&(rg=1/Math.sqrt(rg));Xd*=rg;ud*=rg;Cd*=rg;var Cg=Xd*Xd+ud*ud+Cd*Cd,Cg=(zd*Xd+Ad*ud+Bd*Cd)/Cg;be=Xd*Cg;ye=ud*Cg;hf=Cd*Cg;var Oh=g;Oh.x=be;Oh.y=ye;Oh.z=hf;Ce=7}var Zj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||Zj<rd){var Gc=Ce&1|(Ce&6)<<1,rd=Zj,vj=g;Uc=vj.x;Wf=vj.y;Nc=vj.z}}if(0>qj*uc){var Wg,Xg,Yg,Ph,Zg,$g,ah,bh,ch,Dg,Qh,Rh,Sh,Th,Uh,Tf,he,ie,je=Ob;Wg=je.x;Xg=je.y;Yg=je.z;var of=Xb;Ph=of.x;Zg=of.y;$g=of.z;var Uf=Ib;ah=Uf.x;bh=Uf.y;ch=Uf.z;Dg=Ph-Wg;Qh=Zg-Xg;Rh=$g-Yg;Sh=ah-Ph;Th=bh-Zg;Uh=ch-$g;Tf=Wg-ah;he=Xg-bh;ie=Yg-ch;var Ke,Od,Ud;Ke=Qh*Uh-Rh*Th;Od=Rh*Sh-Dg*Uh;Ud=Dg*Th-Qh*Sh;var Vh=Wg*(Qh*Ud-Rh*Od)+Xg*(Rh*Ke-Dg*Ud)+Yg*(Dg*Od-Qh*Ke),Wh=Ph*(Th*Ud-Uh*Od)+Zg*(Uh*Ke-Sh*Ud)+$g*(Sh*Od-Th*Ke),Bk=ah*(he*Ud-ie*Od)+bh*(ie*Ke-Tf*Ud)+ch*(Tf*Od-he*Ke),Af=-1,Pf,Qf,Eg,wj=0;Eg=Qf=Pf=0;if(0>Vh){var Xh,Yh,Zh,$h,ai,bi,Fg=Ob;Xh=Fg.x;Yh=Fg.y;Zh=Fg.z;var xj=Xb;$h=xj.x;ai=xj.y;bi=xj.z;var ci,di,yj;ci=$h-Xh;di=ai-Yh;yj=bi-Zh;var dh=ci*Xh+di*Yh+yj*Zh,dh=-dh/(ci*ci+di*di+yj*yj),fk;if(0>dh){var gk=g;gk.x=Xh;gk.y=Yh;gk.z=Zh;fk=1}else if(1<dh){var tg=g;tg.x=$h;tg.y=ai;tg.z=bi;fk=2}else{var ak,zj,Aj;ak=Xh+ci*dh;zj=Yh+di*dh;Aj=Zh+yj*dh;var ei=g;ei.x=ak;ei.y=zj;ei.z=Aj;fk=3}var Ck=g.x*g.x+g.y*g.y+g.z*g.z,wj=fk,Af=Ck,hk=g;Pf=hk.x;Qf=hk.y;Eg=hk.z}if(0>Wh){var fi,gi,hi,ii,ji,ki,Gg=Xb;fi=Gg.x;gi=Gg.y;hi=Gg.z;var Bj=Ib;ii=Bj.x;ji=Bj.y;ki=Bj.z;var li,mi,Cj;li=ii-fi;mi=ji-gi;Cj=ki-hi;var eh=li*fi+mi*gi+Cj*hi,eh=-eh/(li*li+mi*mi+Cj*Cj),ik;if(0>eh){var jk=g;jk.x=fi;jk.y=gi;jk.z=hi;ik=1}else if(1<eh){var hj=g;hj.x=ii;hj.y=ji;hj.z=ki;ik=2}else{var Hk,Dj,Ej;Hk=fi+li*eh;Dj=gi+mi*eh;Ej=hi+Cj*eh;var ni=g;ni.x=Hk;ni.y=Dj;ni.z=Ej;ik=3}var Ik=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Af||Ik<Af){var wj=ik<<1,Af=Ik,kk=g;Pf=kk.x;Qf=kk.y;Eg=kk.z}}if(0>Bk){var oi,pi,qi,ri,si,ti,Hg=Ob;oi=Hg.x;pi=Hg.y;qi=Hg.z;var ui=Ib;ri=ui.x;si=ui.y;ti=ui.z;var vi,wi,Fj;vi=ri-oi;wi=si-pi;Fj=ti-qi;var fh=vi*oi+wi*pi+Fj*qi,fh=-fh/(vi*vi+wi*wi+Fj*Fj),Gj;if(0>fh){var lk=g;lk.x=oi;lk.y=pi;lk.z=qi;Gj=1}else if(1<fh){var Jk=g;Jk.x=ri;Jk.y=si;Jk.z=ti;Gj=2}else{var Kk,mk,Lk;Kk=oi+vi*fh;mk=pi+wi*fh;Lk=qi+Fj*fh;var gh=g;gh.x=Kk;gh.y=mk;gh.z=Lk;Gj=3}var Hj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Af||Hj<Af){var wj=Gj&1|(Gj&2)<<1,Af=Hj,nk=g;Pf=nk.x;Qf=nk.y;Eg=nk.z}}var ok;if(0<Af){var pk=g;pk.x=Pf;pk.y=Qf;pk.z=Eg;ok=wj}else{var sg=Ke*Ke+Od*Od+Ud*Ud;0<sg&&(sg=1/Math.sqrt(sg));Ke*=sg;Od*=sg;Ud*=sg;var Ig=Ke*Ke+Od*Od+Ud*Ud,Ig=(Wg*Ke+Xg*Od+Yg*Ud)/Ig;Pf=Ke*Ig;Qf=Od*Ig;Eg=Ud*Ig;var xi=g;xi.x=Pf;xi.y=Qf;xi.z=Eg;ok=7}var qk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||qk<rd){var Gc=ok&3|(ok&4)<<1,rd=qk,Ij=g;Uc=Ij.x;Wf=Ij.y;Nc=Ij.z}}if(0>Xc*uc){var hh,ih,jh,yi,kh,lh,mh,nh,oh,Jg,zi,Ai,Bi,Ci,Di,rk,ke,le,me=Xb;hh=me.x;ih=me.y;jh=me.z;var ij=gc;yi=ij.x;kh=ij.y;lh=ij.z;var jj=Ib;mh=jj.x;nh=jj.y;oh=jj.z;Jg=yi-hh;zi=kh-ih;Ai=lh-jh;Bi=mh-yi;Ci=nh-kh;Di=oh-lh;rk=hh-mh;ke=ih-nh;le=jh-oh;var Le,Pd,Vd;Le=zi*Di-Ai*Ci;Pd=Ai*Bi-Jg*Di;Vd=Jg*Ci-zi*Bi;var Ei=hh*(zi*Vd-Ai*Pd)+ih*(Ai*Le-Jg*Vd)+jh*(Jg*Pd-zi*Le),Fi=yi*(Ci*Vd-Di*Pd)+kh*(Di*Le-Bi*Vd)+lh*(Bi*Pd-Ci*Le),Mk=mh*(ke*Vd-le*Pd)+nh*(le*Le-rk*Vd)+oh*(rk*Pd-ke*Le),Bf=-1,Rf,Sf,Kg,Jj=0;Kg=Sf=Rf=0;if(0>Ei){var Gi,Hi,Ii,Ji,Ki,Li,Lg=Xb;Gi=Lg.x;Hi=Lg.y;Ii=Lg.z;var Kj=gc;Ji=Kj.x;Ki=Kj.y;Li=Kj.z;var Mi,Ni,Lj;Mi=Ji-Gi;Ni=Ki-Hi;Lj=Li-Ii;var ph=Mi*Gi+Ni*Hi+Lj*Ii,ph=-ph/(Mi*Mi+Ni*Ni+Lj*Lj),sk;if(0>ph){var tk=g;tk.x=Gi;tk.y=Hi;tk.z=Ii;sk=1}else if(1<ph){var kj=g;kj.x=Ji;kj.y=Ki;kj.z=Li;sk=2}else{var Nk,Mj,Nj;Nk=Gi+Mi*ph;Mj=Hi+Ni*ph;Nj=Ii+Lj*ph;var Oi=g;Oi.x=Nk;Oi.y=Mj;Oi.z=Nj;sk=3}var Dk=g.x*g.x+g.y*g.y+g.z*g.z,Jj=sk,Bf=Dk,uk=g;Rf=uk.x;Sf=uk.y;Kg=uk.z}if(0>Fi){var Pi,Qi,Ri,Si,Ti,Ui,Mg=gc;Pi=Mg.x;Qi=Mg.y;Ri=Mg.z;var Oj=Ib;Si=Oj.x;Ti=Oj.y;Ui=Oj.z;var Vi,Wi,Pj;Vi=Si-Pi;Wi=Ti-Qi;Pj=Ui-Ri;var qh=Vi*Pi+Wi*Qi+Pj*Ri,qh=-qh/(Vi*Vi+Wi*Wi+Pj*Pj),vk;if(0>qh){var wk=g;wk.x=Pi;wk.y=Qi;wk.z=Ri;vk=1}else if(1<qh){var Ok=g;Ok.x=Si;Ok.y=Ti;Ok.z=Ui;vk=2}else{var Pk,Qj,Rj;Pk=Pi+Vi*qh;Qj=Qi+Wi*qh;Rj=Ri+Pj*qh;var Xi=g;Xi.x=Pk;Xi.y=Qj;Xi.z=Rj;vk=3}var Qk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Bf||Qk<Bf){var Jj=vk<<1,Bf=Qk,xk=g;Rf=xk.x;Sf=xk.y;Kg=xk.z}}if(0>Mk){var Yi,Zi,$i,aj,bj,cj,Ng=Xb;Yi=Ng.x;Zi=Ng.y;$i=Ng.z;var dj=Ib;aj=dj.x;bj=dj.y;cj=dj.z;var ej,fj,Sj;ej=aj-Yi;fj=bj-Zi;Sj=cj-$i;var rh=ej*Yi+fj*Zi+Sj*$i,rh=-rh/(ej*ej+fj*fj+Sj*Sj),Tj;if(0>rh){var yk=g;yk.x=Yi;yk.y=Zi;yk.z=$i;Tj=1}else if(1<rh){var Rk=g;Rk.x=aj;Rk.y=bj;Rk.z=cj;Tj=2}else{var Sk,Tk,Uk;Sk=Yi+ej*rh;Tk=Zi+fj*rh;Uk=$i+Sj*rh;var sh=g;sh.x=Sk;sh.y=Tk;sh.z=Uk;Tj=3}var Uj=g.x*g.x+g.y*g.y+g.z*g.z;if(0>Bf||Uj<Bf){var Jj=Tj&1|(Tj&2)<<1,Bf=Uj,zk=g;Rf=zk.x;Sf=zk.y;Kg=zk.z}}var Vk;if(0<Bf){var Ak=g;Ak.x=Rf;Ak.y=Sf;Ak.z=Kg;Vk=Jj}else{var th=Le*Le+Pd*Pd+Vd*Vd;0<th&&(th=1/Math.sqrt(th));Le*=th;Pd*=th;Vd*=th;var Vj=Le*Le+Pd*Pd+Vd*Vd,Vj=(hh*Le+ih*Pd+jh*Vd)/Vj;Rf=Le*Vj;Sf=Pd*Vj;Kg=Vd*Vj;var uh=g;uh.x=Rf;uh.y=Sf;uh.z=Kg;Vk=7}var bk=g.x*g.x+g.y*g.y+g.z*g.z;if(0>rd||bk<rd){var Gc=Vk<<1,rd=bk,mj=g;Uc=mj.x;Wf=mj.y;Nc=mj.z}}if(0<rd){var Wj=g;Wj.x=Uc;Wj.y=Wf;Wj.z=Nc;Bb=Gc}else g.Z(),Bb=15}this.zm(Bb);if(1E-8>g.x*g.x+g.y*g.y+g.z*g.z){if(!D||4==this.za){h.fraction=D;break}this.im();h.fraction=D;var Xj=h.normal;Xj.x=k.x;Xj.y=k.y;Xj.z=k.z;var ce=Xj,vh=Math.sqrt(ce.x*ce.x+ce.y*ce.y+ce.z*ce.z);0<vh&&(vh=1/vh);var Ek=ce.y*vh,Fk=ce.z*vh;ce.x=ce.x*vh;ce.y=Ek;ce.z=Fk;var Yj=h.position,oj=this.closestPoint1;Yj.x=oj.x;Yj.y=oj.y;Yj.z=oj.z;var Wk=Yj,kl=Wk.y+c.y*D,ll=Wk.z+c.z*D;Wk.x+=c.x*D;Wk.y=kl;Wk.z=ll;return!0}k.x=g.x;k.y=g.y;k.z=g.z;var Xk=k,ml=-Xk.y,nl=-Xk.z;Xk.x=-Xk.x;Xk.y=ml;Xk.z=nl;if(null!=this.hj)this.pf(!0);else{var zl=this.hb[this.za];zl.x=this.pc.v;zl.y=this.pc.A;zl.z=this.pc.B}this.qf(!0);var jl=this.Pa[this.za],Al=this.hb[this.za];jl.x=Al.x;jl.y=Al.y;jl.z=Al.z;var Yk=jl,Bl=this.pb[this.za],ol=Yk.y-Bl.y,pl=Yk.z-Bl.z;Yk.x=Yk.x-Bl.x;Yk.y=ol;Yk.z=pl;var Zk=l[this.za],Sl=Zk.y-t.y,Tl=Zk.z-t.z;Zk.x=Zk.x-t.x;Zk.y=Sl;Zk.z=Tl;if(1E-8>k.x*k.x+k.y*k.y+k.z*k.z)throw Error("!?");var Cl=l[this.za],gj=k,Il=Cl.x*gj.x+Cl.y*gj.y+Cl.z*gj.z;if(0>Il){if(0<=A.x*gj.x+A.y*gj.y+A.z*gj.z)break;var gl=Il/(A.x*gj.x+A.y*gj.y+A.z*gj.z),D=D+gl;if(1<=D)break;var Ul=t.y+A.y*gl,Vl=t.z+A.z*gl;t.x=t.x+A.x*gl;t.y=Ul;t.z=Vl;for(var Jl=0,Wl=this.za+1;Jl<Wl;){var Xl=Jl++,$k=l[Xl],Dl=-gl,Yl=$k.y+A.y*Dl,Zl=$k.z+A.z*Dl;$k.x=$k.x+A.x*Dl;$k.y=Yl;$k.z=Zl}}for(var Kl=!1,Ll=0,$l=this.za;Ll<$l;){var El=Ll++,Ml=l[El].x-l[this.za].x,Nl=l[El].y-l[this.za].y,Ol=l[El].z-l[this.za].z;if(1E-8>Ml*Ml+Nl*Nl+Ol*Ol){Kl=!0;break}}Kl||this.za++;++u}return!1},im:function(){switch(this.za){case 1:var a=this.closestPoint1,b=this.hb[0];a.x=b.x;a.y=b.y;a.z=b.z;var e=this.closestPoint2,d=this.pb[0];e.x=d.x;e.y=d.y;e.z=d.z;break;case 2:var c,f,h,l=this.closest;c=l.x;f=l.y;h=l.z;var g,k,m,n,q,p,r,v,aa,w,B,u,D,t,A,E,x,Bb,N=this.Pa[0];g=N.x;k=N.y;m=N.z;var I=this.hb[0];n=I.x;q=I.y;p=I.z;var F=this.pb[0];r=F.x;v=F.y;aa=F.z;var C=this.Pa[1];w=C.x;B=C.y;u=C.z;var O=this.hb[1];D=O.x;t=O.y;A=O.z;var ha=this.pb[1];E=ha.x;x=ha.y;Bb=ha.z;var L,Ub,M;L=w-g;Ub=B-k;M=u-m;var ka=L*L+Ub*Ub+M*M;ka&&(ka=1/ka);var bb=((c-g)*L+(f-k)*Ub+(h-m)*M)*ka,U,R,lc,Na,Ra,yc,Pa,Ba,Hb;U=D-n;R=t-q;lc=A-p;Na=n+U*bb;Ra=q+R*bb;yc=p+lc*bb;U=E-r;R=x-v;lc=Bb-aa;Pa=r+U*bb;Ba=v+R*bb;Hb=aa+lc*bb;var H=this.closestPoint1;H.x=Na;H.y=Ra;H.z=yc;var Qa=this.closestPoint2;Qa.x=Pa;Qa.y=Ba;Qa.z=Hb;break;case 3:var ba,Q,P,ya=this.closest;ba=ya.x;Q=ya.y;P=ya.z;var ta,W,pa,y,Ia,ca,Ea,za,Fa,Sa,la,Z,Ga,ra,va,J,La,Xa,S,Ya,T,K,ia,gb,da,Hc,sa,fb=this.Pa[0];ta=fb.x;W=fb.y;pa=fb.z;var jb=this.hb[0];y=jb.x;Ia=jb.y;ca=jb.z;var Za=this.pb[0];Ea=Za.x;za=Za.y;Fa=Za.z;var ma=this.Pa[1];Sa=ma.x;la=ma.y;Z=ma.z;var oa=this.hb[1];Ga=oa.x;ra=oa.y;va=oa.z;var Ja=this.pb[1];J=Ja.x;La=Ja.y;Xa=Ja.z;var Ha=this.Pa[2];S=Ha.x;Ya=Ha.y;T=Ha.z;var ob=this.hb[2];K=ob.x;ia=ob.y;gb=ob.z;var fa=this.pb[2];da=fa.x;Hc=fa.y;sa=fa.z;var ea,ja,cb,Aa,sb,Ua,qb,rb,tb;ea=Sa-ta;ja=la-W;cb=Z-pa;Aa=S-ta;sb=Ya-W;Ua=T-pa;qb=ba-ta;rb=Q-W;tb=P-pa;var Va=ea*ea+ja*ja+cb*cb,xb=ea*Aa+ja*sb+cb*Ua,rc=Aa*Aa+sb*sb+Ua*Ua,$a=ea*qb+ja*rb+cb*tb,ua=Aa*qb+sb*rb+Ua*tb,Yb=Va*rc-xb*xb;Yb&&(Yb=1/Yb);var G=($a*rc-ua*xb)*Yb,pb=(-$a*xb+ua*Va)*Yb,db,oc,ab,hb,z,Db,de,Tc,Fb;db=Ga-y;oc=ra-Ia;ab=va-ca;hb=y+db*G;z=Ia+oc*G;Db=ca+ab*G;db=K-y;oc=ia-Ia;ab=gb-ca;hb+=db*pb;z+=oc*pb;Db+=ab*pb;db=J-Ea;oc=La-za;ab=Xa-Fa;de=Ea+db*G;Tc=za+oc*G;Fb=Fa+ab*G;db=da-Ea;oc=Hc-za;ab=sa-Fa;de+=db*pb;Tc+=oc*pb;Fb+=ab*pb;var Oa=this.closestPoint1;Oa.x=hb;Oa.y=z;Oa.z=Db;var nb=this.closestPoint2;nb.x=de;nb.y=Tc;nb.z=Fb;break;default:throw Error("!?");}},Cn:function(a){var b=this.dir;a=a.ql;b.x=a.x;b.y=a.y;b.z=a.z},In:function(a){a=a.ql;var b=this.closest;a.x=b.x;a.y=b.y;a.z=b.z;var b=-a.y,e=-a.z;a.x=-a.x;a.y=b;a.z=e},zm:function(a){this.za=a;this.za=(this.za&5)+(this.za>>1&5);this.za=(this.za&3)+(this.za>>2&3);switch(a){case 2:a=this.Pa[0];var b=this.Pa[1];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[1];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[1];a.x=b.x;a.y=b.y;a.z=b.z;break;case 4:a=this.Pa[0];b=this.Pa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 5:a=this.Pa[1];b=this.Pa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[1];b=this.hb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[1];b=this.pb[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 6:a=this.Pa[0];b=this.Pa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[2];a.x=b.x;a.y=b.y;a.z=b.z;break;case 8:a=this.Pa[0];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 9:a=this.Pa[1];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[1];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[1];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 10:a=this.Pa[0];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 11:a=this.Pa[2];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[2];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[2];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 12:a=this.Pa[0];b=this.Pa[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[0];b=this.hb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[0];b=this.pb[2];a.x=b.x;a.y=b.y;a.z=b.z;a=this.Pa[1];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[1];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[1];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 13:a=this.Pa[1];b=this.Pa[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.hb[1];b=this.hb[3];a.x=b.x;a.y=b.y;a.z=b.z;a=this.pb[1];b=this.pb[3];a.x=b.x;a.y=b.y;a.z=b.z;break;case 14:a=this.Pa[0],b=this.Pa[3],a.x=b.x,a.y=b.y,a.z=b.z,a=this.hb[0],b=this.hb[3],a.x=b.x,a.y=b.y,a.z=b.z,a=this.pb[0],b=this.pb[3],a.x=b.x,a.y=b.y,a.z=b.z}},pf:function(a){var b,e,d,c,f,h;h=this.dir;c=h.x;f=h.y;h=h.z;var l;e=this.pc.o*c+this.pc.i*f+this.pc.l*h;l=this.pc.f*c+this.pc.m*f+this.pc.g*h;b=this.pc.h*c+this.pc.j*f+this.pc.s*h;d=this.dir;d.x=e;d.y=l;d.z=b;this.hj.Ld(this.dir,this.hb[this.za]);a&&(a=this.dir,b=Math.sqrt(a.x*a.x+a.y*a.y+a.z*a.z),0<b&&(b=1/b),e=a.y*b,l=a.z*b,a.x=a.x*b,a.y=e,a.z=l,a=this.hb[this.za],b=this.dir,e=this.hj.gc,l=a.y+b.y*e,d=a.z+b.z*e,a.x+=b.x*e,a.y=l,a.z=d);a=this.hb[this.za];b=a.x;e=a.y;d=a.z;l=this.pc.o*b+this.pc.f*e+this.pc.h*d;a=this.pc.i*b+this.pc.m*e+this.pc.j*d;e=this.pc.l*b+this.pc.g*e+this.pc.s*d;b=l+this.pc.v;a+=this.pc.A;e+=this.pc.B;l=this.hb[this.za];l.x=b;l.y=a;l.z=e;a=this.dir;a.x=c;a.y=f;a.z=h},qf:function(a){var b,e,d,c,f,h;h=this.dir;c=h.x;f=h.y;h=h.z;var l;b=this.Gc.o*c+this.Gc.i*f+this.Gc.l*h;e=this.Gc.f*c+this.Gc.m*f+this.Gc.g*h;l=this.Gc.h*c+this.Gc.j*f+this.Gc.s*h;d=this.dir;d.x=-b;d.y=-e;d.z=-l;this.Sk.Ld(this.dir,this.pb[this.za]);a&&(a=this.dir,b=Math.sqrt(a.x*a.x+a.y*a.y+a.z*a.z),0<b&&(b=1/b),e=a.y*b,l=a.z*b,a.x=a.x*b,a.y=e,a.z=l,a=this.pb[this.za],b=this.dir,e=this.Sk.gc,l=a.y+b.y*e,d=a.z+b.z*e,a.x+=b.x*e,a.y=l,a.z=d);a=this.pb[this.za];b=a.x;e=a.y;d=a.z;l=this.Gc.o*b+this.Gc.f*e+this.Gc.h*d;a=this.Gc.i*b+this.Gc.m*e+this.Gc.j*d;e=this.Gc.l*b+this.Gc.g*e+this.Gc.s*d;b=l+this.Gc.v;a+=this.Gc.A;e+=this.Gc.B;l=this.pb[this.za];l.x=b;l.y=a;l.z=e;a=this.dir;a.x=c;a.y=f;a.z=h},En:function(){for(var a=0;3>a;){var b=a++,e=this.dir,b=this.fj[b];e.x=b.x;e.y=b.y;e.z=b.z;this.pf(!1);this.qf(!1);e=this.Pa[this.za];b=this.hb[this.za];e.x=b.x;e.y=b.y;e.z=b.z;var b=this.pb[this.za],d=e.y-b.y,c=e.z-b.z;e.x=e.x-b.x;e.y=d;e.z=c;this.za++;this.ml();if(4==this.za)break;this.za--;e=this.dir;b=-e.y;d=-e.z;e.x=-e.x;e.y=b;e.z=d;this.pf(!1);this.qf(!1);e=this.Pa[this.za];b=this.hb[this.za];e.x=b.x;e.y=b.y;e.z=b.z;b=this.pb[this.za];d=e.y-b.y;c=e.z-b.z;e.x=e.x-b.x;e.y=d;e.z=c;this.za++;this.ml();if(4==this.za)break;this.za--}},ml:function(){var a,b,e;e=this.dir;a=e.x;b=e.y;e=e.z;var d,c,f,h,l,g;f=this.Pa[0];d=f.x;c=f.y;f=f.z;g=this.Pa[1];h=g.x;l=g.y;g=g.z;d-=h;c-=l;f-=g;for(l=0;3>l;){g=l++;var k,m;g=this.fj[g];h=g.x;k=g.y;m=g.z;g=c*m-f*k;m=f*h-d*m;h=d*k-c*h;k=this.dir;k.x=g;k.y=m;k.z=h;this.pf(!1);this.qf(!1);g=this.Pa[this.za];h=this.hb[this.za];g.x=h.x;g.y=h.y;g.z=h.z;h=this.pb[this.za];k=g.y-h.y;m=g.z-h.z;g.x=g.x-h.x;g.y=k;g.z=m;this.za++;this.tl();if(4==this.za)break;this.za--;g=this.dir;h=-g.y;k=-g.z;g.x=-g.x;g.y=h;g.z=k;this.pf(!1);this.qf(!1);g=this.Pa[this.za];h=this.hb[this.za];g.x=h.x;g.y=h.y;g.z=h.z;h=this.pb[this.za];k=g.y-h.y;m=g.z-h.z;g.x=g.x-h.x;g.y=k;g.z=m;this.za++;this.tl();if(4==this.za)break;this.za--}d=this.dir;d.x=a;d.y=b;d.z=e},tl:function(){var a,b,e;e=this.dir;a=e.x;b=e.y;for(e=e.z;;){var d,c,f,h,l,g,k,m,n;f=this.Pa[0];d=f.x;c=f.y;f=f.z;m=this.Pa[1];h=m.x;l=m.y;g=m.z;n=this.Pa[2];k=n.x;m=n.y;n=n.z;h-=d;l-=c;g-=f;d=k-d;c=m-c;m=n-f;f=l*m-g*c;m=g*d-h*m;c=h*c-l*d;h=this.dir;h.x=f;h.y=m;h.z=c;this.pf(!1);this.qf(!1);c=this.Pa[this.za];f=this.hb[this.za];c.x=f.x;c.y=f.y;c.z=f.z;f=this.pb[this.za];h=c.y-f.y;d=c.z-f.z;c.x=c.x-f.x;c.y=h;c.z=d;this.za++;if(this.jm())break;this.za--;c=this.dir;f=-c.y;h=-c.z;c.x=-c.x;c.y=f;c.z=h;this.pf(!1);this.qf(!1);c=this.Pa[this.za];f=this.hb[this.za];c.x=f.x;c.y=f.y;c.z=f.z;f=this.pb[this.za];h=c.y-f.y;d=c.z-f.z;c.x=c.x-f.x;c.y=h;c.z=d;this.za++;if(this.jm())break;this.za--;break}c=this.dir;c.x=a;c.y=b;c.z=e},jm:function(){var a=this.Pa[2].x-this.Pa[0].x,b=this.Pa[2].y-this.Pa[0].y,e=this.Pa[2].z-this.Pa[0].z,d=this.Pa[3].x-this.Pa[0].x,c=this.Pa[3].y-this.Pa[0].y,f=this.Pa[3].z-this.Pa[0].z,a=(this.Pa[1].x-this.Pa[0].x)*(b*f-e*c)-(this.Pa[1].y-this.Pa[0].y)*(a*f-e*d)+(this.Pa[1].z-this.Pa[0].z)*(a*c-b*d);return 1E-12<a?!0:-1E-12>a},Zm:function(a,b,e,d,c,f,h){for(var l=this.Fg;0<l.ah;){var g=l.Xc;l.ah--;var k=g.ja,m=g.M;null!=k&&(k.M=m);null!=m&&(m.ja=k);g==l.Xc&&(l.Xc=l.Xc.M);g==l.Fc&&(l.Fc=l.Fc.ja);g.M=null;g.ja=null;g.$j();g.M=l.ve;l.ve=g}if(null!=l.Xc)throw Error("assertion error: _triangleList == null is false");if(null!=l.Fc)throw Error("assertion error: _triangleListLast == null is false");for(;0<l.Ae;){var n=l.zb[--l.Ae];n.$j();n.M=l.Re;l.Re=n}var q=this.Fg,p=this.Fg,r=p.Re;null!=r?(p.Re=r.M,r.M=null):r=new Oc;var v=r.Aa(c[0],f[0],h[0]),aa=this.Fg,w=aa.Re;null!=w?(aa.Re=w.M,w.M=null):w=new Oc;var B=w.Aa(c[1],f[1],h[1]),u=this.Fg,D=u.Re;null!=D?(u.Re=D.M,D.M=null):D=new Oc;var t=D.Aa(c[2],f[2],h[2]),A=this.Fg,E=A.Re;null!=E?(A.Re=E.M,E.M=null):E=new Oc;if(!q.Vg(v,B,t,E.Aa(c[3],f[3],h[3])))return Nb.EPA_FAILED_TO_INIT;this.za=0;for(var x=this.Pa[0],Bb=this.hb[0],N=this.pb[0],I=0;40>I;){for(var F=this.Fg.Xc,C=1/0,O=null;null!=F;){var ha=F.M;F.Ej<C&&(C=F.Ej,O=F);F=ha}var L=O,M=this.dir,na=L.Lj;M.x=na.x;M.y=na.y;M.z=na.z;var ka=M,bb=Math.sqrt(ka.x*ka.x+ka.y*ka.y+ka.z*ka.z);0<bb&&(bb=1/bb);var U=ka.y*bb,R=ka.z*bb;ka.x=ka.x*bb;ka.y=U;ka.z=R;this.pf(!1);this.qf(!1);var lc=this.Pa[this.za],Na=this.hb[this.za];lc.x=Na.x;lc.y=Na.y;lc.z=Na.z;var Ra=lc,yc=this.pb[this.za],Pa=Ra.y-yc.y,Ba=Ra.z-yc.z;Ra.x=Ra.x-yc.x;Ra.y=Pa;Ra.z=Ba;var Hb=L.zb[0],H=L.zb[1],Qa=L.zb[2],ba=Hb.ud,Q=this.dir,P=this.dir;if(1E-6>x.x*P.x+x.y*P.y+x.z*P.z-(ba.x*Q.x+ba.y*Q.y+ba.z*Q.z)||39==I){var ya=this.closest,ta=this.dir;ya.x=ta.x;ya.y=ta.y;ya.z=ta.z;var W=ya,pa=this.dir,y=Hb.ud,Ia=this.dir,ca=(pa.x*y.x+pa.y*y.y+pa.z*y.z)/(Ia.x*Ia.x+Ia.y*Ia.y+Ia.z*Ia.z),Ea=W.y*ca,za=W.z*ca;W.x=W.x*ca;W.y=Ea;W.z=za;var Fa,Sa,la,Z=this.closest;Fa=Z.x;Sa=Z.y;la=Z.z;var Ga,ra,va,J,La,Xa,S,Ya,T,K,ia,gb,da,Hc,sa,fb,jb,Za,ma,oa,Ja,Ha,ob,fa,ea,ja,cb,Aa=Hb.ud;Ga=Aa.x;ra=Aa.y;va=Aa.z;var sb=Hb.hb;J=sb.x;La=sb.y;Xa=sb.z;var Ua=Hb.pb;S=Ua.x;Ya=Ua.y;T=Ua.z;var qb=H.ud;K=qb.x;ia=qb.y;gb=qb.z;var rb=H.hb;da=rb.x;Hc=rb.y;sa=rb.z;var tb=H.pb;fb=tb.x;jb=tb.y;Za=tb.z;var Va=Qa.ud;ma=Va.x;oa=Va.y;Ja=Va.z;var xb=Qa.hb;Ha=xb.x;ob=xb.y;fa=xb.z;var rc=Qa.pb;ea=rc.x;ja=rc.y;cb=rc.z;var $a,ua,Yb,G,pb,db,oc,ab,hb;$a=K-Ga;ua=ia-ra;Yb=gb-va;G=ma-Ga;pb=oa-ra;db=Ja-va;oc=Fa-Ga;ab=Sa-ra;hb=la-va;var z=$a*$a+ua*ua+Yb*Yb,Db=$a*G+ua*pb+Yb*db,de=G*G+pb*pb+db*db,Tc=$a*oc+ua*ab+Yb*hb,Fb=G*oc+pb*ab+db*hb,Oa=z*de-Db*Db;Oa&&(Oa=1/Oa);var nb=(Tc*de-Fb*Db)*Oa,wb=(-Tc*Db+Fb*z)*Oa,yb,eb,Y,Ma,kb,Ta,ib,Ka,Kb;yb=da-J;eb=Hc-La;Y=sa-Xa;Ma=J+yb*nb;kb=La+eb*nb;Ta=Xa+Y*nb;yb=Ha-J;eb=ob-La;Y=fa-Xa;Ma+=yb*wb;kb+=eb*wb;Ta+=Y*wb;yb=fb-S;eb=jb-Ya;Y=Za-T;ib=S+yb*nb;Ka=Ya+eb*nb;Kb=T+Y*nb;yb=ea-S;eb=ja-Ya;Y=cb-T;ib+=yb*wb;Ka+=eb*wb;Kb+=Y*wb;var ga=this.closestPoint1;ga.x=Ma;ga.y=kb;ga.z=Ta;var X=this.closestPoint2;X.x=ib;X.y=Ka;X.z=Kb;var Cb=this.closest;this.depth=Math.sqrt(Cb.x*Cb.x+Cb.y*Cb.y+Cb.z*Cb.z);return Nb.SUCCEEDED}var hd=this.Fg,Rc=hd.Re;null!=Rc?(hd.Re=Rc.M,Rc.M=null):Rc=new Oc;var qa=Rc.Aa(x,Bb,N);if(!this.Fg.Im(qa,L))return Nb.EPA_FAILED_TO_ADD_VERTEX;++I}return Nb.EPA_DID_NOT_CONVERGE},Qa:function(a,b,e,d,c){return this.kj(a,b,e,d,c,!0)},bb:function(a,b,e,d,c){return this.kj(a,b,e,d,c,!1)},rf:function(a,b,e,d,c,f,h){return this.Vl(a,b,e,d,c,f,h)},Sd:function(a,b,e,d,c){var f=this.Mn;f.v=e.x;f.A=e.y;f.B=e.z;var h=this.Nn,l=this.On;h.x=d.x;h.y=d.y;h.z=d.z;d=h.y-e.y;var g=h.z-e.z;h.x=h.x-e.x;h.y=d;h.z=g;l.Z();return this.Vl(null,a,f,b,h,l,c)},ra:Jb};Nb.aa=!0;xd.aa=!0;xd.Jc=function(a,b,e){var d,c,f,h;d=a.x;c=a.y;a=a.z;f=b.x;h=b.y;b=b.z;var l,g,k;l=f-d;g=h-c;k=b-a;var m;m=-(l*d+g*c+k*a)/(l*l+g*g+k*k);if(0>m)return e.x=d,e.y=c,e.z=a,1;if(1<m)return e.x=f,e.y=h,e.z=b,2;e.x=d+l*m;e.y=c+g*m;e.z=a+k*m;return 3};xd.cd=function(a,b,e,d){var c,f,h,l,g,k,m,n,q,p,r,v,aa,w,B,u,D,t;c=a.x;f=a.y;h=a.z;l=b.x;g=b.y;k=b.z;m=e.x;n=e.y;q=e.z;p=l-c;r=g-f;v=k-h;aa=m-l;w=n-g;B=q-k;u=c-m;D=f-n;t=h-q;var A,E,x;A=r*B-v*w;E=v*aa-p*B;x=p*w-r*aa;var Bb=-1,N,I,F,C=0;F=I=N=0;if(0>c*(r*x-v*E)+f*(v*A-p*x)+h*(p*E-r*A)){var L;p=a.x;Bb=a.y;N=a.z;r=b.x;v=b.y;L=b.z;var ha;ha=r-p;F=v-Bb;I=L-N;C=-(ha*p+F*Bb+I*N)/(ha*ha+F*F+I*I);0>C?(d.x=p,d.y=Bb,d.z=N,I=1):1<C?(d.x=r,d.y=v,d.z=L,I=2):(p+=ha*C,Bb+=F*C,N+=I*C,d.x=p,d.y=Bb,d.z=N,I=3);N=d.x*d.x+d.y*d.y+d.z*d.z;C=I;Bb=N;N=d.x;I=d.y;F=d.z}0>l*(w*x-B*E)+g*(B*A-aa*x)+k*(aa*E-w*A)&&(aa=b.x,l=b.y,b=b.z,B=e.x,p=e.y,r=e.z,v=B-aa,w=p-l,g=r-b,k=-(v*aa+w*l+g*b)/(v*v+w*w+g*g),0>k?(d.x=aa,d.y=l,d.z=b,b=1):1<k?(d.x=B,d.y=p,d.z=r,b=2):(aa+=v*k,l+=w*k,b+=g*k,d.x=aa,d.y=l,d.z=b,b=3),l=d.x*d.x+d.y*d.y+d.z*d.z,0>Bb||l<Bb)&&(C=b<<1,Bb=l,N=d.x,I=d.y,F=d.z);0>m*(D*x-t*E)+n*(t*A-u*x)+q*(u*E-D*A)&&(n=a.x,m=a.y,a=a.z,u=e.x,D=e.y,b=e.z,l=u-n,t=D-m,e=b-a,q=-(l*n+t*m+e*a)/(l*l+t*t+e*e),0>q?(d.x=n,d.y=m,d.z=a,e=1):1<q?(d.x=u,d.y=D,d.z=b,e=2):(n+=l*q,m+=t*q,e=a+e*q,d.x=n,d.y=m,d.z=e,e=3),a=d.x*d.x+d.y*d.y+d.z*d.z,0>Bb||a<Bb)&&(C=e&1|(e&2)<<1,Bb=a,N=d.x,I=d.y,F=d.z);if(0<Bb)return 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Pb,Ec,Gc,Jc,Cc,Yc;Pb=a.x;Ec=a.y;Gc=a.z;Jc=d.x;Cc=d.y;Yc=d.z;var Bc,zc,rd;Bc=Jc-Pb;zc=Cc-Ec;rd=Yc-Gc;var Uc=Bc*Pb+zc*Ec+rd*Gc,Uc=-Uc/(Bc*Bc+zc*zc+rd*rd),Lc;if(0>Uc)c.x=Pb,c.y=Ec,c.z=Gc,Lc=1;else if(1<Uc)c.x=Jc,c.y=Cc,c.z=Yc,Lc=2;else{var Xc,cd,wd;Xc=Pb+Bc*Uc;cd=Ec+zc*Uc;wd=Gc+rd*Uc;c.x=Xc;c.y=cd;c.z=wd;Lc=3}var Df=c.x*c.x+c.y*c.y+c.z*c.z;if(0>qc||Df<qc)vb=Lc&1|(Lc&2)<<1,qc=Df,mc=c.x,id=c.y,Ic=c.z}var Oc;if(0<qc)c.x=mc,c.y=id,c.z=Ic,Oc=vb;else{var Dc=Ib*Ib+Zb*Zb+lb*lb;0<Dc&&(Dc=1/Math.sqrt(Dc));Ib*=Dc;Zb*=Dc;lb*=Dc;var bd=Ib*Ib+Zb*Zb+lb*lb,bd=(ec*Ib+qd*Zb+Da*lb)/bd;mc=Ib*bd;id=Zb*bd;Ic=lb*bd;c.x=mc;c.y=id;c.z=Ic;Oc=7}var xd=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||xd<Q)W=Oc&1|(Oc&6)<<1,Q=xd,P=c.x,ya=c.y,ta=c.z}if(0>Qa*Ba){var sd,ed,fd,ld,md,Id,dd,Mc,od,gd,Kc,jd,kd,Dd,nd,Vc,Wc,Zc;sd=a.x;ed=a.y;fd=a.z;ld=b.x;md=b.y;Id=b.z;dd=d.x;Mc=d.y;od=d.z;gd=ld-sd;Kc=md-ed;jd=Id-fd;kd=dd-ld;Dd=Mc-md;nd=od-Id;Vc=sd-dd;Wc=ed-Mc;Zc=fd-od;var td,ad,Sc;td=Kc*nd-jd*Dd;ad=jd*kd-gd*nd;Sc=gd*Dd-Kc*kd;var 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Gf,Hf,se,Re,Xf,Yf;Gf=a.x;Hf=a.y;se=a.z;Re=d.x;Xf=d.y;Yf=d.z;var af,Zf,If;af=Re-Gf;Zf=Xf-Hf;If=Yf-se;var we=af*Gf+Zf*Hf+If*se,we=-we/(af*af+Zf*Zf+If*If),bf;if(0>we)c.x=Gf,c.y=Hf,c.z=se,bf=1;else if(1<we)c.x=Re,c.y=Xf,c.z=Yf,bf=2;else{var $f,ag,bg;$f=Gf+af*we;ag=Hf+Zf*we;bg=se+If*we;c.x=$f;c.y=ag;c.z=bg;bf=3}var cg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Jd||cg<Jd)Gd=bf&1|(bf&2)<<1,Jd=cg,Qc=c.x,ue=c.y,ve=c.z}var Fe;if(0<Jd)c.x=Qc,c.y=ue,c.z=ve,Fe=Gd;else{var Ge=td*td+ad*ad+Sc*Sc;0<Ge&&(Ge=1/Math.sqrt(Ge));td*=Ge;ad*=Ge;Sc*=Ge;var cf=td*td+ad*ad+Sc*Sc,cf=(sd*td+ed*ad+fd*Sc)/cf;Qc=td*cf;ue=ad*cf;ve=Sc*cf;c.x=Qc;c.y=ue;c.z=ve;Fe=7}var dg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||dg<Q)W=Fe&3|(Fe&4)<<1,Q=dg,P=c.x,ya=c.y,ta=c.z}if(0>ba*Ba){var qf,He,rf,eg,Me,Ne,Oe,Qe,df,sf,Jf,Ce,Kf,ee,xe,Lf,Cf,fg;qf=b.x;He=b.y;rf=b.z;eg=e.x;Me=e.y;Ne=e.z;Oe=d.x;Qe=d.y;df=d.z;sf=eg-qf;Jf=Me-He;Ce=Ne-rf;Kf=Oe-eg;ee=Qe-Me;xe=df-Ne;Lf=qf-Oe;Cf=He-Qe;fg=rf-df;var zd,Ad,Bd;zd=Jf*xe-Ce*ee;Ad=Ce*Kf-sf*xe;Bd=sf*ee-Jf*Kf;var Og=qf*(Jf*Bd-Ce*Ad)+He*(Ce*zd-sf*Bd)+rf*(sf*Ad-Jf*zd),gg=eg*(ee*Bd-xe*Ad)+Me*(xe*zd-Kf*Bd)+Ne*(Kf*Ad-ee*zd),hg=Oe*(Cf*Bd-fg*Ad)+Qe*(fg*zd-Lf*Bd)+df*(Lf*Ad-Cf*zd),$d=-1,fe,ge,ae,tf=0;ae=ge=fe=0;if(0>Og){var ef,ff,gf,Mf,Tf,Td;ef=b.x;ff=b.y;gf=b.z;Mf=e.x;Tf=e.y;Td=e.z;var Kd,Ld,of;Kd=Mf-ef;Ld=Tf-ff;of=Td-gf;var Nf=Kd*ef+Ld*ff+of*gf,Nf=-Nf/(Kd*Kd+Ld*Ld+of*of),Xd;if(0>Nf)c.x=ef,c.y=ff,c.z=gf,Xd=1;else if(1<Nf)c.x=Mf,c.y=Tf,c.z=Td,Xd=2;else{var ud,Cd,ig;ud=ef+Kd*Nf;Cd=ff+Ld*Nf;ig=gf+of*Nf;c.x=ud;c.y=Cd;c.z=ig;Xd=3}var Dh=c.x*c.x+c.y*c.y+c.z*c.z,tf=Xd,$d=Dh;fe=c.x;ge=c.y;ae=c.z}if(0>gg){var jg,Yd,be,ye,hf,kg;jg=e.x;Yd=e.y;be=e.z;ye=d.x;hf=d.y;kg=d.z;var jf,kf,lf;jf=ye-jg;kf=hf-Yd;lf=kg-be;var ze=jf*jg+kf*Yd+lf*be,ze=-ze/(jf*jf+kf*kf+lf*lf),uf;if(0>ze)c.x=jg,c.y=Yd,c.z=be,uf=1;else if(1<ze)c.x=ye,c.y=hf,c.z=kg,uf=2;else{var lg,vf,xg;lg=jg+jf*ze;vf=Yd+kf*ze;xg=be+lf*ze;c.x=lg;c.y=vf;c.z=xg;uf=3}var mg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>$d||mg<$d)tf=uf<<1,$d=mg,fe=c.x,ge=c.y,ae=c.z}if(0>hg){var mf,wf,Ie,yg,zg,Uf;mf=b.x;wf=b.y;Ie=b.z;yg=d.x;zg=d.y;Uf=d.z;var ng,xf,yf;ng=yg-mf;xf=zg-wf;yf=Uf-Ie;var Ae=ng*mf+xf*wf+yf*Ie,Ae=-Ae/(ng*ng+xf*xf+yf*yf),Ag;if(0>Ae)c.x=mf,c.y=wf,c.z=Ie,Ag=1;else if(1<Ae)c.x=yg,c.y=zg,c.z=Uf,Ag=2;else{var tg,og,pg;tg=mf+ng*Ae;og=wf+xf*Ae;pg=Ie+yf*Ae;c.x=tg;c.y=og;c.z=pg;Ag=3}var qg=c.x*c.x+c.y*c.y+c.z*c.z;if(0>$d||qg<$d)tf=Ag&1|(Ag&2)<<1,$d=qg,fe=c.x,ge=c.y,ae=c.z}var Of;if(0<$d)c.x=fe,c.y=ge,c.z=ae,Of=tf;else{var Je=zd*zd+Ad*Ad+Bd*Bd;0<Je&&(Je=1/Math.sqrt(Je));zd*=Je;Ad*=Je;Bd*=Je;var nf=zd*zd+Ad*Ad+Bd*Bd,nf=(qf*zd+He*Ad+rf*Bd)/nf;fe=zd*nf;ge=Ad*nf;ae=Bd*nf;c.x=fe;c.y=ge;c.z=ae;Of=7}var zf=c.x*c.x+c.y*c.y+c.z*c.z;if(0>Q||zf<Q)W=Of<<1,Q=zf,P=c.x,ya=c.y,ta=c.z}if(0<Q)return c.x=P,c.y=ya,c.z=ta,W;c.Z();return 15};O.aa=!0;O.prototype={Aa:function(a,b,e,d,c,f,h,l,g){this.e00=a;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Mf:function(){this.e00=1;this.e10=this.e02=this.e01=0;this.e11=1;this.e21=this.e20=this.e12=0;this.e22=1;return this},zc:function(a){return new O(this.e00+a.e00,this.e01+a.e01,this.e02+a.e02,this.e10+a.e10,this.e11+a.e11,this.e12+a.e12,this.e20+a.e20,this.e21+a.e21,this.e22+a.e22)},Kg:function(a){return new O(this.e00-a.e00,this.e01-a.e01,this.e02-a.e02,this.e10-a.e10,this.e11-a.e11,this.e12-a.e12,this.e20-a.e20,this.e21-a.e21,this.e22-a.e22)},Bf:function(a){return new O(this.e00*a,this.e01*a,this.e02*a,this.e10*a,this.e11*a,this.e12*a,this.e20*a,this.e21*a,this.e22*a)},de:function(a){return new O(this.e00*a.e00+this.e01*a.e10+this.e02*a.e20,this.e00*a.e01+this.e01*a.e11+this.e02*a.e21,this.e00*a.e02+this.e01*a.e12+this.e02*a.e22,this.e10*a.e00+this.e11*a.e10+this.e12*a.e20,this.e10*a.e01+this.e11*a.e11+this.e12*a.e21,this.e10*a.e02+this.e11*a.e12+this.e12*a.e22,this.e20*a.e00+this.e21*a.e10+this.e22*a.e20,this.e20*a.e01+this.e21*a.e11+this.e22*a.e21,this.e20*a.e02+this.e21*a.e12+this.e22*a.e22)},Cc:function(a){var b=this.e01+a.e01,e=this.e02+a.e02,d=this.e10+a.e10,c=this.e11+a.e11,f=this.e12+a.e12,h=this.e20+a.e20,l=this.e21+a.e21,g=this.e22+a.e22;this.e00+=a.e00;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Lg:function(a){var b=this.e01-a.e01,e=this.e02-a.e02,d=this.e10-a.e10,c=this.e11-a.e11,f=this.e12-a.e12,h=this.e20-a.e20,l=this.e21-a.e21,g=this.e22-a.e22;this.e00=this.e00-a.e00;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Jg:function(a){var b=this.e01*a,e=this.e02*a,d=this.e10*a,c=this.e11*a,f=this.e12*a,h=this.e20*a,l=this.e21*a,g=this.e22*a;this.e00=this.e00*a;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},ee:function(a){var b=this.e00*a.e01+this.e01*a.e11+this.e02*a.e21,e=this.e00*a.e02+this.e01*a.e12+this.e02*a.e22,d=this.e10*a.e00+this.e11*a.e10+this.e12*a.e20,c=this.e10*a.e01+this.e11*a.e11+this.e12*a.e21,f=this.e10*a.e02+this.e11*a.e12+this.e12*a.e22,h=this.e20*a.e00+this.e21*a.e10+this.e22*a.e20,l=this.e20*a.e01+this.e21*a.e11+this.e22*a.e21,g=this.e20*a.e02+this.e21*a.e12+this.e22*a.e22;this.e00=this.e00*a.e00+this.e01*a.e10+this.e02*a.e20;this.e01=b;this.e02=e;this.e10=d;this.e11=c;this.e12=f;this.e20=h;this.e21=l;this.e22=g;return this},Ge:function(a,b,e){return new O(this.e00*a,this.e01*a,this.e02*a,this.e10*b,this.e11*b,this.e12*b,this.e20*e,this.e21*e,this.e22*e)},Jc:function(a,b,e){return new O(this.e00*a,this.e01*b,this.e02*e,this.e10*a,this.e11*b,this.e12*e,this.e20*a,this.e21*b,this.e22*e)},fe:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;d=d*d*h+f;return new O(a*this.e00+l*this.e10+g*this.e20,a*this.e01+l*this.e11+g*this.e21,a*this.e02+l*this.e12+g*this.e22,k*this.e00+m*this.e10+n*this.e20,k*this.e01+m*this.e11+n*this.e21,k*this.e02+m*this.e12+n*this.e22,q*this.e00+b*this.e10+d*this.e20,q*this.e01+b*this.e11+d*this.e21,q*this.e02+b*this.e12+d*this.e22)},Hc:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;d=d*d*h+f;return new O(this.e00*a+this.e01*k+this.e02*q,this.e00*l+this.e01*m+this.e02*b,this.e00*g+this.e01*n+this.e02*d,this.e10*a+this.e11*k+this.e12*q,this.e10*l+this.e11*m+this.e12*b,this.e10*g+this.e11*n+this.e12*d,this.e20*a+this.e21*k+this.e22*q,this.e20*l+this.e21*m+this.e22*b,this.e20*g+this.e21*n+this.e22*d)},He:function(a,b,e){var d=this.e01*a,c=this.e02*a,f=this.e10*b,h=this.e11*b;b=this.e12*b;var l=this.e20*e,g=this.e21*e;e=this.e22*e;this.e00=this.e00*a;this.e01=d;this.e02=c;this.e10=f;this.e11=h;this.e12=b;this.e20=l;this.e21=g;this.e22=e;return this},cd:function(a,b,e){var d=this.e01*b,c=this.e02*e,f=this.e10*a,h=this.e11*b,l=this.e12*e,g=this.e20*a;b=this.e21*b;e=this.e22*e;this.e00=this.e00*a;this.e01=d;this.e02=c;this.e10=f;this.e11=h;this.e12=l;this.e20=g;this.e21=b;this.e22=e;return this},ge:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;h=d*d*h+f;d=a*this.e01+l*this.e11+g*this.e21;e=a*this.e02+l*this.e12+g*this.e22;c=k*this.e00+m*this.e10+n*this.e20;f=k*this.e01+m*this.e11+n*this.e21;k=k*this.e02+m*this.e12+n*this.e22;m=q*this.e00+b*this.e10+h*this.e20;n=q*this.e01+b*this.e11+h*this.e21;q=q*this.e02+b*this.e12+h*this.e22;this.e00=a*this.e00+l*this.e10+g*this.e20;this.e01=d;this.e02=e;this.e10=c;this.e11=f;this.e12=k;this.e20=m;this.e21=n;this.e22=q;return this},Ic:function(a,b,e,d){var c=Math.sin(a),f=Math.cos(a),h=1-f;a=b*b*h+f;var l=b*e*h-d*c,g=b*d*h+e*c,k=e*b*h+d*c,m=e*e*h+f,n=e*d*h-b*c,q=d*b*h-e*c;b=d*e*h+b*c;var p=d*d*h+f;d=this.e00*l+this.e01*m+this.e02*b;e=this.e00*g+this.e01*n+this.e02*p;var c=this.e10*a+this.e11*k+this.e12*q,f=this.e10*l+this.e11*m+this.e12*b,h=this.e10*g+this.e11*n+this.e12*p,r=this.e20*a+this.e21*k+this.e22*q,l=this.e20*l+this.e21*m+this.e22*b,g=this.e20*g+this.e21*n+this.e22*p;this.e00=this.e00*a+this.e01*k+this.e02*q;this.e01=d;this.e02=e;this.e10=c;this.e11=f;this.e12=h;this.e20=r;this.e21=l;this.e22=g;return this},Th:function(){return new O(this.e00,this.e10,this.e20,this.e01,this.e11,this.e21,this.e02,this.e12,this.e22)},Uh:function(){var a=this.e10,b=this.e20,e=this.e01,d=this.e11,c=this.e21,f=this.e02,h=this.e12,l=this.e22;this.e00=this.e00;this.e01=a;this.e02=b;this.e10=e;this.e11=d;this.e12=c;this.e20=f;this.e21=h;this.e22=l;return this},Pd:function(){return this.e00*(this.e11*this.e22-this.e12*this.e21)-this.e01*(this.e10*this.e22-this.e12*this.e20)+this.e02*(this.e10*this.e21-this.e11*this.e20)},Ng:function(){return this.e00+this.e11+this.e22},be:function(){var a=this.e11*this.e22-this.e12*this.e21,b=this.e10*this.e22-this.e12*this.e20,e=this.e10*this.e21-this.e11*this.e20,d=this.e01*this.e22-this.e02*this.e21,c=this.e00*this.e22-this.e02*this.e20,f=this.e00*this.e21-this.e01*this.e20,h=this.e01*this.e12-this.e02*this.e11,l=this.e00*this.e12-this.e02*this.e10,g=this.e00*this.e11-this.e01*this.e10,k=this.e00*a-this.e01*b+this.e02*e;k&&(k=1/k);return new O(a*k,-d*k,h*k,-b*k,c*k,-l*k,e*k,-f*k,g*k)},ce:function(){var a=this.e11*this.e22-this.e12*this.e21,b=this.e10*this.e22-this.e12*this.e20,e=this.e10*this.e21-this.e11*this.e20,d=this.e01*this.e22-this.e02*this.e21,c=this.e00*this.e22-this.e02*this.e20,f=this.e00*this.e21-this.e01*this.e20,h=this.e01*this.e12-this.e02*this.e11,l=this.e00*this.e12-this.e02*this.e10,g=this.e00*this.e11-this.e01*this.e10,k=this.e00*a-this.e01*b+this.e02*e;k&&(k=1/k);this.e00=a*k;this.e01=-d*k;this.e02=h*k;this.e10=-b*k;this.e11=c*k;this.e12=-l*k;this.e20=e*k;this.e21=-f*k;this.e22=g*k;return 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b=b.Hd-b.Kd,c=this.Ka.mg*e+this.Ka.ng*d+this.Ka.og*b;c>F.contactPersistenceThreshold?this.xm(a):(e+=this.Ka.mg*-c,d+=this.Ka.ng*-c,b+=this.Ka.og*-c,e*e+d*d+b*b>F.contactPersistenceThreshold*F.contactPersistenceThreshold&&this.xm(a))}},xm:function(a){var b=--this.Ka.Xd;if(a!=b){var e=this.Ka.tc[a];this.Ka.tc[a]=this.Ka.tc[b];this.Ka.tc[b]=e}a=this.Ka.tc[b];a.bf=0;a.cf=0;a.df=0;a.ef=0;a.ff=0;a.gf=0;a.Db=0;a.Eb=0;a.Fb=0;a.bc=0;a.cc=0;a.dc=0;a.Fd=0;a.Gd=0;a.Hd=0;a.Id=0;a.Jd=0;a.Kd=0;a.Dc=0;b=a.Wd;b.Zc=0;b.yc=0;b.xc=0;b.ub=0;b.Ue=0;b.Ve=0;b.We=0;a.Se=!1;a.Jf=!1;a.sc=-1},Wm:function(a,b,e){var d=this.Ka.Xd;if(d==F.maxManifoldPoints){var d=this.Ka.tc[this.an(a,b,e)],c=a.position1;d.Fd=c.x;d.Gd=c.y;d.Hd=c.z;c=a.position2;d.Id=c.x;d.Jd=c.y;d.Kd=c.z;d.Db=d.Fd-b.v;d.Eb=d.Gd-b.A;d.Fb=d.Hd-b.B;d.bc=d.Id-e.v;d.cc=d.Jd-e.A;d.dc=d.Kd-e.B;var f,c=b.o*d.Db+b.i*d.Eb+b.l*d.Fb;f=b.f*d.Db+b.m*d.Eb+b.g*d.Fb;b=b.h*d.Db+b.j*d.Eb+b.s*d.Fb;d.bf=c;d.cf=f;d.df=b;b=e.o*d.bc+e.i*d.cc+e.l*d.dc;c=e.f*d.bc+e.m*d.cc+e.g*d.dc;e=e.h*d.bc+e.j*d.cc+e.s*d.dc;d.ef=b;d.ff=c;d.gf=e;d.Dc=a.depth;e=d.Wd;e.Zc=0;e.yc=0;e.xc=0;e.ub=0;e.Ue=0;e.Ve=0;e.We=0;d.sc=a.id;d.Se=!1;d.Jf=!1}else d=this.Ka.tc[d],c=a.position1,d.Fd=c.x,d.Gd=c.y,d.Hd=c.z,c=a.position2,d.Id=c.x,d.Jd=c.y,d.Kd=c.z,d.Db=d.Fd-b.v,d.Eb=d.Gd-b.A,d.Fb=d.Hd-b.B,d.bc=d.Id-e.v,d.cc=d.Jd-e.A,d.dc=d.Kd-e.B,c=b.o*d.Db+b.i*d.Eb+b.l*d.Fb,f=b.f*d.Db+b.m*d.Eb+b.g*d.Fb,b=b.h*d.Db+b.j*d.Eb+b.s*d.Fb,d.bf=c,d.cf=f,d.df=b,b=e.o*d.bc+e.i*d.cc+e.l*d.dc,c=e.f*d.bc+e.m*d.cc+e.g*d.dc,e=e.h*d.bc+e.j*d.cc+e.s*d.dc,d.ef=b,d.ff=c,d.gf=e,d.Dc=a.depth,e=d.Wd,e.Zc=0,e.yc=0,e.xc=0,e.ub=0,e.Ue=0,e.Ve=0,e.We=0,d.sc=a.id,d.Se=!1,d.Jf=!1,this.Ka.Xd++},an:function(a,b){var e=this.Ka.tc[0],d=this.Ka.tc[1],c=this.Ka.tc[2],f=this.Ka.tc[3],h=e.Dc,l=0;d.Dc>h&&(h=d.Dc,l=1);c.Dc>h&&(h=c.Dc,l=2);f.Dc>h&&(h=f.Dc,l=3);var g,k,m,n=a.position1;g=n.x;k=n.y;m=n.z;g-=b.v;k-=b.A;m-=b.B;var q=d.Db,p=d.Eb,r=d.Fb,v=c.Db,t=c.Eb,w=c.Fb,B=f.Db,u=f.Eb,D=f.Fb,V,A,E,x,F,N,I,C,L,M,O,ga,Ub,na,ka,bb,U,R;V=v-q;A=t-p;E=w-r;x=g-B;F=k-u;N=m-D;I=B-q;C=u-p;L=D-r;M=g-v;O=k-t;ga=m-w;Ub=g-q;na=k-p;ka=m-r;bb=B-v;U=u-t;R=D-w;var lc,Na,Ra,yc,Pa,Ba,Hb,H,Qa;lc=A*N-E*F;Na=E*x-V*N;Ra=V*F-A*x;yc=C*ga-L*O;Pa=L*M-I*ga;Ba=I*O-C*M;Hb=na*R-ka*U;H=ka*bb-Ub*R;Qa=Ub*U-na*bb;var ba=lc*lc+Na*Na+Ra*Ra,Q=yc*yc+Pa*Pa+Ba*Ba,P=Hb*Hb+H*H+Qa*Qa,ya=ba>Q?ba>P?ba:P:Q>P?Q:P,ta=e.Db,W=e.Eb,pa=e.Fb,y=c.Db,Ia=c.Eb,ca=c.Fb,Ea=f.Db,za=f.Eb,Fa=f.Fb,Sa,la,Z,Ga,ra,va,J,La,Xa,S,Ya,T,K,ia,gb,da,qa,sa;Sa=y-ta;la=Ia-W;Z=ca-pa;Ga=g-Ea;ra=k-za;va=m-Fa;J=Ea-ta;La=za-W;Xa=Fa-pa;S=g-y;Ya=k-Ia;T=m-ca;K=g-ta;ia=k-W;gb=m-pa;da=Ea-y;qa=za-Ia;sa=Fa-ca;var fb,jb,Za,ma,oa,Ja,Ha,ob,fa;fb=la*va-Z*ra;jb=Z*Ga-Sa*va;Za=Sa*ra-la*Ga;ma=La*T-Xa*Ya;oa=Xa*S-J*T;Ja=J*Ya-La*S;Ha=ia*sa-gb*qa;ob=gb*da-K*sa;fa=K*qa-ia*da;var ea=fb*fb+jb*jb+Za*Za,ja=ma*ma+oa*oa+Ja*Ja,cb=Ha*Ha+ob*ob+fa*fa,Aa=ea>ja?ea>cb?ea:cb:ja>cb?ja:cb,sb=e.Db,Ua=e.Eb,qb=e.Fb,rb=d.Db,tb=d.Eb,Va=d.Fb,xb=f.Db,rc=f.Eb,$a=f.Fb,ua,Yb,G,pb,db,wa,ab,hb,z,Db,Ca,xa,Fb,Oa,nb,wb,yb,eb;ua=rb-sb;Yb=tb-Ua;G=Va-qb;pb=g-xb;db=k-rc;wa=m-$a;ab=xb-sb;hb=rc-Ua;z=$a-qb;Db=g-rb;Ca=k-tb;xa=m-Va;Fb=g-sb;Oa=k-Ua;nb=m-qb;wb=xb-rb;yb=rc-tb;eb=$a-Va;var Y,Ma,kb,Ta,ib,Ka,Da,Wa,X;Y=Yb*wa-G*db;Ma=G*pb-ua*wa;kb=ua*db-Yb*pb;Ta=hb*xa-z*Ca;ib=z*Db-ab*xa;Ka=ab*Ca-hb*Db;Da=Oa*eb-nb*yb;Wa=nb*wb-Fb*eb;X=Fb*yb-Oa*wb;var Cb=Y*Y+Ma*Ma+kb*kb,mb=Ta*Ta+ib*ib+Ka*Ka,vb=Da*Da+Wa*Wa+X*X,Ab=Cb>mb?Cb>vb?Cb:vb:mb>vb?mb:vb,ec=e.Db,ub=e.Eb,zb=e.Fb,Eb=d.Db,xc=d.Eb,Lb=d.Fb,jc=c.Db,pc=c.Eb,kc=c.Fb,ac,Vb,Wb,Qb,fc,Rb,Ob,Xb,gc,Ib,Zb,lb,Gb,Jb,Nb,qc,mc,Pb;ac=Eb-ec;Vb=xc-ub;Wb=Lb-zb;Qb=g-jc;fc=k-pc;Rb=m-kc;Ob=jc-ec;Xb=pc-ub;gc=kc-zb;Ib=g-Eb;Zb=k-xc;lb=m-Lb;Gb=g-ec;Jb=k-ub;Nb=m-zb;qc=jc-Eb;mc=pc-xc;Pb=kc-Lb;var Tb,Mb,sc,vc,Sb,bc,cc,dc,ic;Tb=Vb*Rb-Wb*fc;Mb=Wb*Qb-ac*Rb;sc=ac*fc-Vb*Qb;vc=Xb*lb-gc*Zb;Sb=gc*Ib-Ob*lb;bc=Ob*Zb-Xb*Ib;cc=Jb*Pb-Nb*mc;dc=Nb*qc-Gb*Pb;ic=Gb*mc-Jb*qc;var $b=Tb*Tb+Mb*Mb+sc*sc,tc=vc*vc+Sb*Sb+bc*bc,nc=cc*cc+dc*dc+ic*ic,uc=$b>tc?$b>nc?$b:nc:tc>nc?tc:nc,hc=ya,wc=0;if(Aa>hc&&1!=l||!l)hc=Aa,wc=1;Ab>hc&&2!=l&&(hc=Ab,wc=2);uc>hc&&3!=l&&(hc=uc,wc=3);return wc},dn:function(a,b,e){for(var d=F.contactPersistenceThreshold*F.contactPersistenceThreshold,c=-1,f=0,h=this.Ka.Xd;f<h;){var l=f++,g=this.Ka.tc[l],k,m,n,q,p,r;p=a.position1;k=p.x;m=p.y;n=p.z;r=a.position2;q=r.x;p=r.y;r=r.z;k-=b.v;m-=b.A;n-=b.B;q-=e.v;p-=e.A;r-=e.B;k=g.Db-k;m=g.Eb-m;n=g.Fb-n;q=g.bc-q;p=g.cc-p;g=g.dc-r;r=k*k+m*m+n*n;g=q*q+p*p+g*g;g=r<g?r:g;g<d&&(d=g,c=l)}return c},Pn:function(a,b,e){this.ol=this.Ka.Xd;for(var d=0,c=this.ol;d<c;){var f=d++,h=this.pl[f],f=this.Ka.tc[f];h.bf=f.bf;h.cf=f.cf;h.df=f.df;h.ef=f.ef;h.ff=f.ff;h.gf=f.gf;h.Db=f.Db;h.Eb=f.Eb;h.Fb=f.Fb;h.bc=f.bc;h.cc=f.cc;h.dc=f.dc;h.Fd=f.Fd;h.Gd=f.Gd;h.Hd=f.Hd;h.Id=f.Id;h.Jd=f.Jd;h.Kd=f.Kd;h.Dc=f.Dc;h.Wd.Zd(f.Wd);h.sc=f.sc;h.Se=f.Se;h.Jf=!1}d=a.numPoints;this.Ka.Xd=d;for(c=0;c<d;){var f=c++,h=this.Ka.tc[f],f=a.points[f],l=f.position1;h.Fd=l.x;h.Gd=l.y;h.Hd=l.z;l=f.position2;h.Id=l.x;h.Jd=l.y;h.Kd=l.z;h.Db=h.Fd-b.v;h.Eb=h.Gd-b.A;h.Fb=h.Hd-b.B;h.bc=h.Id-e.v;h.cc=h.Jd-e.A;h.dc=h.Kd-e.B;var g,k,l=b.o*h.Db+b.i*h.Eb+b.l*h.Fb;g=b.f*h.Db+b.m*h.Eb+b.g*h.Fb;k=b.h*h.Db+b.j*h.Eb+b.s*h.Fb;h.bf=l;h.cf=g;h.df=k;l=e.o*h.bc+e.i*h.cc+e.l*h.dc;g=e.f*h.bc+e.m*h.cc+e.g*h.dc;k=e.h*h.bc+e.j*h.cc+e.s*h.dc;h.ef=l;h.ff=g;h.gf=k;h.Dc=f.depth;l=h.Wd;l.Zc=0;l.yc=0;l.xc=0;l.ub=0;l.Ue=0;l.Ve=0;l.We=0;h.sc=f.id;h.Se=!1;h.Jf=!1;f=0;for(l=this.ol;f<l;)if(g=f++,g=this.pl[g],h.sc==g.sc){h.Wd.Zd(g.Wd);h.Se=!0;break}}},Bn:function(a,b,e){this.Ka.Kl(b,e);for(var d=0,c=this.Ka.Xd;d<c;){var f=d++;this.Ka.tc[f].Se=!0}if(1!=a.numPoints)throw Error("assertion error: result.numPoints == 1 is false");a=a.points[0];d=this.dn(a,b,e);-1==d?this.Wm(a,b,e):(d=this.Ka.tc[d],c=a.position1,d.Fd=c.x,d.Gd=c.y,d.Hd=c.z,c=a.position2,d.Id=c.x,d.Jd=c.y,d.Kd=c.z,d.Db=d.Fd-b.v,d.Eb=d.Gd-b.A,d.Fb=d.Hd-b.B,d.bc=d.Id-e.v,d.cc=d.Jd-e.A,d.dc=d.Kd-e.B,c=b.o*d.Db+b.i*d.Eb+b.l*d.Fb,f=b.f*d.Db+b.m*d.Eb+b.g*d.Fb,b=b.h*d.Db+b.j*d.Eb+b.s*d.Fb,d.bf=c,d.cf=f,d.df=b,b=e.o*d.bc+e.i*d.cc+e.l*d.dc,c=e.f*d.bc+e.m*d.cc+e.g*d.dc,e=e.h*d.bc+e.j*d.cc+e.s*d.dc,d.ef=b,d.ff=c,d.gf=e,d.Dc=a.depth);this.Hn()},ra:jj};ld.aa=!0;ld.prototype={Bm:function(){this.wc=0;if(0!=this.wa||0!=this.xa||0!=this.ya||0!=this.Ca||0!=this.Da||0!=this.Ea)this.wc|=1;if(0!=this.ba||0!=this.ca||0!=this.da||0!=this.fa||0!=this.ga||0!=this.ha)this.wc|=2},ra:ld};Tf.aa=!0;Tf.prototype={ra:Tf};ij.aa=!0;ij.prototype={ra:ij};Ne.aa=!0;Ne.prototype={ra:Ne};hj.aa=!0;hj.prototype={ra:hj};L.aa=!0;L.prototype={ed:function(){var a=this.C.a,b=this.D.a,e,d,c;e=a.o*this.Pi+a.f*this.Qi+a.h*this.Ri;d=a.i*this.Pi+a.m*this.Qi+a.j*this.Ri;c=a.l*this.Pi+a.g*this.Qi+a.s*this.Ri;this.Qb=e;this.Rb=d;this.Sb=c;e=b.o*this.Si+b.f*this.Ti+b.h*this.Ui;d=b.i*this.Si+b.m*this.Ti+b.j*this.Ui;c=b.l*this.Si+b.g*this.Ti+b.s*this.Ui;this.Tb=e;this.Ub=d;this.Vb=c;this.Df=this.Qb+a.v;this.Ef=this.Rb+a.A;this.Ff=this.Sb+a.B;this.Gf=this.Tb+b.v;this.Hf=this.Ub+b.A;this.If=this.Vb+b.B;e=a.o*this.sa+a.f*this.ta+a.h*this.ua;d=a.i*this.sa+a.m*this.ta+a.j*this.ua;c=a.l*this.sa+a.g*this.ta+a.s*this.ua;this.vb=e;this.wb=d;this.xb=c;e=a.o*this.Ab+a.f*this.Bb+a.h*this.Cb;d=a.i*this.Ab+a.m*this.Bb+a.j*this.Cb;c=a.l*this.Ab+a.g*this.Bb+a.s*this.Cb;this.xe=e;this.ye=d;this.ze=c;e=a.o*this.hc+a.f*this.ic+a.h*this.jc;d=a.i*this.hc+a.m*this.ic+a.j*this.jc;a=a.l*this.hc+a.g*this.ic+a.s*this.jc;this.th=e;this.uh=d;this.vh=a;a=b.o*this.lb+b.f*this.mb+b.h*this.nb;e=b.i*this.lb+b.m*this.mb+b.j*this.nb;d=b.l*this.lb+b.g*this.mb+b.s*this.nb;this.Zb=a;this.$b=e;this.ac=d;a=b.o*this.Wg+b.f*this.Xg+b.h*this.Yg;e=b.i*this.Wg+b.m*this.Xg+b.j*this.Yg;d=b.l*this.Wg+b.g*this.Xg+b.s*this.Yg;this.ne=a;this.oe=e;this.pe=d;a=b.o*this.Kc+b.f*this.Lc+b.h*this.Mc;e=b.i*this.Kc+b.m*this.Lc+b.j*this.Mc;b=b.l*this.Kc+b.g*this.Lc+b.s*this.Mc;this.Rg=a;this.Sg=e;this.Tg=b},Vd:function(a,b){b.Ce=this.C;b.De=this.D;b.La=0},dd:function(a){a.Ce=this.C;a.De=this.D;a.La=0},Cl:function(){var a=this.Ai*this.Ai+this.Bi*this.Bi+this.Ci*this.Ci,b=this.Di*this.Di+this.Ei*this.Ei+this.Fi*this.Fi;0<this.Ji&&a>this.Ji*this.Ji?this.kc.sl(this):0<this.Ki&&b>this.Ki*this.Ki&&this.kc.sl(this)},ge:function(){return this.C},Ge:function(){return this.D},Jg:function(){return this.Xb},bb:function(){var a=new t;a.x=this.Df;a.y=this.Ef;a.z=this.Ff;return a},Lb:function(){var a=new t;a.x=this.Gf;a.y=this.Hf;a.z=this.If;return a},tb:function(a){a.x=this.Df;a.y=this.Ef;a.z=this.Ff},lc:function(a){a.x=this.Gf;a.y=this.Hf;a.z=this.If},be:function(){var a=new t;a.x=this.Pi;a.y=this.Qi;a.z=this.Ri;return a},de:function(){var a=new t;a.x=this.Si;a.y=this.Ti;a.z=this.Ui;return a},ce:function(a){a.x=this.Pi;a.y=this.Qi;a.z=this.Ri},ee:function(a){a.x=this.Si;a.y=this.Ti;a.z=this.Ui},Cc:function(){var a=new O,b,e,d,c,f,h,l,g,k;b=this.vb;e=this.xe;d=this.th;c=this.wb;f=this.ye;h=this.uh;l=this.xb;g=this.ze;k=this.vh;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k;return a},Ic:function(){var a=new O,b,e,d,c,f,h,l,g,k;b=this.Zb;e=this.ne;d=this.Rg;c=this.$b;f=this.oe;h=this.Sg;l=this.ac;g=this.pe;k=this.Tg;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k;return a},Hc:function(a){var b,e,d,c,f,h,l,g,k;b=this.vb;e=this.xe;d=this.th;c=this.wb;f=this.ye;h=this.uh;l=this.xb;g=this.ze;k=this.vh;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k},Jc:function(a){var b,e,d,c,f,h,l,g,k;b=this.Zb;e=this.ne;d=this.Rg;c=this.$b;f=this.oe;h=this.Sg;l=this.ac;g=this.pe;k=this.Tg;a.e00=b;a.e01=e;a.e02=d;a.e10=c;a.e11=f;a.e12=h;a.e20=l;a.e21=g;a.e22=k},Qa:function(){return this.gk},Kg:function(a){this.gk=a},cd:function(){return this.Ji},Lg:function(a){this.Ji=a},Pd:function(){return this.Ki},Mg:function(a){this.Ki=a},fe:function(){return this.Ec},Ng:function(a){switch(a){case 0:case 1:case 2:break;default:throw Error("invalid position correction algorithm id: "+a);}this.Ec=a},mc:function(){var a=new t;a.x=this.Ai;a.y=this.Bi;a.z=this.Ci;return a},qc:function(a){a.x=this.Ai;a.y=this.Bi;a.z=this.Ci},rc:function(){var a=new t;a.x=this.Di;a.y=this.Ei;a.z=this.Fi;return a},zc:function(a){a.x=this.Di;a.y=this.Ei;a.z=this.Fi},Bf:function(){return this.ja},He:function(){return this.M},ra:L};vb.aa=!0;vb.Kb=L;vb.prototype=mb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c=this.linearErrorY*d,f=this.linearErrorZ*d,h=this.angularErrorY*d,d=this.angularErrorZ*d,l,g,k,m,n,q,p,r,v,t,w,B;l=-this.Sb;g=this.Rb;k=this.Sb;m=-this.Qb;n=-this.Rb;q=this.Qb;p=-this.Vb;r=this.Ub;v=this.Vb;t=-this.Tb;w=-this.Ub;B=this.Tb;var u,D=1/(this.C.$a+this.D.$a),V=this.ea.$c,A=this.ea.ad,E=this.ea.bd,x=(this.C.P*V+this.C.R*A+this.C.S*E)*V+(this.C.T*V+this.C.U*A+this.C.V*E)*A+(this.C.W*V+this.C.X*A+this.C.Y*E)*E;u=(this.D.P*V+this.D.R*A+this.D.S*E)*V+(this.D.T*V+this.D.U*A+this.D.V*E)*A+(this.D.W*V+this.D.X*A+this.D.Y*E)*E;if(0<x){var C=V*this.Qb+A*this.Rb+E*this.Sb,C=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-C*C;0<C&&(x=0<this.C.$a?1/(1/x+this.C.Nc*C):0)}0<u&&(V=V*this.Tb+A*this.Ub+E*this.Vb,V=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-V*V,0<V&&(u=0<this.D.$a?1/(1/u+this.D.Nc*V):0));x=x+u?1/(x+u):0;if(0>=this.Lk.frequency||!e){u=this.Ob[0];V=a.rows[a.La++];A=V.Ba;A.wa=0;A.xa=0;A.ya=0;A.Ca=0;A.Da=0;A.Ea=0;A.ba=0;A.ca=0;A.da=0;A.fa=0;A.ga=0;A.ha=0;V.Ga=0;V.Na=0;V.Ja=0;V.Ia=0;V.motorSpeed=0;V.cb=0;V.va=null;V.va=u;u=V;var V=this.Vf,C=this.Kk,E=this.Lk,N,A=F.linearSlop;if(e)E=0,N=1;else{if(0<E.frequency){var A=0,I=6.28318530717958*E.frequency,L=E.dampingRatio;L<F.minSpringDamperDampingRatio&&(L=F.minSpringDamperDampingRatio);N=b.dt;L=2*L*I;I*=I;E.useSymplecticEuler?(E=1/(N*L),N=I/L):(E=1/(N*(N*I+L)),N=I/(N*I+L))}else E=0,N=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<C.motorForce?(u.motorSpeed=C.motorSpeed,u.cb=C.motorForce*b.dt):(u.motorSpeed=0,u.cb=0)}var L=C.lowerLimit,M=C.upperLimit;L>M?V=I=C=0:L==M?(C=-1/0,I=1/0,V-=L):V<L?(C=-1/0,I=0,V=V-L+A,0<V&&(V=0)):V>M?(C=0,I=1/0,V=V-M-A,0>V&&(V=0)):V=I=C=0;u.Ja=C;u.Ia=I;u.Na=E*(D?1/D:0);u.Ga=V*N;u=u.Ba;u.wa=this.ea.$c;u.xa=this.ea.ad;u.ya=this.ea.bd;u.Ca=this.ea.$c;u.Da=this.ea.ad;u.Ea=this.ea.bd;u.ba=-0;u.ca=-l;u.da=-g;u.fa=-0;u.ga=-p;u.ha=-r}u=this.Ob[1];l=a.rows[a.La++];g=l.Ba;g.wa=0;g.xa=0;g.ya=0;g.Ca=0;g.Da=0;g.Ea=0;g.ba=0;g.ca=0;g.da=0;g.fa=0;g.ga=0;g.ha=0;l.Ga=0;l.Na=0;l.Ja=0;l.Ia=0;l.motorSpeed=0;l.cb=0;l.va=u;u=l;u.Ga=c;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.wa=this.ea.Md;u.xa=this.ea.Nd;u.ya=this.ea.Od;u.Ca=this.ea.Md;u.Da=this.ea.Nd;u.Ea=this.ea.Od;u.ba=-k;u.ca=-0;u.da=-m;u.fa=-v;u.ga=-0;u.ha=-t;c=this.Ob[2];u=a.rows[a.La++];k=u.Ba;k.wa=0;k.xa=0;k.ya=0;k.Ca=0;k.Da=0;k.Ea=0;k.ba=0;k.ca=0;k.da=0;k.fa=0;k.ga=0;k.ha=0;u.Ga=0;u.Na=0;u.Ja=0;u.Ia=0;u.motorSpeed=0;u.cb=0;u.va=c;u.Ga=f;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.wa=this.ea.ke;u.xa=this.ea.le;u.ya=this.ea.me;u.Ca=this.ea.ke;u.Da=this.ea.le;u.Ea=this.ea.me;u.ba=-n;u.ca=-q;u.da=-0;u.fa=-w;u.ga=-B;u.ha=-0;if(0>=this.Ek.frequency||!e)f=this.Ob[3],n=a.rows[a.La++],q=n.Ba,q.wa=0,q.xa=0,q.ya=0,q.Ca=0,q.Da=0,q.Ea=0,q.ba=0,q.ca=0,q.da=0,q.fa=0,q.ga=0,q.ha=0,n.Ga=0,n.Na=0,n.Ja=0,n.Ia=0,n.motorSpeed=0,n.cb=0,n.va=f,u=n,f=this.angle,q=this.Dk,w=this.Ek,n=F.angularSlop,e?(e=0,w=1):(0<w.frequency?(n=0,e=6.28318530717958*w.frequency,c=w.dampingRatio,c<F.minSpringDamperDampingRatio&&(c=F.minSpringDamperDampingRatio),B=b.dt,c=2*c*e,k=e*e,w.useSymplecticEuler?(e=1/(B*c),w=k/c):(e=1/(B*(B*k+c)),w=k/(B*k+c))):(e=0,w=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<q.motorTorque?(u.motorSpeed=q.motorSpeed,u.cb=q.motorTorque*b.dt):(u.motorSpeed=0,u.cb=0)),b=q.lowerLimit,q=q.upperLimit,B=.5*(b+q),f=((f-B+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979+B,b>q?b=c=B=0:b==q?(B=-1/0,c=1/0,b=f-b):f<b?(B=-1/0,c=0,b=f-b+n,0<b&&(b=0)):f>q?(B=0,c=1/0,b=f-q-n,0>b&&(b=0)):b=c=B=0,u.Ja=B,u.Ia=c,u.Na=e*(x?1/x:0),u.Ga=b*w,u=u.Ba,u.ba=this.ea.$c,u.ca=this.ea.ad,u.da=this.ea.bd,u.fa=this.ea.$c,u.ga=this.ea.ad,u.ha=this.ea.bd;b=this.Ob[4];x=a.rows[a.La++];e=x.Ba;e.wa=0;e.xa=0;e.ya=0;e.Ca=0;e.Da=0;e.Ea=0;e.ba=0;e.ca=0;e.da=0;e.fa=0;e.ga=0;e.ha=0;x.Ga=0;x.Na=0;x.Ja=0;x.Ia=0;x.motorSpeed=0;x.cb=0;x.va=b;u=x;u.Ga=h;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.ba=this.ea.Md;u.ca=this.ea.Nd;u.da=this.ea.Od;u.fa=this.ea.Md;u.ga=this.ea.Nd;u.ha=this.ea.Od;h=this.Ob[5];a=a.rows[a.La++];b=a.Ba;b.wa=0;b.xa=0;b.ya=0;b.Ca=0;b.Da=0;b.Ea=0;b.ba=0;b.ca=0;b.da=0;b.fa=0;b.ga=0;b.ha=0;a.Ga=0;a.Na=0;a.Ja=0;a.Ia=0;a.motorSpeed=0;a.cb=0;a.va=h;u=a;u.Ga=d;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.ba=this.ea.ke;u.ca=this.ea.le;u.da=this.ea.me;u.fa=this.ea.ke;u.ga=this.ea.le;u.ha=this.ea.me},ed:function(){L.prototype.ed.call(this);var a=this.ea,b=a.$.C.$a,e=a.$.D.$a,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u,D,V,A,E,x,F,C,I,M,O,ga,ha,na,Ub=a.$.vb*a.$.Zb+a.$.wb*a.$.$b+a.$.xb*a.$.ac;if(-1.000001<Ub&&-.999999>Ub){var qa,ka,bb,U=a.$.vb,R=a.$.wb,lc=a.$.xb,Na=U*U,Ra=R*R,yc=lc*lc,Pa;Na<Ra?Na<yc?(Pa=1/Math.sqrt(Ra+yc),qa=0,ka=lc*Pa,bb=-R*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0):Ra<yc?(Pa=1/Math.sqrt(yc+Na),qa=-lc*Pa,ka=0,bb=U*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0);d=qa;c=ka;f=bb;h=0}else{var Ba,Hb,H;Ba=a.$.wb*a.$.ac-a.$.xb*a.$.$b;Hb=a.$.xb*a.$.Zb-a.$.vb*a.$.ac;H=a.$.vb*a.$.$b-a.$.wb*a.$.Zb;var Qa=Math.sqrt(.5*(1+Ub)),Ub=.5/Qa;Ba*=Ub;Hb*=Ub;H*=Ub;d=Ba;c=Hb;f=H;h=Qa}var ba,Q,P,ya,ta,W,pa,y;P=Q=ba=0;ya=1;ta=d;W=c;pa=f;y=h;var Ia=ba*ta+Q*W+P*pa+ya*y;0>Ia&&(Ia=-Ia,ta=-ta,W=-W,pa=-pa,y=-y);if(.999999<Ia){var ca,Ea,za,Fa;ca=ta-ba;Ea=W-Q;za=pa-P;Fa=y-ya;ta=ba+b/(b+e)*ca;W=Q+b/(b+e)*Ea;pa=P+b/(b+e)*za;y=ya+b/(b+e)*Fa;var Sa=ta*ta+W*W+pa*pa+y*y;1E-32<Sa&&(Sa=1/Math.sqrt(Sa));l=ta*Sa;g=W*Sa;k=pa*Sa;m=y*Sa}else{var 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ib=this.vb*this.Zb+this.wb*this.$b+this.xb*this.ac,Ka=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib),Kb=Ma*Ma+kb*kb+Ta*Ta;0<Kb&&(Kb=1/Math.sqrt(Kb));Ma*=Kb;kb*=Kb;Ta*=Kb;Ma*=Ka;kb*=Ka;Ta*=Ka;this.angularErrorY=Ma*this.ea.Md+kb*this.ea.Nd+Ta*this.ea.Od;this.angularErrorZ=Ma*this.ea.ke+kb*this.ea.le+Ta*this.ea.me;var vb,X,Cb;vb=this.ye*this.pe-this.ze*this.oe;X=this.ze*this.ne-this.xe*this.pe;Cb=this.xe*this.oe-this.ye*this.ne;ib=this.xe*this.ne+this.ye*this.oe+this.ze*this.pe;this.angle=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib);0>vb*this.ea.$c+X*this.ea.ad+Cb*this.ea.bd&&(this.angle=-this.angle);var Ab,ub,zb;Ab=this.Gf-this.Df;ub=this.Hf-this.Ef;zb=this.If-this.Ff;this.Vf=Ab*this.ea.$c+ub*this.ea.ad+zb*this.ea.bd;this.linearErrorY=Ab*this.ea.Md+ub*this.ea.Nd+zb*this.ea.Od;this.linearErrorZ=Ab*this.ea.ke+ub*this.ea.le+zb*this.ea.me},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.vb;a.y=this.wb;a.z=this.xb;return a},xg:function(){var a=new t;a.x=this.Zb;a.y=this.$b;a.z=this.ac;return a},wg:function(a){a.x=this.vb;a.y=this.wb;a.z=this.xb},yg:function(a){a.x=this.Zb;a.y=this.$b;a.z=this.ac},zg:function(){var a=new t;a.x=this.sa;a.y=this.ta;a.z=this.ua;return a},Bg:function(){var a=new t;a.x=this.lb;a.y=this.mb;a.z=this.nb;return a},Ag:function(a){a.x=this.sa;a.y=this.ta;a.z=this.ua},Cg:function(a){a.x=this.lb;a.y=this.mb;a.z=this.nb},vn:function(){return this.Lk},nn:function(){return this.Ek},un:function(){return this.Kk},mn:function(){return this.Dk},Xk:function(){return this.angle},$k:function(){return this.Vf},ra:vb});$b.aa=!0;$b.prototype={Vg:function(a,b,e){this.rigidBody1=a;this.rigidBody2=b;var d=this.rigidBody1,c,f,h;c=e.x;f=e.y;h=e.z;c-=d.a.v;f-=d.a.A;h-=d.a.B;a=d.a.o*c+d.a.i*f+d.a.l*h;b=d.a.f*c+d.a.m*f+d.a.g*h;d=d.a.h*c+d.a.j*f+d.a.s*h;c=this.localAnchor1;c.x=a;c.y=b;c.z=d;b=this.rigidBody2;d=e.x;c=e.y;f=e.z;d-=b.a.v;c-=b.a.A;f-=b.a.B;e=b.a.o*d+b.a.i*c+b.a.l*f;a=b.a.f*d+b.a.m*c+b.a.g*f;b=b.a.h*d+b.a.j*c+b.a.s*f;d=this.localAnchor2;d.x=e;d.y=a;d.z=b},ra:$b};re.aa=!0;re.Kb=$b;re.prototype=mb($b.prototype,{Aa:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},ra:re});Pe.aa=!0;Pe.prototype={ra:Pe};Ck.aa=!0;Ck.prototype={ra:Ck};Lc.aa=!0;Lc.prototype={Qa:function(){return this.wk},tb:function(){return this.Oc},Lb:function(){return this.ja},bb:function(){return this.M},ra:Lc};uc.aa=!0;Gb.aa=!0;Gb.Kb=L;Gb.prototype=mb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c=this.linearErrorY*d,f=this.linearErrorZ*d,h=this.angularErrorX*d,l=this.angularErrorY*d,d=this.angularErrorZ*d,g,k,m,n,q,p,r,v,t,w,B,u;g=-this.Sb;k=this.Rb;m=this.Sb;n=-this.Qb;q=-this.Rb;p=this.Qb;r=-this.Vb;v=this.Ub;t=this.Vb;w=-this.Tb;B=-this.Ub;u=this.Tb;var D,V;V=1/(this.C.$a+this.D.$a);if(0>=this.ue.frequency||!e){D=this.Ob[0];var A=a.rows[a.La++],E=A.Ba;E.wa=0;E.xa=0;E.ya=0;E.Ca=0;E.Da=0;E.Ea=0;E.ba=0;E.ca=0;E.da=0;E.fa=0;E.ga=0;E.ha=0;A.Ga=0;A.Na=0;A.Ja=0;A.Ia=0;A.motorSpeed=0;A.cb=0;A.va=D;D=A;var A=this.Vf,x=this.Ch,C=this.ue,E=F.linearSlop;if(e)C=0,e=1;else{if(0<C.frequency){var E=0,N=6.28318530717958*C.frequency,I=C.dampingRatio;I<F.minSpringDamperDampingRatio&&(I=F.minSpringDamperDampingRatio);e=b.dt;I=2*I*N;N*=N;C.useSymplecticEuler?(C=1/(e*I),e=N/I):(C=1/(e*(e*N+I)),e=N/(e*N+I))}else C=0,e=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<x.motorForce?(D.motorSpeed=x.motorSpeed,D.cb=x.motorForce*b.dt):(D.motorSpeed=0,D.cb=0)}b=x.lowerLimit;N=x.upperLimit;b>N?b=I=x=0:b==N?(x=-1/0,I=1/0,b=A-b):A<b?(x=-1/0,I=0,b=A-b+E,0<b&&(b=0)):A>N?(x=0,I=1/0,b=A-N-E,0>b&&(b=0)):b=I=x=0;D.Ja=x;D.Ia=I;D.Na=C*(V?1/V:0);D.Ga=b*e;V=D.Ba;V.wa=this.ea.$c;V.xa=this.ea.ad;V.ya=this.ea.bd;V.Ca=this.ea.$c;V.Da=this.ea.ad;V.Ea=this.ea.bd;V.ba=-0;V.ca=-g;V.da=-k;V.fa=-0;V.ga=-r;V.ha=-v}g=this.Ob[1];k=a.rows[a.La++];r=k.Ba;r.wa=0;r.xa=0;r.ya=0;r.Ca=0;r.Da=0;r.Ea=0;r.ba=0;r.ca=0;r.da=0;r.fa=0;r.ga=0;r.ha=0;k.Ga=0;k.Na=0;k.Ja=0;k.Ia=0;k.motorSpeed=0;k.cb=0;k.va=g;D=k;D.Ga=c;D.Na=0;D.Ja=-1/0;D.Ia=1/0;V=D.Ba;V.wa=this.ea.Md;V.xa=this.ea.Nd;V.ya=this.ea.Od;V.Ca=this.ea.Md;V.Da=this.ea.Nd;V.Ea=this.ea.Od;V.ba=-m;V.ca=-0;V.da=-n;V.fa=-t;V.ga=-0;V.ha=-w;c=this.Ob[2];m=a.rows[a.La++];n=m.Ba;n.wa=0;n.xa=0;n.ya=0;n.Ca=0;n.Da=0;n.Ea=0;n.ba=0;n.ca=0;n.da=0;n.fa=0;n.ga=0;n.ha=0;m.Ga=0;m.Na=0;m.Ja=0;m.Ia=0;m.motorSpeed=0;m.cb=0;m.va=c;D=m;D.Ga=f;D.Na=0;D.Ja=-1/0;D.Ia=1/0;V=D.Ba;V.wa=this.ea.ke;V.xa=this.ea.le;V.ya=this.ea.me;V.Ca=this.ea.ke;V.Da=this.ea.le;V.Ea=this.ea.me;V.ba=-q;V.ca=-p;V.da=-0;V.fa=-B;V.ga=-u;V.ha=-0;f=this.Ob[3];q=a.rows[a.La++];p=q.Ba;p.wa=0;p.xa=0;p.ya=0;p.Ca=0;p.Da=0;p.Ea=0;p.ba=0;p.ca=0;p.da=0;p.fa=0;p.ga=0;p.ha=0;q.Ga=0;q.Na=0;q.Ja=0;q.Ia=0;q.motorSpeed=0;q.cb=0;q.va=f;D=q;D.Ga=h;D.Na=0;D.Ja=-1/0;D.Ia=1/0;V=D.Ba;V.ba=1;V.ca=0;V.da=0;V.fa=1;V.ga=0;V.ha=0;h=this.Ob[4];f=a.rows[a.La++];q=f.Ba;q.wa=0;q.xa=0;q.ya=0;q.Ca=0;q.Da=0;q.Ea=0;q.ba=0;q.ca=0;q.da=0;q.fa=0;q.ga=0;q.ha=0;f.Ga=0;f.Na=0;f.Ja=0;f.Ia=0;f.motorSpeed=0;f.cb=0;f.va=h;D=f;D.Ga=l;D.Na=0;D.Ja=-1/0;D.Ia=1/0;V=D.Ba;V.ba=0;V.ca=1;V.da=0;V.fa=0;V.ga=1;V.ha=0;l=this.Ob[5];a=a.rows[a.La++];h=a.Ba;h.wa=0;h.xa=0;h.ya=0;h.Ca=0;h.Da=0;h.Ea=0;h.ba=0;h.ca=0;h.da=0;h.fa=0;h.ga=0;h.ha=0;a.Ga=0;a.Na=0;a.Ja=0;a.Ia=0;a.motorSpeed=0;a.cb=0;a.va=l;D=a;D.Ga=d;D.Na=0;D.Ja=-1/0;D.Ia=1/0;V=D.Ba;V.ba=0;V.ca=0;V.da=1;V.fa=0;V.ga=0;V.ha=1},ed:function(){L.prototype.ed.call(this);var a=this.ea,b=a.$.C.$a,e=a.$.D.$a,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u,D,F,A,E,x,C,N,I,M,O,ga,ha,na,Ub=a.$.vb*a.$.Zb+a.$.wb*a.$.$b+a.$.xb*a.$.ac;if(-1.000001<Ub&&-.999999>Ub){var qa,ka,bb,U=a.$.vb,R=a.$.wb,Ca=a.$.xb,Na=U*U,Ra=R*R,xa=Ca*Ca,Pa;Na<Ra?Na<xa?(Pa=1/Math.sqrt(Ra+xa),qa=0,ka=Ca*Pa,bb=-R*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0):Ra<xa?(Pa=1/Math.sqrt(xa+Na),qa=-Ca*Pa,ka=0,bb=U*Pa):(Pa=1/Math.sqrt(Na+Ra),qa=R*Pa,ka=-U*Pa,bb=0);d=qa;c=ka;f=bb;h=0}else{var Ba,Hb,H;Ba=a.$.wb*a.$.ac-a.$.xb*a.$.$b;Hb=a.$.xb*a.$.Zb-a.$.vb*a.$.ac;H=a.$.vb*a.$.$b-a.$.wb*a.$.Zb;var Qa=Math.sqrt(.5*(1+Ub)),Ub=.5/Qa;Ba*=Ub;Hb*=Ub;H*=Ub;d=Ba;c=Hb;f=H;h=Qa}var ba,Q,P,ya,ta,W,pa,y;P=Q=ba=0;ya=1;ta=d;W=c;pa=f;y=h;var Ia=ba*ta+Q*W+P*pa+ya*y;0>Ia&&(Ia=-Ia,ta=-ta,W=-W,pa=-pa,y=-y);if(.999999<Ia){var ca,Ea,za,Fa;ca=ta-ba;Ea=W-Q;za=pa-P;Fa=y-ya;ta=ba+b/(b+e)*ca;W=Q+b/(b+e)*Ea;pa=P+b/(b+e)*za;y=ya+b/(b+e)*Fa;var Sa=ta*ta+W*W+pa*pa+y*y;1E-32<Sa&&(Sa=1/Math.sqrt(Sa));l=ta*Sa;g=W*Sa;k=pa*Sa;m=y*Sa}else{var la=b/(b+e)*Math.acos(Ia);ta+=ba*-Ia;W+=Q*-Ia;pa+=P*-Ia;y+=ya*-Ia;var Z=ta*ta+W*W+pa*pa+y*y;1E-32<Z&&(Z=1/Math.sqrt(Z));ta*=Z;W*=Z;pa*=Z;y*=Z;var Ga=Math.sin(la),ra=Math.cos(la);ba*=ra;Q*=ra;P*=ra;ya*=ra;l=ba+ta*Ga;g=Q+W*Ga;k=P+pa*Ga;m=ya+y*Ga}var va=l,J=g,La=k,Xa=m,S=2*va,Ya=2*J,T=2*La,K=va*S,ia=J*Ya,gb=La*T,da=va*Ya,wa=J*T,sa=va*T,fb=Xa*S,jb=Xa*Ya,Za=Xa*T;n=1-ia-gb;q=da-Za;p=sa+jb;r=da+Za;v=1-K-gb;t=wa-fb;w=sa-jb;B=wa+fb;u=1-K-ia;var ma,oa;ma=n*a.$.vb+q*a.$.wb+p*a.$.xb;oa=r*a.$.vb+v*a.$.wb+t*a.$.xb;D=w*a.$.vb+B*a.$.wb+u*a.$.xb;I=a.$c;M=a.ad;O=a.bd;ga=a.Md;ha=a.Nd;na=a.Od;var Ja=I*ma+M*oa+O*D;if(-1.000001<Ja&&-.999999>Ja){var Ha,ob,fa,ea=I*I,ja=M*M,cb=O*O,Aa;ea<ja?ea<cb?(Aa=1/Math.sqrt(ja+cb),Ha=0,ob=O*Aa,fa=-M*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-I*Aa,fa=0):ja<cb?(Aa=1/Math.sqrt(cb+ea),Ha=-O*Aa,ob=0,fa=I*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-I*Aa,fa=0);l=Ha;g=ob;k=fa;m=0}else{var sb,Ua,qb;sb=M*D-O*oa;Ua=O*ma-I*D;qb=I*oa-M*ma;var rb=Math.sqrt(.5*(1+Ja)),Ja=.5/rb;sb*=Ja;Ua*=Ja;qb*=Ja;l=sb;g=Ua;k=qb;m=rb}var tb=l,Va=g,xb=k,Da=m,$a=2*tb,ua=2*Va,Yb=2*xb,G=tb*$a,pb=Va*ua,db=xb*Yb,Wa=tb*ua,ab=Va*Yb,hb=tb*Yb,z=Da*$a,Db=Da*ua,mb=Da*Yb;n=1-pb-db;q=Wa-mb;p=hb+Db;r=Wa+mb;v=1-G-db;t=ab-z;w=hb-Db;B=ab+z;u=1-G-pb;var vb,Fb,Oa;vb=n*ga+q*ha+p*na;Fb=r*ga+v*ha+t*na;Oa=w*ga+B*ha+u*na;F=vb;A=Fb;E=Oa;x=oa*E-D*A;C=D*F-ma*E;N=ma*A-oa*F;if(1E-6<x*x+C*C+N*N){var nb=x*x+C*C+N*N;0<nb&&(nb=1/Math.sqrt(nb));x*=nb;C*=nb;N*=nb}else{var wb=ma*ma,yb=oa*oa,eb=D*D,Y;wb<yb?wb<eb?(Y=1/Math.sqrt(yb+eb),x=0,C=D*Y,N=-oa*Y):(Y=1/Math.sqrt(wb+yb),x=oa*Y,C=-ma*Y,N=0):yb<eb?(Y=1/Math.sqrt(eb+wb),x=-D*Y,C=0,N=ma*Y):(Y=1/Math.sqrt(wb+yb),x=oa*Y,C=-ma*Y,N=0)}F=C*D-N*oa;A=N*ma-x*D;E=x*oa-C*ma;a.$c=ma;a.ad=oa;a.bd=D;a.Md=F;a.Nd=A;a.Od=E;a.ke=x;a.le=C;a.me=N;var Ma,kb,Ta,ib,Ka,Kb,Ab,X,Cb,ub,zb,Eb,ec,Lb,Gb,Jb,xc,Nb;Ma=this.vb;kb=this.xe;Ta=this.th;ib=this.wb;Ka=this.ye;Kb=this.uh;Ab=this.xb;X=this.ze;Cb=this.vh;ub=this.Zb;zb=this.ne;Eb=this.Rg;ec=this.$b;Lb=this.oe;Gb=this.Sg;Jb=this.ac;xc=this.pe;Nb=this.Tg;var jc,pc,kc,ac,Vb,Wb,Qb,fc;jc=ub*Ma+zb*kb+Eb*Ta;pc=ub*ib+zb*Ka+Eb*Kb;kc=ub*Ab+zb*X+Eb*Cb;ac=ec*Ma+Lb*kb+Gb*Ta;Vb=ec*ib+Lb*Ka+Gb*Kb;Wb=ec*Ab+Lb*X+Gb*Cb;Qb=Jb*Ma+xc*kb+Nb*Ta;fc=Jb*ib+xc*Ka+Nb*Kb;var Rb,Ob,Xb,gc,Ib=Jb*Ab+xc*X+Nb*Cb,Zb=jc+Vb+Ib,lb;0<Zb?(lb=Math.sqrt(Zb+1),gc=.5*lb,lb=.5/lb,Rb=(fc-Wb)*lb,Ob=(kc-Qb)*lb,Xb=(ac-pc)*lb):jc>Vb?jc>Ib?(lb=Math.sqrt(jc-Vb-Ib+1),Rb=.5*lb,lb=.5/lb,Ob=(pc+ac)*lb,Xb=(kc+Qb)*lb,gc=(fc-Wb)*lb):(lb=Math.sqrt(Ib-jc-Vb+1),Xb=.5*lb,lb=.5/lb,Rb=(kc+Qb)*lb,Ob=(Wb+fc)*lb,gc=(ac-pc)*lb):Vb>Ib?(lb=Math.sqrt(Vb-Ib-jc+1),Ob=.5*lb,lb=.5/lb,Rb=(pc+ac)*lb,Xb=(Wb+fc)*lb,gc=(kc-Qb)*lb):(lb=Math.sqrt(Ib-jc-Vb+1),Xb=.5*lb,lb=.5/lb,Rb=(kc+Qb)*lb,Ob=(Wb+fc)*lb,gc=(ac-pc)*lb);var Pb=gc,Tb=2*(-1>=Pb?3.14159265358979:1<=Pb?0:Math.acos(Pb));this.angularErrorX=Rb;this.angularErrorY=Ob;this.angularErrorZ=Xb;var Mb=this.angularErrorX*this.angularErrorX+this.angularErrorY*this.angularErrorY+this.angularErrorZ*this.angularErrorZ;0<Mb&&(Mb=1/Math.sqrt(Mb));this.angularErrorX*=Mb;this.angularErrorY*=Mb;this.angularErrorZ*=Mb;this.angularErrorX*=Tb;this.angularErrorY*=Tb;this.angularErrorZ*=Tb;var qc,mc,Sb;qc=this.Gf-this.Df;mc=this.Hf-this.Ef;Sb=this.If-this.Ff;this.Vf=qc*this.ea.$c+mc*this.ea.ad+Sb*this.ea.bd;this.linearErrorY=qc*this.ea.Md+mc*this.ea.Nd+Sb*this.ea.Od;this.linearErrorZ=qc*this.ea.ke+mc*this.ea.le+Sb*this.ea.me},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.vb;a.y=this.wb;a.z=this.xb;return a},xg:function(){var a=new t;a.x=this.Zb;a.y=this.$b;a.z=this.ac;return a},wg:function(a){a.x=this.vb;a.y=this.wb;a.z=this.xb},yg:function(a){a.x=this.Zb;a.y=this.$b;a.z=this.ac},zg:function(){var a=new t;a.x=this.sa;a.y=this.ta;a.z=this.ua;return a},Bg:function(){var a=new t;a.x=this.lb;a.y=this.mb;a.z=this.nb;return a},Ag:function(a){a.x=this.sa;a.y=this.ta;a.z=this.ua},Cg:function(a){a.x=this.lb;a.y=this.mb;a.z=this.nb},nj:function(){return this.ue},Zk:function(){return this.Ch},$k:function(){return this.Vf},ra:Gb});Be.aa=!0;Be.Kb=$b;Be.prototype=mb($b.prototype,{Aa:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},ra:Be});Ab.aa=!0;Ab.Kb=L;Ab.prototype=mb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l,g,k,m,n,q,p,r,v,t,w,B;l=-this.Sb;g=this.Rb;k=this.Sb;m=-this.Qb;n=-this.Rb;q=this.Qb;p=-this.Vb;r=this.Ub;v=this.Vb;t=-this.Tb;w=-this.Ub;B=this.Tb;var u=this.swingAxisX,D=this.swingAxisY,C=this.swingAxisZ,d=(this.C.P*u+this.C.R*D+this.C.S*C)*u+(this.C.T*u+this.C.U*D+this.C.V*C)*D+(this.C.W*u+this.C.X*D+this.C.Y*C)*C,A=(this.D.P*u+this.D.R*D+this.D.S*C)*u+(this.D.T*u+this.D.U*D+this.D.V*C)*D+(this.D.W*u+this.D.X*D+this.D.Y*C)*C;if(0<d){var E=u*this.Qb+D*this.Rb+C*this.Sb,E=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-E*E;0<E&&(d=0<this.C.$a?1/(1/d+this.C.Nc*E):0)}0<A&&(u=u*this.Tb+D*this.Ub+C*this.Vb,u=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-u*u,0<u&&(A=0<this.D.$a?1/(1/A+this.D.Nc*u):0));A=d+A?1/(d+A):0;D=this.Zb;C=this.$b;E=this.ac;d=(this.C.P*D+this.C.R*C+this.C.S*E)*D+(this.C.T*D+this.C.U*C+this.C.V*E)*C+(this.C.W*D+this.C.X*C+this.C.Y*E)*E;u=(this.D.P*D+this.D.R*C+this.D.S*E)*D+(this.D.T*D+this.D.U*C+this.D.V*E)*C+(this.D.W*D+this.D.X*C+this.D.Y*E)*E;if(0<d){var x=D*this.Qb+C*this.Rb+E*this.Sb,x=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-x*x;0<x&&(d=0<this.C.$a?1/(1/d+this.C.Nc*x):0)}0<u&&(D=D*this.Tb+C*this.Ub+E*this.Vb,D=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-D*D,0<D&&(u=0<this.D.$a?1/(1/u+this.D.Nc*D):0));d=d+u?1/(d+u):0;u=this.Ob[0];D=a.rows[a.La++];C=D.Ba;C.wa=0;C.xa=0;C.ya=0;C.Ca=0;C.Da=0;C.Ea=0;C.ba=0;C.ca=0;C.da=0;C.fa=0;C.ga=0;C.ha=0;D.Ga=0;D.Na=0;D.Ja=0;D.Ia=0;D.motorSpeed=0;D.cb=0;D.va=u;u=D;u.Ga=c;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.wa=1;u.xa=0;u.ya=0;u.Ca=1;u.Da=0;u.Ea=0;u.ba=-0;u.ca=-l;u.da=-g;u.fa=-0;u.ga=-p;u.ha=-r;u=this.Ob[1];c=a.rows[a.La++];l=c.Ba;l.wa=0;l.xa=0;l.ya=0;l.Ca=0;l.Da=0;l.Ea=0;l.ba=0;l.ca=0;l.da=0;l.fa=0;l.ga=0;l.ha=0;c.Ga=0;c.Na=0;c.Ja=0;c.Ia=0;c.motorSpeed=0;c.cb=0;c.va=u;u=c;u.Ga=f;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.wa=0;u.xa=1;u.ya=0;u.Ca=0;u.Da=1;u.Ea=0;u.ba=-k;u.ca=-0;u.da=-m;u.fa=-v;u.ga=-0;u.ha=-t;u=this.Ob[2];f=a.rows[a.La++];k=f.Ba;k.wa=0;k.xa=0;k.ya=0;k.Ca=0;k.Da=0;k.Ea=0;k.ba=0;k.ca=0;k.da=0;k.fa=0;k.ga=0;k.ha=0;f.Ga=0;f.Na=0;f.Ja=0;f.Ia=0;f.motorSpeed=0;f.cb=0;f.va=u;u=f;u.Ga=h;u.Na=0;u.Ja=-1/0;u.Ia=1/0;u=u.Ba;u.wa=0;u.xa=0;u.ya=1;u.Ca=0;u.Da=0;u.Ea=1;u.ba=-n;u.ca=-q;u.da=-0;u.fa=-w;u.ga=-B;u.ha=-0;0<this.swingError&&(0>=this.Hk.frequency||!e)&&(u=this.Ob[3],h=a.rows[a.La++],n=h.Ba,n.wa=0,n.xa=0,n.ya=0,n.Ca=0,n.Da=0,n.Ea=0,n.ba=0,n.ca=0,n.da=0,n.fa=0,n.ga=0,n.ha=0,h.Ga=0,h.Na=0,h.Ja=0,h.Ia=0,h.motorSpeed=0,h.cb=0,h.va=u,u=h,h=this.swingError,w=this.Wk,q=this.Hk,n=F.angularSlop,e?(q=0,B=1):(0<q.frequency?(n=0,k=6.28318530717958*q.frequency,f=q.dampingRatio,f<F.minSpringDamperDampingRatio&&(f=F.minSpringDamperDampingRatio),B=b.dt,f=2*f*k,k*=k,q.useSymplecticEuler?(q=1/(B*f),B=k/f):(q=1/(B*(B*k+f)),B=k/(B*k+f))):(q=0,B=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<w.motorTorque?(u.motorSpeed=w.motorSpeed,u.cb=w.motorTorque*b.dt):(u.motorSpeed=0,u.cb=0)),f=w.lowerLimit,w=w.upperLimit,k=.5*(f+w),h=((h-k+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,h+=k,f>w?h=m=k=0:f==w?(k=-1/0,m=1/0,h-=f):h<f?(k=-1/0,m=0,h=h-f+n,0<h&&(h=0)):h>w?(k=0,m=1/0,h=h-w-n,0>h&&(h=0)):h=m=k=0,u.Ja=k,u.Ia=m,u.Na=q*(A?1/A:0),u.Ga=h*B,u=u.Ba,u.ba=this.swingAxisX,u.ca=this.swingAxisY,u.da=this.swingAxisZ,u.fa=this.swingAxisX,u.ga=this.swingAxisY,u.ha=this.swingAxisZ);if(0>=this.Nk.frequency||!e)A=this.Ob[4],a=a.rows[a.La++],u=a.Ba,u.wa=0,u.xa=0,u.ya=0,u.Ca=0,u.Da=0,u.Ea=0,u.ba=0,u.ca=0,u.da=0,u.fa=0,u.ga=0,u.ha=0,a.Ga=0,a.Na=0,a.Ja=0,a.Ia=0,a.motorSpeed=0,a.cb=0,a.va=A,u=a,a=this.ej,h=this.Mk,n=this.Nk,A=F.angularSlop,e?(e=0,n=1):(0<n.frequency?(A=0,e=6.28318530717958*n.frequency,w=n.dampingRatio,w<F.minSpringDamperDampingRatio&&(w=F.minSpringDamperDampingRatio),q=b.dt,w=2*w*e,B=e*e,n.useSymplecticEuler?(e=1/(q*w),n=B/w):(e=1/(q*(q*B+w)),n=B/(q*B+w))):(e=0,n=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<h.motorTorque?(u.motorSpeed=h.motorSpeed,u.cb=h.motorTorque*b.dt):(u.motorSpeed=0,u.cb=0)),b=h.lowerLimit,h=h.upperLimit,q=.5*(b+h),a=((a-q+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,a+=q,b>h?b=w=q=0:b==h?(q=-1/0,w=1/0,b=a-b):a<b?(q=-1/0,w=0,b=a-b+A,0<b&&(b=0)):a>h?(q=0,w=1/0,b=a-h-A,0>b&&(b=0)):b=w=q=0,u.Ja=q,u.Ia=w,u.Na=e*(d?1/d:0),u.Ga=b*n,u=u.Ba,u.ba=this.twistAxisX,u.ca=this.twistAxisY,u.da=this.twistAxisZ,u.fa=this.twistAxisX,u.ga=this.twistAxisY,u.ha=this.twistAxisZ},ed:function(){L.prototype.ed.call(this);var a,b,e,d,c,f;a=this.vb;b=this.wb;e=this.xb;d=this.Zb;c=this.$b;f=this.ac;var h,l,g,k,m,n,q,p,r;h=this.vb;l=this.xe;g=this.th;k=this.wb;m=this.ye;n=this.uh;q=this.xb;p=this.ze;r=this.vh;var v,t,w,B,u,D,C,A;D=a*d+b*c+e*f;-1.000001<D&&-.999999>D?(u=a*a,d=b*b,c=e*e,u<d?u<c?(d=1/Math.sqrt(d+c),u=0,e*=d,a=-b*d):(d=1/Math.sqrt(u+d),u=b*d,e=-a*d,a=0):d<c?(d=1/Math.sqrt(c+u),u=-e*d,e=0,a*=d):(d=1/Math.sqrt(u+d),u=b*d,e=-a*d,a=0),v=u,t=e,w=a,B=0):(u=Math.sqrt(.5*(1+D)),D=.5/u,v=(b*f-e*c)*D,t=(e*d-a*f)*D,w=(a*c-b*d)*D,B=u);D=v;f=t;u=w;a=B;c=2*D;e=2*f;b=2*u;C=D*c;A=f*e;d=u*b;u=D*e;f*=b;D*=b;var E=a*c,x=a*e;c=a*b;a=1-A-d;b=u-c;e=D+x;u+=c;d=1-C-d;c=f-E;D-=x;f+=E;C=1-C-A;this.Wi=2*(-1>=B?3.14159265358979:1<=B?0:Math.acos(B));B=v;A=w;w=a*this.ne+u*this.oe+D*this.pe;E=b*this.ne+d*this.oe+f*this.pe;v=e*this.ne+c*this.oe+C*this.pe;this.ej=Math.atan2(this.th*w+this.uh*E+this.vh*v,this.xe*w+this.ye*E+this.ze*v);this.twistAxisX=this.vb+this.Zb;this.twistAxisY=this.wb+this.$b;this.twistAxisZ=this.xb+this.ac;v=this.twistAxisX*this.twistAxisX+this.twistAxisY*this.twistAxisY+this.twistAxisZ*this.twistAxisZ;0<v&&(v=1/Math.sqrt(v));this.twistAxisX*=v;this.twistAxisY*=v;this.twistAxisZ*=v;w=Math.sqrt(B*B+t*t+A*A);0<w&&(w=1/w);B*=w*this.Wi;t*=w*this.Wi;A*=w*this.Wi;v=l*B+m*t+p*A;t=g*B+n*t+r*A;w=this.Jj;B=this.Kj;w=1/(w*w);A=1/(B*B);(B=v*v*w+t*t*A)?(E=Math.sqrt(1/B),B=v*E,E*=t,x=B*w,A*=E,w=1/Math.sqrt(x*x+A*A),x*=w,A*=w,v=(v-B)*x+(t-E)*A,0<v?(this.swingError=v,this.swingAxisX=0,this.swingAxisY=x,this.swingAxisZ=A,h=h*this.swingAxisX+l*this.swingAxisY+g*this.swingAxisZ,k=k*this.swingAxisX+m*this.swingAxisY+n*this.swingAxisZ,q=q*this.swingAxisX+p*this.swingAxisY+r*this.swingAxisZ,this.swingAxisX=h,this.swingAxisY=k,this.swingAxisZ=q,q=a*this.swingAxisX+b*this.swingAxisY+e*this.swingAxisZ,p=u*this.swingAxisX+d*this.swingAxisY+c*this.swingAxisZ,r=D*this.swingAxisX+f*this.swingAxisY+C*this.swingAxisZ,this.swingAxisX=q,this.swingAxisY=p,this.swingAxisZ=r,this.swingConstraintAxisX=this.swingAxisX,this.swingConstraintAxisY=this.swingAxisY,this.swingConstraintAxisZ=this.swingAxisZ):this.swingError=0):this.swingError=this.swingAxisZ=this.swingAxisY=this.swingAxisX=0;this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.vb;a.y=this.wb;a.z=this.xb;return a},xg:function(){var a=new t;a.x=this.Zb;a.y=this.$b;a.z=this.ac;return a},wg:function(a){a.x=this.vb;a.y=this.wb;a.z=this.xb},yg:function(a){a.x=this.Zb;a.y=this.$b;a.z=this.ac},zg:function(){var a=new t;a.x=this.sa;a.y=this.ta;a.z=this.ua;return a},Bg:function(){var a=new t;a.x=this.lb;a.y=this.mb;a.z=this.nb;return a},Ag:function(a){a.x=this.sa;a.y=this.ta;a.z=this.ua},Cg:function(a){a.x=this.lb;a.y=this.mb;a.z=this.nb},zn:function(){return this.Nk},yn:function(){return this.Mk},tn:function(){return this.Hk},rn:function(){var a=new t;a.x=this.swingAxisX;a.y=this.swingAxisY;a.z=this.swingAxisZ;return a},sn:function(a){a.x=this.swingAxisX;a.y=this.swingAxisY;a.z=this.swingAxisZ},qn:function(){return this.Wi},xn:function(){return this.ej},ra:Ab});Rd.aa=!0;Rd.Kb=$b;Rd.prototype=mb($b.prototype,{Aa:function(a,b,e,d,c){this.Vg(a,b,e);var f,h,l;f=d.x;h=d.y;l=d.z;var g;e=a.a.o*f+a.a.i*h+a.a.l*l;g=a.a.f*f+a.a.m*h+a.a.g*l;f=a.a.h*f+a.a.j*h+a.a.s*l;h=this.localTwistAxis1;h.x=e;h.y=g;h.z=f;g=d.x;f=d.y;h=d.z;d=b.a.o*g+b.a.i*f+b.a.l*h;e=b.a.f*g+b.a.m*f+b.a.g*h;b=b.a.h*g+b.a.j*f+b.a.s*h;g=this.localTwistAxis2;g.x=d;g.y=e;g.z=b;d=c.x;e=c.y;g=c.z;c=a.a.o*d+a.a.i*e+a.a.l*g;b=a.a.f*d+a.a.m*e+a.a.g*g;a=a.a.h*d+a.a.j*e+a.a.s*g;d=this.localSwingAxis1;d.x=c;d.y=b;d.z=a;return this},ra:Rd});Lb.aa=!0;Lb.Kb=L;Lb.prototype=mb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l=this.angularErrorY*d,d=this.angularErrorZ*d,g,k,m,n,q,p,r,v,t,w,B,u;g=-this.Sb;k=this.Rb;m=this.Sb;n=-this.Qb;q=-this.Rb;p=this.Qb;r=-this.Vb;v=this.Ub;t=this.Vb;w=-this.Tb;B=-this.Ub;u=this.Tb;var D=this.ea.$c,C=this.ea.ad,A=this.ea.bd,E=(this.C.P*D+this.C.R*C+this.C.S*A)*D+(this.C.T*D+this.C.U*C+this.C.V*A)*C+(this.C.W*D+this.C.X*C+this.C.Y*A)*A,x=(this.D.P*D+this.D.R*C+this.D.S*A)*D+(this.D.T*D+this.D.U*C+this.D.V*A)*C+(this.D.W*D+this.D.X*C+this.D.Y*A)*A;if(0<E){var L=D*this.Qb+C*this.Rb+A*this.Sb,L=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-L*L;0<L&&(E=0<this.C.$a?1/(1/E+this.C.Nc*L):0)}0<x&&(D=D*this.Tb+C*this.Ub+A*this.Vb,D=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-D*D,0<D&&(x=0<this.D.$a?1/(1/x+this.D.Nc*D):0));E=E+x?1/(E+x):0;x=this.Ob[0];D=a.rows[a.La++];C=D.Ba;C.wa=0;C.xa=0;C.ya=0;C.Ca=0;C.Da=0;C.Ea=0;C.ba=0;C.ca=0;C.da=0;C.fa=0;C.ga=0;C.ha=0;D.Ga=0;D.Na=0;D.Ja=0;D.Ia=0;D.motorSpeed=0;D.cb=0;D.va=x;x=D;x.Ga=c;x.Na=0;x.Ja=-1/0;x.Ia=1/0;x=x.Ba;x.wa=1;x.xa=0;x.ya=0;x.Ca=1;x.Da=0;x.Ea=0;x.ba=-0;x.ca=-g;x.da=-k;x.fa=-0;x.ga=-r;x.ha=-v;x=this.Ob[1];c=a.rows[a.La++];g=c.Ba;g.wa=0;g.xa=0;g.ya=0;g.Ca=0;g.Da=0;g.Ea=0;g.ba=0;g.ca=0;g.da=0;g.fa=0;g.ga=0;g.ha=0;c.Ga=0;c.Na=0;c.Ja=0;c.Ia=0;c.motorSpeed=0;c.cb=0;c.va=x;x=c;x.Ga=f;x.Na=0;x.Ja=-1/0;x.Ia=1/0;x=x.Ba;x.wa=0;x.xa=1;x.ya=0;x.Ca=0;x.Da=1;x.Ea=0;x.ba=-m;x.ca=-0;x.da=-n;x.fa=-t;x.ga=-0;x.ha=-w;f=this.Ob[2];x=a.rows[a.La++];m=x.Ba;m.wa=0;m.xa=0;m.ya=0;m.Ca=0;m.Da=0;m.Ea=0;m.ba=0;m.ca=0;m.da=0;m.fa=0;m.ga=0;m.ha=0;x.Ga=0;x.Na=0;x.Ja=0;x.Ia=0;x.motorSpeed=0;x.cb=0;x.va=f;x.Ga=h;x.Na=0;x.Ja=-1/0;x.Ia=1/0;x=x.Ba;x.wa=0;x.xa=0;x.ya=1;x.Ca=0;x.Da=0;x.Ea=1;x.ba=-q;x.ca=-p;x.da=-0;x.fa=-B;x.ga=-u;x.ha=-0;if(0>=this.ue.frequency||!e)h=this.Ob[3],q=a.rows[a.La++],p=q.Ba,p.wa=0,p.xa=0,p.ya=0,p.Ca=0,p.Da=0,p.Ea=0,p.ba=0,p.ca=0,p.da=0,p.fa=0,p.ga=0,p.ha=0,q.Ga=0,q.Na=0,q.Ja=0,q.Ia=0,q.motorSpeed=0,q.cb=0,q.va=h,x=q,h=this.angle,p=this.Ch,B=this.ue,q=F.angularSlop,e?(e=0,B=1):(0<B.frequency?(q=0,e=6.28318530717958*B.frequency,f=B.dampingRatio,f<F.minSpringDamperDampingRatio&&(f=F.minSpringDamperDampingRatio),u=b.dt,f=2*f*e,m=e*e,B.useSymplecticEuler?(e=1/(u*f),B=m/f):(e=1/(u*(u*m+f)),B=m/(u*m+f))):(e=0,B=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0),0<p.motorTorque?(x.motorSpeed=p.motorSpeed,x.cb=p.motorTorque*b.dt):(x.motorSpeed=0,x.cb=0)),b=p.lowerLimit,p=p.upperLimit,u=.5*(b+p),h=((h-u+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979+u,b>p?b=f=u=0:b==p?(u=-1/0,f=1/0,b=h-b):h<b?(u=-1/0,f=0,b=h-b+q,0<b&&(b=0)):h>p?(u=0,f=1/0,b=h-p-q,0>b&&(b=0)):b=f=u=0,x.Ja=u,x.Ia=f,x.Na=e*(E?1/E:0),x.Ga=b*B,x=x.Ba,x.ba=this.ea.$c,x.ca=this.ea.ad,x.da=this.ea.bd,x.fa=this.ea.$c,x.ga=this.ea.ad,x.ha=this.ea.bd;b=this.Ob[4];E=a.rows[a.La++];e=E.Ba;e.wa=0;e.xa=0;e.ya=0;e.Ca=0;e.Da=0;e.Ea=0;e.ba=0;e.ca=0;e.da=0;e.fa=0;e.ga=0;e.ha=0;E.Ga=0;E.Na=0;E.Ja=0;E.Ia=0;E.motorSpeed=0;E.cb=0;E.va=b;x=E;x.Ga=l;x.Na=0;x.Ja=-1/0;x.Ia=1/0;x=x.Ba;x.ba=this.ea.Md;x.ca=this.ea.Nd;x.da=this.ea.Od;x.fa=this.ea.Md;x.ga=this.ea.Nd;x.ha=this.ea.Od;l=this.Ob[5];a=a.rows[a.La++];b=a.Ba;b.wa=0;b.xa=0;b.ya=0;b.Ca=0;b.Da=0;b.Ea=0;b.ba=0;b.ca=0;b.da=0;b.fa=0;b.ga=0;b.ha=0;a.Ga=0;a.Na=0;a.Ja=0;a.Ia=0;a.motorSpeed=0;a.cb=0;a.va=l;x=a;x.Ga=d;x.Na=0;x.Ja=-1/0;x.Ia=1/0;x=x.Ba;x.ba=this.ea.ke;x.ca=this.ea.le;x.da=this.ea.me;x.fa=this.ea.ke;x.ga=this.ea.le;x.ha=this.ea.me},ed:function(){L.prototype.ed.call(this);var a=this.ea,b=a.$.C.$a,e=a.$.D.$a,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u,D,C,A,E,x,F,N,I,M,O,ga,ha,na,qa=a.$.vb*a.$.Zb+a.$.wb*a.$.$b+a.$.xb*a.$.ac;if(-1.000001<qa&&-.999999>qa){var Ca,ka,bb,U=a.$.vb,R=a.$.wb,xa=a.$.xb,Na=U*U,Ra=R*R,wa=xa*xa,Pa;Na<Ra?Na<wa?(Pa=1/Math.sqrt(Ra+wa),Ca=0,ka=xa*Pa,bb=-R*Pa):(Pa=1/Math.sqrt(Na+Ra),Ca=R*Pa,ka=-U*Pa,bb=0):Ra<wa?(Pa=1/Math.sqrt(wa+Na),Ca=-xa*Pa,ka=0,bb=U*Pa):(Pa=1/Math.sqrt(Na+Ra),Ca=R*Pa,ka=-U*Pa,bb=0);d=Ca;c=ka;f=bb;h=0}else{var Ba,Hb,H;Ba=a.$.wb*a.$.ac-a.$.xb*a.$.$b;Hb=a.$.xb*a.$.Zb-a.$.vb*a.$.ac;H=a.$.vb*a.$.$b-a.$.wb*a.$.Zb;var Qa=Math.sqrt(.5*(1+qa)),qa=.5/Qa;Ba*=qa;Hb*=qa;H*=qa;d=Ba;c=Hb;f=H;h=Qa}var ba,Q,P,ya,ta,W,pa,y;P=Q=ba=0;ya=1;ta=d;W=c;pa=f;y=h;var Ia=ba*ta+Q*W+P*pa+ya*y;0>Ia&&(Ia=-Ia,ta=-ta,W=-W,pa=-pa,y=-y);if(.999999<Ia){var ca,Ea,za,Fa;ca=ta-ba;Ea=W-Q;za=pa-P;Fa=y-ya;ta=ba+b/(b+e)*ca;W=Q+b/(b+e)*Ea;pa=P+b/(b+e)*za;y=ya+b/(b+e)*Fa;var Sa=ta*ta+W*W+pa*pa+y*y;1E-32<Sa&&(Sa=1/Math.sqrt(Sa));l=ta*Sa;g=W*Sa;k=pa*Sa;m=y*Sa}else{var la=b/(b+e)*Math.acos(Ia);ta+=ba*-Ia;W+=Q*-Ia;pa+=P*-Ia;y+=ya*-Ia;var Z=ta*ta+W*W+pa*pa+y*y;1E-32<Z&&(Z=1/Math.sqrt(Z));ta*=Z;W*=Z;pa*=Z;y*=Z;var Ga=Math.sin(la),ra=Math.cos(la);ba*=ra;Q*=ra;P*=ra;ya*=ra;l=ba+ta*Ga;g=Q+W*Ga;k=P+pa*Ga;m=ya+y*Ga}var va=l,J=g,La=k,Xa=m,S=2*va,Ya=2*J,T=2*La,K=va*S,ia=J*Ya,gb=La*T,da=va*Ya,Da=J*T,sa=va*T,fb=Xa*S,jb=Xa*Ya,Za=Xa*T;n=1-ia-gb;q=da-Za;p=sa+jb;r=da+Za;v=1-K-gb;t=Da-fb;w=sa-jb;B=Da+fb;u=1-K-ia;var ma,oa;ma=n*a.$.vb+q*a.$.wb+p*a.$.xb;oa=r*a.$.vb+v*a.$.wb+t*a.$.xb;D=w*a.$.vb+B*a.$.wb+u*a.$.xb;I=a.$c;M=a.ad;O=a.bd;ga=a.Md;ha=a.Nd;na=a.Od;var Ja=I*ma+M*oa+O*D;if(-1.000001<Ja&&-.999999>Ja){var Ha,ob,fa,ea=I*I,ja=M*M,cb=O*O,Aa;ea<ja?ea<cb?(Aa=1/Math.sqrt(ja+cb),Ha=0,ob=O*Aa,fa=-M*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-I*Aa,fa=0):ja<cb?(Aa=1/Math.sqrt(cb+ea),Ha=-O*Aa,ob=0,fa=I*Aa):(Aa=1/Math.sqrt(ea+ja),Ha=M*Aa,ob=-I*Aa,fa=0);l=Ha;g=ob;k=fa;m=0}else{var sb,Ua,qb;sb=M*D-O*oa;Ua=O*ma-I*D;qb=I*oa-M*ma;var rb=Math.sqrt(.5*(1+Ja)),Ja=.5/rb;sb*=Ja;Ua*=Ja;qb*=Ja;l=sb;g=Ua;k=qb;m=rb}var tb=l,Va=g,xb=k,Wa=m,$a=2*tb,ua=2*Va,mb=2*xb,G=tb*$a,pb=Va*ua,db=xb*mb,Ab=tb*ua,ab=Va*mb,hb=tb*mb,z=Wa*$a,Db=Wa*ua,ub=Wa*mb;n=1-pb-db;q=Ab-ub;p=hb+Db;r=Ab+ub;v=1-G-db;t=ab-z;w=hb-Db;B=ab+z;u=1-G-pb;var vb,Fb,Oa;vb=n*ga+q*ha+p*na;Fb=r*ga+v*ha+t*na;Oa=w*ga+B*ha+u*na;C=vb;A=Fb;E=Oa;x=oa*E-D*A;F=D*C-ma*E;N=ma*A-oa*C;if(1E-6<x*x+F*F+N*N){var nb=x*x+F*F+N*N;0<nb&&(nb=1/Math.sqrt(nb));x*=nb;F*=nb;N*=nb}else{var wb=ma*ma,yb=oa*oa,eb=D*D,Y;wb<yb?wb<eb?(Y=1/Math.sqrt(yb+eb),x=0,F=D*Y,N=-oa*Y):(Y=1/Math.sqrt(wb+yb),x=oa*Y,F=-ma*Y,N=0):yb<eb?(Y=1/Math.sqrt(eb+wb),x=-D*Y,F=0,N=ma*Y):(Y=1/Math.sqrt(wb+yb),x=oa*Y,F=-ma*Y,N=0)}C=F*D-N*oa;A=N*ma-x*D;E=x*oa-F*ma;a.$c=ma;a.ad=oa;a.bd=D;a.Md=C;a.Nd=A;a.Od=E;a.ke=x;a.le=F;a.me=N;var Ma,kb,Ta;Ma=this.wb*this.ac-this.xb*this.$b;kb=this.xb*this.Zb-this.vb*this.ac;Ta=this.vb*this.$b-this.wb*this.Zb;var ib=this.vb*this.Zb+this.wb*this.$b+this.xb*this.ac,Ka=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib),Kb=Ma*Ma+kb*kb+Ta*Ta;0<Kb&&(Kb=1/Math.sqrt(Kb));Ma*=Kb;kb*=Kb;Ta*=Kb;Ma*=Ka;kb*=Ka;Ta*=Ka;this.angularErrorY=Ma*this.ea.Md+kb*this.ea.Nd+Ta*this.ea.Od;this.angularErrorZ=Ma*this.ea.ke+kb*this.ea.le+Ta*this.ea.me;var zb,X,Cb;zb=this.ye*this.pe-this.ze*this.oe;X=this.ze*this.ne-this.xe*this.pe;Cb=this.xe*this.oe-this.ye*this.ne;ib=this.xe*this.ne+this.ye*this.oe+this.ze*this.pe;this.angle=-1>=ib?3.14159265358979:1<=ib?0:Math.acos(ib);0>zb*this.ea.$c+X*this.ea.ad+Cb*this.ea.bd&&(this.angle=-this.angle);this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.vb;a.y=this.wb;a.z=this.xb;return a},xg:function(){var a=new t;a.x=this.Zb;a.y=this.$b;a.z=this.ac;return a},wg:function(a){a.x=this.vb;a.y=this.wb;a.z=this.xb},yg:function(a){a.x=this.Zb;a.y=this.$b;a.z=this.ac},zg:function(){var a=new t;a.x=this.sa;a.y=this.ta;a.z=this.ua;return a},Bg:function(){var a=new t;a.x=this.lb;a.y=this.mb;a.z=this.nb;return a},Ag:function(a){a.x=this.sa;a.y=this.ta;a.z=this.ua},Cg:function(a){a.x=this.lb;a.y=this.mb;a.z=this.nb},nj:function(){return this.ue},Zk:function(){return this.Ch},Xk:function(){return this.angle},ra:Lb});qe.aa=!0;qe.Kb=$b;qe.prototype=mb($b.prototype,{Aa:function(a,b,e,d){this.Vg(a,b,e);var c,f,h;c=d.x;f=d.y;h=d.z;var l;e=a.a.o*c+a.a.i*f+a.a.l*h;l=a.a.f*c+a.a.m*f+a.a.g*h;a=a.a.h*c+a.a.j*f+a.a.s*h;c=this.localAxis1;c.x=e;c.y=l;c.z=a;l=d.x;a=d.y;c=d.z;d=b.a.o*l+b.a.i*a+b.a.l*c;e=b.a.f*l+b.a.m*a+b.a.g*c;b=b.a.h*l+b.a.j*a+b.a.s*c;l=this.localAxis2;l.x=d;l.y=e;l.z=b;return this},ra:qe});Ec.aa=!0;Ec.prototype={Qa:function(a,b){this.lowerLimit=a;this.upperLimit=b;return this},bb:function(a,b){this.motorSpeed=a;this.motorTorque=b;return this},clone:function(){var a=new Ec;a.lowerLimit=this.lowerLimit;a.upperLimit=this.upperLimit;a.motorSpeed=this.motorSpeed;a.motorTorque=this.motorTorque;return a},ra:Ec};pe.aa=!0;pe.Kb=L;pe.prototype=mb(L.prototype,{Rd:function(a,b,e){if(!(0<this.ue.frequency&&e)){var d,c,f;d=this.Gf-this.Df;c=this.Hf-this.Ef;f=this.If-this.Ff;var h;if(0<this.ue.frequency){h=6.28318530717958*this.ue.frequency;e=this.ue.dampingRatio;e<F.minSpringDamperDampingRatio&&(e=F.minSpringDamperDampingRatio);b=b.dt;e=2*e*h;var l=h*h;this.ue.useSymplecticEuler?(h=1/(b*e),b=l/e):(h=1/(b*(b*l+e)),b=l/(b*l+e));h*=this.C.$a+this.D.$a}else h=0,b=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;var g,k,m,n,q,p,r,v,t,w;g=-this.Sb;k=this.Rb;m=this.Sb;n=-this.Qb;e=-this.Rb;l=this.Qb;q=-this.Vb;p=this.Ub;r=this.Vb;v=-this.Tb;t=-this.Ub;w=this.Tb;var B=this.Ob[0],u=a.rows[a.La++],D=u.Ba;D.wa=0;D.xa=0;D.ya=0;D.Ca=0;D.Da=0;D.Ea=0;D.ba=0;D.ca=0;D.da=0;D.fa=0;D.ga=0;D.ha=0;u.Ga=0;u.Na=0;u.Ja=0;u.Ia=0;u.motorSpeed=0;u.cb=0;u.va=B;B=u;B.Ga=d*b;B.Na=h;B.Ja=-1/0;B.Ia=1/0;d=B.Ba;d.wa=1;d.xa=0;d.ya=0;d.Ca=1;d.Da=0;d.Ea=0;d.ba=-0;d.ca=-g;d.da=-k;d.fa=-0;d.ga=-q;d.ha=-p;d=this.Ob[1];g=a.rows[a.La++];k=g.Ba;k.wa=0;k.xa=0;k.ya=0;k.Ca=0;k.Da=0;k.Ea=0;k.ba=0;k.ca=0;k.da=0;k.fa=0;k.ga=0;k.ha=0;g.Ga=0;g.Na=0;g.Ja=0;g.Ia=0;g.motorSpeed=0;g.cb=0;g.va=d;B=g;B.Ga=c*b;B.Na=h;B.Ja=-1/0;B.Ia=1/0;d=B.Ba;d.wa=0;d.xa=1;d.ya=0;d.Ca=0;d.Da=1;d.Ea=0;d.ba=-m;d.ca=-0;d.da=-n;d.fa=-r;d.ga=-0;d.ha=-v;c=this.Ob[2];a=a.rows[a.La++];d=a.Ba;d.wa=0;d.xa=0;d.ya=0;d.Ca=0;d.Da=0;d.Ea=0;d.ba=0;d.ca=0;d.da=0;d.fa=0;d.ga=0;d.ha=0;a.Ga=0;a.Na=0;a.Ja=0;a.Ia=0;a.motorSpeed=0;a.cb=0;a.va=c;B=a;B.Ga=f*b;B.Na=h;B.Ja=-1/0;B.Ia=1/0;d=B.Ba;d.wa=0;d.xa=0;d.ya=1;d.Ca=0;d.Da=0;d.Ea=1;d.ba=-e;d.ca=-l;d.da=-0;d.fa=-t;d.ga=-w;d.ha=-0}},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},nj:function(){return this.ue},ra:pe});oe.aa=!0;oe.Kb=$b;oe.prototype=mb($b.prototype,{Aa:function(a,b,e){this.Vg(a,b,e);return this},ra:oe});nc.aa=!0;nc.prototype={Qa:function(a,b){this.frequency=a;this.dampingRatio=b;return this},bb:function(a){this.useSymplecticEuler=a;return this},clone:function(){var a=new nc;a.frequency=this.frequency;a.dampingRatio=this.dampingRatio;a.useSymplecticEuler=this.useSymplecticEuler;return a},ra:nc};zc.aa=!0;zc.prototype={Qa:function(a,b){this.lowerLimit=a;this.upperLimit=b;return this},bb:function(a,b){this.motorSpeed=a;this.motorForce=b;return this},clone:function(){var a=new zc;a.lowerLimit=this.lowerLimit;a.upperLimit=this.upperLimit;a.motorSpeed=this.motorSpeed;a.motorForce=this.motorForce;return a},ra:zc};ub.aa=!0;ub.Kb=L;ub.prototype=mb(L.prototype,{Rd:function(a,b,e){var d=e?1:this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0,c,f;c=this.linearErrorX*d;f=this.linearErrorY*d;var h=this.linearErrorZ*d,l=this.zl*d,g,k,m,n,q,p,r,v,t,w,B,u,D,C,A,E,x,L;g=0;k=-this.Sb;m=this.Rb;n=this.Sb;q=0;p=-this.Qb;r=-this.Rb;v=this.Qb;w=t=0;B=-this.Vb;u=this.Ub;D=this.Vb;C=0;A=-this.Tb;E=-this.Ub;x=this.Tb;L=0;g=-g;k=-k;m=-m;n=-n;q=-q;p=-p;r=-r;v=-v;t=-t;w=-w;B=-B;u=-u;D=-D;C=-C;A=-A;E=-E;x=-x;L=-L;var N=this.Wf,I=this.Xf,M=this.Yf,O=(this.C.P*N+this.C.R*I+this.C.S*M)*N+(this.C.T*N+this.C.U*I+this.C.V*M)*I+(this.C.W*N+this.C.X*I+this.C.Y*M)*M,ga=(this.D.P*N+this.D.R*I+this.D.S*M)*N+(this.D.T*N+this.D.U*I+this.D.V*M)*I+(this.D.W*N+this.D.X*I+this.D.Y*M)*M;if(0<O){var ha=N*this.Qb+I*this.Rb+M*this.Sb,na=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-ha*ha;0<na&&(O=0<this.C.$a?1/(1/O+this.C.Nc*na):0)}if(0<ga){var qa=N*this.Tb+I*this.Ub+M*this.Vb,Ca=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-qa*qa;0<Ca&&(ga=0<this.D.$a?1/(1/ga+this.D.Nc*Ca):0)}var ka=O+ga?1/(O+ga):0,bb=this.Zf,U=this.$f,R=this.ag,xa=(this.C.P*bb+this.C.R*U+this.C.S*R)*bb+(this.C.T*bb+this.C.U*U+this.C.V*R)*U+(this.C.W*bb+this.C.X*U+this.C.Y*R)*R,Na=(this.D.P*bb+this.D.R*U+this.D.S*R)*bb+(this.D.T*bb+this.D.U*U+this.D.V*R)*U+(this.D.W*bb+this.D.X*U+this.D.Y*R)*R;if(0<xa){var Ra=bb*this.Qb+U*this.Rb+R*this.Sb,wa=this.Qb*this.Qb+this.Rb*this.Rb+this.Sb*this.Sb-Ra*Ra;0<wa&&(xa=0<this.C.$a?1/(1/xa+this.C.Nc*wa):0)}if(0<Na){var Pa=bb*this.Tb+U*this.Ub+R*this.Vb,Ba=this.Tb*this.Tb+this.Ub*this.Ub+this.Vb*this.Vb-Pa*Pa;0<Ba&&(Na=0<this.D.$a?1/(1/Na+this.D.Nc*Ba):0)}var Da=xa+Na?1/(xa+Na):0,H=this.Ob[0],Qa=a.rows[a.La++],ba=Qa.Ba;ba.wa=0;ba.xa=0;ba.ya=0;ba.Ca=0;ba.Da=0;ba.Ea=0;ba.ba=0;ba.ca=0;ba.da=0;ba.fa=0;ba.ga=0;ba.ha=0;Qa.Ga=0;Qa.Na=0;Qa.Ja=0;Qa.Ia=0;Qa.motorSpeed=0;Qa.cb=0;Qa.va=H;var Q=Qa;Q.Ga=c;Q.Na=0;Q.Ja=-1/0;Q.Ia=1/0;var P=Q.Ba;P.wa=1;P.xa=0;P.ya=0;P.Ca=1;P.Da=0;P.Ea=0;P.ba=g;P.ca=k;P.da=m;P.fa=w;P.ga=B;P.ha=u;var ya=this.Ob[1],ta=a.rows[a.La++],W=ta.Ba;W.wa=0;W.xa=0;W.ya=0;W.Ca=0;W.Da=0;W.Ea=0;W.ba=0;W.ca=0;W.da=0;W.fa=0;W.ga=0;W.ha=0;ta.Ga=0;ta.Na=0;ta.Ja=0;ta.Ia=0;ta.motorSpeed=0;ta.cb=0;ta.va=ya;Q=ta;Q.Ga=f;Q.Na=0;Q.Ja=-1/0;Q.Ia=1/0;P=Q.Ba;P.wa=0;P.xa=1;P.ya=0;P.Ca=0;P.Da=1;P.Ea=0;P.ba=n;P.ca=q;P.da=p;P.fa=D;P.ga=C;P.ha=A;var pa=this.Ob[2],y=a.rows[a.La++],Ia=y.Ba;Ia.wa=0;Ia.xa=0;Ia.ya=0;Ia.Ca=0;Ia.Da=0;Ia.Ea=0;Ia.ba=0;Ia.ca=0;Ia.da=0;Ia.fa=0;Ia.ga=0;Ia.ha=0;y.Ga=0;y.Na=0;y.Ja=0;y.Ia=0;y.motorSpeed=0;y.cb=0;y.va=pa;Q=y;Q.Ga=h;Q.Na=0;Q.Ja=-1/0;Q.Ia=1/0;P=Q.Ba;P.wa=0;P.xa=0;P.ya=1;P.Ca=0;P.Da=0;P.Ea=1;P.ba=r;P.ca=v;P.da=t;P.fa=E;P.ga=x;P.ha=L;if(!this.Cm&&(0>=this.Fk.frequency||!e)){var ca=this.Ob[3],Ea=a.rows[a.La++],za=Ea.Ba;za.wa=0;za.xa=0;za.ya=0;za.Ca=0;za.Da=0;za.Ea=0;za.ba=0;za.ca=0;za.da=0;za.fa=0;za.ga=0;za.ha=0;Ea.Ga=0;Ea.Na=0;Ea.Ja=0;Ea.Ia=0;Ea.motorSpeed=0;Ea.cb=0;Ea.va=ca;var Q=Ea,Fa=this.yi,Sa=this.xk,la=this.Fk,Z,Ga,ra=F.angularSlop;if(e)Z=0,Ga=1;else{if(0<la.frequency){var ra=0,va=6.28318530717958*la.frequency,J=la.dampingRatio;J<F.minSpringDamperDampingRatio&&(J=F.minSpringDamperDampingRatio);var La=b.dt,Xa=2*J*va,S=va*va;la.useSymplecticEuler?(Z=1/(La*Xa),Ga=S/Xa):(Z=1/(La*(La*S+Xa)),Ga=S/(La*S+Xa))}else Z=0,Ga=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<Sa.motorTorque?(Q.motorSpeed=Sa.motorSpeed,Q.cb=Sa.motorTorque*b.dt):(Q.motorSpeed=0,Q.cb=0)}var Ya=Sa.lowerLimit,T=Sa.upperLimit,K=.5*(Ya+T),Fa=Fa-K,Fa=((Fa+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,Fa=Fa+K,ia,gb,da;Ya>T?da=gb=ia=0:Ya==T?(ia=-1/0,gb=1/0,da=Fa-Ya):Fa<Ya?(ia=-1/0,gb=0,da=Fa-Ya+ra,0<da&&(da=0)):Fa>T?(ia=0,gb=1/0,da=Fa-T-ra,0>da&&(da=0)):da=gb=ia=0;var mb=ka?1/ka:0;Q.Ja=ia;Q.Ia=gb;Q.Na=Z*mb;Q.Ga=da*Ga;P=Q.Ba;P.ba=this.Wf;P.ca=this.Xf;P.da=this.Yf;P.fa=this.Wf;P.ga=this.Xf;P.ha=this.Yf}if(!this.Dm){var sa=this.Ob[4],fb=a.rows[a.La++],jb=fb.Ba;jb.wa=0;jb.xa=0;jb.ya=0;jb.Ca=0;jb.Da=0;jb.Ea=0;jb.ba=0;jb.ca=0;jb.da=0;jb.fa=0;jb.ga=0;jb.ha=0;fb.Ga=0;fb.Na=0;fb.Ja=0;fb.Ia=0;fb.motorSpeed=0;fb.cb=0;fb.va=sa;Q=fb;Q.Ga=l;Q.Na=0;Q.Ja=-1/0;Q.Ia=1/0;P=Q.Ba;P.ba=this.Og;P.ca=this.Pg;P.da=this.Qg;P.fa=this.Og;P.ga=this.Pg;P.ha=this.Qg}if(!this.Em&&(0>=this.Gk.frequency||!e)){var Za=this.Ob[5],ma=a.rows[a.La++],oa=ma.Ba;oa.wa=0;oa.xa=0;oa.ya=0;oa.Ca=0;oa.Da=0;oa.Ea=0;oa.ba=0;oa.ca=0;oa.da=0;oa.fa=0;oa.ga=0;oa.ha=0;ma.Ga=0;ma.Na=0;ma.Ja=0;ma.Ia=0;ma.motorSpeed=0;ma.cb=0;ma.va=Za;var Q=ma,Ja=this.zi,Ha=this.yk,ob=this.Gk,fa,ea,ja=F.angularSlop;if(e)fa=0,ea=1;else{if(0<ob.frequency){var ja=0,cb=6.28318530717958*ob.frequency,Aa=ob.dampingRatio;Aa<F.minSpringDamperDampingRatio&&(Aa=F.minSpringDamperDampingRatio);var sb=b.dt,Ua=2*Aa*cb,qb=cb*cb;ob.useSymplecticEuler?(fa=1/(sb*Ua),ea=qb/Ua):(fa=1/(sb*(sb*qb+Ua)),ea=qb/(sb*qb+Ua))}else fa=0,ea=this.Ec==ic.BAUMGARTE?b.invDt*F.velocityBaumgarte:0;0<Ha.motorTorque?(Q.motorSpeed=Ha.motorSpeed,Q.cb=Ha.motorTorque*b.dt):(Q.motorSpeed=0,Q.cb=0)}var rb=Ha.lowerLimit,tb=Ha.upperLimit,Va=.5*(rb+tb),Ja=Ja-Va,Ja=((Ja+3.14159265358979)%6.28318530717958+6.28318530717958)%6.28318530717958-3.14159265358979,Ja=Ja+Va,xb,Wa,$a;rb>tb?$a=Wa=xb=0:rb==tb?(xb=-1/0,Wa=1/0,$a=Ja-rb):Ja<rb?(xb=-1/0,Wa=0,$a=Ja-rb+ja,0<$a&&($a=0)):Ja>tb?(xb=0,Wa=1/0,$a=Ja-tb-ja,0>$a&&($a=0)):$a=Wa=xb=0;var ua=Da?1/Da:0;Q.Ja=xb;Q.Ia=Wa;Q.Na=fa*ua;Q.Ga=$a*ea;P=Q.Ba;P.ba=this.Zf;P.ca=this.$f;P.da=this.ag;P.fa=this.Zf;P.ga=this.$f;P.ha=this.ag}},ed:function(){L.prototype.ed.call(this);var a,b,e,d,c,f,h,l,g;a=this.vb;b=this.wb;e=this.xb;h=this.Rg;l=this.Sg;g=this.Tg;d=l*e-g*b;c=g*a-h*e;f=h*b-l*a;this.Wf=c*g-f*l;this.Xf=f*h-d*g;this.Yf=d*l-c*h;this.Og=d;this.Pg=c;this.Qg=f;this.Zf=b*f-e*c;this.$f=e*d-a*f;this.ag=a*c-b*d;a=this.Wf*this.Wf+this.Xf*this.Xf+this.Yf*this.Yf;0<a&&(a=1/Math.sqrt(a));this.Wf*=a;this.Xf*=a;this.Yf*=a;a=this.Og*this.Og+this.Pg*this.Pg+this.Qg*this.Qg;0<a&&(a=1/Math.sqrt(a));this.Og*=a;this.Pg*=a;this.Qg*=a;a=this.Zf*this.Zf+this.$f*this.$f+this.ag*this.ag;0<a&&(a=1/Math.sqrt(a));this.Zf*=a;this.$f*=a;this.ag*=a;this.Cm=!(this.Wf*this.Wf+this.Xf*this.Xf+this.Yf*this.Yf);this.Dm=!(this.Og*this.Og+this.Pg*this.Pg+this.Qg*this.Qg);this.Em=!(this.Zf*this.Zf+this.$f*this.$f+this.ag*this.ag);var k,m,n,q,p,r,v,t,w;k=this.vb;a=this.xe;b=this.th;m=this.wb;e=this.ye;d=this.uh;n=this.xb;c=this.ze;f=this.vh;q=this.Zb;p=this.ne;h=this.Rg;r=this.$b;v=this.oe;l=this.Sg;t=this.ac;w=this.pe;g=this.Tg;var B,u,D;B=k*h+m*l+n*g;u=a*p+e*v+c*w;D=b*p+d*v+f*w;-1>=B?(e=Math.atan2(D,u),a=.5*e,b=-1.570796326794895,e=.5*-e):1<=B?(e=Math.atan2(D,u),a=.5*e,b=1.570796326794895,e*=.5):(B=Math.asin(B),k=Math.atan2(-(k*p+m*v+n*w),k*q+m*r+n*t),a=Math.atan2(-(a*h+e*l+c*g),b*h+d*l+f*g),b=B,e=k);this.yi=a;this.zl=b;this.zi=e;this.linearErrorX=this.Gf-this.Df;this.linearErrorY=this.Hf-this.Ef;this.linearErrorZ=this.If-this.Ff},Vd:function(a,b){L.prototype.Vd.call(this,a,b);this.Rd(b,a,!1)},dd:function(a){L.prototype.dd.call(this,a);this.Rd(a,null,!0)},vg:function(){var a=new t;a.x=this.vb;a.y=this.wb;a.z=this.xb;return a},xg:function(){var a=new t;a.x=this.Rg;a.y=this.Sg;a.z=this.Tg;return a},wg:function(a){a.x=this.vb;a.y=this.wb;a.z=this.xb},yg:function(a){a.x=this.Rg;a.y=this.Sg;a.z=this.Tg},zg:function(){var a=new t;a.x=this.sa;a.y=this.ta;a.z=this.ua;return a},Bg:function(){var a=new t;a.x=this.Kc;a.y=this.Lc;a.z=this.Mc;return a},Ag:function(a){a.x=this.sa;a.y=this.ta;a.z=this.ua},Cg:function(a){a.x=this.Kc;a.y=this.Lc;a.z=this.Mc},on:function(){return this.Fk},pn:function(){return this.Gk},kn:function(){return this.xk},ln:function(){return this.yk},en:function(){return this.yi},fn:function(){return this.zi},ra:ub});Qd.aa=!0;Qd.Kb=$b;Qd.prototype=mb($b.prototype,{Aa:function(a,b,e,d,c){this.Vg(a,b,e);var f,h,l;f=d.x;h=d.y;l=d.z;d=a.a.o*f+a.a.i*h+a.a.l*l;e=a.a.f*f+a.a.m*h+a.a.g*l;a=a.a.h*f+a.a.j*h+a.a.s*l;f=this.localAxis1;f.x=d;f.y=e;f.z=a;d=c.x;e=c.y;f=c.z;c=b.a.o*d+b.a.i*e+b.a.l*f;a=b.a.f*d+b.a.m*e+b.a.g*f;b=b.a.h*d+b.a.j*e+b.a.s*f;d=this.localAxis2;d.x=c;d.y=a;d.z=b;return this},ra:Qd});ne.aa=!0;of.aa=!0;of.prototype={ra:of};Oe.aa=!0;Oe.prototype={ra:Oe};ak.aa=!0;ak.prototype={Aa:function(a){this.Pc=a.Pc;for(var b=0,e=this.Pc;b<e;){var d=b++;this.gh[d]=a.gh[d];this.kh[d]=a.kh[d]}this.je=a.je;b=0;for(e=this.je;b<e;)d=b++,this.Dg[d]=a.Dg[d]},Tk:function(a,b,e,d,c,f,h){for(var l=0,g=this.je;l<g;){var k=l++,k=this.Dg[k],m=a.rows[k];this.Rk[k]=m.Ga*f-e[k]-m.Na*d[k]}l=b.Oi;g=0;for(k=this.Pc;g<k;){var n=g++,m=this.gh[n],n=this.kh[n],q=a.rows[m],n=(0>n?q.Ja:0<n?q.Ia:0)-d[m];if(c[m]=n)for(var q=0,p=this.je;q<p;){var r=q++,v=r=this.Dg[r],t=this.Rk;t[v]-=l[m][r]*n}}g=this.Dg;k=this.je;for(n=m=0;n<k;)q=n++,m|=1<<g[q];b.zj[m]||(b.$m(m,g,k),b.zj[m]=!0);g=b.ik[m];b=!0;k=0;for(m=this.je;k<m;){for(var n=k++,q=this.Dg[n],p=a.rows[q],v=r=d[q],t=0,w=this.je;t<w;)var B=t++,v=v+this.Rk[this.Dg[B]]*g[n][B];if(v<p.Ja-F.directMlcpSolverEps||v>p.Ia+F.directMlcpSolverEps){b=!1;break}c[q]=v-r}if(h)return!0;if(!b)return!1;h=0;for(g=this.Pc;h<g;){n=h++;k=this.gh[n];m=a.rows[k];n=this.kh[n];q=d[k]+c[k];p=e[k];r=0;for(v=a.La;r<v;)t=r++,p+=l[k][t]*c[t];k=m.Ga*f-p-m.Na*q;if(0>n&&k>F.directMlcpSolverEps||0<n&&k<-F.directMlcpSolverEps){b=!1;break}}return b},ra:ak};tg.aa=!0;tg.prototype={ra:tg};Bk.aa=!0;Bk.prototype={Fh:function(a,b){if(b==a.La)null==this.Eh[this.Ze]&&(this.Eh[this.Ze]=new ak(this.Dn)),this.Eh[this.Ze++].Aa(this.Te);else{var e=a.rows[b],d=e.Ja>-1/0,c=e.Ia<1/0;0==e.Ja&&0==e.Ia?(c=this.Te,c.gh[c.Pc]=b,c.kh[c.Pc]=0,c.Pc++,this.Fh(a,b+1),this.Te.Pc--):(e=this.Te,e.Dg[e.je]=b,e.je++,this.Fh(a,b+1),this.Te.je--,d&&(d=this.Te,d.gh[d.Pc]=b,d.kh[d.Pc]=-1,d.Pc++,this.Fh(a,b+1),this.Te.Pc--),c&&(c=this.Te,c.gh[c.Pc]=b,c.kh[c.Pc]=1,c.Pc++,this.Fh(a,b+1),this.Te.Pc--))}},ra:Bk};Md.aa=!0;Md.prototype={ra:Md};wc.aa=!0;wc.Kb=Sb;wc.prototype=mb(Sb.prototype,{jh:function(a){this.$.ed();this.$.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;this.Rh.Uk(this.info,this.Yb);a=this.Ee;a.Ze=0;var b=a.Te;b.Pc=0;b.je=0;a.Fh(this.info,0);a=this.ul;for(var b=this.Ee.Ze,e=0,d=0,c=0,f=a.n;c<f;){var h=c++,h=a.oc[h];h<b?(a.af[e]=h,++e):(a.af[b+d]=h,++d)}b=a.oc;a.oc=a.af;a.af=b},sh:function(a){var b=this.$.Ec==ic.BAUMGARTE?F.jointWarmStartingFactorForBaungarte:F.jointWarmStartingFactor,b=b*a.dtRatio;if(0>=b)for(b=0,a=this.info.La;b<a;){var e=b++,e=this.info.rows[e].va;e.va=0;e.Yc=0;e.ub=0}else{a=0;for(e=this.info.La;a<e;){var d=a++,c=this.info.rows[d],f=c.va,h=f.va*b;h<c.Ja?h=c.Ja:h>c.Ia&&(h=c.Ia);f.va=h;0<c.cb?(h=f.Yc*b,c=c.cb,h<-c?h=-c:h>c&&(h=c),f.Yc=h):f.Yc=0;this.sf[d]=f.va+f.Yc}var b=this.sf,e=a=!1,l,g,k,m,n,q,p,r,d=this.C.eb,f=this.C.fb,c=this.C.gb,h=this.D.eb;l=this.D.fb;g=this.D.gb;k=this.C.ib;m=this.C.jb;n=this.C.kb;q=this.D.ib;p=this.D.jb;r=this.D.kb;for(var v=0,t=this.info.La;v<t;){var w=v++,B=this.info.rows[w].Ba,u=this.Yb[w],w=b[w];B.wc&1&&(d+=u.md*w,f+=u.nd*w,c+=u.od*w,h+=u.pd*-w,l+=u.qd*-w,g+=u.rd*-w,a=!0);B.wc&2&&(k+=u.fd*w,m+=u.gd*w,n+=u.hd*w,q+=u.jd*-w,p+=u.kd*-w,r+=u.ld*-w,e=!0)}a&&(this.C.eb=d,this.C.fb=f,this.C.gb=c,this.D.eb=h,this.D.fb=l,this.D.gb=g);e&&(this.C.ib=k,this.C.jb=m,this.C.kb=n,this.D.ib=q,this.D.jb=p,this.D.kb=r)}},nh:function(){var a=this.info.La,b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.eb;e=this.C.fb;d=this.C.gb;c=this.D.eb;f=this.D.fb;h=this.D.gb;l=this.C.ib;g=this.C.jb;k=this.C.kb;m=this.D.ib;n=this.D.jb;q=this.D.kb;for(var p=0;p<a;){var r=p++,v=this.info.rows[r],t=v.va,v=v.Ba,w=0,w=w+(b*v.wa+e*v.xa+d*v.ya),w=w-(c*v.Ca+f*v.Da+h*v.Ea),w=w+(l*v.ba+g*v.ca+k*v.da),w=w-(m*v.fa+n*v.ga+q*v.ha);this.Hg[r]=w;this.Kh[r]=t.va;this.lj[r]=0}b=this.Rh.Oi;for(e=0;e<a;)if(d=e++,h=this.info.rows[d],c=h.va,l=this.Yb[d],0<h.cb)for(f=c.Yc,h=f+l.tf*(-h.motorSpeed-this.Hg[d]),l=c.Yc,h<-l?h=-l:h>l&&(h=l),c.Yc=h,c=h-f,this.lj[d]=c,f=0,h=a;f<h;)g=l=f++,k=this.Hg,k[g]+=c*b[d][l];e=!1;d=0;for(c=this.Ee.Ze;d<c;)if(b=d++,b=this.ul.oc[b],this.Ee.Eh[b].Tk(this.info,this.Rh,this.Hg,this.Kh,this.sf,1,!1)){for(e=0;e<a;)c=e++,d=this.sf[c],this.info.rows[c].va.va+=d,f=this.lj,f[c]+=d;a=this.lj;d=e=!1;c=this.C.eb;f=this.C.fb;h=this.C.gb;l=this.D.eb;g=this.D.fb;k=this.D.gb;m=this.C.ib;n=this.C.jb;q=this.C.kb;p=this.D.ib;r=this.D.jb;t=this.D.kb;v=0;for(w=this.info.La;v<w;){var B=v++,u=this.info.rows[B].Ba,D=this.Yb[B],B=a[B];u.wc&1&&(c+=D.md*B,f+=D.nd*B,h+=D.od*B,l+=D.pd*-B,g+=D.qd*-B,k+=D.rd*-B,e=!0);u.wc&2&&(m+=D.fd*B,n+=D.gd*B,q+=D.hd*B,p+=D.jd*-B,r+=D.kd*-B,t+=D.ld*-B,d=!0)}e&&(this.C.eb=c,this.C.fb=f,this.C.gb=h,this.D.eb=l,this.D.fb=g,this.D.gb=k);d&&(this.C.ib=m,this.C.jb=n,this.C.kb=q,this.D.ib=p,this.D.jb=r,this.D.kb=t);a=this.ul;for(e=0;a.oc[e]!=b;)++e;for(;0<e;)b=a.oc[e],a.oc[e]=a.oc[e-1],a.oc[e-1]=b,--e;e=!0;break}e||console.log("DirectJointConstraintSolver.hx:338:","could not find solution. (velocity)")},vi:function(a){for(var b,e,d,c,f,h,l=h=f=c=d=e=b=0,g=this.info.La;l<g;){var k=l++,m=this.info.rows[k],k=m.va,m=m.Ba;m.wc&1?(b+=m.wa*k.va,e+=m.xa*k.va,d+=m.ya*k.va):m.wc&2&&(c+=m.ba*k.va,f+=m.ca*k.va,h+=m.da*k.va)}this.$.Ai=b*a.invDt;this.$.Bi=e*a.invDt;this.$.Ci=d*a.invDt;this.$.Di=c*a.invDt;this.$.Ei=f*a.invDt;this.$.Fi=h*a.invDt},Gg:function(){this.$.ed();this.$.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;this.Rh.Uk(this.info,this.Yb);var a=this.Ee;a.Ze=0;var b=a.Te;b.Pc=0;b.je=0;a.Fh(this.info,0);for(var a=this.ui,b=this.Ee.Ze,e=0,d=0,c=0,f=a.n;c<f;){var h=c++,h=a.oc[h];h<b?(a.af[e]=h,++e):(a.af[b+d]=h,++d)}b=a.oc;a.oc=a.af;a.af=b;a=0;for(b=this.info.La;a<b;)e=a++,this.info.rows[e].va.ub=0},mh:function(){var a=this.info.La,b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.Uc;e=this.C.Vc;d=this.C.Wc;c=this.D.Uc;f=this.D.Vc;h=this.D.Wc;l=this.C.Qc;g=this.C.Rc;k=this.C.Sc;m=this.D.Qc;n=this.D.Rc;q=this.D.Sc;for(var p=0;p<a;){var r=p++,v=this.info.rows[r],t=v.va,v=v.Ba,w=0,w=w+(b*v.wa+e*v.xa+d*v.ya),w=w-(c*v.Ca+f*v.Da+h*v.Ea),w=w+(l*v.ba+g*v.ca+k*v.da),w=w-(m*v.fa+n*v.ga+q*v.ha);this.Hg[r]=w;this.Kh[r]=t.ub}e=!1;d=0;for(c=this.Ee.Ze;d<c;)if(b=d++,b=this.ui.oc[b],this.Ee.Eh[b].Tk(this.info,this.Rh,this.Hg,this.Kh,this.sf,F.positionSplitImpulseBaumgarte,!1)){for(e=0;e<a;)d=e++,this.info.rows[d].va.ub+=this.sf[d];a=this.sf;d=e=!1;c=this.C.Uc;f=this.C.Vc;h=this.C.Wc;l=this.D.Uc;g=this.D.Vc;k=this.D.Wc;m=this.C.Qc;n=this.C.Rc;q=this.C.Sc;p=this.D.Qc;r=this.D.Rc;t=this.D.Sc;v=0;for(w=this.info.La;v<w;){var B=v++,u=this.info.rows[B].Ba,D=this.Yb[B],B=a[B];u.wc&1&&(c+=D.md*B,f+=D.nd*B,h+=D.od*B,l+=D.pd*-B,g+=D.qd*-B,k+=D.rd*-B,e=!0);u.wc&2&&(m+=D.fd*B,n+=D.gd*B,q+=D.hd*B,p+=D.jd*-B,r+=D.kd*-B,t+=D.ld*-B,d=!0)}e&&(this.C.Uc=c,this.C.Vc=f,this.C.Wc=h,this.D.Uc=l,this.D.Vc=g,this.D.Wc=k);d&&(this.C.Qc=m,this.C.Rc=n,this.C.Sc=q,this.D.Qc=p,this.D.Rc=r,this.D.Sc=t);a=this.ui;for(e=0;a.oc[e]!=b;)++e;for(;0<e;)b=a.oc[e],a.oc[e]=a.oc[e-1],a.oc[e-1]=b,--e;e=!0;break}e||console.log("DirectJointConstraintSolver.hx:454:","could not find solution. (split impulse)")},lh:function(){this.$.ed();this.$.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;this.Rh.Uk(this.info,this.Yb);var a=this.Ee;a.Ze=0;var b=a.Te;b.Pc=0;b.je=0;a.Fh(this.info,0);for(var e=this.ui,d=this.Ee.Ze,c=0,f=0,h=0,l=e.n;h<l;){var g=h++,k=e.oc[g];k<d?(e.af[c]=k,++c):(e.af[d+f]=k,++f)}var m=e.oc;e.oc=e.af;e.af=m;for(var n=this.info.La,q=0;q<n;){var p=q++,r=this.info.rows[p].va;this.Hg[p]=0;this.Kh[p]=r.ub}for(var v=!1,t=0,w=this.Ee.Ze;t<w;){var B=t++,u=this.ui.oc[B];if(this.Ee.Eh[u].Tk(this.info,this.Rh,this.Hg,this.Kh,this.sf,F.positionNgsBaumgarte,!1)){for(var D=0,C=n;D<C;){var A=D++;this.info.rows[A].va.ub+=this.sf[A]}for(var E=this.sf,x=!1,L=!1,N,I,M,O,ga,ha,na,qa,xa,ka,bb,U,R=U=bb=ka=xa=qa=na=ha=ga=O=M=I=N=0,Ca=this.info.La;R<Ca;){var Na=R++,Ra=this.info.rows[Na].Ba,wa=this.Yb[Na],Pa=E[Na];Ra.wc&1&&(N+=wa.md*Pa,I+=wa.nd*Pa,M+=wa.od*Pa,O+=wa.pd*-Pa,ga+=wa.qd*-Pa,ha+=wa.rd*-Pa,x=!0);Ra.wc&2&&(na+=wa.fd*Pa,qa+=wa.gd*Pa,xa+=wa.hd*Pa,ka+=wa.jd*-Pa,bb+=wa.kd*-Pa,U+=wa.ld*-Pa,L=!0)}if(x){var Ba=this.C;Ba.a.v+=N;Ba.a.A+=I;Ba.a.B+=M;var Da=this.D;Da.a.v+=O;Da.a.A+=ga;Da.a.B+=ha}if(L){var H=this.C,Qa=Math.sqrt(na*na+qa*qa+xa*xa),ba=.5*Qa,Q,P;if(.5>ba){var ya=ba*ba;Q=.5*(1-.16666666666666666*ya+ya*ya*.008333333333333333);P=1-.5*ya+ya*ya*.041666666666666664}else Q=Math.sin(ba)/Qa,P=Math.cos(ba);var ta,W,pa;ta=na*Q;W=qa*Q;pa=xa*Q;var y,Ia,ca,Ea;y=ta;Ia=W;ca=pa;Ea=P;var za,Fa,Sa,la,Z=H.a.o,Ga=H.a.m,ra=H.a.s,va=Z+Ga+ra,J;0<va?(J=Math.sqrt(va+1),la=.5*J,J=.5/J,za=(H.a.g-H.a.j)*J,Fa=(H.a.h-H.a.l)*J,Sa=(H.a.i-H.a.f)*J):Z>Ga?Z>ra?(J=Math.sqrt(Z-Ga-ra+1),za=.5*J,J=.5/J,Fa=(H.a.f+H.a.i)*J,Sa=(H.a.h+H.a.l)*J,la=(H.a.g-H.a.j)*J):(J=Math.sqrt(ra-Z-Ga+1),Sa=.5*J,J=.5/J,za=(H.a.h+H.a.l)*J,Fa=(H.a.j+H.a.g)*J,la=(H.a.i-H.a.f)*J):Ga>ra?(J=Math.sqrt(Ga-ra-Z+1),Fa=.5*J,J=.5/J,za=(H.a.f+H.a.i)*J,Sa=(H.a.j+H.a.g)*J,la=(H.a.h-H.a.l)*J):(J=Math.sqrt(ra-Z-Ga+1),Sa=.5*J,J=.5/J,za=(H.a.h+H.a.l)*J,Fa=(H.a.j+H.a.g)*J,la=(H.a.i-H.a.f)*J);za=Ea*za+y*la+Ia*Sa-ca*Fa;Fa=Ea*Fa-y*Sa+Ia*la+ca*za;Sa=Ea*Sa+y*Fa-Ia*za+ca*la;la=Ea*la-y*za-Ia*Fa-ca*Sa;var La=za*za+Fa*Fa+Sa*Sa+la*la;1E-32<La&&(La=1/Math.sqrt(La));za*=La;Fa*=La;Sa*=La;la*=La;var Xa=za,S=Fa,Ya=Sa,T=la,K=2*Xa,ia=2*S,gb=2*Ya,da=Xa*K,Wa=S*ia,sa=Ya*gb,fb=Xa*ia,jb=S*gb,Za=Xa*gb,ma=T*K,oa=T*ia,Ja=T*gb;H.a.o=1-Wa-sa;H.a.f=fb-Ja;H.a.h=Za+oa;H.a.i=fb+Ja;H.a.m=1-da-sa;H.a.j=jb-ma;H.a.l=Za-oa;H.a.g=jb+ma;H.a.s=1-da-Wa;var Ha,ob,fa,ea,ja,cb,Aa,sb,Ua;Ha=H.a.o*H.Ra+H.a.f*H.Ua+H.a.h*H.Xa;ob=H.a.o*H.Sa+H.a.f*H.Va+H.a.h*H.Ya;fa=H.a.o*H.Ta+H.a.f*H.Wa+H.a.h*H.Za;ea=H.a.i*H.Ra+H.a.m*H.Ua+H.a.j*H.Xa;ja=H.a.i*H.Sa+H.a.m*H.Va+H.a.j*H.Ya;cb=H.a.i*H.Ta+H.a.m*H.Wa+H.a.j*H.Za;Aa=H.a.l*H.Ra+H.a.g*H.Ua+H.a.s*H.Xa;sb=H.a.l*H.Sa+H.a.g*H.Va+H.a.s*H.Ya;Ua=H.a.l*H.Ta+H.a.g*H.Wa+H.a.s*H.Za;H.P=Ha;H.R=ob;H.S=fa;H.T=ea;H.U=ja;H.V=cb;H.W=Aa;H.X=sb;H.Y=Ua;var qb,rb,tb,Va,xb,mb,$a,ua,Ab;qb=H.P*H.a.o+H.R*H.a.f+H.S*H.a.h;rb=H.P*H.a.i+H.R*H.a.m+H.S*H.a.j;tb=H.P*H.a.l+H.R*H.a.g+H.S*H.a.s;Va=H.T*H.a.o+H.U*H.a.f+H.V*H.a.h;xb=H.T*H.a.i+H.U*H.a.m+H.V*H.a.j;mb=H.T*H.a.l+H.U*H.a.g+H.V*H.a.s;$a=H.W*H.a.o+H.X*H.a.f+H.Y*H.a.h;ua=H.W*H.a.i+H.X*H.a.m+H.Y*H.a.j;Ab=H.W*H.a.l+H.X*H.a.g+H.Y*H.a.s;H.P=qb;H.R=rb;H.S=tb;H.T=Va;H.U=xb;H.V=mb;H.W=$a;H.X=ua;H.Y=Ab;H.P*=H.N.x;H.R*=H.N.x;H.S*=H.N.x;H.T*=H.N.y;H.U*=H.N.y;H.V*=H.N.y;H.W*=H.N.z;H.X*=H.N.z;H.Y*=H.N.z;var G=this.D,pb=Math.sqrt(ka*ka+bb*bb+U*U),db=.5*pb,ub,ab;if(.5>db){var hb=db*db;ub=.5*(1-.16666666666666666*hb+hb*hb*.008333333333333333);ab=1-.5*hb+hb*hb*.041666666666666664}else ub=Math.sin(db)/pb,ab=Math.cos(db);var z,Db,vb;z=ka*ub;Db=bb*ub;vb=U*ub;var zb,Fb,Oa,nb;zb=z;Fb=Db;Oa=vb;nb=ab;var wb,yb,eb,Y,Ma=G.a.o,kb=G.a.m,Ta=G.a.s,ib=Ma+kb+Ta,Ka;0<ib?(Ka=Math.sqrt(ib+1),Y=.5*Ka,Ka=.5/Ka,wb=(G.a.g-G.a.j)*Ka,yb=(G.a.h-G.a.l)*Ka,eb=(G.a.i-G.a.f)*Ka):Ma>kb?Ma>Ta?(Ka=Math.sqrt(Ma-kb-Ta+1),wb=.5*Ka,Ka=.5/Ka,yb=(G.a.f+G.a.i)*Ka,eb=(G.a.h+G.a.l)*Ka,Y=(G.a.g-G.a.j)*Ka):(Ka=Math.sqrt(Ta-Ma-kb+1),eb=.5*Ka,Ka=.5/Ka,wb=(G.a.h+G.a.l)*Ka,yb=(G.a.j+G.a.g)*Ka,Y=(G.a.i-G.a.f)*Ka):kb>Ta?(Ka=Math.sqrt(kb-Ta-Ma+1),yb=.5*Ka,Ka=.5/Ka,wb=(G.a.f+G.a.i)*Ka,eb=(G.a.j+G.a.g)*Ka,Y=(G.a.h-G.a.l)*Ka):(Ka=Math.sqrt(Ta-Ma-kb+1),eb=.5*Ka,Ka=.5/Ka,wb=(G.a.h+G.a.l)*Ka,yb=(G.a.j+G.a.g)*Ka,Y=(G.a.i-G.a.f)*Ka);wb=nb*wb+zb*Y+Fb*eb-Oa*yb;yb=nb*yb-zb*eb+Fb*Y+Oa*wb;eb=nb*eb+zb*yb-Fb*wb+Oa*Y;Y=nb*Y-zb*wb-Fb*yb-Oa*eb;var Kb=wb*wb+yb*yb+eb*eb+Y*Y;1E-32<Kb&&(Kb=1/Math.sqrt(Kb));wb*=Kb;yb*=Kb;eb*=Kb;Y*=Kb;var Eb=wb,X=yb,Cb=eb,Lb=Y,Gb=2*Eb,Jb=2*X,ec=2*Cb,Mb=Eb*Gb,Nb=X*Jb,Sb=Cb*ec,Pb=Eb*Jb,Tb=X*ec,jc=Eb*ec,pc=Lb*Gb,kc=Lb*Jb,ac=Lb*ec;G.a.o=1-Nb-Sb;G.a.f=Pb-ac;G.a.h=jc+kc;G.a.i=Pb+ac;G.a.m=1-Mb-Sb;G.a.j=Tb-pc;G.a.l=jc-kc;G.a.g=Tb+pc;G.a.s=1-Mb-Nb;var Vb,Wb,Qb,fc,Rb,Ob,Xb,gc,Ib;Vb=G.a.o*G.Ra+G.a.f*G.Ua+G.a.h*G.Xa;Wb=G.a.o*G.Sa+G.a.f*G.Va+G.a.h*G.Ya;Qb=G.a.o*G.Ta+G.a.f*G.Wa+G.a.h*G.Za;fc=G.a.i*G.Ra+G.a.m*G.Ua+G.a.j*G.Xa;Rb=G.a.i*G.Sa+G.a.m*G.Va+G.a.j*G.Ya;Ob=G.a.i*G.Ta+G.a.m*G.Wa+G.a.j*G.Za;Xb=G.a.l*G.Ra+G.a.g*G.Ua+G.a.s*G.Xa;gc=G.a.l*G.Sa+G.a.g*G.Va+G.a.s*G.Ya;Ib=G.a.l*G.Ta+G.a.g*G.Wa+G.a.s*G.Za;G.P=Vb;G.R=Wb;G.S=Qb;G.T=fc;G.U=Rb;G.V=Ob;G.W=Xb;G.X=gc;G.Y=Ib;var Zb,lb,bc,cc,dc,qc,mc,hc,ic;Zb=G.P*G.a.o+G.R*G.a.f+G.S*G.a.h;lb=G.P*G.a.i+G.R*G.a.m+G.S*G.a.j;bc=G.P*G.a.l+G.R*G.a.g+G.S*G.a.s;cc=G.T*G.a.o+G.U*G.a.f+G.V*G.a.h;dc=G.T*G.a.i+G.U*G.a.m+G.V*G.a.j;qc=G.T*G.a.l+G.U*G.a.g+G.V*G.a.s;mc=G.W*G.a.o+G.X*G.a.f+G.Y*G.a.h;hc=G.W*G.a.i+G.X*G.a.m+G.Y*G.a.j;ic=G.W*G.a.l+G.X*G.a.g+G.Y*G.a.s;G.P=Zb;G.R=lb;G.S=bc;G.T=cc;G.U=dc;G.V=qc;G.W=mc;G.X=hc;G.Y=ic;G.P*=G.N.x;G.R*=G.N.x;G.S*=G.N.x;G.T*=G.N.y;G.U*=G.N.y;G.V*=G.N.y;G.W*=G.N.z;G.X*=G.N.z;G.Y*=G.N.z}for(var $b=this.ui,sc=0;$b.oc[sc]!=u;)++sc;for(;0<sc;){var vc=$b.oc[sc];$b.oc[sc]=$b.oc[sc-1];$b.oc[sc-1]=vc;--sc}v=!0;break}}v||console.log("DirectJointConstraintSolver.hx:506:","could not find solution. (NGS)")},$e:function(){this.$.ed();this.$.Cl()},ra:wc});Uf.aa=!0;Uf.prototype={$m:function(a,b,e){for(var d=0;d<e;)for(var c=d++,f=b[c],h=0,l=e;h<l;){var g=h++;this.ck[c][g]=this.$a[f][b[g]]}d=this.ck;a=this.ik[a];var k;switch(e){case 4:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];break;case 5:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;c[4]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g=d[4];k=a[4];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g=d[4];k=a[4];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g=d[4];k=a[4];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;c[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g[4]-=c[4]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g[4]-=c[4]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];g[4]-=c[4]*g[3];g=d[4];k=a[4];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];c=d[4];b=a[4];e=1/c[4];b[4]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[4];g=d[1];k=a[1];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];g=d[2];k=a[2];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];g=d[3];k=a[3];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];b=a[4];a[0][4]=b[0];a[1][4]=b[1];a[2][4]=b[2];a[3][4]=b[3];break;case 6:c=d[0];b=a[0];e=1/c[0];b[0]=e;c[1]*=e;c[2]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[1];k=a[1];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[2];k=a[2];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[3];k=a[3];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[4];k=a[4];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];g=d[5];k=a[5];k[0]=-e*g[0];g[1]-=c[1]*g[0];g[2]-=c[2]*g[0];g[3]-=c[3]*g[0];g[4]-=c[4]*g[0];g[5]-=c[5]*g[0];c=d[1];b=a[1];e=1/c[1];b[1]=e;b[0]*=e;c[2]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[2];k=a[2];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[3];k=a[3];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[4];k=a[4];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];g=d[5];k=a[5];k[0]-=b[0]*g[1];k[1]=-e*g[1];g[2]-=c[2]*g[1];g[3]-=c[3]*g[1];g[4]-=c[4]*g[1];g[5]-=c[5]*g[1];c=d[2];b=a[2];e=1/c[2];b[2]=e;b[0]*=e;b[1]*=e;c[3]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[1];k=a[1];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[3];k=a[3];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[4];k=a[4];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];g=d[5];k=a[5];k[0]-=b[0]*g[2];k[1]-=b[1]*g[2];k[2]=-e*g[2];g[3]-=c[3]*g[2];g[4]-=c[4]*g[2];g[5]-=c[5]*g[2];c=d[3];b=a[3];e=1/c[3];b[3]=e;b[0]*=e;b[1]*=e;b[2]*=e;c[4]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[1];k=a[1];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[2];k=a[2];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[4];k=a[4];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];g=d[5];k=a[5];k[0]-=b[0]*g[3];k[1]-=b[1]*g[3];k[2]-=b[2]*g[3];k[3]=-e*g[3];g[4]-=c[4]*g[3];g[5]-=c[5]*g[3];c=d[4];b=a[4];e=1/c[4];b[4]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;c[5]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[4];g[5]-=c[5]*g[4];g=d[1];k=a[1];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];g[5]-=c[5]*g[4];g=d[2];k=a[2];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];g[5]-=c[5]*g[4];g=d[3];k=a[3];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];g[5]-=c[5]*g[4];g=d[5];k=a[5];k[0]-=b[0]*g[4];k[1]-=b[1]*g[4];k[2]-=b[2]*g[4];k[3]-=b[3]*g[4];k[4]=-e*g[4];g[5]-=c[5]*g[4];c=d[5];b=a[5];e=1/c[5];b[5]=e;b[0]*=e;b[1]*=e;b[2]*=e;b[3]*=e;b[4]*=e;g=d[0];k=a[0];k[0]-=b[0]*g[5];g=d[1];k=a[1];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];g=d[2];k=a[2];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];g=d[3];k=a[3];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];k[3]-=b[3]*g[5];g=d[4];k=a[4];k[0]-=b[0]*g[5];k[1]-=b[1]*g[5];k[2]-=b[2]*g[5];k[3]-=b[3]*g[5];k[4]-=b[4]*g[5];b=a[1];a[0][1]=b[0];b=a[2];a[0][2]=b[0];a[1][2]=b[1];b=a[3];a[0][3]=b[0];a[1][3]=b[1];a[2][3]=b[2];b=a[4];a[0][4]=b[0];a[1][4]=b[1];a[2][4]=b[2];a[3][4]=b[3];b=a[5];a[0][5]=b[0];a[1][5]=b[1];a[2][5]=b[2];a[3][5]=b[3];a[4][5]=b[4];break;default:for(f=0;f<e;){h=f++;c=d[h];b=a[h];l=1/c[h];b[h]=l;g=0;for(k=h;g<k;){var m=g++;b[m]*=l}g=h+1;for(k=e;g<k;)m=g++,c[m]*=l;for(var m=0,n=h;m<n;){var q=m++,g=d[q];k=a[q];for(var p=0,q=q+1;p<q;){var r=p++;k[r]-=b[r]*g[h]}k=h+1;for(p=e;k<p;)q=k++,g[q]-=c[q]*g[h]}m=h+1;for(n=e;m<n;){k=m++;g=d[k];k=a[k];p=0;for(q=h;p<q;)r=p++,k[r]-=b[r]*g[h];k[h]=-l*g[h];k=h+1;for(p=e;k<p;)q=k++,g[q]-=c[q]*g[h]}}for(d=1;d<e;)for(c=d++,b=a[c],f=0,h=c;f<h;)l=f++,a[l][c]=b[l]}},Uk:function(a,b){var e=this.$a,d=this.Oi,c=a.La,f=a.Ce,h=a.De,l=f.$a,g=h.$a,k,m,n,q,p,r,v,t,w,B,u,D,C,A,E,x;k=f.P;m=f.R;n=f.S;q=f.T;p=f.U;r=f.V;v=f.W;t=f.X;f=f.Y;w=h.P;B=h.R;u=h.S;D=h.T;C=h.U;A=h.V;E=h.W;x=h.X;for(var h=h.Y,F=0;F<c;){var N=F++,I=a.rows[N].Ba,N=b[N];I.Bm();I.wc&1?(N.md=I.wa*l,N.nd=I.xa*l,N.od=I.ya*l,N.pd=I.Ca*g,N.qd=I.Da*g,N.rd=I.Ea*g):(N.md=0,N.nd=0,N.od=0,N.pd=0,N.qd=0,N.rd=0);if(I.wc&2){var L,M,O;L=k*I.ba+m*I.ca+n*I.da;M=q*I.ba+p*I.ca+r*I.da;O=v*I.ba+t*I.ca+f*I.da;N.fd=L;N.gd=M;N.hd=O;L=w*I.fa+B*I.ga+u*I.ha;M=D*I.fa+C*I.ga+A*I.ha;I=E*I.fa+x*I.ga+h*I.ha;N.jd=L;N.kd=M;N.ld=I}else N.fd=0,N.gd=0,N.hd=0,N.jd=0,N.kd=0,N.ld=0}for(l=0;l<c;)for(g=l++,k=a.rows[g].Ba,m=g,n=c;m<n;)q=m++,p=b[q],r=k.wa*p.md+k.xa*p.nd+k.ya*p.od+(k.ba*p.fd+k.ca*p.gd+k.da*p.hd)+(k.Ca*p.pd+k.Da*p.qd+k.Ea*p.rd)+(k.fa*p.jd+k.ga*p.kd+k.ha*p.ld),g==q?(e[g][q]=r+a.rows[g].Na,d[g][q]=r,p.mass=r+a.rows[g].Na,p.tf=r,0!=p.mass&&(p.mass=1/p.mass),p.tf&&(p.tf=1/p.tf)):(e[g][q]=r,e[q][g]=r,d[g][q]=r,d[q][g]=r);a=0;for(b=this.Ij;a<b;)e=a++,this.zj[e]=!1},ra:Uf};zb.aa=!0;zb.Kb=Sb;zb.prototype=mb(Sb.prototype,{jh:function(a){this.ti.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;a=this.C.$a;var b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;v=this.D.U;t=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,C=this.info.La;D<C;){var A=D++,E=this.info.rows[A],A=this.Yb[A],x=E.Eg;A.Lh=x.wa*a;A.Mh=x.xa*a;A.Nh=x.ya*a;A.Oh=x.Ca*b;A.Ph=x.Da*b;A.Qh=x.Ea*b;var F,N,I;F=e*x.ba+d*x.ca+c*x.da;N=f*x.ba+h*x.ca+l*x.da;I=g*x.ba+k*x.ca+m*x.da;A.Nf=F;A.Of=N;A.Pf=I;F=n*x.fa+q*x.ga+p*x.ha;N=r*x.fa+v*x.ga+t*x.ha;I=w*x.fa+B*x.ga+u*x.ha;A.Qf=F;A.Rf=N;A.Sf=I;A.ie=a+b+(A.Nf*x.ba+A.Of*x.ca+A.Pf*x.da)+(A.Qf*x.fa+A.Rf*x.ga+A.Sf*x.ha);0!=A.ie&&(A.ie=1/A.ie);x=E.vj;E=E.uj;A.gl=x.wa*a;A.hl=x.xa*a;A.il=x.ya*a;A.jl=x.Ca*b;A.kl=x.Da*b;A.ll=x.Ea*b;A.al=E.wa*a;A.bl=E.xa*a;A.cl=E.ya*a;A.dl=E.Ca*b;A.el=E.Da*b;A.fl=E.Ea*b;F=e*x.ba+d*x.ca+c*x.da;N=f*x.ba+h*x.ca+l*x.da;I=g*x.ba+k*x.ca+m*x.da;A.oj=F;A.pj=N;A.qj=I;F=n*x.fa+q*x.ga+p*x.ha;N=r*x.fa+v*x.ga+t*x.ha;I=w*x.fa+B*x.ga+u*x.ha;A.rj=F;A.sj=N;A.tj=I;F=e*E.ba+d*E.ca+c*E.da;N=f*E.ba+h*E.ca+l*E.da;I=g*E.ba+k*E.ca+m*E.da;A.Tj=F;A.Uj=N;A.Vj=I;F=n*E.fa+q*E.ga+p*E.ha;N=r*E.fa+v*E.ga+t*E.ha;I=w*E.fa+B*E.ga+u*E.ha;A.Wj=F;A.Xj=N;A.Yj=I;x=a+b+(A.oj*x.ba+A.pj*x.ca+A.qj*x.da)+(A.rj*x.fa+A.sj*x.ga+A.tj*x.ha);N=F=A.oj*E.ba+A.pj*E.ca+A.qj*E.da+(A.rj*E.fa+A.sj*E.ga+A.tj*E.ha);E=a+b+(A.Tj*E.ba+A.Uj*E.ca+A.Vj*E.da)+(A.Wj*E.fa+A.Xj*E.ga+A.Yj*E.ha);(I=x*E-F*N)&&(I=1/I);A.om=E*I;A.pm=-F*I;A.qm=-N*I;A.rm=x*I}},sh:function(a){var b,e,d,c,f,h,l,g,k,m,n,q;b=this.C.eb;e=this.C.fb;d=this.C.gb;c=this.D.eb;f=this.D.fb;h=this.D.gb;l=this.C.ib;g=this.C.jb;k=this.C.kb;m=this.D.ib;n=this.D.jb;q=this.D.kb;for(var p=0,r=this.info.La;p<r;){var v=p++,t=this.info.rows[v],w=t.va,v=this.Yb[v],B=t.vj,u=t.uj,t=w.Zc,B=w.Ue*B.wa+w.Ve*B.xa+w.We*B.ya,u=w.Ue*u.wa+w.Ve*u.xa+w.We*u.ya;w.yc=B;w.xc=u;w.Zc*=a.dtRatio;w.yc*=a.dtRatio;w.xc*=a.dtRatio;b+=v.Lh*t;e+=v.Mh*t;d+=v.Nh*t;b+=v.gl*B;e+=v.hl*B;d+=v.il*B;b+=v.al*u;e+=v.bl*u;d+=v.cl*u;c+=v.Oh*-t;f+=v.Ph*-t;h+=v.Qh*-t;c+=v.jl*-B;f+=v.kl*-B;h+=v.ll*-B;c+=v.dl*-u;f+=v.el*-u;h+=v.fl*-u;l+=v.Nf*t;g+=v.Of*t;k+=v.Pf*t;l+=v.oj*B;g+=v.pj*B;k+=v.qj*B;l+=v.Tj*u;g+=v.Uj*u;k+=v.Vj*u;m+=v.Qf*-t;n+=v.Rf*-t;q+=v.Sf*-t;m+=v.rj*-B;n+=v.sj*-B;q+=v.tj*-B;m+=v.Wj*-u;n+=v.Xj*-u;q+=v.Yj*-u}this.C.eb=b;this.C.fb=e;this.C.gb=d;this.D.eb=c;this.D.fb=f;this.D.gb=h;this.C.ib=l;this.C.jb=g;this.C.kb=k;this.D.ib=m;this.D.jb=n;this.D.kb=q},nh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.eb;b=this.C.fb;e=this.C.gb;d=this.D.eb;c=this.D.fb;f=this.D.gb;h=this.C.ib;l=this.C.jb;g=this.C.kb;k=this.D.ib;m=this.D.jb;n=this.D.kb;for(var q=0,p=this.info.La;q<p;){var r=q++,v=this.info.rows[r],r=this.Yb[r],t=v.va,w=0,B=v.vj,w=w+(a*B.wa+b*B.xa+e*B.ya),w=w-(d*B.Ca+c*B.Da+f*B.Ea),w=w+(h*B.ba+l*B.ca+g*B.da),w=w-(k*B.fa+m*B.ga+n*B.ha),u=0,B=v.uj,u=u+(a*B.wa+b*B.xa+e*B.ya),u=u-(d*B.Ca+c*B.Da+f*B.Ea),u=u+(h*B.ba+l*B.ca+g*B.da),u=u-(k*B.fa+m*B.ga+n*B.ha),B=-(w*r.om+u*r.pm),D=-(w*r.qm+u*r.rm),w=t.yc,u=t.xc;t.yc+=B;t.xc+=D;(v=v.friction*t.Zc)?(B=t.yc*t.yc+t.xc*t.xc,B>v*v&&(v/=Math.sqrt(B),t.yc*=v,t.xc*=v)):(t.yc=0,t.xc=0);B=t.yc-w;D=t.xc-u;a+=r.gl*B;b+=r.hl*B;e+=r.il*B;a+=r.al*D;b+=r.bl*D;e+=r.cl*D;d+=r.jl*-B;c+=r.kl*-B;f+=r.ll*-B;d+=r.dl*-D;c+=r.el*-D;f+=r.fl*-D;h+=r.oj*B;l+=r.pj*B;g+=r.qj*B;h+=r.Tj*D;l+=r.Uj*D;g+=r.Vj*D;k+=r.rj*-B;m+=r.sj*-B;n+=r.tj*-B;k+=r.Wj*-D;m+=r.Xj*-D;n+=r.Yj*-D}q=0;for(p=this.info.La;q<p;)r=q++,v=this.info.rows[r],r=this.Yb[r],t=v.va,w=0,u=v.Eg,w+=a*u.wa+b*u.xa+e*u.ya,w-=d*u.Ca+c*u.Da+f*u.Ea,w+=h*u.ba+l*u.ca+g*u.da,w-=k*u.fa+m*u.ga+n*u.ha,v=(v.Ga-w)*r.ie,w=t.Zc,t.Zc+=v,0>t.Zc&&(t.Zc=0),v=t.Zc-w,a+=r.Lh*v,b+=r.Mh*v,e+=r.Nh*v,d+=r.Oh*-v,c+=r.Ph*-v,f+=r.Qh*-v,h+=r.Nf*v,l+=r.Of*v,g+=r.Pf*v,k+=r.Qf*-v,m+=r.Rf*-v,n+=r.Sf*-v;this.C.eb=a;this.C.fb=b;this.C.gb=e;this.D.eb=d;this.D.fb=c;this.D.gb=f;this.C.ib=h;this.C.jb=l;this.C.kb=g;this.D.ib=k;this.D.jb=m;this.D.kb=n},Gg:function(){this.ti.Ik();this.ti.dd(this.info);var a=this.C.$a,b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;v=this.D.U;t=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,C=this.info.La;D<C;){var A=D++,E=this.Yb[A],A=this.info.rows[A].Eg;E.Lh=A.wa*a;E.Mh=A.xa*a;E.Nh=A.ya*a;E.Oh=A.Ca*b;E.Ph=A.Da*b;E.Qh=A.Ea*b;var x,F,N;x=e*A.ba+d*A.ca+c*A.da;F=f*A.ba+h*A.ca+l*A.da;N=g*A.ba+k*A.ca+m*A.da;E.Nf=x;E.Of=F;E.Pf=N;x=n*A.fa+q*A.ga+p*A.ha;F=r*A.fa+v*A.ga+t*A.ha;N=w*A.fa+B*A.ga+u*A.ha;E.Qf=x;E.Rf=F;E.Sf=N;E.ie=a+b+(E.Nf*A.ba+E.Of*A.ca+E.Pf*A.da)+(E.Qf*A.fa+E.Rf*A.ga+E.Sf*A.ha);0!=E.ie&&(E.ie=1/E.ie)}a=0;for(b=this.info.La;a<b;)e=a++,this.info.rows[e].va.ub=0},mh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.Uc;b=this.C.Vc;e=this.C.Wc;d=this.D.Uc;c=this.D.Vc;f=this.D.Wc;h=this.C.Qc;l=this.C.Rc;g=this.C.Sc;k=this.D.Qc;m=this.D.Rc;n=this.D.Sc;for(var q=0,p=this.info.La;q<p;){var r=q++,v=this.info.rows[r],r=this.Yb[r],t=v.va,w=v.Eg,B=0,B=B+(a*w.wa+b*w.xa+e*w.ya),B=B-(d*w.Ca+c*w.Da+f*w.Ea),B=B+(h*w.ba+l*w.ca+g*w.da),B=B-(k*w.fa+m*w.ga+n*w.ha),v=(v.Ga-B)*r.ie*F.positionSplitImpulseBaumgarte,w=t.ub;t.ub+=v;0>t.ub&&(t.ub=0);v=t.ub-w;a+=r.Lh*v;b+=r.Mh*v;e+=r.Nh*v;d+=r.Oh*-v;c+=r.Ph*-v;f+=r.Qh*-v;h+=r.Nf*v;l+=r.Of*v;g+=r.Pf*v;k+=r.Qf*-v;m+=r.Rf*-v;n+=r.Sf*-v}this.C.Uc=a;this.C.Vc=b;this.C.Wc=e;this.D.Uc=d;this.D.Vc=c;this.D.Wc=f;this.C.Qc=h;this.C.Rc=l;this.C.Sc=g;this.D.Qc=k;this.D.Rc=m;this.D.Sc=n},lh:function(){this.ti.Ik();this.ti.dd(this.info);var a=this.C.$a,b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;v=this.D.U;t=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,C=this.info.La;D<C;){var A=D++,E=this.Yb[A],x=this.info.rows[A].Eg;E.Lh=x.wa*a;E.Mh=x.xa*a;E.Nh=x.ya*a;E.Oh=x.Ca*b;E.Ph=x.Da*b;E.Qh=x.Ea*b;var L,N,I;L=e*x.ba+d*x.ca+c*x.da;N=f*x.ba+h*x.ca+l*x.da;I=g*x.ba+k*x.ca+m*x.da;E.Nf=L;E.Of=N;E.Pf=I;var M,O,ga;M=n*x.fa+q*x.ga+p*x.ha;O=r*x.fa+v*x.ga+t*x.ha;ga=w*x.fa+B*x.ga+u*x.ha;E.Qf=M;E.Rf=O;E.Sf=ga;E.ie=a+b+(E.Nf*x.ba+E.Of*x.ca+E.Pf*x.da)+(E.Qf*x.fa+E.Rf*x.ga+E.Sf*x.ha);0!=E.ie&&(E.ie=1/E.ie)}for(var ha,na,qa,wa,ka,xa,U,R,Ca,Na,Ra,Da,Pa=Da=Ra=Na=Ca=R=U=xa=ka=wa=qa=na=ha=0,Ba=this.info.La;Pa<Ba;){var Wa=Pa++,H=this.info.rows[Wa],Qa=this.Yb[Wa],ba=H.va,Q=H.Eg,P=0,P=P+(ha*Q.wa+na*Q.xa+qa*Q.ya),P=P-(wa*Q.Ca+ka*Q.Da+xa*Q.Ea),P=P+(U*Q.ba+R*Q.ca+Ca*Q.da),P=P-(Na*Q.fa+Ra*Q.ga+Da*Q.ha),ya=(H.Ga-P)*Qa.ie*F.positionNgsBaumgarte,ta=ba.ub;ba.ub+=ya;0>ba.ub&&(ba.ub=0);ya=ba.ub-ta;ha+=Qa.Lh*ya;na+=Qa.Mh*ya;qa+=Qa.Nh*ya;wa+=Qa.Oh*-ya;ka+=Qa.Ph*-ya;xa+=Qa.Qh*-ya;U+=Qa.Nf*ya;R+=Qa.Of*ya;Ca+=Qa.Pf*ya;Na+=Qa.Qf*-ya;Ra+=Qa.Rf*-ya;Da+=Qa.Sf*-ya}var W=this.C;W.a.v+=ha;W.a.A+=na;W.a.B+=qa;var pa=this.D;pa.a.v+=wa;pa.a.A+=ka;pa.a.B+=xa;var y=this.C,Ia=Math.sqrt(U*U+R*R+Ca*Ca),ca=.5*Ia,Ea,za;if(.5>ca){var Fa=ca*ca;Ea=.5*(1-.16666666666666666*Fa+Fa*Fa*.008333333333333333);za=1-.5*Fa+Fa*Fa*.041666666666666664}else Ea=Math.sin(ca)/Ia,za=Math.cos(ca);var Sa,la;Sa=U*Ea;la=R*Ea;var Z,Ga;Z=Ca*Ea;Ga=za;var ra,va,J,La,Xa=y.a.o,S=y.a.m,Ya=y.a.s,T=Xa+S+Ya,K;0<T?(K=Math.sqrt(T+1),La=.5*K,K=.5/K,ra=(y.a.g-y.a.j)*K,va=(y.a.h-y.a.l)*K,J=(y.a.i-y.a.f)*K):Xa>S?Xa>Ya?(K=Math.sqrt(Xa-S-Ya+1),ra=.5*K,K=.5/K,va=(y.a.f+y.a.i)*K,J=(y.a.h+y.a.l)*K,La=(y.a.g-y.a.j)*K):(K=Math.sqrt(Ya-Xa-S+1),J=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K):S>Ya?(K=Math.sqrt(S-Ya-Xa+1),va=.5*K,K=.5/K,ra=(y.a.f+y.a.i)*K,J=(y.a.j+y.a.g)*K,La=(y.a.h-y.a.l)*K):(K=Math.sqrt(Ya-Xa-S+1),J=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K);ra=Ga*ra+Sa*La+la*J-Z*va;va=Ga*va-Sa*J+la*La+Z*ra;J=Ga*J+Sa*va-la*ra+Z*La;La=Ga*La-Sa*ra-la*va-Z*J;var ia=ra*ra+va*va+J*J+La*La;1E-32<ia&&(ia=1/Math.sqrt(ia));ra*=ia;va*=ia;J*=ia;La*=ia;var gb=ra,da=va,mb=J,sa=La,fb=2*gb,jb=2*da,Za=2*mb,ma=gb*fb,oa=da*jb,Ja=mb*Za,Ha=gb*jb,ob=da*Za,fa=gb*Za,ea=sa*fb,ja=sa*jb,cb=sa*Za;y.a.o=1-oa-Ja;y.a.f=Ha-cb;y.a.h=fa+ja;y.a.i=Ha+cb;y.a.m=1-ma-Ja;y.a.j=ob-ea;y.a.l=fa-ja;y.a.g=ob+ea;y.a.s=1-ma-oa;var Aa,sb,Ua,qb,rb,tb,Va,xb,ub;Aa=y.a.o*y.Ra+y.a.f*y.Ua+y.a.h*y.Xa;sb=y.a.o*y.Sa+y.a.f*y.Va+y.a.h*y.Ya;Ua=y.a.o*y.Ta+y.a.f*y.Wa+y.a.h*y.Za;qb=y.a.i*y.Ra+y.a.m*y.Ua+y.a.j*y.Xa;rb=y.a.i*y.Sa+y.a.m*y.Va+y.a.j*y.Ya;tb=y.a.i*y.Ta+y.a.m*y.Wa+y.a.j*y.Za;Va=y.a.l*y.Ra+y.a.g*y.Ua+y.a.s*y.Xa;xb=y.a.l*y.Sa+y.a.g*y.Va+y.a.s*y.Ya;ub=y.a.l*y.Ta+y.a.g*y.Wa+y.a.s*y.Za;y.P=Aa;y.R=sb;y.S=Ua;y.T=qb;y.U=rb;y.V=tb;y.W=Va;y.X=xb;y.Y=ub;var 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fc,Rb,Ob,Xb,gc,Ib,Zb,lb,bc;fc=z.a.o*z.Ra+z.a.f*z.Ua+z.a.h*z.Xa;Rb=z.a.o*z.Sa+z.a.f*z.Va+z.a.h*z.Ya;Ob=z.a.o*z.Ta+z.a.f*z.Wa+z.a.h*z.Za;Xb=z.a.i*z.Ra+z.a.m*z.Ua+z.a.j*z.Xa;gc=z.a.i*z.Sa+z.a.m*z.Va+z.a.j*z.Ya;Ib=z.a.i*z.Ta+z.a.m*z.Wa+z.a.j*z.Za;Zb=z.a.l*z.Ra+z.a.g*z.Ua+z.a.s*z.Xa;lb=z.a.l*z.Sa+z.a.g*z.Va+z.a.s*z.Ya;bc=z.a.l*z.Ta+z.a.g*z.Wa+z.a.s*z.Za;z.P=fc;z.R=Rb;z.S=Ob;z.T=Xb;z.U=gc;z.V=Ib;z.W=Zb;z.X=lb;z.Y=bc;var cc,dc,qc,mc,hc,ic,nc,sc,vc;cc=z.P*z.a.o+z.R*z.a.f+z.S*z.a.h;dc=z.P*z.a.i+z.R*z.a.m+z.S*z.a.j;qc=z.P*z.a.l+z.R*z.a.g+z.S*z.a.s;mc=z.T*z.a.o+z.U*z.a.f+z.V*z.a.h;hc=z.T*z.a.i+z.U*z.a.m+z.V*z.a.j;ic=z.T*z.a.l+z.U*z.a.g+z.V*z.a.s;nc=z.W*z.a.o+z.X*z.a.f+z.Y*z.a.h;sc=z.W*z.a.i+z.X*z.a.m+z.Y*z.a.j;vc=z.W*z.a.l+z.X*z.a.g+z.Y*z.a.s;z.P=cc;z.R=dc;z.S=qc;z.T=mc;z.U=hc;z.V=ic;z.W=nc;z.X=sc;z.Y=vc;z.P*=z.N.x;z.R*=z.N.x;z.S*=z.N.x;z.T*=z.N.y;z.U*=z.N.y;z.V*=z.N.y;z.W*=z.N.z;z.X*=z.N.z;z.Y*=z.N.z},$e:function(){for(var a=0,b=this.info.La;a<b;){var e=a++,d=this.info.rows[e],e=d.va,c=d.vj,d=d.uj,f,h,l;l=h=f=0;f+=c.wa*e.yc;h+=c.xa*e.yc;l+=c.ya*e.yc;f+=d.wa*e.xc;h+=d.xa*e.xc;l+=d.ya*e.xc;e.Ue=f;e.Ve=h;e.We=l}this.ti.Ik()},ra:zb});bc.aa=!0;bc.Kb=Sb;bc.prototype=mb(Sb.prototype,{jh:function(a){this.$.ed();this.$.Vd(a,this.info);this.C=this.info.Ce;this.D=this.info.De;a=this.C.$a;var b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;v=this.D.U;t=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,C=this.info.La;D<C;){var A=D++,E=this.info.rows[A],A=this.Yb[A],x=E.Ba;x.Bm();x.wc&1?(A.md=x.wa*a,A.nd=x.xa*a,A.od=x.ya*a,A.pd=x.Ca*b,A.qd=x.Da*b,A.rd=x.Ea*b):(A.md=0,A.nd=0,A.od=0,A.pd=0,A.qd=0,A.rd=0);if(x.wc&2){var F,N,I;F=e*x.ba+d*x.ca+c*x.da;N=f*x.ba+h*x.ca+l*x.da;I=g*x.ba+k*x.ca+m*x.da;A.fd=F;A.gd=N;A.hd=I;F=n*x.fa+q*x.ga+p*x.ha;N=r*x.fa+v*x.ga+t*x.ha;I=w*x.fa+B*x.ga+u*x.ha;A.jd=F;A.kd=N;A.ld=I}else A.fd=0,A.gd=0,A.hd=0,A.jd=0,A.kd=0,A.ld=0;A.tf=A.md*x.wa+A.nd*x.xa+A.od*x.ya+(A.pd*x.Ca+A.qd*x.Da+A.rd*x.Ea)+(A.fd*x.ba+A.gd*x.ca+A.hd*x.da)+(A.jd*x.fa+A.kd*x.ga+A.ld*x.ha);A.mass=A.tf+E.Na;A.tf&&(A.tf=1/A.tf);0!=A.mass&&(A.mass=1/A.mass)}},sh:function(a){var b=this.$.Ec==ic.BAUMGARTE?F.jointWarmStartingFactorForBaungarte:F.jointWarmStartingFactor,b=b*a.dtRatio;if(0>=b)for(b=0,a=this.info.La;b<a;){var e=b++,e=this.info.rows[e].va;e.va=0;e.Yc=0;e.ub=0}else{var d,c,f,h,l,g,k,m,n,q;a=this.C.eb;e=this.C.fb;d=this.C.gb;c=this.D.eb;f=this.D.fb;h=this.D.gb;l=this.C.ib;g=this.C.jb;k=this.C.kb;m=this.D.ib;n=this.D.jb;q=this.D.kb;for(var p=0,r=this.info.La;p<r;){var v=p++,t=this.Yb[v],v=this.info.rows[v].va;v.va*=b;v.Yc*=b;v=v.va+v.Yc;a+=t.md*v;e+=t.nd*v;d+=t.od*v;c+=t.pd*-v;f+=t.qd*-v;h+=t.rd*-v;l+=t.fd*v;g+=t.gd*v;k+=t.hd*v;m+=t.jd*-v;n+=t.kd*-v;q+=t.ld*-v}this.C.eb=a;this.C.fb=e;this.C.gb=d;this.D.eb=c;this.D.fb=f;this.D.gb=h;this.C.ib=l;this.C.jb=g;this.C.kb=k;this.D.ib=m;this.D.jb=n;this.D.kb=q}},nh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.eb;b=this.C.fb;e=this.C.gb;d=this.D.eb;c=this.D.fb;f=this.D.gb;h=this.C.ib;l=this.C.jb;g=this.C.kb;k=this.D.ib;m=this.D.jb;n=this.D.kb;for(var q=0,p=this.info.La;q<p;){var r=q++,v=this.info.rows[r],r=this.Yb[r],t=v.va,w=v.Ba;if(0!=v.cb){var B=0,B=B+(a*w.wa+b*w.xa+e*w.ya),B=B-(d*w.Ca+c*w.Da+f*w.Ea),B=B+(h*w.ba+l*w.ca+g*w.da),B=B-(k*w.fa+m*w.ga+n*w.ha),B=(-v.motorSpeed-B)*r.tf,u=t.Yc;t.Yc+=B;t.Yc<-v.cb?t.Yc=-v.cb:t.Yc>v.cb&&(t.Yc=v.cb);B=t.Yc-u;w.wc&1&&(a+=r.md*B,b+=r.nd*B,e+=r.od*B,d+=r.pd*-B,c+=r.qd*-B,f+=r.rd*-B);w.wc&2&&(h+=r.fd*B,l+=r.gd*B,g+=r.hd*B,k+=r.jd*-B,m+=r.kd*-B,n+=r.ld*-B)}}q=0;for(p=this.info.La;q<p;)r=q++,v=this.info.rows[r],r=this.Yb[r],t=v.va,w=v.Ba,B=0,B+=a*w.wa+b*w.xa+e*w.ya,B-=d*w.Ca+c*w.Da+f*w.Ea,B+=h*w.ba+l*w.ca+g*w.da,B-=k*w.fa+m*w.ga+n*w.ha,B=(v.Ga-B-t.va*v.Na)*r.mass,u=t.va,t.va+=B,t.va<v.Ja?t.va=v.Ja:t.va>v.Ia&&(t.va=v.Ia),B=t.va-u,w.wc&1&&(a+=r.md*B,b+=r.nd*B,e+=r.od*B,d+=r.pd*-B,c+=r.qd*-B,f+=r.rd*-B),w.wc&2&&(h+=r.fd*B,l+=r.gd*B,g+=r.hd*B,k+=r.jd*-B,m+=r.kd*-B,n+=r.ld*-B);this.C.eb=a;this.C.fb=b;this.C.gb=e;this.D.eb=d;this.D.fb=c;this.D.gb=f;this.C.ib=h;this.C.jb=l;this.C.kb=g;this.D.ib=k;this.D.jb=m;this.D.kb=n},vi:function(a){for(var b,e,d,c,f,h,l=h=f=c=d=e=b=0,g=this.info.La;l<g;){var k=l++,m=this.info.rows[k],k=m.va,m=m.Ba;m.wc&1?(b+=m.wa*k.va,e+=m.xa*k.va,d+=m.ya*k.va):m.wc&2&&(c+=m.ba*k.va,f+=m.ca*k.va,h+=m.da*k.va)}this.$.Ai=b*a.invDt;this.$.Bi=e*a.invDt;this.$.Ci=d*a.invDt;this.$.Di=c*a.invDt;this.$.Ei=f*a.invDt;this.$.Fi=h*a.invDt},Gg:function(){this.$.ed();this.$.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;var a=this.C.$a,b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,v,t,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;v=this.D.U;t=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,C=this.info.La;D<C;){var A=D++,E=this.Yb[A],A=this.info.rows[A].Ba;E.md=A.wa*a;E.nd=A.xa*a;E.od=A.ya*a;E.pd=A.Ca*b;E.qd=A.Da*b;E.rd=A.Ea*b;var x,F,N;x=e*A.ba+d*A.ca+c*A.da;F=f*A.ba+h*A.ca+l*A.da;N=g*A.ba+k*A.ca+m*A.da;E.fd=x;E.gd=F;E.hd=N;x=n*A.fa+q*A.ga+p*A.ha;F=r*A.fa+v*A.ga+t*A.ha;N=w*A.fa+B*A.ga+u*A.ha;E.jd=x;E.kd=F;E.ld=N;E.mass=E.md*A.wa+E.nd*A.xa+E.od*A.ya+(E.pd*A.Ca+E.qd*A.Da+E.rd*A.Ea)+(E.fd*A.ba+E.gd*A.ca+E.hd*A.da)+(E.jd*A.fa+E.kd*A.ga+E.ld*A.ha);E.mass&&(E.mass=1/E.mass)}a=0;for(b=this.info.La;a<b;)e=a++,this.info.rows[e].va.ub=0},mh:function(){var a,b,e,d,c,f,h,l,g,k,m,n;a=this.C.Uc;b=this.C.Vc;e=this.C.Wc;d=this.D.Uc;c=this.D.Vc;f=this.D.Wc;h=this.C.Qc;l=this.C.Rc;g=this.C.Sc;k=this.D.Qc;m=this.D.Rc;n=this.D.Sc;for(var q=0,p=this.info.La;q<p;){var r=q++,t=this.info.rows[r],r=this.Yb[r],C=t.va,w=t.Ba,B=0,B=B+(a*w.wa+b*w.xa+e*w.ya),B=B-(d*w.Ca+c*w.Da+f*w.Ea),B=B+(h*w.ba+l*w.ca+g*w.da),B=B-(k*w.fa+m*w.ga+n*w.ha),w=(t.Ga*F.positionSplitImpulseBaumgarte-B)*r.mass,B=C.ub;C.ub+=w;C.ub<t.Ja?C.ub=t.Ja:C.ub>t.Ia&&(C.ub=t.Ia);w=C.ub-B;a+=r.md*w;b+=r.nd*w;e+=r.od*w;d+=r.pd*-w;c+=r.qd*-w;f+=r.rd*-w;h+=r.fd*w;l+=r.gd*w;g+=r.hd*w;k+=r.jd*-w;m+=r.kd*-w;n+=r.ld*-w}this.C.Uc=a;this.C.Vc=b;this.C.Wc=e;this.D.Uc=d;this.D.Vc=c;this.D.Wc=f;this.C.Qc=h;this.C.Rc=l;this.C.Sc=g;this.D.Qc=k;this.D.Rc=m;this.D.Sc=n},lh:function(){this.$.ed();this.$.dd(this.info);this.C=this.info.Ce;this.D=this.info.De;var a=this.C.$a,b=this.D.$a,e,d,c,f,h,l,g,k,m,n,q,p,r,t,C,w,B,u;e=this.C.P;d=this.C.R;c=this.C.S;f=this.C.T;h=this.C.U;l=this.C.V;g=this.C.W;k=this.C.X;m=this.C.Y;n=this.D.P;q=this.D.R;p=this.D.S;r=this.D.T;t=this.D.U;C=this.D.V;w=this.D.W;B=this.D.X;u=this.D.Y;for(var D=0,L=this.info.La;D<L;){var A=D++,E=this.Yb[A],x=this.info.rows[A].Ba;E.md=x.wa*a;E.nd=x.xa*a;E.od=x.ya*a;E.pd=x.Ca*b;E.qd=x.Da*b;E.rd=x.Ea*b;var M,N,I;M=e*x.ba+d*x.ca+c*x.da;N=f*x.ba+h*x.ca+l*x.da;I=g*x.ba+k*x.ca+m*x.da;E.fd=M;E.gd=N;E.hd=I;var O,ga,na;O=n*x.fa+q*x.ga+p*x.ha;ga=r*x.fa+t*x.ga+C*x.ha;na=w*x.fa+B*x.ga+u*x.ha;E.jd=O;E.kd=ga;E.ld=na;E.mass=E.md*x.wa+E.nd*x.xa+E.od*x.ya+(E.pd*x.Ca+E.qd*x.Da+E.rd*x.Ea)+(E.fd*x.ba+E.gd*x.ca+E.hd*x.da)+(E.jd*x.fa+E.kd*x.ga+E.ld*x.ha);E.mass&&(E.mass=1/E.mass)}for(var ha,qa,wa,xa,ka,Ca,U,R,Da,Na,Ra,Wa,Pa=Wa=Ra=Na=Da=R=U=Ca=ka=xa=wa=qa=ha=0,Ba=this.info.La;Pa<Ba;){var mb=Pa++,H=this.info.rows[mb],Qa=this.Yb[mb],ba=H.va,Q=H.Ba,P=0,P=P+(ha*Q.wa+qa*Q.xa+wa*Q.ya),P=P-(xa*Q.Ca+ka*Q.Da+Ca*Q.Ea),P=P+(U*Q.ba+R*Q.ca+Da*Q.da),P=P-(Na*Q.fa+Ra*Q.ga+Wa*Q.ha),ya=(H.Ga*F.positionNgsBaumgarte-P)*Qa.mass,ta=ba.ub;ba.ub+=ya;ba.ub<H.Ja?ba.ub=H.Ja:ba.ub>H.Ia&&(ba.ub=H.Ia);ya=ba.ub-ta;ha+=Qa.md*ya;qa+=Qa.nd*ya;wa+=Qa.od*ya;xa+=Qa.pd*-ya;ka+=Qa.qd*-ya;Ca+=Qa.rd*-ya;U+=Qa.fd*ya;R+=Qa.gd*ya;Da+=Qa.hd*ya;Na+=Qa.jd*-ya;Ra+=Qa.kd*-ya;Wa+=Qa.ld*-ya}var W=this.C;W.a.v+=ha;W.a.A+=qa;W.a.B+=wa;var pa=this.D;pa.a.v+=xa;pa.a.A+=ka;pa.a.B+=Ca;var y=this.C,Ia=Math.sqrt(U*U+R*R+Da*Da),ca=.5*Ia,Ea,za;if(.5>ca){var Fa=ca*ca;Ea=.5*(1-.16666666666666666*Fa+Fa*Fa*.008333333333333333);za=1-.5*Fa+Fa*Fa*.041666666666666664}else Ea=Math.sin(ca)/Ia,za=Math.cos(ca);var Sa,la;Sa=U*Ea;la=R*Ea;var Z,Ga;Z=Da*Ea;Ga=za;var ra,va,J,La,Xa=y.a.o,S=y.a.m,Ya=y.a.s,T=Xa+S+Ya,K;0<T?(K=Math.sqrt(T+1),La=.5*K,K=.5/K,ra=(y.a.g-y.a.j)*K,va=(y.a.h-y.a.l)*K,J=(y.a.i-y.a.f)*K):Xa>S?Xa>Ya?(K=Math.sqrt(Xa-S-Ya+1),ra=.5*K,K=.5/K,va=(y.a.f+y.a.i)*K,J=(y.a.h+y.a.l)*K,La=(y.a.g-y.a.j)*K):(K=Math.sqrt(Ya-Xa-S+1),J=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K):S>Ya?(K=Math.sqrt(S-Ya-Xa+1),va=.5*K,K=.5/K,ra=(y.a.f+y.a.i)*K,J=(y.a.j+y.a.g)*K,La=(y.a.h-y.a.l)*K):(K=Math.sqrt(Ya-Xa-S+1),J=.5*K,K=.5/K,ra=(y.a.h+y.a.l)*K,va=(y.a.j+y.a.g)*K,La=(y.a.i-y.a.f)*K);ra=Ga*ra+Sa*La+la*J-Z*va;va=Ga*va-Sa*J+la*La+Z*ra;J=Ga*J+Sa*va-la*ra+Z*La;La=Ga*La-Sa*ra-la*va-Z*J;var ia=ra*ra+va*va+J*J+La*La;1E-32<ia&&(ia=1/Math.sqrt(ia));ra*=ia;va*=ia;J*=ia;La*=ia;var gb=ra,da=va,ub=J,sa=La,fb=2*gb,jb=2*da,Za=2*ub,ma=gb*fb,oa=da*jb,Ja=ub*Za,Ha=gb*jb,ob=da*Za,fa=gb*Za,ea=sa*fb,ja=sa*jb,cb=sa*Za;y.a.o=1-oa-Ja;y.a.f=Ha-cb;y.a.h=fa+ja;y.a.i=Ha+cb;y.a.m=1-ma-Ja;y.a.j=ob-ea;y.a.l=fa-ja;y.a.g=ob+ea;y.a.s=1-ma-oa;var Aa,sb,Ua,qb,rb,tb,Va,xb,vb;Aa=y.a.o*y.Ra+y.a.f*y.Ua+y.a.h*y.Xa;sb=y.a.o*y.Sa+y.a.f*y.Va+y.a.h*y.Ya;Ua=y.a.o*y.Ta+y.a.f*y.Wa+y.a.h*y.Za;qb=y.a.i*y.Ra+y.a.m*y.Ua+y.a.j*y.Xa;rb=y.a.i*y.Sa+y.a.m*y.Va+y.a.j*y.Ya;tb=y.a.i*y.Ta+y.a.m*y.Wa+y.a.j*y.Za;Va=y.a.l*y.Ra+y.a.g*y.Ua+y.a.s*y.Xa;xb=y.a.l*y.Sa+y.a.g*y.Va+y.a.s*y.Ya;vb=y.a.l*y.Ta+y.a.g*y.Wa+y.a.s*y.Za;y.P=Aa;y.R=sb;y.S=Ua;y.T=qb;y.U=rb;y.V=tb;y.W=Va;y.X=xb;y.Y=vb;var $a,ua,zb,G,pb,db,Ab,ab,hb;$a=y.P*y.a.o+y.R*y.a.f+y.S*y.a.h;ua=y.P*y.a.i+y.R*y.a.m+y.S*y.a.j;zb=y.P*y.a.l+y.R*y.a.g+y.S*y.a.s;G=y.T*y.a.o+y.U*y.a.f+y.V*y.a.h;pb=y.T*y.a.i+y.U*y.a.m+y.V*y.a.j;db=y.T*y.a.l+y.U*y.a.g+y.V*y.a.s;Ab=y.W*y.a.o+y.X*y.a.f+y.Y*y.a.h;ab=y.W*y.a.i+y.X*y.a.m+y.Y*y.a.j;hb=y.W*y.a.l+y.X*y.a.g+y.Y*y.a.s;y.P=$a;y.R=ua;y.S=zb;y.T=G;y.U=pb;y.V=db;y.W=Ab;y.X=ab;y.Y=hb;y.P*=y.N.x;y.R*=y.N.x;y.S*=y.N.x;y.T*=y.N.y;y.U*=y.N.y;y.V*=y.N.y;y.W*=y.N.z;y.X*=y.N.z;y.Y*=y.N.z;var z=this.D,Db=Math.sqrt(Na*Na+Ra*Ra+Wa*Wa),Eb=.5*Db,Gb,Fb;if(.5>Eb){var Oa=Eb*Eb;Gb=.5*(1-.16666666666666666*Oa+Oa*Oa*.008333333333333333);Fb=1-.5*Oa+Oa*Oa*.041666666666666664}else Gb=Math.sin(Eb)/Db,Fb=Math.cos(Eb);var nb,wb;nb=Na*Gb;wb=Ra*Gb;var yb,eb;yb=Wa*Gb;eb=Fb;var Y,Ma,kb,Ta,ib=z.a.o,Ka=z.a.m,Kb=z.a.s,Lb=ib+Ka+Kb,X;0<Lb?(X=Math.sqrt(Lb+1),Ta=.5*X,X=.5/X,Y=(z.a.g-z.a.j)*X,Ma=(z.a.h-z.a.l)*X,kb=(z.a.i-z.a.f)*X):ib>Ka?ib>Kb?(X=Math.sqrt(ib-Ka-Kb+1),Y=.5*X,X=.5/X,Ma=(z.a.f+z.a.i)*X,kb=(z.a.h+z.a.l)*X,Ta=(z.a.g-z.a.j)*X):(X=Math.sqrt(Kb-ib-Ka+1),kb=.5*X,X=.5/X,Y=(z.a.h+z.a.l)*X,Ma=(z.a.j+z.a.g)*X,Ta=(z.a.i-z.a.f)*X):Ka>Kb?(X=Math.sqrt(Ka-Kb-ib+1),Ma=.5*X,X=.5/X,Y=(z.a.f+z.a.i)*X,kb=(z.a.j+z.a.g)*X,Ta=(z.a.h-z.a.l)*X):(X=Math.sqrt(Kb-ib-Ka+1),kb=.5*X,X=.5/X,Y=(z.a.h+z.a.l)*X,Ma=(z.a.j+z.a.g)*X,Ta=(z.a.i-z.a.f)*X);Y=eb*Y+nb*Ta+wb*kb-yb*Ma;Ma=eb*Ma-nb*kb+wb*Ta+yb*Y;kb=eb*kb+nb*Ma-wb*Y+yb*Ta;Ta=eb*Ta-nb*Y-wb*Ma-yb*kb;var Cb=Y*Y+Ma*Ma+kb*kb+Ta*Ta;1E-32<Cb&&(Cb=1/Math.sqrt(Cb));Y*=Cb;Ma*=Cb;kb*=Cb;Ta*=Cb;var Jb=Y,Mb=Ma,Pb=kb,Nb=Ta,Sb=2*Jb,Tb=2*Mb,$b=2*Pb,bc=Jb*Sb,cc=Mb*Tb,jc=Pb*$b,dc=Jb*Tb,kc=Mb*$b,ac=Jb*$b,Vb=Nb*Sb,Wb=Nb*Tb,Qb=Nb*$b;z.a.o=1-cc-jc;z.a.f=dc-Qb;z.a.h=ac+Wb;z.a.i=dc+Qb;z.a.m=1-bc-jc;z.a.j=kc-Vb;z.a.l=ac-Wb;z.a.g=kc+Vb;z.a.s=1-bc-cc;var fc,Rb,Ob,Xb,gc,Ib,Zb,lb,hc;fc=z.a.o*z.Ra+z.a.f*z.Ua+z.a.h*z.Xa;Rb=z.a.o*z.Sa+z.a.f*z.Va+z.a.h*z.Ya;Ob=z.a.o*z.Ta+z.a.f*z.Wa+z.a.h*z.Za;Xb=z.a.i*z.Ra+z.a.m*z.Ua+z.a.j*z.Xa;gc=z.a.i*z.Sa+z.a.m*z.Va+z.a.j*z.Ya;Ib=z.a.i*z.Ta+z.a.m*z.Wa+z.a.j*z.Za;Zb=z.a.l*z.Ra+z.a.g*z.Ua+z.a.s*z.Xa;lb=z.a.l*z.Sa+z.a.g*z.Va+z.a.s*z.Ya;hc=z.a.l*z.Ta+z.a.g*z.Wa+z.a.s*z.Za;z.P=fc;z.R=Rb;z.S=Ob;z.T=Xb;z.U=gc;z.V=Ib;z.W=Zb;z.X=lb;z.Y=hc;var ic,nc,qc,mc,tc,uc,wc,sc,vc;ic=z.P*z.a.o+z.R*z.a.f+z.S*z.a.h;nc=z.P*z.a.i+z.R*z.a.m+z.S*z.a.j;qc=z.P*z.a.l+z.R*z.a.g+z.S*z.a.s;mc=z.T*z.a.o+z.U*z.a.f+z.V*z.a.h;tc=z.T*z.a.i+z.U*z.a.m+z.V*z.a.j;uc=z.T*z.a.l+z.U*z.a.g+z.V*z.a.s;wc=z.W*z.a.o+z.X*z.a.f+z.Y*z.a.h;sc=z.W*z.a.i+z.X*z.a.m+z.Y*z.a.j;vc=z.W*z.a.l+z.X*z.a.g+z.Y*z.a.s;z.P=ic;z.R=nc;z.S=qc;z.T=mc;z.U=tc;z.V=uc;z.W=wc;z.X=sc;z.Y=vc;z.P*=z.N.x;z.R*=z.N.x;z.S*=z.N.x;z.T*=z.N.y;z.U*=z.N.y;z.V*=z.N.y;z.W*=z.N.z;z.X*=z.N.z;z.Y*=z.N.z},$e:function(){this.$.ed();this.$.Cl()},ra:bc});Me.aa=!0;Me.prototype={ra:Me};C.aa=!0;C.prototype={Hl:function(a){switch(this.Xb){case 1:this.Sc=this.Rc=this.Qc=this.Wc=this.Vc=this.Uc=this.kb=this.jb=this.ib=this.gb=this.fb=this.eb=0;break;case 0:case 2:var b,e,d,c,f;b=this.eb*a;e=this.fb*a;d=this.gb*a;c=this.ib*a;f=this.jb*a;a=this.kb*a;var h=b*b+e*e+d*d,l=c*c+f*f+a*a;if(h||l){h>F.maxTranslationPerStep*F.maxTranslationPerStep&&(h=F.maxTranslationPerStep/Math.sqrt(h),this.eb*=h,this.fb*=h,this.gb*=h,b*=h,e*=h,d*=h);l>F.maxRotationPerStep*F.maxRotationPerStep&&(l=F.maxRotationPerStep/Math.sqrt(l),this.ib*=l,this.jb*=l,this.kb*=l,c*=l,f*=l,a*=l);this.a.v+=b;this.a.A+=e;this.a.B+=d;b=Math.sqrt(c*c+f*f+a*a);e=.5*b;.5>e?(e*=e,b=.5*(1-.16666666666666666*e+e*e*.008333333333333333),e=1-.5*e+e*e*.041666666666666664):(b=Math.sin(e)/b,e=Math.cos(e));c*=b;f*=b;a*=b;b=e;e=this.a.o;d=this.a.m;var l=this.a.s,h=e+d+l,g;0<h?(g=Math.sqrt(h+1),e=.5*g,g=.5/g,h=(this.a.g-this.a.j)*g,l=(this.a.h-this.a.l)*g,d=(this.a.i-this.a.f)*g):e>d?e>l?(g=Math.sqrt(e-d-l+1),h=.5*g,g=.5/g,l=(this.a.f+this.a.i)*g,d=(this.a.h+this.a.l)*g,e=(this.a.g-this.a.j)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g):d>l?(g=Math.sqrt(d-l-e+1),l=.5*g,g=.5/g,h=(this.a.f+this.a.i)*g,d=(this.a.j+this.a.g)*g,e=(this.a.h-this.a.l)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g);h=b*h+c*e+f*d-a*l;l=b*l-c*d+f*e+a*h;d=b*d+c*l-f*h+a*e;e=b*e-c*h-f*l-a*d;a=h*h+l*l+d*d+e*e;1E-32<a&&(a=1/Math.sqrt(a));f=h*a;h=l*a;d*=a;b=e*a;var k=2*f;g=2*h;e=2*d;a=f*k;c=h*g;d*=e;l=f*g;h*=e;f*=e;k*=b;g*=b;b*=e;this.a.o=1-c-d;this.a.f=l-b;this.a.h=f+g;this.a.i=l+b;this.a.m=1-a-d;this.a.j=h-k;this.a.l=f-g;this.a.g=h+k;this.a.s=1-a-c;f=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;a=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;c=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;b=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;e=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;d=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;l=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;h=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=f;this.R=a;this.S=c;this.T=b;this.U=e;this.V=d;this.W=l;this.X=h;this.Y=g;f=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;a=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;c=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;b=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;e=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;d=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;l=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;h=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=f;this.R=a;this.S=c;this.T=b;this.U=e;this.V=d;this.W=l;this.X=h;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z}}},Rm:function(){var a=this.Qc*this.Qc+this.Rc*this.Rc+this.Sc*this.Sc;if(this.Uc*this.Uc+this.Vc*this.Vc+this.Wc*this.Wc||a)switch(this.Xb){case 1:this.Sc=this.Rc=this.Qc=this.Wc=this.Vc=this.Uc=0;break;case 0:case 2:var b,e,d,c,f;b=this.Uc;e=this.Vc;d=this.Wc;a=this.Qc;c=this.Rc;f=this.Sc;this.Sc=this.Rc=this.Qc=this.Wc=this.Vc=this.Uc=0;this.a.v+=b;this.a.A+=e;this.a.B+=d;b=Math.sqrt(a*a+c*c+f*f);e=.5*b;.5>e?(e*=e,b=.5*(1-.16666666666666666*e+e*e*.008333333333333333),e=1-.5*e+e*e*.041666666666666664):(b=Math.sin(e)/b,e=Math.cos(e));a*=b;c*=b;f*=b;b=e;var h,l;e=this.a.o;d=this.a.m;l=this.a.s;h=e+d+l;var g;0<h?(g=Math.sqrt(h+1),e=.5*g,g=.5/g,h=(this.a.g-this.a.j)*g,l=(this.a.h-this.a.l)*g,d=(this.a.i-this.a.f)*g):e>d?e>l?(g=Math.sqrt(e-d-l+1),h=.5*g,g=.5/g,l=(this.a.f+this.a.i)*g,d=(this.a.h+this.a.l)*g,e=(this.a.g-this.a.j)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g):d>l?(g=Math.sqrt(d-l-e+1),l=.5*g,g=.5/g,h=(this.a.f+this.a.i)*g,d=(this.a.j+this.a.g)*g,e=(this.a.h-this.a.l)*g):(g=Math.sqrt(l-e-d+1),d=.5*g,g=.5/g,h=(this.a.h+this.a.l)*g,l=(this.a.j+this.a.g)*g,e=(this.a.i-this.a.f)*g);h=b*h+a*e+c*d-f*l;l=b*l-a*d+c*e+f*h;d=b*d+a*l-c*h+f*e;e=b*e-a*h-c*l-f*d;c=h*h+l*l+d*d+e*e;1E-32<c&&(c=1/Math.sqrt(c));a=h*c;h=l*c;d*=c;b=e*c;var k=2*a;g=2*h;e=2*d;c=a*k;f=h*g;d*=e;l=a*g;h*=e;a*=e;k*=b;g*=b;b*=e;this.a.o=1-f-d;this.a.f=l-b;this.a.h=a+g;this.a.i=l+b;this.a.m=1-c-d;this.a.j=h-k;this.a.l=a-g;this.a.g=h+k;this.a.s=1-c-f;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;c=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;f=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;b=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;e=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;d=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;l=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;h=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=c;this.S=f;this.T=b;this.U=e;this.V=d;this.W=l;this.X=h;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;c=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;f=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;b=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;e=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;d=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;l=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;h=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=c;this.S=f;this.T=b;this.U=e;this.V=d;this.W=l;this.X=h;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z}},wj:function(){for(var a,b,e,d,c,f,h,l,g,k=g=l=h=f=c=d=e=b=a=0,m=this.Ac;null!=m;){var n=m.M,q=m.Jb;q.Be();var p=m.jk*q.nf,r,t,C,w,B,u,D,F;r=m.ia.o*q.cg+m.ia.f*q.fg+m.ia.h*q.ig;t=m.ia.o*q.dg+m.ia.f*q.gg+m.ia.h*q.jg;C=m.ia.o*q.eg+m.ia.f*q.hg+m.ia.h*q.kg;w=m.ia.i*q.cg+m.ia.m*q.fg+m.ia.j*q.ig;B=m.ia.i*q.dg+m.ia.m*q.gg+m.ia.j*q.jg;u=m.ia.i*q.eg+m.ia.m*q.hg+m.ia.j*q.kg;D=m.ia.l*q.cg+m.ia.g*q.fg+m.ia.s*q.ig;F=m.ia.l*q.dg+m.ia.g*q.gg+m.ia.s*q.jg;var q=m.ia.l*q.eg+m.ia.g*q.hg+m.ia.s*q.kg,A,E,x,L,N,I;A=r*m.ia.o+t*m.ia.f+C*m.ia.h;E=r*m.ia.i+t*m.ia.m+C*m.ia.j;C=r*m.ia.l+t*m.ia.g+C*m.ia.s;x=w*m.ia.o+B*m.ia.f+u*m.ia.h;L=w*m.ia.i+B*m.ia.m+u*m.ia.j;u=w*m.ia.l+B*m.ia.g+u*m.ia.s;N=D*m.ia.o+F*m.ia.f+q*m.ia.h;I=D*m.ia.i+F*m.ia.m+q*m.ia.j;q=D*m.ia.l+F*m.ia.g+q*m.ia.s;r=A;t=E;w=x;B=L;D=N;F=I;r*=p;t*=p;C*=p;w*=p;B*=p;u*=p;D*=p;F*=p;var q=q*p,M,O,ga;x=m.ia.v*m.ia.v;L=m.ia.A*m.ia.A;M=m.ia.B*m.ia.B;N=-m.ia.v*m.ia.A;I=-m.ia.A*m.ia.B;ga=-m.ia.B*m.ia.v;m=L+M;A=N;E=ga;M=x+M;O=I;x+=L;r+=m*p;t+=A*p;C+=E*p;w+=N*p;B+=M*p;u+=O*p;D+=ga*p;F+=I*p;q+=x*p;k+=p;a+=r;b+=t;e+=C;d+=w;c+=B;f+=u;h+=D;l+=F;g+=q;m=n}this.Nc=k;this.wd=a;this.xd=b;this.yd=e;this.zd=d;this.Ad=c;this.Bd=f;this.Cd=h;this.Dd=l;this.Ed=g;a=this.wd*(this.Ad*this.Ed-this.Bd*this.Dd)-this.xd*(this.zd*this.Ed-this.Bd*this.Cd)+this.yd*(this.zd*this.Dd-this.Ad*this.Cd);if(0<this.Nc&&0<a&&0==this.Xb){this.$a=1/this.Nc;a=this.Ad*this.Ed-this.Bd*this.Dd;b=this.zd*this.Ed-this.Bd*this.Cd;e=this.zd*this.Dd-this.Ad*this.Cd;d=this.xd*this.Ed-this.yd*this.Dd;c=this.wd*this.Ed-this.yd*this.Cd;f=this.wd*this.Dd-this.xd*this.Cd;h=this.xd*this.Bd-this.yd*this.Ad;l=this.wd*this.Bd-this.yd*this.zd;g=this.wd*this.Ad-this.xd*this.zd;k=this.wd*a-this.xd*b+this.yd*e;if(-1E-32>k||1E-32<k)k=1/k;this.Ra=a*k;this.Sa=-d*k;this.Ta=h*k;this.Ua=-b*k;this.Va=c*k;this.Wa=-l*k;this.Xa=e*k;this.Ya=-f*k;this.Za=g*k;this.Zh=this.Ra;this.$h=this.Sa;this.ai=this.Ta;this.bi=this.Ua;this.ci=this.Va;this.di=this.Wa;this.ei=this.Xa;this.fi=this.Ya;this.gi=this.Za;this.Ra=this.Zh*this.N.x;this.Sa=this.$h*this.N.x;this.Ta=this.ai*this.N.x;this.Ua=this.bi*this.N.y;this.Va=this.ci*this.N.y;this.Wa=this.di*this.N.y;this.Xa=this.ei*this.N.z;this.Ya=this.fi*this.N.z;this.Za=this.gi*this.N.z}else this.gi=this.fi=this.ei=this.di=this.ci=this.bi=this.ai=this.$h=this.Zh=this.Za=this.Ya=this.Xa=this.Wa=this.Va=this.Ua=this.Ta=this.Sa=this.Ra=this.$a=0,0==this.Xb&&(this.Xb=1);a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;b=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;e=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;d=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;c=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;f=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;l=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;b=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;e=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;d=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;c=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;f=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;l=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;this.Gb=!1;this.yb=0},Xl:function(){var a=new t;a.x=this.a.v;a.y=this.a.A;a.z=this.a.B;return a},Zl:function(a){a.x=this.a.v;a.y=this.a.A;a.z=this.a.B},tm:function(a){this.a.v=a.x;this.a.A=a.y;this.a.B=a.z;a=this.qa;var b=this.a;a.v=b.v;a.A=b.A;a.B=b.B;a.o=b.o;a.f=b.f;a.h=b.h;a.i=b.i;a.m=b.m;a.j=b.j;a.l=b.l;a.g=b.g;a.s=b.s;for(a=this.Ac;null!=a;){var b=a.M,e=a.qa,d=a.ia,c=this.qa,f,h,l,g,k,m,n,q,p;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;e.v=f;e.A=h;e.B=d;e.v+=c.v;e.A+=c.A;e.B+=c.B;e=a.a;d=a.ia;c=this.a;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;e.v=f;e.A=h;e.B=d;e.v+=c.v;e.A+=c.A;e.B+=c.B;a.Jb.Mb(a.u,a.qa);e=a.u.na;c=a.u.oa;d=a.u.pa;f=a.u.ka;h=a.u.la;l=a.u.ma;a.Jb.Mb(a.u,a.a);a.u.na=e<a.u.na?e:a.u.na;a.u.oa=c<a.u.oa?c:a.u.oa;a.u.pa=d<a.u.pa?d:a.u.pa;a.u.ka=f>a.u.ka?f:a.u.ka;a.u.la=h>a.u.la?h:a.u.la;a.u.ma=l>a.u.ma?l:a.u.ma;null!=a.Oa&&(e=a.a.v-a.qa.v,c=a.a.A-a.qa.A,d=a.a.B-a.qa.B,f=a.nc,f.x=e,f.y=c,f.z=d,a.Wb.kc.ec.sd(a.Oa,a.u,a.nc));a=b}this.Gb=!1;this.yb=0},ym:function(a){var b,e;b=a.x;e=a.y;a=a.z;this.a.v+=b;this.a.A+=e;this.a.B+=a;b=this.qa;e=this.a;b.v=e.v;b.A=e.A;b.B=e.B;b.o=e.o;b.f=e.f;b.h=e.h;b.i=e.i;b.m=e.m;b.j=e.j;b.l=e.l;b.g=e.g;b.s=e.s;for(b=this.Ac;null!=b;){e=b.M;a=b.qa;var d=b.ia,c=this.qa,f,h,l,g,k,m,n,q,p;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;a.o=f;a.f=h;a.h=l;a.i=g;a.m=k;a.j=m;a.l=n;a.g=q;a.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;a.v=f;a.A=h;a.B=d;a.v+=c.v;a.A+=c.A;a.B+=c.B;a=b.a;d=b.ia;c=this.a;f=c.o*d.o+c.f*d.i+c.h*d.l;h=c.o*d.f+c.f*d.m+c.h*d.g;l=c.o*d.h+c.f*d.j+c.h*d.s;g=c.i*d.o+c.m*d.i+c.j*d.l;k=c.i*d.f+c.m*d.m+c.j*d.g;m=c.i*d.h+c.m*d.j+c.j*d.s;n=c.l*d.o+c.g*d.i+c.s*d.l;q=c.l*d.f+c.g*d.m+c.s*d.g;p=c.l*d.h+c.g*d.j+c.s*d.s;a.o=f;a.f=h;a.h=l;a.i=g;a.m=k;a.j=m;a.l=n;a.g=q;a.s=p;f=c.o*d.v+c.f*d.A+c.h*d.B;h=c.i*d.v+c.m*d.A+c.j*d.B;d=c.l*d.v+c.g*d.A+c.s*d.B;a.v=f;a.A=h;a.B=d;a.v+=c.v;a.A+=c.A;a.B+=c.B;b.Jb.Mb(b.u,b.qa);a=b.u.na;c=b.u.oa;d=b.u.pa;f=b.u.ka;h=b.u.la;l=b.u.ma;b.Jb.Mb(b.u,b.a);b.u.na=a<b.u.na?a:b.u.na;b.u.oa=c<b.u.oa?c:b.u.oa;b.u.pa=d<b.u.pa?d:b.u.pa;b.u.ka=f>b.u.ka?f:b.u.ka;b.u.la=h>b.u.la?h:b.u.la;b.u.ma=l>b.u.ma?l:b.u.ma;null!=b.Oa&&(a=b.a.v-b.qa.v,c=b.a.A-b.qa.A,d=b.a.B-b.qa.B,f=b.nc,f.x=a,f.y=c,f.z=d,b.Wb.kc.ec.sd(b.Oa,b.u,b.nc));b=e}this.Gb=!1;this.yb=0},bm:function(){var a=new O;a.e00=this.a.o;a.e01=this.a.f;a.e02=this.a.h;a.e10=this.a.i;a.e11=this.a.m;a.e12=this.a.j;a.e20=this.a.l;a.e21=this.a.g;a.e22=this.a.s;return a},gm:function(a){a.e00=this.a.o;a.e01=this.a.f;a.e02=this.a.h;a.e10=this.a.i;a.e11=this.a.m;a.e12=this.a.j;a.e20=this.a.l;a.e21=this.a.g;a.e22=this.a.s},um:function(a){this.a.o=a.e00;this.a.f=a.e01;this.a.h=a.e02;this.a.i=a.e10;this.a.m=a.e11;this.a.j=a.e12;this.a.l=a.e20;this.a.g=a.e21;this.a.s=a.e22;var b,e,d,c,f,h,l,g;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;b=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;e=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;d=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;c=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;f=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;l=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;b=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;e=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;d=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;c=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;f=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;l=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;a=this.qa;b=this.a;a.v=b.v;a.A=b.A;a.B=b.B;a.o=b.o;a.f=b.f;a.h=b.h;a.i=b.i;a.m=b.m;a.j=b.j;a.l=b.l;a.g=b.g;a.s=b.s;for(a=this.Ac;null!=a;){b=a.M;e=a.qa;c=a.ia;d=this.qa;var k,m,n,q,p;f=d.o*c.o+d.f*c.i+d.h*c.l;h=d.o*c.f+d.f*c.m+d.h*c.g;l=d.o*c.h+d.f*c.j+d.h*c.s;g=d.i*c.o+d.m*c.i+d.j*c.l;k=d.i*c.f+d.m*c.m+d.j*c.g;m=d.i*c.h+d.m*c.j+d.j*c.s;n=d.l*c.o+d.g*c.i+d.s*c.l;q=d.l*c.f+d.g*c.m+d.s*c.g;p=d.l*c.h+d.g*c.j+d.s*c.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=d.o*c.v+d.f*c.A+d.h*c.B;h=d.i*c.v+d.m*c.A+d.j*c.B;c=d.l*c.v+d.g*c.A+d.s*c.B;e.v=f;e.A=h;e.B=c;e.v+=d.v;e.A+=d.A;e.B+=d.B;e=a.a;c=a.ia;d=this.a;f=d.o*c.o+d.f*c.i+d.h*c.l;h=d.o*c.f+d.f*c.m+d.h*c.g;l=d.o*c.h+d.f*c.j+d.h*c.s;g=d.i*c.o+d.m*c.i+d.j*c.l;k=d.i*c.f+d.m*c.m+d.j*c.g;m=d.i*c.h+d.m*c.j+d.j*c.s;n=d.l*c.o+d.g*c.i+d.s*c.l;q=d.l*c.f+d.g*c.m+d.s*c.g;p=d.l*c.h+d.g*c.j+d.s*c.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=d.o*c.v+d.f*c.A+d.h*c.B;h=d.i*c.v+d.m*c.A+d.j*c.B;c=d.l*c.v+d.g*c.A+d.s*c.B;e.v=f;e.A=h;e.B=c;e.v+=d.v;e.A+=d.A;e.B+=d.B;a.Jb.Mb(a.u,a.qa);e=a.u.na;d=a.u.oa;c=a.u.pa;f=a.u.ka;h=a.u.la;l=a.u.ma;a.Jb.Mb(a.u,a.a);a.u.na=e<a.u.na?e:a.u.na;a.u.oa=d<a.u.oa?d:a.u.oa;a.u.pa=c<a.u.pa?c:a.u.pa;a.u.ka=f>a.u.ka?f:a.u.ka;a.u.la=h>a.u.la?h:a.u.la;a.u.ma=l>a.u.ma?l:a.u.ma;null!=a.Oa&&(e=a.a.v-a.qa.v,d=a.a.A-a.qa.A,c=a.a.B-a.qa.B,f=a.nc,f.x=e,f.y=d,f.z=c,a.Wb.kc.ec.sd(a.Oa,a.u,a.nc));a=b}this.Gb=!1;this.yb=0},vm:function(a){var b,e,d;b=a.x;e=a.y;d=a.z;a=Math.sin(b);var c=Math.sin(e),f=Math.sin(d);b=Math.cos(b);e=Math.cos(e);d=Math.cos(d);this.a.o=e*d;this.a.f=-e*f;this.a.h=c;this.a.i=b*f+d*a*c;this.a.m=b*d-a*c*f;this.a.j=-e*a;this.a.l=a*f-b*d*c;this.a.g=d*a+b*c*f;this.a.s=b*e;var h,l,g;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;c=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;f=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;e=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;d=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;b=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;l=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=c;this.S=f;this.T=e;this.U=d;this.V=b;this.W=h;this.X=l;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;c=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;f=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;e=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;d=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;b=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;l=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=c;this.S=f;this.T=e;this.U=d;this.V=b;this.W=h;this.X=l;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;a=this.qa;c=this.a;a.v=c.v;a.A=c.A;a.B=c.B;a.o=c.o;a.f=c.f;a.h=c.h;a.i=c.i;a.m=c.m;a.j=c.j;a.l=c.l;a.g=c.g;a.s=c.s;for(a=this.Ac;null!=a;){c=a.M;f=a.qa;d=a.ia;e=this.qa;var k,m,n,q,p;b=e.o*d.o+e.f*d.i+e.h*d.l;h=e.o*d.f+e.f*d.m+e.h*d.g;l=e.o*d.h+e.f*d.j+e.h*d.s;g=e.i*d.o+e.m*d.i+e.j*d.l;k=e.i*d.f+e.m*d.m+e.j*d.g;m=e.i*d.h+e.m*d.j+e.j*d.s;n=e.l*d.o+e.g*d.i+e.s*d.l;q=e.l*d.f+e.g*d.m+e.s*d.g;p=e.l*d.h+e.g*d.j+e.s*d.s;f.o=b;f.f=h;f.h=l;f.i=g;f.m=k;f.j=m;f.l=n;f.g=q;f.s=p;b=e.o*d.v+e.f*d.A+e.h*d.B;h=e.i*d.v+e.m*d.A+e.j*d.B;d=e.l*d.v+e.g*d.A+e.s*d.B;f.v=b;f.A=h;f.B=d;f.v+=e.v;f.A+=e.A;f.B+=e.B;f=a.a;d=a.ia;e=this.a;b=e.o*d.o+e.f*d.i+e.h*d.l;h=e.o*d.f+e.f*d.m+e.h*d.g;l=e.o*d.h+e.f*d.j+e.h*d.s;g=e.i*d.o+e.m*d.i+e.j*d.l;k=e.i*d.f+e.m*d.m+e.j*d.g;m=e.i*d.h+e.m*d.j+e.j*d.s;n=e.l*d.o+e.g*d.i+e.s*d.l;q=e.l*d.f+e.g*d.m+e.s*d.g;p=e.l*d.h+e.g*d.j+e.s*d.s;f.o=b;f.f=h;f.h=l;f.i=g;f.m=k;f.j=m;f.l=n;f.g=q;f.s=p;b=e.o*d.v+e.f*d.A+e.h*d.B;h=e.i*d.v+e.m*d.A+e.j*d.B;d=e.l*d.v+e.g*d.A+e.s*d.B;f.v=b;f.A=h;f.B=d;f.v+=e.v;f.A+=e.A;f.B+=e.B;a.Jb.Mb(a.u,a.qa);f=a.u.na;e=a.u.oa;d=a.u.pa;b=a.u.ka;h=a.u.la;l=a.u.ma;a.Jb.Mb(a.u,a.a);a.u.na=f<a.u.na?f:a.u.na;a.u.oa=e<a.u.oa?e:a.u.oa;a.u.pa=d<a.u.pa?d:a.u.pa;a.u.ka=b>a.u.ka?b:a.u.ka;a.u.la=h>a.u.la?h:a.u.la;a.u.ma=l>a.u.ma?l:a.u.ma;null!=a.Oa&&(f=a.a.v-a.qa.v,e=a.a.A-a.qa.A,d=a.a.B-a.qa.B,b=a.nc,b.x=f,b.y=e,b.z=d,a.Wb.kc.ec.sd(a.Oa,a.u,a.nc));a=c}this.Gb=!1;this.yb=0},mm:function(a){var b,e,d,c,f,h,l,g,k;b=a.e00;e=a.e01;d=a.e02;c=a.e10;f=a.e11;h=a.e12;l=a.e20;g=a.e21;k=a.e22;var m;a=b*this.a.o+e*this.a.i+d*this.a.l;m=b*this.a.f+e*this.a.m+d*this.a.g;b=b*this.a.h+e*this.a.j+d*this.a.s;e=c*this.a.o+f*this.a.i+h*this.a.l;d=c*this.a.f+f*this.a.m+h*this.a.g;c=c*this.a.h+f*this.a.j+h*this.a.s;f=l*this.a.o+g*this.a.i+k*this.a.l;h=l*this.a.f+g*this.a.m+k*this.a.g;l=l*this.a.h+g*this.a.j+k*this.a.s;this.a.o=a;this.a.f=m;this.a.h=b;this.a.i=e;this.a.m=d;this.a.j=c;this.a.l=f;this.a.g=h;this.a.s=l;l=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;g=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;a=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;m=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;k=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;c=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;f=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;h=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;b=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=l;this.R=g;this.S=a;this.T=m;this.U=k;this.V=c;this.W=f;this.X=h;this.Y=b;l=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;g=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;a=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;m=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;k=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;c=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;f=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;h=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;b=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=l;this.R=g;this.S=a;this.T=m;this.U=k;this.V=c;this.W=f;this.X=h;this.Y=b;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;l=this.qa;g=this.a;l.v=g.v;l.A=g.A;l.B=g.B;l.o=g.o;l.f=g.f;l.h=g.h;l.i=g.i;l.m=g.m;l.j=g.j;l.l=g.l;l.g=g.g;l.s=g.s;for(l=this.Ac;null!=l;){g=l.M;a=l.qa;k=l.ia;m=this.qa;var 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b,e,d,c,f,h,l;b=a.x;e=a.y;a=a.z;h=Math.sin(b);var g=Math.sin(e),k=Math.sin(a),m=Math.cos(b);l=Math.cos(e);var n=Math.cos(a);d=l*n;c=-l*k;a=m*k+n*h*g;b=m*n-h*g*k;f=-l*h;e=h*k-m*n*g;h=n*h+m*g*k;l*=m;k=d*this.a.o+c*this.a.i+g*this.a.l;m=d*this.a.f+c*this.a.m+g*this.a.g;g=d*this.a.h+c*this.a.j+g*this.a.s;d=a*this.a.o+b*this.a.i+f*this.a.l;c=a*this.a.f+b*this.a.m+f*this.a.g;a=a*this.a.h+b*this.a.j+f*this.a.s;b=e*this.a.o+h*this.a.i+l*this.a.l;f=e*this.a.f+h*this.a.m+l*this.a.g;e=e*this.a.h+h*this.a.j+l*this.a.s;this.a.o=k;this.a.f=m;this.a.h=g;this.a.i=d;this.a.m=c;this.a.j=a;this.a.l=b;this.a.g=f;this.a.s=e;e=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;a=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;b=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;f=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;h=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;g=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;k=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;m=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;l=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=e;this.R=a;this.S=b;this.T=f;this.U=h;this.V=g;this.W=k;this.X=m;this.Y=l;e=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;a=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;b=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;f=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;h=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;g=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;k=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;m=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;l=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=e;this.R=a;this.S=b;this.T=f;this.U=h;this.V=g;this.W=k;this.X=m;this.Y=l;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;e=this.qa;a=this.a;e.v=a.v;e.A=a.A;e.B=a.B;e.o=a.o;e.f=a.f;e.h=a.h;e.i=a.i;e.m=a.m;e.j=a.j;e.l=a.l;e.g=a.g;e.s=a.s;for(e=this.Ac;null!=e;){a=e.M;b=e.qa;h=e.ia;f=this.qa;var q,p,g=f.o*h.o+f.f*h.i+f.h*h.l,k=f.o*h.f+f.f*h.m+f.h*h.g,m=f.o*h.h+f.f*h.j+f.h*h.s;l=f.i*h.o+f.m*h.i+f.j*h.l;d=f.i*h.f+f.m*h.m+f.j*h.g;c=f.i*h.h+f.m*h.j+f.j*h.s;n=f.l*h.o+f.g*h.i+f.s*h.l;q=f.l*h.f+f.g*h.m+f.s*h.g;p=f.l*h.h+f.g*h.j+f.s*h.s;b.o=g;b.f=k;b.h=m;b.i=l;b.m=d;b.j=c;b.l=n;b.g=q;b.s=p;g=f.o*h.v+f.f*h.A+f.h*h.B;k=f.i*h.v+f.m*h.A+f.j*h.B;h=f.l*h.v+f.g*h.A+f.s*h.B;b.v=g;b.A=k;b.B=h;b.v+=f.v;b.A+=f.A;b.B+=f.B;b=e.a;h=e.ia;f=this.a;g=f.o*h.o+f.f*h.i+f.h*h.l;k=f.o*h.f+f.f*h.m+f.h*h.g;m=f.o*h.h+f.f*h.j+f.h*h.s;l=f.i*h.o+f.m*h.i+f.j*h.l;d=f.i*h.f+f.m*h.m+f.j*h.g;c=f.i*h.h+f.m*h.j+f.j*h.s;n=f.l*h.o+f.g*h.i+f.s*h.l;q=f.l*h.f+f.g*h.m+f.s*h.g;p=f.l*h.h+f.g*h.j+f.s*h.s;b.o=g;b.f=k;b.h=m;b.i=l;b.m=d;b.j=c;b.l=n;b.g=q;b.s=p;g=f.o*h.v+f.f*h.A+f.h*h.B;k=f.i*h.v+f.m*h.A+f.j*h.B;h=f.l*h.v+f.g*h.A+f.s*h.B;b.v=g;b.A=k;b.B=h;b.v+=f.v;b.A+=f.A;b.B+=f.B;e.Jb.Mb(e.u,e.qa);b=e.u.na;f=e.u.oa;h=e.u.pa;g=e.u.ka;k=e.u.la;m=e.u.ma;e.Jb.Mb(e.u,e.a);e.u.na=b<e.u.na?b:e.u.na;e.u.oa=f<e.u.oa?f:e.u.oa;e.u.pa=h<e.u.pa?h:e.u.pa;e.u.ka=g>e.u.ka?g:e.u.ka;e.u.la=k>e.u.la?k:e.u.la;e.u.ma=m>e.u.ma?m:e.u.ma;null!=e.Oa&&(b=e.a.v-e.qa.v,f=e.a.A-e.qa.A,h=e.a.B-e.qa.B,g=e.nc,g.x=b,g.y=f,g.z=h,e.Wb.kc.ec.sd(e.Oa,e.u,e.nc));e=a}this.Gb=!1;this.yb=0},Ol:function(){var a=new ga,b,e,d,c;b=this.a.o;e=this.a.m;d=this.a.s;c=b+e+d;var f;0<c?(f=Math.sqrt(c+1),c=.5*f,f=.5/f,b=(this.a.g-this.a.j)*f,e=(this.a.h-this.a.l)*f,d=(this.a.i-this.a.f)*f):b>e?b>d?(f=Math.sqrt(b-e-d+1),b=.5*f,f=.5/f,e=(this.a.f+this.a.i)*f,d=(this.a.h+this.a.l)*f,c=(this.a.g-this.a.j)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.a.h+this.a.l)*f,e=(this.a.j+this.a.g)*f,c=(this.a.i-this.a.f)*f):e>d?(f=Math.sqrt(e-d-b+1),e=.5*f,f=.5/f,b=(this.a.f+this.a.i)*f,d=(this.a.j+this.a.g)*f,c=(this.a.h-this.a.l)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.a.h+this.a.l)*f,e=(this.a.j+this.a.g)*f,c=(this.a.i-this.a.f)*f);a.x=b;a.y=e;a.z=d;a.w=c;return a},Ql:function(a){var b,e,d,c;b=this.a.o;e=this.a.m;d=this.a.s;c=b+e+d;var f;0<c?(f=Math.sqrt(c+1),c=.5*f,f=.5/f,b=(this.a.g-this.a.j)*f,e=(this.a.h-this.a.l)*f,d=(this.a.i-this.a.f)*f):b>e?b>d?(f=Math.sqrt(b-e-d+1),b=.5*f,f=.5/f,e=(this.a.f+this.a.i)*f,d=(this.a.h+this.a.l)*f,c=(this.a.g-this.a.j)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.a.h+this.a.l)*f,e=(this.a.j+this.a.g)*f,c=(this.a.i-this.a.f)*f):e>d?(f=Math.sqrt(e-d-b+1),e=.5*f,f=.5/f,b=(this.a.f+this.a.i)*f,d=(this.a.j+this.a.g)*f,c=(this.a.h-this.a.l)*f):(f=Math.sqrt(d-b-e+1),d=.5*f,f=.5/f,b=(this.a.h+this.a.l)*f,e=(this.a.j+this.a.g)*f,c=(this.a.i-this.a.f)*f);a.x=b;a.y=e;a.z=d;a.w=c},sm:function(a){var b,e,d;b=a.x;e=a.y;d=a.z;var c=a.w,f=2*b,h=2*e,l=2*d;a=b*f;var g=e*h;d*=l;var k=b*h;e*=l;b*=l;f*=c;h*=c;c*=l;this.a.o=1-g-d;this.a.f=k-c;this.a.h=b+h;this.a.i=k+c;this.a.m=1-a-d;this.a.j=e-f;this.a.l=b-h;this.a.g=e+f;this.a.s=1-a-g;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;g=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;c=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;l=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;d=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;k=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;e=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;b=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=g;this.S=c;this.T=l;this.U=d;this.V=k;this.W=h;this.X=e;this.Y=b;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;g=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;c=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;l=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;d=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;k=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;e=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;b=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=g;this.S=c;this.T=l;this.U=d;this.V=k;this.W=h;this.X=e;this.Y=b;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;a=this.qa;g=this.a;a.v=g.v;a.A=g.A;a.B=g.B;a.o=g.o;a.f=g.f;a.h=g.h;a.i=g.i;a.m=g.m;a.j=g.j;a.l=g.l;a.g=g.g;a.s=g.s;for(a=this.Ac;null!=a;){g=a.M;c=a.qa;d=a.ia;var l=this.qa,m,n,q,p,k=l.o*d.o+l.f*d.i+l.h*d.l,h=l.o*d.f+l.f*d.m+l.h*d.g;e=l.o*d.h+l.f*d.j+l.h*d.s;b=l.i*d.o+l.m*d.i+l.j*d.l;f=l.i*d.f+l.m*d.m+l.j*d.g;m=l.i*d.h+l.m*d.j+l.j*d.s;n=l.l*d.o+l.g*d.i+l.s*d.l;q=l.l*d.f+l.g*d.m+l.s*d.g;p=l.l*d.h+l.g*d.j+l.s*d.s;c.o=k;c.f=h;c.h=e;c.i=b;c.m=f;c.j=m;c.l=n;c.g=q;c.s=p;k=l.o*d.v+l.f*d.A+l.h*d.B;h=l.i*d.v+l.m*d.A+l.j*d.B;d=l.l*d.v+l.g*d.A+l.s*d.B;c.v=k;c.A=h;c.B=d;c.v+=l.v;c.A+=l.A;c.B+=l.B;c=a.a;d=a.ia;l=this.a;k=l.o*d.o+l.f*d.i+l.h*d.l;h=l.o*d.f+l.f*d.m+l.h*d.g;e=l.o*d.h+l.f*d.j+l.h*d.s;b=l.i*d.o+l.m*d.i+l.j*d.l;f=l.i*d.f+l.m*d.m+l.j*d.g;m=l.i*d.h+l.m*d.j+l.j*d.s;n=l.l*d.o+l.g*d.i+l.s*d.l;q=l.l*d.f+l.g*d.m+l.s*d.g;p=l.l*d.h+l.g*d.j+l.s*d.s;c.o=k;c.f=h;c.h=e;c.i=b;c.m=f;c.j=m;c.l=n;c.g=q;c.s=p;k=l.o*d.v+l.f*d.A+l.h*d.B;h=l.i*d.v+l.m*d.A+l.j*d.B;d=l.l*d.v+l.g*d.A+l.s*d.B;c.v=k;c.A=h;c.B=d;c.v+=l.v;c.A+=l.A;c.B+=l.B;a.Jb.Mb(a.u,a.qa);c=a.u.na;l=a.u.oa;d=a.u.pa;k=a.u.ka;h=a.u.la;e=a.u.ma;a.Jb.Mb(a.u,a.a);a.u.na=c<a.u.na?c:a.u.na;a.u.oa=l<a.u.oa?l:a.u.oa;a.u.pa=d<a.u.pa?d:a.u.pa;a.u.ka=k>a.u.ka?k:a.u.ka;a.u.la=h>a.u.la?h:a.u.la;a.u.ma=e>a.u.ma?e:a.u.ma;null!=a.Oa&&(c=a.a.v-a.qa.v,l=a.a.A-a.qa.A,d=a.a.B-a.qa.B,k=a.nc,k.x=c,k.y=l,k.z=d,a.Wb.kc.ec.sd(a.Oa,a.u,a.nc));a=g}this.Gb=!1;this.yb=0},hm:function(){var a=this.a,b=new Ca;b.v=a.v;b.A=a.A;b.B=a.B;b.o=a.o;b.f=a.f;b.h=a.h;b.i=a.i;b.m=a.m;b.j=a.j;b.l=a.l;b.g=a.g;b.s=a.s;return b},km:function(a){var b=this.a;a.v=b.v;a.A=b.A;a.B=b.B;a.o=b.o;a.f=b.f;a.h=b.h;a.i=b.i;a.m=b.m;a.j=b.j;a.l=b.l;a.g=b.g;a.s=b.s},wm:function(a){this.a.v=a.v;this.a.A=a.A;this.a.B=a.B;this.a.o=a.o;this.a.f=a.f;this.a.h=a.h;this.a.i=a.i;this.a.m=a.m;this.a.j=a.j;this.a.l=a.l;this.a.g=a.g;this.a.s=a.s;var b,e,d,c,f,h,l,g;a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;b=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;e=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;d=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;c=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;f=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;l=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;b=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;e=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;d=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;c=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;f=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;l=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;a=this.qa;b=this.a;a.v=b.v;a.A=b.A;a.B=b.B;a.o=b.o;a.f=b.f;a.h=b.h;a.i=b.i;a.m=b.m;a.j=b.j;a.l=b.l;a.g=b.g;a.s=b.s;for(a=this.Ac;null!=a;){b=a.M;e=a.qa;c=a.ia;d=this.qa;var k,m,n,q,p;f=d.o*c.o+d.f*c.i+d.h*c.l;h=d.o*c.f+d.f*c.m+d.h*c.g;l=d.o*c.h+d.f*c.j+d.h*c.s;g=d.i*c.o+d.m*c.i+d.j*c.l;k=d.i*c.f+d.m*c.m+d.j*c.g;m=d.i*c.h+d.m*c.j+d.j*c.s;n=d.l*c.o+d.g*c.i+d.s*c.l;q=d.l*c.f+d.g*c.m+d.s*c.g;p=d.l*c.h+d.g*c.j+d.s*c.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=d.o*c.v+d.f*c.A+d.h*c.B;h=d.i*c.v+d.m*c.A+d.j*c.B;c=d.l*c.v+d.g*c.A+d.s*c.B;e.v=f;e.A=h;e.B=c;e.v+=d.v;e.A+=d.A;e.B+=d.B;e=a.a;c=a.ia;d=this.a;f=d.o*c.o+d.f*c.i+d.h*c.l;h=d.o*c.f+d.f*c.m+d.h*c.g;l=d.o*c.h+d.f*c.j+d.h*c.s;g=d.i*c.o+d.m*c.i+d.j*c.l;k=d.i*c.f+d.m*c.m+d.j*c.g;m=d.i*c.h+d.m*c.j+d.j*c.s;n=d.l*c.o+d.g*c.i+d.s*c.l;q=d.l*c.f+d.g*c.m+d.s*c.g;p=d.l*c.h+d.g*c.j+d.s*c.s;e.o=f;e.f=h;e.h=l;e.i=g;e.m=k;e.j=m;e.l=n;e.g=q;e.s=p;f=d.o*c.v+d.f*c.A+d.h*c.B;h=d.i*c.v+d.m*c.A+d.j*c.B;c=d.l*c.v+d.g*c.A+d.s*c.B;e.v=f;e.A=h;e.B=c;e.v+=d.v;e.A+=d.A;e.B+=d.B;a.Jb.Mb(a.u,a.qa);e=a.u.na;d=a.u.oa;c=a.u.pa;f=a.u.ka;h=a.u.la;l=a.u.ma;a.Jb.Mb(a.u,a.a);a.u.na=e<a.u.na?e:a.u.na;a.u.oa=d<a.u.oa?d:a.u.oa;a.u.pa=c<a.u.pa?c:a.u.pa;a.u.ka=f>a.u.ka?f:a.u.ka;a.u.la=h>a.u.la?h:a.u.la;a.u.ma=l>a.u.ma?l:a.u.ma;null!=a.Oa&&(e=a.a.v-a.qa.v,d=a.a.A-a.qa.A,c=a.a.B-a.qa.B,f=a.nc,f.x=e,f.y=d,f.z=c,a.Wb.kc.ec.sd(a.Oa,a.u,a.nc));a=b}this.Gb=!1;this.yb=0},He:function(){return this.Nc},ce:function(){var a=new O;a.e00=this.wd;a.e01=this.xd;a.e02=this.yd;a.e10=this.zd;a.e11=this.Ad;a.e12=this.Bd;a.e20=this.Cd;a.e21=this.Dd;a.e22=this.Ed;return a},de:function(a){a.e00=this.wd;a.e01=this.xd;a.e02=this.yd;a.e10=this.zd;a.e11=this.Ad;a.e12=this.Bd;a.e20=this.Cd;a.e21=this.Dd;a.e22=this.Ed},Bf:function(){var a=new Me;a.mass=this.Nc;var b=a.localInertia;b.e00=this.wd;b.e01=this.xd;b.e02=this.yd;b.e10=this.zd;b.e11=this.Ad;b.e12=this.Bd;b.e20=this.Cd;b.e21=this.Dd;b.e22=this.Ed;return a},Jg:function(a){a.mass=this.Nc;a=a.localInertia;a.e00=this.wd;a.e01=this.xd;a.e02=this.yd;a.e10=this.zd;a.e11=this.Ad;a.e12=this.Bd;a.e20=this.Cd;a.e21=this.Dd;a.e22=this.Ed},Vn:function(a){this.Nc=a.mass;a=a.localInertia;this.wd=a.e00;this.xd=a.e01;this.yd=a.e02;this.zd=a.e10;this.Ad=a.e11;this.Bd=a.e12;this.Cd=a.e20;this.Dd=a.e21;this.Ed=a.e22;a=this.wd*(this.Ad*this.Ed-this.Bd*this.Dd)-this.xd*(this.zd*this.Ed-this.Bd*this.Cd)+this.yd*(this.zd*this.Dd-this.Ad*this.Cd);if(0<this.Nc&&0<a&&0==this.Xb){this.$a=1/this.Nc;a=this.Ad*this.Ed-this.Bd*this.Dd;var b=this.zd*this.Ed-this.Bd*this.Cd,e=this.zd*this.Dd-this.Ad*this.Cd,d=this.xd*this.Ed-this.yd*this.Dd,c=this.wd*this.Ed-this.yd*this.Cd,f=this.wd*this.Dd-this.xd*this.Cd,h=this.xd*this.Bd-this.yd*this.Ad,l=this.wd*this.Bd-this.yd*this.zd,g=this.wd*this.Ad-this.xd*this.zd,k=this.wd*a-this.xd*b+this.yd*e;if(-1E-32>k||1E-32<k)k=1/k;this.Ra=a*k;this.Sa=-d*k;this.Ta=h*k;this.Ua=-b*k;this.Va=c*k;this.Wa=-l*k;this.Xa=e*k;this.Ya=-f*k;this.Za=g*k;this.Zh=this.Ra;this.$h=this.Sa;this.ai=this.Ta;this.bi=this.Ua;this.ci=this.Va;this.di=this.Wa;this.ei=this.Xa;this.fi=this.Ya;this.gi=this.Za;this.Ra=this.Zh*this.N.x;this.Sa=this.$h*this.N.x;this.Ta=this.ai*this.N.x;this.Ua=this.bi*this.N.y;this.Va=this.ci*this.N.y;this.Wa=this.di*this.N.y;this.Xa=this.ei*this.N.z;this.Ya=this.fi*this.N.z;this.Za=this.gi*this.N.z}else this.gi=this.fi=this.ei=this.di=this.ci=this.bi=this.ai=this.$h=this.Zh=this.Za=this.Ya=this.Xa=this.Wa=this.Va=this.Ua=this.Ta=this.Sa=this.Ra=this.$a=0,0==this.Xb&&(this.Xb=1);a=this.a.o*this.Ra+this.a.f*this.Ua+this.a.h*this.Xa;b=this.a.o*this.Sa+this.a.f*this.Va+this.a.h*this.Ya;e=this.a.o*this.Ta+this.a.f*this.Wa+this.a.h*this.Za;d=this.a.i*this.Ra+this.a.m*this.Ua+this.a.j*this.Xa;c=this.a.i*this.Sa+this.a.m*this.Va+this.a.j*this.Ya;f=this.a.i*this.Ta+this.a.m*this.Wa+this.a.j*this.Za;h=this.a.l*this.Ra+this.a.g*this.Ua+this.a.s*this.Xa;l=this.a.l*this.Sa+this.a.g*this.Va+this.a.s*this.Ya;g=this.a.l*this.Ta+this.a.g*this.Wa+this.a.s*this.Za;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;a=this.P*this.a.o+this.R*this.a.f+this.S*this.a.h;b=this.P*this.a.i+this.R*this.a.m+this.S*this.a.j;e=this.P*this.a.l+this.R*this.a.g+this.S*this.a.s;d=this.T*this.a.o+this.U*this.a.f+this.V*this.a.h;c=this.T*this.a.i+this.U*this.a.m+this.V*this.a.j;f=this.T*this.a.l+this.U*this.a.g+this.V*this.a.s;h=this.W*this.a.o+this.X*this.a.f+this.Y*this.a.h;l=this.W*this.a.i+this.X*this.a.m+this.Y*this.a.j;g=this.W*this.a.l+this.X*this.a.g+this.Y*this.a.s;this.P=a;this.R=b;this.S=e;this.T=d;this.U=c;this.V=f;this.W=h;this.X=l;this.Y=g;this.P*=this.N.x;this.R*=this.N.x;this.S*=this.N.x;this.T*=this.N.y;this.U*=this.N.y;this.V*=this.N.y;this.W*=this.N.z;this.X*=this.N.z;this.Y*=this.N.z;this.Gb=!1;this.yb=0},Mg:function(){var 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this.jk},fe:function(a){this.jk=a;if(null!=this.Wb){a=this.Wb;a.wj();for(var b=a.Ac;null!=b;){var 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nl={},ll={},ml=Number,kl=Boolean,ol={},pl={};dc.rc={}.toString;pd.Ng=1;pd.Th=2;pd.BRUTE_FORCE=1;pd.BVH=2;Nc.sm=0;Nc.Mg=1;Nc.wl=2;Nc.Vh=3;Nc.Uh=4;Nc.xj=5;Nc.SPHERE=0;Nc.BOX=1;Nc.CYLINDER=2;Nc.CONE=3;Nc.CAPSULE=4;Nc.CONVEX_HULL=5;Mc.Cc=0;t.numCreations=0;F.defaultFriction=.2;F.defaultRestitution=.2;F.defaultDensity=1;F.defaultCollisionGroup=1;F.defaultCollisionMask=1;F.maxTranslationPerStep=20;F.maxRotationPerStep=3.14159265358979;F.bvhProxyPadding=.1;F.bvhIncrementalCollisionThreshold=.45;F.defaultGJKMargin=.05;F.enableGJKCaching=!0;F.maxEPAVertices=128;F.maxEPAPolyhedronFaces=128;F.contactEnableBounceThreshold=.5;F.velocityBaumgarte=.2;F.positionSplitImpulseBaumgarte=.4;F.positionNgsBaumgarte=1;F.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold=.05;F.defaultContactPositionCorrectionAlgorithm=0;F.alternativeContactPositionCorrectionAlgorithm=1;F.contactPersistenceThreshold=.05;F.maxManifoldPoints=4;F.defaultJointConstraintSolverType=0;F.defaultJointPositionCorrectionAlgorithm=0;F.jointWarmStartingFactorForBaungarte=.8;F.jointWarmStartingFactor=.95;F.minSpringDamperDampingRatio=1E-6;F.minRagdollMaxSwingAngle=1E-6;F.maxJacobianRows=6;F.directMlcpSolverEps=1E-9;F.islandInitialRigidBodyArraySize=128;F.islandInitialConstraintArraySize=128;F.sleepingVelocityThreshold=.2;F.sleepingAngularVelocityThreshold=.5;F.sleepingTimeThreshold=1;F.disableSleeping=!1;F.linearSlop=.005;F.angularSlop=.017453292519943278;Jb.Qa=new Jb;Nb.wm=0;Nb.bm=1;Nb.$l=2;Nb.Zl=257;Nb.Xl=258;Nb.Ql=259;Nb.SUCCEEDED=0;Nb.GJK_FAILED_TO_MAKE_TETRAHEDRON=1;Nb.GJK_DID_NOT_CONVERGE=2;Nb.EPA_FAILED_TO_INIT=257;Nb.EPA_FAILED_TO_ADD_VERTEX=258;Nb.EPA_DID_NOT_CONVERGE=259;O.numCreations=0;M.numCreations=0;na.POSITIVE_INFINITY=1/0;na.NEGATIVE_INFINITY=-1/0;na.PI=3.14159265358979;na.TWO_PI=6.28318530717958;na.HALF_PI=1.570796326794895;na.TO_RADIANS=.017453292519943278;na.TO_DEGREES=57.29577951308238;ga.numCreations=0;Tb.Jg=8;Tb.Kg=4;Tb.Bf=8;cd.broadPhaseCollisionTime=0;cd.narrowPhaseCollisionTime=0;cd.dynamicsTime=0;cd.totalTime=0;ic.Lg=0;ic.um=1;ic.km=2;ic.BAUMGARTE=0;ic.SPLIT_IMPULSE=1;ic.NGS=2;ld.He=1;ld.Ge=2;uc.tm=0;uc.nm=1;uc.vl=2;uc.lm=3;uc.ym=4;uc.mm=5;uc.SPHERICAL=0;uc.REVOLUTE=1;uc.CYLINDRICAL=2;uc.PRISMATIC=3;uc.UNIVERSAL=4;uc.RAGDOLL=5;ne.gm=0;ne.Nl=1;ne.ITERATIVE=0;ne.DIRECT=1;vd.Ol=0;vd.vm=1;vd.hm=2;vd.DYNAMIC=0;vd.STATIC=1;vd.KINEMATIC=2;window.OIMO={};window.OIMO.DebugDraw=Tb;Tb.prototype.aabb=Tb.prototype.Pk;Tb.prototype.ellipse=Tb.prototype.ellipse;Tb.prototype.arc=Tb.prototype.arc;Tb.prototype.cone=Tb.prototype.Tl;Tb.prototype.cylinder=Tb.prototype.Wl;Tb.prototype.capsule=Tb.prototype.Rl;Tb.prototype.sphere=Tb.prototype.Am;Tb.prototype.box=Tb.prototype.Pl;Tb.prototype.rect=Tb.prototype.rect;Tb.prototype.point=Tb.prototype.bb;Tb.prototype.triangle=Tb.prototype.tb;Tb.prototype.line=Tb.prototype.Qa;window.OIMO.BroadPhase=Wa;Wa.prototype.createProxy=Wa.prototype.Gh;Wa.prototype.destroyProxy=Wa.prototype.Hh;Wa.prototype.moveProxy=Wa.prototype.sd;Wa.prototype.isOverlapping=Wa.prototype.Lb;Wa.prototype.collectPairs=Wa.prototype.si;Wa.prototype.getProxyPairList=Wa.prototype.Qa;Wa.prototype.isIncremental=Wa.prototype.tb;Wa.prototype.getTestCount=Wa.prototype.bb;Wa.prototype.rayCast=Wa.prototype.Sd;Wa.prototype.convexCast=Wa.prototype.rf;Wa.prototype.aabbTest=Wa.prototype.eh;window.OIMO.Geometry=Bc;Bc.prototype.getType=Bc.prototype.bb;Bc.prototype.getVolume=Bc.prototype.Qa;Bc.prototype.rayCast=Bc.prototype.Sd;window.OIMO.ConvexGeometry=xa;xa.prototype.getGjkMergin=xa.prototype.gn;xa.prototype.setGjkMergin=xa.prototype.Jn;xa.prototype.computeLocalSupportingVertex=xa.prototype.Ld;xa.prototype.rayCast=xa.prototype.Sd;window.OIMO.BroadPhaseProxyCallback=Yc;Yc.prototype.process=Yc.prototype.td;window.OIMO.BroadPhaseType=pd;window.OIMO.Proxy=Jc;Jc.prototype.getId=Jc.prototype.tb;Jc.prototype.getFatAabb=Jc.prototype.Qa;Jc.prototype.getFatAabbTo=Jc.prototype.bb;window.OIMO.ProxyPair=Cc;Cc.prototype.getProxy1=Cc.prototype.Qa;Cc.prototype.getProxy2=Cc.prototype.bb;Cc.prototype.getNext=Cc.prototype.tb;window.OIMO.BruteForceBroadPhase=Eb;Eb.prototype.createProxy=Eb.prototype.Gh;Eb.prototype.destroyProxy=Eb.prototype.Hh;Eb.prototype.moveProxy=Eb.prototype.sd;Eb.prototype.collectPairs=Eb.prototype.si;Eb.prototype.rayCast=Eb.prototype.Sd;Eb.prototype.convexCast=Eb.prototype.rf;Eb.prototype.aabbTest=Eb.prototype.eh;window.OIMO.BvhBroadPhase=tc;tc.prototype.createProxy=tc.prototype.Gh;tc.prototype.destroyProxy=tc.prototype.Hh;tc.prototype.moveProxy=tc.prototype.sd;tc.prototype.collectPairs=tc.prototype.si;tc.prototype.rayCast=tc.prototype.Sd;tc.prototype.convexCast=tc.prototype.rf;tc.prototype.aabbTest=tc.prototype.eh;tc.prototype.getTreeBalance=tc.prototype.wn;window.OIMO.Aabb=Da;Da.prototype.init=Da.prototype.Aa;Da.prototype.getMin=Da.prototype.Hc;Da.prototype.getMinTo=Da.prototype.Ic;Da.prototype.setMin=Da.prototype.Pd;Da.prototype.getMax=Da.prototype.zc;Da.prototype.getMaxTo=Da.prototype.Cc;Da.prototype.setMax=Da.prototype.cd;Da.prototype.getCenter=Da.prototype.tb;Da.prototype.getCenterTo=Da.prototype.Lb;Da.prototype.getExtents=Da.prototype.lc;Da.prototype.getExtentsTo=Da.prototype.mc;Da.prototype.combine=Da.prototype.Qa;Da.prototype.combined=Da.prototype.bb;Da.prototype.overlap=Da.prototype.Jc;Da.prototype.getIntersection=Da.prototype.qc;Da.prototype.getIntersectionTo=Da.prototype.rc;Da.prototype.copyFrom=Da.prototype.Zd;Da.prototype.clone=Da.prototype.clone;window.OIMO.BoxGeometry=fd;fd.prototype.getHalfExtents=fd.prototype.hn;fd.prototype.getHalfExtentsTo=fd.prototype.jn;fd.prototype.computeLocalSupportingVertex=fd.prototype.Ld;window.OIMO.CapsuleGeometry=od;od.prototype.getRadius=od.prototype.Jh;od.prototype.getHalfHeight=od.prototype.mj;od.prototype.computeLocalSupportingVertex=od.prototype.Ld;window.OIMO.ConeGeometry=ed;ed.prototype.getRadius=ed.prototype.Jh;ed.prototype.getHalfHeight=ed.prototype.mj;ed.prototype.computeLocalSupportingVertex=ed.prototype.Ld;window.OIMO.ConvexHullGeometry=Hd;Hd.prototype.getVertices=Hd.prototype.An;Hd.prototype.computeLocalSupportingVertex=Hd.prototype.Ld;window.OIMO.CylinderGeometry=Dc;Dc.prototype.getRadius=Dc.prototype.Jh;Dc.prototype.getHalfHeight=Dc.prototype.mj;Dc.prototype.computeLocalSupportingVertex=Dc.prototype.Ld;window.OIMO.GeometryType=Nc;window.OIMO.RayCastHit=Wd;window.OIMO.SphereGeometry=Nd;Nd.prototype.getRadius=Nd.prototype.Jh;Nd.prototype.computeLocalSupportingVertex=Nd.prototype.Ld;window.OIMO.CollisionMatrix=Ed;Ed.prototype.getDetector=Ed.prototype.Qa;window.OIMO.DetectorResult=dd;dd.prototype.getMaxDepth=dd.prototype.cm;dd.prototype.clear=dd.prototype.clear;window.OIMO.DetectorResultPoint=nj;window.OIMO.Detector=Xc;Xc.prototype.detect=Xc.prototype.Yl;window.OIMO.CapsuleCapsuleDetector=yd;window.OIMO.GjkEpaDetector=Sd;window.OIMO.SphereBoxDetector=Gd;window.OIMO.SphereCapsuleDetector=Fd;window.OIMO.SphereSphereDetector=Se;window.OIMO.Vec3=t;t.prototype.init=t.prototype.Aa;t.prototype.zero=t.prototype.Z;t.prototype.add=t.prototype.Jc;t.prototype.addScaled=t.prototype.Qa;t.prototype.sub=t.prototype.ge;t.prototype.scale=t.prototype.ee;t.prototype.scale3=t.prototype.He;t.prototype.dot=t.prototype.Pd;t.prototype.cross=t.prototype.tb;t.prototype.addEq=t.prototype.cd;t.prototype.addScaledEq=t.prototype.bb;t.prototype.subEq=t.prototype.Ge;t.prototype.scaleEq=t.prototype.fe;t.prototype.scale3Eq=t.prototype.Bf;t.prototype.crossEq=t.prototype.Lb;t.prototype.mulMat3=t.prototype.lc;t.prototype.mulMat4=t.prototype.qc;t.prototype.mulTransform=t.prototype.zc;t.prototype.mulMat3Eq=t.prototype.mc;t.prototype.mulMat4Eq=t.prototype.rc;t.prototype.mulTransformEq=t.prototype.Cc;t.prototype.length=t.prototype.length;t.prototype.lengthSq=t.prototype.be;t.prototype.normalized=t.prototype.de;t.prototype.normalize=t.prototype.ce;t.prototype.negate=t.prototype.Hc;t.prototype.negateEq=t.prototype.Ic;t.prototype.copyFrom=t.prototype.Zd;t.prototype.clone=t.prototype.clone;t.prototype.toString=t.prototype.toString;window.OIMO.Transform=Ca;Ca.prototype.identity=Ca.prototype.Mf;Ca.prototype.getPosition=Ca.prototype.tb;Ca.prototype.getPositionTo=Ca.prototype.Lb;Ca.prototype.setPosition=Ca.prototype.Cc;Ca.prototype.translate=Ca.prototype.Jc;Ca.prototype.getRotation=Ca.prototype.lc;Ca.prototype.getRotationTo=Ca.prototype.mc;Ca.prototype.setRotation=Ca.prototype.Hc;Ca.prototype.setRotationXyz=Ca.prototype.Ic;Ca.prototype.rotate=Ca.prototype.qc;Ca.prototype.rotateXyz=Ca.prototype.rc;Ca.prototype.getOrientation=Ca.prototype.Qa;Ca.prototype.getOrientationTo=Ca.prototype.bb;Ca.prototype.setOrientation=Ca.prototype.zc;Ca.prototype.clone=Ca.prototype.clone;Ca.prototype.copyFrom=Ca.prototype.Zd;window.OIMO.Setting=F;window.OIMO.GjkEpa=Jb;Jb.prototype.computeClosestPoints=Jb.prototype.Qa;Jb.prototype.computeDistance=Jb.prototype.bb;Jb.prototype.convexCast=Jb.prototype.rf;Jb.prototype.rayCast=Jb.prototype.Sd;Jb.getInstance=Jb.Ic;window.OIMO.GjkEpaResultState=Nb;window.OIMO.SimplexUtil=xd;xd.projectOrigin2=xd.Jc;xd.projectOrigin3=xd.cd;xd.projectOrigin4=xd.Pd;window.OIMO.Mat3=O;O.prototype.init=O.prototype.Aa;O.prototype.identity=O.prototype.Mf;O.prototype.add=O.prototype.zc;O.prototype.sub=O.prototype.Kg;O.prototype.scale=O.prototype.Bf;O.prototype.mul=O.prototype.de;O.prototype.addEq=O.prototype.Cc;O.prototype.subEq=O.prototype.Lg;O.prototype.scaleEq=O.prototype.Jg;O.prototype.mulEq=O.prototype.ee;O.prototype.prependScale=O.prototype.Ge;O.prototype.appendScale=O.prototype.Jc;O.prototype.prependRotation=O.prototype.fe;O.prototype.appendRotation=O.prototype.Hc;O.prototype.prependScaleEq=O.prototype.He;O.prototype.appendScaleEq=O.prototype.cd;O.prototype.prependRotationEq=O.prototype.ge;O.prototype.appendRotationEq=O.prototype.Ic;O.prototype.transpose=O.prototype.Th;O.prototype.transposeEq=O.prototype.Uh;O.prototype.determinant=O.prototype.Pd;O.prototype.trace=O.prototype.Ng;O.prototype.inverse=O.prototype.be;O.prototype.inverseEq=O.prototype.ce;O.prototype.toArray=O.prototype.Mg;O.prototype.copyFrom=O.prototype.Zd;O.prototype.clone=O.prototype.clone;O.prototype.fromQuat=O.prototype.tb;O.prototype.toQuat=O.prototype.xj;O.prototype.fromEulerXyz=O.prototype.bb;O.prototype.toEulerXyz=O.prototype.Vh;O.prototype.getRow=O.prototype.qc;O.prototype.getCol=O.prototype.lc;O.prototype.getRowTo=O.prototype.rc;O.prototype.getColTo=O.prototype.mc;O.prototype.fromRows=O.prototype.Lb;O.prototype.fromCols=O.prototype.Qa;O.prototype.toString=O.prototype.toString;window.OIMO.Mat4=M;M.prototype.init=M.prototype.Aa;M.prototype.identity=M.prototype.Mf;M.prototype.add=M.prototype.lc;M.prototype.sub=M.prototype.Bf;M.prototype.scale=M.prototype.Ge;M.prototype.mul=M.prototype.Pd;M.prototype.addEq=M.prototype.mc;M.prototype.subEq=M.prototype.Jg;M.prototype.scaleEq=M.prototype.He;M.prototype.mulEq=M.prototype.be;M.prototype.prependScale=M.prototype.fe;M.prototype.appendScale=M.prototype.zc;M.prototype.prependRotation=M.prototype.de;M.prototype.appendRotation=M.prototype.qc;M.prototype.prependTranslation=M.prototype.Uh;M.prototype.appendTranslation=M.prototype.Qa;M.prototype.prependScaleEq=M.prototype.ge;M.prototype.appendScaleEq=M.prototype.Cc;M.prototype.prependRotationEq=M.prototype.ee;M.prototype.appendRotationEq=M.prototype.rc;M.prototype.prependTranslationEq=M.prototype.Vh;M.prototype.appendTranslationEq=M.prototype.bb;M.prototype.transpose=M.prototype.Mg;M.prototype.transposeEq=M.prototype.Ng;M.prototype.determinant=M.prototype.Hc;M.prototype.trace=M.prototype.Lg;M.prototype.inverse=M.prototype.Jc;M.prototype.inverseEq=M.prototype.cd;M.prototype.lookAt=M.prototype.Lb;M.prototype.perspective=M.prototype.ce;M.prototype.ortho=M.prototype.Th;M.prototype.toArray=M.prototype.Kg;M.prototype.copyFrom=M.prototype.Zd;M.prototype.fromMat3=M.prototype.Ic;M.prototype.fromTransform=M.prototype.tb;M.prototype.clone=M.prototype.clone;M.prototype.toString=M.prototype.toString;window.OIMO.MathUtil=na;na.abs=na.abs;na.sin=na.sin;na.cos=na.cos;na.tan=na.tan;na.asin=na.asin;na.acos=na.acos;na.atan=na.atan;na.safeAsin=na.ge;na.safeAcos=na.fe;na.atan2=na.atan2;na.sqrt=na.sqrt;na.clamp=na.zc;na.rand=na.be;na.randIn=na.ce;na.randVec3In=na.ee;na.randVec3=na.de;window.OIMO.Pool=Mb;Mb.prototype.vec3=Mb.prototype.zc;Mb.prototype.mat3=Mb.prototype.mc;Mb.prototype.mat4=Mb.prototype.qc;Mb.prototype.quat=Mb.prototype.rc;Mb.prototype.dispose=Mb.prototype.Qa;Mb.prototype.disposeVec3=Mb.prototype.lc;Mb.prototype.disposeMat3=Mb.prototype.bb;Mb.prototype.disposeMat4=Mb.prototype.tb;Mb.prototype.disposeQuat=Mb.prototype.Lb;window.OIMO.Quat=ga;ga.prototype.identity=ga.prototype.Mf;ga.prototype.init=ga.prototype.Aa;ga.prototype.add=ga.prototype.Qa;ga.prototype.sub=ga.prototype.Cc;ga.prototype.scale=ga.prototype.rc;ga.prototype.addEq=ga.prototype.bb;ga.prototype.subEq=ga.prototype.Hc;ga.prototype.scaleEq=ga.prototype.zc;ga.prototype.length=ga.prototype.length;ga.prototype.lengthSq=ga.prototype.lc;ga.prototype.dot=ga.prototype.tb;ga.prototype.normalized=ga.prototype.qc;ga.prototype.normalize=ga.prototype.mc;ga.prototype.setArc=ga.prototype.Ic;ga.prototype.slerp=ga.prototype.Jc;ga.prototype.copyFrom=ga.prototype.Zd;ga.prototype.clone=ga.prototype.clone;ga.prototype.fromMat3=ga.prototype.Lb;ga.prototype.toMat3=ga.prototype.cd;ga.prototype.toString=ga.prototype.toString;window.OIMO.Contact=cc;cc.prototype.getShape1=cc.prototype.lc;cc.prototype.getShape2=cc.prototype.mc;cc.prototype.isTouching=cc.prototype.Zj;cc.prototype.getManifold=cc.prototype.bb;cc.prototype.getContactConstraint=cc.prototype.Qa;cc.prototype.getPrev=cc.prototype.Lb;cc.prototype.getNext=cc.prototype.tb;window.OIMO.ContactLink=Gc;Gc.prototype.getContact=Gc.prototype.Qa;Gc.prototype.getOther=Gc.prototype.tb;Gc.prototype.getPrev=Gc.prototype.Lb;Gc.prototype.getNext=Gc.prototype.bb;window.OIMO.ContactManager=Qc;Qc.prototype.getNumContacts=Qc.prototype.bb;Qc.prototype.getContactList=Qc.prototype.Qa;window.OIMO.TimeStep=lj;window.OIMO.World=qa;qa.prototype.step=qa.prototype.be;qa.prototype.addRigidBody=qa.prototype.bb;qa.prototype.removeRigidBody=qa.prototype.ce;qa.prototype.addJoint=qa.prototype.Qa;qa.prototype.removeJoint=qa.prototype.sl;qa.prototype.setDebugDraw=qa.prototype.de;qa.prototype.getDebugDraw=qa.prototype.mc;qa.prototype.debugDraw=qa.prototype.tb;qa.prototype.rayCast=qa.prototype.Sd;qa.prototype.convexCast=qa.prototype.rf;qa.prototype.aabbTest=qa.prototype.eh;qa.prototype.getRigidBodyList=qa.prototype.cd;qa.prototype.getJointList=qa.prototype.rc;qa.prototype.getBroadPhase=qa.prototype.Lb;qa.prototype.getContactManager=qa.prototype.lc;qa.prototype.getNumRigidBodies=qa.prototype.Ic;qa.prototype.getNumJoints=qa.prototype.Cc;qa.prototype.getNumShapes=qa.prototype.Pd;qa.prototype.getNumIslands=qa.prototype.zc;qa.prototype.getNumVelocityIterations=qa.prototype.Jc;qa.prototype.setNumVelocityIterations=qa.prototype.ge;qa.prototype.getNumPositionIterations=qa.prototype.Hc;qa.prototype.setNumPositionIterations=qa.prototype.fe;qa.prototype.getGravity=qa.prototype.qc;qa.prototype.setGravity=qa.prototype.ee;window.OIMO.AabbTestCallback=nd;nd.prototype.process=nd.prototype.td;window.OIMO.ContactCallback=wd;wd.prototype.beginContact=wd.prototype.Qa;wd.prototype.preSolve=wd.prototype.tb;wd.prototype.postSolve=wd.prototype.$e;wd.prototype.endContact=wd.prototype.bb;window.OIMO.RayCastCallback=md;md.prototype.process=md.prototype.td;window.OIMO.RayCastClosest=Dd;Dd.prototype.clear=Dd.prototype.clear;Dd.prototype.process=Dd.prototype.td;window.OIMO.DebugDrawStyle=Qe;window.OIMO.Performance=cd;window.OIMO.ConstraintSolver=Sb;Sb.prototype.preSolveVelocity=Sb.prototype.jh;Sb.prototype.warmStart=Sb.prototype.sh;Sb.prototype.solveVelocity=Sb.prototype.nh;Sb.prototype.postSolveVelocity=Sb.prototype.vi;Sb.prototype.preSolvePosition=Sb.prototype.Gg;Sb.prototype.solvePositionSplitImpulse=Sb.prototype.mh;Sb.prototype.solvePositionNgs=Sb.prototype.lh;Sb.prototype.postSolve=Sb.prototype.$e;window.OIMO.PositionCorrectionAlgorithm=ic;window.OIMO.ContactConstraint=bd;bd.prototype.getShape1=bd.prototype.bb;bd.prototype.getShape2=bd.prototype.tb;bd.prototype.getManifold=bd.prototype.Qa;bd.prototype.isTouching=bd.prototype.Zj;window.OIMO.Manifold=Pb;Pb.prototype.getNormal=Pb.prototype.tb;Pb.prototype.getNormalTo=Pb.prototype.Lb;Pb.prototype.getTangent=Pb.prototype.qc;Pb.prototype.getTangentTo=Pb.prototype.rc;Pb.prototype.getBinormal=Pb.prototype.Qa;Pb.prototype.getBinormalTo=Pb.prototype.bb;Pb.prototype.getPoints=Pb.prototype.mc;Pb.prototype.getNumPoints=Pb.prototype.lc;window.OIMO.ManifoldPoint=hc;hc.prototype.getPosition1=hc.prototype.Lb;hc.prototype.getPosition1To=hc.prototype.lc;hc.prototype.getPosition2=hc.prototype.mc;hc.prototype.getPosition2To=hc.prototype.qc;hc.prototype.getDepth=hc.prototype.bb;hc.prototype.isWarmStarted=hc.prototype.zc;hc.prototype.getNormalImpulse=hc.prototype.tb;hc.prototype.getTangentImpulse=hc.prototype.rc;hc.prototype.getBinormalImpulse=hc.prototype.Qa;hc.prototype.isEnabled=hc.prototype.Cc;window.OIMO.Joint=L;L.prototype.getRigidBody1=L.prototype.ge;L.prototype.getRigidBody2=L.prototype.Ge;L.prototype.getType=L.prototype.Jg;L.prototype.getAnchor1=L.prototype.bb;L.prototype.getAnchor2=L.prototype.Lb;L.prototype.getAnchor1To=L.prototype.tb;L.prototype.getAnchor2To=L.prototype.lc;L.prototype.getLocalAnchor1=L.prototype.be;L.prototype.getLocalAnchor2=L.prototype.de;L.prototype.getLocalAnchor1To=L.prototype.ce;L.prototype.getLocalAnchor2To=L.prototype.ee;L.prototype.getBasis1=L.prototype.Cc;L.prototype.getBasis2=L.prototype.Ic;L.prototype.getBasis1To=L.prototype.Hc;L.prototype.getBasis2To=L.prototype.Jc;L.prototype.getAllowCollision=L.prototype.Qa;L.prototype.setAllowCollision=L.prototype.Kg;L.prototype.getBreakForce=L.prototype.cd;L.prototype.setBreakForce=L.prototype.Lg;L.prototype.getBreakTorque=L.prototype.Pd;L.prototype.setBreakTorque=L.prototype.Mg;L.prototype.getPositionCorrectionAlgorithm=L.prototype.fe;L.prototype.setPositionCorrectionAlgorithm=L.prototype.Ng;L.prototype.getAppliedForce=L.prototype.mc;L.prototype.getAppliedForceTo=L.prototype.qc;L.prototype.getAppliedTorque=L.prototype.rc;L.prototype.getAppliedTorqueTo=L.prototype.zc;L.prototype.getPrev=L.prototype.Bf;L.prototype.getNext=L.prototype.He;window.OIMO.CylindricalJoint=vb;vb.prototype.getAxis1=vb.prototype.vg;vb.prototype.getAxis2=vb.prototype.xg;vb.prototype.getAxis1To=vb.prototype.wg;vb.prototype.getAxis2To=vb.prototype.yg;vb.prototype.getLocalAxis1=vb.prototype.zg;vb.prototype.getLocalAxis2=vb.prototype.Bg;vb.prototype.getLocalAxis1To=vb.prototype.Ag;vb.prototype.getLocalAxis2To=vb.prototype.Cg;vb.prototype.getTranslationalSpringDamper=vb.prototype.vn;vb.prototype.getRotationalSpringDamper=vb.prototype.nn;vb.prototype.getTranslationalLimitMotor=vb.prototype.un;vb.prototype.getRotationalLimitMotor=vb.prototype.mn;vb.prototype.getAngle=vb.prototype.Xk;vb.prototype.getTranslation=vb.prototype.$k;window.OIMO.JointConfig=$b;window.OIMO.CylindricalJointConfig=re;re.prototype.init=re.prototype.Aa;window.OIMO.JointLink=Lc;Lc.prototype.getContact=Lc.prototype.Qa;Lc.prototype.getOther=Lc.prototype.tb;Lc.prototype.getPrev=Lc.prototype.Lb;Lc.prototype.getNext=Lc.prototype.bb;window.OIMO.JointType=uc;window.OIMO.PrismaticJoint=Gb;Gb.prototype.getAxis1=Gb.prototype.vg;Gb.prototype.getAxis2=Gb.prototype.xg;Gb.prototype.getAxis1To=Gb.prototype.wg;Gb.prototype.getAxis2To=Gb.prototype.yg;Gb.prototype.getLocalAxis1=Gb.prototype.zg;Gb.prototype.getLocalAxis2=Gb.prototype.Bg;Gb.prototype.getLocalAxis1To=Gb.prototype.Ag;Gb.prototype.getLocalAxis2To=Gb.prototype.Cg;Gb.prototype.getSpringDamper=Gb.prototype.nj;Gb.prototype.getLimitMotor=Gb.prototype.Zk;Gb.prototype.getTranslation=Gb.prototype.$k;window.OIMO.PrismaticJointConfig=Be;Be.prototype.init=Be.prototype.Aa;window.OIMO.RagdollJoint=Ab;Ab.prototype.getAxis1=Ab.prototype.vg;Ab.prototype.getAxis2=Ab.prototype.xg;Ab.prototype.getAxis1To=Ab.prototype.wg;Ab.prototype.getAxis2To=Ab.prototype.yg;Ab.prototype.getLocalAxis1=Ab.prototype.zg;Ab.prototype.getLocalAxis2=Ab.prototype.Bg;Ab.prototype.getLocalAxis1To=Ab.prototype.Ag;Ab.prototype.getLocalAxis2To=Ab.prototype.Cg;Ab.prototype.getTwistSpringDamper=Ab.prototype.zn;Ab.prototype.getTwistLimitMotor=Ab.prototype.yn;Ab.prototype.getSwingSpringDamper=Ab.prototype.tn;Ab.prototype.getSwingAxis=Ab.prototype.rn;Ab.prototype.getSwingAxisTo=Ab.prototype.sn;Ab.prototype.getSwingAngle=Ab.prototype.qn;Ab.prototype.getTwistAngle=Ab.prototype.xn;window.OIMO.RagdollJointConfig=Rd;Rd.prototype.init=Rd.prototype.Aa;window.OIMO.RevoluteJoint=Lb;Lb.prototype.getAxis1=Lb.prototype.vg;Lb.prototype.getAxis2=Lb.prototype.xg;Lb.prototype.getAxis1To=Lb.prototype.wg;Lb.prototype.getAxis2To=Lb.prototype.yg;Lb.prototype.getLocalAxis1=Lb.prototype.zg;Lb.prototype.getLocalAxis2=Lb.prototype.Bg;Lb.prototype.getLocalAxis1To=Lb.prototype.Ag;Lb.prototype.getLocalAxis2To=Lb.prototype.Cg;Lb.prototype.getSpringDamper=Lb.prototype.nj;Lb.prototype.getLimitMotor=Lb.prototype.Zk;Lb.prototype.getAngle=Lb.prototype.Xk;window.OIMO.RevoluteJointConfig=qe;qe.prototype.init=qe.prototype.Aa;window.OIMO.RotationalLimitMotor=Ec;Ec.prototype.setLimits=Ec.prototype.Qa;Ec.prototype.setMotor=Ec.prototype.bb;Ec.prototype.clone=Ec.prototype.clone;window.OIMO.SphericalJoint=pe;pe.prototype.getSpringDamper=pe.prototype.nj;window.OIMO.SphericalJointConfig=oe;oe.prototype.init=oe.prototype.Aa;window.OIMO.SpringDamper=nc;nc.prototype.setSpring=nc.prototype.Qa;nc.prototype.setSymplecticEuler=nc.prototype.bb;nc.prototype.clone=nc.prototype.clone;window.OIMO.TranslationalLimitMotor=zc;zc.prototype.setLimits=zc.prototype.Qa;zc.prototype.setMotor=zc.prototype.bb;zc.prototype.clone=zc.prototype.clone;window.OIMO.UniversalJoint=ub;ub.prototype.getAxis1=ub.prototype.vg;ub.prototype.getAxis2=ub.prototype.xg;ub.prototype.getAxis1To=ub.prototype.wg;ub.prototype.getAxis2To=ub.prototype.yg;ub.prototype.getLocalAxis1=ub.prototype.zg;ub.prototype.getLocalAxis2=ub.prototype.Bg;ub.prototype.getLocalAxis1To=ub.prototype.Ag;ub.prototype.getLocalAxis2To=ub.prototype.Cg;ub.prototype.getSpringDamper1=ub.prototype.on;ub.prototype.getSpringDamper2=ub.prototype.pn;ub.prototype.getLimitMotor1=ub.prototype.kn;ub.prototype.getLimitMotor2=ub.prototype.ln;ub.prototype.getAngle1=ub.prototype.en;ub.prototype.getAngle2=ub.prototype.fn;window.OIMO.UniversalJointConfig=Qd;Qd.prototype.init=Qd.prototype.Aa;window.OIMO.ConstraintSolverType=ne;window.OIMO.DirectJointConstraintSolver=wc;wc.prototype.preSolveVelocity=wc.prototype.jh;wc.prototype.warmStart=wc.prototype.sh;wc.prototype.solveVelocity=wc.prototype.nh;wc.prototype.postSolveVelocity=wc.prototype.vi;wc.prototype.preSolvePosition=wc.prototype.Gg;wc.prototype.solvePositionSplitImpulse=wc.prototype.mh;wc.prototype.solvePositionNgs=wc.prototype.lh;wc.prototype.postSolve=wc.prototype.$e;window.OIMO.PgsContactConstraintSolver=zb;zb.prototype.preSolveVelocity=zb.prototype.jh;zb.prototype.warmStart=zb.prototype.sh;zb.prototype.solveVelocity=zb.prototype.nh;zb.prototype.preSolvePosition=zb.prototype.Gg;zb.prototype.solvePositionSplitImpulse=zb.prototype.mh;zb.prototype.solvePositionNgs=zb.prototype.lh;zb.prototype.postSolve=zb.prototype.$e;window.OIMO.PgsJointConstraintSolver=bc;bc.prototype.preSolveVelocity=bc.prototype.jh;bc.prototype.warmStart=bc.prototype.sh;bc.prototype.solveVelocity=bc.prototype.nh;bc.prototype.postSolveVelocity=bc.prototype.vi;bc.prototype.preSolvePosition=bc.prototype.Gg;bc.prototype.solvePositionSplitImpulse=bc.prototype.mh;bc.prototype.solvePositionNgs=bc.prototype.lh;bc.prototype.postSolve=bc.prototype.$e;window.OIMO.MassData=Me;window.OIMO.RigidBody=C;C.prototype.getPosition=C.prototype.Xl;C.prototype.getPositionTo=C.prototype.Zl;C.prototype.setPosition=C.prototype.tm;C.prototype.translate=C.prototype.ym;C.prototype.getRotation=C.prototype.bm;C.prototype.getRotationTo=C.prototype.gm;C.prototype.setRotation=C.prototype.um;C.prototype.setRotationXyz=C.prototype.vm;C.prototype.rotate=C.prototype.mm;C.prototype.rotateXyz=C.prototype.nm;C.prototype.getOrientation=C.prototype.Ol;C.prototype.getOrientationTo=C.prototype.Ql;C.prototype.setOrientation=C.prototype.sm;C.prototype.getTransform=C.prototype.hm;C.prototype.getTransformTo=C.prototype.km;C.prototype.setTransform=C.prototype.wm;C.prototype.getMass=C.prototype.He;C.prototype.getLocalInertia=C.prototype.ce;C.prototype.getLocalInertiaTo=C.prototype.de;C.prototype.getMassData=C.prototype.Bf;C.prototype.getMassDataTo=C.prototype.Jg;C.prototype.setMassData=C.prototype.Vn;C.prototype.getRotationFactor=C.prototype.Mg;C.prototype.setRotationFactor=C.prototype.Wn;C.prototype.getLinearVelocity=C.prototype.Pd;C.prototype.getLinearVelocityTo=C.prototype.be;C.prototype.setLinearVelocity=C.prototype.Un;C.prototype.getAngularVelocity=C.prototype.Cc;C.prototype.getAngularVelocityTo=C.prototype.Hc;C.prototype.setAngularVelocity=C.prototype.Qn;C.prototype.addLinearVelocity=C.prototype.bb;C.prototype.addAngularVelocity=C.prototype.Qa;C.prototype.applyImpulse=C.prototype.qc;C.prototype.applyLinearImpulse=C.prototype.rc;C.prototype.applyAngularImpulse=C.prototype.Lb;C.prototype.applyForce=C.prototype.lc;C.prototype.applyForceToCenter=C.prototype.mc;C.prototype.applyTorque=C.prototype.zc;C.prototype.getGravityScale=C.prototype.Jc;C.prototype.setGravityScale=C.prototype.Tn;C.prototype.getLocalPoint=C.prototype.ee;C.prototype.getLocalPointTo=C.prototype.fe;C.prototype.getLocalVector=C.prototype.ge;C.prototype.getLocalVectorTo=C.prototype.Ge;C.prototype.getWorldPoint=C.prototype.Uh;C.prototype.getWorldPointTo=C.prototype.Vh;C.prototype.getWorldVector=C.prototype.xj;C.prototype.getWorldVectorTo=C.prototype.wl;C.prototype.getNumShapes=C.prototype.Nl;C.prototype.getShapeList=C.prototype.Ng;C.prototype.getNumContectLinks=C.prototype.Kg;C.prototype.getContactLinkList=C.prototype.Ic;C.prototype.getNumJointLinks=C.prototype.Lg;C.prototype.getJointLinkList=C.prototype.cd;C.prototype.addShape=C.prototype.tb;C.prototype.removeShape=C.prototype.Ln;C.prototype.getType=C.prototype.lm;C.prototype.setType=C.prototype.Fm;C.prototype.wakeUp=C.prototype.Hm;C.prototype.sleep=C.prototype.Gm;C.prototype.getSleepTime=C.prototype.Th;C.prototype.setAutoSleep=C.prototype.Rn;C.prototype.getPrev=C.prototype.$l;C.prototype.getNext=C.prototype.vl;window.OIMO.RigidBodyConfig=Zj;window.OIMO.RigidBodyType=vd;window.OIMO.Shape=wa;wa.prototype.getFriction=wa.prototype.qc;wa.prototype.setFriction=wa.prototype.ge;wa.prototype.getRestitution=wa.prototype.Hc;wa.prototype.setRestitution=wa.prototype.He;wa.prototype.getLocalTransform=wa.prototype.zc;wa.prototype.getLocalTransformTo=wa.prototype.Cc;wa.prototype.getTransform=wa.prototype.Pd;wa.prototype.getTransformTo=wa.prototype.be;wa.prototype.setLocalTransform=wa.prototype.Ge;wa.prototype.getDensity=wa.prototype.mc;wa.prototype.setDensity=wa.prototype.fe;wa.prototype.getAabb=wa.prototype.Qa;wa.prototype.getAabbTo=wa.prototype.bb;wa.prototype.getGeometry=wa.prototype.rc;wa.prototype.getRigidBody=wa.prototype.Ic;wa.prototype.getCollisionGroup=wa.prototype.tb;wa.prototype.setCollisionGroup=wa.prototype.ce;wa.prototype.getCollisionMask=wa.prototype.Lb;wa.prototype.setCollisionMask=wa.prototype.de;wa.prototype.getContactCallback=wa.prototype.lc;wa.prototype.setContactCallback=wa.prototype.ee;wa.prototype.getPrev=wa.prototype.cd;wa.prototype.getNext=wa.prototype.Jc;window.OIMO.ShapeConfig=Og})();
diff --git a/docs/oimo/common/Transform.html b/docs/oimo/common/Transform.html
index af4e873..ec42422 100644
--- a/docs/oimo/common/Transform.html
+++ b/docs/oimo/common/Transform.html
@@ -9,4 +9,4 @@
 </style><nav class="nav"><div class="navbar"><div class="navbar-inner" style="background:#FAFAFA; border-bottom:1px solid rgba(0,0,0,.09)"><div class="container"><a class="brand" style="color:#000000" href="../../">OimoPhysics API documentation</a></div></div></div></nav><div class="container main-content"><div class="row-fluid"><div class="span3"><div class="well sidebar-nav"><form class="form-search" id="searchForm"><div class="input-prepend input-block-level"><span class="add-on"><i class="icon-search"></i></span><input id="search" type="text" placeholder="Search" autocomplete="off"/></div></form></div><div class="well sidebar-nav"><div id="nav"></div></div></div><div class="span9"><div class="page-header"><span class="viewsource"><a href="https://github.com/saharan/OimoPhysics/tree/master/src/oimo/common/Transform.hx" class="btn btn-medium"><i class="fa fa-eye"></i> View source</a></span><h1><small>class</small> Transform</h1><h4><small>package <a href="../../oimo/common/index.html">oimo.common</a></small></h4>    </div><div class="body"><div class="doc doc-main"><div class="indent"><p>Transform class provides a set of translation and rotation.</p></div></div><h3 class="section">Constructor</h3><div class="fields"><div class="field "><a name="new"></a><h3><p><code><a href="#new"><span class="identifier">new</span></a> ()</code></p></h3><div class="doc"><p>Creates a new identical transform.</p></div></div></div><h3 class="section">Methods</h3><div class="fields"><div class="field "><a name="clone"></a><h3><p><code><span class="label">inline</span> <a href="#clone"><span class="identifier">clone</span></a> ():<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Returns a clone of the transformation.</p></div></div><div class="field "><a name="copyFrom"></a><h3><p><code><span class="label">inline</span> <a href="#copyFrom"><span class="identifier">copyFrom</span></a> (<span style="white-space:nowrap">transform:<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the transformation to <code>transform</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="getOrientation"></a><h3><p><code><span class="label">inline</span> <a href="#getOrientation"><span class="identifier">getOrientation</span></a> ():<a class="type" title="Quaternion class." href="../../oimo/common/Quat.html">Quat</a></code></p></h3><div class="doc"><p>Returns the rotation as a quaternion.</p></div></div><div class="field "><a name="getOrientationTo"></a><h3><p><code><span class="label">inline</span> <a href="#getOrientationTo"><span class="identifier">getOrientationTo</span></a> (<span style="white-space:nowrap">orientation:<a class="type" title="Quaternion class." href="../../oimo/common/Quat.html">Quat</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets <code>orientation</code> to the quaternion representing the rotation.</p>
 <p>This does not create a new instance of <code><a href="../../oimo/common/Quat.html">Quat</a></code>.</p></div></div><div class="field "><a name="getPosition"></a><h3><p><code><span class="label">inline</span> <a href="#getPosition"><span class="identifier">getPosition</span></a> ():<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></code></p></h3><div class="doc"><p>Returns the position of the transformation.</p></div></div><div class="field "><a name="getPositionTo"></a><h3><p><code><span class="label">inline</span> <a href="#getPositionTo"><span class="identifier">getPositionTo</span></a> (<span style="white-space:nowrap">position:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets <code>position</code> to the position of the transformation.</p>
 <p>This does not create a new instance of <code><a href="../../oimo/common/Vec3.html">Vec3</a></code>.</p></div></div><div class="field "><a name="getRotation"></a><h3><p><code><span class="label">inline</span> <a href="#getRotation"><span class="identifier">getRotation</span></a> ():<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></code></p></h3><div class="doc"><p>Returns the rotation matrix.</p></div></div><div class="field "><a name="getRotationTo"></a><h3><p><code><span class="label">inline</span> <a href="#getRotationTo"><span class="identifier">getRotationTo</span></a> (<span style="white-space:nowrap">out:<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets <code>out</code> to the rotation matrix.</p>
-<p>This does not create a new instance of <code><a href="../../oimo/common/Mat3.html">Mat3</a></code>.</p></div></div><div class="field "><a name="identity"></a><h3><p><code><span class="label">inline</span> <a href="#identity"><span class="identifier">identity</span></a> ():<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the transformation to identity and returns <code>this</code>.</p></div></div><div class="field "><a name="rotate"></a><h3><p><code><span class="label">inline</span> <a href="#rotate"><span class="identifier">rotate</span></a> (<span style="white-space:nowrap">rotation:<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Applies rotation by the rotation matrix <code>rotation</code>.</p></div></div><div class="field "><a name="setOrientation"></a><h3><p><code><span class="label">inline</span> <a href="#setOrientation"><span class="identifier">setOrientation</span></a> (<span style="white-space:nowrap">quaternion:<a class="type" title="Quaternion class." href="../../oimo/common/Quat.html">Quat</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the rotation from a quaternion <code>quaternion</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="setPosition"></a><h3><p><code><span class="label">inline</span> <a href="#setPosition"><span class="identifier">setPosition</span></a> (<span style="white-space:nowrap">position:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the position of the transformation to <code>position</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="setRotation"></a><h3><p><code><span class="label">inline</span> <a href="#setRotation"><span class="identifier">setRotation</span></a> (<span style="white-space:nowrap">rotation:<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the rotation matrix to <code>rotation</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="translate"></a><h3><p><code><span class="label">inline</span> <a href="#translate"><span class="identifier">translate</span></a> (<span style="white-space:nowrap">translation:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Translates the position by <code>translation</code>.</p></div></div></div></div></div></div></div><footer class="section site-footer" style="background:#FAFAFA"><div class="container"><div class="copyright"><p style="color:#000000">This documentation is generated for version 1.0.0</p><p style="color:#000000">&copy; 2017 &nbsp;<a style="color:#000000" href="https://github.com/saharan/OimoPhysics">https://github.com/saharan/OimoPhysics</a></p></div></div></footer><script src="../..//highlighter.js"></script><link href="../../highlighter.css" rel="stylesheet"/></body></html>
\ No newline at end of file
+<p>This does not create a new instance of <code><a href="../../oimo/common/Mat3.html">Mat3</a></code>.</p></div></div><div class="field "><a name="identity"></a><h3><p><code><span class="label">inline</span> <a href="#identity"><span class="identifier">identity</span></a> ():<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the transformation to identity and returns <code>this</code>.</p></div></div><div class="field "><a name="rotate"></a><h3><p><code><span class="label">inline</span> <a href="#rotate"><span class="identifier">rotate</span></a> (<span style="white-space:nowrap">rotation:<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Applies rotation by the rotation matrix <code>rotation</code>.</p></div></div><div class="field "><a name="rotateXyz"></a><h3><p><code><span class="label">inline</span> <a href="#rotateXyz"><span class="identifier">rotateXyz</span></a> (<span style="white-space:nowrap">eulerAngles:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Applies the rotation by Euler angles <code>eulerAngles</code> in radians.</p></div></div><div class="field "><a name="setOrientation"></a><h3><p><code><span class="label">inline</span> <a href="#setOrientation"><span class="identifier">setOrientation</span></a> (<span style="white-space:nowrap">quaternion:<a class="type" title="Quaternion class." href="../../oimo/common/Quat.html">Quat</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the rotation from a quaternion <code>quaternion</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="setPosition"></a><h3><p><code><span class="label">inline</span> <a href="#setPosition"><span class="identifier">setPosition</span></a> (<span style="white-space:nowrap">position:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the position of the transformation to <code>position</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="setRotation"></a><h3><p><code><span class="label">inline</span> <a href="#setRotation"><span class="identifier">setRotation</span></a> (<span style="white-space:nowrap">rotation:<a class="type" title="3x3 Matrix class." href="../../oimo/common/Mat3.html">Mat3</a></span>):<a class="type" title="Transform class provides a set of translation and rotation." href="../../oimo/common/Transform.html">Transform</a></code></p></h3><div class="doc"><p>Sets the rotation matrix to <code>rotation</code> and returns <code>this</code>.</p></div></div><div class="field "><a name="setRotationXyz"></a><h3><p><code><span class="label">inline</span> <a href="#setRotationXyz"><span class="identifier">setRotationXyz</span></a> (<span style="white-space:nowrap">eulerAngles:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rotation by Euler angles <code>eulerAngles</code> in radians.</p></div></div><div class="field "><a name="translate"></a><h3><p><code><span class="label">inline</span> <a href="#translate"><span class="identifier">translate</span></a> (<span style="white-space:nowrap">translation:<a class="type" title="3D vector class." href="../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Translates the position by <code>translation</code>.</p></div></div></div></div></div></div></div><footer class="section site-footer" style="background:#FAFAFA"><div class="container"><div class="copyright"><p style="color:#000000">This documentation is generated for version 1.0.0</p><p style="color:#000000">&copy; 2017 &nbsp;<a style="color:#000000" href="https://github.com/saharan/OimoPhysics">https://github.com/saharan/OimoPhysics</a></p></div></div></footer><script src="../..//highlighter.js"></script><link href="../../highlighter.css" rel="stylesheet"/></body></html>
\ No newline at end of file
diff --git a/docs/oimo/dynamics/rigidbody/RigidBody.html b/docs/oimo/dynamics/rigidbody/RigidBody.html
index 3bebea7..bc5f265 100644
--- a/docs/oimo/dynamics/rigidbody/RigidBody.html
+++ b/docs/oimo/dynamics/rigidbody/RigidBody.html
@@ -39,7 +39,7 @@
 <p>If <code>0</code> is set, the rigid body will not be affected by gravity.</p></div></div><div class="field "><a name="setLinearVelocity"></a><h3><p><code><span class="label">inline</span> <a href="#setLinearVelocity"><span class="identifier">setLinearVelocity</span></a> (<span style="white-space:nowrap">linearVelocity:<a class="type" title="3D vector class." href="../../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the linear velocity of the rigid body.</p></div></div><div class="field "><a name="setMassData"></a><h3><p><code><span class="label">inline</span> <a href="#setMassData"><span class="identifier">setMassData</span></a> (<span style="white-space:nowrap">massData:<a class="type" title="This class holds mass and moment of inertia for a rigid body." href="../../../oimo/dynamics/rigidbody/MassData.html">MassData</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the mass and moment of inertia of the rigid body by the mass data <code>massData</code>.
 The properties set by this will be overwritten when</p><ul><li>some shapes are added or removed</li><li>the type of the rigid body is changed</li></ul></div></div><div class="field "><a name="setOrientation"></a><h3><p><code><span class="label">inline</span> <a href="#setOrientation"><span class="identifier">setOrientation</span></a> (<span style="white-space:nowrap">quaternion:<a class="type" title="Quaternion class." href="../../../oimo/common/Quat.html">Quat</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rotation of the rigid body from a quaternion <code>quaternion</code>.</p></div></div><div class="field "><a name="setPosition"></a><h3><p><code><span class="label">inline</span> <a href="#setPosition"><span class="identifier">setPosition</span></a> (<span style="white-space:nowrap">position:<a class="type" title="3D vector class." href="../../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the world position of the rigid body to <code>position</code>.</p></div></div><div class="field "><a name="setRotation"></a><h3><p><code><span class="label">inline</span> <a href="#setRotation"><span class="identifier">setRotation</span></a> (<span style="white-space:nowrap">rotation:<a class="type" title="3x3 Matrix class." href="../../../oimo/common/Mat3.html">Mat3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rotation matrix of the rigid body to <code>rotation</code>.</p></div></div><div class="field "><a name="setRotationFactor"></a><h3><p><code><span class="label">inline</span> <a href="#setRotationFactor"><span class="identifier">setRotationFactor</span></a> (<span style="white-space:nowrap">rotationFactor:<a class="type" title="3D vector class." href="../../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rotation factor of the rigid body to <code>rotationFactor</code>.</p>
 <p>This changes moment of inertia internally, so that the change of
-angular velocity in local space along X, Y and Z axis will scale by <code>rotationFactor.x</code>,
+angular velocity in <strong>global space</strong> along X, Y and Z axis will scale by <code>rotationFactor.x</code>,
 <code>rotationFactor.y</code> and <code>rotationFactor.z</code> times respectively.</p></div></div><div class="field "><a name="setRotationXyz"></a><h3><p><code><span class="label">inline</span> <a href="#setRotationXyz"><span class="identifier">setRotationXyz</span></a> (<span style="white-space:nowrap">eulerAngles:<a class="type" title="3D vector class." href="../../../oimo/common/Vec3.html">Vec3</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rotation of the rigid body by Euler angles <code>eulerAngles</code> in radians.</p></div></div><div class="field "><a name="setTransform"></a><h3><p><code><span class="label">inline</span> <a href="#setTransform"><span class="identifier">setTransform</span></a> (<span style="white-space:nowrap">transform:<a class="type" title="Transform class provides a set of translation and rotation." href="../../../oimo/common/Transform.html">Transform</a></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the transform of the rigid body to <code>transform</code>.</p>
 <p>This does not keep any references to <code>transform</code>.</p></div></div><div class="field "><a name="setType"></a><h3><p><code><a href="#setType"><span class="identifier">setType</span></a> (<span style="white-space:nowrap">type:<span class="type">Int</span></span>):<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rigid body's type of behaviour.</p>
 <p>See <code><a href="../../../oimo/dynamics/rigidbody/RigidBodyType.html">RigidBodyType</a></code> class for details.</p></div></div><div class="field "><a name="sleep"></a><h3><p><code><span class="label">inline</span> <a href="#sleep"><span class="identifier">sleep</span></a> ():<span class="type">Void</span></code></p></h3><div class="doc"><p>Sets the rigid body's sleep flag true.</p>
diff --git a/src/demo/common/DemoMain.hx b/src/demo/common/DemoMain.hx
index 1ddd503..49462ce 100644
--- a/src/demo/common/DemoMain.hx
+++ b/src/demo/common/DemoMain.hx
@@ -82,6 +82,7 @@ class DemoMain {
 			new CollisionFilteringDemo(),
 			new ConvexHullDemo(),
 			new VerticalStackingDemo(),
+			new LimitRotationDemo(),
 			new BroadPhaseStressDemo(),
 			new BridgeDemo(),
 			new SpringsDemo(),
diff --git a/src/demo/common/OimoUtil.hx b/src/demo/common/OimoUtil.hx
index 1f60a3d..6102433 100644
--- a/src/demo/common/OimoUtil.hx
+++ b/src/demo/common/OimoUtil.hx
@@ -48,7 +48,7 @@ class OimoUtil {
 		return j;
 	}
 
-	public static function addHingeJoint(w:World, rb1:RigidBody, rb2:RigidBody, anchor:Vec3, axis:Vec3, sd:SpringDamper = null, lm:RotationalLimitMotor = null):RevoluteJoint {
+	public static function addRevoluteJoint(w:World, rb1:RigidBody, rb2:RigidBody, anchor:Vec3, axis:Vec3, sd:SpringDamper = null, lm:RotationalLimitMotor = null):RevoluteJoint {
 		var jc:RevoluteJointConfig = new RevoluteJointConfig();
 		jc.init(rb1, rb2, anchor, axis);
 		if (sd != null) jc.springDamper = sd;
@@ -176,8 +176,8 @@ class OimoUtil {
 		addRagdollJoint(w, body1, armL1, pos.add(new Vec3(-bodyRadius, lowerBody + upperBody, 0)), x, z, sd, 90, 90, sd, lm180);
 		addRagdollJoint(w, body1, armR1, pos.add(new Vec3(bodyRadius, lowerBody + upperBody, 0)), x.negate(), z, sd, 90, 90, sd, lm180);
 
-		addHingeJoint(w, armL1, armL2, pos.add(new Vec3(-bodyRadius - upperArm, lowerBody + upperBody, 0)), y, sd, lmElbow);
-		addHingeJoint(w, armR1, armR2, pos.add(new Vec3(bodyRadius + upperArm, lowerBody + upperBody, 0)), y.negate(), sd, lmElbow);
+		addRevoluteJoint(w, armL1, armL2, pos.add(new Vec3(-bodyRadius - upperArm, lowerBody + upperBody, 0)), y, sd, lmElbow);
+		addRevoluteJoint(w, armR1, armR2, pos.add(new Vec3(bodyRadius + upperArm, lowerBody + upperBody, 0)), y.negate(), sd, lmElbow);
 
 		var jc = new RagdollJointConfig();
 		jc.swingSpringDamper = sd;
@@ -194,8 +194,8 @@ class OimoUtil {
 		jc.localTwistAxis1 = z.negate();
 		w.addJoint(new RagdollJoint(jc));
 
-		addHingeJoint(w, legL1, legL2, pos.add(new Vec3(-legInterval, -legInterval - upperLeg, 0)), x, sd, lmKnee);
-		addHingeJoint(w, legR1, legR2, pos.add(new Vec3(legInterval, -legInterval - upperLeg, 0)), x, sd, lmKnee);
+		addRevoluteJoint(w, legL1, legL2, pos.add(new Vec3(-legInterval, -legInterval - upperLeg, 0)), x, sd, lmKnee);
+		addRevoluteJoint(w, legR1, legR2, pos.add(new Vec3(legInterval, -legInterval - upperLeg, 0)), x, sd, lmKnee);
 
 		return body1;
 	}
diff --git a/src/demo/core/BasicDemo.hx b/src/demo/core/BasicDemo.hx
index 8971dbc..c8ec037 100644
--- a/src/demo/core/BasicDemo.hx
+++ b/src/demo/core/BasicDemo.hx
@@ -26,12 +26,10 @@ class BasicDemo extends DemoBase {
 		var sp:Float = 0.61;
 		var n:Int = 5;
 		var size:Float = 0.3;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 		for (i in 0...n) {
 			for (j in -w...w + 1) {
 				for (k in -h...h + 1) {
-					var pos:Vec3 = new Vec3(j * sp, size + i * size * 3, centerZ + k * sp);
+					var pos:Vec3 = new Vec3(j * sp, size + i * size * 3, k * sp);
 					var box:RigidBody = OimoUtil.addBox(world, pos, new Vec3(size, size, size), false);
 					box.setAngularVelocity(MathUtil.randVec3In(-0.05, 0.05));
 				}
diff --git a/src/demo/core/BridgeDemo.hx b/src/demo/core/BridgeDemo.hx
index 555e9a6..e540cd4 100644
--- a/src/demo/core/BridgeDemo.hx
+++ b/src/demo/core/BridgeDemo.hx
@@ -47,7 +47,7 @@ class BridgeDemo extends DemoBase {
 		}
 
 		for (i in 0...num - 1) {
-			OimoUtil.addHingeJoint(world, bodies[i], bodies[i + 1], bodies[i].getPosition().add(bodies[i + 1].getPosition()).scale(0.5), new Vec3(0, 0, 1));
+			OimoUtil.addRevoluteJoint(world, bodies[i], bodies[i + 1], bodies[i].getPosition().add(bodies[i + 1].getPosition()).scale(0.5), new Vec3(0, 0, 1));
 		}
 
 		for (i in 0...num) {
diff --git a/src/demo/core/ConvexCastingDemo.hx b/src/demo/core/ConvexCastingDemo.hx
index 7bd94a2..7b5dfd0 100644
--- a/src/demo/core/ConvexCastingDemo.hx
+++ b/src/demo/core/ConvexCastingDemo.hx
@@ -32,8 +32,6 @@ class ConvexCastingDemo extends DemoBase {
 		var wid:Float = 0.3;
 		var hei:Float = 0.3;
 		var spH:Float = hei * 2;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 		for (i in 0...n) {
 			for (j in -w...w + 1) {
 				for (k in -h...h + 1) {
@@ -44,15 +42,15 @@ class ConvexCastingDemo extends DemoBase {
 
 					switch (Std.int(5 * Math.random())) {
 					case 0:
-						OimoUtil.addCylinder(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCylinder(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 1:
-						OimoUtil.addCone(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCone(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 2:
-						OimoUtil.addCapsule(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCapsule(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 3:
-						OimoUtil.addBox(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, wid), false);
+						OimoUtil.addBox(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, k * sp + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, wid), false);
 					case 4:
-						OimoUtil.addSphere(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, false);
+						OimoUtil.addSphere(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, false);
 					}
 				}
 			}
diff --git a/src/demo/core/ConvexHullDemo.hx b/src/demo/core/ConvexHullDemo.hx
index 171c26c..3935eaf 100644
--- a/src/demo/core/ConvexHullDemo.hx
+++ b/src/demo/core/ConvexHullDemo.hx
@@ -28,12 +28,10 @@ class ConvexHullDemo extends DemoBase {
 		var wid:Float = 0.6;
 		var hei:Float = 0.6;
 		var dep:Float = 0.6;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 		for (i in 0...n) {
 			for (j in -w...w + 1) {
 				for (k in -h...h + 1) {
-					var center:Vec3 = new Vec3(centerX + j * wid * 2, hei + i * hei * 3.0, centerZ + k * dep * 2);
+					var center:Vec3 = new Vec3(j * wid * 2, hei + i * hei * 3.0, k * dep * 2);
 					var bc:RigidBodyConfig = new RigidBodyConfig();
 					var sc:ShapeConfig = new ShapeConfig();
 					bc.position = center;
diff --git a/src/demo/core/GearsDemo.hx b/src/demo/core/GearsDemo.hx
index 0df0a27..579b604 100644
--- a/src/demo/core/GearsDemo.hx
+++ b/src/demo/core/GearsDemo.hx
@@ -5,6 +5,7 @@ import oimo.common.*;
 import oimo.dynamics.*;
 import oimo.dynamics.rigidbody.*;
 import oimo.physics.*;
+import oimo.dynamics.constraint.joint.RevoluteJoint;
 import oimo.dynamics.constraint.joint.RotationalLimitMotor;
 
 /**
@@ -67,7 +68,7 @@ class GearsDemo extends DemoBase {
 
 		var fixture:RigidBody = OimoUtil.addCylinder(world, center, toothInterval / 4, thickness * 0.52, true);
 		fixture.rotate(new Mat3().appendRotationEq(90 * MathUtil.TO_RADIANS, 1, 0, 0));
-		OimoUtil.addHingeJoint(world, wheel, fixture, center, new Vec3(0, 0, 1), null, lm);
+		OimoUtil.addRevoluteJoint(world, wheel, fixture, center, new Vec3(0, 0, 1), null, lm);
 	}
 
 	override public function update():Void {
diff --git a/src/demo/core/JointsDemo.hx b/src/demo/core/JointsDemo.hx
index 0ec8b14..465d961 100644
--- a/src/demo/core/JointsDemo.hx
+++ b/src/demo/core/JointsDemo.hx
@@ -85,7 +85,7 @@ class JointsDemo extends DemoBase {
 	function createBoard(x:Float, y:Float, z:Float, lm:RotationalLimitMotor, sd:SpringDamper) {
 		var b1:RigidBody = OimoUtil.addBox(world, new Vec3(x, y, z), new Vec3(0.1, 0.1, 0.1), true);
 		var b2:RigidBody = OimoUtil.addBox(world, new Vec3(x + 0.5, y, z), new Vec3(0.5, 0.2, 0.4), false);
-		OimoUtil.addHingeJoint(world, b1, b2, new Vec3(x, y, z), new Vec3(0, 0, 1), sd, lm);
+		OimoUtil.addRevoluteJoint(world, b1, b2, new Vec3(x, y, z), new Vec3(0, 0, 1), sd, lm);
 	}
 
 	function createBallChain(from:Vec3, radius:Float, num:Int):Void {
diff --git a/src/demo/core/LimitRotationDemo.hx b/src/demo/core/LimitRotationDemo.hx
new file mode 100644
index 0000000..b23d35b
--- /dev/null
+++ b/src/demo/core/LimitRotationDemo.hx
@@ -0,0 +1,59 @@
+package demo.core;
+import demo.common.*;
+import oimo.collision.geometry.*;
+import oimo.common.*;
+import oimo.dynamics.*;
+import oimo.dynamics.rigidbody.*;
+import oimo.physics.*;
+
+/**
+ * Limit rotation demo
+ */
+class LimitRotationDemo extends DemoBase {
+	var body:RigidBody;
+
+	public function new() {
+		super("Limit Rotation");
+	}
+
+	override public function init(world:World, renderer:DemoRenderer, input:UserInput, viewInfo:ViewInfo):Void {
+		super.init(world, renderer, input, viewInfo);
+		renderer.camera(new Vec3(0, 7, 9), new Vec3(0, 2, 0), new Vec3(0, 1, 0));
+
+		var thickness:Float = 0.5;
+		OimoUtil.addBox(world, new Vec3(0, -thickness, 0), new Vec3(7, thickness, 7), true);
+
+		var w:Int = 2;
+		var h:Int = 2;
+		var sp:Float = 0.61;
+		var n:Int = 5;
+		var size:Float = 0.3;
+		for (i in 0...n) {
+			for (j in -w...w + 1) {
+				for (k in -h...h + 1) {
+					var pos:Vec3 = new Vec3(j * sp, size + i * size * 3, k * sp);
+					var box:RigidBody = OimoUtil.addBox(world, pos, new Vec3(size, size, size), false);
+					box.setRotationFactor(new Vec3(0, 0, 0));
+				}
+			}
+		}
+
+		var cylinder:RigidBody = OimoUtil.addCylinder(world, new Vec3(0, 8, 0), 1.0, 0.3, false);
+		var cylinderShape:Shape = cylinder.getShapeList();
+
+		// modify local transform
+		var localTransform:Transform = cylinderShape.getLocalTransform();
+		localTransform.rotateXyz(new Vec3(MathUtil.HALF_PI, 0, 0));
+		cylinderShape.setLocalTransform(localTransform);
+
+		// limit rotation
+		cylinder.setRotationFactor(new Vec3(0, 0, 1));
+
+		body = cylinder;
+	}
+
+	override public function update():Void {
+		super.update();
+		teleportRigidBodies(-20, 10, 5, 5);
+	}
+}
diff --git a/src/demo/core/RayCastingDemo.hx b/src/demo/core/RayCastingDemo.hx
index 666bba8..e75219c 100644
--- a/src/demo/core/RayCastingDemo.hx
+++ b/src/demo/core/RayCastingDemo.hx
@@ -33,8 +33,6 @@ class RayCastingDemo extends DemoBase {
 		var wid:Float = 0.4;
 		var hei:Float = 0.4;
 		var spH:Float = hei;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 		for (i in 0...n) {
 			for (j in -w...w + 1) {
 				for (k in -h...h + 1) {
@@ -44,15 +42,15 @@ class RayCastingDemo extends DemoBase {
 
 					switch (Std.int(5 * Math.random())) {
 					case 0:
-						OimoUtil.addCone(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCone(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 1:
-						OimoUtil.addBox(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, wid), false);
+						OimoUtil.addBox(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, k * sp + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, wid), false);
 					case 2:
-						OimoUtil.addCylinder(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCylinder(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 3:
-						OimoUtil.addCapsule(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+						OimoUtil.addCapsule(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 1.002, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 					case 4:
-						OimoUtil.addSphere(world, new Vec3(centerX + j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, centerZ + k * sp + MathUtil.randIn(-0.01, 0.01)), wid, false);
+						OimoUtil.addSphere(world, new Vec3(j * sp + MathUtil.randIn(-0.01, 0.01), spH + i * spH * 2 * 0.9998, k * sp + MathUtil.randIn(-0.01, 0.01)), wid, false);
 					}
 				}
 			}
diff --git a/src/demo/core/SpringsDemo.hx b/src/demo/core/SpringsDemo.hx
index 462d6a2..595a884 100644
--- a/src/demo/core/SpringsDemo.hx
+++ b/src/demo/core/SpringsDemo.hx
@@ -47,7 +47,7 @@ class SpringsDemo extends DemoBase {
 			var axis:Vec3 = new Vec3(0, 0, 1);
 			var springDamper:SpringDamper = new SpringDamper().setSpring(15, 0.4);
 			var limitMotor:RotationalLimitMotor = new RotationalLimitMotor().setLimits(0, 0);
-			OimoUtil.addHingeJoint(world, b1, b2, anchor, axis, springDamper, limitMotor);
+			OimoUtil.addRevoluteJoint(world, b1, b2, anchor, axis, springDamper, limitMotor);
 		}
 	}
 
diff --git a/src/demo/core/VariableTimeStepDemo.hx b/src/demo/core/VariableTimeStepDemo.hx
index 4677cfe..46cadb6 100644
--- a/src/demo/core/VariableTimeStepDemo.hx
+++ b/src/demo/core/VariableTimeStepDemo.hx
@@ -34,13 +34,11 @@ class VariableTimeStepDemo extends DemoBase {
 		var wid:Float = 0.3;
 		var hei:Float = 0.3;
 		var dep:Float = 0.3;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 		for (i in 0...n) {
 			for (k in -h...h + 1) {
 				for (j in 0...w) {
-					if (j + k & 1 == 0) OimoUtil.addBox(world, new Vec3(centerX + j * wid * 2 + MathUtil.randIn(-0.01, 0.01), hei + i * hei * 2.2, centerZ + k * dep * 2 + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, dep), false);
-					else OimoUtil.addCylinder(world, new Vec3(centerX + j * wid * 2 + MathUtil.randIn(-0.01, 0.01), hei + i * hei * 2.2, centerZ + k * dep * 2 + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
+					if (j + k & 1 == 0) OimoUtil.addBox(world, new Vec3(j * wid * 2 + MathUtil.randIn(-0.01, 0.01), hei + i * hei * 2.2, k * dep * 2 + MathUtil.randIn(-0.01, 0.01)), new Vec3(wid, hei, dep), false);
+					else OimoUtil.addCylinder(world, new Vec3(j * wid * 2 + MathUtil.randIn(-0.01, 0.01), hei + i * hei * 2.2, k * dep * 2 + MathUtil.randIn(-0.01, 0.01)), wid, hei, false);
 				}
 			}
 		}
diff --git a/src/demo/core/VerticalStackingDemo.hx b/src/demo/core/VerticalStackingDemo.hx
index c0c23ad..749fe90 100644
--- a/src/demo/core/VerticalStackingDemo.hx
+++ b/src/demo/core/VerticalStackingDemo.hx
@@ -30,15 +30,13 @@ class VerticalStackingDemo extends DemoBase {
 		var n:Int = 6;
 		var dn:Int = 2;
 		var size:Float = 0.4;
-		var centerX:Float = 0;
-		var centerZ:Float = 0;
 
 		var tmp = Setting.defaultRestitution;
 		Setting.defaultRestitution = 0;
 
 		for (i in -w...w + 1) {
 			for (j in 0...n + dn * (i + w)) {
-				OimoUtil.addBox(world, new Vec3(centerX + i * sp + MathUtil.randIn(-0.01, 0.01), size + j * size * 2.05, centerZ + MathUtil.randIn(-0.01, 0.01)), new Vec3(size, size, size), false);
+				OimoUtil.addBox(world, new Vec3(i * sp + MathUtil.randIn(-0.01, 0.01), size + j * size * 2.05, MathUtil.randIn(-0.01, 0.01)), new Vec3(size, size, size), false);
 			}
 		}
 
diff --git a/src/oimo/common/Transform.hx b/src/oimo/common/Transform.hx
index e5f422b..3d1be8d 100644
--- a/src/oimo/common/Transform.hx
+++ b/src/oimo/common/Transform.hx
@@ -95,6 +95,15 @@ class Transform {
 		return this;
 	}
 
+	/**
+	 * Sets the rotation by Euler angles `eulerAngles` in radians.
+	 */
+	public inline function setRotationXyz(eulerAngles:Vec3):Void {
+		var xyz:IVec3;
+		M.vec3_fromVec3(xyz, eulerAngles);
+		M.mat3_fromEulerXyz(_rotation, xyz);
+	}
+
 	/**
 	 * Applies rotation by the rotation matrix `rotation`.
 	 */
@@ -104,6 +113,17 @@ class Transform {
 		M.mat3_mul(_rotation, rot, _rotation);
 	}
 
+	/**
+	 * Applies the rotation by Euler angles `eulerAngles` in radians.
+	 */
+	public inline function rotateXyz(eulerAngles:Vec3):Void {
+		var xyz:IVec3;
+		var rot:IMat3;
+		M.vec3_fromVec3(xyz, eulerAngles);
+		M.mat3_fromEulerXyz(rot, xyz);
+		M.mat3_mul(_rotation, rot, _rotation);
+	}
+
 	/**
 	 * Returns the rotation as a quaternion.
 	 */
diff --git a/src/oimo/dynamics/rigidbody/RigidBody.hx b/src/oimo/dynamics/rigidbody/RigidBody.hx
index 42ed560..c70862e 100644
--- a/src/oimo/dynamics/rigidbody/RigidBody.hx
+++ b/src/oimo/dynamics/rigidbody/RigidBody.hx
@@ -250,7 +250,7 @@ class RigidBody {
 		M.mat3_fromQuat(_transform._rotation, q);
 
 		// update inertia tensor
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 	}
 
 	// call when added/removed/modified shapes
@@ -334,20 +334,24 @@ class RigidBody {
 			M.mat3_inv(_invLocalInertia, _localInertia);
 			M.mat3_assign(_invLocalInertiaWithoutRotFactor, _invLocalInertia);
 			M.mat3_scaleRows(_invLocalInertia, _invLocalInertiaWithoutRotFactor, _rotFactor.x, _rotFactor.y, _rotFactor.z);
-
-			M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
 		} else {
 			// set mass and inertia zero
 			_invMass = 0;
 			M.mat3_zero(_invLocalInertia);
 			M.mat3_zero(_invLocalInertiaWithoutRotFactor);
-			M.mat3_zero(_invInertia);
 
 			// force static
 			if (_type == RigidBodyType._DYNAMIC) {
 				_type = RigidBodyType._STATIC;
 			}
 		}
+		updateInvInertia();
+	}
+
+	@:extern
+	inline function updateInvInertia():Void {
+		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		M.mat3_scaleRows(_invInertia, _invInertia, _rotFactor.x, _rotFactor.y, _rotFactor.z);
 	}
 
 	// call when the transform is externally updated
@@ -420,7 +424,7 @@ class RigidBody {
 	public inline function setRotation(rotation:Mat3):Void {
 		M.mat3_fromMat3(_transform._rotation, rotation);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -432,7 +436,7 @@ class RigidBody {
 		M.vec3_fromVec3(xyz, eulerAngles);
 		M.mat3_fromEulerXyz(_transform._rotation, xyz);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -444,7 +448,7 @@ class RigidBody {
 		M.mat3_fromMat3(rot, rotation);
 		M.mat3_mul(_transform._rotation, rot, _transform._rotation);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -458,7 +462,7 @@ class RigidBody {
 		M.mat3_fromEulerXyz(rot, xyz);
 		M.mat3_mul(_transform._rotation, rot, _transform._rotation);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -492,7 +496,7 @@ class RigidBody {
 		M.quat_fromQuat(q, quaternion);
 		M.mat3_fromQuat(_transform._rotation, q);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -521,7 +525,7 @@ class RigidBody {
 		M.vec3_assign(_transform._position, transform._position);
 		M.mat3_assign(_transform._rotation, transform._rotation);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		updateTransformExt();
 	}
 
@@ -597,14 +601,13 @@ class RigidBody {
 	 * Sets the rotation factor of the rigid body to `rotationFactor`.
 	 *
 	 * This changes moment of inertia internally, so that the change of
-	 * angular velocity in local space along X, Y and Z axis will scale by `rotationFactor.x`,
+	 * angular velocity in **global space** along X, Y and Z axis will scale by `rotationFactor.x`,
 	 * `rotationFactor.y` and `rotationFactor.z` times respectively.
 	 */
 	public inline function setRotationFactor(rotationFactor:Vec3):Void {
 		_rotFactor.copyFrom(rotationFactor);
-		M.mat3_scaleRows(_invLocalInertia, _invLocalInertiaWithoutRotFactor, _rotFactor.x, _rotFactor.y, _rotFactor.z);
 
-		M.mat3_transformInertia(_invInertia, _invLocalInertia, _transform._rotation);
+		updateInvInertia();
 		wakeUp();
 	}