physi.js

'use strict';
/// https://github.com/chandlerprall/Physijs (MIT License)

window.Physijs = (function() {
	var THREE_REVISION = parseInt( THREE.REVISION, 10 ),
		SUPPORT_TRANSFERABLE,
		_matrix = new THREE.Matrix4, _is_simulating = false,
		_Physijs = Physijs, // used for noConflict method
		Physijs = {}, // object assigned to window.Physijs
		Eventable, // class to provide simple event methods
		getObjectId, // returns a unique ID for a Physijs mesh object
		getEulerXYZFromQuaternion, getQuatertionFromEuler,
		convertWorldPositionToObject, // Converts a world-space position to object-space
		addObjectChildren,

		_temp1, _temp2,
		_temp_vector3_1 = new THREE.Vector3,
		_temp_vector3_2 = new THREE.Vector3,
		_temp_matrix4_1 = new THREE.Matrix4,
		_quaternion_1 = new THREE.Quaternion,

	// constants
		MESSAGE_TYPES = {
			WORLDREPORT: 0,
			COLLISIONREPORT: 1,
			VEHICLEREPORT: 2,
			CONSTRAINTREPORT: 3
		},
		REPORT_ITEMSIZE = 14,
		VEHICLEREPORT_ITEMSIZE = 9,
		CONSTRAINTREPORT_ITEMSIZE = 6;

	Physijs.scripts = {};

	Eventable = function() {
		this._eventListeners = {};
	};
	Eventable.prototype.addEventListener = function( event_name, callback ) {
		if ( !this._eventListeners.hasOwnProperty( event_name ) ) {
			this._eventListeners[event_name] = [];
		}
		this._eventListeners[event_name].push( callback );
	};
	Eventable.prototype.removeEventListener = function( event_name, callback ) {
		var index;

		if ( !this._eventListeners.hasOwnProperty( event_name ) ) return false;

		if ( (index = this._eventListeners[event_name].indexOf( callback )) >= 0 ) {
			this._eventListeners[event_name].splice( index, 1 );
			return true;
		}

		return false;
	};
	Eventable.prototype.dispatchEvent = function( event_name ) {
		var i,
			parameters = Array.prototype.splice.call( arguments, 1 );

		if ( this._eventListeners.hasOwnProperty( event_name ) ) {
			for ( i = 0; i < this._eventListeners[event_name].length; i++ ) {
				this._eventListeners[event_name][i].apply( this, parameters );
			}
		}
	};
	Eventable.make = function( obj ) {
		obj.prototype.addEventListener = Eventable.prototype.addEventListener;
		obj.prototype.removeEventListener = Eventable.prototype.removeEventListener;
		obj.prototype.dispatchEvent = Eventable.prototype.dispatchEvent;
	};

	getObjectId = (function() {
		var _id = 0;
		return function() {
			return _id++;
		};
	})();

	getEulerXYZFromQuaternion = function ( x, y, z, w ) {
		return new THREE.Vector3(
			Math.atan2( 2 * ( x * w - y * z ), ( w * w - x * x - y * y + z * z ) ),
			Math.asin( 2 *  ( x * z + y * w ) ),
			Math.atan2( 2 * ( z * w - x * y ), ( w * w + x * x - y * y - z * z ) )
		);
	};

	getQuatertionFromEuler = function( x, y, z ) {
		var c1, s1, c2, s2, c3, s3, c1c2, s1s2;
		c1 = Math.cos( y  );
		s1 = Math.sin( y  );
		c2 = Math.cos( -z );
		s2 = Math.sin( -z );
		c3 = Math.cos( x  );
		s3 = Math.sin( x  );

		c1c2 = c1 * c2;
		s1s2 = s1 * s2;

		return {
			w: c1c2 * c3  - s1s2 * s3,
			x: c1c2 * s3  + s1s2 * c3,
			y: s1 * c2 * c3 + c1 * s2 * s3,
			z: c1 * s2 * c3 - s1 * c2 * s3
		};
	};

	convertWorldPositionToObject = function( position, object ) {
		_temp_matrix4_1.identity(); // reset temp matrix

		// Set the temp matrix's rotation to the object's rotation
		if ( object.useQuaternion ) {
			_temp_matrix4_1.identity().setRotationFromQuaternion( object.quaternion );
		} else {
			_temp_matrix4_1.identity().setRotationFromEuler( object.rotation );
		}

		// Invert rotation matrix in order to "unrotate" a point back to object space
		_temp_matrix4_1.getInverse( _temp_matrix4_1 );

		// Yay! Temp vars!
		_temp_vector3_1.copy( position );
		_temp_vector3_2.copy( object.position );

		// Apply the rotation
		return _temp_matrix4_1.multiplyVector3( _temp_vector3_1.subSelf( _temp_vector3_2 ) );
	};



	// Physijs.noConflict
	Physijs.noConflict = function() {
		window.Physijs = _Physijs;
		return Physijs;
	};


	// Physijs.createMaterial
	Physijs.createMaterial = function( material, friction, restitution ) {
		var physijs_material = function(){};
		physijs_material.prototype = material;
		physijs_material = new physijs_material;

		physijs_material._physijs = {
			id: material.id,
			friction: friction === undefined ? .8 : friction,
			restitution: restitution === undefined ? .2 : restitution
		};

		return physijs_material;
	};


	// Constraints
	Physijs.PointConstraint = function( objecta, objectb, position ) {
		if ( position === undefined ) {
			position = objectb;
			objectb = undefined;
		}

		this.type = 'point';
		this.appliedImpulse = 0;
		this.id = getObjectId();
		this.objecta = objecta._physijs.id;
		this.positiona = convertWorldPositionToObject( position, objecta ).clone();

		if ( objectb ) {
			this.objectb = objectb._physijs.id;
			this.positionb = convertWorldPositionToObject( position, objectb ).clone();
		}
	};
	Physijs.PointConstraint.prototype.getDefinition = function() {
		return {
			type: this.type,
			id: this.id,
			objecta: this.objecta,
			objectb: this.objectb,
			positiona: this.positiona,
			positionb: this.positionb
		};
	};

	Physijs.HingeConstraint = function( objecta, objectb, position, axis ) {
		if ( axis === undefined ) {
			axis = position;
			position = objectb;
			objectb = undefined;
		}

		this.type = 'hinge';
		this.appliedImpulse = 0;
		this.id = getObjectId();
		this.scene = objecta.parent;
		this.objecta = objecta._physijs.id;
		this.positiona = convertWorldPositionToObject( position, objecta ).clone();
		this.position = position.clone();
		this.axis = axis;

		if ( objectb ) {
			this.objectb = objectb._physijs.id;
			this.positionb = convertWorldPositionToObject( position, objectb ).clone();
		}
	};
	Physijs.HingeConstraint.prototype.getDefinition = function() {
		return {
			type: this.type,
			id: this.id,
			objecta: this.objecta,
			objectb: this.objectb,
			positiona: this.positiona,
			positionb: this.positionb,
			axis: this.axis
		};
	};
	/*
	 * low = minimum angle in radians
	 * high = maximum angle in radians
	 * bias_factor = applied as a factor to constraint error
	 * relaxation_factor = controls bounce (0.0 == no bounce)
	 */
	Physijs.HingeConstraint.prototype.setLimits = function( low, high, bias_factor, relaxation_factor ) {
		this.scene.execute( 'hinge_setLimits', { constraint: this.id, low: low, high: high, bias_factor: bias_factor, relaxation_factor: relaxation_factor } );
	};
	Physijs.HingeConstraint.prototype.enableAngularMotor = function( velocity, acceleration ) {
		this.scene.execute( 'hinge_enableAngularMotor', { constraint: this.id, velocity: velocity, acceleration: acceleration } );
	};
	Physijs.HingeConstraint.prototype.disableMotor = function( velocity, acceleration ) {
		this.scene.execute( 'hinge_disableMotor', { constraint: this.id } );
	};

	Physijs.SliderConstraint = function( objecta, objectb, position, axis ) {
		if ( axis === undefined ) {
			axis = position;
			position = objectb;
			objectb = undefined;
		}

		this.type = 'slider';
		this.appliedImpulse = 0;
		this.id = getObjectId();
		this.scene = objecta.parent;
		this.objecta = objecta._physijs.id;
		this.positiona = convertWorldPositionToObject( position, objecta ).clone();
		this.axis = axis;

		if ( objectb ) {
			this.objectb = objectb._physijs.id;
			this.positionb = convertWorldPositionToObject( position, objectb ).clone();
		}
	};
	Physijs.SliderConstraint.prototype.getDefinition = function() {
		return {
			type: this.type,
			id: this.id,
			objecta: this.objecta,
			objectb: this.objectb,
			positiona: this.positiona,
			positionb: this.positionb,
			axis: this.axis
		};
	};
	Physijs.SliderConstraint.prototype.setLimits = function( lin_lower, lin_upper, ang_lower, ang_upper ) {
		this.scene.execute( 'slider_setLimits', { constraint: this.id, lin_lower: lin_lower, lin_upper: lin_upper, ang_lower: ang_lower, ang_upper: ang_upper } );
	};
	Physijs.SliderConstraint.prototype.setRestitution = function( linear, angular ) {
		this.scene.execute(
			'slider_setRestitution',
			{
				constraint: this.id,
				linear: linear,
				angular: angular
			}
		);
	};
	Physijs.SliderConstraint.prototype.enableLinearMotor = function( velocity, acceleration) {
		this.scene.execute( 'slider_enableLinearMotor', { constraint: this.id, velocity: velocity, acceleration: acceleration } );
	};
	Physijs.SliderConstraint.prototype.disableLinearMotor = function() {
		this.scene.execute( 'slider_disableLinearMotor', { constraint: this.id } );
	};
	Physijs.SliderConstraint.prototype.enableAngularMotor = function( velocity, acceleration ) {
		this.scene.execute( 'slider_enableAngularMotor', { constraint: this.id, velocity: velocity, acceleration: acceleration } );
	};
	Physijs.SliderConstraint.prototype.disableAngularMotor = function() {
		this.scene.execute( 'slider_disableAngularMotor', { constraint: this.id } );
	};

	Physijs.ConeTwistConstraint = function( objecta, objectb, position ) {
		if ( position === undefined ) {
			throw 'Both objects must be defined in a ConeTwistConstraint.';
		}
		this.type = 'conetwist';
		this.appliedImpulse = 0;
		this.id = getObjectId();
		this.scene = objecta.parent;
		this.objecta = objecta._physijs.id;
		this.positiona = convertWorldPositionToObject( position, objecta ).clone();
		this.objectb = objectb._physijs.id;
		this.positionb = convertWorldPositionToObject( position, objectb ).clone();
		this.axisa = { x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z };
		this.axisb = { x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z };
	};
	Physijs.ConeTwistConstraint.prototype.getDefinition = function() {
		return {
			type: this.type,
			id: this.id,
			objecta: this.objecta,
			objectb: this.objectb,
			positiona: this.positiona,
			positionb: this.positionb,
			axisa: this.axisa,
			axisb: this.axisb
		};
	};
	Physijs.ConeTwistConstraint.prototype.setLimit = function( x, y, z ) {
		this.scene.execute( 'conetwist_setLimit', { constraint: this.id, x: x, y: y, z: z } );
	};
	Physijs.ConeTwistConstraint.prototype.enableMotor = function() {
		this.scene.execute( 'conetwist_enableMotor', { constraint: this.id } );
	};
	Physijs.ConeTwistConstraint.prototype.setMaxMotorImpulse = function( max_impulse ) {
		this.scene.execute( 'conetwist_setMaxMotorImpulse', { constraint: this.id, max_impulse: max_impulse } );
	};
	Physijs.ConeTwistConstraint.prototype.setMotorTarget = function( target ) {
		if ( target instanceof THREE.Vector3 ) {
			throw 'Wait for Three.js r50 to setMotorTarget from Vector3 - use Matrix4 or Quaternion instead';
			target = new THREE.Quaternion().setFromEuler( target );
		} else if ( target instanceof THREE.Matrix4 ) {
			target = new THREE.Quaternion().setFromRotationMatrix( target );
		}
		this.scene.execute( 'conetwist_setMotorTarget', { constraint: this.id, x: target.x, y: target.y, z: target.z, w: target.w } );
	};
	Physijs.ConeTwistConstraint.prototype.disableMotor = function() {
		this.scene.execute( 'conetwist_disableMotor', { constraint: this.id } );
	};

	Physijs.DOFConstraint = function( objecta, objectb, position ) {
		if ( position === undefined ) {
			position = objectb;
			objectb = undefined;
		}
		this.type = 'dof';
		this.appliedImpulse = 0;
		this.id = getObjectId();
		this.scene = objecta.parent;
		this.objecta = objecta._physijs.id;
		this.positiona = convertWorldPositionToObject( position, objecta ).clone();
		this.axisa = { x: objecta.rotation.x, y: objecta.rotation.y, z: objecta.rotation.z };

		if ( objectb ) {
			this.objectb = objectb._physijs.id;
			this.positionb = convertWorldPositionToObject( position, objectb ).clone();
			this.axisb = { x: objectb.rotation.x, y: objectb.rotation.y, z: objectb.rotation.z };
		}
	};
	Physijs.DOFConstraint.prototype.getDefinition = function() {
		return {
			type: this.type,
			id: this.id,
			objecta: this.objecta,
			objectb: this.objectb,
			positiona: this.positiona,
			positionb: this.positionb,
			axisa: this.axisa,
			axisb: this.axisb
		};
	};
	Physijs.DOFConstraint.prototype.setLinearLowerLimit = function( limit ) {
		this.scene.execute( 'dof_setLinearLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );
	};
	Physijs.DOFConstraint.prototype.setLinearUpperLimit = function( limit ) {
		this.scene.execute( 'dof_setLinearUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );
	};
	Physijs.DOFConstraint.prototype.setAngularLowerLimit = function( limit ) {
		this.scene.execute( 'dof_setAngularLowerLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );
	};
	Physijs.DOFConstraint.prototype.setAngularUpperLimit = function( limit ) {
		this.scene.execute( 'dof_setAngularUpperLimit', { constraint: this.id, x: limit.x, y: limit.y, z: limit.z } );
	};
	Physijs.DOFConstraint.prototype.enableAngularMotor = function( which ) {
		this.scene.execute( 'dof_enableAngularMotor', { constraint: this.id, which: which } );
	};
	Physijs.DOFConstraint.prototype.configureAngularMotor = function( which, low_angle, high_angle, velocity, max_force ) {
		this.scene.execute( 'dof_configureAngularMotor', { constraint: this.id, which: which, low_angle: low_angle, high_angle: high_angle, velocity: velocity, max_force: max_force } );
	};
	Physijs.DOFConstraint.prototype.disableAngularMotor = function( which ) {
		this.scene.execute( 'dof_disableAngularMotor', { constraint: this.id, which: which } );
	};

	// Physijs.Scene
	Physijs.Scene = function( params ) {
		var self = this;

		Eventable.call( this );
		THREE.Scene.call( this );

		this._worker = new Worker( Physijs.scripts.worker || 'physijs_worker.js' );
		this._worker.transferableMessage = this._worker.webkitPostMessage || this._worker.postMessage;
		this._materials = {};
		this._objects = {};
		this._vehicles = {};
		this._constraints = {};

		var ab = new ArrayBuffer( 1 );
		this._worker.transferableMessage( ab, [ab] );
		SUPPORT_TRANSFERABLE = ( ab.byteLength === 0 );

		this._worker.onmessage = function ( event ) {
			var _temp,
				data = event.data;

			if ( data instanceof ArrayBuffer && data.byteLength !== 1 ) { // byteLength === 1 is the worker making a SUPPORT_TRANSFERABLE test
				data = new Float32Array( data );
			}

			if ( data instanceof Float32Array ) {

				// transferable object
				switch ( data[0] ) {
					case MESSAGE_TYPES.WORLDREPORT:
						self._updateScene( data );
						break;

					case MESSAGE_TYPES.COLLISIONREPORT:
						self._updateCollisions( data );
						break;

					case MESSAGE_TYPES.VEHICLEREPORT:
						self._updateVehicles( data );
						break;

					case MESSAGE_TYPES.CONSTRAINTREPORT:
						self._updateConstraints( data );
						break;
				}

			} else {

				if ( data.cmd ) {

					// non-transferable object
					switch ( data.cmd ) {
						case 'objectReady':
							_temp = data.params;
							if ( self._objects[ _temp ] ) {
								self._objects[ _temp ].dispatchEvent( 'ready' );
							}
							break;

						case 'worldReady':
							self.dispatchEvent( 'ready' );
							break;

						case 'vehicle':
							window.test = data;
							break;

						default:
							// Do nothing, just show the message
							console.debug('Received: ' + data.cmd);
							console.dir(data.params);
							break;
					}

				} else {

					switch ( data[0] ) {
						case MESSAGE_TYPES.WORLDREPORT:
							self._updateScene( data );
							break;

						case MESSAGE_TYPES.COLLISIONREPORT:
							self._updateCollisions( data );
							break;

						case MESSAGE_TYPES.VEHICLEREPORT:
							self._updateVehicles( data );
							break;

						case MESSAGE_TYPES.CONSTRAINTREPORT:
							self._updateConstraints( data );
							break;
					}

				}

			}
		};


		params = params || {};
		params.ammo = Physijs.scripts.ammo || 'ammo.js';
		params.fixedTimeStep = params.fixedTimeStep || 1 / 60;
		params.rateLimit = params.rateLimit || true;
		this.execute( 'init', params );
	};
	Physijs.Scene.prototype = new THREE.Scene;
	Physijs.Scene.prototype.constructor = Physijs.Scene;
	Eventable.make( Physijs.Scene );

	Physijs.Scene.prototype._updateScene = function( data ) {
		var num_objects = data[1],
			object,
			i, offset;

		for ( i = 0; i < num_objects; i++ ) {
			offset = 2 + i * REPORT_ITEMSIZE;
			object = this._objects[ data[ offset ] ];

			if ( object === undefined ) {
				continue;
			}

			if ( object.__dirtyPosition === false ) {
				object.position.set(
					data[ offset + 1 ],
					data[ offset + 2 ],
					data[ offset + 3 ]
				);
			}

			if ( object.__dirtyRotation === false ) {
				if ( object.useQuaternion ) {
					object.quaternion.set(
						data[ offset + 4 ],
						data[ offset + 5 ],
						data[ offset + 6 ],
						data[ offset + 7 ]
					);
				} else {
					object.rotation = getEulerXYZFromQuaternion(
						data[ offset + 4 ],
						data[ offset + 5 ],
						data[ offset + 6 ],
						data[ offset + 7 ]
					);
				}
			}

			object._physijs.linearVelocity.set(
				data[ offset + 8 ],
				data[ offset + 9 ],
				data[ offset + 10 ]
			);

			object._physijs.angularVelocity.set(
				data[ offset + 11 ],
				data[ offset + 12 ],
				data[ offset + 13 ]
			);

		}

		if ( SUPPORT_TRANSFERABLE ) {
			// Give the typed array back to the worker
			this._worker.transferableMessage( data.buffer, [data.buffer] );
		}

		_is_simulating = false;
		this.dispatchEvent( 'update' );
	};

	Physijs.Scene.prototype._updateVehicles = function( data ) {
		var vehicle, wheel,
			i, offset;

		for ( i = 0; i < ( data.length - 1 ) / VEHICLEREPORT_ITEMSIZE; i++ ) {
			offset = 1 + i * VEHICLEREPORT_ITEMSIZE;
			vehicle = this._vehicles[ data[ offset ] ];

			if ( vehicle === undefined ) {
				continue;
			}

			wheel = vehicle.wheels[ data[ offset + 1 ] ];

			wheel.position.set(
				data[ offset + 2 ],
				data[ offset + 3 ],
				data[ offset + 4 ]
			);

			if ( wheel.useQuaternion ) {
				wheel.quaternion.set(
					data[ offset + 5 ],
					data[ offset + 6 ],
					data[ offset + 7 ],
					data[ offset + 8 ]
				);
			} else {
				wheel.rotation = getEulerXYZFromQuaternion(
					data[ offset + 5 ],
					data[ offset + 6 ],
					data[ offset + 7 ],
					data[ offset + 8 ]
				);
			}

		}

		if ( SUPPORT_TRANSFERABLE ) {
			// Give the typed array back to the worker
			this._worker.transferableMessage( data.buffer, [data.buffer] );
		}
	};

	Physijs.Scene.prototype._updateConstraints = function( data ) {
		var constraint, object,
			i, offset;

		for ( i = 0; i < ( data.length - 1 ) / CONSTRAINTREPORT_ITEMSIZE; i++ ) {
			offset = 1 + i * CONSTRAINTREPORT_ITEMSIZE;
			constraint = this._constraints[ data[ offset ] ];
			object = this._objects[ data[ offset + 1 ] ];

			if ( constraint === undefined || object === undefined ) {
				continue;
			}

			_temp_vector3_1.set(
				data[ offset + 2 ],
				data[ offset + 3 ],
				data[ offset + 4 ]
			);
			_temp_matrix4_1.extractRotation( object.matrix );
			_temp_matrix4_1.multiplyVector3( _temp_vector3_1 );

			constraint.positiona.add( object.position, _temp_vector3_1 );
			constraint.appliedImpulse = data[ offset + 5 ] ;
		}

		if ( SUPPORT_TRANSFERABLE ) {
			// Give the typed array back to the worker
			this._worker.transferableMessage( data.buffer, [data.buffer] );
		}
	};

	Physijs.Scene.prototype._updateCollisions = function( data ) {
		/**
		 * #TODO
		 * This is probably the worst way ever to handle collisions. The inherent evilness is a residual
		 * effect from the previous version's evilness which mutated when switching to transferable objects.
		 *
		 * If you feel inclined to make this better, please do so.
		 */

		var i, j, offset, object, object2,
			collisions = {}, collided_with = [];

		// Build collision manifest
		for ( i = 0; i < data[1]; i++ ) {
			offset = 2 + i * 2;
			object = data[ offset ];
			object2 = data[ offset + 1 ];

			if ( !collisions[ object ] ) collisions[ object ] = [];
			collisions[ object ].push( object2 );
		}

		// Deal with collisions
		for ( object in this._objects ) {
			if ( !this._objects.hasOwnProperty( object ) ) return;
			object = this._objects[ object ];

			if ( collisions[ object._physijs.id ] ) {

				// this object is touching others
				collided_with.length = 0;

				for ( j = 0; j < collisions[ object._physijs.id ].length; j++ ) {
					object2 = this._objects[ collisions[ object._physijs.id ][j] ];

					if ( object._physijs.touches.indexOf( object2._physijs.id ) === -1 ) {
						object._physijs.touches.push( object2._physijs.id );

						_temp_vector3_1.sub( object.getLinearVelocity(), object2.getLinearVelocity() );
						_temp1 = _temp_vector3_1.clone();

						_temp_vector3_1.sub( object.getAngularVelocity(), object2.getAngularVelocity() );
						_temp2 = _temp_vector3_1;

						object.dispatchEvent( 'collision', object2, _temp1, _temp2 );
						object2.dispatchEvent( 'collision', object, _temp1, _temp2 );
					}

					collided_with.push( object2._physijs.id );
				}
				for ( j = 0; j < object._physijs.touches.length; j++ ) {
					if ( collided_with.indexOf( object._physijs.touches[j] ) === -1 ) {
						object._physijs.touches.splice( j--, 1 );
					}
				}

			} else {

				// not touching other objects
				object._physijs.touches.length = 0;

			}

		}

		if ( SUPPORT_TRANSFERABLE ) {
			// Give the typed array back to the worker
			this._worker.transferableMessage( data.buffer, [data.buffer] );
		}
	};

	Physijs.Scene.prototype.addConstraint = function ( constraint, show_marker ) {
		this._constraints[ constraint.id ] = constraint;
		this.execute( 'addConstraint', constraint.getDefinition() );

		if ( show_marker ) {
			var marker;

			switch ( constraint.type ) {
				case 'point':
					marker = new THREE.Mesh(
						new THREE.SphereGeometry( 1.5 ),
						new THREE.MeshNormalMaterial
					);
					marker.position.copy( constraint.positiona );
					this._objects[ constraint.objecta ].add( marker );
					break;

				case 'hinge':
					marker = new THREE.Mesh(
						new THREE.SphereGeometry( 1.5 ),
						new THREE.MeshNormalMaterial
					);
					marker.position.copy( constraint.positiona );
					this._objects[ constraint.objecta ].add( marker );
					break;

				case 'slider':
					marker = new THREE.Mesh(
						new THREE.CubeGeometry( 10, 1, 1 ),
						new THREE.MeshNormalMaterial
					);
					marker.position.copy( constraint.positiona );
					// This rotation isn't right if all three axis are non-0 values
					// TODO: change marker's rotation order to ZYX
					marker.rotation.set(
						constraint.axis.y, // yes, y and
						constraint.axis.x, // x axis are swapped
						constraint.axis.z
					);
					this._objects[ constraint.objecta ].add( marker );
					break;

				case 'conetwist':
					marker = new THREE.Mesh(
						new THREE.SphereGeometry( 1.5 ),
						new THREE.MeshNormalMaterial
					);
					marker.position.copy( constraint.positiona );
					this._objects[ constraint.objecta ].add( marker );
					break;

				case 'dof':
					marker = new THREE.Mesh(
						new THREE.SphereGeometry( 1.5 ),
						new THREE.MeshNormalMaterial
					);
					marker.position.copy( constraint.positiona );
					this._objects[ constraint.objecta ].add( marker );
					break;
			}
		}

		return constraint;
	};

	Physijs.Scene.prototype.removeConstraint = function( constraint ) {
		if ( this._constraints[constraint.id ] !== undefined ) {
			this.execute( 'removeConstraint', { id: constraint.id } );
			delete this._constraints[ constraint.id ];
		}
	};

	Physijs.Scene.prototype.execute = function( cmd, params ) {
		this._worker.postMessage({ cmd: cmd, params: params });
	};

	addObjectChildren = function( parent, object ) {
		var i;

		for ( i = 0; i < object.children.length; i++ ) {
			if ( object.children[i]._physijs ) {
				object.children[i].updateMatrix();
				object.children[i].updateMatrixWorld();

				_temp_vector3_1.getPositionFromMatrix( object.children[i].matrixWorld );
				_quaternion_1.setFromRotationMatrix( object.children[i].matrixWorld );

				object.children[i]._physijs.position_offset = {
					x: _temp_vector3_1.x,
					y: _temp_vector3_1.y,
					z: _temp_vector3_1.z
				};

				object.children[i]._physijs.rotation = {
					x: _quaternion_1.x,
					y: _quaternion_1.y,
					z: _quaternion_1.z,
					w: _quaternion_1.w
				};

				parent._physijs.children.push( object.children[i]._physijs );
			}

			addObjectChildren( parent, object.children[i] );
		}
	};

	Physijs.Scene.prototype.add = function( object ) {
		THREE.Mesh.prototype.add.call( this, object );

		if ( object._physijs ) {

			object.world = this;

			if ( object instanceof Physijs.Vehicle ) {

				this.add( object.mesh );
				this._vehicles[ object._physijs.id ] = object;
				this.execute( 'addVehicle', object._physijs );

			} else {

				object.__dirtyPosition = false;
				object.__dirtyRotation = false;
				this._objects[object._physijs.id] = object;

				if ( object.children.length ) {
					object._physijs.children = [];
					addObjectChildren( object, object );
				}

				if ( object.material._physijs ) {
					if ( !this._materials.hasOwnProperty( object.material._physijs.id ) ) {
						this.execute( 'registerMaterial', object.material._physijs );
						object._physijs.materialId = object.material._physijs.id;
					}
				}

				// Object starting position + rotation
				object._physijs.position = { x: object.position.x, y: object.position.y, z: object.position.z };
				if (!object.useQuaternion) {
					_matrix.identity().setRotationFromEuler( object.rotation );
					object.quaternion.setFromRotationMatrix( _matrix );
				}
				object._physijs.rotation = { x: object.quaternion.x, y: object.quaternion.y, z: object.quaternion.z, w: object.quaternion.w };

				// Check for scaling
				var mass_scaling = new THREE.Vector3( 1, 1, 1 );
				if ( object._physijs.width ) {
					object._physijs.width *= object.scale.x;
				}
				if ( object._physijs.height ) {
					object._physijs.height *= object.scale.y;
				}
				if ( object._physijs.depth ) {
					object._physijs.depth *= object.scale.z;
				}

				this.execute( 'addObject', object._physijs );

			}
		}
	};

	Physijs.Scene.prototype.remove = function( object ) {
		if ( object instanceof Physijs.Vehicle ) {
			this.execute( 'removeVehicle', { id: object._physijs.id } );
			while( object.wheels.length ) {
				this.remove( object.wheels.pop() );
			}
			this.remove( object.mesh );
			delete this._vehicles[ object._physijs.id ];
		} else {
			THREE.Mesh.prototype.remove.call( this, object );
			if ( object._physijs ) {
				delete this._objects[object._physijs.id];
				this.execute( 'removeObject', { id: object._physijs.id } );
			}
		}
	};

	Physijs.Scene.prototype.setFixedTimeStep = function( fixedTimeStep ) {
		if ( fixedTimeStep ) {
			this.execute( 'setFixedTimeStep', fixedTimeStep );
		}
	};

	Physijs.Scene.prototype.setGravity = function( gravity ) {
		if ( gravity ) {
			this.execute( 'setGravity', gravity );
		}
	};

	Physijs.Scene.prototype.simulate = function( timeStep, maxSubSteps ) {
		var object_id, object, update;

		if ( _is_simulating ) {
			return false;
		}

		_is_simulating = true;

		for ( object_id in this._objects ) {
			if ( !this._objects.hasOwnProperty( object_id ) ) continue;

			object = this._objects[object_id];

			if ( object.__dirtyPosition || object.__dirtyRotation ) {
				update = { id: object._physijs.id };

				if ( object.__dirtyPosition ) {
					update.pos = { x: object.position.x, y: object.position.y, z: object.position.z };
					object.__dirtyPosition = false;
				}

				if ( object.__dirtyRotation ) {
					if (!object.useQuaternion) {
						_matrix.identity().setRotationFromEuler( object.rotation );
						object.quaternion.setFromRotationMatrix( _matrix );
					};
					update.quat = { x: object.quaternion.x, y: object.quaternion.y, z: object.quaternion.z, w: object.quaternion.w };
					object.__dirtyRotation = false;
				}

				this.execute( 'updateTransform', update );
			};
		}

		this.execute( 'simulate', { timeStep: timeStep, maxSubSteps: maxSubSteps } );

		return true;
	};


	// Phsijs.Mesh
	Physijs.Mesh = function ( geometry, material, mass ) {
		var index;

		if ( !geometry ) {
			return;
		}

		Eventable.call( this );
		THREE.Mesh.call( this, geometry, material );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		this._physijs = {
			type: null,
			id: getObjectId(),
			mass: mass || 0,
			touches: [],
			linearVelocity: new THREE.Vector3,
			angularVelocity: new THREE.Vector3
		};
	};
	Physijs.Mesh.prototype = new THREE.Mesh;
	Physijs.Mesh.prototype.constructor = Physijs.Mesh;
	Eventable.make( Physijs.Mesh );

	// Physijs.Mesh.mass
	Physijs.Mesh.prototype.__defineGetter__('mass', function() {
		return this._physijs.mass;
	});
	Physijs.Mesh.prototype.__defineSetter__('mass', function( mass ) {
		this._physijs.mass = mass;
		if ( this.world ) {
			this.world.execute( 'updateMass', { id: this._physijs.id, mass: mass } );
		}
	});

	// Physijs.Mesh.applyCentralImpulse
	Physijs.Mesh.prototype.applyCentralImpulse = function ( force ) {
		if ( this.world ) {
			this.world.execute( 'applyCentralImpulse', { id: this._physijs.id, x: force.x, y: force.y, z: force.z } );
		}
	};

	// Physijs.Mesh.applyImpulse
	Physijs.Mesh.prototype.applyImpulse = function ( force, offset ) {
		if ( this.world ) {
			this.world.execute( 'applyImpulse', { id: this._physijs.id, impulse_x: force.x, impulse_y: force.y, impulse_z: force.z, x: offset.x, y: offset.y, z: offset.z } );
		}
	};

	// Physijs.Mesh.applyCentralForce
	Physijs.Mesh.prototype.applyCentralForce = function ( force ) {
		if ( this.world ) {
			this.world.execute( 'applyCentralForce', { id: this._physijs.id, x: force.x, y: force.y, z: force.z } );
		}
	};

	// Physijs.Mesh.applyForce
	Physijs.Mesh.prototype.applyForce = function ( force, offset ) {
		if ( this.world ) {
			this.world.execute( 'applyForce', { id: this._physijs.id, force_x: force.x, force_y : force.y, force_z : force.z, x: offset.x, y: offset.y, z: offset.z } );
		}
	};

	// Physijs.Mesh.getAngularVelocity
	Physijs.Mesh.prototype.getAngularVelocity = function () {
		return this._physijs.angularVelocity;
	};

	// Physijs.Mesh.setAngularVelocity
	Physijs.Mesh.prototype.setAngularVelocity = function ( velocity ) {
		if ( this.world ) {
			this.world.execute( 'setAngularVelocity', { id: this._physijs.id, x: velocity.x, y: velocity.y, z: velocity.z } );
		}
	};

	// Physijs.Mesh.getLinearVelocity
	Physijs.Mesh.prototype.getLinearVelocity = function () {
		return this._physijs.linearVelocity;
	};

	// Physijs.Mesh.setLinearVelocity
	Physijs.Mesh.prototype.setLinearVelocity = function ( velocity ) {
		if ( this.world ) {
			this.world.execute( 'setLinearVelocity', { id: this._physijs.id, x: velocity.x, y: velocity.y, z: velocity.z } );
		}
	};

	// Physijs.Mesh.setAngularFactor
	Physijs.Mesh.prototype.setAngularFactor = function ( factor ) {
		if ( this.world ) {
			this.world.execute( 'setAngularFactor', { id: this._physijs.id, x: factor.x, y: factor.y, z: factor.z } );
		}
	};

	// Physijs.Mesh.setLinearFactor
	Physijs.Mesh.prototype.setLinearFactor = function ( factor ) {
		if ( this.world ) {
			this.world.execute( 'setLinearFactor', { id: this._physijs.id, x: factor.x, y: factor.y, z: factor.z } );
		}
	};

	// Physijs.Mesh.setDamping
	Physijs.Mesh.prototype.setDamping = function ( linear, angular ) {
		if ( this.world ) {
			this.world.execute( 'setDamping', { id: this._physijs.id, linear: linear, angular: angular } );
		}
	};

	// Physijs.Mesh.setCcdMotionThreshold
	Physijs.Mesh.prototype.setCcdMotionThreshold = function ( threshold ) {
		if ( this.world ) {
			this.world.execute( 'setCcdMotionThreshold', { id: this._physijs.id, threshold: threshold } );
		}
	};

	// Physijs.Mesh.setCcdSweptSphereRadius
	Physijs.Mesh.prototype.setCcdSweptSphereRadius = function ( radius ) {
		if ( this.world ) {
			this.world.execute( 'setCcdSweptSphereRadius', { id: this._physijs.id, radius: radius } );
		}
	};


	// Physijs.PlaneMesh
	Physijs.PlaneMesh = function ( geometry, material, mass ) {
		var width, height;

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;

		this._physijs.type = 'plane';
		this._physijs.normal = geometry.faces[0].normal.clone();
		this._physijs.mass = (typeof mass === 'undefined') ? width * height : mass;
	};
	Physijs.PlaneMesh.prototype = new Physijs.Mesh;
	Physijs.PlaneMesh.prototype.constructor = Physijs.PlaneMesh;

	// Physijs.HeightfieldMesh
	Physijs.HeightfieldMesh = function ( geometry, material, mass, xdiv, ydiv) {
		Physijs.Mesh.call( this, geometry, material, mass );

		this._physijs.type   = 'heightfield';
		this._physijs.xsize  = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		this._physijs.ysize  = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		this._physijs.xpts = (typeof xdiv === 'undefined') ? Math.sqrt(geometry.vertices.length) : xdiv + 1;
		this._physijs.ypts = (typeof ydiv === 'undefined') ? Math.sqrt(geometry.vertices.length) : ydiv + 1;
		// note - this assumes our plane geometry is square, unless we pass in specific xdiv and ydiv
		this._physijs.absMaxHeight = Math.max(geometry.boundingBox.max.z,Math.abs(geometry.boundingBox.min.z));

		var points = [];

		var a, b;
		for ( var i = 0; i < geometry.vertices.length; i++ ) {

			a = i % this._physijs.xpts;
			b = Math.round( ( i / this._physijs.xpts ) - ( (i % this._physijs.xpts) / this._physijs.xpts ) );
			points[i] = geometry.vertices[ a + ( ( this._physijs.ypts - b - 1 ) * this._physijs.ypts ) ].z;

			//points[i] = geometry.vertices[i];
		}

		this._physijs.points = points;
	};
	Physijs.HeightfieldMesh.prototype = new Physijs.Mesh;
	Physijs.HeightfieldMesh.prototype.constructor = Physijs.HeightfieldMesh;

	// Physijs.BoxMesh
	Physijs.BoxMesh = function( geometry, material, mass ) {
		var width, height, depth;

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		depth = geometry.boundingBox.max.z - geometry.boundingBox.min.z;

		this._physijs.type = 'box';
		this._physijs.width = width;
		this._physijs.height = height;
		this._physijs.depth = depth;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height * depth : mass;
	};
	Physijs.BoxMesh.prototype = new Physijs.Mesh;
	Physijs.BoxMesh.prototype.constructor = Physijs.BoxMesh;


	// Physijs.SphereMesh
	Physijs.SphereMesh = function( geometry, material, mass ) {
		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingSphere ) {
			geometry.computeBoundingSphere();
		}

		this._physijs.type = 'sphere';
		this._physijs.radius = geometry.boundingSphere.radius;
		this._physijs.mass = (typeof mass === 'undefined') ? (4/3) * Math.PI * Math.pow(this._physijs.radius, 3) : mass;
	};
	Physijs.SphereMesh.prototype = new Physijs.Mesh;
	Physijs.SphereMesh.prototype.constructor = Physijs.SphereMesh;


	// Physijs.CylinderMesh
	Physijs.CylinderMesh = function( geometry, material, mass ) {
		var width, height, depth;

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		depth = geometry.boundingBox.max.z - geometry.boundingBox.min.z;

		this._physijs.type = 'cylinder';
		this._physijs.width = width;
		this._physijs.height = height;
		this._physijs.depth = depth;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height * depth : mass;
	};
	Physijs.CylinderMesh.prototype = new Physijs.Mesh;
	Physijs.CylinderMesh.prototype.constructor = Physijs.CylinderMesh;


	// Physijs.CapsuleMesh
	Physijs.CapsuleMesh = function( geometry, material, mass ) {
		var width, height, depth;

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		depth = geometry.boundingBox.max.z - geometry.boundingBox.min.z;

		this._physijs.type = 'capsule';
		this._physijs.radius = Math.max(width / 2, depth / 2);
		this._physijs.height = height;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height * depth : mass;
	};
	Physijs.CapsuleMesh.prototype = new Physijs.Mesh;
	Physijs.CapsuleMesh.prototype.constructor = Physijs.CapsuleMesh;


	// Physijs.ConeMesh
	Physijs.ConeMesh = function( geometry, material, mass ) {
		var width, height, depth;

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;

		this._physijs.type = 'cone';
		this._physijs.radius = width / 2;
		this._physijs.height = height;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height : mass;
	};
	Physijs.ConeMesh.prototype = new Physijs.Mesh;
	Physijs.ConeMesh.prototype.constructor = Physijs.ConeMesh;


	// Physijs.ConcaveMesh
	Physijs.ConcaveMesh = function( geometry, material, mass ) {
		var i,
			width, height, depth,
			vertices, face, triangles = [];

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		vertices = geometry.vertices;

		for ( i = 0; i < geometry.faces.length; i++ ) {
			face = geometry.faces[i];
			if ( face instanceof THREE.Face3) {

				triangles.push([
					{ x: vertices[face.a].x, y: vertices[face.a].y, z: vertices[face.a].z },
					{ x: vertices[face.b].x, y: vertices[face.b].y, z: vertices[face.b].z },
					{ x: vertices[face.c].x, y: vertices[face.c].y, z: vertices[face.c].z }
				]);

			} else if ( face instanceof THREE.Face4 ) {

				triangles.push([
					{ x: vertices[face.a].x, y: vertices[face.a].y, z: vertices[face.a].z },
					{ x: vertices[face.b].x, y: vertices[face.b].y, z: vertices[face.b].z },
					{ x: vertices[face.d].x, y: vertices[face.d].y, z: vertices[face.d].z }
				]);
				triangles.push([
					{ x: vertices[face.b].x, y: vertices[face.b].y, z: vertices[face.b].z },
					{ x: vertices[face.c].x, y: vertices[face.c].y, z: vertices[face.c].z },
					{ x: vertices[face.d].x, y: vertices[face.d].y, z: vertices[face.d].z }
				]);

			}
		}

		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		depth = geometry.boundingBox.max.z - geometry.boundingBox.min.z;

		this._physijs.type = 'concave';
		this._physijs.triangles = triangles;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height * depth : mass;
	};
	Physijs.ConcaveMesh.prototype = new Physijs.Mesh;
	Physijs.ConcaveMesh.prototype.constructor = Physijs.ConcaveMesh;


	// Physijs.ConvexMesh
	Physijs.ConvexMesh = function( geometry, material, mass ) {
		var i,
			width, height, depth,
			points = [];

		Physijs.Mesh.call( this, geometry, material, mass );

		if ( !geometry.boundingBox ) {
			geometry.computeBoundingBox();
		}

		for ( i = 0; i < geometry.vertices.length; i++ ) {
			if ( THREE_REVISION >= 49 ) {
				points.push({
					x: geometry.vertices[i].x,
					y: geometry.vertices[i].y,
					z: geometry.vertices[i].z
				});
			} else {
				points.push({
					x: geometry.vertices[i].position.x,
					y: geometry.vertices[i].position.y,
					z: geometry.vertices[i].position.z
				});

			}
		}


		width = geometry.boundingBox.max.x - geometry.boundingBox.min.x;
		height = geometry.boundingBox.max.y - geometry.boundingBox.min.y;
		depth = geometry.boundingBox.max.z - geometry.boundingBox.min.z;

		this._physijs.type = 'convex';
		this._physijs.points = points;
		this._physijs.mass = (typeof mass === 'undefined') ? width * height * depth : mass;
	};
	Physijs.ConvexMesh.prototype = new Physijs.Mesh;
	Physijs.ConvexMesh.prototype.constructor = Physijs.ConvexMesh;


	// Physijs.Vehicle
	Physijs.Vehicle = function( mesh, tuning ) {
		tuning = tuning || new Physijs.VehicleTuning;
		this.mesh = mesh;
		this.wheels = [];
		this._physijs = {
			id: getObjectId(),
			rigidBody: mesh._physijs.id,
			suspension_stiffness: tuning.suspension_stiffness,
			suspension_compression: tuning.suspension_compression,
			suspension_damping: tuning.suspension_damping,
			max_suspension_travel: tuning.max_suspension_travel,
			friction_slip: tuning.friction_slip,
			max_suspension_force: tuning.max_suspension_force
		};
	};
	Physijs.Vehicle.prototype.addWheel = function( wheel_geometry, wheel_material, connection_point, wheel_direction, wheel_axle, suspension_rest_length, wheel_radius, is_front_wheel, tuning ) {
		var wheel = new THREE.Mesh( wheel_geometry, wheel_material );
		wheel.castShadow = wheel.receiveShadow = true;
		wheel.position.copy( wheel_direction ).multiplyScalar( suspension_rest_length / 100 ).addSelf( connection_point );
		this.world.add( wheel );
		this.wheels.push( wheel );

		this.world.execute( 'addWheel', {
			id: this._physijs.id,
			connection_point: { x: connection_point.x, y: connection_point.y, z: connection_point.z },
			wheel_direction: { x: wheel_direction.x, y: wheel_direction.y, z: wheel_direction.z },
			wheel_axle: { x: wheel_axle.x, y: wheel_axle.y, z: wheel_axle.z },
			suspension_rest_length: suspension_rest_length,
			wheel_radius: wheel_radius,
			is_front_wheel: is_front_wheel,
			tuning: tuning
		});
	};
	Physijs.Vehicle.prototype.setSteering = function( amount, wheel ) {
		if ( wheel !== undefined && this.wheels[ wheel ] !== undefined ) {
			this.world.execute( 'setSteering', { id: this._physijs.id, wheel: wheel, steering: amount } );
		} else if ( this.wheels.length > 0 ) {
			for ( var i = 0; i < this.wheels.length; i++ ) {
				this.world.execute( 'setSteering', { id: this._physijs.id, wheel: i, steering: amount } );
			}
		}
	};
	Physijs.Vehicle.prototype.setBrake = function( amount, wheel ) {
		if ( wheel !== undefined && this.wheels[ wheel ] !== undefined ) {
			this.world.execute( 'setBrake', { id: this._physijs.id, wheel: wheel, brake: amount } );
		} else if ( this.wheels.length > 0 ) {
			for ( var i = 0; i < this.wheels.length; i++ ) {
				this.world.execute( 'setBrake', { id: this._physijs.id, wheel: i, brake: amount } );
			}
		}
	};
	Physijs.Vehicle.prototype.applyEngineForce = function( amount, wheel ) {
		if ( wheel !== undefined && this.wheels[ wheel ] !== undefined ) {
			this.world.execute( 'applyEngineForce', { id: this._physijs.id, wheel: wheel, force: amount } );
		} else if ( this.wheels.length > 0 ) {
			for ( var i = 0; i < this.wheels.length; i++ ) {
				this.world.execute( 'applyEngineForce', { id: this._physijs.id, wheel: i, force: amount } );
			}
		}
	};

	// Physijs.VehicleTuning
	Physijs.VehicleTuning = function( suspension_stiffness, suspension_compression, suspension_damping, max_suspension_travel, friction_slip, max_suspension_force ) {
		this.suspension_stiffness = suspension_stiffness !== undefined ? suspension_stiffness : 5.88;
		this.suspension_compression = suspension_compression !== undefined ? suspension_compression : 0.83;
		this.suspension_damping = suspension_damping !== undefined ? suspension_damping : 0.88;
		this.max_suspension_travel = max_suspension_travel !== undefined ? max_suspension_travel : 500;
		this.friction_slip = friction_slip !== undefined ? friction_slip : 10.5;
		this.max_suspension_force = max_suspension_force !== undefined ? max_suspension_force : 6000;
	};

	return Physijs;
})();