box2d-rails 0.0.1

data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactConstraint.js

@@ -0,0 +1,45 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2ContactConstraint = Class.create();
+b2ContactConstraint.prototype = 
+{
+	initialize: function(){
+		// initialize instance variables for references
+		this.normal = new b2Vec2();
+		//
+
+		this.points = new Array(b2Settings.b2_maxManifoldPoints);
+		for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++){
+			this.points[i] = new b2ContactConstraintPoint();
+		}
+
+
+	},
+	points: null,
+	normal: new b2Vec2(),
+	manifold: null,
+	body1: null,
+	body2: null,
+	friction: null,
+	restitution: null,
+	pointCount: 0};

data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactConstraintPoint.js

@@ -0,0 +1,40 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2ContactConstraintPoint = Class.create();
+b2ContactConstraintPoint.prototype = 
+{
+	localAnchor1: new b2Vec2(),
+	localAnchor2: new b2Vec2(),
+	normalImpulse: null,
+	tangentImpulse: null,
+	positionImpulse: null,
+	normalMass: null,
+	tangentMass: null,
+	separation: null,
+	velocityBias: null,
+	initialize: function() {
+		// initialize instance variables for references
+		this.localAnchor1 = new b2Vec2();
+		this.localAnchor2 = new b2Vec2();
+		//
+}};

data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactNode.js

@@ -0,0 +1,33 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2ContactNode = Class.create();
+b2ContactNode.prototype = 
+{
+	other: null,
+	contact: null,
+	prev: null,
+	next: null,
+	initialize: function() {}};
+
+
+

data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactRegister.js

@@ -0,0 +1,30 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+var b2ContactRegister = Class.create();
+b2ContactRegister.prototype = 
+{
+	createFcn: null,
+	destroyFcn: null,
+	primary: null,
+	initialize: function() {}};
+
+
+

data/vendor/assets/javascripts/box2d/dynamics/contacts/b2ContactSolver.js

@@ -0,0 +1,537 @@
+/*
+* Copyright (c) 2006-2007 Erin Catto http:
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+* 2. Altered source versions must be plainly marked, and must not be
+* misrepresented the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+
+
+
+var b2ContactSolver = Class.create();
+b2ContactSolver.prototype = 
+{
+	initialize: function(contacts, contactCount, allocator){
+		// initialize instance variables for references
+		this.m_constraints = new Array();
+		//
+
+		this.m_allocator = allocator;
+
+		var i = 0;
+		var tVec;
+		var tMat;
+
+		this.m_constraintCount = 0;
+		for (i = 0; i < contactCount; ++i)
+		{
+			this.m_constraintCount += contacts[i].GetManifoldCount();
+		}
+
+		// fill array
+		for (i = 0; i < this.m_constraintCount; i++){
+			this.m_constraints[i] = new b2ContactConstraint();
+		}
+
+		var count = 0;
+		for (i = 0; i < contactCount; ++i)
+		{
+			var contact = contacts[i];
+			var b1 = contact.m_shape1.m_body;
+			var b2 = contact.m_shape2.m_body;
+			var manifoldCount = contact.GetManifoldCount();
+			var manifolds = contact.GetManifolds();
+			var friction = contact.m_friction;
+			var restitution = contact.m_restitution;
+
+			//var v1 = b1.m_linearVelocity.Copy();
+			var v1X = b1.m_linearVelocity.x;
+			var v1Y = b1.m_linearVelocity.y;
+			//var v2 = b2.m_linearVelocity.Copy();
+			var v2X = b2.m_linearVelocity.x;
+			var v2Y = b2.m_linearVelocity.y;
+			var w1 = b1.m_angularVelocity;
+			var w2 = b2.m_angularVelocity;
+
+			for (var j = 0; j < manifoldCount; ++j)
+			{
+				var manifold = manifolds[ j ];
+
+				//b2Settings.b2Assert(manifold.pointCount > 0);
+
+				//var normal = manifold.normal.Copy();
+				var normalX = manifold.normal.x;
+				var normalY = manifold.normal.y;
+
+				//b2Settings.b2Assert(count < this.m_constraintCount);
+				var c = this.m_constraints[ count ];
+				c.body1 = b1;
+				c.body2 = b2;
+				c.manifold = manifold;
+				//c.normal = normal;
+				c.normal.x = normalX;
+				c.normal.y = normalY;
+				c.pointCount = manifold.pointCount;
+				c.friction = friction;
+				c.restitution = restitution;
+
+				for (var k = 0; k < c.pointCount; ++k)
+				{
+					var cp = manifold.points[ k ];
+					var ccp = c.points[ k ];
+
+					ccp.normalImpulse = cp.normalImpulse;
+					ccp.tangentImpulse = cp.tangentImpulse;
+					ccp.separation = cp.separation;
+
+					//var r1 = b2Math.SubtractVV( cp.position, b1.m_position );
+					var r1X = cp.position.x - b1.m_position.x;
+					var r1Y = cp.position.y - b1.m_position.y;
+					//var r2 = b2Math.SubtractVV( cp.position, b2.m_position );
+					var r2X = cp.position.x - b2.m_position.x;
+					var r2Y = cp.position.y - b2.m_position.y;
+
+					//ccp.localAnchor1 = b2Math.b2MulTMV(b1.m_R, r1);
+					tVec = ccp.localAnchor1;
+					tMat = b1.m_R;
+					tVec.x = r1X * tMat.col1.x + r1Y * tMat.col1.y;
+					tVec.y = r1X * tMat.col2.x + r1Y * tMat.col2.y;
+
+					//ccp.localAnchor2 = b2Math.b2MulTMV(b2.m_R, r2);
+					tVec = ccp.localAnchor2;
+					tMat = b2.m_R;
+					tVec.x = r2X * tMat.col1.x + r2Y * tMat.col1.y;
+					tVec.y = r2X * tMat.col2.x + r2Y * tMat.col2.y;
+
+					var r1Sqr = r1X * r1X + r1Y * r1Y;
+					var r2Sqr = r2X * r2X + r2Y * r2Y;
+
+					//var rn1 = b2Math.b2Dot(r1, normal);
+					var rn1 = r1X*normalX + r1Y*normalY;
+					//var rn2 = b2Math.b2Dot(r2, normal);
+					var rn2 = r2X*normalX + r2Y*normalY;
+					var kNormal = b1.m_invMass + b2.m_invMass;
+					kNormal += b1.m_invI * (r1Sqr - rn1 * rn1) + b2.m_invI * (r2Sqr - rn2 * rn2);
+					//b2Settings.b2Assert(kNormal > Number.MIN_VALUE);
+					ccp.normalMass = 1.0 / kNormal;
+
+					//var tangent = b2Math.b2CrossVF(normal, 1.0);
+					var tangentX = normalY
+					var tangentY = -normalX;
+
+					//var rt1 = b2Math.b2Dot(r1, tangent);
+					var rt1 = r1X*tangentX + r1Y*tangentY;
+					//var rt2 = b2Math.b2Dot(r2, tangent);
+					var rt2 = r2X*tangentX + r2Y*tangentY;
+					var kTangent = b1.m_invMass + b2.m_invMass;
+					kTangent += b1.m_invI * (r1Sqr - rt1 * rt1) + b2.m_invI * (r2Sqr - rt2 * rt2);
+					//b2Settings.b2Assert(kTangent > Number.MIN_VALUE);
+					ccp.tangentMass = 1.0 /  kTangent;
+
+					// Setup a velocity bias for restitution.
+					ccp.velocityBias = 0.0;
+					if (ccp.separation > 0.0)
+					{
+						ccp.velocityBias = -60.0 * ccp.separation;
+					}
+					//var vRel = b2Math.b2Dot(c.normal, b2Math.SubtractVV( b2Math.SubtractVV( b2Math.AddVV( v2, b2Math.b2CrossFV(w2, r2)), v1 ), b2Math.b2CrossFV(w1, r1)));
+					var tX = v2X + (-w2*r2Y) - v1X - (-w1*r1Y);
+					var tY = v2Y + (w2*r2X) - v1Y - (w1*r1X);
+					//var vRel = b2Dot(c.normal, tX/Y);
+					var vRel = c.normal.x*tX + c.normal.y*tY;
+					if (vRel < -b2Settings.b2_velocityThreshold)
+					{
+						ccp.velocityBias += -c.restitution * vRel;
+					}
+				}
+
+				++count;
+			}
+		}
+
+		//b2Settings.b2Assert(count == this.m_constraintCount);
+	},
+	//~b2ContactSolver();
+
+	PreSolve: function(){
+		var tVec;
+		var tVec2;
+		var tMat;
+
+		// Warm start.
+		for (var i = 0; i < this.m_constraintCount; ++i)
+		{
+			var c = this.m_constraints[ i ];
+
+			var b1 = c.body1;
+			var b2 = c.body2;
+			var invMass1 = b1.m_invMass;
+			var invI1 = b1.m_invI;
+			var invMass2 = b2.m_invMass;
+			var invI2 = b2.m_invI;
+			//var normal = new b2Vec2(c.normal.x, c.normal.y);
+			var normalX = c.normal.x;
+			var normalY = c.normal.y;
+			//var tangent = b2Math.b2CrossVF(normal, 1.0);
+			var tangentX = normalY;
+			var tangentY = -normalX;
+
+			var j = 0;
+			var tCount = 0;
+			if (b2World.s_enableWarmStarting)
+			{
+				tCount = c.pointCount;
+				for (j = 0; j < tCount; ++j)
+				{
+					var ccp = c.points[ j ];
+					//var P = b2Math.AddVV( b2Math.MulFV(ccp.normalImpulse, normal), b2Math.MulFV(ccp.tangentImpulse, tangent));
+					var PX = ccp.normalImpulse*normalX + ccp.tangentImpulse*tangentX;
+					var PY = ccp.normalImpulse*normalY + ccp.tangentImpulse*tangentY;
+
+					//var r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
+					tMat = b1.m_R;
+					tVec = ccp.localAnchor1;
+					var r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+					var r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+
+					//var r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
+					tMat = b2.m_R;
+					tVec = ccp.localAnchor2;
+					var r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
+					var r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
+
+					//b1.m_angularVelocity -= invI1 * b2Math.b2CrossVV(r1, P);
+					b1.m_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
+					//b1.m_linearVelocity.Subtract( b2Math.MulFV(invMass1, P) );
+					b1.m_linearVelocity.x -= invMass1 * PX;
+					b1.m_linearVelocity.y -= invMass1 * PY;
+					//b2.m_angularVelocity += invI2 * b2Math.b2CrossVV(r2, P);
+					b2.m_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
+					//b2.m_linearVelocity.Add( b2Math.MulFV(invMass2, P) );
+					b2.m_linearVelocity.x += invMass2 * PX;
+					b2.m_linearVelocity.y += invMass2 * PY;
+
+					ccp.positionImpulse = 0.0;
+				}
+			}
+			else{
+				tCount = c.pointCount;
+				for (j = 0; j < tCount; ++j)
+				{
+					var ccp2 = c.points[ j ];
+					ccp2.normalImpulse = 0.0;
+					ccp2.tangentImpulse = 0.0;
+
+					ccp2.positionImpulse = 0.0;
+				}
+			}
+		}
+	},
+	SolveVelocityConstraints: function(){
+		var j = 0;
+		var ccp;
+		var r1X;
+		var r1Y;
+		var r2X;
+		var r2Y;
+		var dvX;
+		var dvY;
+		var lambda;
+		var newImpulse;
+		var PX;
+		var PY;
+
+		var tMat;
+		var tVec;
+
+		for (var i = 0; i < this.m_constraintCount; ++i)
+		{
+			var c = this.m_constraints[ i ];
+			var b1 = c.body1;
+			var b2 = c.body2;
+			var b1_angularVelocity = b1.m_angularVelocity;
+			var b1_linearVelocity = b1.m_linearVelocity;
+			var b2_angularVelocity = b2.m_angularVelocity;
+			var b2_linearVelocity = b2.m_linearVelocity;
+
+			var invMass1 = b1.m_invMass;
+			var invI1 = b1.m_invI;
+			var invMass2 = b2.m_invMass;
+			var invI2 = b2.m_invI;
+			//var normal = new b2Vec2(c.normal.x, c.normal.y);
+			var normalX = c.normal.x;
+			var normalY = c.normal.y;
+			//var tangent = b2Math.b2CrossVF(normal, 1.0);
+			var tangentX = normalY;
+			var tangentY = -normalX;
+
+			// Solver normal constraints
+			var tCount = c.pointCount;
+			for (j = 0; j < tCount; ++j)
+			{
+				ccp = c.points[ j ];
+
+				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
+				tMat = b1.m_R;
+				tVec = ccp.localAnchor1;
+				r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
+				tMat = b2.m_R;
+				tVec = ccp.localAnchor2;
+				r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+
+				// Relative velocity at contact
+				//var dv = b2Math.SubtractVV( b2Math.AddVV( b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b2Math.SubtractVV(b1.m_linearVelocity, b2Math.b2CrossFV(b1.m_angularVelocity, r1)));
+				//dv = b2Math.SubtractVV(b2Math.SubtractVV( b2Math.AddVV( b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
+				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
+				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
+
+				// Compute normal impulse
+				//var vn = b2Math.b2Dot(dv, normal);
+				var vn = dvX * normalX + dvY * normalY;
+				lambda = -ccp.normalMass * (vn - ccp.velocityBias);
+
+				// b2Clamp the accumulated impulse
+				newImpulse = b2Math.b2Max(ccp.normalImpulse + lambda, 0.0);
+				lambda = newImpulse - ccp.normalImpulse;
+
+				// Apply contact impulse
+				//P = b2Math.MulFV(lambda, normal);
+				PX = lambda * normalX;
+				PY = lambda * normalY;
+
+				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
+				b1_linearVelocity.x -= invMass1 * PX;
+				b1_linearVelocity.y -= invMass1 * PY;
+				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
+
+				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
+				b2_linearVelocity.x += invMass2 * PX;
+				b2_linearVelocity.y += invMass2 * PY;
+				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
+
+				ccp.normalImpulse = newImpulse;
+
+
+
+				// MOVED FROM BELOW
+				// Relative velocity at contact
+				//var dv = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
+				//dv =  b2Math.SubtractVV(b2Math.SubtractVV(b2Math.AddVV(b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
+				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
+				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
+
+				// Compute tangent impulse
+				var vt = dvX*tangentX + dvY*tangentY;
+				lambda = ccp.tangentMass * (-vt);
+
+				// b2Clamp the accumulated impulse
+				var maxFriction = c.friction * ccp.normalImpulse;
+				newImpulse = b2Math.b2Clamp(ccp.tangentImpulse + lambda, -maxFriction, maxFriction);
+				lambda = newImpulse - ccp.tangentImpulse;
+
+				// Apply contact impulse
+				//P = b2Math.MulFV(lambda, tangent);
+				PX = lambda * tangentX;
+				PY = lambda * tangentY;
+
+				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
+				b1_linearVelocity.x -= invMass1 * PX;
+				b1_linearVelocity.y -= invMass1 * PY;
+				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
+
+				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
+				b2_linearVelocity.x += invMass2 * PX;
+				b2_linearVelocity.y += invMass2 * PY;
+				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
+
+				ccp.tangentImpulse = newImpulse;
+			}
+
+
+
+			// Solver tangent constraints
+			// MOVED ABOVE FOR EFFICIENCY
+			/*for (j = 0; j < tCount; ++j)
+			{
+				ccp = c.points[ j ];
+
+				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
+				tMat = b1.m_R;
+				tVec = ccp.localAnchor1;
+				r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
+				tMat = b2.m_R;
+				tVec = ccp.localAnchor2;
+				r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+
+				// Relative velocity at contact
+				//var dv = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
+				//dv =  b2Math.SubtractVV(b2Math.SubtractVV(b2Math.AddVV(b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
+				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
+				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
+
+				// Compute tangent impulse
+				var vt = dvX*tangentX + dvY*tangentY;
+				lambda = ccp.tangentMass * (-vt);
+
+				// b2Clamp the accumulated impulse
+				var maxFriction = c.friction * ccp.normalImpulse;
+				newImpulse = b2Math.b2Clamp(ccp.tangentImpulse + lambda, -maxFriction, maxFriction);
+				lambda = newImpulse - ccp.tangentImpulse;
+
+				// Apply contact impulse
+				//P = b2Math.MulFV(lambda, tangent);
+				PX = lambda * tangentX;
+				PY = lambda * tangentY;
+
+				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
+				b1_linearVelocity.x -= invMass1 * PX;
+				b1_linearVelocity.y -= invMass1 * PY;
+				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
+
+				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
+				b2_linearVelocity.x += invMass2 * PX;
+				b2_linearVelocity.y += invMass2 * PY;
+				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
+
+				ccp.tangentImpulse = newImpulse;
+			}*/
+
+			// Update angular velocity
+			b1.m_angularVelocity = b1_angularVelocity;
+			b2.m_angularVelocity = b2_angularVelocity;
+		}
+	},
+	SolvePositionConstraints: function(beta){
+		var minSeparation = 0.0;
+
+		var tMat;
+		var tVec;
+
+		for (var i = 0; i < this.m_constraintCount; ++i)
+		{
+			var c = this.m_constraints[ i ];
+			var b1 = c.body1;
+			var b2 = c.body2;
+			var b1_position = b1.m_position;
+			var b1_rotation = b1.m_rotation;
+			var b2_position = b2.m_position;
+			var b2_rotation = b2.m_rotation;
+
+			var invMass1 = b1.m_invMass;
+			var invI1 = b1.m_invI;
+			var invMass2 = b2.m_invMass;
+			var invI2 = b2.m_invI;
+			//var normal = new b2Vec2(c.normal.x, c.normal.y);
+			var normalX = c.normal.x;
+			var normalY = c.normal.y;
+			//var tangent = b2Math.b2CrossVF(normal, 1.0);
+			var tangentX = normalY;
+			var tangentY = -normalX;
+
+			// Solver normal constraints
+			var tCount = c.pointCount;
+			for (var j = 0; j < tCount; ++j)
+			{
+				var ccp = c.points[ j ];
+
+				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
+				tMat = b1.m_R;
+				tVec = ccp.localAnchor1;
+				var r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				var r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
+				tMat = b2.m_R;
+				tVec = ccp.localAnchor2;
+				var r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
+				var r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
+
+				//var p1 = b2Math.AddVV(b1.m_position, r1);
+				var p1X = b1_position.x + r1X;
+				var p1Y = b1_position.y + r1Y;
+
+				//var p2 = b2Math.AddVV(b2.m_position, r2);
+				var p2X = b2_position.x + r2X;
+				var p2Y = b2_position.y + r2Y;
+
+				//var dp = b2Math.SubtractVV(p2, p1);
+				var dpX = p2X - p1X;
+				var dpY = p2Y - p1Y;
+
+				// Approximate the current separation.
+				//var separation = b2Math.b2Dot(dp, normal) + ccp.separation;
+				var separation = (dpX*normalX + dpY*normalY) + ccp.separation;
+
+				// Track max constraint error.
+				minSeparation = b2Math.b2Min(minSeparation, separation);
+
+				// Prevent large corrections and allow slop.
+				var C = beta * b2Math.b2Clamp(separation + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
+
+				// Compute normal impulse
+				var dImpulse = -ccp.normalMass * C;
+
+				// b2Clamp the accumulated impulse
+				var impulse0 = ccp.positionImpulse;
+				ccp.positionImpulse = b2Math.b2Max(impulse0 + dImpulse, 0.0);
+				dImpulse = ccp.positionImpulse - impulse0;
+
+				//var impulse = b2Math.MulFV( dImpulse, normal );
+				var impulseX = dImpulse * normalX;
+				var impulseY = dImpulse * normalY;
+
+				//b1.m_position.Subtract( b2Math.MulFV( invMass1, impulse ) );
+				b1_position.x -= invMass1 * impulseX;
+				b1_position.y -= invMass1 * impulseY;
+				b1_rotation -= invI1 * (r1X * impulseY - r1Y * impulseX);
+				b1.m_R.Set(b1_rotation);
+
+				//b2.m_position.Add( b2Math.MulFV( invMass2, impulse ) );
+				b2_position.x += invMass2 * impulseX;
+				b2_position.y += invMass2 * impulseY;
+				b2_rotation += invI2 * (r2X * impulseY - r2Y * impulseX);
+				b2.m_R.Set(b2_rotation);
+			}
+			// Update body rotations
+			b1.m_rotation = b1_rotation;
+			b2.m_rotation = b2_rotation;
+		}
+
+		return minSeparation >= -b2Settings.b2_linearSlop;
+	},
+	PostSolve: function(){
+		for (var i = 0; i < this.m_constraintCount; ++i)
+		{
+			var c = this.m_constraints[ i ];
+			var m = c.manifold;
+
+			for (var j = 0; j < c.pointCount; ++j)
+			{
+				var mPoint = m.points[j];
+				var cPoint = c.points[j];
+				mPoint.normalImpulse = cPoint.normalImpulse;
+				mPoint.tangentImpulse = cPoint.tangentImpulse;
+			}
+		}
+	},
+
+	m_allocator: null,
+	m_constraints: new Array(),
+	m_constraintCount: 0};