box2d-rails 0.0.1

data/vendor/assets/javascripts/box2d/dynamics/joints/b2PrismaticJointDef.js

@@ -0,0 +1,56 @@
+/*
+* 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 b2PrismaticJointDef = Class.create();
+Object.extend(b2PrismaticJointDef.prototype, b2JointDef.prototype);
+Object.extend(b2PrismaticJointDef.prototype, 
+{
+	initialize: function()
+	{
+		// The constructor for b2JointDef
+		this.type = b2Joint.e_unknownJoint;
+		this.userData = null;
+		this.body1 = null;
+		this.body2 = null;
+		this.collideConnected = false;
+		//
+
+		this.type = b2Joint.e_prismaticJoint;
+		this.anchorPoint = new b2Vec2(0.0, 0.0);
+		this.axis = new b2Vec2(0.0, 0.0);
+		this.lowerTranslation = 0.0;
+		this.upperTranslation = 0.0;
+		this.motorForce = 0.0;
+		this.motorSpeed = 0.0;
+		this.enableLimit = false;
+		this.enableMotor = false;
+	},
+
+	anchorPoint: null,
+	axis: null,
+	lowerTranslation: null,
+	upperTranslation: null,
+	motorForce: null,
+	motorSpeed: null,
+	enableLimit: null,
+	enableMotor: null});
+

data/vendor/assets/javascripts/box2d/dynamics/joints/b2PulleyJoint.js

@@ -0,0 +1,618 @@
+/*
+* 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 b2PulleyJoint = Class.create();
+Object.extend(b2PulleyJoint.prototype, b2Joint.prototype);
+Object.extend(b2PulleyJoint.prototype, 
+{
+	GetAnchor1: function(){
+		//return this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
+		var tMat = this.m_body1.m_R;
+		return new b2Vec2(	this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
+							this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
+	},
+	GetAnchor2: function(){
+		//return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
+		var tMat = this.m_body2.m_R;
+		return new b2Vec2(	this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
+							this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
+	},
+
+	GetGroundPoint1: function(){
+		//return this.m_ground->m_position + this.m_groundAnchor1;
+		return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y);
+	},
+	GetGroundPoint2: function(){
+		return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y);
+	},
+
+	GetReactionForce: function(invTimeStep){
+		//b2Vec2 F(0.0f, 0.0f);
+		return new b2Vec2();
+	},
+	GetReactionTorque: function(invTimeStep){
+		return 0.0;
+	},
+
+	GetLength1: function(){
+		var tMat;
+		//b2Vec2 p = this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
+		tMat = this.m_body1.m_R;
+		var pX = this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y);
+		var pY = this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y);
+		//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor1;
+		//b2Vec2 d = p - s;
+		var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor1.x);
+		var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor1.y);
+		return Math.sqrt(dX*dX + dY*dY);
+	},
+	GetLength2: function(){
+		var tMat;
+		//b2Vec2 p = this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
+		tMat = this.m_body2.m_R;
+		var pX = this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y);
+		var pY = this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y);
+		//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor2;
+		//b2Vec2 d = p - s;
+		var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor2.x);
+		var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor2.y);
+		return Math.sqrt(dX*dX + dY*dY);
+	},
+
+	GetRatio: function(){
+		return this.m_ratio;
+	},
+
+	//--------------- Internals Below -------------------
+
+	initialize: function(def){
+		// The constructor for b2Joint
+		// initialize instance variables for references
+		this.m_node1 = new b2JointNode();
+		this.m_node2 = new b2JointNode();
+		//
+		this.m_type = def.type;
+		this.m_prev = null;
+		this.m_next = null;
+		this.m_body1 = def.body1;
+		this.m_body2 = def.body2;
+		this.m_collideConnected = def.collideConnected;
+		this.m_islandFlag = false;
+		this.m_userData = def.userData;
+		//
+
+		// initialize instance variables for references
+		this.m_groundAnchor1 = new b2Vec2();
+		this.m_groundAnchor2 = new b2Vec2();
+		this.m_localAnchor1 = new b2Vec2();
+		this.m_localAnchor2 = new b2Vec2();
+		this.m_u1 = new b2Vec2();
+		this.m_u2 = new b2Vec2();
+		//
+
+
+		// parent
+		//super(def);
+
+		var tMat;
+		var tX;
+		var tY;
+
+		this.m_ground = this.m_body1.m_world.m_groundBody;
+		//this.m_groundAnchor1 = def.groundPoint1 - this.m_ground.m_position;
+		this.m_groundAnchor1.x = def.groundPoint1.x - this.m_ground.m_position.x;
+		this.m_groundAnchor1.y = def.groundPoint1.y - this.m_ground.m_position.y;
+		//this.m_groundAnchor2 = def.groundPoint2 - this.m_ground.m_position;
+		this.m_groundAnchor2.x = def.groundPoint2.x - this.m_ground.m_position.x;
+		this.m_groundAnchor2.y = def.groundPoint2.y - this.m_ground.m_position.y;
+		//this.m_localAnchor1 = b2MulT(this.m_body1.m_R, def.anchorPoint1 - this.m_body1.m_position);
+		tMat = this.m_body1.m_R;
+		tX = def.anchorPoint1.x - this.m_body1.m_position.x;
+		tY = def.anchorPoint1.y - this.m_body1.m_position.y;
+		this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
+		this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
+		//this.m_localAnchor2 = b2MulT(this.m_body2.m_R, def.anchorPoint2 - this.m_body2.m_position);
+		tMat = this.m_body2.m_R;
+		tX = def.anchorPoint2.x - this.m_body2.m_position.x;
+		tY = def.anchorPoint2.y - this.m_body2.m_position.y;
+		this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
+		this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;
+
+		this.m_ratio = def.ratio;
+
+		//var d1 = def.groundPoint1 - def.anchorPoint1;
+		tX = def.groundPoint1.x - def.anchorPoint1.x;
+		tY = def.groundPoint1.y - def.anchorPoint1.y;
+		var d1Len = Math.sqrt(tX*tX + tY*tY);
+		//var d2 = def.groundPoint2 - def.anchorPoint2;
+		tX = def.groundPoint2.x - def.anchorPoint2.x;
+		tY = def.groundPoint2.y - def.anchorPoint2.y;
+		var d2Len = Math.sqrt(tX*tX + tY*tY);
+
+		var length1 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d1Len);
+		var length2 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d2Len);
+
+		this.m_constant = length1 + this.m_ratio * length2;
+
+		this.m_maxLength1 = b2Math.b2Clamp(def.maxLength1, length1, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
+		this.m_maxLength2 = b2Math.b2Clamp(def.maxLength2, length2, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
+
+		this.m_pulleyImpulse = 0.0;
+		this.m_limitImpulse1 = 0.0;
+		this.m_limitImpulse2 = 0.0;
+
+	},
+
+	PrepareVelocitySolver: function(){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var tMat;
+
+		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
+		tMat = b1.m_R;
+		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
+		tMat = b2.m_R;
+		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+		//b2Vec2 p1 = b1->m_position + r1;
+		var p1X = b1.m_position.x + r1X;
+		var p1Y = b1.m_position.y + r1Y;
+		//b2Vec2 p2 = b2->m_position + r2;
+		var p2X = b2.m_position.x + r2X;
+		var p2Y = b2.m_position.y + r2Y;
+
+		//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
+		var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
+		var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
+		//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
+		var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
+		var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
+
+		// Get the pulley axes.
+		//this.m_u1 = p1 - s1;
+		this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+		//this.m_u2 = p2 - s2;
+		this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+
+		var length1 = this.m_u1.Length();
+		var length2 = this.m_u2.Length();
+
+		if (length1 > b2Settings.b2_linearSlop)
+		{
+			//this.m_u1 *= 1.0f / length1;
+			this.m_u1.Multiply(1.0 / length1);
+		}
+		else
+		{
+			this.m_u1.SetZero();
+		}
+
+		if (length2 > b2Settings.b2_linearSlop)
+		{
+			//this.m_u2 *= 1.0f / length2;
+			this.m_u2.Multiply(1.0 / length2);
+		}
+		else
+		{
+			this.m_u2.SetZero();
+		}
+
+		if (length1 < this.m_maxLength1)
+		{
+			this.m_limitState1 = b2Joint.e_inactiveLimit;
+			this.m_limitImpulse1 = 0.0;
+		}
+		else
+		{
+			this.m_limitState1 = b2Joint.e_atUpperLimit;
+			this.m_limitPositionImpulse1 = 0.0;
+		}
+
+		if (length2 < this.m_maxLength2)
+		{
+			this.m_limitState2 = b2Joint.e_inactiveLimit;
+			this.m_limitImpulse2 = 0.0;
+		}
+		else
+		{
+			this.m_limitState2 = b2Joint.e_atUpperLimit;
+			this.m_limitPositionImpulse2 = 0.0;
+		}
+
+		// Compute effective mass.
+		//var cr1u1 = b2Cross(r1, this.m_u1);
+		var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x;
+		//var cr2u2 = b2Cross(r2, this.m_u2);
+		var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x;
+
+		this.m_limitMass1 = b1.m_invMass + b1.m_invI * cr1u1 * cr1u1;
+		this.m_limitMass2 = b2.m_invMass + b2.m_invI * cr2u2 * cr2u2;
+		this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2;
+		//b2Settings.b2Assert(this.m_limitMass1 > Number.MIN_VALUE);
+		//b2Settings.b2Assert(this.m_limitMass2 > Number.MIN_VALUE);
+		//b2Settings.b2Assert(this.m_pulleyMass > Number.MIN_VALUE);
+		this.m_limitMass1 = 1.0 / this.m_limitMass1;
+		this.m_limitMass2 = 1.0 / this.m_limitMass2;
+		this.m_pulleyMass = 1.0 / this.m_pulleyMass;
+
+		// Warm starting.
+		//b2Vec2 P1 = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1;
+		var P1X = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.x;
+		var P1Y = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.y;
+		//b2Vec2 P2 = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2;
+		var P2X = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.x;
+		var P2Y = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.y;
+		//b1.m_linearVelocity += b1.m_invMass * P1;
+		b1.m_linearVelocity.x += b1.m_invMass * P1X;
+		b1.m_linearVelocity.y += b1.m_invMass * P1Y;
+		//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
+		b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
+		//b2.m_linearVelocity += b2.m_invMass * P2;
+		b2.m_linearVelocity.x += b2.m_invMass * P2X;
+		b2.m_linearVelocity.y += b2.m_invMass * P2Y;
+		//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
+		b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
+	},
+
+	SolveVelocityConstraints: function(step){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var tMat;
+
+		//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
+		tMat = b1.m_R;
+		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+		//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
+		tMat = b2.m_R;
+		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+		// temp vars
+		var v1X;
+		var v1Y;
+		var v2X;
+		var v2Y;
+		var P1X;
+		var P1Y;
+		var P2X;
+		var P2Y;
+		var Cdot;
+		var impulse;
+		var oldLimitImpulse;
+
+		//{
+			//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
+			v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
+			v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
+			//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
+			v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
+			v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
+
+			//Cdot = -b2Dot(this.m_u1, v1) - this.m_ratio * b2Dot(this.m_u2, v2);
+			Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y);
+			impulse = -this.m_pulleyMass * Cdot;
+			this.m_pulleyImpulse += impulse;
+
+			//b2Vec2 P1 = -impulse * this.m_u1;
+			P1X = -impulse * this.m_u1.x;
+			P1Y = -impulse * this.m_u1.y;
+			//b2Vec2 P2 = -this.m_ratio * impulse * this.m_u2;
+			P2X = -this.m_ratio * impulse * this.m_u2.x;
+			P2Y = -this.m_ratio * impulse * this.m_u2.y;
+			//b1.m_linearVelocity += b1.m_invMass * P1;
+			b1.m_linearVelocity.x += b1.m_invMass * P1X;
+			b1.m_linearVelocity.y += b1.m_invMass * P1Y;
+			//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
+			b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
+			//b2.m_linearVelocity += b2.m_invMass * P2;
+			b2.m_linearVelocity.x += b2.m_invMass * P2X;
+			b2.m_linearVelocity.y += b2.m_invMass * P2Y;
+			//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
+			b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
+		//}
+
+		if (this.m_limitState1 == b2Joint.e_atUpperLimit)
+		{
+			//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
+			v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
+			v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
+
+			//float32 Cdot = -b2Dot(this.m_u1, v1);
+			Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y);
+			impulse = -this.m_limitMass1 * Cdot;
+			oldLimitImpulse = this.m_limitImpulse1;
+			this.m_limitImpulse1 = b2Math.b2Max(0.0, this.m_limitImpulse1 + impulse);
+			impulse = this.m_limitImpulse1 - oldLimitImpulse;
+			//b2Vec2 P1 = -impulse * this.m_u1;
+			P1X = -impulse * this.m_u1.x;
+			P1Y = -impulse * this.m_u1.y;
+			//b1.m_linearVelocity += b1->m_invMass * P1;
+			b1.m_linearVelocity.x += b1.m_invMass * P1X;
+			b1.m_linearVelocity.y += b1.m_invMass * P1Y;
+			//b1.m_angularVelocity += b1->m_invI * b2Cross(r1, P1);
+			b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
+		}
+
+		if (this.m_limitState2 == b2Joint.e_atUpperLimit)
+		{
+			//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
+			v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
+			v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
+
+			//float32 Cdot = -b2Dot(this.m_u2, v2);
+			Cdot = -(this.m_u2.x * v2X + this.m_u2.y * v2Y);
+			impulse = -this.m_limitMass2 * Cdot;
+			oldLimitImpulse = this.m_limitImpulse2;
+			this.m_limitImpulse2 = b2Math.b2Max(0.0, this.m_limitImpulse2 + impulse);
+			impulse = this.m_limitImpulse2 - oldLimitImpulse;
+			//b2Vec2 P2 = -impulse * this.m_u2;
+			P2X = -impulse * this.m_u2.x;
+			P2Y = -impulse * this.m_u2.y;
+			//b2->m_linearVelocity += b2->m_invMass * P2;
+			b2.m_linearVelocity.x += b2.m_invMass * P2X;
+			b2.m_linearVelocity.y += b2.m_invMass * P2Y;
+			//b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P2);
+			b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
+		}
+	},
+
+
+
+	SolvePositionConstraints: function(){
+		var b1 = this.m_body1;
+		var b2 = this.m_body2;
+
+		var tMat;
+
+		//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
+		var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
+		var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
+		//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
+		var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
+		var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
+
+		// temp vars
+		var r1X;
+		var r1Y;
+		var r2X;
+		var r2Y;
+		var p1X;
+		var p1Y;
+		var p2X;
+		var p2Y;
+		var length1;
+		var length2;
+		var C;
+		var impulse;
+		var oldLimitPositionImpulse;
+
+		var linearError = 0.0;
+
+		{
+			//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
+			tMat = b1.m_R;
+			r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+			r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+			//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
+			tMat = b2.m_R;
+			r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+			r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+
+			//b2Vec2 p1 = b1->m_position + r1;
+			p1X = b1.m_position.x + r1X;
+			p1Y = b1.m_position.y + r1Y;
+			//b2Vec2 p2 = b2->m_position + r2;
+			p2X = b2.m_position.x + r2X;
+			p2Y = b2.m_position.y + r2Y;
+
+			// Get the pulley axes.
+			//this.m_u1 = p1 - s1;
+			this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+			//this.m_u2 = p2 - s2;
+			this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+
+			length1 = this.m_u1.Length();
+			length2 = this.m_u2.Length();
+
+			if (length1 > b2Settings.b2_linearSlop)
+			{
+				//this.m_u1 *= 1.0f / length1;
+				this.m_u1.Multiply( 1.0 / length1 );
+			}
+			else
+			{
+				this.m_u1.SetZero();
+			}
+
+			if (length2 > b2Settings.b2_linearSlop)
+			{
+				//this.m_u2 *= 1.0f / length2;
+				this.m_u2.Multiply( 1.0 / length2 );
+			}
+			else
+			{
+				this.m_u2.SetZero();
+			}
+
+			C = this.m_constant - length1 - this.m_ratio * length2;
+			linearError = b2Math.b2Max(linearError, Math.abs(C));
+			C = b2Math.b2Clamp(C, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
+			impulse = -this.m_pulleyMass * C;
+
+			p1X = -impulse * this.m_u1.x;
+			p1Y = -impulse * this.m_u1.y;
+			p2X = -this.m_ratio * impulse * this.m_u2.x;
+			p2Y = -this.m_ratio * impulse * this.m_u2.y;
+
+			b1.m_position.x += b1.m_invMass * p1X;
+			b1.m_position.y += b1.m_invMass * p1Y;
+			b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
+			b2.m_position.x += b2.m_invMass * p2X;
+			b2.m_position.y += b2.m_invMass * p2Y;
+			b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
+
+			b1.m_R.Set(b1.m_rotation);
+			b2.m_R.Set(b2.m_rotation);
+		}
+
+		if (this.m_limitState1 == b2Joint.e_atUpperLimit)
+		{
+			//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
+			tMat = b1.m_R;
+			r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
+			r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
+			//b2Vec2 p1 = b1->m_position + r1;
+			p1X = b1.m_position.x + r1X;
+			p1Y = b1.m_position.y + r1Y;
+
+			//this.m_u1 = p1 - s1;
+			this.m_u1.Set(p1X - s1X, p1Y - s1Y);
+
+			length1 = this.m_u1.Length();
+
+			if (length1 > b2Settings.b2_linearSlop)
+			{
+				//this.m_u1 *= 1.0 / length1;
+				this.m_u1.x *= 1.0 / length1;
+				this.m_u1.y *= 1.0 / length1;
+			}
+			else
+			{
+				this.m_u1.SetZero();
+			}
+
+			C = this.m_maxLength1 - length1;
+			linearError = b2Math.b2Max(linearError, -C);
+			C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
+			impulse = -this.m_limitMass1 * C;
+			oldLimitPositionImpulse = this.m_limitPositionImpulse1;
+			this.m_limitPositionImpulse1 = b2Math.b2Max(0.0, this.m_limitPositionImpulse1 + impulse);
+			impulse = this.m_limitPositionImpulse1 - oldLimitPositionImpulse;
+
+			//P1 = -impulse * this.m_u1;
+			p1X = -impulse * this.m_u1.x;
+			p1Y = -impulse * this.m_u1.y;
+
+			b1.m_position.x += b1.m_invMass * p1X;
+			b1.m_position.y += b1.m_invMass * p1Y;
+			//b1.m_rotation += b1.m_invI * b2Cross(r1, P1);
+			b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
+			b1.m_R.Set(b1.m_rotation);
+		}
+
+		if (this.m_limitState2 == b2Joint.e_atUpperLimit)
+		{
+			//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
+			tMat = b2.m_R;
+			r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
+			r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
+			//b2Vec2 p2 = b2->m_position + r2;
+			p2X = b2.m_position.x + r2X;
+			p2Y = b2.m_position.y + r2Y;
+
+			//this.m_u2 = p2 - s2;
+			this.m_u2.Set(p2X - s2X, p2Y - s2Y);
+
+			length2 = this.m_u2.Length();
+
+			if (length2 > b2Settings.b2_linearSlop)
+			{
+				//this.m_u2 *= 1.0 / length2;
+				this.m_u2.x *= 1.0 / length2;
+				this.m_u2.y *= 1.0 / length2;
+			}
+			else
+			{
+				this.m_u2.SetZero();
+			}
+
+			C = this.m_maxLength2 - length2;
+			linearError = b2Math.b2Max(linearError, -C);
+			C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
+			impulse = -this.m_limitMass2 * C;
+			oldLimitPositionImpulse = this.m_limitPositionImpulse2;
+			this.m_limitPositionImpulse2 = b2Math.b2Max(0.0, this.m_limitPositionImpulse2 + impulse);
+			impulse = this.m_limitPositionImpulse2 - oldLimitPositionImpulse;
+
+			//P2 = -impulse * this.m_u2;
+			p2X = -impulse * this.m_u2.x;
+			p2Y = -impulse * this.m_u2.y;
+
+			//b2.m_position += b2.m_invMass * P2;
+			b2.m_position.x += b2.m_invMass * p2X;
+			b2.m_position.y += b2.m_invMass * p2Y;
+			//b2.m_rotation += b2.m_invI * b2Cross(r2, P2);
+			b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
+			b2.m_R.Set(b2.m_rotation);
+		}
+
+		return linearError < b2Settings.b2_linearSlop;
+	},
+
+
+
+	m_ground: null,
+	m_groundAnchor1: new b2Vec2(),
+	m_groundAnchor2: new b2Vec2(),
+	m_localAnchor1: new b2Vec2(),
+	m_localAnchor2: new b2Vec2(),
+
+	m_u1: new b2Vec2(),
+	m_u2: new b2Vec2(),
+
+	m_constant: null,
+	m_ratio: null,
+
+	m_maxLength1: null,
+	m_maxLength2: null,
+
+	// Effective masses
+	m_pulleyMass: null,
+	m_limitMass1: null,
+	m_limitMass2: null,
+
+	// Impulses for accumulation/warm starting.
+	m_pulleyImpulse: null,
+	m_limitImpulse1: null,
+	m_limitImpulse2: null,
+
+	// Position impulses for accumulation.
+	m_limitPositionImpulse1: null,
+	m_limitPositionImpulse2: null,
+
+	m_limitState1: 0,
+	m_limitState2: 0
+
+	// static
+});
+
+
+
+b2PulleyJoint.b2_minPulleyLength = b2Settings.b2_lengthUnitsPerMeter;