box2d-rails 0.0.1

data/vendor/assets/javascripts/box2d/collision/b2Proxy.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 b2Proxy = Class.create();
+b2Proxy.prototype = {
+	GetNext: function(){ return this.lowerBounds[0]; },
+	SetNext: function(next) { this.lowerBounds[0] = next /*& 0x0000ffff*/; },
+
+	IsValid: function(){ return this.overlapCount != b2BroadPhase.b2_invalid; },
+
+	lowerBounds: [/*uint*/(0), /*uint*/(0)],
+	upperBounds: [/*uint*/(0), /*uint*/(0)],
+	overlapCount: 0,
+	timeStamp: 0,
+
+	userData: null,
+
+	initialize: function() {
+		// initialize instance variables for references
+		this.lowerBounds = [/*uint*/(0), /*uint*/(0)];
+		this.upperBounds = [/*uint*/(0), /*uint*/(0)];
+		//
+}}

data/vendor/assets/javascripts/box2d/collision/shapes/b2BoxDef.js

@@ -0,0 +1,49 @@
+/*
+* 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 b2BoxDef = Class.create();
+Object.extend(b2BoxDef.prototype, b2ShapeDef.prototype);
+Object.extend(b2BoxDef.prototype, 
+{
+	initialize: function()
+	{
+		// The constructor for b2ShapeDef
+		this.type = b2Shape.e_unknownShape;
+		this.userData = null;
+		this.localPosition = new b2Vec2(0.0, 0.0);
+		this.localRotation = 0.0;
+		this.friction = 0.2;
+		this.restitution = 0.0;
+		this.density = 0.0;
+		this.categoryBits = 0x0001;
+		this.maskBits = 0xFFFF;
+		this.groupIndex = 0;	
+		//
+
+		this.type = b2Shape.e_boxShape;
+		this.extents = new b2Vec2(1.0, 1.0);
+	},
+
+	extents: null});
+

data/vendor/assets/javascripts/box2d/collision/shapes/b2CircleDef.js

@@ -0,0 +1,49 @@
+/*
+* 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 b2CircleDef = Class.create();
+Object.extend(b2CircleDef.prototype, b2ShapeDef.prototype);
+Object.extend(b2CircleDef.prototype, 
+{
+	initialize: function()
+	{
+		// The constructor for b2ShapeDef
+		this.type = b2Shape.e_unknownShape;
+		this.userData = null;
+		this.localPosition = new b2Vec2(0.0, 0.0);
+		this.localRotation = 0.0;
+		this.friction = 0.2;
+		this.restitution = 0.0;
+		this.density = 0.0;
+		this.categoryBits = 0x0001;
+		this.maskBits = 0xFFFF;
+		this.groupIndex = 0;	
+		//
+
+		this.type = b2Shape.e_circleShape;
+		this.radius = 1.0;
+	},
+
+	radius: null});
+

data/vendor/assets/javascripts/box2d/collision/shapes/b2CircleShape.js

@@ -0,0 +1,198 @@
+/*
+* 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 b2CircleShape = Class.create();
+Object.extend(b2CircleShape.prototype, b2Shape.prototype);
+Object.extend(b2CircleShape.prototype, 
+{
+	TestPoint: function(p){
+		//var d = b2Math.SubtractVV(p, this.m_position);
+		var d = new b2Vec2();
+		d.SetV(p);
+		d.Subtract(this.m_position);
+		return b2Math.b2Dot(d, d) <= this.m_radius * this.m_radius;
+	},
+
+	//--------------- Internals Below -------------------
+
+	initialize: function(def, body, localCenter){
+		// initialize instance variables for references
+		this.m_R = new b2Mat22();
+		this.m_position = new b2Vec2();
+		//
+
+		// The constructor for b2Shape
+		this.m_userData = def.userData;
+
+		this.m_friction = def.friction;
+		this.m_restitution = def.restitution;
+		this.m_body = body;
+
+		this.m_proxyId = b2Pair.b2_nullProxy;
+
+		this.m_maxRadius = 0.0;
+
+		this.m_categoryBits = def.categoryBits;
+		this.m_maskBits = def.maskBits;
+		this.m_groupIndex = def.groupIndex;
+		//
+
+		// initialize instance variables for references
+		this.m_localPosition = new b2Vec2();
+		//
+
+		//super(def, body);
+
+		//b2Settings.b2Assert(def.type == b2Shape.e_circleShape);
+		var circle = def;
+
+		//this.m_localPosition = def.localPosition - localCenter;
+		this.m_localPosition.Set(def.localPosition.x - localCenter.x, def.localPosition.y - localCenter.y);
+		this.m_type = b2Shape.e_circleShape;
+		this.m_radius = circle.radius;
+
+		this.m_R.SetM(this.m_body.m_R);
+		//b2Vec2 r = b2Mul(this.m_body->this.m_R, this.m_localPosition);
+		var rX = this.m_R.col1.x * this.m_localPosition.x + this.m_R.col2.x * this.m_localPosition.y;
+		var rY = this.m_R.col1.y * this.m_localPosition.x + this.m_R.col2.y * this.m_localPosition.y;
+		//this.m_position = this.m_body->this.m_position + r;
+		this.m_position.x = this.m_body.m_position.x + rX;
+		this.m_position.y = this.m_body.m_position.y + rY;
+		//this.m_maxRadius = r.Length() + this.m_radius;
+		this.m_maxRadius = Math.sqrt(rX*rX+rY*rY) + this.m_radius;
+
+		var aabb = new b2AABB();
+		aabb.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius);
+		aabb.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius);
+
+		var broadPhase = this.m_body.m_world.m_broadPhase;
+		if (broadPhase.InRange(aabb))
+		{
+			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
+		}
+		else
+		{
+			this.m_proxyId = b2Pair.b2_nullProxy;
+		}
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+	Synchronize: function(position1, R1, position2, R2){
+		this.m_R.SetM(R2);
+		//this.m_position = position2 + b2Mul(R2, this.m_localPosition);
+		this.m_position.x = (R2.col1.x * this.m_localPosition.x + R2.col2.x * this.m_localPosition.y) + position2.x;
+		this.m_position.y = (R2.col1.y * this.m_localPosition.x + R2.col2.y * this.m_localPosition.y) + position2.y;
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			return;
+		}
+
+		// Compute an AABB that covers the swept shape (may miss some rotation effect).
+		//b2Vec2 p1 = position1 + b2Mul(R1, this.m_localPosition);
+		var p1X = position1.x + (R1.col1.x * this.m_localPosition.x + R1.col2.x * this.m_localPosition.y);
+		var p1Y = position1.y + (R1.col1.y * this.m_localPosition.x + R1.col2.y * this.m_localPosition.y);
+		//b2Vec2 lower = b2Min(p1, this.m_position);
+		var lowerX = Math.min(p1X, this.m_position.x);
+		var lowerY = Math.min(p1Y, this.m_position.y);
+		//b2Vec2 upper = b2Max(p1, this.m_position);
+		var upperX = Math.max(p1X, this.m_position.x);
+		var upperY = Math.max(p1Y, this.m_position.y);
+
+		var aabb = new b2AABB();
+		aabb.minVertex.Set(lowerX - this.m_radius, lowerY - this.m_radius);
+		aabb.maxVertex.Set(upperX + this.m_radius, upperY + this.m_radius);
+
+		var broadPhase = this.m_body.m_world.m_broadPhase;
+		if (broadPhase.InRange(aabb))
+		{
+			broadPhase.MoveProxy(this.m_proxyId, aabb);
+		}
+		else
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+	QuickSync: function(position, R){
+		this.m_R.SetM(R);
+		//this.m_position = position + b2Mul(R, this.m_localPosition);
+		this.m_position.x = (R.col1.x * this.m_localPosition.x + R.col2.x * this.m_localPosition.y) + position.x;
+		this.m_position.y = (R.col1.y * this.m_localPosition.x + R.col2.y * this.m_localPosition.y) + position.y;
+	},
+
+
+	ResetProxy: function(broadPhase)
+	{
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			return;
+		}
+
+		var proxy = broadPhase.GetProxy(this.m_proxyId);
+
+		broadPhase.DestroyProxy(this.m_proxyId);
+		proxy = null;
+
+		var aabb = new b2AABB();
+		aabb.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius);
+		aabb.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius);
+
+		if (broadPhase.InRange(aabb))
+		{
+			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
+		}
+		else
+		{
+			this.m_proxyId = b2Pair.b2_nullProxy;
+		}
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+
+	Support: function(dX, dY, out)
+	{
+		//b2Vec2 u = d;
+		//u.Normalize();
+		var len = Math.sqrt(dX*dX + dY*dY);
+		dX /= len;
+		dY /= len;
+		//return this.m_position + this.m_radius * u;
+		out.Set(	this.m_position.x + this.m_radius*dX,
+					this.m_position.y + this.m_radius*dY);
+	},
+
+
+	// Local position in parent body
+	m_localPosition: new b2Vec2(),
+	m_radius: null});
+

data/vendor/assets/javascripts/box2d/collision/shapes/b2MassData.js

@@ -0,0 +1,36 @@
+/*
+* 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 b2MassData = Class.create();
+b2MassData.prototype = 
+{
+	mass: 0.0,
+	center: new b2Vec2(0,0),
+	I: 0.0,
+
+	initialize: function() {
+		// initialize instance variables for references
+		this.center = new b2Vec2(0,0);
+		//
+}}

data/vendor/assets/javascripts/box2d/collision/shapes/b2PolyDef.js

@@ -0,0 +1,58 @@
+/*
+* 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 b2PolyDef = Class.create();
+Object.extend(b2PolyDef.prototype, b2ShapeDef.prototype);
+Object.extend(b2PolyDef.prototype, 
+{
+	initialize: function()
+	{
+		// The constructor for b2ShapeDef
+		this.type = b2Shape.e_unknownShape;
+		this.userData = null;
+		this.localPosition = new b2Vec2(0.0, 0.0);
+		this.localRotation = 0.0;
+		this.friction = 0.2;
+		this.restitution = 0.0;
+		this.density = 0.0;
+		this.categoryBits = 0x0001;
+		this.maskBits = 0xFFFF;
+		this.groupIndex = 0;	
+		//
+
+		// initialize instance variables for references
+		this.vertices = new Array(b2Settings.b2_maxPolyVertices);
+		//
+
+		this.type = b2Shape.e_polyShape;
+		this.vertexCount = 0;
+
+		for (var i = 0; i < b2Settings.b2_maxPolyVertices; i++){
+			this.vertices[i] = new b2Vec2();
+		}
+	},
+
+	vertices: new Array(b2Settings.b2_maxPolyVertices),
+	vertexCount: 0});
+

data/vendor/assets/javascripts/box2d/collision/shapes/b2PolyShape.js

@@ -0,0 +1,492 @@
+/*
+* 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.
+*/
+
+
+
+
+
+// A convex polygon. The position of the polygon (m_position) is the
+// position of the centroid. The vertices of the incoming polygon are pre-rotated
+// according to the local rotation. The vertices are also shifted to be centered
+// on the centroid. Since the local rotation is absorbed into the vertex
+// coordinates, the polygon rotation is equal to the body rotation. However,
+// the polygon position is centered on the polygon centroid. This simplifies
+// some collision algorithms.
+
+var b2PolyShape = Class.create();
+Object.extend(b2PolyShape.prototype, b2Shape.prototype);
+Object.extend(b2PolyShape.prototype, 
+{
+	TestPoint: function(p){
+
+		//var pLocal = b2Math.b2MulTMV(this.m_R, b2Math.SubtractVV(p, this.m_position));
+		var pLocal = new b2Vec2();
+		pLocal.SetV(p);
+		pLocal.Subtract(this.m_position);
+		pLocal.MulTM(this.m_R);
+
+		for (var i = 0; i < this.m_vertexCount; ++i)
+		{
+			//var dot = b2Math.b2Dot(this.m_normals[i], b2Math.SubtractVV(pLocal, this.m_vertices[i]));
+			var tVec = new b2Vec2();
+			tVec.SetV(pLocal);
+			tVec.Subtract(this.m_vertices[i]);
+
+			var dot = b2Math.b2Dot(this.m_normals[i], tVec);
+			if (dot > 0.0)
+			{
+				return false;
+			}
+		}
+
+		return true;
+	},
+
+	//--------------- Internals Below -------------------
+	// Temp vec for b2Shape.PolyCentroid
+
+	initialize: function(def, body, newOrigin){
+		// initialize instance variables for references
+		this.m_R = new b2Mat22();
+		this.m_position = new b2Vec2();
+		//
+
+		// The constructor for b2Shape
+		this.m_userData = def.userData;
+
+		this.m_friction = def.friction;
+		this.m_restitution = def.restitution;
+		this.m_body = body;
+
+		this.m_proxyId = b2Pair.b2_nullProxy;
+
+		this.m_maxRadius = 0.0;
+
+		this.m_categoryBits = def.categoryBits;
+		this.m_maskBits = def.maskBits;
+		this.m_groupIndex = def.groupIndex;
+		//
+
+		// initialize instance variables for references
+		this.syncAABB = new b2AABB();
+		this.syncMat = new b2Mat22();
+		this.m_localCentroid = new b2Vec2();
+		this.m_localOBB = new b2OBB();
+		//
+
+
+		//super(def, body);
+
+		var i = 0;
+
+
+		var hX;
+		var hY;
+
+		var tVec;
+
+		var aabb = new b2AABB();
+
+		// Vertices
+		this.m_vertices = new Array(b2Settings.b2_maxPolyVertices);
+		this.m_coreVertices = new Array(b2Settings.b2_maxPolyVertices);
+		//for (i = 0; i < b2Settings.b2_maxPolyVertices; i++)
+		//	this.m_vertices[i] = new b2Vec2();
+
+		// Normals
+		this.m_normals = new Array(b2Settings.b2_maxPolyVertices);
+		//for (i = 0; i < b2Settings.b2_maxPolyVertices; i++)
+		//	this.m_normals[i] = new b2Vec2();
+
+		//b2Settings.b2Assert(def.type == b2Shape.e_boxShape || def.type == b2Shape.e_polyShape);
+		this.m_type = b2Shape.e_polyShape;
+
+		var localR = new b2Mat22(def.localRotation);
+
+		// Get the vertices transformed into the body frame.
+		if (def.type == b2Shape.e_boxShape)
+		{
+			//this.m_localCentroid = def.localPosition - newOrigin;
+			this.m_localCentroid.x = def.localPosition.x - newOrigin.x;
+			this.m_localCentroid.y = def.localPosition.y - newOrigin.y;
+
+			var box = def;
+			this.m_vertexCount = 4;
+			hX = box.extents.x;
+			hY = box.extents.y;
+
+			//hc.x = b2Max(0.0f, h.x - 2.0f * b2_linearSlop);
+			var hcX = Math.max(0.0, hX - 2.0 * b2Settings.b2_linearSlop);
+			//hc.y = b2Max(0.0f, h.y - 2.0f * b2_linearSlop);
+			var hcY = Math.max(0.0, hY - 2.0 * b2Settings.b2_linearSlop);
+
+			//this.m_vertices[0] = b2Mul(localR, b2Vec2(h.x, h.y));
+			tVec = this.m_vertices[0] = new b2Vec2();
+			tVec.x = localR.col1.x * hX + localR.col2.x * hY;
+			tVec.y = localR.col1.y * hX + localR.col2.y * hY;
+			//this.m_vertices[1] = b2Mul(localR, b2Vec2(-h.x, h.y));
+			tVec = this.m_vertices[1] = new b2Vec2();
+			tVec.x = localR.col1.x * -hX + localR.col2.x * hY;
+			tVec.y = localR.col1.y * -hX + localR.col2.y * hY;
+			//this.m_vertices[2] = b2Mul(localR, b2Vec2(-h.x, -h.y));
+			tVec = this.m_vertices[2] = new b2Vec2();
+			tVec.x = localR.col1.x * -hX + localR.col2.x * -hY;
+			tVec.y = localR.col1.y * -hX + localR.col2.y * -hY;
+			//this.m_vertices[3] = b2Mul(localR, b2Vec2(h.x, -h.y));
+			tVec = this.m_vertices[3] = new b2Vec2();
+			tVec.x = localR.col1.x * hX + localR.col2.x * -hY;
+			tVec.y = localR.col1.y * hX + localR.col2.y * -hY;
+
+			//this.m_coreVertices[0] = b2Mul(localR, b2Vec2(hc.x, hc.y));
+			tVec = this.m_coreVertices[0] = new b2Vec2();
+			tVec.x = localR.col1.x * hcX + localR.col2.x * hcY;
+			tVec.y = localR.col1.y * hcX + localR.col2.y * hcY;
+			//this.m_coreVertices[1] = b2Mul(localR, b2Vec2(-hc.x, hc.y));
+			tVec = this.m_coreVertices[1] = new b2Vec2();
+			tVec.x = localR.col1.x * -hcX + localR.col2.x * hcY;
+			tVec.y = localR.col1.y * -hcX + localR.col2.y * hcY;
+			//this.m_coreVertices[2] = b2Mul(localR, b2Vec2(-hc.x, -hc.y));
+			tVec = this.m_coreVertices[2] = new b2Vec2();
+			tVec.x = localR.col1.x * -hcX + localR.col2.x * -hcY;
+			tVec.y = localR.col1.y * -hcX + localR.col2.y * -hcY;
+			//this.m_coreVertices[3] = b2Mul(localR, b2Vec2(hc.x, -hc.y));
+			tVec = this.m_coreVertices[3] = new b2Vec2();
+			tVec.x = localR.col1.x * hcX + localR.col2.x * -hcY;
+			tVec.y = localR.col1.y * hcX + localR.col2.y * -hcY;
+		}
+		else
+		{
+			var poly = def;
+
+			this.m_vertexCount = poly.vertexCount;
+			//b2Settings.b2Assert(3 <= this.m_vertexCount && this.m_vertexCount <= b2Settings.b2_maxPolyVertices);
+			//b2Vec2 centroid = b2Shape.PolyCentroid(poly->vertices, poly->vertexCount);
+			b2Shape.PolyCentroid(poly.vertices, poly.vertexCount, b2PolyShape.tempVec);
+			var centroidX = b2PolyShape.tempVec.x;
+			var centroidY = b2PolyShape.tempVec.y;
+			//this.m_localCentroid = def->localPosition + b2Mul(localR, centroid) - newOrigin;
+			this.m_localCentroid.x = def.localPosition.x + (localR.col1.x * centroidX + localR.col2.x * centroidY) - newOrigin.x;
+			this.m_localCentroid.y = def.localPosition.y + (localR.col1.y * centroidX + localR.col2.y * centroidY) - newOrigin.y;
+
+			for (i = 0; i < this.m_vertexCount; ++i)
+			{
+				this.m_vertices[i] = new b2Vec2();
+				this.m_coreVertices[i] = new b2Vec2();
+
+				//this.m_vertices[i] = b2Mul(localR, poly->vertices[i] - centroid);
+				hX = poly.vertices[i].x - centroidX;
+				hY = poly.vertices[i].y - centroidY;
+				this.m_vertices[i].x = localR.col1.x * hX + localR.col2.x * hY;
+				this.m_vertices[i].y = localR.col1.y * hX + localR.col2.y * hY;
+
+				//b2Vec2 u = this.m_vertices[i];
+				var uX = this.m_vertices[i].x;
+				var uY = this.m_vertices[i].y;
+				//float32 length = u.Length();
+				var length = Math.sqrt(uX*uX + uY*uY);
+				if (length > Number.MIN_VALUE)
+				{
+					uX *= 1.0 / length;
+					uY *= 1.0 / length;
+				}
+
+				//this.m_coreVertices[i] = this.m_vertices[i] - 2.0f * b2_linearSlop * u;
+				this.m_coreVertices[i].x = this.m_vertices[i].x - 2.0 * b2Settings.b2_linearSlop * uX;
+				this.m_coreVertices[i].y = this.m_vertices[i].y - 2.0 * b2Settings.b2_linearSlop * uY;
+			}
+
+		}
+
+		// Compute bounding box. TODO_ERIN optimize OBB
+		//var minVertex = new b2Vec2(Number.MAX_VALUE, Number.MAX_VALUE);
+		var minVertexX = Number.MAX_VALUE;
+		var minVertexY = Number.MAX_VALUE;
+		var maxVertexX = -Number.MAX_VALUE;
+		var maxVertexY = -Number.MAX_VALUE;
+		this.m_maxRadius = 0.0;
+		for (i = 0; i < this.m_vertexCount; ++i)
+		{
+			var v = this.m_vertices[i];
+			//minVertex = b2Math.b2MinV(minVertex, this.m_vertices[i]);
+			minVertexX = Math.min(minVertexX, v.x);
+			minVertexY = Math.min(minVertexY, v.y);
+			//maxVertex = b2Math.b2MaxV(maxVertex, this.m_vertices[i]);
+			maxVertexX = Math.max(maxVertexX, v.x);
+			maxVertexY = Math.max(maxVertexY, v.y);
+			//this.m_maxRadius = b2Max(this.m_maxRadius, v.Length());
+			this.m_maxRadius = Math.max(this.m_maxRadius, v.Length());
+		}
+
+		this.m_localOBB.R.SetIdentity();
+		//this.m_localOBB.center = 0.5 * (minVertex + maxVertex);
+		this.m_localOBB.center.Set((minVertexX + maxVertexX) * 0.5, (minVertexY + maxVertexY) * 0.5);
+		//this.m_localOBB.extents = 0.5 * (maxVertex - minVertex);
+		this.m_localOBB.extents.Set((maxVertexX - minVertexX) * 0.5, (maxVertexY - minVertexY) * 0.5);
+
+		// Compute the edge normals and next index map.
+		var i1 = 0;
+		var i2 = 0;
+		for (i = 0; i < this.m_vertexCount; ++i)
+		{
+			this.m_normals[i] =  new b2Vec2();
+			i1 = i;
+			i2 = i + 1 < this.m_vertexCount ? i + 1 : 0;
+			//b2Vec2 edge = this.m_vertices[i2] - this.m_vertices[i1];
+			//var edgeX = this.m_vertices[i2].x - this.m_vertices[i1].x;
+			//var edgeY = this.m_vertices[i2].y - this.m_vertices[i1].y;
+			//this.m_normals[i] = b2Cross(edge, 1.0f);
+			this.m_normals[i].x = this.m_vertices[i2].y - this.m_vertices[i1].y;
+			this.m_normals[i].y = -(this.m_vertices[i2].x - this.m_vertices[i1].x);
+			this.m_normals[i].Normalize();
+		}
+
+		// Ensure the polygon in convex. TODO_ERIN compute convex hull.
+		for (i = 0; i < this.m_vertexCount; ++i)
+		{
+			i1 = i;
+			i2 = i + 1 < this.m_vertexCount ? i + 1 : 0;
+
+			//b2Settings.b2Assert(b2Math.b2CrossVV(this.m_normals[i1], this.m_normals[i2]) > Number.MIN_VALUE);
+		}
+
+		this.m_R.SetM(this.m_body.m_R);
+		//this.m_position.SetV( this.m_body.m_position  + b2Mul(this.m_body->this.m_R, this.m_localCentroid) );
+		this.m_position.x = this.m_body.m_position.x + (this.m_R.col1.x * this.m_localCentroid.x + this.m_R.col2.x * this.m_localCentroid.y);
+		this.m_position.y = this.m_body.m_position.y + (this.m_R.col1.y * this.m_localCentroid.x + this.m_R.col2.y * this.m_localCentroid.y);
+
+		//var R = b2Math.b2MulMM(this.m_R, this.m_localOBB.R);
+			//R.col1 = b2MulMV(this.m_R, this.m_localOBB.R.col1);
+			b2PolyShape.tAbsR.col1.x = this.m_R.col1.x * this.m_localOBB.R.col1.x + this.m_R.col2.x * this.m_localOBB.R.col1.y;
+			b2PolyShape.tAbsR.col1.y = this.m_R.col1.y * this.m_localOBB.R.col1.x + this.m_R.col2.y * this.m_localOBB.R.col1.y;
+			//R.col2 = b2MulMV(this.m_R, this.m_localOBB.R.col2)
+			b2PolyShape.tAbsR.col2.x = this.m_R.col1.x * this.m_localOBB.R.col2.x + this.m_R.col2.x * this.m_localOBB.R.col2.y;
+			b2PolyShape.tAbsR.col2.y = this.m_R.col1.y * this.m_localOBB.R.col2.x + this.m_R.col2.y * this.m_localOBB.R.col2.y;
+		//var absR = b2Math.b2AbsM(R);
+		b2PolyShape.tAbsR.Abs()
+
+		//h = b2Math.b2MulMV(b2PolyShape.tAbsR, this.m_localOBB.extents);
+		hX = b2PolyShape.tAbsR.col1.x * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.x * this.m_localOBB.extents.y;
+		hY = b2PolyShape.tAbsR.col1.y * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.y * this.m_localOBB.extents.y;
+
+		//var position = this.m_position + b2Mul(this.m_R, this.m_localOBB.center);
+		var positionX = this.m_position.x + (this.m_R.col1.x * this.m_localOBB.center.x + this.m_R.col2.x * this.m_localOBB.center.y);
+		var positionY = this.m_position.y + (this.m_R.col1.y * this.m_localOBB.center.x + this.m_R.col2.y * this.m_localOBB.center.y);
+
+		//aabb.minVertex = b2Math.SubtractVV(this.m_position, h);
+		aabb.minVertex.x = positionX - hX;
+		aabb.minVertex.y = positionY - hY;
+		//aabb.maxVertex = b2Math.AddVV(this.m_position, h);
+		aabb.maxVertex.x = positionX + hX;
+		aabb.maxVertex.y = positionY + hY;
+
+		var broadPhase = this.m_body.m_world.m_broadPhase;
+		if (broadPhase.InRange(aabb))
+		{
+			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
+		}
+		else
+		{
+			this.m_proxyId = b2Pair.b2_nullProxy;
+		}
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+	// Temp AABB for Synch function
+	syncAABB: new b2AABB(),
+	syncMat: new b2Mat22(),
+	Synchronize: function(position1, R1, position2, R2){
+		// The body transform is copied for convenience.
+		this.m_R.SetM(R2);
+		//this.m_position = this.m_body->this.m_position + b2Mul(this.m_body->this.m_R, this.m_localCentroid)
+		this.m_position.x = this.m_body.m_position.x + (R2.col1.x * this.m_localCentroid.x + R2.col2.x * this.m_localCentroid.y);
+		this.m_position.y = this.m_body.m_position.y + (R2.col1.y * this.m_localCentroid.x + R2.col2.y * this.m_localCentroid.y);
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			return;
+		}
+
+		//b2AABB aabb1, aabb2;
+		var hX;
+		var hY;
+
+		//b2Mat22 obbR = b2Mul(R1, this.m_localOBB.R);
+			var v1 = R1.col1;
+			var v2 = R1.col2;
+			var v3 = this.m_localOBB.R.col1;
+			var v4 = this.m_localOBB.R.col2;
+			//this.syncMat.col1 = b2MulMV(R1, this.m_localOBB.R.col1);
+			this.syncMat.col1.x = v1.x * v3.x + v2.x * v3.y;
+			this.syncMat.col1.y = v1.y * v3.x + v2.y * v3.y;
+			//this.syncMat.col2 = b2MulMV(R1, this.m_localOBB.R.col2);
+			this.syncMat.col2.x = v1.x * v4.x + v2.x * v4.y;
+			this.syncMat.col2.y = v1.y * v4.x + v2.y * v4.y;
+		//b2Mat22 absR = b2Abs(obbR);
+		this.syncMat.Abs();
+		//b2Vec2 center = position1 + b2Mul(R1, this.m_localCentroid + this.m_localOBB.center);
+		hX = this.m_localCentroid.x + this.m_localOBB.center.x;
+		hY = this.m_localCentroid.y + this.m_localOBB.center.y;
+		var centerX = position1.x + (R1.col1.x * hX + R1.col2.x * hY);
+		var centerY = position1.y + (R1.col1.y * hX + R1.col2.y * hY);
+		//b2Vec2 h = b2Mul(this.syncMat, this.m_localOBB.extents);
+		hX = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y;
+		hY = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y;
+		//aabb1.minVertex = center - h;
+		this.syncAABB.minVertex.x = centerX - hX;
+		this.syncAABB.minVertex.y = centerY - hY;
+		//aabb1.maxVertex = center + h;
+		this.syncAABB.maxVertex.x = centerX + hX;
+		this.syncAABB.maxVertex.y = centerY + hY;
+
+		//b2Mat22 obbR = b2Mul(R2, this.m_localOBB.R);
+			v1 = R2.col1;
+			v2 = R2.col2;
+			v3 = this.m_localOBB.R.col1;
+			v4 = this.m_localOBB.R.col2;
+			//this.syncMat.col1 = b2MulMV(R1, this.m_localOBB.R.col1);
+			this.syncMat.col1.x = v1.x * v3.x + v2.x * v3.y;
+			this.syncMat.col1.y = v1.y * v3.x + v2.y * v3.y;
+			//this.syncMat.col2 = b2MulMV(R1, this.m_localOBB.R.col2);
+			this.syncMat.col2.x = v1.x * v4.x + v2.x * v4.y;
+			this.syncMat.col2.y = v1.y * v4.x + v2.y * v4.y;
+		//b2Mat22 absR = b2Abs(obbR);
+		this.syncMat.Abs();
+		//b2Vec2 center = position2 + b2Mul(R2, this.m_localCentroid + this.m_localOBB.center);
+		hX = this.m_localCentroid.x + this.m_localOBB.center.x;
+		hY = this.m_localCentroid.y + this.m_localOBB.center.y;
+		centerX = position2.x + (R2.col1.x * hX + R2.col2.x * hY);
+		centerY = position2.y + (R2.col1.y * hX + R2.col2.y * hY);
+		//b2Vec2 h = b2Mul(absR, this.m_localOBB.extents);
+		hX = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y;
+		hY = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y;
+		//aabb2.minVertex = center - h;
+		//aabb2.maxVertex = center + h;
+
+		//aabb.minVertex = b2Min(aabb1.minVertex, aabb2.minVertex);
+		this.syncAABB.minVertex.x = Math.min(this.syncAABB.minVertex.x, centerX - hX);
+		this.syncAABB.minVertex.y = Math.min(this.syncAABB.minVertex.y, centerY - hY);
+		//aabb.maxVertex = b2Max(aabb1.maxVertex, aabb2.maxVertex);
+		this.syncAABB.maxVertex.x = Math.max(this.syncAABB.maxVertex.x, centerX + hX);
+		this.syncAABB.maxVertex.y = Math.max(this.syncAABB.maxVertex.y, centerY + hY);
+
+		var broadPhase = this.m_body.m_world.m_broadPhase;
+		if (broadPhase.InRange(this.syncAABB))
+		{
+			broadPhase.MoveProxy(this.m_proxyId, this.syncAABB);
+		}
+		else
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+	QuickSync: function(position, R){
+		//this.m_R = R;
+		this.m_R.SetM(R);
+		//this.m_position = position + b2Mul(R, this.m_localCentroid);
+		this.m_position.x = position.x + (R.col1.x * this.m_localCentroid.x + R.col2.x * this.m_localCentroid.y);
+		this.m_position.y = position.y + (R.col1.y * this.m_localCentroid.x + R.col2.y * this.m_localCentroid.y);
+	},
+
+	ResetProxy: function(broadPhase){
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			return;
+		}
+
+		var proxy = broadPhase.GetProxy(this.m_proxyId);
+
+		broadPhase.DestroyProxy(this.m_proxyId);
+		proxy = null;
+
+		var R = b2Math.b2MulMM(this.m_R, this.m_localOBB.R);
+		var absR = b2Math.b2AbsM(R);
+		var h = b2Math.b2MulMV(absR, this.m_localOBB.extents);
+		//var position = this.m_position + b2Mul(this.m_R, this.m_localOBB.center);
+		var position = b2Math.b2MulMV(this.m_R, this.m_localOBB.center);
+		position.Add(this.m_position);
+
+		var aabb = new b2AABB();
+		//aabb.minVertex = position - h;
+		aabb.minVertex.SetV(position);
+		aabb.minVertex.Subtract(h);
+		//aabb.maxVertex = position + h;
+		aabb.maxVertex.SetV(position);
+		aabb.maxVertex.Add(h);
+
+		if (broadPhase.InRange(aabb))
+		{
+			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
+		}
+		else
+		{
+			this.m_proxyId = b2Pair.b2_nullProxy;
+		}
+
+		if (this.m_proxyId == b2Pair.b2_nullProxy)
+		{
+			this.m_body.Freeze();
+		}
+	},
+
+
+	Support: function(dX, dY, out)
+	{
+		//b2Vec2 dLocal = b2MulT(this.m_R, d);
+		var dLocalX = (dX*this.m_R.col1.x + dY*this.m_R.col1.y);
+		var dLocalY = (dX*this.m_R.col2.x + dY*this.m_R.col2.y);
+
+		var bestIndex = 0;
+		//float32 bestValue = b2Dot(this.m_vertices[0], dLocal);
+		var bestValue = (this.m_coreVertices[0].x * dLocalX + this.m_coreVertices[0].y * dLocalY);
+		for (var i = 1; i < this.m_vertexCount; ++i)
+		{
+			//float32 value = b2Dot(this.m_vertices[i], dLocal);
+			var value = (this.m_coreVertices[i].x * dLocalX + this.m_coreVertices[i].y * dLocalY);
+			if (value > bestValue)
+			{
+				bestIndex = i;
+				bestValue = value;
+			}
+		}
+
+		//return this.m_position + b2Mul(this.m_R, this.m_vertices[bestIndex]);
+		out.Set(	this.m_position.x + (this.m_R.col1.x * this.m_coreVertices[bestIndex].x + this.m_R.col2.x * this.m_coreVertices[bestIndex].y),
+					this.m_position.y + (this.m_R.col1.y * this.m_coreVertices[bestIndex].x + this.m_R.col2.y * this.m_coreVertices[bestIndex].y));
+
+	},
+
+
+	// Local position of the shape centroid in parent body frame.
+	m_localCentroid: new b2Vec2(),
+
+	// Local position oriented bounding box. The OBB center is relative to
+	// shape centroid.
+	m_localOBB: new b2OBB(),
+	m_vertices: null,
+	m_coreVertices: null,
+	m_vertexCount: 0,
+	m_normals: null});
+
+b2PolyShape.tempVec = new b2Vec2();
+b2PolyShape.tAbsR = new b2Mat22();