@ue-too/dynamics 0.9.5 → 0.10.0

package/index.js

@@ -1,1948 +1,3 @@
-// src/rigidbody.ts
-import { PointCal } from "@ue-too/math";
+import{PointCal as X}from"@ue-too/math";var r={category:1,mask:65535,group:0};function o(k,Y){if(k.group!==0&&k.group===Y.group)return k.group>0;return(k.category&Y.mask)!==0&&(Y.category&k.mask)!==0}var H0={STATIC:1,DYNAMIC:2,PLAYER:4,ENEMY:8,PROJECTILE:16,SENSOR:32,PICKUP:64,PLATFORM:128};class n{_center;_mass=50;_linearVelocity;_angularVelocity;_orientationAngle=0;linearAcceleartion;force;isStaticBody=!1;_staticFrictionCoeff=0.3;dynamicFrictionCoeff=0.3;frictionEnabled=!1;isMovingStaticBody=!1;angularDampingFactor=0.005;collisionFilter={...r};isSleeping=!1;sleepThreshold=0.01;sleepTime=0.5;timeAtRest=0;constructor(k,Y=0,z=50,w=!1,$=!1){this._center=k,this._orientationAngle=Y,this._mass=z,this.isStaticBody=w,this.frictionEnabled=$,this.force={x:0,y:0},this.linearAcceleartion={x:0,y:0},this._linearVelocity={x:0,y:0},this._angularVelocity=0}move(k){if(!this.isStatic())this._center=X.addVector(this._center,k)}rotateRadians(k){this._orientationAngle+=k}getCenter(){return this._center}getOrientationAngle(){return this._orientationAngle}get angularVelocity(){return this._angularVelocity}set angularVelocity(k){this._angularVelocity=k}get orientationAngle(){return this._orientationAngle}isStatic(){return this.isStaticBody}isMovingStatic(){return this.isMovingStaticBody}setLinearVelocity(k){this._linearVelocity=k}setMovingStatic(k){this.isMovingStaticBody=k}setOrientationAngle(k){this._orientationAngle=k}applyForce(k){if(X.magnitude(this.force)!==0)this.force=X.addVector(this.force,k);else this.force=k}applyForceInOrientation(k){let Y;if(typeof k==="number")Y=X.rotatePoint({x:k,y:0},this._orientationAngle);else Y=X.rotatePoint(k,this._orientationAngle);this.applyForce(Y)}step(k){if(this.frictionEnabled)if(this.isStatic()||this.linearVelocity.x==0&&this.linearVelocity.y==0&&X.magnitude(X.subVector({x:this.force.x,y:this.force.y},{x:0,y:0}))>=0&&X.magnitude({x:this.force.x,y:this.force.y})<this.staticFrictionCoeff*this.mass*9.81)if(this.force.z!=null)this.force={x:0,y:0,z:this.force.z};else this.force={x:0,y:0};else{let G=X.multiplyVectorByScalar(X.unitVector({x:this._linearVelocity.x,y:this._linearVelocity.y}),-1),J=X.multiplyVectorByScalar(G,this.dynamicFrictionCoeff*this.mass*9.81);this.force=X.addVector(this.force,J)}let Y=this._angularVelocity!=0?this._angularVelocity>0?-this.angularDampingFactor:this.angularDampingFactor:0;if(Math.abs(this._angularVelocity)<Math.abs(Y))this._angularVelocity=0;else this._angularVelocity+=Y;if(this._orientationAngle+=this._angularVelocity*k,X.magnitude({x:this._linearVelocity.x,y:this._linearVelocity.y})<X.magnitude(X.divideVectorByScalar(X.multiplyVectorByScalar(this.force,k),this.mass)))if(this._linearVelocity.z!=null)this._linearVelocity={x:0,y:0,z:this._linearVelocity.z};else this._linearVelocity={x:0,y:0};let z=-9.81*this._mass;this.force=X.addVector(this.force,{x:0,y:0,z});let w=X.divideVectorByScalar(X.multiplyVectorByScalar(this.force,k),this.mass);this._linearVelocity=X.addVector(this._linearVelocity,w);let $=X.multiplyVectorByScalar(this._linearVelocity,k);if(this._center=X.addVector(this._center,$),this._center.z!=null&&this._center.z<0)this._center.z=0;this.force={x:0,y:0}}get center(){return this._center}set center(k){this._center=k}get linearVelocity(){return this._linearVelocity}set linearVelocity(k){this._linearVelocity=k}get mass(){return this._mass}get staticFrictionCoeff(){return this._staticFrictionCoeff}set staticFrictionCoeff(k){this._staticFrictionCoeff=k}setSleeping(k){if(k&&!this.isSleeping)this.isSleeping=!0,this._linearVelocity={x:0,y:0},this._angularVelocity=0;else if(!k&&this.isSleeping)this.isSleeping=!1,this.timeAtRest=0}updateSleeping(k){if(this.isStatic()||this.isMovingStatic())return;let Y=X.magnitude(this._linearVelocity),z=Math.abs(this._angularVelocity);if(Y<this.sleepThreshold&&z<this.sleepThreshold){if(this.timeAtRest+=k,this.timeAtRest>=this.sleepTime)this.setSleeping(!0)}else if(this.timeAtRest=0,this.isSleeping)this.setSleeping(!1)}}class G0{_circle;_context;collisionFilter={...r};isSleeping=!1;sleepThreshold=0.01;sleepTime=0.5;timeAtRest=0;constructor(k={x:0,y:0},Y,z,w=0,$=50,G=!1,J=!0){this._circle=new Y0(k,Y,w,$,G,J),this._context=z}draw(k){k.beginPath(),k.arc(this._circle.center.x,this._circle.center.y,this._circle.radius,0,2*Math.PI),k.stroke()}step(k){this._circle.step(k),this.draw(this._context)}isStatic(){return this._circle.isStatic()}isMovingStatic(){return this._circle.isMovingStatic()}getMinMaxProjection(k){return this._circle.getMinMaxProjection(k)}getCollisionAxes(k){return this._circle.getCollisionAxes(k)}applyForce(k){this._circle.applyForce(k)}get AABB(){return this._circle.AABB}getMass(){return this._circle.mass}applyForceInOrientation(k){this._circle.applyForceInOrientation(k)}move(k){this._circle.move(k)}getSignificantVertices(k){return this._circle.getSignificantVertices(k)}get center(){return this._circle.center}set center(k){this._circle.center=k}get linearVelocity(){return this._circle.linearVelocity}set linearVelocity(k){this._circle.linearVelocity=k}get orientationAngle(){return this._circle.orientationAngle}significantVertex(k){return this._circle.significantVertex(k)}set angularVelocity(k){this._circle.angularVelocity=k}get angularVelocity(){return this._circle.angularVelocity}get mass(){return this._circle.mass}getNormalOfSignificantFace(k){return this._circle.getNormalOfSignificantFace(k)}get staticFrictionCoeff(){return this._circle.staticFrictionCoeff}set staticFrictionCoeff(k){this._circle.staticFrictionCoeff=k}getAdjacentFaces(k){return this._circle.getAdjacentFaces(k)}get momentOfInertia(){return this._circle.momentOfInertia}setSleeping(k){if(k&&!this.isSleeping)this.isSleeping=!0,this._circle.linearVelocity={x:0,y:0},this._circle.angularVelocity=0;else if(!k&&this.isSleeping)this.isSleeping=!1,this.timeAtRest=0}updateSleeping(k){if(this._circle.isStatic()||this._circle.isMovingStatic())return;let Y=X.magnitude(this._circle.linearVelocity),z=Math.abs(this._circle.angularVelocity);if(Y<this.sleepThreshold&&z<this.sleepThreshold){if(this.timeAtRest+=k,this.timeAtRest>=this.sleepTime)this.setSleeping(!0)}else if(this.timeAtRest=0,this.isSleeping)this.setSleeping(!1)}}class J0{_polygon;_context;collisionFilter={...r};isSleeping=!1;sleepThreshold=0.01;sleepTime=0.5;timeAtRest=0;constructor(k={x:0,y:0},Y,z,w=0,$=50,G=!1,J=!0){this._polygon=new k0(k,Y,w,$,G,J),this._context=z}draw(k){k.beginPath();let Y=this._polygon.getVerticesAbsCoord();k.moveTo(Y[0].x,Y[0].y),Y.forEach((z)=>{k.lineTo(z.x,z.y)}),k.lineTo(Y[0].x,Y[0].y),k.stroke()}step(k){this._polygon.step(k),this.draw(this._context)}isStatic(){return this._polygon.isStatic()}isMovingStatic(){return this._polygon.isMovingStatic()}getMinMaxProjection(k){return this._polygon.getMinMaxProjection(k)}getCollisionAxes(k){return this._polygon.getCollisionAxes(k)}applyForce(k){this._polygon.applyForce(k)}applyForceInOrientation(k){this._polygon.applyForceInOrientation(k)}setLinearVelocity(k){this._polygon.setLinearVelocity(k)}move(k){this._polygon.move(k)}get center(){return this._polygon.center}set center(k){this._polygon.center=k}get linearVelocity(){return this._polygon.linearVelocity}set linearVelocity(k){this._polygon.linearVelocity=k}get angularVelocity(){return this._polygon.angularVelocity}set angularVelocity(k){this._polygon.angularVelocity=k}get orientationAngle(){return this._polygon.orientationAngle}significantVertex(k){return this._polygon.significantVertex(k)}getSignificantVertices(k){return this._polygon.getSignificantVertices(k)}get AABB(){return this._polygon.AABB}get mass(){return this._polygon.mass}get staticFrictionCoeff(){return this._polygon.staticFrictionCoeff}set staticFrictionCoeff(k){this._polygon.staticFrictionCoeff=k}get momentOfInertia(){return this._polygon.momentOfInertia}getNormalOfSignificantFace(k){return this._polygon.getNormalOfSignificantFace(k)}getAdjacentFaces(k){return this._polygon.getAdjacentFaces(k)}setSleeping(k){if(k&&!this.isSleeping)this.isSleeping=!0,this._polygon.linearVelocity={x:0,y:0},this._polygon.angularVelocity=0;else if(!k&&this.isSleeping)this.isSleeping=!1,this.timeAtRest=0}updateSleeping(k){if(this._polygon.isStatic()||this._polygon.isMovingStatic())return;let Y=X.magnitude(this._polygon.linearVelocity),z=Math.abs(this._polygon.angularVelocity);if(Y<this.sleepThreshold&&z<this.sleepThreshold){if(this.timeAtRest+=k,this.timeAtRest>=this.sleepTime)this.setSleeping(!0)}else if(this.timeAtRest=0,this.isSleeping)this.setSleeping(!1)}}class k0 extends n{vertices;_momentOfInertia;constructor(k={x:0,y:0},Y,z=0,w=50,$=!1,G=!0){super(k,z,w,$,G);this.vertices=Y,this.step=this.step.bind(this);let J=this.vertices.reduce((Q,U,R)=>{let W=R<this.vertices.length-1?R+1:0,S=this.vertices[W],K=X.crossProduct(S,U);return Q+X.magnitude(K)*(X.dotProduct(U,U)+X.dotProduct(U,S)+X.dotProduct(S,S))},0),Z=this.vertices.reduce((Q,U,R)=>{return Q+X.magnitude(X.crossProduct(this.vertices[R<this.vertices.length-1?R+1:0],U))},0);this._momentOfInertia=this._mass*J/(6*Z)}getVerticesAbsCoord(){return this.vertices.map((k)=>{return X.addVector(this._center,X.rotatePoint(k,this._orientationAngle))})}getCollisionAxes(k){return this.getVerticesAbsCoord().map((Y,z,w)=>{let $=X.subVector(Y,w[w.length-1]);if(z>0)$=X.subVector(Y,w[z-1]);return X.unitVector(X.rotatePoint($,Math.PI/2))})}getMinMaxProjection(k){let z=this.getVerticesAbsCoord().map((w)=>{return X.dotProduct(w,k)});return{min:Math.min(...z),max:Math.max(...z)}}get AABB(){let k=this.getVerticesAbsCoord(),Y=k.map((w)=>w.x),z=k.map((w)=>w.y);return{min:{x:Math.min(...Y),y:Math.min(...z)},max:{x:Math.max(...Y),y:Math.max(...z)}}}significantVertex(k){let Y=this.getVerticesAbsCoord(),z=Y.map(($)=>X.dotProduct($,k)),w=z.indexOf(Math.max(...z));return Y[w]}getSignificantVertices(k){let Y=this.getVerticesAbsCoord(),z=Y.map((W)=>X.dotProduct(W,k)),w=z.indexOf(Math.max(...z)),$=Y[w],G=w>0?w-1:Y.length-1,J=w<Y.length-1?w+1:0,Z=Y[G],Q=Y[J],U=X.dotProduct(Z,k),R=X.dotProduct(Q,k);if(U>R)return[Z,$];else return[$,Q]}getNormalOfSignificantFace(k){let Y=this.getSignificantVertices(k),z=X.unitVectorFromA2B(Y[0],Y[1]);return X.rotatePoint(z,-Math.PI/2)}getAdjacentFaces(k){let Y=this.getVerticesAbsCoord(),z=Y.map((K)=>X.dotProduct(K,k)),w=z.indexOf(Math.max(...z)),$=Y[w],G=w>0?w-1:Y.length-1,J=w<Y.length-1?w+1:0,Z=Y[G],Q=Y[J],U=X.dotProduct(Z,k),R=X.dotProduct(Q,k),W=[],S=[];if(U>R){W.push(Z,$),S.push({startPoint:{coord:Z,index:G},endPoint:{coord:$,index:w}}),S.unshift({startPoint:{coord:$,index:w},endPoint:{coord:Q,index:J}});let K=G>0?G-1:Y.length-1;S.unshift({startPoint:{coord:Y[K],index:K},endPoint:{coord:Z,index:G}})}else{W.push($,Q),S.push({startPoint:{coord:$,index:w},endPoint:{coord:Q,index:J}});let K=J<Y.length-1?J+1:0;S.unshift({startPoint:{coord:Q,index:J},endPoint:{coord:Y[K],index:K}}),S.unshift({startPoint:{coord:Z,index:G},endPoint:{coord:$,index:w}})}return S}get momentOfInertia(){return this._momentOfInertia}}class Y0 extends n{_radius;_momentOfInertia;constructor(k={x:0,y:0},Y,z=0,w=50,$=!1,G=!0){super(k,z,w,$,G);this._radius=Y,this.step=this.step.bind(this),this._momentOfInertia=this._mass*this._radius*this._radius/2}getMinMaxProjection(k){let Y=X.addVector(this._center,X.multiplyVectorByScalar(k,this._radius)),z=X.addVector(this._center,X.multiplyVectorByScalar(k,-this._radius));return{min:X.dotProduct(z,k),max:X.dotProduct(Y,k)}}getCollisionAxes(k){return[X.unitVector(X.subVector(k.center,this._center))]}get AABB(){return{min:X.subVector(this._center,{x:this._radius,y:this._radius}),max:X.addVector(this._center,{x:this._radius,y:this._radius})}}significantVertex(k){return X.addVector(this._center,X.multiplyVectorByScalar(k,this._radius))}get radius(){return this._radius}getSignificantVertices(k){return[X.addVector(this._center,X.multiplyVectorByScalar(k,this._radius))]}getNormalOfSignificantFace(k){return X.unitVector(k)}getAdjacentFaces(k){return[]}get momentOfInertia(){return this._momentOfInertia}}class j{bottomLeft;width;height;constructor(k,Y,z){this.bottomLeft=k,this.width=Y,this.height=z}getWidth(){return this.width}getHeight(){return this.height}getbottomLeft(){return this.bottomLeft}}class M{MAX_OBJECTS=10;MAX_LEVELS=5;level;objects=[];nodes=[];bounds;constructor(k,Y){this.level=k,this.objects=[],this.bounds=Y,this.nodes=[void 0,void 0,void 0,void 0]}draw(k){k.beginPath(),k.rect(this.bounds.getbottomLeft().x,this.bounds.getbottomLeft().y,this.bounds.getWidth(),this.bounds.getHeight()),k.stroke();for(let Y=0;Y<this.nodes.length;Y++){let z=this.nodes[Y];if(z!=null)z.draw(k)}}clear(){this.objects=[];for(let k=0;k<this.nodes.length;k++){let Y=this.nodes[k];if(Y!=null)Y.clear(),Y=void 0}}split(){let k=this.bounds.getWidth()/2,Y=this.bounds.getHeight()/2,z=this.bounds.getbottomLeft();this.nodes[0]=new M(this.level+1,new j({x:z.x,y:z.y},k,Y)),this.nodes[1]=new M(this.level+1,new j({x:z.x,y:z.y+Y},k,Y)),this.nodes[2]=new M(this.level+1,new j({x:z.x+k,y:z.y+Y},k,Y)),this.nodes[3]=new M(this.level+1,new j({x:z.x+k,y:z.y},k,Y))}getIndex(k){let Y={x:this.bounds.getbottomLeft().x+this.bounds.getWidth()/2,y:this.bounds.getbottomLeft().y+this.bounds.getHeight()/2},z=k.AABB,w=z.max.y<Y.y&&z.min.y>this.bounds.getbottomLeft().y,$=z.max.x<Y.x&&z.min.x>this.bounds.getbottomLeft().x,G=z.max.x>Y.x&&z.min.x>Y.x,J=z.max.y>Y.y&&z.min.y>Y.y;if(w&&$)return 0;else if(w&&G)return 3;else if(J&&$)return 1;else if(J&&G)return 2;return-1}insert(k){let Y=this.nodes[0];if(Y!=null){let z=this.getIndex(k);if(z!==-1){Y=this.nodes[z],Y?.insert(k);return}}if(this.objects.push(k),this.objects.length>this.MAX_OBJECTS&&this.level<this.MAX_LEVELS){if(this.nodes[0]==null||this.nodes[0]==null)this.split();let z=0;while(z<this.objects.length){let w=this.getIndex(this.objects[z]),$=this.nodes[w];if(w!=-1&&$!==void 0){let G=this.objects[z];this.objects.splice(z,1),$.insert(G)}else z++}}}retrieve(k){let Y=this.getIndex(k),z=[],w=this.nodes[Y];if(Y!==-1&&w!==void 0)z.push(...w.retrieve(k));return z.push(...this.objects),z}}class t{parent=null;children=[null,null];aabb={min:{x:0,y:0},max:{x:0,y:0}};object=null;height=0;constructor(k){if(k)this.setLeaf(k)}isLeaf(){return this.children[0]===null}setLeaf(k){this.object=k,this.updateAABB(),this.children=[null,null],this.height=0}setBranch(k,Y){k.parent=this,Y.parent=this,this.children=[k,Y],this.object=null,this.updateAABB(),this.height=1+Math.max(k.height,Y.height)}updateAABB(k=0.1){if(this.isLeaf()&&this.object){let Y=this.object.AABB;this.aabb={min:{x:Y.min.x-k,y:Y.min.y-k},max:{x:Y.max.x+k,y:Y.max.y+k}}}else if(this.children[0]&&this.children[1]){let Y=this.children[0].aabb,z=this.children[1].aabb;this.aabb={min:{x:Math.min(Y.min.x,z.min.x),y:Math.min(Y.min.y,z.min.y)},max:{x:Math.max(Y.max.x,z.max.x),y:Math.max(Y.max.y,z.max.y)}}}}getSibling(){if(!this.parent)return null;return this.parent.children[0]===this?this.parent.children[1]:this.parent.children[0]}getBalance(){if(this.isLeaf())return 0;let k=this.children[0]?this.children[0].height:0,Y=this.children[1]?this.children[1].height:0;return k-Y}}class u{xEndpoints=[];objects=new Map;nextId=0;clear(){this.xEndpoints=[],this.objects.clear(),this.nextId=0}insert(k){let Y=this.nextId++,z={value:k.AABB.min.x,isMin:!0,object:k,id:Y},w={value:k.AABB.max.x,isMin:!1,object:k,id:Y};this.objects.set(k,{minEndpoint:z,maxEndpoint:w}),this.insertEndpointSorted(z),this.insertEndpointSorted(w)}update(k){let Y=this.objects.get(k);if(!Y)return;let z=k.AABB.min.x,w=k.AABB.max.x;if(Y.minEndpoint.value!==z)this.removeEndpoint(Y.minEndpoint),Y.minEndpoint.value=z,this.insertEndpointSorted(Y.minEndpoint);if(Y.maxEndpoint.value!==w)this.removeEndpoint(Y.maxEndpoint),Y.maxEndpoint.value=w,this.insertEndpointSorted(Y.maxEndpoint)}remove(k){let Y=this.objects.get(k);if(!Y)return;this.removeEndpoint(Y.minEndpoint),this.removeEndpoint(Y.maxEndpoint),this.objects.delete(k)}retrieve(k){let Y=[],z=k.AABB.min.x,w=k.AABB.max.x;for(let $ of this.xEndpoints){if($.value>w)break;if($.isMin&&$.object!==k){let G=this.objects.get($.object)?.maxEndpoint.value;if(G!==void 0&&G>=z){if(this.aabbIntersects($.object.AABB,k.AABB))Y.push($.object)}}}return Y}findAllOverlaps(){let k=[],Y=new Set;for(let z of this.xEndpoints)if(z.isMin){for(let w of Y)if(this.aabbIntersects(z.object.AABB,w.AABB))k.push({a:z.object,b:w});Y.add(z.object)}else Y.delete(z.object);return k}insertEndpointSorted(k){let Y=0,z=this.xEndpoints.length;while(Y<z){let w=Math.floor((Y+z)/2),$=this.xEndpoints[w];if($.value<k.value||$.value===k.value&&$.isMin&&!k.isMin)Y=w+1;else z=w}this.xEndpoints.splice(Y,0,k)}removeEndpoint(k){let Y=this.xEndpoints.indexOf(k);if(Y!==-1)this.xEndpoints.splice(Y,1)}aabbIntersects(k,Y){return!(k.max.x<Y.min.x||k.min.x>Y.max.x||k.max.y<Y.min.y||k.min.y>Y.max.y)}draw(k){k.strokeStyle="orange",k.lineWidth=1,k.globalAlpha=0.3;for(let Y of this.xEndpoints)k.beginPath(),k.moveTo(Y.value,-1000),k.lineTo(Y.value,1000),k.stroke(),k.fillStyle=Y.isMin?"green":"red",k.fillText(Y.isMin?"min":"max",Y.value,-950);k.globalAlpha=1}getStats(){return{endpointCount:this.xEndpoints.length,objectCount:this.objects.size}}}class C{root=null;nodeCount=0;margin=0.1;clear(){this.root=null,this.nodeCount=0}insert(k){let Y=new t(k);this.insertNode(Y)}insertNode(k){if(this.nodeCount++,!this.root){this.root=k;return}let Y=this.findBestSibling(k),z=Y.parent,w=new t;if(w.parent=z,w.setBranch(Y,k),z)if(z.children[0]===Y)z.children[0]=w;else z.children[1]=w;else this.root=w;let $=w.parent;while($)$.updateAABB(this.margin),$.height=1+Math.max($.children[0]?$.children[0].height:0,$.children[1]?$.children[1].height:0),$=this.balance($),$=$.parent}findBestSibling(k){let Y=this.root;while(!Y.isLeaf()){let z=Y.children[0],w=Y.children[1],$=this.getArea(Y.aabb),G=this.combineAABB(Y.aabb,k.aabb),J=this.getArea(G),Z=2*J,Q=2*(J-$),U,R=this.combineAABB(k.aabb,z.aabb);if(z.isLeaf())U=this.getArea(R)+Q;else{let K=this.getArea(z.aabb);U=this.getArea(R)-K+Q}let W,S=this.combineAABB(k.aabb,w.aabb);if(w.isLeaf())W=this.getArea(S)+Q;else{let K=this.getArea(w.aabb);W=this.getArea(S)-K+Q}if(Z<U&&Z<W)break;Y=U<W?z:w}return Y}balance(k){if(k.isLeaf())return k;let Y=k.getBalance();if(Y<-1)return this.rotateLeft(k);else if(Y>1)return this.rotateRight(k);return k}rotateLeft(k){let Y=k.children[1],z=Y.children[0],w=Y.children[1];if(Y.children[0]=k,Y.parent=k.parent,k.parent=Y,Y.parent)if(Y.parent.children[0]===k)Y.parent.children[0]=Y;else Y.parent.children[1]=Y;else this.root=Y;if(z.height>w.height)Y.children[1]=z,k.children[1]=w,w.parent=k,k.updateAABB(this.margin),Y.updateAABB(this.margin),k.height=1+Math.max(k.children[0].height,k.children[1].height),Y.height=1+Math.max(k.height,z.height);else Y.children[1]=w,k.children[1]=z,z.parent=k,k.updateAABB(this.margin),Y.updateAABB(this.margin),k.height=1+Math.max(k.children[0].height,k.children[1].height),Y.height=1+Math.max(k.height,w.height);return Y}rotateRight(k){let Y=k.children[0],z=Y.children[0],w=Y.children[1];if(Y.children[1]=k,Y.parent=k.parent,k.parent=Y,Y.parent)if(Y.parent.children[0]===k)Y.parent.children[0]=Y;else Y.parent.children[1]=Y;else this.root=Y;if(z.height>w.height)Y.children[0]=z,k.children[0]=w,w.parent=k,k.updateAABB(this.margin),Y.updateAABB(this.margin),k.height=1+Math.max(k.children[0].height,k.children[1].height),Y.height=1+Math.max(z.height,k.height);else Y.children[0]=w,k.children[0]=z,z.parent=k,k.updateAABB(this.margin),Y.updateAABB(this.margin),k.height=1+Math.max(k.children[0].height,k.children[1].height),Y.height=1+Math.max(w.height,k.height);return Y}retrieve(k){let Y=[];if(!this.root)return Y;let z=[this.root];while(z.length>0){let w=z.pop();if(this.aabbIntersects(w.aabb,k.AABB))if(w.isLeaf()){if(w.object&&w.object!==k)Y.push(w.object)}else{if(w.children[0])z.push(w.children[0]);if(w.children[1])z.push(w.children[1])}}return Y}draw(k){if(!this.root)return;this.drawNode(k,this.root,0)}drawNode(k,Y,z){let{min:w,max:$}=Y.aabb,G=["red","blue","green","orange","purple","brown"];if(k.strokeStyle=G[z%G.length],k.lineWidth=Math.max(1,3-z),k.beginPath(),k.rect(w.x,w.y,$.x-w.x,$.y-w.y),k.stroke(),!Y.isLeaf()){if(Y.children[0])this.drawNode(k,Y.children[0],z+1);if(Y.children[1])this.drawNode(k,Y.children[1],z+1)}}getArea(k){return(k.max.x-k.min.x)*(k.max.y-k.min.y)}combineAABB(k,Y){return{min:{x:Math.min(k.min.x,Y.min.x),y:Math.min(k.min.y,Y.min.y)},max:{x:Math.max(k.max.x,Y.max.x),y:Math.max(k.max.y,Y.max.y)}}}aabbIntersects(k,Y){return!(k.max.x<Y.min.x||k.min.x>Y.max.x||k.max.y<Y.min.y||k.min.y>Y.max.y)}getStats(){return{nodeCount:this.nodeCount,height:this.root?this.root.height:0}}}import{PointCal as H}from"@ue-too/math";function Z0(k,Y,z){if(k.isStatic()&&Y.isStatic())return;let w=0.4,$=k.isStatic()||k.isMovingStatic()?0:1/k.mass,G=Y.isStatic()||Y.isMovingStatic()?0:1/Y.mass,J=H.subVector(k.linearVelocity,Y.linearVelocity),Z=-(1+w)*H.dotProduct(J,z);Z/=$+G;let Q=H.multiplyVectorByScalar(z,Z*$),U=H.multiplyVectorByScalar(z,Z*G);k.linearVelocity=H.addVector(k.linearVelocity,Q),Y.linearVelocity=H.subVector(Y.linearVelocity,U)}function z0(k,Y,z){if(k.isStatic()&&Y.isStatic())return;let w=0.4,$=k.isStatic()||k.isMovingStatic()?0:1/k.mass,G=Y.isStatic()||Y.isMovingStatic()?0:1/Y.mass,J=k.isStatic()||k.isMovingStatic()?0:1/k.momentOfInertia,Z=Y.isStatic()||Y.isMovingStatic()?0:1/Y.momentOfInertia,Q=[];for(let U=0;U<z.contactPoints.length;U++){let R=z.contactPoints[U],W=H.subVector(R,k.center),S=H.subVector(R,Y.center),K={x:-W.y,y:W.x},_={x:-S.y,y:S.x},E=H.multiplyVectorByScalar(K,k.angularVelocity),V=H.multiplyVectorByScalar(_,Y.angularVelocity),L=H.subVector(H.addVector(k.linearVelocity,E),H.addVector(Y.linearVelocity,V)),F=H.dotProduct(L,z.normal),B=H.dotProduct(K,z.normal),O=H.dotProduct(_,z.normal),D=$+G+B*B*J+O*O*Z,g=-(1+w)*F;g/=D,g/=z.contactPoints.length,Q.push(H.multiplyVectorByScalar(z.normal,g))}Q.forEach((U,R)=>{let W=H.multiplyVectorByScalar(U,$),S=H.multiplyVectorByScalar(U,G);k.linearVelocity=H.addVector(k.linearVelocity,W);let K=H.crossProduct(H.subVector(z.contactPoints[R],k.center),U).z;K=K==null?0:K;let _=H.crossProduct(H.subVector(z.contactPoints[R],Y.center),U).z;_=_==null?0:_,k.angularVelocity+=K*J,Y.angularVelocity-=_*Z,Y.linearVelocity=H.subVector(Y.linearVelocity,S)})}function c(k,Y){if(k.min.x<=Y.max.x&&Y.min.x<=k.max.x&&(k.min.y<=Y.max.y&&Y.min.y<=k.max.y))return!0;return!1}function i(k,Y){let z=[],w=k.getCollisionAxes(Y),$=Y.getCollisionAxes(k);z.push(...w),z.push(...$);let G=!0,J=Number.MAX_VALUE,Z=z[0];if(z.forEach((Q)=>{let U=k.getMinMaxProjection(Q),R=Y.getMinMaxProjection(Q);if(U.min>=R.max||R.min>=U.max)G=!1;else{let W=Math.abs(Math.min(U.max,R.max)-Math.max(R.min,U.min));if(W<J){if(J=W,Z=Q,U.max<R.max)Z=H.multiplyVectorByScalar(Z,-1)}}}),G)return{collision:G,depth:J,normal:Z};else return{collision:!1,depth:void 0,normal:void 0}}function N0(k,Y,z){if(!z)return[];let w=[];return Y.forEach(($)=>{let{bodyA:G,bodyB:J}=$;if(G==J)return;let Z=G.center.z==null?0:G.center.z,Q=J.center.z==null?0:J.center.z;if(Math.abs(Z-Q)>0.5)return;let{collision:U,depth:R,normal:W}=i(G,J);if(U&&W!==void 0&&R!==void 0){let S=H.multiplyVectorByScalar(W,R/2),K=H.multiplyVectorByScalar(W,-R/2);if(!G.isStatic())G.move(S);if(!J.isStatic())J.move(K);if(G.isStatic())J.move(K);if(J.isStatic())G.move(S);let _=G.getNormalOfSignificantFace(H.multiplyVectorByScalar(W,-1)),E=J.getNormalOfSignificantFace(W),V=G.getSignificantVertices(H.multiplyVectorByScalar(W,-1)),L=J.getSignificantVertices(W),F=Math.abs(H.dotProduct(_,H.multiplyVectorByScalar(W,-1))),B=Math.abs(H.dotProduct(E,W));if(L.length==1||V.length==1)if(L.length==1)w.push(L[0]);else w.push(V[0]);else if(F>B){let O=G.getAdjacentFaces(H.multiplyVectorByScalar(W,-1)),D=[...L];for(let f=0;f<O.length-1;f++){let N=O[f].startPoint.coord,T=O[f].endPoint.coord,m=H.subVector(T,N),x=H.subVector(D[0],N),d=H.subVector(D[1],N),A=H.angleFromA2B(m,x)>=0,y=H.angleFromA2B(m,d)>=0;if((A?1:0)^(y?1:0)){let p=H.getLineIntersection(N,T,D[0],D[1]);if(p.intersects&&p.intersection!==void 0)if(A)D[1]=p.intersection;else D[0]=p.intersection}}let g=O[O.length-1],I=g.startPoint.coord,h=g.endPoint.coord,v=H.subVector(h,I),P=H.subVector(D[0],I),b=H.subVector(D[1],I),l=H.angleFromA2B(v,P)>=0,a=H.angleFromA2B(v,b)>=0;if(l)w.push(D[0]);if(a)w.push(D[1])}else{let O=J.getAdjacentFaces(W),D=[...V];if(D.length==0)console.log("warning");let g=0;for(let N=0;N<O.length-1;N++){let T=O[N].startPoint.coord,m=O[N].endPoint.coord,x=H.subVector(m,T),d=H.subVector(D[0],T),A=H.subVector(D[1],T),y=H.angleFromA2B(x,d)>=0,p=H.angleFromA2B(x,A)>=0;if((y?1:0)^(p?1:0)){g+=1;let s=H.getLineIntersection(T,m,D[0],D[1]);if(s.intersects&&s.intersection!==void 0)if(y)D[1]=s.intersection;else D[0]=s.intersection}}let I=O[O.length-1],h=I.startPoint.coord,v=I.endPoint.coord,P=H.subVector(v,h),b=H.subVector(D[0],h),l=H.subVector(D[1],h),a=H.angleFromA2B(P,b)>=0,f=H.angleFromA2B(P,l)>=0;if(a)w.push(D[0]);if(f)w.push(D[1])}if(z)z0(G,J,{normal:W,contactPoints:w})}}),w}function g0(k,Y,z){if(!z)return;Y.forEach((w)=>{let $=k[w.bodyAIndex],G=k[w.bodyBIndex],{collision:J,depth:Z,normal:Q}=i($,G);if(J&&Q!==void 0&&Z!==void 0){let U=H.multiplyVectorByScalar(Q,Z/2),R=H.multiplyVectorByScalar(Q,-Z/2);if(!$.isStatic())$.move(U);if(!G.isStatic())G.move(R);if($.isStatic())G.move(R);if(G.isStatic())$.move(U);if(z)Z0($,G,Q)}})}function M0(k,Y){let z=[];for(let w=0;w<=Y.length-1;w++){let $=k.retrieve(Y[w]);for(let G=0;G<=$.length-1;G++){let J=Y[w],Z=$[G];if(J.isStatic()&&Z.isStatic())continue;if(!c(J.AABB,Z.AABB))continue;z.push({bodyA:J,bodyB:Z})}}return z}function T0(k,Y){let z=[];for(let w=0;w<=Y.length-1;w++){let $=k.retrieve(Y[w]);for(let G=0;G<=$.length-1;G++){let J=Y[w],Z=$[G];if(J.isStatic()&&Z.isStatic())continue;if(!c(J.AABB,Z.AABB))continue;z.push({bodyA:J,bodyB:Z})}}return z}function j0(k,Y){let z=[];for(let w=0;w<=Y.length-1;w++){let $=k.retrieve(Y[w]);for(let G=0;G<=$.length-1;G++){let J=Y[w],Z=$[G];if(J.isStatic()&&Z.isStatic())continue;if(!c(J.AABB,Z.AABB))continue;z.push({bodyAIndex:w,bodyBIndex:G})}}return z}function w0(k,Y){let z=[];for(let w=0;w<=Y.length-1;w++){let $=k.retrieve(Y[w]);for(let G=0;G<=$.length-1;G++){let J=Y[w],Z=$[G];if(J.isStatic()&&Z.isStatic())continue;if(!o(J.collisionFilter,Z.collisionFilter))continue;if(!c(J.AABB,Z.AABB))continue;z.push({bodyA:J,bodyB:Z})}}return z}function $0(k,Y,z){let w=[],$=[];return Y.forEach((G)=>{let{bodyA:J,bodyB:Z}=G,{collision:Q,depth:U,normal:R}=i(J,Z);if(Q&&R!==void 0&&U!==void 0){let W=[],S={x:(J.center.x+Z.center.x)/2,y:(J.center.y+Z.center.y)/2};W.push(S);let K={bodyA:J,bodyB:Z,contactPoints:W,normal:R,depth:U};if($.push(K),w.push(...W),z){let _=H.multiplyVectorByScalar(R,U/2),E=H.multiplyVectorByScalar(R,-U/2);if(!J.isStatic())J.move(_);if(!Z.isStatic())Z.move(E);if(J.isStatic())Z.move(E);if(Z.isStatic())J.move(_);z0(J,Z,{normal:R,contactPoints:W})}}}),{contactPoints:w,collisions:$}}class e{pairs=new Map;frameNumber=0;maxPairAge=10;constructor(){}getPairId(k,Y){let z=this.getBodyId(k),w=this.getBodyId(Y);return z<w?`${z}:${w}`:`${w}:${z}`}getBodyId(k){return k.toString()}updatePairs(k){this.frameNumber++;let Y={created:[],updated:[],removed:[]};this.pairs.forEach((w)=>{w.isActive=!1});for(let w of k){let $=this.getPairId(w.bodyA,w.bodyB),G=this.pairs.get($);if(G)G.isActive=!0,G.frameUpdated=this.frameNumber,G.contactPoints=w.contactPoints||[],G.normal=w.normal,G.depth=w.depth,Y.updated.push(G);else{let J={bodyA:w.bodyA,bodyB:w.bodyB,id:$,isActive:!0,contactPoints:w.contactPoints||[],normal:w.normal,depth:w.depth,frameCreated:this.frameNumber,frameUpdated:this.frameNumber};this.pairs.set($,J),Y.created.push(J)}}let z=[];return this.pairs.forEach((w,$)=>{if(!w.isActive&&this.frameNumber-w.frameUpdated>this.maxPairAge)z.push($),Y.removed.push(w)}),z.forEach((w)=>{this.pairs.delete(w)}),Y}getActivePairs(){return Array.from(this.pairs.values()).filter((k)=>k.isActive)}getPair(k,Y){let z=this.getPairId(k,Y);return this.pairs.get(z)}clear(){this.pairs.clear(),this.frameNumber=0}getStats(){return{totalPairs:this.pairs.size,activePairs:this.getActivePairs().length,frameNumber:this.frameNumber}}}class X0{rigidBodyList;rigidBodyMap;_resolveCollision;maxTransWidth;maxTransHeight;bound;spatialIndex;spatialIndexType;constraints;pinJoints=[];pairManager;enableSleeping=!0;_context=null;constructor(k,Y,z="dynamictree"){if(this.maxTransHeight=Y,this.maxTransWidth=k,this.spatialIndexType=z,this.bound=new j({x:-this.maxTransWidth,y:-this.maxTransHeight},2*this.maxTransWidth,2*this.maxTransHeight),z==="dynamictree")this.spatialIndex=new C;else if(z==="sap")this.spatialIndex=new u;else this.spatialIndex=new M(0,this.bound);this.rigidBodyList=[],this.rigidBodyMap=new Map,this._resolveCollision=!0,this.constraints=[],this.pairManager=new e}addRigidBody(k,Y){if(this.rigidBodyList.push(Y),this.rigidBodyMap.set(k,Y),this.spatialIndexType==="sap")this.spatialIndex.insert(Y)}removeRigidBody(k){if(this.rigidBodyMap.has(k)){let Y=this.rigidBodyMap.get(k);if(this.rigidBodyMap.delete(k),Y&&this.spatialIndexType==="sap"&&this.spatialIndex instanceof u)this.spatialIndex.remove(Y);let z=this.rigidBodyList.findIndex((w)=>w===Y);if(z!==-1)this.rigidBodyList.splice(z,1)}}step(k){if(this.enableSleeping)this.getRigidBodyList().forEach((Y)=>{Y.updateSleeping(k)});if(this._resolveCollision){let Y=this.resolveCollisionPhase()}this.constraints.forEach((Y)=>Y.enforce(k)),this.getRigidBodyList().forEach((Y)=>{if(!Y.isSleeping)Y.step(k)})}resolveCollisionPhase(){let k=[];if(this.spatialIndexType==="sap")this.rigidBodyMap.forEach(($)=>{if(!this.enableSleeping||!$.isSleeping){if(k.push($),this.spatialIndex instanceof u)this.spatialIndex.update($)}});else this.spatialIndex.clear(),this.rigidBodyMap.forEach(($)=>{if(!this.enableSleeping||!$.isSleeping)k.push($),this.spatialIndex.insert($)});let Y=w0(this.spatialIndex,k),z=$0(k,Y,this._resolveCollision),w=this.pairManager.updatePairs(z.collisions);if(this.enableSleeping)w.created.forEach(($)=>{if($.bodyA.isSleeping)$.bodyA.setSleeping(!1);if($.bodyB.isSleeping)$.bodyB.setSleeping(!1)});return z.contactPoints}get resolveCollision(){return this._resolveCollision}set resolveCollision(k){this._resolveCollision=k}getRigidBodyList(){let k=[];return this.rigidBodyMap.forEach((Y)=>{k.push(Y)}),k}getRigidBodyMap(){return this.rigidBodyMap}setMaxTransHeight(k){this.maxTransHeight=k}setMaxTransWidth(k){this.maxTransWidth=k}addConstraint(k){this.constraints.push(k)}getConstraints(){return this.constraints}addPinJoint(k,Y,z,w){this.pinJoints.push({bodyA:k,bodyB:Y,anchorA:z,anchorB:w})}get currentSpatialIndexType(){return this.spatialIndexType}setSpatialIndexType(k){if(k===this.spatialIndexType)return;if(this.spatialIndexType=k,k==="dynamictree")this.spatialIndex=new C;else if(k==="sap")this.spatialIndex=new u;else this.spatialIndex=new M(0,this.bound)}getSpatialIndexStats(){if(this.spatialIndex instanceof C)return this.spatialIndex.getStats();else if(this.spatialIndex instanceof u)return{type:this.spatialIndexType,...this.spatialIndex.getStats()};return{type:this.spatialIndexType,objects:this.rigidBodyMap.size}}get sleepingEnabled(){return this.enableSleeping}set sleepingEnabled(k){if(this.enableSleeping=k,!k)this.rigidBodyMap.forEach((Y)=>{if(Y.isSleeping)Y.setSleeping(!1)})}getPairManager(){return this.pairManager}getCollisionStats(){return{...this.pairManager.getStats(),sleepingBodies:Array.from(this.rigidBodyMap.values()).filter((k)=>k.isSleeping).length,totalBodies:this.rigidBodyMap.size}}}import{PointCal as q}from"@ue-too/math";class Q0{anchorA;worldAnchorA;bodyA;constructor(k,Y,z){this.bodyA=k,this.anchorA=Y,this.worldAnchorA=z}enforce(k){this.solveWorldPinJointConstraint(k)}solveWorldPinJointConstraint(k){let Y=this.bodyA,z=this.anchorA,w=this.worldAnchorA,$=q.addVector(Y.center,q.rotatePoint(z,Y.orientationAngle)),G=q.subVector($,w),J=q.subVector($,Y.center),Z=q.addVector(Y.linearVelocity,q.crossProduct({x:0,y:0,z:Y.angularVelocity},J)),Q=Y.isStatic()?0:1/Y.mass,U=Y.isStatic()?0:1/Y.momentOfInertia,R={x:Q+U*J.y*J.y,y:Q+U*J.x*J.x,xy:-U*J.x*J.y},W=1,S={x:-R.x*G.x-R.xy*G.y-1*G.x/k-Z.x,y:-R.xy*G.x-R.y*G.y-1*G.y/k-Z.y};if(!Y.isStatic())Y.linearVelocity.x+=Q*S.x,Y.linearVelocity.y+=Q*S.y,Y.angularVelocity+=U*(J.x*S.y-J.y*S.x)}}class R0{anchorA;anchorB;bodyA;bodyB;constructor(k,Y,z,w){this.bodyA=k,this.bodyB=Y,this.anchorA=z,this.anchorB=w}enforce(k){this.solvePinJointConstraint(k)}solvePinJointConstraint(k){let Y=this.bodyA,z=this.bodyB,w=this.anchorA,$=this.anchorB,G=q.addVector(Y.center,q.rotatePoint(w,Y.orientationAngle)),J=q.addVector(z.center,q.rotatePoint($,z.orientationAngle)),Z=q.subVector(J,G),Q=q.subVector(G,Y.center),U=q.subVector(J,z.center),R=q.subVector(q.addVector(z.linearVelocity,q.crossProduct({x:0,y:0,z:z.angularVelocity},U)),q.addVector(Y.linearVelocity,q.crossProduct({x:0,y:0,z:Y.angularVelocity},Q))),W=Y.isStatic()?0:1/Y.mass,S=z.isStatic()?0:1/z.mass,K=Y.isStatic()?0:1/Y.momentOfInertia,_=z.isStatic()?0:1/z.momentOfInertia,E={x:W+S+K*Q.y*Q.y+_*U.y*U.y,y:W+S+K*Q.x*Q.x+_*U.x*U.x,xy:-K*Q.x*Q.y-_*U.x*U.y},V=1,L={x:-E.x*Z.x-E.xy*Z.y-1*Z.x/k-R.x,y:-E.xy*Z.x-E.y*Z.y-1*Z.y/k-R.y};if(!Y.isStatic())Y.linearVelocity.x-=W*L.x,Y.linearVelocity.y-=W*L.y,Y.angularVelocity-=K*(Q.x*L.y-Q.y*L.x);if(!z.isStatic())z.linearVelocity.x+=S*L.x,z.linearVelocity.y+=S*L.y,z.angularVelocity+=_*(U.x*L.y-U.y*L.x)}}function P0(k,Y){let{bodyA:z,bodyB:w,anchorA:$,anchorB:G}=k,J=q.addVector(z.center,q.rotatePoint($,z.orientationAngle)),Z=q.addVector(w.center,q.rotatePoint(G,w.orientationAngle)),Q=q.subVector(Z,J),U=q.subVector(J,z.center),R=q.subVector(Z,w.center),W=q.subVector(q.addVector(w.linearVelocity,q.crossProduct({x:0,y:0,z:w.angularVelocity},R)),q.addVector(z.linearVelocity,q.crossProduct({x:0,y:0,z:z.angularVelocity},U))),S=z.isStatic()?0:1/z.mass,K=w.isStatic()?0:1/w.mass,_=z.isStatic()?0:1/z.momentOfInertia,E=w.isStatic()?0:1/w.momentOfInertia,V={x:S+K+_*U.y*U.y+E*R.y*R.y,y:S+K+_*U.x*U.x+E*R.x*R.x,xy:-_*U.x*U.y-E*R.x*R.y},L=0.5,F={x:-V.x*Q.x-V.xy*Q.y-0.5*Q.x/Y-W.x,y:-V.xy*Q.x-V.y*Q.y-0.5*Q.y/Y-W.y};if(!z.isStatic())z.linearVelocity.x-=S*F.x,z.linearVelocity.y-=S*F.y,z.angularVelocity-=_*(U.x*F.y-U.y*F.x);if(!w.isStatic())w.linearVelocity.x+=K*F.x,w.linearVelocity.y+=K*F.y,w.angularVelocity+=E*(R.x*F.y-R.y*F.x)}function x0(k,Y){let{body:z,localAnchor:w,worldAnchor:$}=k,G=q.addVector(z.center,q.rotatePoint(w,z.orientationAngle)),J=q.subVector(G,$),Z=q.subVector(G,z.center),Q=q.addVector(z.linearVelocity,q.crossProduct({x:0,y:0,z:z.angularVelocity},Z)),U=z.isStatic()?0:1/z.mass,R=z.isStatic()?0:1/z.momentOfInertia,W={x:U+R*Z.y*Z.y,y:U+R*Z.x*Z.x,xy:-R*Z.x*Z.y},S=0.2,K={x:-W.x*J.x-W.xy*J.y-0.2*J.x/Y-Q.x,y:-W.xy*J.x-W.y*J.y-0.2*J.y/Y-Q.y};if(!z.isStatic())z.linearVelocity.x+=U*K.x,z.linearVelocity.y+=U*K.y,z.angularVelocity+=R*(Z.x*K.y-Z.y*K.x)}export{x0 as solveWorldPinJointConstraint,P0 as solvePinJointConstraint,z0 as resolveCollisionWithRotation,Z0 as resolveCollision,$0 as narrowPhaseWithRigidBodyAndPairs,N0 as narrowPhaseWithRigidBody,g0 as narrowPhase,i as intersects,o as canCollide,w0 as broadPhaseWithSpatialIndexFiltered,T0 as broadPhaseWithSpatialIndex,M0 as broadPhaseWithRigidBodyReturned,j0 as broadPhase,c as aabbIntersects,X0 as World,J0 as VisualPolygonBody,G0 as VisaulCircleBody,u as SweepAndPrune,j as RectangleBound,M as QuadTree,k0 as Polygon,R0 as PinJoint,e as PairManager,Q0 as FixedPinJoint,C as DynamicTree,r as DEFAULT_COLLISION_FILTER,H0 as CollisionCategory,Y0 as Circle,n as BaseRigidBody};
 
-// src/collision-filter.ts
-var DEFAULT_COLLISION_FILTER = {
-  category: 1,
-  mask: 65535,
-  group: 0
-};
-function canCollide(filterA, filterB) {
-  if (filterA.group !== 0 && filterA.group === filterB.group) {
-    return filterA.group > 0;
-  }
-  return (filterA.category & filterB.mask) !== 0 && (filterB.category & filterA.mask) !== 0;
-}
-var CollisionCategory = {
-  STATIC: 1,
-  DYNAMIC: 2,
-  PLAYER: 4,
-  ENEMY: 8,
-  PROJECTILE: 16,
-  SENSOR: 32,
-  PICKUP: 64,
-  PLATFORM: 128
-};
-
-// src/rigidbody.ts
-class BaseRigidBody {
-  _center;
-  _mass = 50;
-  _linearVelocity;
-  _angularVelocity;
-  _orientationAngle = 0;
-  linearAcceleartion;
-  force;
-  isStaticBody = false;
-  _staticFrictionCoeff = 0.3;
-  dynamicFrictionCoeff = 0.3;
-  frictionEnabled = false;
-  isMovingStaticBody = false;
-  angularDampingFactor = 0.005;
-  collisionFilter = { ...DEFAULT_COLLISION_FILTER };
-  isSleeping = false;
-  sleepThreshold = 0.01;
-  sleepTime = 0.5;
-  timeAtRest = 0;
-  constructor(center, _orientationAngle = 0, mass = 50, isStaticBody = false, frictionEnabled = false) {
-    this._center = center;
-    this._orientationAngle = _orientationAngle;
-    this._mass = mass;
-    this.isStaticBody = isStaticBody;
-    this.frictionEnabled = frictionEnabled;
-    this.force = { x: 0, y: 0 };
-    this.linearAcceleartion = { x: 0, y: 0 };
-    this._linearVelocity = { x: 0, y: 0 };
-    this._angularVelocity = 0;
-  }
-  move(delta) {
-    if (!this.isStatic()) {
-      this._center = PointCal.addVector(this._center, delta);
-    }
-  }
-  rotateRadians(angle) {
-    this._orientationAngle += angle;
-  }
-  getCenter() {
-    return this._center;
-  }
-  getOrientationAngle() {
-    return this._orientationAngle;
-  }
-  get angularVelocity() {
-    return this._angularVelocity;
-  }
-  set angularVelocity(angularVelocity) {
-    this._angularVelocity = angularVelocity;
-  }
-  get orientationAngle() {
-    return this._orientationAngle;
-  }
-  isStatic() {
-    return this.isStaticBody;
-  }
-  isMovingStatic() {
-    return this.isMovingStaticBody;
-  }
-  setLinearVelocity(linearVelocity) {
-    this._linearVelocity = linearVelocity;
-  }
-  setMovingStatic(movingStatic) {
-    this.isMovingStaticBody = movingStatic;
-  }
-  setOrientationAngle(angle) {
-    this._orientationAngle = angle;
-  }
-  applyForce(force) {
-    if (PointCal.magnitude(this.force) !== 0) {
-      this.force = PointCal.addVector(this.force, force);
-    } else {
-      this.force = force;
-    }
-  }
-  applyForceInOrientation(force) {
-    let forceTransformed;
-    if (typeof force === "number") {
-      forceTransformed = PointCal.rotatePoint({ x: force, y: 0 }, this._orientationAngle);
-    } else {
-      forceTransformed = PointCal.rotatePoint(force, this._orientationAngle);
-    }
-    this.applyForce(forceTransformed);
-  }
-  step(deltaTime) {
-    if (this.frictionEnabled) {
-      if (this.isStatic() || this.linearVelocity.x == 0 && this.linearVelocity.y == 0 && PointCal.magnitude(PointCal.subVector({ x: this.force.x, y: this.force.y }, { x: 0, y: 0 })) >= 0 && PointCal.magnitude({ x: this.force.x, y: this.force.y }) < this.staticFrictionCoeff * this.mass * 9.81) {
-        if (this.force.z != null) {
-          this.force = { x: 0, y: 0, z: this.force.z };
-        } else {
-          this.force = { x: 0, y: 0 };
-        }
-      } else {
-        let kineticFrictionDirection = PointCal.multiplyVectorByScalar(PointCal.unitVector({ x: this._linearVelocity.x, y: this._linearVelocity.y }), -1);
-        let kineticFriction = PointCal.multiplyVectorByScalar(kineticFrictionDirection, this.dynamicFrictionCoeff * this.mass * 9.81);
-        this.force = PointCal.addVector(this.force, kineticFriction);
-      }
-    }
-    const angularDamping = this._angularVelocity != 0 ? this._angularVelocity > 0 ? -this.angularDampingFactor : this.angularDampingFactor : 0;
-    if (Math.abs(this._angularVelocity) < Math.abs(angularDamping)) {
-      this._angularVelocity = 0;
-    } else {
-      this._angularVelocity += angularDamping;
-    }
-    this._orientationAngle += this._angularVelocity * deltaTime;
-    if (PointCal.magnitude({ x: this._linearVelocity.x, y: this._linearVelocity.y }) < PointCal.magnitude(PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass))) {
-      if (this._linearVelocity.z != null) {
-        this._linearVelocity = { x: 0, y: 0, z: this._linearVelocity.z };
-      } else {
-        this._linearVelocity = { x: 0, y: 0 };
-      }
-    }
-    const gravitationalForce = -9.81 * this._mass;
-    this.force = PointCal.addVector(this.force, { x: 0, y: 0, z: gravitationalForce });
-    const deltaLinearVelocity = PointCal.divideVectorByScalar(PointCal.multiplyVectorByScalar(this.force, deltaTime), this.mass);
-    this._linearVelocity = PointCal.addVector(this._linearVelocity, deltaLinearVelocity);
-    const deltaCenter = PointCal.multiplyVectorByScalar(this._linearVelocity, deltaTime);
-    this._center = PointCal.addVector(this._center, deltaCenter);
-    if (this._center.z != null && this._center.z < 0) {
-      this._center.z = 0;
-    }
-    this.force = { x: 0, y: 0 };
-  }
-  get center() {
-    return this._center;
-  }
-  set center(dest) {
-    this._center = dest;
-  }
-  get linearVelocity() {
-    return this._linearVelocity;
-  }
-  set linearVelocity(dest) {
-    this._linearVelocity = dest;
-  }
-  get mass() {
-    return this._mass;
-  }
-  get staticFrictionCoeff() {
-    return this._staticFrictionCoeff;
-  }
-  set staticFrictionCoeff(coeff) {
-    this._staticFrictionCoeff = coeff;
-  }
-  setSleeping(sleeping) {
-    if (sleeping && !this.isSleeping) {
-      this.isSleeping = true;
-      this._linearVelocity = { x: 0, y: 0 };
-      this._angularVelocity = 0;
-    } else if (!sleeping && this.isSleeping) {
-      this.isSleeping = false;
-      this.timeAtRest = 0;
-    }
-  }
-  updateSleeping(deltaTime) {
-    if (this.isStatic() || this.isMovingStatic())
-      return;
-    const speed = PointCal.magnitude(this._linearVelocity);
-    const angularSpeed = Math.abs(this._angularVelocity);
-    if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {
-      this.timeAtRest += deltaTime;
-      if (this.timeAtRest >= this.sleepTime) {
-        this.setSleeping(true);
-      }
-    } else {
-      this.timeAtRest = 0;
-      if (this.isSleeping) {
-        this.setSleeping(false);
-      }
-    }
-  }
-}
-
-class VisaulCircleBody {
-  _circle;
-  _context;
-  collisionFilter = { ...DEFAULT_COLLISION_FILTER };
-  isSleeping = false;
-  sleepThreshold = 0.01;
-  sleepTime = 0.5;
-  timeAtRest = 0;
-  constructor(center = { x: 0, y: 0 }, radius, drawingContext, _orientationAngle = 0, mass = 50, isStatic = false, frictionEnabled = true) {
-    this._circle = new Circle(center, radius, _orientationAngle, mass, isStatic, frictionEnabled);
-    this._context = drawingContext;
-  }
-  draw(ctx) {
-    ctx.beginPath();
-    ctx.arc(this._circle.center.x, this._circle.center.y, this._circle.radius, 0, 2 * Math.PI);
-    ctx.stroke();
-  }
-  step(deltaTime) {
-    this._circle.step(deltaTime);
-    this.draw(this._context);
-  }
-  isStatic() {
-    return this._circle.isStatic();
-  }
-  isMovingStatic() {
-    return this._circle.isMovingStatic();
-  }
-  getMinMaxProjection(unitvector) {
-    return this._circle.getMinMaxProjection(unitvector);
-  }
-  getCollisionAxes(relativeBody) {
-    return this._circle.getCollisionAxes(relativeBody);
-  }
-  applyForce(force) {
-    this._circle.applyForce(force);
-  }
-  get AABB() {
-    return this._circle.AABB;
-  }
-  getMass() {
-    return this._circle.mass;
-  }
-  applyForceInOrientation(force) {
-    this._circle.applyForceInOrientation(force);
-  }
-  move(delta) {
-    this._circle.move(delta);
-  }
-  getSignificantVertices(collisionNormal) {
-    return this._circle.getSignificantVertices(collisionNormal);
-  }
-  get center() {
-    return this._circle.center;
-  }
-  set center(dest) {
-    this._circle.center = dest;
-  }
-  get linearVelocity() {
-    return this._circle.linearVelocity;
-  }
-  set linearVelocity(dest) {
-    this._circle.linearVelocity = dest;
-  }
-  get orientationAngle() {
-    return this._circle.orientationAngle;
-  }
-  significantVertex(collisionNormal) {
-    return this._circle.significantVertex(collisionNormal);
-  }
-  set angularVelocity(angularVelocity) {
-    this._circle.angularVelocity = angularVelocity;
-  }
-  get angularVelocity() {
-    return this._circle.angularVelocity;
-  }
-  get mass() {
-    return this._circle.mass;
-  }
-  getNormalOfSignificantFace(collisionNormal) {
-    return this._circle.getNormalOfSignificantFace(collisionNormal);
-  }
-  get staticFrictionCoeff() {
-    return this._circle.staticFrictionCoeff;
-  }
-  set staticFrictionCoeff(coeff) {
-    this._circle.staticFrictionCoeff = coeff;
-  }
-  getAdjacentFaces(collisionNormal) {
-    return this._circle.getAdjacentFaces(collisionNormal);
-  }
-  get momentOfInertia() {
-    return this._circle.momentOfInertia;
-  }
-  setSleeping(sleeping) {
-    if (sleeping && !this.isSleeping) {
-      this.isSleeping = true;
-      this._circle.linearVelocity = { x: 0, y: 0 };
-      this._circle.angularVelocity = 0;
-    } else if (!sleeping && this.isSleeping) {
-      this.isSleeping = false;
-      this.timeAtRest = 0;
-    }
-  }
-  updateSleeping(deltaTime) {
-    if (this._circle.isStatic() || this._circle.isMovingStatic())
-      return;
-    const speed = PointCal.magnitude(this._circle.linearVelocity);
-    const angularSpeed = Math.abs(this._circle.angularVelocity);
-    if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {
-      this.timeAtRest += deltaTime;
-      if (this.timeAtRest >= this.sleepTime) {
-        this.setSleeping(true);
-      }
-    } else {
-      this.timeAtRest = 0;
-      if (this.isSleeping) {
-        this.setSleeping(false);
-      }
-    }
-  }
-}
-
-class VisualPolygonBody {
-  _polygon;
-  _context;
-  collisionFilter = { ...DEFAULT_COLLISION_FILTER };
-  isSleeping = false;
-  sleepThreshold = 0.01;
-  sleepTime = 0.5;
-  timeAtRest = 0;
-  constructor(center = { x: 0, y: 0 }, vertices, drawingContext, _orientationAngle = 0, mass = 50, isStatic = false, frictionEnabled = true) {
-    this._polygon = new Polygon(center, vertices, _orientationAngle, mass, isStatic, frictionEnabled);
-    this._context = drawingContext;
-  }
-  draw(ctx) {
-    ctx.beginPath();
-    let vertices = this._polygon.getVerticesAbsCoord();
-    ctx.moveTo(vertices[0].x, vertices[0].y);
-    vertices.forEach((vertex) => {
-      ctx.lineTo(vertex.x, vertex.y);
-    });
-    ctx.lineTo(vertices[0].x, vertices[0].y);
-    ctx.stroke();
-  }
-  step(deltaTime) {
-    this._polygon.step(deltaTime);
-    this.draw(this._context);
-  }
-  isStatic() {
-    return this._polygon.isStatic();
-  }
-  isMovingStatic() {
-    return this._polygon.isMovingStatic();
-  }
-  getMinMaxProjection(unitvector) {
-    return this._polygon.getMinMaxProjection(unitvector);
-  }
-  getCollisionAxes(relativeBody) {
-    return this._polygon.getCollisionAxes(relativeBody);
-  }
-  applyForce(force) {
-    this._polygon.applyForce(force);
-  }
-  applyForceInOrientation(force) {
-    this._polygon.applyForceInOrientation(force);
-  }
-  setLinearVelocity(linearVelocity) {
-    this._polygon.setLinearVelocity(linearVelocity);
-  }
-  move(delta) {
-    this._polygon.move(delta);
-  }
-  get center() {
-    return this._polygon.center;
-  }
-  set center(dest) {
-    this._polygon.center = dest;
-  }
-  get linearVelocity() {
-    return this._polygon.linearVelocity;
-  }
-  set linearVelocity(dest) {
-    this._polygon.linearVelocity = dest;
-  }
-  get angularVelocity() {
-    return this._polygon.angularVelocity;
-  }
-  set angularVelocity(angularVelocity) {
-    this._polygon.angularVelocity = angularVelocity;
-  }
-  get orientationAngle() {
-    return this._polygon.orientationAngle;
-  }
-  significantVertex(collisionNormal) {
-    return this._polygon.significantVertex(collisionNormal);
-  }
-  getSignificantVertices(collisionNormal) {
-    return this._polygon.getSignificantVertices(collisionNormal);
-  }
-  get AABB() {
-    return this._polygon.AABB;
-  }
-  get mass() {
-    return this._polygon.mass;
-  }
-  get staticFrictionCoeff() {
-    return this._polygon.staticFrictionCoeff;
-  }
-  set staticFrictionCoeff(coeff) {
-    this._polygon.staticFrictionCoeff = coeff;
-  }
-  get momentOfInertia() {
-    return this._polygon.momentOfInertia;
-  }
-  getNormalOfSignificantFace(collisionNormal) {
-    return this._polygon.getNormalOfSignificantFace(collisionNormal);
-  }
-  getAdjacentFaces(collisionNormal) {
-    return this._polygon.getAdjacentFaces(collisionNormal);
-  }
-  setSleeping(sleeping) {
-    if (sleeping && !this.isSleeping) {
-      this.isSleeping = true;
-      this._polygon.linearVelocity = { x: 0, y: 0 };
-      this._polygon.angularVelocity = 0;
-    } else if (!sleeping && this.isSleeping) {
-      this.isSleeping = false;
-      this.timeAtRest = 0;
-    }
-  }
-  updateSleeping(deltaTime) {
-    if (this._polygon.isStatic() || this._polygon.isMovingStatic())
-      return;
-    const speed = PointCal.magnitude(this._polygon.linearVelocity);
-    const angularSpeed = Math.abs(this._polygon.angularVelocity);
-    if (speed < this.sleepThreshold && angularSpeed < this.sleepThreshold) {
-      this.timeAtRest += deltaTime;
-      if (this.timeAtRest >= this.sleepTime) {
-        this.setSleeping(true);
-      }
-    } else {
-      this.timeAtRest = 0;
-      if (this.isSleeping) {
-        this.setSleeping(false);
-      }
-    }
-  }
-}
-
-class Polygon extends BaseRigidBody {
-  vertices;
-  _momentOfInertia;
-  constructor(center = { x: 0, y: 0 }, vertices, _orientationAngle = 0, mass = 50, isStatic = false, frictionEnabled = true) {
-    super(center, _orientationAngle, mass, isStatic, frictionEnabled);
-    this.vertices = vertices;
-    this.step = this.step.bind(this);
-    let numerator = this.vertices.reduce((acc, vertex, index) => {
-      let nextPointIndex = index < this.vertices.length - 1 ? index + 1 : 0;
-      let nextPoint = this.vertices[nextPointIndex];
-      let crossProduct = PointCal.crossProduct(nextPoint, vertex);
-      return acc + PointCal.magnitude(crossProduct) * (PointCal.dotProduct(vertex, vertex) + PointCal.dotProduct(vertex, nextPoint) + PointCal.dotProduct(nextPoint, nextPoint));
-    }, 0);
-    let denomiator = this.vertices.reduce((acc, vertex, index) => {
-      return acc + PointCal.magnitude(PointCal.crossProduct(this.vertices[index < this.vertices.length - 1 ? index + 1 : 0], vertex));
-    }, 0);
-    this._momentOfInertia = this._mass * numerator / (6 * denomiator);
-  }
-  getVerticesAbsCoord() {
-    return this.vertices.map((vertex) => {
-      return PointCal.addVector(this._center, PointCal.rotatePoint(vertex, this._orientationAngle));
-    });
-  }
-  getCollisionAxes(relativeBody) {
-    return this.getVerticesAbsCoord().map((vertex, index, absVertices) => {
-      let vector = PointCal.subVector(vertex, absVertices[absVertices.length - 1]);
-      if (index > 0) {
-        vector = PointCal.subVector(vertex, absVertices[index - 1]);
-      }
-      return PointCal.unitVector(PointCal.rotatePoint(vector, Math.PI / 2));
-    });
-  }
-  getMinMaxProjection(unitvector) {
-    let vertices = this.getVerticesAbsCoord();
-    let projections = vertices.map((vertex) => {
-      return PointCal.dotProduct(vertex, unitvector);
-    });
-    return { min: Math.min(...projections), max: Math.max(...projections) };
-  }
-  get AABB() {
-    let points = this.getVerticesAbsCoord();
-    let xCoords = points.map((vertex) => vertex.x);
-    let yCoords = points.map((vertex) => vertex.y);
-    return { min: { x: Math.min(...xCoords), y: Math.min(...yCoords) }, max: { x: Math.max(...xCoords), y: Math.max(...yCoords) } };
-  }
-  significantVertex(collisionNormal) {
-    let vertices = this.getVerticesAbsCoord();
-    let verticesProjected = vertices.map((vertex) => PointCal.dotProduct(vertex, collisionNormal));
-    let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));
-    return vertices[maxIndex];
-  }
-  getSignificantVertices(collisionNormal) {
-    let vertices = this.getVerticesAbsCoord();
-    let verticesProjected = vertices.map((vertex) => PointCal.dotProduct(vertex, collisionNormal));
-    let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));
-    const tipVertex = vertices[maxIndex];
-    let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;
-    let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;
-    const prevPoint = vertices[prevPointIndex];
-    const nextPoint = vertices[nextPointIndex];
-    const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);
-    const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);
-    if (prevPointProjected > nextPointProjected) {
-      return [prevPoint, tipVertex];
-    } else {
-      return [tipVertex, nextPoint];
-    }
-  }
-  getNormalOfSignificantFace(collisionNormal) {
-    const vertices = this.getSignificantVertices(collisionNormal);
-    const direction = PointCal.unitVectorFromA2B(vertices[0], vertices[1]);
-    return PointCal.rotatePoint(direction, -Math.PI / 2);
-  }
-  getAdjacentFaces(collisionNormal) {
-    let vertices = this.getVerticesAbsCoord();
-    let verticesProjected = vertices.map((vertex) => PointCal.dotProduct(vertex, collisionNormal));
-    let maxIndex = verticesProjected.indexOf(Math.max(...verticesProjected));
-    const tipVertex = vertices[maxIndex];
-    let prevPointIndex = maxIndex > 0 ? maxIndex - 1 : vertices.length - 1;
-    let nextPointIndex = maxIndex < vertices.length - 1 ? maxIndex + 1 : 0;
-    const prevPoint = vertices[prevPointIndex];
-    const nextPoint = vertices[nextPointIndex];
-    const prevPointProjected = PointCal.dotProduct(prevPoint, collisionNormal);
-    const nextPointProjected = PointCal.dotProduct(nextPoint, collisionNormal);
-    const adjacentFaces = [];
-    const adjacentFacesWithIndex = [];
-    if (prevPointProjected > nextPointProjected) {
-      adjacentFaces.push(prevPoint, tipVertex);
-      adjacentFacesWithIndex.push({ startPoint: { coord: prevPoint, index: prevPointIndex }, endPoint: { coord: tipVertex, index: maxIndex } });
-      adjacentFacesWithIndex.unshift({ startPoint: { coord: tipVertex, index: maxIndex }, endPoint: { coord: nextPoint, index: nextPointIndex } });
-      let prevPrevPointIndex = prevPointIndex > 0 ? prevPointIndex - 1 : vertices.length - 1;
-      adjacentFacesWithIndex.unshift({ startPoint: { coord: vertices[prevPrevPointIndex], index: prevPrevPointIndex }, endPoint: { coord: prevPoint, index: prevPointIndex } });
-    } else {
-      adjacentFaces.push(tipVertex, nextPoint);
-      adjacentFacesWithIndex.push({ startPoint: { coord: tipVertex, index: maxIndex }, endPoint: { coord: nextPoint, index: nextPointIndex } });
-      let nextNextPointIndex = nextPointIndex < vertices.length - 1 ? nextPointIndex + 1 : 0;
-      adjacentFacesWithIndex.unshift({ startPoint: { coord: nextPoint, index: nextPointIndex }, endPoint: { coord: vertices[nextNextPointIndex], index: nextNextPointIndex } });
-      adjacentFacesWithIndex.unshift({ startPoint: { coord: prevPoint, index: prevPointIndex }, endPoint: { coord: tipVertex, index: maxIndex } });
-    }
-    return adjacentFacesWithIndex;
-  }
-  get momentOfInertia() {
-    return this._momentOfInertia;
-  }
-}
-
-class Circle extends BaseRigidBody {
-  _radius;
-  _momentOfInertia;
-  constructor(center = { x: 0, y: 0 }, radius, _orientationAngle = 0, mass = 50, isStatic = false, frictionEnabled = true) {
-    super(center, _orientationAngle, mass, isStatic, frictionEnabled);
-    this._radius = radius;
-    this.step = this.step.bind(this);
-    this._momentOfInertia = this._mass * this._radius * this._radius / 2;
-  }
-  getMinMaxProjection(unitvector) {
-    let PositiveFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, this._radius));
-    let NegativeFurthest = PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(unitvector, -this._radius));
-    return { min: PointCal.dotProduct(NegativeFurthest, unitvector), max: PointCal.dotProduct(PositiveFurthest, unitvector) };
-  }
-  getCollisionAxes(relativeBody) {
-    return [PointCal.unitVector(PointCal.subVector(relativeBody.center, this._center))];
-  }
-  get AABB() {
-    return { min: PointCal.subVector(this._center, { x: this._radius, y: this._radius }), max: PointCal.addVector(this._center, { x: this._radius, y: this._radius }) };
-  }
-  significantVertex(collisionNormal) {
-    return PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius));
-  }
-  get radius() {
-    return this._radius;
-  }
-  getSignificantVertices(collisionNormal) {
-    return [PointCal.addVector(this._center, PointCal.multiplyVectorByScalar(collisionNormal, this._radius))];
-  }
-  getNormalOfSignificantFace(collisionNormal) {
-    return PointCal.unitVector(collisionNormal);
-  }
-  getAdjacentFaces(collisionNormal) {
-    return [];
-  }
-  get momentOfInertia() {
-    return this._momentOfInertia;
-  }
-}
-// src/quadtree.ts
-class RectangleBound {
-  bottomLeft;
-  width;
-  height;
-  constructor(bottomLeft, width, height) {
-    this.bottomLeft = bottomLeft;
-    this.width = width;
-    this.height = height;
-  }
-  getWidth() {
-    return this.width;
-  }
-  getHeight() {
-    return this.height;
-  }
-  getbottomLeft() {
-    return this.bottomLeft;
-  }
-}
-
-class QuadTree {
-  MAX_OBJECTS = 10;
-  MAX_LEVELS = 5;
-  level;
-  objects = [];
-  nodes = [];
-  bounds;
-  constructor(level, bounds) {
-    this.level = level;
-    this.objects = [];
-    this.bounds = bounds;
-    this.nodes = [undefined, undefined, undefined, undefined];
-  }
-  draw(context) {
-    context.beginPath();
-    context.rect(this.bounds.getbottomLeft().x, this.bounds.getbottomLeft().y, this.bounds.getWidth(), this.bounds.getHeight());
-    context.stroke();
-    for (let index = 0;index < this.nodes.length; index++) {
-      let node = this.nodes[index];
-      if (node != null) {
-        node.draw(context);
-      }
-    }
-  }
-  clear() {
-    this.objects = [];
-    for (let index = 0;index < this.nodes.length; index++) {
-      let node = this.nodes[index];
-      if (node != null) {
-        node.clear();
-        node = undefined;
-      }
-    }
-  }
-  split() {
-    let subWidth = this.bounds.getWidth() / 2;
-    let subHeight = this.bounds.getHeight() / 2;
-    let bottomLeft = this.bounds.getbottomLeft();
-    this.nodes[0] = new QuadTree(this.level + 1, new RectangleBound({ x: bottomLeft.x, y: bottomLeft.y }, subWidth, subHeight));
-    this.nodes[1] = new QuadTree(this.level + 1, new RectangleBound({ x: bottomLeft.x, y: bottomLeft.y + subHeight }, subWidth, subHeight));
-    this.nodes[2] = new QuadTree(this.level + 1, new RectangleBound({ x: bottomLeft.x + subWidth, y: bottomLeft.y + subHeight }, subWidth, subHeight));
-    this.nodes[3] = new QuadTree(this.level + 1, new RectangleBound({ x: bottomLeft.x + subWidth, y: bottomLeft.y }, subWidth, subHeight));
-  }
-  getIndex(vBody) {
-    let midPoint = { x: this.bounds.getbottomLeft().x + this.bounds.getWidth() / 2, y: this.bounds.getbottomLeft().y + this.bounds.getHeight() / 2 };
-    let points = vBody.AABB;
-    let bottom = points.max.y < midPoint.y && points.min.y > this.bounds.getbottomLeft().y;
-    let left = points.max.x < midPoint.x && points.min.x > this.bounds.getbottomLeft().x;
-    let right = points.max.x > midPoint.x && points.min.x > midPoint.x;
-    let top = points.max.y > midPoint.y && points.min.y > midPoint.y;
-    if (bottom && left) {
-      return 0;
-    } else if (bottom && right) {
-      return 3;
-    } else if (top && left) {
-      return 1;
-    } else if (top && right) {
-      return 2;
-    }
-    return -1;
-  }
-  insert(vBody) {
-    let node = this.nodes[0];
-    if (node != null) {
-      let index = this.getIndex(vBody);
-      if (index !== -1) {
-        node = this.nodes[index];
-        node?.insert(vBody);
-        return;
-      }
-    }
-    this.objects.push(vBody);
-    if (this.objects.length > this.MAX_OBJECTS && this.level < this.MAX_LEVELS) {
-      if (this.nodes[0] == null || this.nodes[0] == undefined) {
-        this.split();
-      }
-      let i = 0;
-      while (i < this.objects.length) {
-        let index = this.getIndex(this.objects[i]);
-        let node2 = this.nodes[index];
-        if (index != -1 && node2 !== undefined) {
-          let vBody2 = this.objects[i];
-          this.objects.splice(i, 1);
-          node2.insert(vBody2);
-        } else {
-          i++;
-        }
-      }
-    }
-  }
-  retrieve(vBody) {
-    let index = this.getIndex(vBody);
-    let res = [];
-    let node = this.nodes[index];
-    if (index !== -1 && node !== undefined) {
-      res.push(...node.retrieve(vBody));
-    }
-    res.push(...this.objects);
-    return res;
-  }
-}
-// src/dynamic-tree.ts
-class TreeNode {
-  parent = null;
-  children = [null, null];
-  aabb = { min: { x: 0, y: 0 }, max: { x: 0, y: 0 } };
-  object = null;
-  height = 0;
-  constructor(object) {
-    if (object) {
-      this.setLeaf(object);
-    }
-  }
-  isLeaf() {
-    return this.children[0] === null;
-  }
-  setLeaf(object) {
-    this.object = object;
-    this.updateAABB();
-    this.children = [null, null];
-    this.height = 0;
-  }
-  setBranch(child1, child2) {
-    child1.parent = this;
-    child2.parent = this;
-    this.children = [child1, child2];
-    this.object = null;
-    this.updateAABB();
-    this.height = 1 + Math.max(child1.height, child2.height);
-  }
-  updateAABB(margin = 0.1) {
-    if (this.isLeaf() && this.object) {
-      const obj = this.object.AABB;
-      this.aabb = {
-        min: { x: obj.min.x - margin, y: obj.min.y - margin },
-        max: { x: obj.max.x + margin, y: obj.max.y + margin }
-      };
-    } else if (this.children[0] && this.children[1]) {
-      const aabb1 = this.children[0].aabb;
-      const aabb2 = this.children[1].aabb;
-      this.aabb = {
-        min: {
-          x: Math.min(aabb1.min.x, aabb2.min.x),
-          y: Math.min(aabb1.min.y, aabb2.min.y)
-        },
-        max: {
-          x: Math.max(aabb1.max.x, aabb2.max.x),
-          y: Math.max(aabb1.max.y, aabb2.max.y)
-        }
-      };
-    }
-  }
-  getSibling() {
-    if (!this.parent)
-      return null;
-    return this.parent.children[0] === this ? this.parent.children[1] : this.parent.children[0];
-  }
-  getBalance() {
-    if (this.isLeaf())
-      return 0;
-    const leftHeight = this.children[0] ? this.children[0].height : 0;
-    const rightHeight = this.children[1] ? this.children[1].height : 0;
-    return leftHeight - rightHeight;
-  }
-}
-
-class SweepAndPrune {
-  xEndpoints = [];
-  objects = new Map;
-  nextId = 0;
-  clear() {
-    this.xEndpoints = [];
-    this.objects.clear();
-    this.nextId = 0;
-  }
-  insert(object) {
-    const id = this.nextId++;
-    const minEndpoint = { value: object.AABB.min.x, isMin: true, object, id };
-    const maxEndpoint = { value: object.AABB.max.x, isMin: false, object, id };
-    this.objects.set(object, { minEndpoint, maxEndpoint });
-    this.insertEndpointSorted(minEndpoint);
-    this.insertEndpointSorted(maxEndpoint);
-  }
-  update(object) {
-    const endpoints = this.objects.get(object);
-    if (!endpoints)
-      return;
-    const newMinX = object.AABB.min.x;
-    const newMaxX = object.AABB.max.x;
-    if (endpoints.minEndpoint.value !== newMinX) {
-      this.removeEndpoint(endpoints.minEndpoint);
-      endpoints.minEndpoint.value = newMinX;
-      this.insertEndpointSorted(endpoints.minEndpoint);
-    }
-    if (endpoints.maxEndpoint.value !== newMaxX) {
-      this.removeEndpoint(endpoints.maxEndpoint);
-      endpoints.maxEndpoint.value = newMaxX;
-      this.insertEndpointSorted(endpoints.maxEndpoint);
-    }
-  }
-  remove(object) {
-    const endpoints = this.objects.get(object);
-    if (!endpoints)
-      return;
-    this.removeEndpoint(endpoints.minEndpoint);
-    this.removeEndpoint(endpoints.maxEndpoint);
-    this.objects.delete(object);
-  }
-  retrieve(queryObject) {
-    const result = [];
-    const queryMin = queryObject.AABB.min.x;
-    const queryMax = queryObject.AABB.max.x;
-    for (const endpoint of this.xEndpoints) {
-      if (endpoint.value > queryMax)
-        break;
-      if (endpoint.isMin && endpoint.object !== queryObject) {
-        const objMax = this.objects.get(endpoint.object)?.maxEndpoint.value;
-        if (objMax !== undefined && objMax >= queryMin) {
-          if (this.aabbIntersects(endpoint.object.AABB, queryObject.AABB)) {
-            result.push(endpoint.object);
-          }
-        }
-      }
-    }
-    return result;
-  }
-  findAllOverlaps() {
-    const pairs = [];
-    const activeObjects = new Set;
-    for (const endpoint of this.xEndpoints) {
-      if (endpoint.isMin) {
-        for (const activeObj of activeObjects) {
-          if (this.aabbIntersects(endpoint.object.AABB, activeObj.AABB)) {
-            pairs.push({ a: endpoint.object, b: activeObj });
-          }
-        }
-        activeObjects.add(endpoint.object);
-      } else {
-        activeObjects.delete(endpoint.object);
-      }
-    }
-    return pairs;
-  }
-  insertEndpointSorted(endpoint) {
-    let left = 0;
-    let right = this.xEndpoints.length;
-    while (left < right) {
-      const mid = Math.floor((left + right) / 2);
-      const midEndpoint = this.xEndpoints[mid];
-      if (midEndpoint.value < endpoint.value || midEndpoint.value === endpoint.value && midEndpoint.isMin && !endpoint.isMin) {
-        left = mid + 1;
-      } else {
-        right = mid;
-      }
-    }
-    this.xEndpoints.splice(left, 0, endpoint);
-  }
-  removeEndpoint(endpoint) {
-    const index = this.xEndpoints.indexOf(endpoint);
-    if (index !== -1) {
-      this.xEndpoints.splice(index, 1);
-    }
-  }
-  aabbIntersects(aabb1, aabb2) {
-    return !(aabb1.max.x < aabb2.min.x || aabb1.min.x > aabb2.max.x || aabb1.max.y < aabb2.min.y || aabb1.min.y > aabb2.max.y);
-  }
-  draw(context) {
-    context.strokeStyle = "orange";
-    context.lineWidth = 1;
-    context.globalAlpha = 0.3;
-    for (const endpoint of this.xEndpoints) {
-      context.beginPath();
-      context.moveTo(endpoint.value, -1000);
-      context.lineTo(endpoint.value, 1000);
-      context.stroke();
-      context.fillStyle = endpoint.isMin ? "green" : "red";
-      context.fillText(endpoint.isMin ? "min" : "max", endpoint.value, -950);
-    }
-    context.globalAlpha = 1;
-  }
-  getStats() {
-    return {
-      endpointCount: this.xEndpoints.length,
-      objectCount: this.objects.size
-    };
-  }
-}
-
-class DynamicTree {
-  root = null;
-  nodeCount = 0;
-  margin = 0.1;
-  clear() {
-    this.root = null;
-    this.nodeCount = 0;
-  }
-  insert(object) {
-    const node = new TreeNode(object);
-    this.insertNode(node);
-  }
-  insertNode(node) {
-    this.nodeCount++;
-    if (!this.root) {
-      this.root = node;
-      return;
-    }
-    let sibling = this.findBestSibling(node);
-    const oldParent = sibling.parent;
-    const newParent = new TreeNode;
-    newParent.parent = oldParent;
-    newParent.setBranch(sibling, node);
-    if (oldParent) {
-      if (oldParent.children[0] === sibling) {
-        oldParent.children[0] = newParent;
-      } else {
-        oldParent.children[1] = newParent;
-      }
-    } else {
-      this.root = newParent;
-    }
-    let ancestor = newParent.parent;
-    while (ancestor) {
-      ancestor.updateAABB(this.margin);
-      ancestor.height = 1 + Math.max(ancestor.children[0] ? ancestor.children[0].height : 0, ancestor.children[1] ? ancestor.children[1].height : 0);
-      ancestor = this.balance(ancestor);
-      ancestor = ancestor.parent;
-    }
-  }
-  findBestSibling(node) {
-    let current = this.root;
-    while (!current.isLeaf()) {
-      const child1 = current.children[0];
-      const child2 = current.children[1];
-      const area = this.getArea(current.aabb);
-      const combinedAABB = this.combineAABB(current.aabb, node.aabb);
-      const combinedArea = this.getArea(combinedAABB);
-      const cost = 2 * combinedArea;
-      const inheritanceCost = 2 * (combinedArea - area);
-      let cost1;
-      const aabb1 = this.combineAABB(node.aabb, child1.aabb);
-      if (child1.isLeaf()) {
-        cost1 = this.getArea(aabb1) + inheritanceCost;
-      } else {
-        const oldArea = this.getArea(child1.aabb);
-        const newArea = this.getArea(aabb1);
-        cost1 = newArea - oldArea + inheritanceCost;
-      }
-      let cost2;
-      const aabb2 = this.combineAABB(node.aabb, child2.aabb);
-      if (child2.isLeaf()) {
-        cost2 = this.getArea(aabb2) + inheritanceCost;
-      } else {
-        const oldArea = this.getArea(child2.aabb);
-        const newArea = this.getArea(aabb2);
-        cost2 = newArea - oldArea + inheritanceCost;
-      }
-      if (cost < cost1 && cost < cost2) {
-        break;
-      }
-      current = cost1 < cost2 ? child1 : child2;
-    }
-    return current;
-  }
-  balance(node) {
-    if (node.isLeaf()) {
-      return node;
-    }
-    const balance = node.getBalance();
-    if (balance < -1) {
-      return this.rotateLeft(node);
-    } else if (balance > 1) {
-      return this.rotateRight(node);
-    }
-    return node;
-  }
-  rotateLeft(node) {
-    const child2 = node.children[1];
-    const child2Child1 = child2.children[0];
-    const child2Child2 = child2.children[1];
-    child2.children[0] = node;
-    child2.parent = node.parent;
-    node.parent = child2;
-    if (child2.parent) {
-      if (child2.parent.children[0] === node) {
-        child2.parent.children[0] = child2;
-      } else {
-        child2.parent.children[1] = child2;
-      }
-    } else {
-      this.root = child2;
-    }
-    if (child2Child1.height > child2Child2.height) {
-      child2.children[1] = child2Child1;
-      node.children[1] = child2Child2;
-      child2Child2.parent = node;
-      node.updateAABB(this.margin);
-      child2.updateAABB(this.margin);
-      node.height = 1 + Math.max(node.children[0].height, node.children[1].height);
-      child2.height = 1 + Math.max(node.height, child2Child1.height);
-    } else {
-      child2.children[1] = child2Child2;
-      node.children[1] = child2Child1;
-      child2Child1.parent = node;
-      node.updateAABB(this.margin);
-      child2.updateAABB(this.margin);
-      node.height = 1 + Math.max(node.children[0].height, node.children[1].height);
-      child2.height = 1 + Math.max(node.height, child2Child2.height);
-    }
-    return child2;
-  }
-  rotateRight(node) {
-    const child1 = node.children[0];
-    const child1Child1 = child1.children[0];
-    const child1Child2 = child1.children[1];
-    child1.children[1] = node;
-    child1.parent = node.parent;
-    node.parent = child1;
-    if (child1.parent) {
-      if (child1.parent.children[0] === node) {
-        child1.parent.children[0] = child1;
-      } else {
-        child1.parent.children[1] = child1;
-      }
-    } else {
-      this.root = child1;
-    }
-    if (child1Child1.height > child1Child2.height) {
-      child1.children[0] = child1Child1;
-      node.children[0] = child1Child2;
-      child1Child2.parent = node;
-      node.updateAABB(this.margin);
-      child1.updateAABB(this.margin);
-      node.height = 1 + Math.max(node.children[0].height, node.children[1].height);
-      child1.height = 1 + Math.max(child1Child1.height, node.height);
-    } else {
-      child1.children[0] = child1Child2;
-      node.children[0] = child1Child1;
-      child1Child1.parent = node;
-      node.updateAABB(this.margin);
-      child1.updateAABB(this.margin);
-      node.height = 1 + Math.max(node.children[0].height, node.children[1].height);
-      child1.height = 1 + Math.max(child1Child2.height, node.height);
-    }
-    return child1;
-  }
-  retrieve(object) {
-    const result = [];
-    if (!this.root)
-      return result;
-    const stack = [this.root];
-    while (stack.length > 0) {
-      const node = stack.pop();
-      if (this.aabbIntersects(node.aabb, object.AABB)) {
-        if (node.isLeaf()) {
-          if (node.object && node.object !== object) {
-            result.push(node.object);
-          }
-        } else {
-          if (node.children[0])
-            stack.push(node.children[0]);
-          if (node.children[1])
-            stack.push(node.children[1]);
-        }
-      }
-    }
-    return result;
-  }
-  draw(context) {
-    if (!this.root)
-      return;
-    this.drawNode(context, this.root, 0);
-  }
-  drawNode(context, node, depth) {
-    const { min, max } = node.aabb;
-    const colors = ["red", "blue", "green", "orange", "purple", "brown"];
-    context.strokeStyle = colors[depth % colors.length];
-    context.lineWidth = Math.max(1, 3 - depth);
-    context.beginPath();
-    context.rect(min.x, min.y, max.x - min.x, max.y - min.y);
-    context.stroke();
-    if (!node.isLeaf()) {
-      if (node.children[0])
-        this.drawNode(context, node.children[0], depth + 1);
-      if (node.children[1])
-        this.drawNode(context, node.children[1], depth + 1);
-    }
-  }
-  getArea(aabb) {
-    return (aabb.max.x - aabb.min.x) * (aabb.max.y - aabb.min.y);
-  }
-  combineAABB(aabb1, aabb2) {
-    return {
-      min: {
-        x: Math.min(aabb1.min.x, aabb2.min.x),
-        y: Math.min(aabb1.min.y, aabb2.min.y)
-      },
-      max: {
-        x: Math.max(aabb1.max.x, aabb2.max.x),
-        y: Math.max(aabb1.max.y, aabb2.max.y)
-      }
-    };
-  }
-  aabbIntersects(aabb1, aabb2) {
-    return !(aabb1.max.x < aabb2.min.x || aabb1.min.x > aabb2.max.x || aabb1.max.y < aabb2.min.y || aabb1.min.y > aabb2.max.y);
-  }
-  getStats() {
-    return {
-      nodeCount: this.nodeCount,
-      height: this.root ? this.root.height : 0
-    };
-  }
-}
-// src/collision.ts
-import { PointCal as PointCal2 } from "@ue-too/math";
-function resolveCollision(bodyA, bodyB, normal) {
-  if (bodyA.isStatic() && bodyB.isStatic()) {
-    return;
-  }
-  let restitution = 0.4;
-  let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;
-  let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;
-  let relativeVelocity = PointCal2.subVector(bodyA.linearVelocity, bodyB.linearVelocity);
-  let J = -(1 + restitution) * PointCal2.dotProduct(relativeVelocity, normal);
-  J /= inverseMassA + inverseMassB;
-  let deltaVelocityA = PointCal2.multiplyVectorByScalar(normal, J * inverseMassA);
-  let deltaVelocityB = PointCal2.multiplyVectorByScalar(normal, J * inverseMassB);
-  bodyA.linearVelocity = PointCal2.addVector(bodyA.linearVelocity, deltaVelocityA);
-  bodyB.linearVelocity = PointCal2.subVector(bodyB.linearVelocity, deltaVelocityB);
-}
-function resolveCollisionWithRotation(bodyA, bodyB, contactManifold) {
-  if (bodyA.isStatic() && bodyB.isStatic()) {
-    return;
-  }
-  let restitution = 0.4;
-  let inverseMassA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.mass;
-  let inverseMassB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.mass;
-  let inverseMMOIA = bodyA.isStatic() || bodyA.isMovingStatic() ? 0 : 1 / bodyA.momentOfInertia;
-  let inverseMMOIB = bodyB.isStatic() || bodyB.isMovingStatic() ? 0 : 1 / bodyB.momentOfInertia;
-  const Js = [];
-  for (let index = 0;index < contactManifold.contactPoints.length; index++) {
-    const contactPoint = contactManifold.contactPoints[index];
-    const rA = PointCal2.subVector(contactPoint, bodyA.center);
-    const rB = PointCal2.subVector(contactPoint, bodyB.center);
-    const rAPerpendicular = { x: -rA.y, y: rA.x };
-    const rBPerpendicular = { x: -rB.y, y: rB.x };
-    const angularVelocityA = PointCal2.multiplyVectorByScalar(rAPerpendicular, bodyA.angularVelocity);
-    const angularVelocityB = PointCal2.multiplyVectorByScalar(rBPerpendicular, bodyB.angularVelocity);
-    let relativeVelocity = PointCal2.subVector(PointCal2.addVector(bodyA.linearVelocity, angularVelocityA), PointCal2.addVector(bodyB.linearVelocity, angularVelocityB));
-    let relativeVelocityNormal = PointCal2.dotProduct(relativeVelocity, contactManifold.normal);
-    const rAPerpendicularNormal = PointCal2.dotProduct(rAPerpendicular, contactManifold.normal);
-    const rBPerpendicularNormal = PointCal2.dotProduct(rBPerpendicular, contactManifold.normal);
-    const denominator = inverseMassA + inverseMassB + rAPerpendicularNormal * rAPerpendicularNormal * inverseMMOIA + rBPerpendicularNormal * rBPerpendicularNormal * inverseMMOIB;
-    let J = -(1 + restitution) * relativeVelocityNormal;
-    J /= denominator;
-    J /= contactManifold.contactPoints.length;
-    Js.push(PointCal2.multiplyVectorByScalar(contactManifold.normal, J));
-  }
-  Js.forEach((impulse, index) => {
-    let deltaVelocityA = PointCal2.multiplyVectorByScalar(impulse, inverseMassA);
-    let deltaVelocityB = PointCal2.multiplyVectorByScalar(impulse, inverseMassB);
-    bodyA.linearVelocity = PointCal2.addVector(bodyA.linearVelocity, deltaVelocityA);
-    let resA = PointCal2.crossProduct(PointCal2.subVector(contactManifold.contactPoints[index], bodyA.center), impulse).z;
-    resA = resA == undefined ? 0 : resA;
-    let resB = PointCal2.crossProduct(PointCal2.subVector(contactManifold.contactPoints[index], bodyB.center), impulse).z;
-    resB = resB == undefined ? 0 : resB;
-    bodyA.angularVelocity += resA * inverseMMOIA;
-    bodyB.angularVelocity -= resB * inverseMMOIB;
-    bodyB.linearVelocity = PointCal2.subVector(bodyB.linearVelocity, deltaVelocityB);
-  });
-}
-function aabbIntersects(aabbA, aabbB) {
-  if (aabbA.min.x <= aabbB.max.x && aabbB.min.x <= aabbA.max.x && (aabbA.min.y <= aabbB.max.y && aabbB.min.y <= aabbA.max.y)) {
-    return true;
-  }
-  return false;
-}
-function intersects(bodyA, bodyB) {
-  let axis = [];
-  let bodyAAxes = bodyA.getCollisionAxes(bodyB);
-  let bodyBAxes = bodyB.getCollisionAxes(bodyA);
-  axis.push(...bodyAAxes);
-  axis.push(...bodyBAxes);
-  let collision = true;
-  let minDepth = Number.MAX_VALUE;
-  let minAxis = axis[0];
-  axis.forEach((projAxis) => {
-    let bodyAInterval = bodyA.getMinMaxProjection(projAxis);
-    let bodyBInterval = bodyB.getMinMaxProjection(projAxis);
-    if (bodyAInterval.min >= bodyBInterval.max || bodyBInterval.min >= bodyAInterval.max) {
-      collision = false;
-    } else {
-      let depth = Math.abs(Math.min(bodyAInterval.max, bodyBInterval.max) - Math.max(bodyBInterval.min, bodyAInterval.min));
-      if (depth < minDepth) {
-        minDepth = depth;
-        minAxis = projAxis;
-        if (bodyAInterval.max < bodyBInterval.max) {
-          minAxis = PointCal2.multiplyVectorByScalar(minAxis, -1);
-        }
-      }
-    }
-  });
-  if (collision) {
-    return { collision, depth: minDepth, normal: minAxis };
-  } else {
-    return { collision: false, depth: undefined, normal: undefined };
-  }
-}
-function narrowPhaseWithRigidBody(bodies, combinationsToCheck, resolveCollisionFlag) {
-  if (!resolveCollisionFlag) {
-    return [];
-  }
-  const contactPoints = [];
-  combinationsToCheck.forEach((combination) => {
-    let bodyA = combination.bodyA;
-    let bodyB = combination.bodyB;
-    if (bodyA == bodyB) {
-      return;
-    }
-    let bodyAZ = bodyA.center.z == undefined ? 0 : bodyA.center.z;
-    let bodyBZ = bodyB.center.z == undefined ? 0 : bodyB.center.z;
-    if (Math.abs(bodyAZ - bodyBZ) > 0.5) {
-      return;
-    }
-    let { collision, depth, normal: normalAxis } = intersects(bodyA, bodyB);
-    if (collision && normalAxis !== undefined && depth !== undefined) {
-      let moveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, depth / 2);
-      let revMoveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, -depth / 2);
-      if (!bodyA.isStatic()) {
-        bodyA.move(moveDisplacement);
-      }
-      if (!bodyB.isStatic()) {
-        bodyB.move(revMoveDisplacement);
-      }
-      if (bodyA.isStatic()) {
-        bodyB.move(revMoveDisplacement);
-      }
-      if (bodyB.isStatic()) {
-        bodyA.move(moveDisplacement);
-      }
-      const bodyASigNormal = bodyA.getNormalOfSignificantFace(PointCal2.multiplyVectorByScalar(normalAxis, -1));
-      const bodyBSigNormal = bodyB.getNormalOfSignificantFace(normalAxis);
-      const bodyASigVertices = bodyA.getSignificantVertices(PointCal2.multiplyVectorByScalar(normalAxis, -1));
-      const bodyBSigVertices = bodyB.getSignificantVertices(normalAxis);
-      const bodyAParallelIndicator = Math.abs(PointCal2.dotProduct(bodyASigNormal, PointCal2.multiplyVectorByScalar(normalAxis, -1)));
-      const bodyBParallelIndicator = Math.abs(PointCal2.dotProduct(bodyBSigNormal, normalAxis));
-      if (bodyBSigVertices.length == 1 || bodyASigVertices.length == 1) {
-        if (bodyBSigVertices.length == 1) {
-          contactPoints.push(bodyBSigVertices[0]);
-        } else {
-          contactPoints.push(bodyASigVertices[0]);
-        }
-      } else if (bodyAParallelIndicator > bodyBParallelIndicator) {
-        const adjacentFaces = bodyA.getAdjacentFaces(PointCal2.multiplyVectorByScalar(normalAxis, -1));
-        let faceToClip = [...bodyBSigVertices];
-        for (let index = 0;index < adjacentFaces.length - 1; index++) {
-          let startPoint2 = adjacentFaces[index].startPoint.coord;
-          let endPoint2 = adjacentFaces[index].endPoint.coord;
-          let direction2 = PointCal2.subVector(endPoint2, startPoint2);
-          let sigStart2 = PointCal2.subVector(faceToClip[0], startPoint2);
-          let sigEnd2 = PointCal2.subVector(faceToClip[1], startPoint2);
-          let startInside2 = PointCal2.angleFromA2B(direction2, sigStart2) >= 0;
-          let endInside2 = PointCal2.angleFromA2B(direction2, sigEnd2) >= 0;
-          if ((startInside2 ? 1 : 0) ^ (endInside2 ? 1 : 0)) {
-            let intersectionPoint = PointCal2.getLineIntersection(startPoint2, endPoint2, faceToClip[0], faceToClip[1]);
-            if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined) {
-              if (startInside2) {
-                faceToClip[1] = intersectionPoint.intersection;
-              } else {
-                faceToClip[0] = intersectionPoint.intersection;
-              }
-            }
-          }
-        }
-        const referenceFace = adjacentFaces[adjacentFaces.length - 1];
-        let startPoint = referenceFace.startPoint.coord;
-        let endPoint = referenceFace.endPoint.coord;
-        let direction = PointCal2.subVector(endPoint, startPoint);
-        let sigStart = PointCal2.subVector(faceToClip[0], startPoint);
-        let sigEnd = PointCal2.subVector(faceToClip[1], startPoint);
-        let startInside = PointCal2.angleFromA2B(direction, sigStart) >= 0;
-        let endInside = PointCal2.angleFromA2B(direction, sigEnd) >= 0;
-        if (startInside) {
-          contactPoints.push(faceToClip[0]);
-        }
-        if (endInside) {
-          contactPoints.push(faceToClip[1]);
-        }
-      } else {
-        const adjacentFaces = bodyB.getAdjacentFaces(normalAxis);
-        let faceToClip = [...bodyASigVertices];
-        if (faceToClip.length == 0) {
-          console.log("warning");
-        }
-        let count = 0;
-        for (let index = 0;index < adjacentFaces.length - 1; index++) {
-          let startPoint2 = adjacentFaces[index].startPoint.coord;
-          let endPoint2 = adjacentFaces[index].endPoint.coord;
-          let direction2 = PointCal2.subVector(endPoint2, startPoint2);
-          let sigStart2 = PointCal2.subVector(faceToClip[0], startPoint2);
-          let sigEnd2 = PointCal2.subVector(faceToClip[1], startPoint2);
-          let startInside2 = PointCal2.angleFromA2B(direction2, sigStart2) >= 0;
-          let endInside2 = PointCal2.angleFromA2B(direction2, sigEnd2) >= 0;
-          if ((startInside2 ? 1 : 0) ^ (endInside2 ? 1 : 0)) {
-            count += 1;
-            let intersectionPoint = PointCal2.getLineIntersection(startPoint2, endPoint2, faceToClip[0], faceToClip[1]);
-            if (intersectionPoint.intersects && intersectionPoint.intersection !== undefined) {
-              if (startInside2) {
-                faceToClip[1] = intersectionPoint.intersection;
-              } else {
-                faceToClip[0] = intersectionPoint.intersection;
-              }
-            }
-          }
-        }
-        const referenceFace = adjacentFaces[adjacentFaces.length - 1];
-        let startPoint = referenceFace.startPoint.coord;
-        let endPoint = referenceFace.endPoint.coord;
-        let direction = PointCal2.subVector(endPoint, startPoint);
-        let sigStart = PointCal2.subVector(faceToClip[0], startPoint);
-        let sigEnd = PointCal2.subVector(faceToClip[1], startPoint);
-        let startInside = PointCal2.angleFromA2B(direction, sigStart) >= 0;
-        let endInside = PointCal2.angleFromA2B(direction, sigEnd) >= 0;
-        if (startInside) {
-          contactPoints.push(faceToClip[0]);
-        }
-        if (endInside) {
-          contactPoints.push(faceToClip[1]);
-        }
-      }
-      if (resolveCollisionFlag) {
-        resolveCollisionWithRotation(bodyA, bodyB, { normal: normalAxis, contactPoints });
-      }
-    }
-  });
-  return contactPoints;
-}
-function narrowPhase(bodies, combinationsToCheck, resolveCollisionFlag) {
-  if (!resolveCollisionFlag) {
-    return;
-  }
-  combinationsToCheck.forEach((combination) => {
-    let bodyA = bodies[combination.bodyAIndex];
-    let bodyB = bodies[combination.bodyBIndex];
-    let { collision, depth, normal: normalAxis } = intersects(bodyA, bodyB);
-    if (collision && normalAxis !== undefined && depth !== undefined) {
-      let moveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, depth / 2);
-      let revMoveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, -depth / 2);
-      if (!bodyA.isStatic()) {
-        bodyA.move(moveDisplacement);
-      }
-      if (!bodyB.isStatic()) {
-        bodyB.move(revMoveDisplacement);
-      }
-      if (bodyA.isStatic()) {
-        bodyB.move(revMoveDisplacement);
-      }
-      if (bodyB.isStatic()) {
-        bodyA.move(moveDisplacement);
-      }
-      if (resolveCollisionFlag) {
-        resolveCollision(bodyA, bodyB, normalAxis);
-      }
-    }
-  });
-}
-function broadPhaseWithRigidBodyReturned(quadTree, bodies) {
-  let possibleCombi = [];
-  for (let index = 0;index <= bodies.length - 1; index++) {
-    let objsToCheck = quadTree.retrieve(bodies[index]);
-    for (let jindex = 0;jindex <= objsToCheck.length - 1; jindex++) {
-      let bodyA = bodies[index];
-      let bodyB = objsToCheck[jindex];
-      if (bodyA.isStatic() && bodyB.isStatic()) {
-        continue;
-      }
-      if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
-        continue;
-      }
-      possibleCombi.push({ bodyA, bodyB });
-    }
-  }
-  return possibleCombi;
-}
-function broadPhaseWithSpatialIndex(spatialIndex, bodies) {
-  let possibleCombi = [];
-  for (let index = 0;index <= bodies.length - 1; index++) {
-    let objsToCheck = spatialIndex.retrieve(bodies[index]);
-    for (let jindex = 0;jindex <= objsToCheck.length - 1; jindex++) {
-      let bodyA = bodies[index];
-      let bodyB = objsToCheck[jindex];
-      if (bodyA.isStatic() && bodyB.isStatic()) {
-        continue;
-      }
-      if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
-        continue;
-      }
-      possibleCombi.push({ bodyA, bodyB });
-    }
-  }
-  return possibleCombi;
-}
-function broadPhase(quadTree, bodies) {
-  let possibleCombi = [];
-  for (let index = 0;index <= bodies.length - 1; index++) {
-    let objsToCheck = quadTree.retrieve(bodies[index]);
-    for (let jindex = 0;jindex <= objsToCheck.length - 1; jindex++) {
-      let bodyA = bodies[index];
-      let bodyB = objsToCheck[jindex];
-      if (bodyA.isStatic() && bodyB.isStatic()) {
-        continue;
-      }
-      if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
-        continue;
-      }
-      possibleCombi.push({ bodyAIndex: index, bodyBIndex: jindex });
-    }
-  }
-  return possibleCombi;
-}
-function broadPhaseWithSpatialIndexFiltered(spatialIndex, bodies) {
-  let possibleCombi = [];
-  for (let index = 0;index <= bodies.length - 1; index++) {
-    let objsToCheck = spatialIndex.retrieve(bodies[index]);
-    for (let jindex = 0;jindex <= objsToCheck.length - 1; jindex++) {
-      let bodyA = bodies[index];
-      let bodyB = objsToCheck[jindex];
-      if (bodyA.isStatic() && bodyB.isStatic()) {
-        continue;
-      }
-      if (!canCollide(bodyA.collisionFilter, bodyB.collisionFilter)) {
-        continue;
-      }
-      if (!aabbIntersects(bodyA.AABB, bodyB.AABB)) {
-        continue;
-      }
-      possibleCombi.push({ bodyA, bodyB });
-    }
-  }
-  return possibleCombi;
-}
-function narrowPhaseWithRigidBodyAndPairs(bodies, combinationsToCheck, resolveCollisionFlag) {
-  const contactPoints = [];
-  const collisions = [];
-  combinationsToCheck.forEach((combination) => {
-    let bodyA = combination.bodyA;
-    let bodyB = combination.bodyB;
-    let { collision, depth, normal: normalAxis } = intersects(bodyA, bodyB);
-    if (collision && normalAxis !== undefined && depth !== undefined) {
-      const collisionContactPoints = [];
-      const contactCenter = {
-        x: (bodyA.center.x + bodyB.center.x) / 2,
-        y: (bodyA.center.y + bodyB.center.y) / 2
-      };
-      collisionContactPoints.push(contactCenter);
-      const collisionData = {
-        bodyA,
-        bodyB,
-        contactPoints: collisionContactPoints,
-        normal: normalAxis,
-        depth
-      };
-      collisions.push(collisionData);
-      contactPoints.push(...collisionContactPoints);
-      if (resolveCollisionFlag) {
-        let moveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, depth / 2);
-        let revMoveDisplacement = PointCal2.multiplyVectorByScalar(normalAxis, -depth / 2);
-        if (!bodyA.isStatic()) {
-          bodyA.move(moveDisplacement);
-        }
-        if (!bodyB.isStatic()) {
-          bodyB.move(revMoveDisplacement);
-        }
-        if (bodyA.isStatic()) {
-          bodyB.move(revMoveDisplacement);
-        }
-        if (bodyB.isStatic()) {
-          bodyA.move(moveDisplacement);
-        }
-        resolveCollisionWithRotation(bodyA, bodyB, { normal: normalAxis, contactPoints: collisionContactPoints });
-      }
-    }
-  });
-  return { contactPoints, collisions };
-}
-// src/pair-manager.ts
-class PairManager {
-  pairs = new Map;
-  frameNumber = 0;
-  maxPairAge = 10;
-  constructor() {}
-  getPairId(bodyA, bodyB) {
-    const idA = this.getBodyId(bodyA);
-    const idB = this.getBodyId(bodyB);
-    return idA < idB ? `${idA}:${idB}` : `${idB}:${idA}`;
-  }
-  getBodyId(body) {
-    return body.toString();
-  }
-  updatePairs(newCollisions) {
-    this.frameNumber++;
-    const events = {
-      created: [],
-      updated: [],
-      removed: []
-    };
-    this.pairs.forEach((pair) => {
-      pair.isActive = false;
-    });
-    for (const collision of newCollisions) {
-      const id = this.getPairId(collision.bodyA, collision.bodyB);
-      const existingPair = this.pairs.get(id);
-      if (existingPair) {
-        existingPair.isActive = true;
-        existingPair.frameUpdated = this.frameNumber;
-        existingPair.contactPoints = collision.contactPoints || [];
-        existingPair.normal = collision.normal;
-        existingPair.depth = collision.depth;
-        events.updated.push(existingPair);
-      } else {
-        const newPair = {
-          bodyA: collision.bodyA,
-          bodyB: collision.bodyB,
-          id,
-          isActive: true,
-          contactPoints: collision.contactPoints || [],
-          normal: collision.normal,
-          depth: collision.depth,
-          frameCreated: this.frameNumber,
-          frameUpdated: this.frameNumber
-        };
-        this.pairs.set(id, newPair);
-        events.created.push(newPair);
-      }
-    }
-    const pairsToRemove = [];
-    this.pairs.forEach((pair, id) => {
-      if (!pair.isActive && this.frameNumber - pair.frameUpdated > this.maxPairAge) {
-        pairsToRemove.push(id);
-        events.removed.push(pair);
-      }
-    });
-    pairsToRemove.forEach((id) => {
-      this.pairs.delete(id);
-    });
-    return events;
-  }
-  getActivePairs() {
-    return Array.from(this.pairs.values()).filter((pair) => pair.isActive);
-  }
-  getPair(bodyA, bodyB) {
-    const id = this.getPairId(bodyA, bodyB);
-    return this.pairs.get(id);
-  }
-  clear() {
-    this.pairs.clear();
-    this.frameNumber = 0;
-  }
-  getStats() {
-    return {
-      totalPairs: this.pairs.size,
-      activePairs: this.getActivePairs().length,
-      frameNumber: this.frameNumber
-    };
-  }
-}
-
-// src/world.ts
-class World {
-  rigidBodyList;
-  rigidBodyMap;
-  _resolveCollision;
-  maxTransWidth;
-  maxTransHeight;
-  bound;
-  spatialIndex;
-  spatialIndexType;
-  constraints;
-  pinJoints = [];
-  pairManager;
-  enableSleeping = true;
-  _context = null;
-  constructor(maxTransWidth, maxTransHeight, spatialIndexType = "dynamictree") {
-    this.maxTransHeight = maxTransHeight;
-    this.maxTransWidth = maxTransWidth;
-    this.spatialIndexType = spatialIndexType;
-    this.bound = new RectangleBound({ x: -this.maxTransWidth, y: -this.maxTransHeight }, 2 * this.maxTransWidth, 2 * this.maxTransHeight);
-    if (spatialIndexType === "dynamictree") {
-      this.spatialIndex = new DynamicTree;
-    } else if (spatialIndexType === "sap") {
-      this.spatialIndex = new SweepAndPrune;
-    } else {
-      this.spatialIndex = new QuadTree(0, this.bound);
-    }
-    this.rigidBodyList = [];
-    this.rigidBodyMap = new Map;
-    this._resolveCollision = true;
-    this.constraints = [];
-    this.pairManager = new PairManager;
-  }
-  addRigidBody(ident, body) {
-    this.rigidBodyList.push(body);
-    this.rigidBodyMap.set(ident, body);
-    if (this.spatialIndexType === "sap") {
-      this.spatialIndex.insert(body);
-    }
-  }
-  removeRigidBody(ident) {
-    if (this.rigidBodyMap.has(ident)) {
-      const body = this.rigidBodyMap.get(ident);
-      this.rigidBodyMap.delete(ident);
-      if (body && this.spatialIndexType === "sap" && this.spatialIndex instanceof SweepAndPrune) {
-        this.spatialIndex.remove(body);
-      }
-      const index = this.rigidBodyList.findIndex((b) => b === body);
-      if (index !== -1) {
-        this.rigidBodyList.splice(index, 1);
-      }
-    }
-  }
-  step(deltaTime) {
-    if (this.enableSleeping) {
-      this.getRigidBodyList().forEach((rigidBody) => {
-        rigidBody.updateSleeping(deltaTime);
-      });
-    }
-    if (this._resolveCollision) {
-      const contactPoints = this.resolveCollisionPhase();
-    }
-    this.constraints.forEach((constraint) => constraint.enforce(deltaTime));
-    this.getRigidBodyList().forEach((rigidBody) => {
-      if (!rigidBody.isSleeping) {
-        rigidBody.step(deltaTime);
-      }
-    });
-  }
-  resolveCollisionPhase() {
-    let rigidBodyList = [];
-    if (this.spatialIndexType === "sap") {
-      this.rigidBodyMap.forEach((body) => {
-        if (!this.enableSleeping || !body.isSleeping) {
-          rigidBodyList.push(body);
-          if (this.spatialIndex instanceof SweepAndPrune) {
-            this.spatialIndex.update(body);
-          }
-        }
-      });
-    } else {
-      this.spatialIndex.clear();
-      this.rigidBodyMap.forEach((body) => {
-        if (!this.enableSleeping || !body.isSleeping) {
-          rigidBodyList.push(body);
-          this.spatialIndex.insert(body);
-        }
-      });
-    }
-    let possibleCombinations = broadPhaseWithSpatialIndexFiltered(this.spatialIndex, rigidBodyList);
-    let collisionResults = narrowPhaseWithRigidBodyAndPairs(rigidBodyList, possibleCombinations, this._resolveCollision);
-    const pairEvents = this.pairManager.updatePairs(collisionResults.collisions);
-    if (this.enableSleeping) {
-      pairEvents.created.forEach((pair) => {
-        if (pair.bodyA.isSleeping)
-          pair.bodyA.setSleeping(false);
-        if (pair.bodyB.isSleeping)
-          pair.bodyB.setSleeping(false);
-      });
-    }
-    return collisionResults.contactPoints;
-  }
-  get resolveCollision() {
-    return this._resolveCollision;
-  }
-  set resolveCollision(resolveCollision2) {
-    this._resolveCollision = resolveCollision2;
-  }
-  getRigidBodyList() {
-    let rigidBodyList = [];
-    this.rigidBodyMap.forEach((body) => {
-      rigidBodyList.push(body);
-    });
-    return rigidBodyList;
-  }
-  getRigidBodyMap() {
-    return this.rigidBodyMap;
-  }
-  setMaxTransHeight(height) {
-    this.maxTransHeight = height;
-  }
-  setMaxTransWidth(width) {
-    this.maxTransWidth = width;
-  }
-  addConstraint(constraint) {
-    this.constraints.push(constraint);
-  }
-  getConstraints() {
-    return this.constraints;
-  }
-  addPinJoint(bodyA, bodyB, anchorA, anchorB) {
-    this.pinJoints.push({ bodyA, bodyB, anchorA, anchorB });
-  }
-  get currentSpatialIndexType() {
-    return this.spatialIndexType;
-  }
-  setSpatialIndexType(type) {
-    if (type === this.spatialIndexType)
-      return;
-    this.spatialIndexType = type;
-    if (type === "dynamictree") {
-      this.spatialIndex = new DynamicTree;
-    } else if (type === "sap") {
-      this.spatialIndex = new SweepAndPrune;
-    } else {
-      this.spatialIndex = new QuadTree(0, this.bound);
-    }
-  }
-  getSpatialIndexStats() {
-    if (this.spatialIndex instanceof DynamicTree) {
-      return this.spatialIndex.getStats();
-    } else if (this.spatialIndex instanceof SweepAndPrune) {
-      return {
-        type: this.spatialIndexType,
-        ...this.spatialIndex.getStats()
-      };
-    }
-    return { type: this.spatialIndexType, objects: this.rigidBodyMap.size };
-  }
-  get sleepingEnabled() {
-    return this.enableSleeping;
-  }
-  set sleepingEnabled(enabled) {
-    this.enableSleeping = enabled;
-    if (!enabled) {
-      this.rigidBodyMap.forEach((body) => {
-        if (body.isSleeping) {
-          body.setSleeping(false);
-        }
-      });
-    }
-  }
-  getPairManager() {
-    return this.pairManager;
-  }
-  getCollisionStats() {
-    return {
-      ...this.pairManager.getStats(),
-      sleepingBodies: Array.from(this.rigidBodyMap.values()).filter((body) => body.isSleeping).length,
-      totalBodies: this.rigidBodyMap.size
-    };
-  }
-}
-// src/constraint.ts
-import { PointCal as PointCal3 } from "@ue-too/math";
-
-class FixedPinJoint {
-  anchorA;
-  worldAnchorA;
-  bodyA;
-  constructor(bodyA, anchorA, worldAnchorA) {
-    this.bodyA = bodyA;
-    this.anchorA = anchorA;
-    this.worldAnchorA = worldAnchorA;
-  }
-  enforce(dt) {
-    this.solveWorldPinJointConstraint(dt);
-  }
-  solveWorldPinJointConstraint(dt) {
-    const body = this.bodyA;
-    const localAnchor = this.anchorA;
-    const worldAnchor = this.worldAnchorA;
-    const worldAnchorOnBody = PointCal3.addVector(body.center, PointCal3.rotatePoint(localAnchor, body.orientationAngle));
-    const diff = PointCal3.subVector(worldAnchorOnBody, worldAnchor);
-    const r = PointCal3.subVector(worldAnchorOnBody, body.center);
-    const velocity = PointCal3.addVector(body.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: body.angularVelocity }, r));
-    const invMass = body.isStatic() ? 0 : 1 / body.mass;
-    const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;
-    const K = {
-      x: invMass + invI * r.y * r.y,
-      y: invMass + invI * r.x * r.x,
-      xy: -invI * r.x * r.y
-    };
-    const baumgarte = 1;
-    const impulse = {
-      x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,
-      y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y
-    };
-    if (!body.isStatic()) {
-      body.linearVelocity.x += invMass * impulse.x;
-      body.linearVelocity.y += invMass * impulse.y;
-      body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);
-    }
-  }
-}
-
-class PinJoint {
-  anchorA;
-  anchorB;
-  bodyA;
-  bodyB;
-  constructor(bodyA, bodyB, anchorA, anchorB) {
-    this.bodyA = bodyA;
-    this.bodyB = bodyB;
-    this.anchorA = anchorA;
-    this.anchorB = anchorB;
-  }
-  enforce(dt) {
-    this.solvePinJointConstraint(dt);
-  }
-  solvePinJointConstraint(dt) {
-    const bodyA = this.bodyA;
-    const bodyB = this.bodyB;
-    const anchorA = this.anchorA;
-    const anchorB = this.anchorB;
-    const worldAnchorA = PointCal3.addVector(bodyA.center, PointCal3.rotatePoint(anchorA, bodyA.orientationAngle));
-    const worldAnchorB = PointCal3.addVector(bodyB.center, PointCal3.rotatePoint(anchorB, bodyB.orientationAngle));
-    const diff = PointCal3.subVector(worldAnchorB, worldAnchorA);
-    const rA = PointCal3.subVector(worldAnchorA, bodyA.center);
-    const rB = PointCal3.subVector(worldAnchorB, bodyB.center);
-    const relativeVelocity = PointCal3.subVector(PointCal3.addVector(bodyB.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: bodyB.angularVelocity }, rB)), PointCal3.addVector(bodyA.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: bodyA.angularVelocity }, rA)));
-    const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;
-    const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;
-    const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;
-    const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;
-    const K = {
-      x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,
-      y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,
-      xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y
-    };
-    const baumgarte = 1;
-    const impulse = {
-      x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,
-      y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y
-    };
-    if (!bodyA.isStatic()) {
-      bodyA.linearVelocity.x -= invMassA * impulse.x;
-      bodyA.linearVelocity.y -= invMassA * impulse.y;
-      bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);
-    }
-    if (!bodyB.isStatic()) {
-      bodyB.linearVelocity.x += invMassB * impulse.x;
-      bodyB.linearVelocity.y += invMassB * impulse.y;
-      bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);
-    }
-  }
-}
-function solvePinJointConstraint(constraint, dt) {
-  const { bodyA, bodyB, anchorA, anchorB } = constraint;
-  const worldAnchorA = PointCal3.addVector(bodyA.center, PointCal3.rotatePoint(anchorA, bodyA.orientationAngle));
-  const worldAnchorB = PointCal3.addVector(bodyB.center, PointCal3.rotatePoint(anchorB, bodyB.orientationAngle));
-  const diff = PointCal3.subVector(worldAnchorB, worldAnchorA);
-  const rA = PointCal3.subVector(worldAnchorA, bodyA.center);
-  const rB = PointCal3.subVector(worldAnchorB, bodyB.center);
-  const relativeVelocity = PointCal3.subVector(PointCal3.addVector(bodyB.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: bodyB.angularVelocity }, rB)), PointCal3.addVector(bodyA.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: bodyA.angularVelocity }, rA)));
-  const invMassA = bodyA.isStatic() ? 0 : 1 / bodyA.mass;
-  const invMassB = bodyB.isStatic() ? 0 : 1 / bodyB.mass;
-  const invIA = bodyA.isStatic() ? 0 : 1 / bodyA.momentOfInertia;
-  const invIB = bodyB.isStatic() ? 0 : 1 / bodyB.momentOfInertia;
-  const K = {
-    x: invMassA + invMassB + invIA * rA.y * rA.y + invIB * rB.y * rB.y,
-    y: invMassA + invMassB + invIA * rA.x * rA.x + invIB * rB.x * rB.x,
-    xy: -invIA * rA.x * rA.y - invIB * rB.x * rB.y
-  };
-  const baumgarte = 0.5;
-  const impulse = {
-    x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - relativeVelocity.x,
-    y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - relativeVelocity.y
-  };
-  if (!bodyA.isStatic()) {
-    bodyA.linearVelocity.x -= invMassA * impulse.x;
-    bodyA.linearVelocity.y -= invMassA * impulse.y;
-    bodyA.angularVelocity -= invIA * (rA.x * impulse.y - rA.y * impulse.x);
-  }
-  if (!bodyB.isStatic()) {
-    bodyB.linearVelocity.x += invMassB * impulse.x;
-    bodyB.linearVelocity.y += invMassB * impulse.y;
-    bodyB.angularVelocity += invIB * (rB.x * impulse.y - rB.y * impulse.x);
-  }
-}
-function solveWorldPinJointConstraint(constraint, dt) {
-  const { body, localAnchor, worldAnchor } = constraint;
-  const worldAnchorOnBody = PointCal3.addVector(body.center, PointCal3.rotatePoint(localAnchor, body.orientationAngle));
-  const diff = PointCal3.subVector(worldAnchorOnBody, worldAnchor);
-  const r = PointCal3.subVector(worldAnchorOnBody, body.center);
-  const velocity = PointCal3.addVector(body.linearVelocity, PointCal3.crossProduct({ x: 0, y: 0, z: body.angularVelocity }, r));
-  const invMass = body.isStatic() ? 0 : 1 / body.mass;
-  const invI = body.isStatic() ? 0 : 1 / body.momentOfInertia;
-  const K = {
-    x: invMass + invI * r.y * r.y,
-    y: invMass + invI * r.x * r.x,
-    xy: -invI * r.x * r.y
-  };
-  const baumgarte = 0.2;
-  const impulse = {
-    x: -K.x * diff.x - K.xy * diff.y - baumgarte * diff.x / dt - velocity.x,
-    y: -K.xy * diff.x - K.y * diff.y - baumgarte * diff.y / dt - velocity.y
-  };
-  if (!body.isStatic()) {
-    body.linearVelocity.x += invMass * impulse.x;
-    body.linearVelocity.y += invMass * impulse.y;
-    body.angularVelocity += invI * (r.x * impulse.y - r.y * impulse.x);
-  }
-}
-export {
-  solveWorldPinJointConstraint,
-  solvePinJointConstraint,
-  resolveCollisionWithRotation,
-  resolveCollision,
-  narrowPhaseWithRigidBodyAndPairs,
-  narrowPhaseWithRigidBody,
-  narrowPhase,
-  intersects,
-  canCollide,
-  broadPhaseWithSpatialIndexFiltered,
-  broadPhaseWithSpatialIndex,
-  broadPhaseWithRigidBodyReturned,
-  broadPhase,
-  aabbIntersects,
-  World,
-  VisualPolygonBody,
-  VisaulCircleBody,
-  SweepAndPrune,
-  RectangleBound,
-  QuadTree,
-  Polygon,
-  PinJoint,
-  PairManager,
-  FixedPinJoint,
-  DynamicTree,
-  DEFAULT_COLLISION_FILTER,
-  CollisionCategory,
-  Circle,
-  BaseRigidBody
-};
-
-//# debugId=E95FEA238308AF2664756E2164756E21
+//# debugId=ABD8E4A8414E2D7E64756E2164756E21