Change box2d to use compiled verison of box2d.js from

author

http://code.google.com/p/o3d/issues/detail?id=10

Review URL: http://codereview.chromium.org/159396

git-svn-id: svn://svn.chromium.org/chrome/trunk/src@21828 0039d316-1c4b-4281-b951-d872f2087c98

66 files changed, 1038 insertions, 11471 deletions

diff --git a/o3d/samples/box2d-3d/box2d-3d.html b/o3d/samples/box2d-3d/box2d-3d.html
index cfaa622..7b32b24 100644
--- a/o3d/samples/box2d-3d/box2d-3d.html
+++ b/o3d/samples/box2d-3d/box2d-3d.html
@@ -43,70 +43,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     <script type="text/javascript" src="third_party/prototype-1.6.0.2.js"></script>
 
         <!-- box2djs -->
-    <script type="text/javascript" src='third_party/box2d/common/b2Settings.js'></script>
-    <script type="text/javascript" src='third_party/box2d/common/math/b2Vec2.js'></script>
-    <script type="text/javascript" src='third_party/box2d/common/math/b2Mat22.js'></script>
-    <script type="text/javascript" src='third_party/box2d/common/math/b2Math.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2AABB.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Bound.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2BoundValues.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Pair.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2PairCallback.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2BufferedPair.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2PairManager.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2BroadPhase.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Collision.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/Features.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2ContactID.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2ContactPoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Distance.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Manifold.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2OBB.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/b2Proxy.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/ClipVertex.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2Shape.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2ShapeDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2BoxDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2CircleDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2CircleShape.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2MassData.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2PolyDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/collision/shapes/b2PolyShape.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2Body.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2BodyDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2CollisionFilter.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2Island.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2TimeStep.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2ContactNode.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2Contact.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2ContactConstraint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2ContactConstraintPoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2ContactRegister.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2ContactSolver.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2CircleContact.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2Conservative.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2NullContact.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2PolyAndCircleContact.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/contacts/b2PolyContact.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2ContactManager.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2World.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/b2WorldListener.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2JointNode.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2Joint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2JointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2DistanceJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2DistanceJointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2Jacobian.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2GearJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2GearJointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2MouseJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2MouseJointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2PrismaticJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2PrismaticJointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2PulleyJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2PulleyJointDef.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2RevoluteJoint.js'></script>
-    <script type="text/javascript" src='third_party/box2d/dynamics/joints/b2RevoluteJointDef.js'></script>
+    <script type="text/javascript" src='third_party/box2d/box2d.js'></script>
         <!--=============================-->
         <!-- Copy this part to your app. -->
         <!-- END                         -->
diff --git a/o3d/samples/box2d-3d/third_party/box2d/box2d.js b/o3d/samples/box2d-3d/third_party/box2d/box2d.js
new file mode 100644
index 0000000..e55e449
--- /dev/null
+++ b/o3d/samples/box2d-3d/third_party/box2d/box2d.js
@@ -0,0 +1,1037 @@
+/* 

+ * Box2Djs (port of Box2DFlash 1.4.3.1) - http://box2d-js.sourceforge.net/

+ * Single-filed and jsmined ( http://code.google.com/p/jsmin-php/ ) by Mr.doob

+ */

+

+var b2Settings=Class.create();b2Settings.prototype={initialize:function(){}}

+b2Settings.USHRT_MAX=0x0000ffff;b2Settings.b2_pi=Math.PI;b2Settings.b2_massUnitsPerKilogram=1.0;b2Settings.b2_timeUnitsPerSecond=1.0;b2Settings.b2_lengthUnitsPerMeter=30.0;b2Settings.b2_maxManifoldPoints=2;b2Settings.b2_maxShapesPerBody=64;b2Settings.b2_maxPolyVertices=8;b2Settings.b2_maxProxies=1024;b2Settings.b2_maxPairs=8*b2Settings.b2_maxProxies;b2Settings.b2_linearSlop=0.005*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_angularSlop=2.0/180.0*b2Settings.b2_pi;b2Settings.b2_velocityThreshold=1.0*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_maxLinearCorrection=0.2*b2Settings.b2_lengthUnitsPerMeter;b2Settings.b2_maxAngularCorrection=8.0/180.0*b2Settings.b2_pi;b2Settings.b2_contactBaumgarte=0.2;b2Settings.b2_timeToSleep=0.5*b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_linearSleepTolerance=0.01*b2Settings.b2_lengthUnitsPerMeter/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2_angularSleepTolerance=2.0/180.0/b2Settings.b2_timeUnitsPerSecond;b2Settings.b2Assert=function(a)

+{if(!a){var nullVec;nullVec.x++;}};

+var b2Vec2=Class.create();b2Vec2.prototype={initialize:function(x_,y_){this.x=x_;this.y=y_;},SetZero:function(){this.x=0.0;this.y=0.0;},Set:function(x_,y_){this.x=x_;this.y=y_;},SetV:function(v){this.x=v.x;this.y=v.y;},Negative:function(){return new b2Vec2(-this.x,-this.y);},Copy:function(){return new b2Vec2(this.x,this.y);},Add:function(v)

+{this.x+=v.x;this.y+=v.y;},Subtract:function(v)

+{this.x-=v.x;this.y-=v.y;},Multiply:function(a)

+{this.x*=a;this.y*=a;},MulM:function(A)

+{var tX=this.x;this.x=A.col1.x*tX+A.col2.x*this.y;this.y=A.col1.y*tX+A.col2.y*this.y;},MulTM:function(A)

+{var tX=b2Math.b2Dot(this,A.col1);this.y=b2Math.b2Dot(this,A.col2);this.x=tX;},CrossVF:function(s)

+{var tX=this.x;this.x=s*this.y;this.y=-s*tX;},CrossFV:function(s)

+{var tX=this.x;this.x=-s*this.y;this.y=s*tX;},MinV:function(b)

+{this.x=this.x<b.x?this.x:b.x;this.y=this.y<b.y?this.y:b.y;},MaxV:function(b)

+{this.x=this.x>b.x?this.x:b.x;this.y=this.y>b.y?this.y:b.y;},Abs:function()

+{this.x=Math.abs(this.x);this.y=Math.abs(this.y);},Length:function()

+{return Math.sqrt(this.x*this.x+this.y*this.y);},Normalize:function()

+{var length=this.Length();if(length<Number.MIN_VALUE)

+{return 0.0;}

+var invLength=1.0/length;this.x*=invLength;this.y*=invLength;return length;},IsValid:function()

+{return b2Math.b2IsValid(this.x)&&b2Math.b2IsValid(this.y);},x:null,y:null};b2Vec2.Make=function(x_,y_)

+{return new b2Vec2(x_,y_);};

+var b2Mat22=Class.create();b2Mat22.prototype={initialize:function(angle,c1,c2)

+{if(angle==null)angle=0;this.col1=new b2Vec2();this.col2=new b2Vec2();if(c1!=null&&c2!=null){this.col1.SetV(c1);this.col2.SetV(c2);}

+else{var c=Math.cos(angle);var s=Math.sin(angle);this.col1.x=c;this.col2.x=-s;this.col1.y=s;this.col2.y=c;}},Set:function(angle)

+{var c=Math.cos(angle);var s=Math.sin(angle);this.col1.x=c;this.col2.x=-s;this.col1.y=s;this.col2.y=c;},SetVV:function(c1,c2)

+{this.col1.SetV(c1);this.col2.SetV(c2);},Copy:function(){return new b2Mat22(0,this.col1,this.col2);},SetM:function(m)

+{this.col1.SetV(m.col1);this.col2.SetV(m.col2);},AddM:function(m)

+{this.col1.x+=m.col1.x;this.col1.y+=m.col1.y;this.col2.x+=m.col2.x;this.col2.y+=m.col2.y;},SetIdentity:function()

+{this.col1.x=1.0;this.col2.x=0.0;this.col1.y=0.0;this.col2.y=1.0;},SetZero:function()

+{this.col1.x=0.0;this.col2.x=0.0;this.col1.y=0.0;this.col2.y=0.0;},Invert:function(out)

+{var a=this.col1.x;var b=this.col2.x;var c=this.col1.y;var d=this.col2.y;var det=a*d-b*c;det=1.0/det;out.col1.x=det*d;out.col2.x=-det*b;out.col1.y=-det*c;out.col2.y=det*a;return out;},Solve:function(out,bX,bY)

+{var a11=this.col1.x;var a12=this.col2.x;var a21=this.col1.y;var a22=this.col2.y;var det=a11*a22-a12*a21;det=1.0/det;out.x=det*(a22*bX-a12*bY);out.y=det*(a11*bY-a21*bX);return out;},Abs:function()

+{this.col1.Abs();this.col2.Abs();},col1:new b2Vec2(),col2:new b2Vec2()};

+var b2Math=Class.create();b2Math.prototype={initialize:function(){}}

+b2Math.b2IsValid=function(x)

+{return isFinite(x);};b2Math.b2Dot=function(a,b)

+{return a.x*b.x+a.y*b.y;};b2Math.b2CrossVV=function(a,b)

+{return a.x*b.y-a.y*b.x;};b2Math.b2CrossVF=function(a,s)

+{var v=new b2Vec2(s*a.y,-s*a.x);return v;};b2Math.b2CrossFV=function(s,a)

+{var v=new b2Vec2(-s*a.y,s*a.x);return v;};b2Math.b2MulMV=function(A,v)

+{var u=new b2Vec2(A.col1.x*v.x+A.col2.x*v.y,A.col1.y*v.x+A.col2.y*v.y);return u;};b2Math.b2MulTMV=function(A,v)

+{var u=new b2Vec2(b2Math.b2Dot(v,A.col1),b2Math.b2Dot(v,A.col2));return u;};b2Math.AddVV=function(a,b)

+{var v=new b2Vec2(a.x+b.x,a.y+b.y);return v;};b2Math.SubtractVV=function(a,b)

+{var v=new b2Vec2(a.x-b.x,a.y-b.y);return v;};b2Math.MulFV=function(s,a)

+{var v=new b2Vec2(s*a.x,s*a.y);return v;};b2Math.AddMM=function(A,B)

+{var C=new b2Mat22(0,b2Math.AddVV(A.col1,B.col1),b2Math.AddVV(A.col2,B.col2));return C;};b2Math.b2MulMM=function(A,B)

+{var C=new b2Mat22(0,b2Math.b2MulMV(A,B.col1),b2Math.b2MulMV(A,B.col2));return C;};b2Math.b2MulTMM=function(A,B)

+{var c1=new b2Vec2(b2Math.b2Dot(A.col1,B.col1),b2Math.b2Dot(A.col2,B.col1));var c2=new b2Vec2(b2Math.b2Dot(A.col1,B.col2),b2Math.b2Dot(A.col2,B.col2));var C=new b2Mat22(0,c1,c2);return C;};b2Math.b2Abs=function(a)

+{return a>0.0?a:-a;};b2Math.b2AbsV=function(a)

+{var b=new b2Vec2(b2Math.b2Abs(a.x),b2Math.b2Abs(a.y));return b;};b2Math.b2AbsM=function(A)

+{var B=new b2Mat22(0,b2Math.b2AbsV(A.col1),b2Math.b2AbsV(A.col2));return B;};b2Math.b2Min=function(a,b)

+{return a<b?a:b;};b2Math.b2MinV=function(a,b)

+{var c=new b2Vec2(b2Math.b2Min(a.x,b.x),b2Math.b2Min(a.y,b.y));return c;};b2Math.b2Max=function(a,b)

+{return a>b?a:b;};b2Math.b2MaxV=function(a,b)

+{var c=new b2Vec2(b2Math.b2Max(a.x,b.x),b2Math.b2Max(a.y,b.y));return c;};b2Math.b2Clamp=function(a,low,high)

+{return b2Math.b2Max(low,b2Math.b2Min(a,high));};b2Math.b2ClampV=function(a,low,high)

+{return b2Math.b2MaxV(low,b2Math.b2MinV(a,high));};b2Math.b2Swap=function(a,b)

+{var tmp=a[0];a[0]=b[0];b[0]=tmp;};b2Math.b2Random=function()

+{return Math.random()*2-1;};b2Math.b2NextPowerOfTwo=function(x)

+{x|=(x>>1)&0x7FFFFFFF;x|=(x>>2)&0x3FFFFFFF;x|=(x>>4)&0x0FFFFFFF;x|=(x>>8)&0x00FFFFFF;x|=(x>>16)&0x0000FFFF;return x+1;};b2Math.b2IsPowerOfTwo=function(x)

+{var result=x>0&&(x&(x-1))==0;return result;};b2Math.tempVec2=new b2Vec2();b2Math.tempVec3=new b2Vec2();b2Math.tempVec4=new b2Vec2();b2Math.tempVec5=new b2Vec2();b2Math.tempMat=new b2Mat22();

+var b2AABB=Class.create();b2AABB.prototype={IsValid:function(){var dX=this.maxVertex.x;var dY=this.maxVertex.y;dX=this.maxVertex.x;dY=this.maxVertex.y;dX-=this.minVertex.x;dY-=this.minVertex.y;var valid=dX>=0.0&&dY>=0.0;valid=valid&&this.minVertex.IsValid()&&this.maxVertex.IsValid();return valid;},minVertex:new b2Vec2(),maxVertex:new b2Vec2(),initialize:function(){this.minVertex=new b2Vec2();this.maxVertex=new b2Vec2();}};

+var b2Bound=Class.create();b2Bound.prototype={IsLower:function(){return(this.value&1)==0;},IsUpper:function(){return(this.value&1)==1;},Swap:function(b){var tempValue=this.value;var tempProxyId=this.proxyId;var tempStabbingCount=this.stabbingCount;this.value=b.value;this.proxyId=b.proxyId;this.stabbingCount=b.stabbingCount;b.value=tempValue;b.proxyId=tempProxyId;b.stabbingCount=tempStabbingCount;},value:0,proxyId:0,stabbingCount:0,initialize:function(){}}

+

+var b2BoundValues=Class.create();b2BoundValues.prototype={lowerValues:[0,0],upperValues:[0,0],initialize:function(){this.lowerValues=[0,0];this.upperValues=[0,0];}}

+

+var b2Pair=Class.create();b2Pair.prototype={SetBuffered:function(){this.status|=b2Pair.e_pairBuffered;},ClearBuffered:function(){this.status&=~b2Pair.e_pairBuffered;},IsBuffered:function(){return(this.status&b2Pair.e_pairBuffered)==b2Pair.e_pairBuffered;},SetRemoved:function(){this.status|=b2Pair.e_pairRemoved;},ClearRemoved:function(){this.status&=~b2Pair.e_pairRemoved;},IsRemoved:function(){return(this.status&b2Pair.e_pairRemoved)==b2Pair.e_pairRemoved;},SetFinal:function(){this.status|=b2Pair.e_pairFinal;},IsFinal:function(){return(this.status&b2Pair.e_pairFinal)==b2Pair.e_pairFinal;},userData:null,proxyId1:0,proxyId2:0,next:0,status:0,initialize:function(){}};b2Pair.b2_nullPair=b2Settings.USHRT_MAX;b2Pair.b2_nullProxy=b2Settings.USHRT_MAX;b2Pair.b2_tableCapacity=b2Settings.b2_maxPairs;b2Pair.b2_tableMask=b2Pair.b2_tableCapacity-1;b2Pair.e_pairBuffered=0x0001;b2Pair.e_pairRemoved=0x0002;b2Pair.e_pairFinal=0x0004;

+var b2PairCallback=Class.create();b2PairCallback.prototype={PairAdded:function(proxyUserData1,proxyUserData2){return null},PairRemoved:function(proxyUserData1,proxyUserData2,pairUserData){},initialize:function(){}};

+var b2BufferedPair=Class.create();b2BufferedPair.prototype={proxyId1:0,proxyId2:0,initialize:function(){}}

+

+var b2PairManager=Class.create();b2PairManager.prototype={initialize:function(){var i=0;this.m_hashTable=new Array(b2Pair.b2_tableCapacity);for(i=0;i<b2Pair.b2_tableCapacity;++i)

+{this.m_hashTable[i]=b2Pair.b2_nullPair;}

+this.m_pairs=new Array(b2Settings.b2_maxPairs);for(i=0;i<b2Settings.b2_maxPairs;++i)

+{this.m_pairs[i]=new b2Pair();}

+this.m_pairBuffer=new Array(b2Settings.b2_maxPairs);for(i=0;i<b2Settings.b2_maxPairs;++i)

+{this.m_pairBuffer[i]=new b2BufferedPair();}

+for(i=0;i<b2Settings.b2_maxPairs;++i)

+{this.m_pairs[i].proxyId1=b2Pair.b2_nullProxy;this.m_pairs[i].proxyId2=b2Pair.b2_nullProxy;this.m_pairs[i].userData=null;this.m_pairs[i].status=0;this.m_pairs[i].next=(i+1);}

+this.m_pairs[b2Settings.b2_maxPairs-1].next=b2Pair.b2_nullPair;this.m_pairCount=0;},Initialize:function(broadPhase,callback){this.m_broadPhase=broadPhase;this.m_callback=callback;},AddBufferedPair:function(proxyId1,proxyId2){var pair=this.AddPair(proxyId1,proxyId2);if(pair.IsBuffered()==false)

+{pair.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=pair.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=pair.proxyId2;++this.m_pairBufferCount;}

+pair.ClearRemoved();if(b2BroadPhase.s_validate)

+{this.ValidateBuffer();}},RemoveBufferedPair:function(proxyId1,proxyId2){var pair=this.Find(proxyId1,proxyId2);if(pair==null)

+{return;}

+if(pair.IsBuffered()==false)

+{pair.SetBuffered();this.m_pairBuffer[this.m_pairBufferCount].proxyId1=pair.proxyId1;this.m_pairBuffer[this.m_pairBufferCount].proxyId2=pair.proxyId2;++this.m_pairBufferCount;}

+pair.SetRemoved();if(b2BroadPhase.s_validate)

+{this.ValidateBuffer();}},Commit:function(){var i=0;var removeCount=0;var proxies=this.m_broadPhase.m_proxyPool;for(i=0;i<this.m_pairBufferCount;++i)

+{var pair=this.Find(this.m_pairBuffer[i].proxyId1,this.m_pairBuffer[i].proxyId2);pair.ClearBuffered();var proxy1=proxies[pair.proxyId1];var proxy2=proxies[pair.proxyId2];if(pair.IsRemoved())

+{if(pair.IsFinal()==true)

+{this.m_callback.PairRemoved(proxy1.userData,proxy2.userData,pair.userData);}

+this.m_pairBuffer[removeCount].proxyId1=pair.proxyId1;this.m_pairBuffer[removeCount].proxyId2=pair.proxyId2;++removeCount;}

+else

+{if(pair.IsFinal()==false)

+{pair.userData=this.m_callback.PairAdded(proxy1.userData,proxy2.userData);pair.SetFinal();}}}

+for(i=0;i<removeCount;++i)

+{this.RemovePair(this.m_pairBuffer[i].proxyId1,this.m_pairBuffer[i].proxyId2);}

+this.m_pairBufferCount=0;if(b2BroadPhase.s_validate)

+{this.ValidateTable();}},AddPair:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}

+var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;var pair=pair=this.FindHash(proxyId1,proxyId2,hash);if(pair!=null)

+{return pair;}

+var pIndex=this.m_freePair;pair=this.m_pairs[pIndex];this.m_freePair=pair.next;pair.proxyId1=proxyId1;pair.proxyId2=proxyId2;pair.status=0;pair.userData=null;pair.next=this.m_hashTable[hash];this.m_hashTable[hash]=pIndex;++this.m_pairCount;return pair;},RemovePair:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}

+var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;var node=this.m_hashTable[hash];var pNode=null;while(node!=b2Pair.b2_nullPair)

+{if(b2PairManager.Equals(this.m_pairs[node],proxyId1,proxyId2))

+{var index=node;if(pNode){pNode.next=this.m_pairs[node].next;}

+else{this.m_hashTable[hash]=this.m_pairs[node].next;}

+var pair=this.m_pairs[index];var userData=pair.userData;pair.next=this.m_freePair;pair.proxyId1=b2Pair.b2_nullProxy;pair.proxyId2=b2Pair.b2_nullProxy;pair.userData=null;pair.status=0;this.m_freePair=index;--this.m_pairCount;return userData;}

+else

+{pNode=this.m_pairs[node];node=pNode.next;}}

+return null;},Find:function(proxyId1,proxyId2){if(proxyId1>proxyId2){var temp=proxyId1;proxyId1=proxyId2;proxyId2=temp;}

+var hash=b2PairManager.Hash(proxyId1,proxyId2)&b2Pair.b2_tableMask;return this.FindHash(proxyId1,proxyId2,hash);},FindHash:function(proxyId1,proxyId2,hash){var index=this.m_hashTable[hash];while(index!=b2Pair.b2_nullPair&&b2PairManager.Equals(this.m_pairs[index],proxyId1,proxyId2)==false)

+{index=this.m_pairs[index].next;}

+if(index==b2Pair.b2_nullPair)

+{return null;}

+return this.m_pairs[index];},ValidateBuffer:function(){},ValidateTable:function(){},m_broadPhase:null,m_callback:null,m_pairs:null,m_freePair:0,m_pairCount:0,m_pairBuffer:null,m_pairBufferCount:0,m_hashTable:null};b2PairManager.Hash=function(proxyId1,proxyId2)

+{var key=((proxyId2<<16)&0xffff0000)|proxyId1;key=~key+((key<<15)&0xFFFF8000);key=key^((key>>12)&0x000fffff);key=key+((key<<2)&0xFFFFFFFC);key=key^((key>>4)&0x0fffffff);key=key*2057;key=key^((key>>16)&0x0000ffff);return key;};b2PairManager.Equals=function(pair,proxyId1,proxyId2)

+{return(pair.proxyId1==proxyId1&&pair.proxyId2==proxyId2);};b2PairManager.EqualsPair=function(pair1,pair2)

+{return pair1.proxyId1==pair2.proxyId1&&pair1.proxyId2==pair2.proxyId2;};

+var b2BroadPhase=Class.create();b2BroadPhase.prototype={initialize:function(worldAABB,callback){this.m_pairManager=new b2PairManager();this.m_proxyPool=new Array(b2Settings.b2_maxPairs);this.m_bounds=new Array(2*b2Settings.b2_maxProxies);this.m_queryResults=new Array(b2Settings.b2_maxProxies);this.m_quantizationFactor=new b2Vec2();var i=0;this.m_pairManager.Initialize(this,callback);this.m_worldAABB=worldAABB;this.m_proxyCount=0;for(i=0;i<b2Settings.b2_maxProxies;i++){this.m_queryResults[i]=0;}

+this.m_bounds=new Array(2);for(i=0;i<2;i++){this.m_bounds[i]=new Array(2*b2Settings.b2_maxProxies);for(var j=0;j<2*b2Settings.b2_maxProxies;j++){this.m_bounds[i][j]=new b2Bound();}}

+var dX=worldAABB.maxVertex.x;var dY=worldAABB.maxVertex.y;dX-=worldAABB.minVertex.x;dY-=worldAABB.minVertex.y;this.m_quantizationFactor.x=b2Settings.USHRT_MAX/dX;this.m_quantizationFactor.y=b2Settings.USHRT_MAX/dY;var tProxy;for(i=0;i<b2Settings.b2_maxProxies-1;++i)

+{tProxy=new b2Proxy();this.m_proxyPool[i]=tProxy;tProxy.SetNext(i+1);tProxy.timeStamp=0;tProxy.overlapCount=b2BroadPhase.b2_invalid;tProxy.userData=null;}

+tProxy=new b2Proxy();this.m_proxyPool[b2Settings.b2_maxProxies-1]=tProxy;tProxy.SetNext(b2Pair.b2_nullProxy);tProxy.timeStamp=0;tProxy.overlapCount=b2BroadPhase.b2_invalid;tProxy.userData=null;this.m_freeProxy=0;this.m_timeStamp=1;this.m_queryResultCount=0;},InRange:function(aabb){var dX;var dY;var d2X;var d2Y;dX=aabb.minVertex.x;dY=aabb.minVertex.y;dX-=this.m_worldAABB.maxVertex.x;dY-=this.m_worldAABB.maxVertex.y;d2X=this.m_worldAABB.minVertex.x;d2Y=this.m_worldAABB.minVertex.y;d2X-=aabb.maxVertex.x;d2Y-=aabb.maxVertex.y;dX=b2Math.b2Max(dX,d2X);dY=b2Math.b2Max(dY,d2Y);return b2Math.b2Max(dX,dY)<0.0;},GetProxy:function(proxyId){if(proxyId==b2Pair.b2_nullProxy||this.m_proxyPool[proxyId].IsValid()==false)

+{return null;}

+return this.m_proxyPool[proxyId];},CreateProxy:function(aabb,userData){var index=0;var proxy;var proxyId=this.m_freeProxy;proxy=this.m_proxyPool[proxyId];this.m_freeProxy=proxy.GetNext();proxy.overlapCount=0;proxy.userData=userData;var boundCount=2*this.m_proxyCount;var lowerValues=new Array();var upperValues=new Array();this.ComputeBounds(lowerValues,upperValues,aabb);for(var axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];var lowerIndex=0;var upperIndex=0;var lowerIndexOut=[lowerIndex];var upperIndexOut=[upperIndex];this.Query(lowerIndexOut,upperIndexOut,lowerValues[axis],upperValues[axis],bounds,boundCount,axis);lowerIndex=lowerIndexOut[0];upperIndex=upperIndexOut[0];var tArr=new Array();var j=0;var tEnd=boundCount-upperIndex

+var tBound1;var tBound2;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[upperIndex+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tEnd=tArr.length;var tIndex=upperIndex+2;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]

+tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tArr=new Array();tEnd=upperIndex-lowerIndex;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[lowerIndex+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tEnd=tArr.length;tIndex=lowerIndex+1;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]

+tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+++upperIndex;bounds[lowerIndex].value=lowerValues[axis];bounds[lowerIndex].proxyId=proxyId;bounds[upperIndex].value=upperValues[axis];bounds[upperIndex].proxyId=proxyId;bounds[lowerIndex].stabbingCount=lowerIndex==0?0:bounds[lowerIndex-1].stabbingCount;bounds[upperIndex].stabbingCount=bounds[upperIndex-1].stabbingCount;for(index=lowerIndex;index<upperIndex;++index)

+{bounds[index].stabbingCount++;}

+for(index=lowerIndex;index<boundCount+2;++index)

+{var proxy2=this.m_proxyPool[bounds[index].proxyId];if(bounds[index].IsLower())

+{proxy2.lowerBounds[axis]=index;}

+else

+{proxy2.upperBounds[axis]=index;}}}

+++this.m_proxyCount;for(var i=0;i<this.m_queryResultCount;++i)

+{this.m_pairManager.AddBufferedPair(proxyId,this.m_queryResults[i]);}

+this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();return proxyId;},DestroyProxy:function(proxyId){var proxy=this.m_proxyPool[proxyId];var boundCount=2*this.m_proxyCount;for(var axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];var lowerIndex=proxy.lowerBounds[axis];var upperIndex=proxy.upperBounds[axis];var lowerValue=bounds[lowerIndex].value;var upperValue=bounds[upperIndex].value;var tArr=new Array();var j=0;var tEnd=upperIndex-lowerIndex-1;var tBound1;var tBound2;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[lowerIndex+1+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tEnd=tArr.length;var tIndex=lowerIndex;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]

+tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tArr=new Array();tEnd=boundCount-upperIndex-1;for(j=0;j<tEnd;j++){tArr[j]=new b2Bound();tBound1=tArr[j];tBound2=bounds[upperIndex+1+j];tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tEnd=tArr.length;tIndex=upperIndex-1;for(j=0;j<tEnd;j++){tBound2=tArr[j];tBound1=bounds[tIndex+j]

+tBound1.value=tBound2.value;tBound1.proxyId=tBound2.proxyId;tBound1.stabbingCount=tBound2.stabbingCount;}

+tEnd=boundCount-2;for(var index=lowerIndex;index<tEnd;++index)

+{var proxy2=this.m_proxyPool[bounds[index].proxyId];if(bounds[index].IsLower())

+{proxy2.lowerBounds[axis]=index;}

+else

+{proxy2.upperBounds[axis]=index;}}

+tEnd=upperIndex-1;for(var index2=lowerIndex;index2<tEnd;++index2)

+{bounds[index2].stabbingCount--;}

+this.Query([0],[0],lowerValue,upperValue,bounds,boundCount-2,axis);}

+for(var i=0;i<this.m_queryResultCount;++i)

+{this.m_pairManager.RemoveBufferedPair(proxyId,this.m_queryResults[i]);}

+this.m_pairManager.Commit();this.m_queryResultCount=0;this.IncrementTimeStamp();proxy.userData=null;proxy.overlapCount=b2BroadPhase.b2_invalid;proxy.lowerBounds[0]=b2BroadPhase.b2_invalid;proxy.lowerBounds[1]=b2BroadPhase.b2_invalid;proxy.upperBounds[0]=b2BroadPhase.b2_invalid;proxy.upperBounds[1]=b2BroadPhase.b2_invalid;proxy.SetNext(this.m_freeProxy);this.m_freeProxy=proxyId;--this.m_proxyCount;},MoveProxy:function(proxyId,aabb){var axis=0;var index=0;var bound;var prevBound

+var nextBound

+var nextProxyId=0;var nextProxy;if(proxyId==b2Pair.b2_nullProxy||b2Settings.b2_maxProxies<=proxyId)

+{return;}

+if(aabb.IsValid()==false)

+{return;}

+var boundCount=2*this.m_proxyCount;var proxy=this.m_proxyPool[proxyId];var newValues=new b2BoundValues();this.ComputeBounds(newValues.lowerValues,newValues.upperValues,aabb);var oldValues=new b2BoundValues();for(axis=0;axis<2;++axis)

+{oldValues.lowerValues[axis]=this.m_bounds[axis][proxy.lowerBounds[axis]].value;oldValues.upperValues[axis]=this.m_bounds[axis][proxy.upperBounds[axis]].value;}

+for(axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];var lowerIndex=proxy.lowerBounds[axis];var upperIndex=proxy.upperBounds[axis];var lowerValue=newValues.lowerValues[axis];var upperValue=newValues.upperValues[axis];var deltaLower=lowerValue-bounds[lowerIndex].value;var deltaUpper=upperValue-bounds[upperIndex].value;bounds[lowerIndex].value=lowerValue;bounds[upperIndex].value=upperValue;if(deltaLower<0)

+{index=lowerIndex;while(index>0&&lowerValue<bounds[index-1].value)

+{bound=bounds[index];prevBound=bounds[index-1];var prevProxyId=prevBound.proxyId;var prevProxy=this.m_proxyPool[prevBound.proxyId];prevBound.stabbingCount++;if(prevBound.IsUpper()==true)

+{if(this.TestOverlap(newValues,prevProxy))

+{this.m_pairManager.AddBufferedPair(proxyId,prevProxyId);}

+prevProxy.upperBounds[axis]++;bound.stabbingCount++;}

+else

+{prevProxy.lowerBounds[axis]++;bound.stabbingCount--;}

+proxy.lowerBounds[axis]--;bound.Swap(prevBound);--index;}}

+if(deltaUpper>0)

+{index=upperIndex;while(index<boundCount-1&&bounds[index+1].value<=upperValue)

+{bound=bounds[index];nextBound=bounds[index+1];nextProxyId=nextBound.proxyId;nextProxy=this.m_proxyPool[nextProxyId];nextBound.stabbingCount++;if(nextBound.IsLower()==true)

+{if(this.TestOverlap(newValues,nextProxy))

+{this.m_pairManager.AddBufferedPair(proxyId,nextProxyId);}

+nextProxy.lowerBounds[axis]--;bound.stabbingCount++;}

+else

+{nextProxy.upperBounds[axis]--;bound.stabbingCount--;}

+proxy.upperBounds[axis]++;bound.Swap(nextBound);index++;}}

+if(deltaLower>0)

+{index=lowerIndex;while(index<boundCount-1&&bounds[index+1].value<=lowerValue)

+{bound=bounds[index];nextBound=bounds[index+1];nextProxyId=nextBound.proxyId;nextProxy=this.m_proxyPool[nextProxyId];nextBound.stabbingCount--;if(nextBound.IsUpper())

+{if(this.TestOverlap(oldValues,nextProxy))

+{this.m_pairManager.RemoveBufferedPair(proxyId,nextProxyId);}

+nextProxy.upperBounds[axis]--;bound.stabbingCount--;}

+else

+{nextProxy.lowerBounds[axis]--;bound.stabbingCount++;}

+proxy.lowerBounds[axis]++;bound.Swap(nextBound);index++;}}

+if(deltaUpper<0)

+{index=upperIndex;while(index>0&&upperValue<bounds[index-1].value)

+{bound=bounds[index];prevBound=bounds[index-1];prevProxyId=prevBound.proxyId;prevProxy=this.m_proxyPool[prevProxyId];prevBound.stabbingCount--;if(prevBound.IsLower()==true)

+{if(this.TestOverlap(oldValues,prevProxy))

+{this.m_pairManager.RemoveBufferedPair(proxyId,prevProxyId);}

+prevProxy.lowerBounds[axis]++;bound.stabbingCount--;}

+else

+{prevProxy.upperBounds[axis]++;bound.stabbingCount++;}

+proxy.upperBounds[axis]--;bound.Swap(prevBound);index--;}}}},Commit:function(){this.m_pairManager.Commit();},QueryAABB:function(aabb,userData,maxCount){var lowerValues=new Array();var upperValues=new Array();this.ComputeBounds(lowerValues,upperValues,aabb);var lowerIndex=0;var upperIndex=0;var lowerIndexOut=[lowerIndex];var upperIndexOut=[upperIndex];this.Query(lowerIndexOut,upperIndexOut,lowerValues[0],upperValues[0],this.m_bounds[0],2*this.m_proxyCount,0);this.Query(lowerIndexOut,upperIndexOut,lowerValues[1],upperValues[1],this.m_bounds[1],2*this.m_proxyCount,1);var count=0;for(var i=0;i<this.m_queryResultCount&&count<maxCount;++i,++count)

+{var proxy=this.m_proxyPool[this.m_queryResults[i]];userData[i]=proxy.userData;}

+this.m_queryResultCount=0;this.IncrementTimeStamp();return count;},Validate:function(){var pair;var proxy1;var proxy2;var overlap;for(var axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];var boundCount=2*this.m_proxyCount;var stabbingCount=0;for(var i=0;i<boundCount;++i)

+{var bound=bounds[i];if(bound.IsLower()==true)

+{stabbingCount++;}

+else

+{stabbingCount--;}}}},ComputeBounds:function(lowerValues,upperValues,aabb)

+{var minVertexX=aabb.minVertex.x;var minVertexY=aabb.minVertex.y;minVertexX=b2Math.b2Min(minVertexX,this.m_worldAABB.maxVertex.x);minVertexY=b2Math.b2Min(minVertexY,this.m_worldAABB.maxVertex.y);minVertexX=b2Math.b2Max(minVertexX,this.m_worldAABB.minVertex.x);minVertexY=b2Math.b2Max(minVertexY,this.m_worldAABB.minVertex.y);var maxVertexX=aabb.maxVertex.x;var maxVertexY=aabb.maxVertex.y;maxVertexX=b2Math.b2Min(maxVertexX,this.m_worldAABB.maxVertex.x);maxVertexY=b2Math.b2Min(maxVertexY,this.m_worldAABB.maxVertex.y);maxVertexX=b2Math.b2Max(maxVertexX,this.m_worldAABB.minVertex.x);maxVertexY=b2Math.b2Max(maxVertexY,this.m_worldAABB.minVertex.y);lowerValues[0]=(this.m_quantizationFactor.x*(minVertexX-this.m_worldAABB.minVertex.x))&(b2Settings.USHRT_MAX-1);upperValues[0]=((this.m_quantizationFactor.x*(maxVertexX-this.m_worldAABB.minVertex.x))&0x0000ffff)|1;lowerValues[1]=(this.m_quantizationFactor.y*(minVertexY-this.m_worldAABB.minVertex.y))&(b2Settings.USHRT_MAX-1);upperValues[1]=((this.m_quantizationFactor.y*(maxVertexY-this.m_worldAABB.minVertex.y))&0x0000ffff)|1;},TestOverlapValidate:function(p1,p2){for(var axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];if(bounds[p1.lowerBounds[axis]].value>bounds[p2.upperBounds[axis]].value)

+return false;if(bounds[p1.upperBounds[axis]].value<bounds[p2.lowerBounds[axis]].value)

+return false;}

+return true;},TestOverlap:function(b,p)

+{for(var axis=0;axis<2;++axis)

+{var bounds=this.m_bounds[axis];if(b.lowerValues[axis]>bounds[p.upperBounds[axis]].value)

+return false;if(b.upperValues[axis]<bounds[p.lowerBounds[axis]].value)

+return false;}

+return true;},Query:function(lowerQueryOut,upperQueryOut,lowerValue,upperValue,bounds,boundCount,axis){var lowerQuery=b2BroadPhase.BinarySearch(bounds,boundCount,lowerValue);var upperQuery=b2BroadPhase.BinarySearch(bounds,boundCount,upperValue);for(var j=lowerQuery;j<upperQuery;++j)

+{if(bounds[j].IsLower())

+{this.IncrementOverlapCount(bounds[j].proxyId);}}

+if(lowerQuery>0)

+{var i=lowerQuery-1;var s=bounds[i].stabbingCount;while(s)

+{if(bounds[i].IsLower())

+{var proxy=this.m_proxyPool[bounds[i].proxyId];if(lowerQuery<=proxy.upperBounds[axis])

+{this.IncrementOverlapCount(bounds[i].proxyId);--s;}}

+--i;}}

+lowerQueryOut[0]=lowerQuery;upperQueryOut[0]=upperQuery;},IncrementOverlapCount:function(proxyId){var proxy=this.m_proxyPool[proxyId];if(proxy.timeStamp<this.m_timeStamp)

+{proxy.timeStamp=this.m_timeStamp;proxy.overlapCount=1;}

+else

+{proxy.overlapCount=2;this.m_queryResults[this.m_queryResultCount]=proxyId;++this.m_queryResultCount;}},IncrementTimeStamp:function(){if(this.m_timeStamp==b2Settings.USHRT_MAX)

+{for(var i=0;i<b2Settings.b2_maxProxies;++i)

+{this.m_proxyPool[i].timeStamp=0;}

+this.m_timeStamp=1;}

+else

+{++this.m_timeStamp;}},m_pairManager:new b2PairManager(),m_proxyPool:new Array(b2Settings.b2_maxPairs),m_freeProxy:0,m_bounds:new Array(2*b2Settings.b2_maxProxies),m_queryResults:new Array(b2Settings.b2_maxProxies),m_queryResultCount:0,m_worldAABB:null,m_quantizationFactor:new b2Vec2(),m_proxyCount:0,m_timeStamp:0};b2BroadPhase.s_validate=false;b2BroadPhase.b2_invalid=b2Settings.USHRT_MAX;b2BroadPhase.b2_nullEdge=b2Settings.USHRT_MAX;b2BroadPhase.BinarySearch=function(bounds,count,value)

+{var low=0;var high=count-1;while(low<=high)

+{var mid=Math.floor((low+high)/2);if(bounds[mid].value>value)

+{high=mid-1;}

+else if(bounds[mid].value<value)

+{low=mid+1;}

+else

+{return(mid);}}

+return(low);};

+var b2Collision=Class.create();b2Collision.prototype={initialize:function(){}}

+b2Collision.b2_nullFeature=0x000000ff;b2Collision.ClipSegmentToLine=function(vOut,vIn,normal,offset)

+{var numOut=0;var vIn0=vIn[0].v;var vIn1=vIn[1].v;var distance0=b2Math.b2Dot(normal,vIn[0].v)-offset;var distance1=b2Math.b2Dot(normal,vIn[1].v)-offset;if(distance0<=0.0)vOut[numOut++]=vIn[0];if(distance1<=0.0)vOut[numOut++]=vIn[1];if(distance0*distance1<0.0)

+{var interp=distance0/(distance0-distance1);var tVec=vOut[numOut].v;tVec.x=vIn0.x+interp*(vIn1.x-vIn0.x);tVec.y=vIn0.y+interp*(vIn1.y-vIn0.y);if(distance0>0.0)

+{vOut[numOut].id=vIn[0].id;}

+else

+{vOut[numOut].id=vIn[1].id;}

+++numOut;}

+return numOut;};b2Collision.EdgeSeparation=function(poly1,edge1,poly2)

+{var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var normalX=poly1.m_normals[edge1].x;var normalY=poly1.m_normals[edge1].y;var tX=normalX;var tMat=poly1.m_R;normalX=tMat.col1.x*tX+tMat.col2.x*normalY;normalY=tMat.col1.y*tX+tMat.col2.y*normalY;var normalLocal2X=normalX;var normalLocal2Y=normalY;tMat=poly2.m_R;tX=normalLocal2X*tMat.col1.x+normalLocal2Y*tMat.col1.y;normalLocal2Y=normalLocal2X*tMat.col2.x+normalLocal2Y*tMat.col2.y;normalLocal2X=tX;var vertexIndex2=0;var minDot=Number.MAX_VALUE;for(var i=0;i<count2;++i)

+{var tVec=vert2s[i];var dot=tVec.x*normalLocal2X+tVec.y*normalLocal2Y;if(dot<minDot)

+{minDot=dot;vertexIndex2=i;}}

+tMat=poly1.m_R;var v1X=poly1.m_position.x+(tMat.col1.x*vert1s[edge1].x+tMat.col2.x*vert1s[edge1].y)

+var v1Y=poly1.m_position.y+(tMat.col1.y*vert1s[edge1].x+tMat.col2.y*vert1s[edge1].y)

+tMat=poly2.m_R;var v2X=poly2.m_position.x+(tMat.col1.x*vert2s[vertexIndex2].x+tMat.col2.x*vert2s[vertexIndex2].y)

+var v2Y=poly2.m_position.y+(tMat.col1.y*vert2s[vertexIndex2].x+tMat.col2.y*vert2s[vertexIndex2].y)

+v2X-=v1X;v2Y-=v1Y;var separation=v2X*normalX+v2Y*normalY;return separation;};b2Collision.FindMaxSeparation=function(edgeIndex,poly1,poly2,conservative)

+{var count1=poly1.m_vertexCount;var dX=poly2.m_position.x-poly1.m_position.x;var dY=poly2.m_position.y-poly1.m_position.y;var dLocal1X=(dX*poly1.m_R.col1.x+dY*poly1.m_R.col1.y);var dLocal1Y=(dX*poly1.m_R.col2.x+dY*poly1.m_R.col2.y);var edge=0;var maxDot=-Number.MAX_VALUE;for(var i=0;i<count1;++i)

+{var dot=(poly1.m_normals[i].x*dLocal1X+poly1.m_normals[i].y*dLocal1Y);if(dot>maxDot)

+{maxDot=dot;edge=i;}}

+var s=b2Collision.EdgeSeparation(poly1,edge,poly2);if(s>0.0&&conservative==false)

+{return s;}

+var prevEdge=edge-1>=0?edge-1:count1-1;var sPrev=b2Collision.EdgeSeparation(poly1,prevEdge,poly2);if(sPrev>0.0&&conservative==false)

+{return sPrev;}

+var nextEdge=edge+1<count1?edge+1:0;var sNext=b2Collision.EdgeSeparation(poly1,nextEdge,poly2);if(sNext>0.0&&conservative==false)

+{return sNext;}

+var bestEdge=0;var bestSeparation;var increment=0;if(sPrev>s&&sPrev>sNext)

+{increment=-1;bestEdge=prevEdge;bestSeparation=sPrev;}

+else if(sNext>s)

+{increment=1;bestEdge=nextEdge;bestSeparation=sNext;}

+else

+{edgeIndex[0]=edge;return s;}

+while(true)

+{if(increment==-1)

+edge=bestEdge-1>=0?bestEdge-1:count1-1;else

+edge=bestEdge+1<count1?bestEdge+1:0;s=b2Collision.EdgeSeparation(poly1,edge,poly2);if(s>0.0&&conservative==false)

+{return s;}

+if(s>bestSeparation)

+{bestEdge=edge;bestSeparation=s;}

+else

+{break;}}

+edgeIndex[0]=bestEdge;return bestSeparation;};b2Collision.FindIncidentEdge=function(c,poly1,edge1,poly2)

+{var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var count2=poly2.m_vertexCount;var vert2s=poly2.m_vertices;var vertex11=edge1;var vertex12=edge1+1==count1?0:edge1+1;var tVec=vert1s[vertex12];var normal1Local1X=tVec.x;var normal1Local1Y=tVec.y;tVec=vert1s[vertex11];normal1Local1X-=tVec.x;normal1Local1Y-=tVec.y;var tX=normal1Local1X;normal1Local1X=normal1Local1Y;normal1Local1Y=-tX;var invLength=1.0/Math.sqrt(normal1Local1X*normal1Local1X+normal1Local1Y*normal1Local1Y);normal1Local1X*=invLength;normal1Local1Y*=invLength;var normal1X=normal1Local1X;var normal1Y=normal1Local1Y;tX=normal1X;var tMat=poly1.m_R;normal1X=tMat.col1.x*tX+tMat.col2.x*normal1Y;normal1Y=tMat.col1.y*tX+tMat.col2.y*normal1Y;var normal1Local2X=normal1X;var normal1Local2Y=normal1Y;tMat=poly2.m_R;tX=normal1Local2X*tMat.col1.x+normal1Local2Y*tMat.col1.y;normal1Local2Y=normal1Local2X*tMat.col2.x+normal1Local2Y*tMat.col2.y;normal1Local2X=tX;var vertex21=0;var vertex22=0;var minDot=Number.MAX_VALUE;for(var i=0;i<count2;++i)

+{var i1=i;var i2=i+1<count2?i+1:0;tVec=vert2s[i2];var normal2Local2X=tVec.x;var normal2Local2Y=tVec.y;tVec=vert2s[i1];normal2Local2X-=tVec.x;normal2Local2Y-=tVec.y;tX=normal2Local2X;normal2Local2X=normal2Local2Y;normal2Local2Y=-tX;invLength=1.0/Math.sqrt(normal2Local2X*normal2Local2X+normal2Local2Y*normal2Local2Y);normal2Local2X*=invLength;normal2Local2Y*=invLength;var dot=normal2Local2X*normal1Local2X+normal2Local2Y*normal1Local2Y;if(dot<minDot)

+{minDot=dot;vertex21=i1;vertex22=i2;}}

+var tClip;tClip=c[0];tVec=tClip.v;tVec.SetV(vert2s[vertex21]);tVec.MulM(poly2.m_R);tVec.Add(poly2.m_position);tClip.id.features.referenceFace=edge1;tClip.id.features.incidentEdge=vertex21;tClip.id.features.incidentVertex=vertex21;tClip=c[1];tVec=tClip.v;tVec.SetV(vert2s[vertex22]);tVec.MulM(poly2.m_R);tVec.Add(poly2.m_position);tClip.id.features.referenceFace=edge1;tClip.id.features.incidentEdge=vertex21;tClip.id.features.incidentVertex=vertex22;};b2Collision.b2CollidePolyTempVec=new b2Vec2();b2Collision.b2CollidePoly=function(manifold,polyA,polyB,conservative)

+{manifold.pointCount=0;var edgeA=0;var edgeAOut=[edgeA];var separationA=b2Collision.FindMaxSeparation(edgeAOut,polyA,polyB,conservative);edgeA=edgeAOut[0];if(separationA>0.0&&conservative==false)

+return;var edgeB=0;var edgeBOut=[edgeB];var separationB=b2Collision.FindMaxSeparation(edgeBOut,polyB,polyA,conservative);edgeB=edgeBOut[0];if(separationB>0.0&&conservative==false)

+return;var poly1;var poly2;var edge1=0;var flip=0;var k_relativeTol=0.98;var k_absoluteTol=0.001;if(separationB>k_relativeTol*separationA+k_absoluteTol)

+{poly1=polyB;poly2=polyA;edge1=edgeB;flip=1;}

+else

+{poly1=polyA;poly2=polyB;edge1=edgeA;flip=0;}

+var incidentEdge=[new ClipVertex(),new ClipVertex()];b2Collision.FindIncidentEdge(incidentEdge,poly1,edge1,poly2);var count1=poly1.m_vertexCount;var vert1s=poly1.m_vertices;var v11=vert1s[edge1];var v12=edge1+1<count1?vert1s[edge1+1]:vert1s[0];var dvX=v12.x-v11.x;var dvY=v12.y-v11.y;var sideNormalX=v12.x-v11.x;var sideNormalY=v12.y-v11.y;var tX=sideNormalX;var tMat=poly1.m_R;sideNormalX=tMat.col1.x*tX+tMat.col2.x*sideNormalY;sideNormalY=tMat.col1.y*tX+tMat.col2.y*sideNormalY;var invLength=1.0/Math.sqrt(sideNormalX*sideNormalX+sideNormalY*sideNormalY);sideNormalX*=invLength;sideNormalY*=invLength;var frontNormalX=sideNormalX;var frontNormalY=sideNormalY;tX=frontNormalX;frontNormalX=frontNormalY;frontNormalY=-tX;var v11X=v11.x;var v11Y=v11.y;tX=v11X;tMat=poly1.m_R;v11X=tMat.col1.x*tX+tMat.col2.x*v11Y;v11Y=tMat.col1.y*tX+tMat.col2.y*v11Y;v11X+=poly1.m_position.x;v11Y+=poly1.m_position.y;var v12X=v12.x;var v12Y=v12.y;tX=v12X;tMat=poly1.m_R;v12X=tMat.col1.x*tX+tMat.col2.x*v12Y;v12Y=tMat.col1.y*tX+tMat.col2.y*v12Y;v12X+=poly1.m_position.x;v12Y+=poly1.m_position.y;var frontOffset=frontNormalX*v11X+frontNormalY*v11Y;var sideOffset1=-(sideNormalX*v11X+sideNormalY*v11Y);var sideOffset2=sideNormalX*v12X+sideNormalY*v12Y;var clipPoints1=[new ClipVertex(),new ClipVertex()];var clipPoints2=[new ClipVertex(),new ClipVertex()];var np=0;b2Collision.b2CollidePolyTempVec.Set(-sideNormalX,-sideNormalY);np=b2Collision.ClipSegmentToLine(clipPoints1,incidentEdge,b2Collision.b2CollidePolyTempVec,sideOffset1);if(np<2)

+return;b2Collision.b2CollidePolyTempVec.Set(sideNormalX,sideNormalY);np=b2Collision.ClipSegmentToLine(clipPoints2,clipPoints1,b2Collision.b2CollidePolyTempVec,sideOffset2);if(np<2)

+return;if(flip){manifold.normal.Set(-frontNormalX,-frontNormalY);}

+else{manifold.normal.Set(frontNormalX,frontNormalY);}

+var pointCount=0;for(var i=0;i<b2Settings.b2_maxManifoldPoints;++i)

+{var tVec=clipPoints2[i].v;var separation=(frontNormalX*tVec.x+frontNormalY*tVec.y)-frontOffset;if(separation<=0.0||conservative==true)

+{var cp=manifold.points[pointCount];cp.separation=separation;cp.position.SetV(clipPoints2[i].v);cp.id.Set(clipPoints2[i].id);cp.id.features.flip=flip;++pointCount;}}

+manifold.pointCount=pointCount;};b2Collision.b2CollideCircle=function(manifold,circle1,circle2,conservative)

+{manifold.pointCount=0;var dX=circle2.m_position.x-circle1.m_position.x;var dY=circle2.m_position.y-circle1.m_position.y;var distSqr=dX*dX+dY*dY;var radiusSum=circle1.m_radius+circle2.m_radius;if(distSqr>radiusSum*radiusSum&&conservative==false)

+{return;}

+var separation;if(distSqr<Number.MIN_VALUE)

+{separation=-radiusSum;manifold.normal.Set(0.0,1.0);}

+else

+{var dist=Math.sqrt(distSqr);separation=dist-radiusSum;var a=1.0/dist;manifold.normal.x=a*dX;manifold.normal.y=a*dY;}

+manifold.pointCount=1;var tPoint=manifold.points[0];tPoint.id.set_key(0);tPoint.separation=separation;tPoint.position.x=circle2.m_position.x-(circle2.m_radius*manifold.normal.x);tPoint.position.y=circle2.m_position.y-(circle2.m_radius*manifold.normal.y);};b2Collision.b2CollidePolyAndCircle=function(manifold,poly,circle,conservative)

+{manifold.pointCount=0;var tPoint;var dX;var dY;var xLocalX=circle.m_position.x-poly.m_position.x;var xLocalY=circle.m_position.y-poly.m_position.y;var tMat=poly.m_R;var tX=xLocalX*tMat.col1.x+xLocalY*tMat.col1.y;xLocalY=xLocalX*tMat.col2.x+xLocalY*tMat.col2.y;xLocalX=tX;var dist;var normalIndex=0;var separation=-Number.MAX_VALUE;var radius=circle.m_radius;for(var i=0;i<poly.m_vertexCount;++i)

+{var s=poly.m_normals[i].x*(xLocalX-poly.m_vertices[i].x)+poly.m_normals[i].y*(xLocalY-poly.m_vertices[i].y);if(s>radius)

+{return;}

+if(s>separation)

+{separation=s;normalIndex=i;}}

+if(separation<Number.MIN_VALUE)

+{manifold.pointCount=1;var tVec=poly.m_normals[normalIndex];manifold.normal.x=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;manifold.normal.y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tPoint=manifold.points[0];tPoint.id.features.incidentEdge=normalIndex;tPoint.id.features.incidentVertex=b2Collision.b2_nullFeature;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=separation-radius;return;}

+var vertIndex1=normalIndex;var vertIndex2=vertIndex1+1<poly.m_vertexCount?vertIndex1+1:0;var eX=poly.m_vertices[vertIndex2].x-poly.m_vertices[vertIndex1].x;var eY=poly.m_vertices[vertIndex2].y-poly.m_vertices[vertIndex1].y;var length=Math.sqrt(eX*eX+eY*eY);eX/=length;eY/=length;if(length<Number.MIN_VALUE)

+{dX=xLocalX-poly.m_vertices[vertIndex1].x;dY=xLocalY-poly.m_vertices[vertIndex1].y;dist=Math.sqrt(dX*dX+dY*dY);dX/=dist;dY/=dist;if(dist>radius)

+{return;}

+manifold.pointCount=1;manifold.normal.Set(tMat.col1.x*dX+tMat.col2.x*dY,tMat.col1.y*dX+tMat.col2.y*dY);tPoint=manifold.points[0];tPoint.id.features.incidentEdge=b2Collision.b2_nullFeature;tPoint.id.features.incidentVertex=vertIndex1;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=dist-radius;return;}

+var u=(xLocalX-poly.m_vertices[vertIndex1].x)*eX+(xLocalY-poly.m_vertices[vertIndex1].y)*eY;tPoint=manifold.points[0];tPoint.id.features.incidentEdge=b2Collision.b2_nullFeature;tPoint.id.features.incidentVertex=b2Collision.b2_nullFeature;tPoint.id.features.referenceFace=b2Collision.b2_nullFeature;tPoint.id.features.flip=0;var pX,pY;if(u<=0.0)

+{pX=poly.m_vertices[vertIndex1].x;pY=poly.m_vertices[vertIndex1].y;tPoint.id.features.incidentVertex=vertIndex1;}

+else if(u>=length)

+{pX=poly.m_vertices[vertIndex2].x;pY=poly.m_vertices[vertIndex2].y;tPoint.id.features.incidentVertex=vertIndex2;}

+else

+{pX=eX*u+poly.m_vertices[vertIndex1].x;pY=eY*u+poly.m_vertices[vertIndex1].y;tPoint.id.features.incidentEdge=vertIndex1;}

+dX=xLocalX-pX;dY=xLocalY-pY;dist=Math.sqrt(dX*dX+dY*dY);dX/=dist;dY/=dist;if(dist>radius)

+{return;}

+manifold.pointCount=1;manifold.normal.Set(tMat.col1.x*dX+tMat.col2.x*dY,tMat.col1.y*dX+tMat.col2.y*dY);tPoint.position.x=circle.m_position.x-radius*manifold.normal.x;tPoint.position.y=circle.m_position.y-radius*manifold.normal.y;tPoint.separation=dist-radius;};b2Collision.b2TestOverlap=function(a,b)

+{var t1=b.minVertex;var t2=a.maxVertex;var d1X=t1.x-t2.x;var d1Y=t1.y-t2.y;t1=a.minVertex;t2=b.maxVertex;var d2X=t1.x-t2.x;var d2Y=t1.y-t2.y;if(d1X>0.0||d1Y>0.0)

+return false;if(d2X>0.0||d2Y>0.0)

+return false;return true;};

+var Features=Class.create();Features.prototype={set_referenceFace:function(value){this._referenceFace=value;this._m_id._key=(this._m_id._key&0xffffff00)|(this._referenceFace&0x000000ff)},get_referenceFace:function(){return this._referenceFace;},_referenceFace:0,set_incidentEdge:function(value){this._incidentEdge=value;this._m_id._key=(this._m_id._key&0xffff00ff)|((this._incidentEdge<<8)&0x0000ff00)},get_incidentEdge:function(){return this._incidentEdge;},_incidentEdge:0,set_incidentVertex:function(value){this._incidentVertex=value;this._m_id._key=(this._m_id._key&0xff00ffff)|((this._incidentVertex<<16)&0x00ff0000)},get_incidentVertex:function(){return this._incidentVertex;},_incidentVertex:0,set_flip:function(value){this._flip=value;this._m_id._key=(this._m_id._key&0x00ffffff)|((this._flip<<24)&0xff000000)},get_flip:function(){return this._flip;},_flip:0,_m_id:null,initialize:function(){}};

+var b2ContactID=Class.create();b2ContactID.prototype={initialize:function(){this.features=new Features();this.features._m_id=this;},Set:function(id){this.set_key(id._key);},Copy:function(){var id=new b2ContactID();id.set_key(this._key);return id;},get_key:function(){return this._key;},set_key:function(value){this._key=value;this.features._referenceFace=this._key&0x000000ff;this.features._incidentEdge=((this._key&0x0000ff00)>>8)&0x000000ff;this.features._incidentVertex=((this._key&0x00ff0000)>>16)&0x000000ff;this.features._flip=((this._key&0xff000000)>>24)&0x000000ff;},features:new Features(),_key:0};

+var b2ContactPoint=Class.create();b2ContactPoint.prototype={position:new b2Vec2(),separation:null,normalImpulse:null,tangentImpulse:null,id:new b2ContactID(),initialize:function(){this.position=new b2Vec2();this.id=new b2ContactID();}};var b2Distance=Class.create();b2Distance.prototype={initialize:function(){}};b2Distance.ProcessTwo=function(p1Out,p2Out,p1s,p2s,points)

+{var rX=-points[1].x;var rY=-points[1].y;var dX=points[0].x-points[1].x;var dY=points[0].y-points[1].y;var length=Math.sqrt(dX*dX+dY*dY);dX/=length;dY/=length;var lambda=rX*dX+rY*dY;if(lambda<=0.0||length<Number.MIN_VALUE)

+{p1Out.SetV(p1s[1]);p2Out.SetV(p2s[1]);p1s[0].SetV(p1s[1]);p2s[0].SetV(p2s[1]);points[0].SetV(points[1]);return 1;}

+lambda/=length;p1Out.x=p1s[1].x+lambda*(p1s[0].x-p1s[1].x);p1Out.y=p1s[1].y+lambda*(p1s[0].y-p1s[1].y);p2Out.x=p2s[1].x+lambda*(p2s[0].x-p2s[1].x);p2Out.y=p2s[1].y+lambda*(p2s[0].y-p2s[1].y);return 2;};b2Distance.ProcessThree=function(p1Out,p2Out,p1s,p2s,points)

+{var aX=points[0].x;var aY=points[0].y;var bX=points[1].x;var bY=points[1].y;var cX=points[2].x;var cY=points[2].y;var abX=bX-aX;var abY=bY-aY;var acX=cX-aX;var acY=cY-aY;var bcX=cX-bX;var bcY=cY-bY;var sn=-(aX*abX+aY*abY);var sd=(bX*abX+bY*abY);var tn=-(aX*acX+aY*acY);var td=(cX*acX+cY*acY);var un=-(bX*bcX+bY*bcY);var ud=(cX*bcX+cY*bcY);if(td<=0.0&&ud<=0.0)

+{p1Out.SetV(p1s[2]);p2Out.SetV(p2s[2]);p1s[0].SetV(p1s[2]);p2s[0].SetV(p2s[2]);points[0].SetV(points[2]);return 1;}

+var n=abX*acY-abY*acX;var vc=n*(aX*bY-aY*bX);var va=n*(bX*cY-bY*cX);if(va<=0.0&&un>=0.0&&ud>=0.0)

+{var lambda=un/(un+ud);p1Out.x=p1s[1].x+lambda*(p1s[2].x-p1s[1].x);p1Out.y=p1s[1].y+lambda*(p1s[2].y-p1s[1].y);p2Out.x=p2s[1].x+lambda*(p2s[2].x-p2s[1].x);p2Out.y=p2s[1].y+lambda*(p2s[2].y-p2s[1].y);p1s[0].SetV(p1s[2]);p2s[0].SetV(p2s[2]);points[0].SetV(points[2]);return 2;}

+var vb=n*(cX*aY-cY*aX);if(vb<=0.0&&tn>=0.0&&td>=0.0)

+{var lambda=tn/(tn+td);p1Out.x=p1s[0].x+lambda*(p1s[2].x-p1s[0].x);p1Out.y=p1s[0].y+lambda*(p1s[2].y-p1s[0].y);p2Out.x=p2s[0].x+lambda*(p2s[2].x-p2s[0].x);p2Out.y=p2s[0].y+lambda*(p2s[2].y-p2s[0].y);p1s[1].SetV(p1s[2]);p2s[1].SetV(p2s[2]);points[1].SetV(points[2]);return 2;}

+var denom=va+vb+vc;denom=1.0/denom;var u=va*denom;var v=vb*denom;var w=1.0-u-v;p1Out.x=u*p1s[0].x+v*p1s[1].x+w*p1s[2].x;p1Out.y=u*p1s[0].y+v*p1s[1].y+w*p1s[2].y;p2Out.x=u*p2s[0].x+v*p2s[1].x+w*p2s[2].x;p2Out.y=u*p2s[0].y+v*p2s[1].y+w*p2s[2].y;return 3;};b2Distance.InPoinsts=function(w,points,pointCount)

+{for(var i=0;i<pointCount;++i)

+{if(w.x==points[i].x&&w.y==points[i].y)

+{return true;}}

+return false;};b2Distance.Distance=function(p1Out,p2Out,shape1,shape2)

+{var p1s=new Array(3);var p2s=new Array(3);var points=new Array(3);var pointCount=0;p1Out.SetV(shape1.m_position);p2Out.SetV(shape2.m_position);var vSqr=0.0;var maxIterations=20;for(var iter=0;iter<maxIterations;++iter)

+{var vX=p2Out.x-p1Out.x;var vY=p2Out.y-p1Out.y;var w1=shape1.Support(vX,vY);var w2=shape2.Support(-vX,-vY);vSqr=(vX*vX+vY*vY);var wX=w2.x-w1.x;var wY=w2.y-w1.y;var vw=(vX*wX+vY*wY);if(vSqr-b2Dot(vX*wX+vY*wY)<=0.01*vSqr)

+{if(pointCount==0)

+{p1Out.SetV(w1);p2Out.SetV(w2);}

+b2Distance.g_GJK_Iterations=iter;return Math.sqrt(vSqr);}

+switch(pointCount)

+{case 0:p1s[0].SetV(w1);p2s[0].SetV(w2);points[0]=w;p1Out.SetV(p1s[0]);p2Out.SetV(p2s[0]);++pointCount;break;case 1:p1s[1].SetV(w1);p2s[1].SetV(w2);points[1].x=wX;points[1].y=wY;pointCount=b2Distance.ProcessTwo(p1Out,p2Out,p1s,p2s,points);break;case 2:p1s[2].SetV(w1);p2s[2].SetV(w2);points[2].x=wX;points[2].y=wY;pointCount=b2Distance.ProcessThree(p1Out,p2Out,p1s,p2s,points);break;}

+if(pointCount==3)

+{b2Distance.g_GJK_Iterations=iter;return 0.0;}

+var maxSqr=-Number.MAX_VALUE;for(var i=0;i<pointCount;++i)

+{maxSqr=b2Math.b2Max(maxSqr,(points[i].x*points[i].x+points[i].y*points[i].y));}

+if(pointCount==3||vSqr<=100.0*Number.MIN_VALUE*maxSqr)

+{b2Distance.g_GJK_Iterations=iter;return Math.sqrt(vSqr);}}

+b2Distance.g_GJK_Iterations=maxIterations;return Math.sqrt(vSqr);};b2Distance.g_GJK_Iterations=0;

+var b2Manifold=Class.create();b2Manifold.prototype={initialize:function(){this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var i=0;i<b2Settings.b2_maxManifoldPoints;i++){this.points[i]=new b2ContactPoint();}

+this.normal=new b2Vec2();},points:null,normal:null,pointCount:0};

+var b2OBB=Class.create();b2OBB.prototype={R:new b2Mat22(),center:new b2Vec2(),extents:new b2Vec2(),initialize:function(){this.R=new b2Mat22();this.center=new b2Vec2();this.extents=new b2Vec2();}};

+var b2Proxy=Class.create();b2Proxy.prototype={GetNext:function(){return this.lowerBounds[0];},SetNext:function(next){this.lowerBounds[0]=next;},IsValid:function(){return this.overlapCount!=b2BroadPhase.b2_invalid;},lowerBounds:[(0),(0)],upperBounds:[(0),(0)],overlapCount:0,timeStamp:0,userData:null,initialize:function(){this.lowerBounds=[(0),(0)];this.upperBounds=[(0),(0)];}}

+

+var ClipVertex=Class.create();ClipVertex.prototype={v:new b2Vec2(),id:new b2ContactID(),initialize:function(){this.v=new b2Vec2();this.id=new b2ContactID();}};var b2Shape=Class.create();b2Shape.prototype={TestPoint:function(p){return false},GetUserData:function(){return this.m_userData;},GetType:function(){return this.m_type;},GetBody:function(){return this.m_body;},GetPosition:function(){return this.m_position;},GetRotationMatrix:function(){return this.m_R;},ResetProxy:function(broadPhase){},GetNext:function(){return this.m_next;},initialize:function(def,body){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;},DestroyProxy:function()

+{if(this.m_proxyId!=b2Pair.b2_nullProxy)

+{this.m_body.m_world.m_broadPhase.DestroyProxy(this.m_proxyId);this.m_proxyId=b2Pair.b2_nullProxy;}},Synchronize:function(position1,R1,position2,R2){},QuickSync:function(position,R){},Support:function(dX,dY,out){},GetMaxRadius:function(){return this.m_maxRadius;},m_next:null,m_R:new b2Mat22(),m_position:new b2Vec2(),m_type:0,m_userData:null,m_body:null,m_friction:null,m_restitution:null,m_maxRadius:null,m_proxyId:0,m_categoryBits:0,m_maskBits:0,m_groupIndex:0};b2Shape.Create=function(def,body,center){switch(def.type)

+{case b2Shape.e_circleShape:{return new b2CircleShape(def,body,center);}

+case b2Shape.e_boxShape:case b2Shape.e_polyShape:{return new b2PolyShape(def,body,center);}}

+return null;};b2Shape.Destroy=function(shape)

+{if(shape.m_proxyId!=b2Pair.b2_nullProxy)

+shape.m_body.m_world.m_broadPhase.DestroyProxy(shape.m_proxyId);};b2Shape.e_unknownShape=-1;b2Shape.e_circleShape=0;b2Shape.e_boxShape=1;b2Shape.e_polyShape=2;b2Shape.e_meshShape=3;b2Shape.e_shapeTypeCount=4;b2Shape.PolyMass=function(massData,vs,count,rho)

+{var center=new b2Vec2();center.SetZero();var area=0.0;var I=0.0;var pRef=new b2Vec2(0.0,0.0);var inv3=1.0/3.0;for(var i=0;i<count;++i)

+{var p1=pRef;var p2=vs[i];var p3=i+1<count?vs[i+1]:vs[0];var e1=b2Math.SubtractVV(p2,p1);var e2=b2Math.SubtractVV(p3,p1);var D=b2Math.b2CrossVV(e1,e2);var triangleArea=0.5*D;area+=triangleArea;var tVec=new b2Vec2();tVec.SetV(p1);tVec.Add(p2);tVec.Add(p3);tVec.Multiply(inv3*triangleArea);center.Add(tVec);var px=p1.x;var py=p1.y;var ex1=e1.x;var ey1=e1.y;var ex2=e2.x;var ey2=e2.y;var intx2=inv3*(0.25*(ex1*ex1+ex2*ex1+ex2*ex2)+(px*ex1+px*ex2))+0.5*px*px;var inty2=inv3*(0.25*(ey1*ey1+ey2*ey1+ey2*ey2)+(py*ey1+py*ey2))+0.5*py*py;I+=D*(intx2+inty2);}

+massData.mass=rho*area;center.Multiply(1.0/area);massData.center=center;I=rho*(I-area*b2Math.b2Dot(center,center));massData.I=I;};b2Shape.PolyCentroid=function(vs,count,out)

+{var cX=0.0;var cY=0.0;var area=0.0;var pRefX=0.0;var pRefY=0.0;var inv3=1.0/3.0;for(var i=0;i<count;++i)

+{var p1X=pRefX;var p1Y=pRefY;var p2X=vs[i].x;var p2Y=vs[i].y;var p3X=i+1<count?vs[i+1].x:vs[0].x;var p3Y=i+1<count?vs[i+1].y:vs[0].y;var e1X=p2X-p1X;var e1Y=p2Y-p1Y;var e2X=p3X-p1X;var e2Y=p3Y-p1Y;var D=(e1X*e2Y-e1Y*e2X);var triangleArea=0.5*D;area+=triangleArea;cX+=triangleArea*inv3*(p1X+p2X+p3X);cY+=triangleArea*inv3*(p1Y+p2Y+p3Y);}

+cX*=1.0/area;cY*=1.0/area;out.Set(cX,cY);};

+var b2ShapeDef=Class.create();b2ShapeDef.prototype={initialize:function()

+{this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;},ComputeMass:function(massData)

+{massData.center=new b2Vec2(0.0,0.0)

+if(this.density==0.0)

+{massData.mass=0.0;massData.center.Set(0.0,0.0);massData.I=0.0;};switch(this.type)

+{case b2Shape.e_circleShape:{var circle=this;massData.mass=this.density*b2Settings.b2_pi*circle.radius*circle.radius;massData.center.Set(0.0,0.0);massData.I=0.5*(massData.mass)*circle.radius*circle.radius;}

+break;case b2Shape.e_boxShape:{var box=this;massData.mass=4.0*this.density*box.extents.x*box.extents.y;massData.center.Set(0.0,0.0);massData.I=massData.mass/3.0*b2Math.b2Dot(box.extents,box.extents);}

+break;case b2Shape.e_polyShape:{var poly=this;b2Shape.PolyMass(massData,poly.vertices,poly.vertexCount,this.density);}

+break;default:massData.mass=0.0;massData.center.Set(0.0,0.0);massData.I=0.0;break;}},type:0,userData:null,localPosition:null,localRotation:null,friction:null,restitution:null,density:null,categoryBits:0,maskBits:0,groupIndex:0};

+var b2BoxDef=Class.create();Object.extend(b2BoxDef.prototype,b2ShapeDef.prototype);Object.extend(b2BoxDef.prototype,{initialize:function()

+{this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.type=b2Shape.e_boxShape;this.extents=new b2Vec2(1.0,1.0);},extents:null});

+var b2CircleDef=Class.create();Object.extend(b2CircleDef.prototype,b2ShapeDef.prototype);Object.extend(b2CircleDef.prototype,{initialize:function()

+{this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.type=b2Shape.e_circleShape;this.radius=1.0;},radius:null});var b2CircleShape=Class.create();Object.extend(b2CircleShape.prototype,b2Shape.prototype);Object.extend(b2CircleShape.prototype,{TestPoint:function(p){var d=new b2Vec2();d.SetV(p);d.Subtract(this.m_position);return b2Math.b2Dot(d,d)<=this.m_radius*this.m_radius;},initialize:function(def,body,localCenter){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;this.m_localPosition=new b2Vec2();var circle=def;this.m_localPosition.Set(def.localPosition.x-localCenter.x,def.localPosition.y-localCenter.y);this.m_type=b2Shape.e_circleShape;this.m_radius=circle.radius;this.m_R.SetM(this.m_body.m_R);var rX=this.m_R.col1.x*this.m_localPosition.x+this.m_R.col2.x*this.m_localPosition.y;var rY=this.m_R.col1.y*this.m_localPosition.x+this.m_R.col2.y*this.m_localPosition.y;this.m_position.x=this.m_body.m_position.x+rX;this.m_position.y=this.m_body.m_position.y+rY;this.m_maxRadius=Math.sqrt(rX*rX+rY*rY)+this.m_radius;var aabb=new b2AABB();aabb.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);aabb.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))

+{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}

+else

+{this.m_proxyId=b2Pair.b2_nullProxy;}

+if(this.m_proxyId==b2Pair.b2_nullProxy)

+{this.m_body.Freeze();}},Synchronize:function(position1,R1,position2,R2){this.m_R.SetM(R2);this.m_position.x=(R2.col1.x*this.m_localPosition.x+R2.col2.x*this.m_localPosition.y)+position2.x;this.m_position.y=(R2.col1.y*this.m_localPosition.x+R2.col2.y*this.m_localPosition.y)+position2.y;if(this.m_proxyId==b2Pair.b2_nullProxy)

+{return;}

+var p1X=position1.x+(R1.col1.x*this.m_localPosition.x+R1.col2.x*this.m_localPosition.y);var p1Y=position1.y+(R1.col1.y*this.m_localPosition.x+R1.col2.y*this.m_localPosition.y);var lowerX=Math.min(p1X,this.m_position.x);var lowerY=Math.min(p1Y,this.m_position.y);var upperX=Math.max(p1X,this.m_position.x);var upperY=Math.max(p1Y,this.m_position.y);var aabb=new b2AABB();aabb.minVertex.Set(lowerX-this.m_radius,lowerY-this.m_radius);aabb.maxVertex.Set(upperX+this.m_radius,upperY+this.m_radius);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))

+{broadPhase.MoveProxy(this.m_proxyId,aabb);}

+else

+{this.m_body.Freeze();}},QuickSync:function(position,R){this.m_R.SetM(R);this.m_position.x=(R.col1.x*this.m_localPosition.x+R.col2.x*this.m_localPosition.y)+position.x;this.m_position.y=(R.col1.y*this.m_localPosition.x+R.col2.y*this.m_localPosition.y)+position.y;},ResetProxy:function(broadPhase)

+{if(this.m_proxyId==b2Pair.b2_nullProxy)

+{return;}

+var proxy=broadPhase.GetProxy(this.m_proxyId);broadPhase.DestroyProxy(this.m_proxyId);proxy=null;var aabb=new b2AABB();aabb.minVertex.Set(this.m_position.x-this.m_radius,this.m_position.y-this.m_radius);aabb.maxVertex.Set(this.m_position.x+this.m_radius,this.m_position.y+this.m_radius);if(broadPhase.InRange(aabb))

+{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}

+else

+{this.m_proxyId=b2Pair.b2_nullProxy;}

+if(this.m_proxyId==b2Pair.b2_nullProxy)

+{this.m_body.Freeze();}},Support:function(dX,dY,out)

+{var len=Math.sqrt(dX*dX+dY*dY);dX/=len;dY/=len;out.Set(this.m_position.x+this.m_radius*dX,this.m_position.y+this.m_radius*dY);},m_localPosition:new b2Vec2(),m_radius:null});

+var b2MassData=Class.create();b2MassData.prototype={mass:0.0,center:new b2Vec2(0,0),I:0.0,initialize:function(){this.center=new b2Vec2(0,0);}}

+

+var b2PolyDef=Class.create();Object.extend(b2PolyDef.prototype,b2ShapeDef.prototype);Object.extend(b2PolyDef.prototype,{initialize:function()

+{this.type=b2Shape.e_unknownShape;this.userData=null;this.localPosition=new b2Vec2(0.0,0.0);this.localRotation=0.0;this.friction=0.2;this.restitution=0.0;this.density=0.0;this.categoryBits=0x0001;this.maskBits=0xFFFF;this.groupIndex=0;this.vertices=new Array(b2Settings.b2_maxPolyVertices);this.type=b2Shape.e_polyShape;this.vertexCount=0;for(var i=0;i<b2Settings.b2_maxPolyVertices;i++){this.vertices[i]=new b2Vec2();}},vertices:new Array(b2Settings.b2_maxPolyVertices),vertexCount:0});var b2PolyShape=Class.create();Object.extend(b2PolyShape.prototype,b2Shape.prototype);Object.extend(b2PolyShape.prototype,{TestPoint:function(p){var pLocal=new b2Vec2();pLocal.SetV(p);pLocal.Subtract(this.m_position);pLocal.MulTM(this.m_R);for(var i=0;i<this.m_vertexCount;++i)

+{var tVec=new b2Vec2();tVec.SetV(pLocal);tVec.Subtract(this.m_vertices[i]);var dot=b2Math.b2Dot(this.m_normals[i],tVec);if(dot>0.0)

+{return false;}}

+return true;},initialize:function(def,body,newOrigin){this.m_R=new b2Mat22();this.m_position=new b2Vec2();this.m_userData=def.userData;this.m_friction=def.friction;this.m_restitution=def.restitution;this.m_body=body;this.m_proxyId=b2Pair.b2_nullProxy;this.m_maxRadius=0.0;this.m_categoryBits=def.categoryBits;this.m_maskBits=def.maskBits;this.m_groupIndex=def.groupIndex;this.syncAABB=new b2AABB();this.syncMat=new b2Mat22();this.m_localCentroid=new b2Vec2();this.m_localOBB=new b2OBB();var i=0;var hX;var hY;var tVec;var aabb=new b2AABB();this.m_vertices=new Array(b2Settings.b2_maxPolyVertices);this.m_coreVertices=new Array(b2Settings.b2_maxPolyVertices);this.m_normals=new Array(b2Settings.b2_maxPolyVertices);this.m_type=b2Shape.e_polyShape;var localR=new b2Mat22(def.localRotation);if(def.type==b2Shape.e_boxShape)

+{this.m_localCentroid.x=def.localPosition.x-newOrigin.x;this.m_localCentroid.y=def.localPosition.y-newOrigin.y;var box=def;this.m_vertexCount=4;hX=box.extents.x;hY=box.extents.y;var hcX=Math.max(0.0,hX-2.0*b2Settings.b2_linearSlop);var hcY=Math.max(0.0,hY-2.0*b2Settings.b2_linearSlop);tVec=this.m_vertices[0]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*hY;tVec.y=localR.col1.y*hX+localR.col2.y*hY;tVec=this.m_vertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*hY;tVec.y=localR.col1.y*-hX+localR.col2.y*hY;tVec=this.m_vertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hX+localR.col2.x*-hY;tVec.y=localR.col1.y*-hX+localR.col2.y*-hY;tVec=this.m_vertices[3]=new b2Vec2();tVec.x=localR.col1.x*hX+localR.col2.x*-hY;tVec.y=localR.col1.y*hX+localR.col2.y*-hY;tVec=this.m_coreVertices[0]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[1]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*hcY;tVec=this.m_coreVertices[2]=new b2Vec2();tVec.x=localR.col1.x*-hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*-hcX+localR.col2.y*-hcY;tVec=this.m_coreVertices[3]=new b2Vec2();tVec.x=localR.col1.x*hcX+localR.col2.x*-hcY;tVec.y=localR.col1.y*hcX+localR.col2.y*-hcY;}

+else

+{var poly=def;this.m_vertexCount=poly.vertexCount;b2Shape.PolyCentroid(poly.vertices,poly.vertexCount,b2PolyShape.tempVec);var centroidX=b2PolyShape.tempVec.x;var centroidY=b2PolyShape.tempVec.y;this.m_localCentroid.x=def.localPosition.x+(localR.col1.x*centroidX+localR.col2.x*centroidY)-newOrigin.x;this.m_localCentroid.y=def.localPosition.y+(localR.col1.y*centroidX+localR.col2.y*centroidY)-newOrigin.y;for(i=0;i<this.m_vertexCount;++i)

+{this.m_vertices[i]=new b2Vec2();this.m_coreVertices[i]=new b2Vec2();hX=poly.vertices[i].x-centroidX;hY=poly.vertices[i].y-centroidY;this.m_vertices[i].x=localR.col1.x*hX+localR.col2.x*hY;this.m_vertices[i].y=localR.col1.y*hX+localR.col2.y*hY;var uX=this.m_vertices[i].x;var uY=this.m_vertices[i].y;var length=Math.sqrt(uX*uX+uY*uY);if(length>Number.MIN_VALUE)

+{uX*=1.0/length;uY*=1.0/length;}

+this.m_coreVertices[i].x=this.m_vertices[i].x-2.0*b2Settings.b2_linearSlop*uX;this.m_coreVertices[i].y=this.m_vertices[i].y-2.0*b2Settings.b2_linearSlop*uY;}}

+var minVertexX=Number.MAX_VALUE;var minVertexY=Number.MAX_VALUE;var maxVertexX=-Number.MAX_VALUE;var maxVertexY=-Number.MAX_VALUE;this.m_maxRadius=0.0;for(i=0;i<this.m_vertexCount;++i)

+{var v=this.m_vertices[i];minVertexX=Math.min(minVertexX,v.x);minVertexY=Math.min(minVertexY,v.y);maxVertexX=Math.max(maxVertexX,v.x);maxVertexY=Math.max(maxVertexY,v.y);this.m_maxRadius=Math.max(this.m_maxRadius,v.Length());}

+this.m_localOBB.R.SetIdentity();this.m_localOBB.center.Set((minVertexX+maxVertexX)*0.5,(minVertexY+maxVertexY)*0.5);this.m_localOBB.extents.Set((maxVertexX-minVertexX)*0.5,(maxVertexY-minVertexY)*0.5);var i1=0;var i2=0;for(i=0;i<this.m_vertexCount;++i)

+{this.m_normals[i]=new b2Vec2();i1=i;i2=i+1<this.m_vertexCount?i+1:0;this.m_normals[i].x=this.m_vertices[i2].y-this.m_vertices[i1].y;this.m_normals[i].y=-(this.m_vertices[i2].x-this.m_vertices[i1].x);this.m_normals[i].Normalize();}

+for(i=0;i<this.m_vertexCount;++i)

+{i1=i;i2=i+1<this.m_vertexCount?i+1:0;}

+this.m_R.SetM(this.m_body.m_R);this.m_position.x=this.m_body.m_position.x+(this.m_R.col1.x*this.m_localCentroid.x+this.m_R.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(this.m_R.col1.y*this.m_localCentroid.x+this.m_R.col2.y*this.m_localCentroid.y);b2PolyShape.tAbsR.col1.x=this.m_R.col1.x*this.m_localOBB.R.col1.x+this.m_R.col2.x*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col1.y=this.m_R.col1.y*this.m_localOBB.R.col1.x+this.m_R.col2.y*this.m_localOBB.R.col1.y;b2PolyShape.tAbsR.col2.x=this.m_R.col1.x*this.m_localOBB.R.col2.x+this.m_R.col2.x*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.col2.y=this.m_R.col1.y*this.m_localOBB.R.col2.x+this.m_R.col2.y*this.m_localOBB.R.col2.y;b2PolyShape.tAbsR.Abs()

+hX=b2PolyShape.tAbsR.col1.x*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.x*this.m_localOBB.extents.y;hY=b2PolyShape.tAbsR.col1.y*this.m_localOBB.extents.x+b2PolyShape.tAbsR.col2.y*this.m_localOBB.extents.y;var positionX=this.m_position.x+(this.m_R.col1.x*this.m_localOBB.center.x+this.m_R.col2.x*this.m_localOBB.center.y);var positionY=this.m_position.y+(this.m_R.col1.y*this.m_localOBB.center.x+this.m_R.col2.y*this.m_localOBB.center.y);aabb.minVertex.x=positionX-hX;aabb.minVertex.y=positionY-hY;aabb.maxVertex.x=positionX+hX;aabb.maxVertex.y=positionY+hY;var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(aabb))

+{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}

+else

+{this.m_proxyId=b2Pair.b2_nullProxy;}

+if(this.m_proxyId==b2Pair.b2_nullProxy)

+{this.m_body.Freeze();}},syncAABB:new b2AABB(),syncMat:new b2Mat22(),Synchronize:function(position1,R1,position2,R2){this.m_R.SetM(R2);this.m_position.x=this.m_body.m_position.x+(R2.col1.x*this.m_localCentroid.x+R2.col2.x*this.m_localCentroid.y);this.m_position.y=this.m_body.m_position.y+(R2.col1.y*this.m_localCentroid.x+R2.col2.y*this.m_localCentroid.y);if(this.m_proxyId==b2Pair.b2_nullProxy)

+{return;}

+var hX;var hY;var v1=R1.col1;var v2=R1.col2;var v3=this.m_localOBB.R.col1;var v4=this.m_localOBB.R.col2;this.syncMat.col1.x=v1.x*v3.x+v2.x*v3.y;this.syncMat.col1.y=v1.y*v3.x+v2.y*v3.y;this.syncMat.col2.x=v1.x*v4.x+v2.x*v4.y;this.syncMat.col2.y=v1.y*v4.x+v2.y*v4.y;this.syncMat.Abs();hX=this.m_localCentroid.x+this.m_localOBB.center.x;hY=this.m_localCentroid.y+this.m_localOBB.center.y;var centerX=position1.x+(R1.col1.x*hX+R1.col2.x*hY);var centerY=position1.y+(R1.col1.y*hX+R1.col2.y*hY);hX=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;hY=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=centerX-hX;this.syncAABB.minVertex.y=centerY-hY;this.syncAABB.maxVertex.x=centerX+hX;this.syncAABB.maxVertex.y=centerY+hY;v1=R2.col1;v2=R2.col2;v3=this.m_localOBB.R.col1;v4=this.m_localOBB.R.col2;this.syncMat.col1.x=v1.x*v3.x+v2.x*v3.y;this.syncMat.col1.y=v1.y*v3.x+v2.y*v3.y;this.syncMat.col2.x=v1.x*v4.x+v2.x*v4.y;this.syncMat.col2.y=v1.y*v4.x+v2.y*v4.y;this.syncMat.Abs();hX=this.m_localCentroid.x+this.m_localOBB.center.x;hY=this.m_localCentroid.y+this.m_localOBB.center.y;centerX=position2.x+(R2.col1.x*hX+R2.col2.x*hY);centerY=position2.y+(R2.col1.y*hX+R2.col2.y*hY);hX=this.syncMat.col1.x*this.m_localOBB.extents.x+this.syncMat.col2.x*this.m_localOBB.extents.y;hY=this.syncMat.col1.y*this.m_localOBB.extents.x+this.syncMat.col2.y*this.m_localOBB.extents.y;this.syncAABB.minVertex.x=Math.min(this.syncAABB.minVertex.x,centerX-hX);this.syncAABB.minVertex.y=Math.min(this.syncAABB.minVertex.y,centerY-hY);this.syncAABB.maxVertex.x=Math.max(this.syncAABB.maxVertex.x,centerX+hX);this.syncAABB.maxVertex.y=Math.max(this.syncAABB.maxVertex.y,centerY+hY);var broadPhase=this.m_body.m_world.m_broadPhase;if(broadPhase.InRange(this.syncAABB))

+{broadPhase.MoveProxy(this.m_proxyId,this.syncAABB);}

+else

+{this.m_body.Freeze();}},QuickSync:function(position,R){this.m_R.SetM(R);this.m_position.x=position.x+(R.col1.x*this.m_localCentroid.x+R.col2.x*this.m_localCentroid.y);this.m_position.y=position.y+(R.col1.y*this.m_localCentroid.x+R.col2.y*this.m_localCentroid.y);},ResetProxy:function(broadPhase){if(this.m_proxyId==b2Pair.b2_nullProxy)

+{return;}

+var proxy=broadPhase.GetProxy(this.m_proxyId);broadPhase.DestroyProxy(this.m_proxyId);proxy=null;var R=b2Math.b2MulMM(this.m_R,this.m_localOBB.R);var absR=b2Math.b2AbsM(R);var h=b2Math.b2MulMV(absR,this.m_localOBB.extents);var position=b2Math.b2MulMV(this.m_R,this.m_localOBB.center);position.Add(this.m_position);var aabb=new b2AABB();aabb.minVertex.SetV(position);aabb.minVertex.Subtract(h);aabb.maxVertex.SetV(position);aabb.maxVertex.Add(h);if(broadPhase.InRange(aabb))

+{this.m_proxyId=broadPhase.CreateProxy(aabb,this);}

+else

+{this.m_proxyId=b2Pair.b2_nullProxy;}

+if(this.m_proxyId==b2Pair.b2_nullProxy)

+{this.m_body.Freeze();}},Support:function(dX,dY,out)

+{var dLocalX=(dX*this.m_R.col1.x+dY*this.m_R.col1.y);var dLocalY=(dX*this.m_R.col2.x+dY*this.m_R.col2.y);var bestIndex=0;var bestValue=(this.m_coreVertices[0].x*dLocalX+this.m_coreVertices[0].y*dLocalY);for(var i=1;i<this.m_vertexCount;++i)

+{var value=(this.m_coreVertices[i].x*dLocalX+this.m_coreVertices[i].y*dLocalY);if(value>bestValue)

+{bestIndex=i;bestValue=value;}}

+out.Set(this.m_position.x+(this.m_R.col1.x*this.m_coreVertices[bestIndex].x+this.m_R.col2.x*this.m_coreVertices[bestIndex].y),this.m_position.y+(this.m_R.col1.y*this.m_coreVertices[bestIndex].x+this.m_R.col2.y*this.m_coreVertices[bestIndex].y));},m_localCentroid:new b2Vec2(),m_localOBB:new b2OBB(),m_vertices:null,m_coreVertices:null,m_vertexCount:0,m_normals:null});b2PolyShape.tempVec=new b2Vec2();b2PolyShape.tAbsR=new b2Mat22();

+var b2Body=Class.create();b2Body.prototype={SetOriginPosition:function(position,rotation){if(this.IsFrozen())

+{return;}

+this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position=b2Math.AddVV(position,b2Math.b2MulMV(this.m_R,this.m_center));this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next)

+{s.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R);}

+this.m_world.m_broadPhase.Commit();},GetOriginPosition:function(){return b2Math.SubtractVV(this.m_position,b2Math.b2MulMV(this.m_R,this.m_center));},SetCenterPosition:function(position,rotation){if(this.IsFrozen())

+{return;}

+this.m_rotation=rotation;this.m_R.Set(this.m_rotation);this.m_position.SetV(position);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;for(var s=this.m_shapeList;s!=null;s=s.m_next)

+{s.Synchronize(this.m_position,this.m_R,this.m_position,this.m_R);}

+this.m_world.m_broadPhase.Commit();},GetCenterPosition:function(){return this.m_position;},GetRotation:function(){return this.m_rotation;},GetRotationMatrix:function(){return this.m_R;},SetLinearVelocity:function(v){this.m_linearVelocity.SetV(v);},GetLinearVelocity:function(){return this.m_linearVelocity;},SetAngularVelocity:function(w){this.m_angularVelocity=w;},GetAngularVelocity:function(){return this.m_angularVelocity;},ApplyForce:function(force,point)

+{if(this.IsSleeping()==false)

+{this.m_force.Add(force);this.m_torque+=b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),force);}},ApplyTorque:function(torque)

+{if(this.IsSleeping()==false)

+{this.m_torque+=torque;}},ApplyImpulse:function(impulse,point)

+{if(this.IsSleeping()==false)

+{this.m_linearVelocity.Add(b2Math.MulFV(this.m_invMass,impulse));this.m_angularVelocity+=(this.m_invI*b2Math.b2CrossVV(b2Math.SubtractVV(point,this.m_position),impulse));}},GetMass:function(){return this.m_mass;},GetInertia:function(){return this.m_I;},GetWorldPoint:function(localPoint){return b2Math.AddVV(this.m_position,b2Math.b2MulMV(this.m_R,localPoint));},GetWorldVector:function(localVector){return b2Math.b2MulMV(this.m_R,localVector);},GetLocalPoint:function(worldPoint){return b2Math.b2MulTMV(this.m_R,b2Math.SubtractVV(worldPoint,this.m_position));},GetLocalVector:function(worldVector){return b2Math.b2MulTMV(this.m_R,worldVector);},IsStatic:function(){return(this.m_flags&b2Body.e_staticFlag)==b2Body.e_staticFlag;},IsFrozen:function()

+{return(this.m_flags&b2Body.e_frozenFlag)==b2Body.e_frozenFlag;},IsSleeping:function(){return(this.m_flags&b2Body.e_sleepFlag)==b2Body.e_sleepFlag;},AllowSleeping:function(flag)

+{if(flag)

+{this.m_flags|=b2Body.e_allowSleepFlag;}

+else

+{this.m_flags&=~b2Body.e_allowSleepFlag;this.WakeUp();}},WakeUp:function(){this.m_flags&=~b2Body.e_sleepFlag;this.m_sleepTime=0.0;},GetShapeList:function(){return this.m_shapeList;},GetContactList:function()

+{return this.m_contactList;},GetJointList:function()

+{return this.m_jointList;},GetNext:function(){return this.m_next;},GetUserData:function(){return this.m_userData;},initialize:function(bd,world){this.sMat0=new b2Mat22();this.m_position=new b2Vec2();this.m_R=new b2Mat22(0);this.m_position0=new b2Vec2();var i=0;var sd;var massData;this.m_flags=0;this.m_position.SetV(bd.position);this.m_rotation=bd.rotation;this.m_R.Set(this.m_rotation);this.m_position0.SetV(this.m_position);this.m_rotation0=this.m_rotation;this.m_world=world;this.m_linearDamping=b2Math.b2Clamp(1.0-bd.linearDamping,0.0,1.0);this.m_angularDamping=b2Math.b2Clamp(1.0-bd.angularDamping,0.0,1.0);this.m_force=new b2Vec2(0.0,0.0);this.m_torque=0.0;this.m_mass=0.0;var massDatas=new Array(b2Settings.b2_maxShapesPerBody);for(i=0;i<b2Settings.b2_maxShapesPerBody;i++){massDatas[i]=new b2MassData();}

+this.m_shapeCount=0;this.m_center=new b2Vec2(0.0,0.0);for(i=0;i<b2Settings.b2_maxShapesPerBody;++i)

+{sd=bd.shapes[i];if(sd==null)break;massData=massDatas[i];sd.ComputeMass(massData);this.m_mass+=massData.mass;this.m_center.x+=massData.mass*(sd.localPosition.x+massData.center.x);this.m_center.y+=massData.mass*(sd.localPosition.y+massData.center.y);++this.m_shapeCount;}

+if(this.m_mass>0.0)

+{this.m_center.Multiply(1.0/this.m_mass);this.m_position.Add(b2Math.b2MulMV(this.m_R,this.m_center));}

+else

+{this.m_flags|=b2Body.e_staticFlag;}

+this.m_I=0.0;for(i=0;i<this.m_shapeCount;++i)

+{sd=bd.shapes[i];massData=massDatas[i];this.m_I+=massData.I;var r=b2Math.SubtractVV(b2Math.AddVV(sd.localPosition,massData.center),this.m_center);this.m_I+=massData.mass*b2Math.b2Dot(r,r);}

+if(this.m_mass>0.0)

+{this.m_invMass=1.0/this.m_mass;}

+else

+{this.m_invMass=0.0;}

+if(this.m_I>0.0&&bd.preventRotation==false)

+{this.m_invI=1.0/this.m_I;}

+else

+{this.m_I=0.0;this.m_invI=0.0;}

+this.m_linearVelocity=b2Math.AddVV(bd.linearVelocity,b2Math.b2CrossFV(bd.angularVelocity,this.m_center));this.m_angularVelocity=bd.angularVelocity;this.m_jointList=null;this.m_contactList=null;this.m_prev=null;this.m_next=null;this.m_shapeList=null;for(i=0;i<this.m_shapeCount;++i)

+{sd=bd.shapes[i];var shape=b2Shape.Create(sd,this,this.m_center);shape.m_next=this.m_shapeList;this.m_shapeList=shape;}

+this.m_sleepTime=0.0;if(bd.allowSleep)

+{this.m_flags|=b2Body.e_allowSleepFlag;}

+if(bd.isSleeping)

+{this.m_flags|=b2Body.e_sleepFlag;}

+if((this.m_flags&b2Body.e_sleepFlag)||this.m_invMass==0.0)

+{this.m_linearVelocity.Set(0.0,0.0);this.m_angularVelocity=0.0;}

+this.m_userData=bd.userData;},Destroy:function(){var s=this.m_shapeList;while(s)

+{var s0=s;s=s.m_next;b2Shape.Destroy(s0);}},sMat0:new b2Mat22(),SynchronizeShapes:function(){this.sMat0.Set(this.m_rotation0);for(var s=this.m_shapeList;s!=null;s=s.m_next)

+{s.Synchronize(this.m_position0,this.sMat0,this.m_position,this.m_R);}},QuickSyncShapes:function(){for(var s=this.m_shapeList;s!=null;s=s.m_next)

+{s.QuickSync(this.m_position,this.m_R);}},IsConnected:function(other){for(var jn=this.m_jointList;jn!=null;jn=jn.next)

+{if(jn.other==other)

+return jn.joint.m_collideConnected==false;}

+return false;},Freeze:function(){this.m_flags|=b2Body.e_frozenFlag;this.m_linearVelocity.SetZero();this.m_angularVelocity=0.0;for(var s=this.m_shapeList;s!=null;s=s.m_next)

+{s.DestroyProxy();}},m_flags:0,m_position:new b2Vec2(),m_rotation:null,m_R:new b2Mat22(0),m_position0:new b2Vec2(),m_rotation0:null,m_linearVelocity:null,m_angularVelocity:null,m_force:null,m_torque:null,m_center:null,m_world:null,m_prev:null,m_next:null,m_shapeList:null,m_shapeCount:0,m_jointList:null,m_contactList:null,m_mass:null,m_invMass:null,m_I:null,m_invI:null,m_linearDamping:null,m_angularDamping:null,m_sleepTime:null,m_userData:null};b2Body.e_staticFlag=0x0001;b2Body.e_frozenFlag=0x0002;b2Body.e_islandFlag=0x0004;b2Body.e_sleepFlag=0x0008;b2Body.e_allowSleepFlag=0x0010;b2Body.e_destroyFlag=0x0020;

+var b2BodyDef=Class.create();b2BodyDef.prototype={initialize:function()

+{this.shapes=new Array();this.userData=null;for(var i=0;i<b2Settings.b2_maxShapesPerBody;i++){this.shapes[i]=null;}

+this.position=new b2Vec2(0.0,0.0);this.rotation=0.0;this.linearVelocity=new b2Vec2(0.0,0.0);this.angularVelocity=0.0;this.linearDamping=0.0;this.angularDamping=0.0;this.allowSleep=true;this.isSleeping=false;this.preventRotation=false;},userData:null,shapes:new Array(),position:null,rotation:null,linearVelocity:null,angularVelocity:null,linearDamping:null,angularDamping:null,allowSleep:null,isSleeping:null,preventRotation:null,AddShape:function(shape)

+{for(var i=0;i<b2Settings.b2_maxShapesPerBody;++i)

+{if(this.shapes[i]==null)

+{this.shapes[i]=shape;break;}}}};

+var b2CollisionFilter=Class.create();b2CollisionFilter.prototype={ShouldCollide:function(shape1,shape2){if(shape1.m_groupIndex==shape2.m_groupIndex&&shape1.m_groupIndex!=0)

+{return shape1.m_groupIndex>0;}

+var collide=(shape1.m_maskBits&shape2.m_categoryBits)!=0&&(shape1.m_categoryBits&shape2.m_maskBits)!=0;return collide;},initialize:function(){}};b2CollisionFilter.b2_defaultFilter=new b2CollisionFilter;

+var b2Island=Class.create();b2Island.prototype={initialize:function(bodyCapacity,contactCapacity,jointCapacity,allocator)

+{var i=0;this.m_bodyCapacity=bodyCapacity;this.m_contactCapacity=contactCapacity;this.m_jointCapacity=jointCapacity;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodies=new Array(bodyCapacity);for(i=0;i<bodyCapacity;i++)

+this.m_bodies[i]=null;this.m_contacts=new Array(contactCapacity);for(i=0;i<contactCapacity;i++)

+this.m_contacts[i]=null;this.m_joints=new Array(jointCapacity);for(i=0;i<jointCapacity;i++)

+this.m_joints[i]=null;this.m_allocator=allocator;},Clear:function()

+{this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;},Solve:function(step,gravity)

+{var i=0;var b;for(i=0;i<this.m_bodyCount;++i)

+{b=this.m_bodies[i];if(b.m_invMass==0.0)

+continue;b.m_linearVelocity.Add(b2Math.MulFV(step.dt,b2Math.AddVV(gravity,b2Math.MulFV(b.m_invMass,b.m_force))));b.m_angularVelocity+=step.dt*b.m_invI*b.m_torque;b.m_linearVelocity.Multiply(b.m_linearDamping);b.m_angularVelocity*=b.m_angularDamping;b.m_position0.SetV(b.m_position);b.m_rotation0=b.m_rotation;}

+var contactSolver=new b2ContactSolver(this.m_contacts,this.m_contactCount,this.m_allocator);contactSolver.PreSolve();for(i=0;i<this.m_jointCount;++i)

+{this.m_joints[i].PrepareVelocitySolver();}

+for(i=0;i<step.iterations;++i)

+{contactSolver.SolveVelocityConstraints();for(var j=0;j<this.m_jointCount;++j)

+{this.m_joints[j].SolveVelocityConstraints(step);}}

+for(i=0;i<this.m_bodyCount;++i)

+{b=this.m_bodies[i];if(b.m_invMass==0.0)

+continue;b.m_position.x+=step.dt*b.m_linearVelocity.x;b.m_position.y+=step.dt*b.m_linearVelocity.y;b.m_rotation+=step.dt*b.m_angularVelocity;b.m_R.Set(b.m_rotation);}

+for(i=0;i<this.m_jointCount;++i)

+{this.m_joints[i].PreparePositionSolver();}

+if(b2World.s_enablePositionCorrection)

+{for(b2Island.m_positionIterationCount=0;b2Island.m_positionIterationCount<step.iterations;++b2Island.m_positionIterationCount)

+{var contactsOkay=contactSolver.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);var jointsOkay=true;for(i=0;i<this.m_jointCount;++i)

+{var jointOkay=this.m_joints[i].SolvePositionConstraints();jointsOkay=jointsOkay&&jointOkay;}

+if(contactsOkay&&jointsOkay)

+{break;}}}

+contactSolver.PostSolve();for(i=0;i<this.m_bodyCount;++i)

+{b=this.m_bodies[i];if(b.m_invMass==0.0)

+continue;b.m_R.Set(b.m_rotation);b.SynchronizeShapes();b.m_force.Set(0.0,0.0);b.m_torque=0.0;}},UpdateSleep:function(dt)

+{var i=0;var b;var minSleepTime=Number.MAX_VALUE;var linTolSqr=b2Settings.b2_linearSleepTolerance*b2Settings.b2_linearSleepTolerance;var angTolSqr=b2Settings.b2_angularSleepTolerance*b2Settings.b2_angularSleepTolerance;for(i=0;i<this.m_bodyCount;++i)

+{b=this.m_bodies[i];if(b.m_invMass==0.0)

+{continue;}

+if((b.m_flags&b2Body.e_allowSleepFlag)==0)

+{b.m_sleepTime=0.0;minSleepTime=0.0;}

+if((b.m_flags&b2Body.e_allowSleepFlag)==0||b.m_angularVelocity*b.m_angularVelocity>angTolSqr||b2Math.b2Dot(b.m_linearVelocity,b.m_linearVelocity)>linTolSqr)

+{b.m_sleepTime=0.0;minSleepTime=0.0;}

+else

+{b.m_sleepTime+=dt;minSleepTime=b2Math.b2Min(minSleepTime,b.m_sleepTime);}}

+if(minSleepTime>=b2Settings.b2_timeToSleep)

+{for(i=0;i<this.m_bodyCount;++i)

+{b=this.m_bodies[i];b.m_flags|=b2Body.e_sleepFlag;}}},AddBody:function(body)

+{this.m_bodies[this.m_bodyCount++]=body;},AddContact:function(contact)

+{this.m_contacts[this.m_contactCount++]=contact;},AddJoint:function(joint)

+{this.m_joints[this.m_jointCount++]=joint;},m_allocator:null,m_bodies:null,m_contacts:null,m_joints:null,m_bodyCount:0,m_jointCount:0,m_contactCount:0,m_bodyCapacity:0,m_contactCapacity:0,m_jointCapacity:0,m_positionError:null};b2Island.m_positionIterationCount=0;

+var b2TimeStep=Class.create();b2TimeStep.prototype={dt:null,inv_dt:null,iterations:0,initialize:function(){}};

+var b2ContactNode=Class.create();b2ContactNode.prototype={other:null,contact:null,prev:null,next:null,initialize:function(){}};

+var b2Contact=Class.create();b2Contact.prototype={GetManifolds:function(){return null},GetManifoldCount:function()

+{return this.m_manifoldCount;},GetNext:function(){return this.m_next;},GetShape1:function(){return this.m_shape1;},GetShape2:function(){return this.m_shape2;},initialize:function(s1,s2)

+{this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}

+this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;},Evaluate:function(){},m_flags:0,m_prev:null,m_next:null,m_node1:new b2ContactNode(),m_node2:new b2ContactNode(),m_shape1:null,m_shape2:null,m_manifoldCount:0,m_friction:null,m_restitution:null};b2Contact.e_islandFlag=0x0001;b2Contact.e_destroyFlag=0x0002;b2Contact.AddType=function(createFcn,destroyFcn,type1,type2)

+{b2Contact.s_registers[type1][type2].createFcn=createFcn;b2Contact.s_registers[type1][type2].destroyFcn=destroyFcn;b2Contact.s_registers[type1][type2].primary=true;if(type1!=type2)

+{b2Contact.s_registers[type2][type1].createFcn=createFcn;b2Contact.s_registers[type2][type1].destroyFcn=destroyFcn;b2Contact.s_registers[type2][type1].primary=false;}};b2Contact.InitializeRegisters=function(){b2Contact.s_registers=new Array(b2Shape.e_shapeTypeCount);for(var i=0;i<b2Shape.e_shapeTypeCount;i++){b2Contact.s_registers[i]=new Array(b2Shape.e_shapeTypeCount);for(var j=0;j<b2Shape.e_shapeTypeCount;j++){b2Contact.s_registers[i][j]=new b2ContactRegister();}}

+b2Contact.AddType(b2CircleContact.Create,b2CircleContact.Destroy,b2Shape.e_circleShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyAndCircleContact.Create,b2PolyAndCircleContact.Destroy,b2Shape.e_polyShape,b2Shape.e_circleShape);b2Contact.AddType(b2PolyContact.Create,b2PolyContact.Destroy,b2Shape.e_polyShape,b2Shape.e_polyShape);};b2Contact.Create=function(shape1,shape2,allocator){if(b2Contact.s_initialized==false)

+{b2Contact.InitializeRegisters();b2Contact.s_initialized=true;}

+var type1=shape1.m_type;var type2=shape2.m_type;var createFcn=b2Contact.s_registers[type1][type2].createFcn;if(createFcn)

+{if(b2Contact.s_registers[type1][type2].primary)

+{return createFcn(shape1,shape2,allocator);}

+else

+{var c=createFcn(shape2,shape1,allocator);for(var i=0;i<c.GetManifoldCount();++i)

+{var m=c.GetManifolds()[i];m.normal=m.normal.Negative();}

+return c;}}

+else

+{return null;}};b2Contact.Destroy=function(contact,allocator){if(contact.GetManifoldCount()>0)

+{contact.m_shape1.m_body.WakeUp();contact.m_shape2.m_body.WakeUp();}

+var type1=contact.m_shape1.m_type;var type2=contact.m_shape2.m_type;var destroyFcn=b2Contact.s_registers[type1][type2].destroyFcn;destroyFcn(contact,allocator);};b2Contact.s_registers=null;b2Contact.s_initialized=false;

+var b2ContactConstraint=Class.create();b2ContactConstraint.prototype={initialize:function(){this.normal=new b2Vec2();this.points=new Array(b2Settings.b2_maxManifoldPoints);for(var i=0;i<b2Settings.b2_maxManifoldPoints;i++){this.points[i]=new b2ContactConstraintPoint();}},points:null,normal:new b2Vec2(),manifold:null,body1:null,body2:null,friction:null,restitution:null,pointCount:0};

+var b2ContactConstraintPoint=Class.create();b2ContactConstraintPoint.prototype={localAnchor1:new b2Vec2(),localAnchor2:new b2Vec2(),normalImpulse:null,tangentImpulse:null,positionImpulse:null,normalMass:null,tangentMass:null,separation:null,velocityBias:null,initialize:function(){this.localAnchor1=new b2Vec2();this.localAnchor2=new b2Vec2();}};

+var b2ContactRegister=Class.create();b2ContactRegister.prototype={createFcn:null,destroyFcn:null,primary:null,initialize:function(){}};

+var b2ContactSolver=Class.create();b2ContactSolver.prototype={initialize:function(contacts,contactCount,allocator){this.m_constraints=new Array();this.m_allocator=allocator;var i=0;var tVec;var tMat;this.m_constraintCount=0;for(i=0;i<contactCount;++i)

+{this.m_constraintCount+=contacts[i].GetManifoldCount();}

+for(i=0;i<this.m_constraintCount;i++){this.m_constraints[i]=new b2ContactConstraint();}

+var count=0;for(i=0;i<contactCount;++i)

+{var contact=contacts[i];var b1=contact.m_shape1.m_body;var b2=contact.m_shape2.m_body;var manifoldCount=contact.GetManifoldCount();var manifolds=contact.GetManifolds();var friction=contact.m_friction;var restitution=contact.m_restitution;var v1X=b1.m_linearVelocity.x;var v1Y=b1.m_linearVelocity.y;var v2X=b2.m_linearVelocity.x;var v2Y=b2.m_linearVelocity.y;var w1=b1.m_angularVelocity;var w2=b2.m_angularVelocity;for(var j=0;j<manifoldCount;++j)

+{var manifold=manifolds[j];var normalX=manifold.normal.x;var normalY=manifold.normal.y;var c=this.m_constraints[count];c.body1=b1;c.body2=b2;c.manifold=manifold;c.normal.x=normalX;c.normal.y=normalY;c.pointCount=manifold.pointCount;c.friction=friction;c.restitution=restitution;for(var k=0;k<c.pointCount;++k)

+{var cp=manifold.points[k];var ccp=c.points[k];ccp.normalImpulse=cp.normalImpulse;ccp.tangentImpulse=cp.tangentImpulse;ccp.separation=cp.separation;var r1X=cp.position.x-b1.m_position.x;var r1Y=cp.position.y-b1.m_position.y;var r2X=cp.position.x-b2.m_position.x;var r2Y=cp.position.y-b2.m_position.y;tVec=ccp.localAnchor1;tMat=b1.m_R;tVec.x=r1X*tMat.col1.x+r1Y*tMat.col1.y;tVec.y=r1X*tMat.col2.x+r1Y*tMat.col2.y;tVec=ccp.localAnchor2;tMat=b2.m_R;tVec.x=r2X*tMat.col1.x+r2Y*tMat.col1.y;tVec.y=r2X*tMat.col2.x+r2Y*tMat.col2.y;var r1Sqr=r1X*r1X+r1Y*r1Y;var r2Sqr=r2X*r2X+r2Y*r2Y;var rn1=r1X*normalX+r1Y*normalY;var rn2=r2X*normalX+r2Y*normalY;var kNormal=b1.m_invMass+b2.m_invMass;kNormal+=b1.m_invI*(r1Sqr-rn1*rn1)+b2.m_invI*(r2Sqr-rn2*rn2);ccp.normalMass=1.0/kNormal;var tangentX=normalY

+var tangentY=-normalX;var rt1=r1X*tangentX+r1Y*tangentY;var rt2=r2X*tangentX+r2Y*tangentY;var kTangent=b1.m_invMass+b2.m_invMass;kTangent+=b1.m_invI*(r1Sqr-rt1*rt1)+b2.m_invI*(r2Sqr-rt2*rt2);ccp.tangentMass=1.0/kTangent;ccp.velocityBias=0.0;if(ccp.separation>0.0)

+{ccp.velocityBias=-60.0*ccp.separation;}

+var tX=v2X+(-w2*r2Y)-v1X-(-w1*r1Y);var tY=v2Y+(w2*r2X)-v1Y-(w1*r1X);var vRel=c.normal.x*tX+c.normal.y*tY;if(vRel<-b2Settings.b2_velocityThreshold)

+{ccp.velocityBias+=-c.restitution*vRel;}}

+++count;}}},PreSolve:function(){var tVec;var tVec2;var tMat;for(var i=0;i<this.m_constraintCount;++i)

+{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var j=0;var tCount=0;if(b2World.s_enableWarmStarting)

+{tCount=c.pointCount;for(j=0;j<tCount;++j)

+{var ccp=c.points[j];var PX=ccp.normalImpulse*normalX+ccp.tangentImpulse*tangentX;var PY=ccp.normalImpulse*normalY+ccp.tangentImpulse*tangentY;tMat=b1.m_R;tVec=ccp.localAnchor1;var r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;var r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b2.m_R;tVec=ccp.localAnchor2;var r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;var r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;b1.m_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b1.m_linearVelocity.x-=invMass1*PX;b1.m_linearVelocity.y-=invMass1*PY;b2.m_angularVelocity+=invI2*(r2X*PY-r2Y*PX);b2.m_linearVelocity.x+=invMass2*PX;b2.m_linearVelocity.y+=invMass2*PY;ccp.positionImpulse=0.0;}}

+else{tCount=c.pointCount;for(j=0;j<tCount;++j)

+{var ccp2=c.points[j];ccp2.normalImpulse=0.0;ccp2.tangentImpulse=0.0;ccp2.positionImpulse=0.0;}}}},SolveVelocityConstraints:function(){var j=0;var ccp;var r1X;var r1Y;var r2X;var r2Y;var dvX;var dvY;var lambda;var newImpulse;var PX;var PY;var tMat;var tVec;for(var i=0;i<this.m_constraintCount;++i)

+{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var b1_angularVelocity=b1.m_angularVelocity;var b1_linearVelocity=b1.m_linearVelocity;var b2_angularVelocity=b2.m_angularVelocity;var b2_linearVelocity=b2.m_linearVelocity;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var tCount=c.pointCount;for(j=0;j<tCount;++j)

+{ccp=c.points[j];tMat=b1.m_R;tVec=ccp.localAnchor1;r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y

+r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y

+tMat=b2.m_R;tVec=ccp.localAnchor2;r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y

+r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y

+dvX=b2_linearVelocity.x+(-b2_angularVelocity*r2Y)-b1_linearVelocity.x-(-b1_angularVelocity*r1Y);dvY=b2_linearVelocity.y+(b2_angularVelocity*r2X)-b1_linearVelocity.y-(b1_angularVelocity*r1X);var vn=dvX*normalX+dvY*normalY;lambda=-ccp.normalMass*(vn-ccp.velocityBias);newImpulse=b2Math.b2Max(ccp.normalImpulse+lambda,0.0);lambda=newImpulse-ccp.normalImpulse;PX=lambda*normalX;PY=lambda*normalY;b1_linearVelocity.x-=invMass1*PX;b1_linearVelocity.y-=invMass1*PY;b1_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b2_linearVelocity.x+=invMass2*PX;b2_linearVelocity.y+=invMass2*PY;b2_angularVelocity+=invI2*(r2X*PY-r2Y*PX);ccp.normalImpulse=newImpulse;dvX=b2_linearVelocity.x+(-b2_angularVelocity*r2Y)-b1_linearVelocity.x-(-b1_angularVelocity*r1Y);dvY=b2_linearVelocity.y+(b2_angularVelocity*r2X)-b1_linearVelocity.y-(b1_angularVelocity*r1X);var vt=dvX*tangentX+dvY*tangentY;lambda=ccp.tangentMass*(-vt);var maxFriction=c.friction*ccp.normalImpulse;newImpulse=b2Math.b2Clamp(ccp.tangentImpulse+lambda,-maxFriction,maxFriction);lambda=newImpulse-ccp.tangentImpulse;PX=lambda*tangentX;PY=lambda*tangentY;b1_linearVelocity.x-=invMass1*PX;b1_linearVelocity.y-=invMass1*PY;b1_angularVelocity-=invI1*(r1X*PY-r1Y*PX);b2_linearVelocity.x+=invMass2*PX;b2_linearVelocity.y+=invMass2*PY;b2_angularVelocity+=invI2*(r2X*PY-r2Y*PX);ccp.tangentImpulse=newImpulse;}

+b1.m_angularVelocity=b1_angularVelocity;b2.m_angularVelocity=b2_angularVelocity;}},SolvePositionConstraints:function(beta){var minSeparation=0.0;var tMat;var tVec;for(var i=0;i<this.m_constraintCount;++i)

+{var c=this.m_constraints[i];var b1=c.body1;var b2=c.body2;var b1_position=b1.m_position;var b1_rotation=b1.m_rotation;var b2_position=b2.m_position;var b2_rotation=b2.m_rotation;var invMass1=b1.m_invMass;var invI1=b1.m_invI;var invMass2=b2.m_invMass;var invI2=b2.m_invI;var normalX=c.normal.x;var normalY=c.normal.y;var tangentX=normalY;var tangentY=-normalX;var tCount=c.pointCount;for(var j=0;j<tCount;++j)

+{var ccp=c.points[j];tMat=b1.m_R;tVec=ccp.localAnchor1;var r1X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y

+var r1Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y

+tMat=b2.m_R;tVec=ccp.localAnchor2;var r2X=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y

+var r2Y=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y

+var p1X=b1_position.x+r1X;var p1Y=b1_position.y+r1Y;var p2X=b2_position.x+r2X;var p2Y=b2_position.y+r2Y;var dpX=p2X-p1X;var dpY=p2Y-p1Y;var separation=(dpX*normalX+dpY*normalY)+ccp.separation;minSeparation=b2Math.b2Min(minSeparation,separation);var C=beta*b2Math.b2Clamp(separation+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);var dImpulse=-ccp.normalMass*C;var impulse0=ccp.positionImpulse;ccp.positionImpulse=b2Math.b2Max(impulse0+dImpulse,0.0);dImpulse=ccp.positionImpulse-impulse0;var impulseX=dImpulse*normalX;var impulseY=dImpulse*normalY;b1_position.x-=invMass1*impulseX;b1_position.y-=invMass1*impulseY;b1_rotation-=invI1*(r1X*impulseY-r1Y*impulseX);b1.m_R.Set(b1_rotation);b2_position.x+=invMass2*impulseX;b2_position.y+=invMass2*impulseY;b2_rotation+=invI2*(r2X*impulseY-r2Y*impulseX);b2.m_R.Set(b2_rotation);}

+b1.m_rotation=b1_rotation;b2.m_rotation=b2_rotation;}

+return minSeparation>=-b2Settings.b2_linearSlop;},PostSolve:function(){for(var i=0;i<this.m_constraintCount;++i)

+{var c=this.m_constraints[i];var m=c.manifold;for(var j=0;j<c.pointCount;++j)

+{var mPoint=m.points[j];var cPoint=c.points[j];mPoint.normalImpulse=cPoint.normalImpulse;mPoint.tangentImpulse=cPoint.tangentImpulse;}}},m_allocator:null,m_constraints:new Array(),m_constraintCount:0};

+var b2CircleContact=Class.create();Object.extend(b2CircleContact.prototype,b2Contact.prototype);Object.extend(b2CircleContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}

+this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m_manifold=[new b2Manifold()];this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0.0;this.m_manifold[0].points[0].tangentImpulse=0.0;},Evaluate:function(){b2Collision.b2CollideCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0)

+{this.m_manifoldCount=1;}

+else

+{this.m_manifoldCount=0;}},GetManifolds:function()

+{return this.m_manifold;},m_manifold:[new b2Manifold()]});b2CircleContact.Create=function(shape1,shape2,allocator){return new b2CircleContact(shape1,shape2);};b2CircleContact.Destroy=function(contact,allocator){};

+var b2Conservative=Class.create();b2Conservative.prototype={initialize:function(){}}

+b2Conservative.R1=new b2Mat22();b2Conservative.R2=new b2Mat22();b2Conservative.x1=new b2Vec2();b2Conservative.x2=new b2Vec2();b2Conservative.Conservative=function(shape1,shape2){var body1=shape1.GetBody();var body2=shape2.GetBody();var v1X=body1.m_position.x-body1.m_position0.x;var v1Y=body1.m_position.y-body1.m_position0.y;var omega1=body1.m_rotation-body1.m_rotation0;var v2X=body2.m_position.x-body2.m_position0.x;var v2Y=body2.m_position.y-body2.m_position0.y;var omega2=body2.m_rotation-body2.m_rotation0;var r1=shape1.GetMaxRadius();var r2=shape2.GetMaxRadius();var p1StartX=body1.m_position0.x;var p1StartY=body1.m_position0.y;var a1Start=body1.m_rotation0;var p2StartX=body2.m_position0.x;var p2StartY=body2.m_position0.y;var a2Start=body2.m_rotation0;var p1X=p1StartX;var p1Y=p1StartY;var a1=a1Start;var p2X=p2StartX;var p2Y=p2StartY;var a2=a2Start;b2Conservative.R1.Set(a1);b2Conservative.R2.Set(a2);shape1.QuickSync(p1,b2Conservative.R1);shape2.QuickSync(p2,b2Conservative.R2);var s1=0.0;var maxIterations=10;var dX;var dY;var invRelativeVelocity=0.0;var hit=true;for(var iter=0;iter<maxIterations;++iter)

+{var distance=b2Distance.Distance(b2Conservative.x1,b2Conservative.x2,shape1,shape2);if(distance<b2Settings.b2_linearSlop)

+{if(iter==0)

+{hit=false;}

+else

+{hit=true;}

+break;}

+if(iter==0)

+{dX=b2Conservative.x2.x-b2Conservative.x1.x;dY=b2Conservative.x2.y-b2Conservative.x1.y;var dLen=Math.sqrt(dX*dX+dY*dY);var relativeVelocity=(dX*(v1X-v2X)+dY*(v1Y-v2Y))+Math.abs(omega1)*r1+Math.abs(omega2)*r2;if(Math.abs(relativeVelocity)<Number.MIN_VALUE)

+{hit=false;break;}

+invRelativeVelocity=1.0/relativeVelocity;}

+var ds=distance*invRelativeVelocity;var s2=s1+ds;if(s2<0.0||1.0<s2)

+{hit=false;break;}

+if(s2<(1.0+100.0*Number.MIN_VALUE)*s1)

+{hit=true;break;}

+s1=s2;p1X=p1StartX+s1*v1.x;p1Y=p1StartY+s1*v1.y;a1=a1Start+s1*omega1;p2X=p2StartX+s1*v2.x;p2Y=p2StartY+s1*v2.y;a2=a2Start+s1*omega2;b2Conservative.R1.Set(a1);b2Conservative.R2.Set(a2);shape1.QuickSync(p1,b2Conservative.R1);shape2.QuickSync(p2,b2Conservative.R2);}

+if(hit)

+{dX=b2Conservative.x2.x-b2Conservative.x1.x;dY=b2Conservative.x2.y-b2Conservative.x1.y;var length=Math.sqrt(dX*dX+dY*dY);if(length>FLT_EPSILON)

+{d*=b2_linearSlop/length;}

+if(body1.IsStatic())

+{body1.m_position.x=p1X;body1.m_position.y=p1Y;}

+else

+{body1.m_position.x=p1X-dX;body1.m_position.y=p1Y-dY;}

+body1.m_rotation=a1;body1.m_R.Set(a1);body1.QuickSyncShapes();if(body2.IsStatic())

+{body2.m_position.x=p2X;body2.m_position.y=p2Y;}

+else

+{body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;}

+body2.m_position.x=p2X+dX;body2.m_position.y=p2Y+dY;body2.m_rotation=a2;body2.m_R.Set(a2);body2.QuickSyncShapes();return true;}

+shape1.QuickSync(body1.m_position,body1.m_R);shape2.QuickSync(body2.m_position,body2.m_R);return false;};

+var b2NullContact=Class.create();Object.extend(b2NullContact.prototype,b2Contact.prototype);Object.extend(b2NullContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}

+this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;},Evaluate:function(){},GetManifolds:function(){return null;}});

+var b2PolyAndCircleContact=Class.create();Object.extend(b2PolyAndCircleContact.prototype,b2Contact.prototype);Object.extend(b2PolyAndCircleContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}

+this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m_manifold=[new b2Manifold()];b2Settings.b2Assert(this.m_shape1.m_type==b2Shape.e_polyShape);b2Settings.b2Assert(this.m_shape2.m_type==b2Shape.e_circleShape);this.m_manifold[0].pointCount=0;this.m_manifold[0].points[0].normalImpulse=0.0;this.m_manifold[0].points[0].tangentImpulse=0.0;},Evaluate:function(){b2Collision.b2CollidePolyAndCircle(this.m_manifold[0],this.m_shape1,this.m_shape2,false);if(this.m_manifold[0].pointCount>0)

+{this.m_manifoldCount=1;}

+else

+{this.m_manifoldCount=0;}},GetManifolds:function()

+{return this.m_manifold;},m_manifold:[new b2Manifold()]})

+b2PolyAndCircleContact.Create=function(shape1,shape2,allocator){return new b2PolyAndCircleContact(shape1,shape2);};b2PolyAndCircleContact.Destroy=function(contact,allocator){};

+var b2PolyContact=Class.create();Object.extend(b2PolyContact.prototype,b2Contact.prototype);Object.extend(b2PolyContact.prototype,{initialize:function(s1,s2){this.m_node1=new b2ContactNode();this.m_node2=new b2ContactNode();this.m_flags=0;if(!s1||!s2){this.m_shape1=null;this.m_shape2=null;return;}

+this.m_shape1=s1;this.m_shape2=s2;this.m_manifoldCount=0;this.m_friction=Math.sqrt(this.m_shape1.m_friction*this.m_shape2.m_friction);this.m_restitution=b2Math.b2Max(this.m_shape1.m_restitution,this.m_shape2.m_restitution);this.m_prev=null;this.m_next=null;this.m_node1.contact=null;this.m_node1.prev=null;this.m_node1.next=null;this.m_node1.other=null;this.m_node2.contact=null;this.m_node2.prev=null;this.m_node2.next=null;this.m_node2.other=null;this.m0=new b2Manifold();this.m_manifold=[new b2Manifold()];this.m_manifold[0].pointCount=0;},m0:new b2Manifold(),Evaluate:function(){var tMani=this.m_manifold[0];var tPoints=this.m0.points;for(var k=0;k<tMani.pointCount;k++){var tPoint=tPoints[k];var tPoint0=tMani.points[k];tPoint.normalImpulse=tPoint0.normalImpulse;tPoint.tangentImpulse=tPoint0.tangentImpulse;tPoint.id=tPoint0.id.Copy();}

+this.m0.pointCount=tMani.pointCount;b2Collision.b2CollidePoly(tMani,this.m_shape1,this.m_shape2,false);if(tMani.pointCount>0)

+{var match=[false,false];for(var i=0;i<tMani.pointCount;++i)

+{var cp=tMani.points[i];cp.normalImpulse=0.0;cp.tangentImpulse=0.0;var idKey=cp.id.key;for(var j=0;j<this.m0.pointCount;++j)

+{if(match[j]==true)

+continue;var cp0=this.m0.points[j];var id0=cp0.id;if(id0.key==idKey)

+{match[j]=true;cp.normalImpulse=cp0.normalImpulse;cp.tangentImpulse=cp0.tangentImpulse;break;}}}

+this.m_manifoldCount=1;}

+else

+{this.m_manifoldCount=0;}},GetManifolds:function()

+{return this.m_manifold;},m_manifold:[new b2Manifold()]});b2PolyContact.Create=function(shape1,shape2,allocator){return new b2PolyContact(shape1,shape2);};b2PolyContact.Destroy=function(contact,allocator){};

+var b2ContactManager=Class.create();Object.extend(b2ContactManager.prototype,b2PairCallback.prototype);Object.extend(b2ContactManager.prototype,{initialize:function(){this.m_nullContact=new b2NullContact();this.m_world=null;this.m_destroyImmediate=false;},PairAdded:function(proxyUserData1,proxyUserData2){var shape1=proxyUserData1;var shape2=proxyUserData2;var body1=shape1.m_body;var body2=shape2.m_body;if(body1.IsStatic()&&body2.IsStatic())

+{return this.m_nullContact;}

+if(shape1.m_body==shape2.m_body)

+{return this.m_nullContact;}

+if(body2.IsConnected(body1))

+{return this.m_nullContact;}

+if(this.m_world.m_filter!=null&&this.m_world.m_filter.ShouldCollide(shape1,shape2)==false)

+{return this.m_nullContact;}

+if(body2.m_invMass==0.0)

+{var tempShape=shape1;shape1=shape2;shape2=tempShape;var tempBody=body1;body1=body2;body2=tempBody;}

+var contact=b2Contact.Create(shape1,shape2,this.m_world.m_blockAllocator);if(contact==null)

+{return this.m_nullContact;}

+else

+{contact.m_prev=null;contact.m_next=this.m_world.m_contactList;if(this.m_world.m_contactList!=null)

+{this.m_world.m_contactList.m_prev=contact;}

+this.m_world.m_contactList=contact;this.m_world.m_contactCount++;}

+return contact;},PairRemoved:function(proxyUserData1,proxyUserData2,pairUserData){if(pairUserData==null)

+{return;}

+var c=pairUserData;if(c!=this.m_nullContact)

+{if(this.m_destroyImmediate==true)

+{this.DestroyContact(c);c=null;}

+else

+{c.m_flags|=b2Contact.e_destroyFlag;}}},DestroyContact:function(c)

+{if(c.m_prev)

+{c.m_prev.m_next=c.m_next;}

+if(c.m_next)

+{c.m_next.m_prev=c.m_prev;}

+if(c==this.m_world.m_contactList)

+{this.m_world.m_contactList=c.m_next;}

+if(c.GetManifoldCount()>0)

+{var body1=c.m_shape1.m_body;var body2=c.m_shape2.m_body;var node1=c.m_node1;var node2=c.m_node2;body1.WakeUp();body2.WakeUp();if(node1.prev)

+{node1.prev.next=node1.next;}

+if(node1.next)

+{node1.next.prev=node1.prev;}

+if(node1==body1.m_contactList)

+{body1.m_contactList=node1.next;}

+node1.prev=null;node1.next=null;if(node2.prev)

+{node2.prev.next=node2.next;}

+if(node2.next)

+{node2.next.prev=node2.prev;}

+if(node2==body2.m_contactList)

+{body2.m_contactList=node2.next;}

+node2.prev=null;node2.next=null;}

+b2Contact.Destroy(c,this.m_world.m_blockAllocator);--this.m_world.m_contactCount;},CleanContactList:function()

+{var c=this.m_world.m_contactList;while(c!=null)

+{var c0=c;c=c.m_next;if(c0.m_flags&b2Contact.e_destroyFlag)

+{this.DestroyContact(c0);c0=null;}}},Collide:function()

+{var body1;var body2;var node1;var node2;for(var c=this.m_world.m_contactList;c!=null;c=c.m_next)

+{if(c.m_shape1.m_body.IsSleeping()&&c.m_shape2.m_body.IsSleeping())

+{continue;}

+var oldCount=c.GetManifoldCount();c.Evaluate();var newCount=c.GetManifoldCount();if(oldCount==0&&newCount>0)

+{body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;node1.contact=c;node1.other=body2;node1.prev=null;node1.next=body1.m_contactList;if(node1.next!=null)

+{node1.next.prev=c.m_node1;}

+body1.m_contactList=c.m_node1;node2.contact=c;node2.other=body1;node2.prev=null;node2.next=body2.m_contactList;if(node2.next!=null)

+{node2.next.prev=node2;}

+body2.m_contactList=node2;}

+else if(oldCount>0&&newCount==0)

+{body1=c.m_shape1.m_body;body2=c.m_shape2.m_body;node1=c.m_node1;node2=c.m_node2;if(node1.prev)

+{node1.prev.next=node1.next;}

+if(node1.next)

+{node1.next.prev=node1.prev;}

+if(node1==body1.m_contactList)

+{body1.m_contactList=node1.next;}

+node1.prev=null;node1.next=null;if(node2.prev)

+{node2.prev.next=node2.next;}

+if(node2.next)

+{node2.next.prev=node2.prev;}

+if(node2==body2.m_contactList)

+{body2.m_contactList=node2.next;}

+node2.prev=null;node2.next=null;}}},m_world:null,m_nullContact:new b2NullContact(),m_destroyImmediate:null});

+var b2World=Class.create();b2World.prototype={initialize:function(worldAABB,gravity,doSleep){this.step=new b2TimeStep();this.m_contactManager=new b2ContactManager();this.m_listener=null;this.m_filter=b2CollisionFilter.b2_defaultFilter;this.m_bodyList=null;this.m_contactList=null;this.m_jointList=null;this.m_bodyCount=0;this.m_contactCount=0;this.m_jointCount=0;this.m_bodyDestroyList=null;this.m_allowSleep=doSleep;this.m_gravity=gravity;this.m_contactManager.m_world=this;this.m_broadPhase=new b2BroadPhase(worldAABB,this.m_contactManager);var bd=new b2BodyDef();this.m_groundBody=this.CreateBody(bd);},SetListener:function(listener){this.m_listener=listener;},SetFilter:function(filter){this.m_filter=filter;},CreateBody:function(def){var b=new b2Body(def,this);b.m_prev=null;b.m_next=this.m_bodyList;if(this.m_bodyList)

+{this.m_bodyList.m_prev=b;}

+this.m_bodyList=b;++this.m_bodyCount;return b;},DestroyBody:function(b)

+{if(b.m_flags&b2Body.e_destroyFlag)

+{return;}

+if(b.m_prev)

+{b.m_prev.m_next=b.m_next;}

+if(b.m_next)

+{b.m_next.m_prev=b.m_prev;}

+if(b==this.m_bodyList)

+{this.m_bodyList=b.m_next;}

+b.m_flags|=b2Body.e_destroyFlag;--this.m_bodyCount;b.m_prev=null;b.m_next=this.m_bodyDestroyList;this.m_bodyDestroyList=b;},CleanBodyList:function()

+{this.m_contactManager.m_destroyImmediate=true;var b=this.m_bodyDestroyList;while(b)

+{var b0=b;b=b.m_next;var jn=b0.m_jointList;while(jn)

+{var jn0=jn;jn=jn.next;if(this.m_listener)

+{this.m_listener.NotifyJointDestroyed(jn0.joint);}

+this.DestroyJoint(jn0.joint);}

+b0.Destroy();}

+this.m_bodyDestroyList=null;this.m_contactManager.m_destroyImmediate=false;},CreateJoint:function(def){var j=b2Joint.Create(def,this.m_blockAllocator);j.m_prev=null;j.m_next=this.m_jointList;if(this.m_jointList)

+{this.m_jointList.m_prev=j;}

+this.m_jointList=j;++this.m_jointCount;j.m_node1.joint=j;j.m_node1.other=j.m_body2;j.m_node1.prev=null;j.m_node1.next=j.m_body1.m_jointList;if(j.m_body1.m_jointList)j.m_body1.m_jointList.prev=j.m_node1;j.m_body1.m_jointList=j.m_node1;j.m_node2.joint=j;j.m_node2.other=j.m_body1;j.m_node2.prev=null;j.m_node2.next=j.m_body2.m_jointList;if(j.m_body2.m_jointList)j.m_body2.m_jointList.prev=j.m_node2;j.m_body2.m_jointList=j.m_node2;if(def.collideConnected==false)

+{var b=def.body1.m_shapeCount<def.body2.m_shapeCount?def.body1:def.body2;for(var s=b.m_shapeList;s;s=s.m_next)

+{s.ResetProxy(this.m_broadPhase);}}

+return j;},DestroyJoint:function(j)

+{var collideConnected=j.m_collideConnected;if(j.m_prev)

+{j.m_prev.m_next=j.m_next;}

+if(j.m_next)

+{j.m_next.m_prev=j.m_prev;}

+if(j==this.m_jointList)

+{this.m_jointList=j.m_next;}

+var body1=j.m_body1;var body2=j.m_body2;body1.WakeUp();body2.WakeUp();if(j.m_node1.prev)

+{j.m_node1.prev.next=j.m_node1.next;}

+if(j.m_node1.next)

+{j.m_node1.next.prev=j.m_node1.prev;}

+if(j.m_node1==body1.m_jointList)

+{body1.m_jointList=j.m_node1.next;}

+j.m_node1.prev=null;j.m_node1.next=null;if(j.m_node2.prev)

+{j.m_node2.prev.next=j.m_node2.next;}

+if(j.m_node2.next)

+{j.m_node2.next.prev=j.m_node2.prev;}

+if(j.m_node2==body2.m_jointList)

+{body2.m_jointList=j.m_node2.next;}

+j.m_node2.prev=null;j.m_node2.next=null;b2Joint.Destroy(j,this.m_blockAllocator);--this.m_jointCount;if(collideConnected==false)

+{var b=body1.m_shapeCount<body2.m_shapeCount?body1:body2;for(var s=b.m_shapeList;s;s=s.m_next)

+{s.ResetProxy(this.m_broadPhase);}}},GetGroundBody:function(){return this.m_groundBody;},step:new b2TimeStep(),Step:function(dt,iterations){var b;var other;this.step.dt=dt;this.step.iterations=iterations;if(dt>0.0)

+{this.step.inv_dt=1.0/dt;}

+else

+{this.step.inv_dt=0.0;}

+this.m_positionIterationCount=0;this.m_contactManager.CleanContactList();this.CleanBodyList();this.m_contactManager.Collide();var island=new b2Island(this.m_bodyCount,this.m_contactCount,this.m_jointCount,this.m_stackAllocator);for(b=this.m_bodyList;b!=null;b=b.m_next)

+{b.m_flags&=~b2Body.e_islandFlag;}

+for(var c=this.m_contactList;c!=null;c=c.m_next)

+{c.m_flags&=~b2Contact.e_islandFlag;}

+for(var j=this.m_jointList;j!=null;j=j.m_next)

+{j.m_islandFlag=false;}

+var stackSize=this.m_bodyCount;var stack=new Array(this.m_bodyCount);for(var k=0;k<this.m_bodyCount;k++)

+stack[k]=null;for(var seed=this.m_bodyList;seed!=null;seed=seed.m_next)

+{if(seed.m_flags&(b2Body.e_staticFlag|b2Body.e_islandFlag|b2Body.e_sleepFlag|b2Body.e_frozenFlag))

+{continue;}

+island.Clear();var stackCount=0;stack[stackCount++]=seed;seed.m_flags|=b2Body.e_islandFlag;;while(stackCount>0)

+{b=stack[--stackCount];island.AddBody(b);b.m_flags&=~b2Body.e_sleepFlag;if(b.m_flags&b2Body.e_staticFlag)

+{continue;}

+for(var cn=b.m_contactList;cn!=null;cn=cn.next)

+{if(cn.contact.m_flags&b2Contact.e_islandFlag)

+{continue;}

+island.AddContact(cn.contact);cn.contact.m_flags|=b2Contact.e_islandFlag;other=cn.other;if(other.m_flags&b2Body.e_islandFlag)

+{continue;}

+stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;}

+for(var jn=b.m_jointList;jn!=null;jn=jn.next)

+{if(jn.joint.m_islandFlag==true)

+{continue;}

+island.AddJoint(jn.joint);jn.joint.m_islandFlag=true;other=jn.other;if(other.m_flags&b2Body.e_islandFlag)

+{continue;}

+stack[stackCount++]=other;other.m_flags|=b2Body.e_islandFlag;}}

+island.Solve(this.step,this.m_gravity);this.m_positionIterationCount=b2Math.b2Max(this.m_positionIterationCount,b2Island.m_positionIterationCount);if(this.m_allowSleep)

+{island.UpdateSleep(dt);}

+for(var i=0;i<island.m_bodyCount;++i)

+{b=island.m_bodies[i];if(b.m_flags&b2Body.e_staticFlag)

+{b.m_flags&=~b2Body.e_islandFlag;}

+if(b.IsFrozen()&&this.m_listener)

+{var response=this.m_listener.NotifyBoundaryViolated(b);if(response==b2WorldListener.b2_destroyBody)

+{this.DestroyBody(b);b=null;island.m_bodies[i]=null;}}}}

+this.m_broadPhase.Commit();},Query:function(aabb,shapes,maxCount){var results=new Array();var count=this.m_broadPhase.QueryAABB(aabb,results,maxCount);for(var i=0;i<count;++i)

+{shapes[i]=results[i];}

+return count;},GetBodyList:function(){return this.m_bodyList;},GetJointList:function(){return this.m_jointList;},GetContactList:function(){return this.m_contactList;},m_blockAllocator:null,m_stackAllocator:null,m_broadPhase:null,m_contactManager:new b2ContactManager(),m_bodyList:null,m_contactList:null,m_jointList:null,m_bodyCount:0,m_contactCount:0,m_jointCount:0,m_bodyDestroyList:null,m_gravity:null,m_allowSleep:null,m_groundBody:null,m_listener:null,m_filter:null,m_positionIterationCount:0};b2World.s_enablePositionCorrection=1;b2World.s_enableWarmStarting=1;

+var b2WorldListener=Class.create();b2WorldListener.prototype={NotifyJointDestroyed:function(joint){},NotifyBoundaryViolated:function(body)

+{return b2WorldListener.b2_freezeBody;},initialize:function(){}};b2WorldListener.b2_freezeBody=0;b2WorldListener.b2_destroyBody=1;

+var b2JointNode=Class.create();b2JointNode.prototype={other:null,joint:null,prev:null,next:null,initialize:function(){}}

+

+var b2Joint=Class.create();b2Joint.prototype={GetType:function(){return this.m_type;},GetAnchor1:function(){return null},GetAnchor2:function(){return null},GetReactionForce:function(invTimeStep){return null},GetReactionTorque:function(invTimeStep){return 0.0},GetBody1:function()

+{return this.m_body1;},GetBody2:function()

+{return this.m_body2;},GetNext:function(){return this.m_next;},GetUserData:function(){return this.m_userData;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;},PrepareVelocitySolver:function(){},SolveVelocityConstraints:function(step){},PreparePositionSolver:function(){},SolvePositionConstraints:function(){return false},m_type:0,m_prev:null,m_next:null,m_node1:new b2JointNode(),m_node2:new b2JointNode(),m_body1:null,m_body2:null,m_islandFlag:null,m_collideConnected:null,m_userData:null};b2Joint.Create=function(def,allocator){var joint=null;switch(def.type)

+{case b2Joint.e_distanceJoint:{joint=new b2DistanceJoint(def);}

+break;case b2Joint.e_mouseJoint:{joint=new b2MouseJoint(def);}

+break;case b2Joint.e_prismaticJoint:{joint=new b2PrismaticJoint(def);}

+break;case b2Joint.e_revoluteJoint:{joint=new b2RevoluteJoint(def);}

+break;case b2Joint.e_pulleyJoint:{joint=new b2PulleyJoint(def);}

+break;case b2Joint.e_gearJoint:{joint=new b2GearJoint(def);}

+break;default:break;}

+return joint;};b2Joint.Destroy=function(joint,allocator){};b2Joint.e_unknownJoint=0;b2Joint.e_revoluteJoint=1;b2Joint.e_prismaticJoint=2;b2Joint.e_distanceJoint=3;b2Joint.e_pulleyJoint=4;b2Joint.e_mouseJoint=5;b2Joint.e_gearJoint=6;b2Joint.e_inactiveLimit=0;b2Joint.e_atLowerLimit=1;b2Joint.e_atUpperLimit=2;b2Joint.e_equalLimits=3;

+var b2JointDef=Class.create();b2JointDef.prototype={initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;},type:0,userData:null,body1:null,body2:null,collideConnected:null}

+

+var b2DistanceJoint=Class.create();Object.extend(b2DistanceJoint.prototype,b2Joint.prototype);Object.extend(b2DistanceJoint.prototype,{initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_u=new b2Vec2();var tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=def.anchorPoint1.x-this.m_body1.m_position.x;tY=def.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint2.x-this.m_body2.m_position.x;tY=def.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;tX=def.anchorPoint2.x-def.anchorPoint1.x;tY=def.anchorPoint2.y-def.anchorPoint1.y;this.m_length=Math.sqrt(tX*tX+tY*tY);this.m_impulse=0.0;},PrepareVelocitySolver:function(){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;this.m_u.x=this.m_body2.m_position.x+r2X-this.m_body1.m_position.x-r1X;this.m_u.y=this.m_body2.m_position.y+r2Y-this.m_body1.m_position.y-r1Y;var length=Math.sqrt(this.m_u.x*this.m_u.x+this.m_u.y*this.m_u.y);if(length>b2Settings.b2_linearSlop)

+{this.m_u.Multiply(1.0/length);}

+else

+{this.m_u.SetZero();}

+var cr1u=(r1X*this.m_u.y-r1Y*this.m_u.x);var cr2u=(r2X*this.m_u.y-r2Y*this.m_u.x);this.m_mass=this.m_body1.m_invMass+this.m_body1.m_invI*cr1u*cr1u+this.m_body2.m_invMass+this.m_body2.m_invI*cr2u*cr2u;this.m_mass=1.0/this.m_mass;if(b2World.s_enableWarmStarting)

+{var PX=this.m_impulse*this.m_u.x;var PY=this.m_impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);}

+else

+{this.m_impulse=0.0;}},SolveVelocityConstraints:function(step){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var v1X=this.m_body1.m_linearVelocity.x+(-this.m_body1.m_angularVelocity*r1Y);var v1Y=this.m_body1.m_linearVelocity.y+(this.m_body1.m_angularVelocity*r1X);var v2X=this.m_body2.m_linearVelocity.x+(-this.m_body2.m_angularVelocity*r2Y);var v2Y=this.m_body2.m_linearVelocity.y+(this.m_body2.m_angularVelocity*r2X);var Cdot=(this.m_u.x*(v2X-v1X)+this.m_u.y*(v2Y-v1Y));var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_linearVelocity.x-=this.m_body1.m_invMass*PX;this.m_body1.m_linearVelocity.y-=this.m_body1.m_invMass*PY;this.m_body1.m_angularVelocity-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_linearVelocity.x+=this.m_body2.m_invMass*PX;this.m_body2.m_linearVelocity.y+=this.m_body2.m_invMass*PY;this.m_body2.m_angularVelocity+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);},SolvePositionConstraints:function(){var tMat;tMat=this.m_body1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=this.m_body2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var dX=this.m_body2.m_position.x+r2X-this.m_body1.m_position.x-r1X;var dY=this.m_body2.m_position.y+r2Y-this.m_body1.m_position.y-r1Y;var length=Math.sqrt(dX*dX+dY*dY);dX/=length;dY/=length;var C=length-this.m_length;C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var impulse=-this.m_mass*C;this.m_u.Set(dX,dY);var PX=impulse*this.m_u.x;var PY=impulse*this.m_u.y;this.m_body1.m_position.x-=this.m_body1.m_invMass*PX;this.m_body1.m_position.y-=this.m_body1.m_invMass*PY;this.m_body1.m_rotation-=this.m_body1.m_invI*(r1X*PY-r1Y*PX);this.m_body2.m_position.x+=this.m_body2.m_invMass*PX;this.m_body2.m_position.y+=this.m_body2.m_invMass*PY;this.m_body2.m_rotation+=this.m_body2.m_invI*(r2X*PY-r2Y*PX);this.m_body1.m_R.Set(this.m_body1.m_rotation);this.m_body2.m_R.Set(this.m_body2.m_rotation);return b2Math.b2Abs(C)<b2Settings.b2_linearSlop;},GetAnchor1:function(){return b2Math.AddVV(this.m_body1.m_position,b2Math.b2MulMV(this.m_body1.m_R,this.m_localAnchor1));},GetAnchor2:function(){return b2Math.AddVV(this.m_body2.m_position,b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor2));},GetReactionForce:function(invTimeStep)

+{var F=new b2Vec2();F.SetV(this.m_u);F.Multiply(this.m_impulse*invTimeStep);return F;},GetReactionTorque:function(invTimeStep)

+{return 0.0;},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_u:new b2Vec2(),m_impulse:null,m_mass:null,m_length:null});

+var b2DistanceJointDef=Class.create();Object.extend(b2DistanceJointDef.prototype,b2JointDef.prototype);Object.extend(b2DistanceJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.anchorPoint1=new b2Vec2();this.anchorPoint2=new b2Vec2();this.type=b2Joint.e_distanceJoint;},anchorPoint1:new b2Vec2(),anchorPoint2:new b2Vec2()});

+var b2Jacobian=Class.create();b2Jacobian.prototype={linear1:new b2Vec2(),angular1:null,linear2:new b2Vec2(),angular2:null,SetZero:function(){this.linear1.SetZero();this.angular1=0.0;this.linear2.SetZero();this.angular2=0.0;},Set:function(x1,a1,x2,a2){this.linear1.SetV(x1);this.angular1=a1;this.linear2.SetV(x2);this.angular2=a2;},Compute:function(x1,a1,x2,a2){return(this.linear1.x*x1.x+this.linear1.y*x1.y)+this.angular1*a1+(this.linear2.x*x2.x+this.linear2.y*x2.y)+this.angular2*a2;},initialize:function(){this.linear1=new b2Vec2();this.linear2=new b2Vec2();}};

+var b2GearJoint=Class.create();Object.extend(b2GearJoint.prototype,b2Joint.prototype);Object.extend(b2GearJoint.prototype,{GetAnchor1:function(){var tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y));},GetReactionForce:function(invTimeStep){return new b2Vec2();},GetReactionTorque:function(invTimeStep){return 0.0;},GetRatio:function(){return this.m_ratio;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_groundAnchor1=new b2Vec2();this.m_groundAnchor2=new b2Vec2();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_J=new b2Jacobian();this.m_revolute1=null;this.m_prismatic1=null;this.m_revolute2=null;this.m_prismatic2=null;var coordinate1;var coordinate2;this.m_ground1=def.joint1.m_body1;this.m_body1=def.joint1.m_body2;if(def.joint1.m_type==b2Joint.e_revoluteJoint)

+{this.m_revolute1=def.joint1;this.m_groundAnchor1.SetV(this.m_revolute1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_revolute1.m_localAnchor2);coordinate1=this.m_revolute1.GetJointAngle();}

+else

+{this.m_prismatic1=def.joint1;this.m_groundAnchor1.SetV(this.m_prismatic1.m_localAnchor1);this.m_localAnchor1.SetV(this.m_prismatic1.m_localAnchor2);coordinate1=this.m_prismatic1.GetJointTranslation();}

+this.m_ground2=def.joint2.m_body1;this.m_body2=def.joint2.m_body2;if(def.joint2.m_type==b2Joint.e_revoluteJoint)

+{this.m_revolute2=def.joint2;this.m_groundAnchor2.SetV(this.m_revolute2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_revolute2.m_localAnchor2);coordinate2=this.m_revolute2.GetJointAngle();}

+else

+{this.m_prismatic2=def.joint2;this.m_groundAnchor2.SetV(this.m_prismatic2.m_localAnchor1);this.m_localAnchor2.SetV(this.m_prismatic2.m_localAnchor2);coordinate2=this.m_prismatic2.GetJointTranslation();}

+this.m_ratio=def.ratio;this.m_constant=coordinate1+this.m_ratio*coordinate2;this.m_impulse=0.0;},PrepareVelocitySolver:function(){var g1=this.m_ground1;var g2=this.m_ground2;var b1=this.m_body1;var b2=this.m_body2;var ugX;var ugY;var rX;var rY;var tMat;var tVec;var crug;var K=0.0;this.m_J.SetZero();if(this.m_revolute1)

+{this.m_J.angular1=-1.0;K+=b1.m_invI;}

+else

+{tMat=g1.m_R;tVec=this.m_prismatic1.m_localXAxis1;ugX=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;ugY=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b1.m_R;rX=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;rY=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;crug=rX*ugY-rY*ugX;this.m_J.linear1.Set(-ugX,-ugY);this.m_J.angular1=-crug;K+=b1.m_invMass+b1.m_invI*crug*crug;}

+if(this.m_revolute2)

+{this.m_J.angular2=-this.m_ratio;K+=this.m_ratio*this.m_ratio*b2.m_invI;}

+else

+{tMat=g2.m_R;tVec=this.m_prismatic2.m_localXAxis1;ugX=tMat.col1.x*tVec.x+tMat.col2.x*tVec.y;ugY=tMat.col1.y*tVec.x+tMat.col2.y*tVec.y;tMat=b2.m_R;rX=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;rY=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;crug=rX*ugY-rY*ugX;this.m_J.linear2.Set(-this.m_ratio*ugX,-this.m_ratio*ugY);this.m_J.angular2=-this.m_ratio*crug;K+=this.m_ratio*this.m_ratio*(b2.m_invMass+b2.m_invI*crug*crug);}

+this.m_mass=1.0/K;b1.m_linearVelocity.x+=b1.m_invMass*this.m_impulse*this.m_J.linear1.x;b1.m_linearVelocity.y+=b1.m_invMass*this.m_impulse*this.m_J.linear1.y;b1.m_angularVelocity+=b1.m_invI*this.m_impulse*this.m_J.angular1;b2.m_linearVelocity.x+=b2.m_invMass*this.m_impulse*this.m_J.linear2.x;b2.m_linearVelocity.y+=b2.m_invMass*this.m_impulse*this.m_J.linear2.y;b2.m_angularVelocity+=b2.m_invI*this.m_impulse*this.m_J.angular2;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var Cdot=this.m_J.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var impulse=-this.m_mass*Cdot;this.m_impulse+=impulse;b1.m_linearVelocity.x+=b1.m_invMass*impulse*this.m_J.linear1.x;b1.m_linearVelocity.y+=b1.m_invMass*impulse*this.m_J.linear1.y;b1.m_angularVelocity+=b1.m_invI*impulse*this.m_J.angular1;b2.m_linearVelocity.x+=b2.m_invMass*impulse*this.m_J.linear2.x;b2.m_linearVelocity.y+=b2.m_invMass*impulse*this.m_J.linear2.y;b2.m_angularVelocity+=b2.m_invI*impulse*this.m_J.angular2;},SolvePositionConstraints:function(){var linearError=0.0;var b1=this.m_body1;var b2=this.m_body2;var coordinate1;var coordinate2;if(this.m_revolute1)

+{coordinate1=this.m_revolute1.GetJointAngle();}

+else

+{coordinate1=this.m_prismatic1.GetJointTranslation();}

+if(this.m_revolute2)

+{coordinate2=this.m_revolute2.GetJointAngle();}

+else

+{coordinate2=this.m_prismatic2.GetJointTranslation();}

+var C=this.m_constant-(coordinate1+this.m_ratio*coordinate2);var impulse=-this.m_mass*C;b1.m_position.x+=b1.m_invMass*impulse*this.m_J.linear1.x;b1.m_position.y+=b1.m_invMass*impulse*this.m_J.linear1.y;b1.m_rotation+=b1.m_invI*impulse*this.m_J.angular1;b2.m_position.x+=b2.m_invMass*impulse*this.m_J.linear2.x;b2.m_position.y+=b2.m_invMass*impulse*this.m_J.linear2.y;b2.m_rotation+=b2.m_invI*impulse*this.m_J.angular2;b1.m_R.Set(b1.m_rotation);b2.m_R.Set(b2.m_rotation);return linearError<b2Settings.b2_linearSlop;},m_ground1:null,m_ground2:null,m_revolute1:null,m_prismatic1:null,m_revolute2:null,m_prismatic2:null,m_groundAnchor1:new b2Vec2(),m_groundAnchor2:new b2Vec2(),m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_J:new b2Jacobian(),m_constant:null,m_ratio:null,m_mass:null,m_impulse:null});

+var b2GearJointDef=Class.create();Object.extend(b2GearJointDef.prototype,b2JointDef.prototype);Object.extend(b2GearJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_gearJoint;this.joint1=null;this.joint2=null;this.ratio=1.0;},joint1:null,joint2:null,ratio:null});

+var b2MouseJoint=Class.create();Object.extend(b2MouseJoint.prototype,b2Joint.prototype);Object.extend(b2MouseJoint.prototype,{GetAnchor1:function(){return this.m_target;},GetAnchor2:function(){var tVec=b2Math.b2MulMV(this.m_body2.m_R,this.m_localAnchor);tVec.Add(this.m_body2.m_position);return tVec;},GetReactionForce:function(invTimeStep)

+{var F=new b2Vec2();F.SetV(this.m_impulse);F.Multiply(invTimeStep);return F;},GetReactionTorque:function(invTimeStep)

+{return 0.0;},SetTarget:function(target){this.m_body2.WakeUp();this.m_target=target;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.K=new b2Mat22();this.K1=new b2Mat22();this.K2=new b2Mat22();this.m_localAnchor=new b2Vec2();this.m_target=new b2Vec2();this.m_impulse=new b2Vec2();this.m_ptpMass=new b2Mat22();this.m_C=new b2Vec2();this.m_target.SetV(def.target);var tX=this.m_target.x-this.m_body2.m_position.x;var tY=this.m_target.y-this.m_body2.m_position.y;this.m_localAnchor.x=(tX*this.m_body2.m_R.col1.x+tY*this.m_body2.m_R.col1.y);this.m_localAnchor.y=(tX*this.m_body2.m_R.col2.x+tY*this.m_body2.m_R.col2.y);this.m_maxForce=def.maxForce;this.m_impulse.SetZero();var mass=this.m_body2.m_mass;var omega=2.0*b2Settings.b2_pi*def.frequencyHz;var d=2.0*mass*def.dampingRatio*omega;var k=mass*omega*omega;this.m_gamma=1.0/(d+def.timeStep*k);this.m_beta=def.timeStep*k/(d+def.timeStep*k);},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),PrepareVelocitySolver:function(){var b=this.m_body2;var tMat;tMat=b.m_R;var rX=tMat.col1.x*this.m_localAnchor.x+tMat.col2.x*this.m_localAnchor.y;var rY=tMat.col1.y*this.m_localAnchor.x+tMat.col2.y*this.m_localAnchor.y;var invMass=b.m_invMass;var invI=b.m_invI;this.K1.col1.x=invMass;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass;this.K2.col1.x=invI*rY*rY;this.K2.col2.x=-invI*rX*rY;this.K2.col1.y=-invI*rX*rY;this.K2.col2.y=invI*rX*rX;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.col1.x+=this.m_gamma;this.K.col2.y+=this.m_gamma;this.K.Invert(this.m_ptpMass);this.m_C.x=b.m_position.x+rX-this.m_target.x;this.m_C.y=b.m_position.y+rY-this.m_target.y;b.m_angularVelocity*=0.98;var PX=this.m_impulse.x;var PY=this.m_impulse.y;b.m_linearVelocity.x+=invMass*PX;b.m_linearVelocity.y+=invMass*PY;b.m_angularVelocity+=invI*(rX*PY-rY*PX);},SolveVelocityConstraints:function(step){var body=this.m_body2;var tMat;tMat=body.m_R;var rX=tMat.col1.x*this.m_localAnchor.x+tMat.col2.x*this.m_localAnchor.y;var rY=tMat.col1.y*this.m_localAnchor.x+tMat.col2.y*this.m_localAnchor.y;var CdotX=body.m_linearVelocity.x+(-body.m_angularVelocity*rY);var CdotY=body.m_linearVelocity.y+(body.m_angularVelocity*rX);tMat=this.m_ptpMass;var tX=CdotX+(this.m_beta*step.inv_dt)*this.m_C.x+this.m_gamma*this.m_impulse.x;var tY=CdotY+(this.m_beta*step.inv_dt)*this.m_C.y+this.m_gamma*this.m_impulse.y;var impulseX=-(tMat.col1.x*tX+tMat.col2.x*tY);var impulseY=-(tMat.col1.y*tX+tMat.col2.y*tY);var oldImpulseX=this.m_impulse.x;var oldImpulseY=this.m_impulse.y;this.m_impulse.x+=impulseX;this.m_impulse.y+=impulseY;var length=this.m_impulse.Length();if(length>step.dt*this.m_maxForce)

+{this.m_impulse.Multiply(step.dt*this.m_maxForce/length);}

+impulseX=this.m_impulse.x-oldImpulseX;impulseY=this.m_impulse.y-oldImpulseY;body.m_linearVelocity.x+=body.m_invMass*impulseX;body.m_linearVelocity.y+=body.m_invMass*impulseY;body.m_angularVelocity+=body.m_invI*(rX*impulseY-rY*impulseX);},SolvePositionConstraints:function(){return true;},m_localAnchor:new b2Vec2(),m_target:new b2Vec2(),m_impulse:new b2Vec2(),m_ptpMass:new b2Mat22(),m_C:new b2Vec2(),m_maxForce:null,m_beta:null,m_gamma:null});

+var b2MouseJointDef=Class.create();Object.extend(b2MouseJointDef.prototype,b2JointDef.prototype);Object.extend(b2MouseJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.target=new b2Vec2();this.type=b2Joint.e_mouseJoint;this.maxForce=0.0;this.frequencyHz=5.0;this.dampingRatio=0.7;this.timeStep=1.0/60.0;},target:new b2Vec2(),maxForce:null,frequencyHz:null,dampingRatio:null,timeStep:null});

+var b2PrismaticJoint=Class.create();Object.extend(b2PrismaticJoint.prototype,b2Joint.prototype);Object.extend(b2PrismaticJoint.prototype,{GetAnchor1:function(){var b1=this.m_body1;var tVec=new b2Vec2();tVec.SetV(this.m_localAnchor1);tVec.MulM(b1.m_R);tVec.Add(b1.m_position);return tVec;},GetAnchor2:function(){var b2=this.m_body2;var tVec=new b2Vec2();tVec.SetV(this.m_localAnchor2);tVec.MulM(b2.m_R);tVec.Add(b2.m_position);return tVec;},GetJointTranslation:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var translation=ax1X*dX+ax1Y*dY;return translation;},GetJointSpeed:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var v1=b1.m_linearVelocity;var v2=b2.m_linearVelocity;var w1=b1.m_angularVelocity;var w2=b2.m_angularVelocity;var speed=(dX*(-w1*ax1Y)+dY*(w1*ax1X))+(ax1X*(((v2.x+(-w2*r2Y))-v1.x)-(-w1*r1Y))+ax1Y*(((v2.y+(w2*r2X))-v1.y)-(w1*r1X)));return speed;},GetMotorForce:function(invTimeStep){return invTimeStep*this.m_motorImpulse;},SetMotorSpeed:function(speed)

+{this.m_motorSpeed=speed;},SetMotorForce:function(force)

+{this.m_maxMotorForce=force;},GetReactionForce:function(invTimeStep)

+{var tImp=invTimeStep*this.m_limitImpulse;var tMat;tMat=this.m_body1.m_R;var ax1X=tImp*(tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y);var ax1Y=tImp*(tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y);var ay1X=tImp*(tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y);var ay1Y=tImp*(tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y);return new b2Vec2(ax1X+ay1X,ax1Y+ay1Y);},GetReactionTorque:function(invTimeStep)

+{return invTimeStep*this.m_angularImpulse;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_localXAxis1=new b2Vec2();this.m_localYAxis1=new b2Vec2();this.m_linearJacobian=new b2Jacobian();this.m_motorJacobian=new b2Jacobian();var tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=(def.anchorPoint.x-this.m_body1.m_position.x);tY=(def.anchorPoint.y-this.m_body1.m_position.y);this.m_localAnchor1.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.col2.y));tMat=this.m_body2.m_R;tX=(def.anchorPoint.x-this.m_body2.m_position.x);tY=(def.anchorPoint.y-this.m_body2.m_position.y);this.m_localAnchor2.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.col2.y));tMat=this.m_body1.m_R;tX=def.axis.x;tY=def.axis.y;this.m_localXAxis1.Set((tX*tMat.col1.x+tY*tMat.col1.y),(tX*tMat.col2.x+tY*tMat.col2.y));this.m_localYAxis1.x=-this.m_localXAxis1.y;this.m_localYAxis1.y=this.m_localXAxis1.x;this.m_initialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_linearJacobian.SetZero();this.m_linearMass=0.0;this.m_linearImpulse=0.0;this.m_angularMass=0.0;this.m_angularImpulse=0.0;this.m_motorJacobian.SetZero();this.m_motorMass=0.0;this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;this.m_limitPositionImpulse=0.0;this.m_lowerTranslation=def.lowerTranslation;this.m_upperTranslation=def.upperTranslation;this.m_maxMotorForce=def.motorForce;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;},PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;tMat=b1.m_R;var ay1X=tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y;var ay1Y=tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y;var eX=b2.m_position.x+r2X-b1.m_position.x;var eY=b2.m_position.y+r2Y-b1.m_position.y;this.m_linearJacobian.linear1.x=-ay1X;this.m_linearJacobian.linear1.y=-ay1Y;this.m_linearJacobian.linear2.x=ay1X;this.m_linearJacobian.linear2.y=ay1Y;this.m_linearJacobian.angular1=-(eX*ay1Y-eY*ay1X);this.m_linearJacobian.angular2=r2X*ay1Y-r2Y*ay1X;this.m_linearMass=invMass1+invI1*this.m_linearJacobian.angular1*this.m_linearJacobian.angular1+

+invMass2+invI2*this.m_linearJacobian.angular2*this.m_linearJacobian.angular2;this.m_linearMass=1.0/this.m_linearMass;this.m_angularMass=1.0/(invI1+invI2);if(this.m_enableLimit||this.m_enableMotor)

+{tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;this.m_motorJacobian.linear1.x=-ax1X;this.m_motorJacobian.linear1.y=-ax1Y;this.m_motorJacobian.linear2.x=ax1X;this.m_motorJacobian.linear2.y=ax1Y;this.m_motorJacobian.angular1=-(eX*ax1Y-eY*ax1X);this.m_motorJacobian.angular2=r2X*ax1Y-r2Y*ax1X;this.m_motorMass=invMass1+invI1*this.m_motorJacobian.angular1*this.m_motorJacobian.angular1+

+invMass2+invI2*this.m_motorJacobian.angular2*this.m_motorJacobian.angular2;this.m_motorMass=1.0/this.m_motorMass;if(this.m_enableLimit)

+{var dX=eX-r1X;var dY=eY-r1Y;var jointTranslation=ax1X*dX+ax1Y*dY;if(b2Math.b2Abs(this.m_upperTranslation-this.m_lowerTranslation)<2.0*b2Settings.b2_linearSlop)

+{this.m_limitState=b2Joint.e_equalLimits;}

+else if(jointTranslation<=this.m_lowerTranslation)

+{if(this.m_limitState!=b2Joint.e_atLowerLimit)

+{this.m_limitImpulse=0.0;}

+this.m_limitState=b2Joint.e_atLowerLimit;}

+else if(jointTranslation>=this.m_upperTranslation)

+{if(this.m_limitState!=b2Joint.e_atUpperLimit)

+{this.m_limitImpulse=0.0;}

+this.m_limitState=b2Joint.e_atUpperLimit;}

+else

+{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0.0;}}}

+if(this.m_enableMotor==false)

+{this.m_motorImpulse=0.0;}

+if(this.m_enableLimit==false)

+{this.m_limitImpulse=0.0;}

+if(b2World.s_enableWarmStarting)

+{var P1X=this.m_linearImpulse*this.m_linearJacobian.linear1.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.x;var P1Y=this.m_linearImpulse*this.m_linearJacobian.linear1.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear1.y;var P2X=this.m_linearImpulse*this.m_linearJacobian.linear2.x+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.x;var P2Y=this.m_linearImpulse*this.m_linearJacobian.linear2.y+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.linear2.y;var L1=this.m_linearImpulse*this.m_linearJacobian.angular1-this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular1;var L2=this.m_linearImpulse*this.m_linearJacobian.angular2+this.m_angularImpulse+(this.m_motorImpulse+this.m_limitImpulse)*this.m_motorJacobian.angular2;b1.m_linearVelocity.x+=invMass1*P1X;b1.m_linearVelocity.y+=invMass1*P1Y;b1.m_angularVelocity+=invI1*L1;b2.m_linearVelocity.x+=invMass2*P2X;b2.m_linearVelocity.y+=invMass2*P2Y;b2.m_angularVelocity+=invI2*L2;}

+else

+{this.m_linearImpulse=0.0;this.m_angularImpulse=0.0;this.m_limitImpulse=0.0;this.m_motorImpulse=0.0;}

+this.m_limitPositionImpulse=0.0;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;var oldLimitImpulse;var linearCdot=this.m_linearJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var linearImpulse=-this.m_linearMass*linearCdot;this.m_linearImpulse+=linearImpulse;b1.m_linearVelocity.x+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.y;b1.m_angularVelocity+=invI1*linearImpulse*this.m_linearJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.y;b2.m_angularVelocity+=invI2*linearImpulse*this.m_linearJacobian.angular2;var angularCdot=b2.m_angularVelocity-b1.m_angularVelocity;var angularImpulse=-this.m_angularMass*angularCdot;this.m_angularImpulse+=angularImpulse;b1.m_angularVelocity-=invI1*angularImpulse;b2.m_angularVelocity+=invI2*angularImpulse;if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits)

+{var motorCdot=this.m_motorJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity)-this.m_motorSpeed;var motorImpulse=-this.m_motorMass*motorCdot;var oldMotorImpulse=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+motorImpulse,-step.dt*this.m_maxMotorForce,step.dt*this.m_maxMotorForce);motorImpulse=this.m_motorImpulse-oldMotorImpulse;b1.m_linearVelocity.x+=(invMass1*motorImpulse)*this.m_motorJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*motorImpulse)*this.m_motorJacobian.linear1.y;b1.m_angularVelocity+=invI1*motorImpulse*this.m_motorJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*motorImpulse)*this.m_motorJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*motorImpulse)*this.m_motorJacobian.linear2.y;b2.m_angularVelocity+=invI2*motorImpulse*this.m_motorJacobian.angular2;}

+if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)

+{var limitCdot=this.m_motorJacobian.Compute(b1.m_linearVelocity,b1.m_angularVelocity,b2.m_linearVelocity,b2.m_angularVelocity);var limitImpulse=-this.m_motorMass*limitCdot;if(this.m_limitState==b2Joint.e_equalLimits)

+{this.m_limitImpulse+=limitImpulse;}

+else if(this.m_limitState==b2Joint.e_atLowerLimit)

+{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}

+else if(this.m_limitState==b2Joint.e_atUpperLimit)

+{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}

+b1.m_linearVelocity.x+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.x;b1.m_linearVelocity.y+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.y;b1.m_angularVelocity+=invI1*limitImpulse*this.m_motorJacobian.angular1;b2.m_linearVelocity.x+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.x;b2.m_linearVelocity.y+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.y;b2.m_angularVelocity+=invI2*limitImpulse*this.m_motorJacobian.angular2;}},SolvePositionConstraints:function(){var limitC;var oldLimitImpulse;var b1=this.m_body1;var b2=this.m_body2;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var dX=p2X-p1X;var dY=p2Y-p1Y;tMat=b1.m_R;var ay1X=tMat.col1.x*this.m_localYAxis1.x+tMat.col2.x*this.m_localYAxis1.y;var ay1Y=tMat.col1.y*this.m_localYAxis1.x+tMat.col2.y*this.m_localYAxis1.y;var linearC=ay1X*dX+ay1Y*dY;linearC=b2Math.b2Clamp(linearC,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);var linearImpulse=-this.m_linearMass*linearC;b1.m_position.x+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.x;b1.m_position.y+=(invMass1*linearImpulse)*this.m_linearJacobian.linear1.y;b1.m_rotation+=invI1*linearImpulse*this.m_linearJacobian.angular1;b2.m_position.x+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.x;b2.m_position.y+=(invMass2*linearImpulse)*this.m_linearJacobian.linear2.y;b2.m_rotation+=invI2*linearImpulse*this.m_linearJacobian.angular2;var positionError=b2Math.b2Abs(linearC);var angularC=b2.m_rotation-b1.m_rotation-this.m_initialAngle;angularC=b2Math.b2Clamp(angularC,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);var angularImpulse=-this.m_angularMass*angularC;b1.m_rotation-=b1.m_invI*angularImpulse;b1.m_R.Set(b1.m_rotation);b2.m_rotation+=b2.m_invI*angularImpulse;b2.m_R.Set(b2.m_rotation);var angularError=b2Math.b2Abs(angularC);if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)

+{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;dX=p2X-p1X;dY=p2Y-p1Y;tMat=b1.m_R;var ax1X=tMat.col1.x*this.m_localXAxis1.x+tMat.col2.x*this.m_localXAxis1.y;var ax1Y=tMat.col1.y*this.m_localXAxis1.x+tMat.col2.y*this.m_localXAxis1.y;var translation=(ax1X*dX+ax1Y*dY);var limitImpulse=0.0;if(this.m_limitState==b2Joint.e_equalLimits)

+{limitC=b2Math.b2Clamp(translation,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);limitImpulse=-this.m_motorMass*limitC;positionError=b2Math.b2Max(positionError,b2Math.b2Abs(angularC));}

+else if(this.m_limitState==b2Joint.e_atLowerLimit)

+{limitC=translation-this.m_lowerTranslation;positionError=b2Math.b2Max(positionError,-limitC);limitC=b2Math.b2Clamp(limitC+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}

+else if(this.m_limitState==b2Joint.e_atUpperLimit)

+{limitC=translation-this.m_upperTranslation;positionError=b2Math.b2Max(positionError,limitC);limitC=b2Math.b2Clamp(limitC-b2Settings.b2_linearSlop,0.0,b2Settings.b2_maxLinearCorrection);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}

+b1.m_position.x+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.x;b1.m_position.y+=(invMass1*limitImpulse)*this.m_motorJacobian.linear1.y;b1.m_rotation+=invI1*limitImpulse*this.m_motorJacobian.angular1;b1.m_R.Set(b1.m_rotation);b2.m_position.x+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.x;b2.m_position.y+=(invMass2*limitImpulse)*this.m_motorJacobian.linear2.y;b2.m_rotation+=invI2*limitImpulse*this.m_motorJacobian.angular2;b2.m_R.Set(b2.m_rotation);}

+return positionError<=b2Settings.b2_linearSlop&&angularError<=b2Settings.b2_angularSlop;},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_localXAxis1:new b2Vec2(),m_localYAxis1:new b2Vec2(),m_initialAngle:null,m_linearJacobian:new b2Jacobian(),m_linearMass:null,m_linearImpulse:null,m_angularMass:null,m_angularImpulse:null,m_motorJacobian:new b2Jacobian(),m_motorMass:null,m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_lowerTranslation:null,m_upperTranslation:null,m_maxMotorForce:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});

+var b2PrismaticJointDef=Class.create();Object.extend(b2PrismaticJointDef.prototype,b2JointDef.prototype);Object.extend(b2PrismaticJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_prismaticJoint;this.anchorPoint=new b2Vec2(0.0,0.0);this.axis=new b2Vec2(0.0,0.0);this.lowerTranslation=0.0;this.upperTranslation=0.0;this.motorForce=0.0;this.motorSpeed=0.0;this.enableLimit=false;this.enableMotor=false;},anchorPoint:null,axis:null,lowerTranslation:null,upperTranslation:null,motorForce:null,motorSpeed:null,enableLimit:null,enableMotor:null});

+var b2PulleyJoint=Class.create();Object.extend(b2PulleyJoint.prototype,b2Joint.prototype);Object.extend(b2PulleyJoint.prototype,{GetAnchor1:function(){var tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y));},GetGroundPoint1:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor1.x,this.m_ground.m_position.y+this.m_groundAnchor1.y);},GetGroundPoint2:function(){return new b2Vec2(this.m_ground.m_position.x+this.m_groundAnchor2.x,this.m_ground.m_position.y+this.m_groundAnchor2.y);},GetReactionForce:function(invTimeStep){return new b2Vec2();},GetReactionTorque:function(invTimeStep){return 0.0;},GetLength1:function(){var tMat;tMat=this.m_body1.m_R;var pX=this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y);var pY=this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y);var dX=pX-(this.m_ground.m_position.x+this.m_groundAnchor1.x);var dY=pY-(this.m_ground.m_position.y+this.m_groundAnchor1.y);return Math.sqrt(dX*dX+dY*dY);},GetLength2:function(){var tMat;tMat=this.m_body2.m_R;var pX=this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y);var pY=this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y);var dX=pX-(this.m_ground.m_position.x+this.m_groundAnchor2.x);var dY=pY-(this.m_ground.m_position.y+this.m_groundAnchor2.y);return Math.sqrt(dX*dX+dY*dY);},GetRatio:function(){return this.m_ratio;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.m_groundAnchor1=new b2Vec2();this.m_groundAnchor2=new b2Vec2();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_u1=new b2Vec2();this.m_u2=new b2Vec2();var tMat;var tX;var tY;this.m_ground=this.m_body1.m_world.m_groundBody;this.m_groundAnchor1.x=def.groundPoint1.x-this.m_ground.m_position.x;this.m_groundAnchor1.y=def.groundPoint1.y-this.m_ground.m_position.y;this.m_groundAnchor2.x=def.groundPoint2.x-this.m_ground.m_position.x;this.m_groundAnchor2.y=def.groundPoint2.y-this.m_ground.m_position.y;tMat=this.m_body1.m_R;tX=def.anchorPoint1.x-this.m_body1.m_position.x;tY=def.anchorPoint1.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint2.x-this.m_body2.m_position.x;tY=def.anchorPoint2.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;this.m_ratio=def.ratio;tX=def.groundPoint1.x-def.anchorPoint1.x;tY=def.groundPoint1.y-def.anchorPoint1.y;var d1Len=Math.sqrt(tX*tX+tY*tY);tX=def.groundPoint2.x-def.anchorPoint2.x;tY=def.groundPoint2.y-def.anchorPoint2.y;var d2Len=Math.sqrt(tX*tX+tY*tY);var length1=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,d1Len);var length2=b2Math.b2Max(0.5*b2PulleyJoint.b2_minPulleyLength,d2Len);this.m_constant=length1+this.m_ratio*length2;this.m_maxLength1=b2Math.b2Clamp(def.maxLength1,length1,this.m_constant-this.m_ratio*b2PulleyJoint.b2_minPulleyLength);this.m_maxLength2=b2Math.b2Clamp(def.maxLength2,length2,(this.m_constant-b2PulleyJoint.b2_minPulleyLength)/this.m_ratio);this.m_pulleyImpulse=0.0;this.m_limitImpulse1=0.0;this.m_limitImpulse2=0.0;},PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var s1X=this.m_ground.m_position.x+this.m_groundAnchor1.x;var s1Y=this.m_ground.m_position.y+this.m_groundAnchor1.y;var s2X=this.m_ground.m_position.x+this.m_groundAnchor2.x;var s2Y=this.m_ground.m_position.y+this.m_groundAnchor2.y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);this.m_u2.Set(p2X-s2X,p2Y-s2Y);var length1=this.m_u1.Length();var length2=this.m_u2.Length();if(length1>b2Settings.b2_linearSlop)

+{this.m_u1.Multiply(1.0/length1);}

+else

+{this.m_u1.SetZero();}

+if(length2>b2Settings.b2_linearSlop)

+{this.m_u2.Multiply(1.0/length2);}

+else

+{this.m_u2.SetZero();}

+if(length1<this.m_maxLength1)

+{this.m_limitState1=b2Joint.e_inactiveLimit;this.m_limitImpulse1=0.0;}

+else

+{this.m_limitState1=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse1=0.0;}

+if(length2<this.m_maxLength2)

+{this.m_limitState2=b2Joint.e_inactiveLimit;this.m_limitImpulse2=0.0;}

+else

+{this.m_limitState2=b2Joint.e_atUpperLimit;this.m_limitPositionImpulse2=0.0;}

+var cr1u1=r1X*this.m_u1.y-r1Y*this.m_u1.x;var cr2u2=r2X*this.m_u2.y-r2Y*this.m_u2.x;this.m_limitMass1=b1.m_invMass+b1.m_invI*cr1u1*cr1u1;this.m_limitMass2=b2.m_invMass+b2.m_invI*cr2u2*cr2u2;this.m_pulleyMass=this.m_limitMass1+this.m_ratio*this.m_ratio*this.m_limitMass2;this.m_limitMass1=1.0/this.m_limitMass1;this.m_limitMass2=1.0/this.m_limitMass2;this.m_pulleyMass=1.0/this.m_pulleyMass;var P1X=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.x;var P1Y=(-this.m_pulleyImpulse-this.m_limitImpulse1)*this.m_u1.y;var P2X=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.x;var P2Y=(-this.m_ratio*this.m_pulleyImpulse-this.m_limitImpulse2)*this.m_u2.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var v1X;var v1Y;var v2X;var v2Y;var P1X;var P1Y;var P2X;var P2Y;var Cdot;var impulse;var oldLimitImpulse;v1X=b1.m_linearVelocity.x+(-b1.m_angularVelocity*r1Y);v1Y=b1.m_linearVelocity.y+(b1.m_angularVelocity*r1X);v2X=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y);v2Y=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X);Cdot=-(this.m_u1.x*v1X+this.m_u1.y*v1Y)-this.m_ratio*(this.m_u2.x*v2X+this.m_u2.y*v2Y);impulse=-this.m_pulleyMass*Cdot;this.m_pulleyImpulse+=impulse;P1X=-impulse*this.m_u1.x;P1Y=-impulse*this.m_u1.y;P2X=-this.m_ratio*impulse*this.m_u2.x;P2Y=-this.m_ratio*impulse*this.m_u2.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);if(this.m_limitState1==b2Joint.e_atUpperLimit)

+{v1X=b1.m_linearVelocity.x+(-b1.m_angularVelocity*r1Y);v1Y=b1.m_linearVelocity.y+(b1.m_angularVelocity*r1X);Cdot=-(this.m_u1.x*v1X+this.m_u1.y*v1Y);impulse=-this.m_limitMass1*Cdot;oldLimitImpulse=this.m_limitImpulse1;this.m_limitImpulse1=b2Math.b2Max(0.0,this.m_limitImpulse1+impulse);impulse=this.m_limitImpulse1-oldLimitImpulse;P1X=-impulse*this.m_u1.x;P1Y=-impulse*this.m_u1.y;b1.m_linearVelocity.x+=b1.m_invMass*P1X;b1.m_linearVelocity.y+=b1.m_invMass*P1Y;b1.m_angularVelocity+=b1.m_invI*(r1X*P1Y-r1Y*P1X);}

+if(this.m_limitState2==b2Joint.e_atUpperLimit)

+{v2X=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y);v2Y=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X);Cdot=-(this.m_u2.x*v2X+this.m_u2.y*v2Y);impulse=-this.m_limitMass2*Cdot;oldLimitImpulse=this.m_limitImpulse2;this.m_limitImpulse2=b2Math.b2Max(0.0,this.m_limitImpulse2+impulse);impulse=this.m_limitImpulse2-oldLimitImpulse;P2X=-impulse*this.m_u2.x;P2Y=-impulse*this.m_u2.y;b2.m_linearVelocity.x+=b2.m_invMass*P2X;b2.m_linearVelocity.y+=b2.m_invMass*P2Y;b2.m_angularVelocity+=b2.m_invI*(r2X*P2Y-r2Y*P2X);}},SolvePositionConstraints:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;var s1X=this.m_ground.m_position.x+this.m_groundAnchor1.x;var s1Y=this.m_ground.m_position.y+this.m_groundAnchor1.y;var s2X=this.m_ground.m_position.x+this.m_groundAnchor2.x;var s2Y=this.m_ground.m_position.y+this.m_groundAnchor2.y;var r1X;var r1Y;var r2X;var r2Y;var p1X;var p1Y;var p2X;var p2Y;var length1;var length2;var C;var impulse;var oldLimitPositionImpulse;var linearError=0.0;{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);this.m_u2.Set(p2X-s2X,p2Y-s2Y);length1=this.m_u1.Length();length2=this.m_u2.Length();if(length1>b2Settings.b2_linearSlop)

+{this.m_u1.Multiply(1.0/length1);}

+else

+{this.m_u1.SetZero();}

+if(length2>b2Settings.b2_linearSlop)

+{this.m_u2.Multiply(1.0/length2);}

+else

+{this.m_u2.SetZero();}

+C=this.m_constant-length1-this.m_ratio*length2;linearError=b2Math.b2Max(linearError,Math.abs(C));C=b2Math.b2Clamp(C,-b2Settings.b2_maxLinearCorrection,b2Settings.b2_maxLinearCorrection);impulse=-this.m_pulleyMass*C;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;p2X=-this.m_ratio*impulse*this.m_u2.x;p2Y=-this.m_ratio*impulse*this.m_u2.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b1.m_R.Set(b1.m_rotation);b2.m_R.Set(b2.m_rotation);}

+if(this.m_limitState1==b2Joint.e_atUpperLimit)

+{tMat=b1.m_R;r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;p1X=b1.m_position.x+r1X;p1Y=b1.m_position.y+r1Y;this.m_u1.Set(p1X-s1X,p1Y-s1Y);length1=this.m_u1.Length();if(length1>b2Settings.b2_linearSlop)

+{this.m_u1.x*=1.0/length1;this.m_u1.y*=1.0/length1;}

+else

+{this.m_u1.SetZero();}

+C=this.m_maxLength1-length1;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass1*C;oldLimitPositionImpulse=this.m_limitPositionImpulse1;this.m_limitPositionImpulse1=b2Math.b2Max(0.0,this.m_limitPositionImpulse1+impulse);impulse=this.m_limitPositionImpulse1-oldLimitPositionImpulse;p1X=-impulse*this.m_u1.x;p1Y=-impulse*this.m_u1.y;b1.m_position.x+=b1.m_invMass*p1X;b1.m_position.y+=b1.m_invMass*p1Y;b1.m_rotation+=b1.m_invI*(r1X*p1Y-r1Y*p1X);b1.m_R.Set(b1.m_rotation);}

+if(this.m_limitState2==b2Joint.e_atUpperLimit)

+{tMat=b2.m_R;r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;p2X=b2.m_position.x+r2X;p2Y=b2.m_position.y+r2Y;this.m_u2.Set(p2X-s2X,p2Y-s2Y);length2=this.m_u2.Length();if(length2>b2Settings.b2_linearSlop)

+{this.m_u2.x*=1.0/length2;this.m_u2.y*=1.0/length2;}

+else

+{this.m_u2.SetZero();}

+C=this.m_maxLength2-length2;linearError=b2Math.b2Max(linearError,-C);C=b2Math.b2Clamp(C+b2Settings.b2_linearSlop,-b2Settings.b2_maxLinearCorrection,0.0);impulse=-this.m_limitMass2*C;oldLimitPositionImpulse=this.m_limitPositionImpulse2;this.m_limitPositionImpulse2=b2Math.b2Max(0.0,this.m_limitPositionImpulse2+impulse);impulse=this.m_limitPositionImpulse2-oldLimitPositionImpulse;p2X=-impulse*this.m_u2.x;p2Y=-impulse*this.m_u2.y;b2.m_position.x+=b2.m_invMass*p2X;b2.m_position.y+=b2.m_invMass*p2Y;b2.m_rotation+=b2.m_invI*(r2X*p2Y-r2Y*p2X);b2.m_R.Set(b2.m_rotation);}

+return linearError<b2Settings.b2_linearSlop;},m_ground:null,m_groundAnchor1:new b2Vec2(),m_groundAnchor2:new b2Vec2(),m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_u1:new b2Vec2(),m_u2:new b2Vec2(),m_constant:null,m_ratio:null,m_maxLength1:null,m_maxLength2:null,m_pulleyMass:null,m_limitMass1:null,m_limitMass2:null,m_pulleyImpulse:null,m_limitImpulse1:null,m_limitImpulse2:null,m_limitPositionImpulse1:null,m_limitPositionImpulse2:null,m_limitState1:0,m_limitState2:0});b2PulleyJoint.b2_minPulleyLength=b2Settings.b2_lengthUnitsPerMeter;

+var b2PulleyJointDef=Class.create();Object.extend(b2PulleyJointDef.prototype,b2JointDef.prototype);Object.extend(b2PulleyJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.groundPoint1=new b2Vec2();this.groundPoint2=new b2Vec2();this.anchorPoint1=new b2Vec2();this.anchorPoint2=new b2Vec2();this.type=b2Joint.e_pulleyJoint;this.groundPoint1.Set(-1.0,1.0);this.groundPoint2.Set(1.0,1.0);this.anchorPoint1.Set(-1.0,0.0);this.anchorPoint2.Set(1.0,0.0);this.maxLength1=0.5*b2PulleyJoint.b2_minPulleyLength;this.maxLength2=0.5*b2PulleyJoint.b2_minPulleyLength;this.ratio=1.0;this.collideConnected=true;},groundPoint1:new b2Vec2(),groundPoint2:new b2Vec2(),anchorPoint1:new b2Vec2(),anchorPoint2:new b2Vec2(),maxLength1:null,maxLength2:null,ratio:null});

+var b2RevoluteJoint=Class.create();Object.extend(b2RevoluteJoint.prototype,b2Joint.prototype);Object.extend(b2RevoluteJoint.prototype,{GetAnchor1:function(){var tMat=this.m_body1.m_R;return new b2Vec2(this.m_body1.m_position.x+(tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y),this.m_body1.m_position.y+(tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y));},GetAnchor2:function(){var tMat=this.m_body2.m_R;return new b2Vec2(this.m_body2.m_position.x+(tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y),this.m_body2.m_position.y+(tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y));},GetJointAngle:function(){return this.m_body2.m_rotation-this.m_body1.m_rotation;},GetJointSpeed:function(){return this.m_body2.m_angularVelocity-this.m_body1.m_angularVelocity;},GetMotorTorque:function(invTimeStep){return invTimeStep*this.m_motorImpulse;},SetMotorSpeed:function(speed)

+{this.m_motorSpeed=speed;},SetMotorTorque:function(torque)

+{this.m_maxMotorTorque=torque;},GetReactionForce:function(invTimeStep)

+{var tVec=this.m_ptpImpulse.Copy();tVec.Multiply(invTimeStep);return tVec;},GetReactionTorque:function(invTimeStep)

+{return invTimeStep*this.m_limitImpulse;},initialize:function(def){this.m_node1=new b2JointNode();this.m_node2=new b2JointNode();this.m_type=def.type;this.m_prev=null;this.m_next=null;this.m_body1=def.body1;this.m_body2=def.body2;this.m_collideConnected=def.collideConnected;this.m_islandFlag=false;this.m_userData=def.userData;this.K=new b2Mat22();this.K1=new b2Mat22();this.K2=new b2Mat22();this.K3=new b2Mat22();this.m_localAnchor1=new b2Vec2();this.m_localAnchor2=new b2Vec2();this.m_ptpImpulse=new b2Vec2();this.m_ptpMass=new b2Mat22();var tMat;var tX;var tY;tMat=this.m_body1.m_R;tX=def.anchorPoint.x-this.m_body1.m_position.x;tY=def.anchorPoint.y-this.m_body1.m_position.y;this.m_localAnchor1.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor1.y=tX*tMat.col2.x+tY*tMat.col2.y;tMat=this.m_body2.m_R;tX=def.anchorPoint.x-this.m_body2.m_position.x;tY=def.anchorPoint.y-this.m_body2.m_position.y;this.m_localAnchor2.x=tX*tMat.col1.x+tY*tMat.col1.y;this.m_localAnchor2.y=tX*tMat.col2.x+tY*tMat.col2.y;this.m_intialAngle=this.m_body2.m_rotation-this.m_body1.m_rotation;this.m_ptpImpulse.Set(0.0,0.0);this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;this.m_limitPositionImpulse=0.0;this.m_lowerAngle=def.lowerAngle;this.m_upperAngle=def.upperAngle;this.m_maxMotorTorque=def.motorTorque;this.m_motorSpeed=def.motorSpeed;this.m_enableLimit=def.enableLimit;this.m_enableMotor=def.enableMotor;},K:new b2Mat22(),K1:new b2Mat22(),K2:new b2Mat22(),K3:new b2Mat22(),PrepareVelocitySolver:function(){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;this.K1.col1.x=invMass1+invMass2;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass1+invMass2;this.K2.col1.x=invI1*r1Y*r1Y;this.K2.col2.x=-invI1*r1X*r1Y;this.K2.col1.y=-invI1*r1X*r1Y;this.K2.col2.y=invI1*r1X*r1X;this.K3.col1.x=invI2*r2Y*r2Y;this.K3.col2.x=-invI2*r2X*r2Y;this.K3.col1.y=-invI2*r2X*r2Y;this.K3.col2.y=invI2*r2X*r2X;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Invert(this.m_ptpMass);this.m_motorMass=1.0/(invI1+invI2);if(this.m_enableMotor==false)

+{this.m_motorImpulse=0.0;}

+if(this.m_enableLimit)

+{var jointAngle=b2.m_rotation-b1.m_rotation-this.m_intialAngle;if(b2Math.b2Abs(this.m_upperAngle-this.m_lowerAngle)<2.0*b2Settings.b2_angularSlop)

+{this.m_limitState=b2Joint.e_equalLimits;}

+else if(jointAngle<=this.m_lowerAngle)

+{if(this.m_limitState!=b2Joint.e_atLowerLimit)

+{this.m_limitImpulse=0.0;}

+this.m_limitState=b2Joint.e_atLowerLimit;}

+else if(jointAngle>=this.m_upperAngle)

+{if(this.m_limitState!=b2Joint.e_atUpperLimit)

+{this.m_limitImpulse=0.0;}

+this.m_limitState=b2Joint.e_atUpperLimit;}

+else

+{this.m_limitState=b2Joint.e_inactiveLimit;this.m_limitImpulse=0.0;}}

+else

+{this.m_limitImpulse=0.0;}

+if(b2World.s_enableWarmStarting)

+{b1.m_linearVelocity.x-=invMass1*this.m_ptpImpulse.x;b1.m_linearVelocity.y-=invMass1*this.m_ptpImpulse.y;b1.m_angularVelocity-=invI1*((r1X*this.m_ptpImpulse.y-r1Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);b2.m_linearVelocity.x+=invMass2*this.m_ptpImpulse.x;b2.m_linearVelocity.y+=invMass2*this.m_ptpImpulse.y;b2.m_angularVelocity+=invI2*((r2X*this.m_ptpImpulse.y-r2Y*this.m_ptpImpulse.x)+this.m_motorImpulse+this.m_limitImpulse);}

+else{this.m_ptpImpulse.SetZero();this.m_motorImpulse=0.0;this.m_limitImpulse=0.0;}

+this.m_limitPositionImpulse=0.0;},SolveVelocityConstraints:function(step){var b1=this.m_body1;var b2=this.m_body2;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var oldLimitImpulse;var ptpCdotX=b2.m_linearVelocity.x+(-b2.m_angularVelocity*r2Y)-b1.m_linearVelocity.x-(-b1.m_angularVelocity*r1Y);var ptpCdotY=b2.m_linearVelocity.y+(b2.m_angularVelocity*r2X)-b1.m_linearVelocity.y-(b1.m_angularVelocity*r1X);var ptpImpulseX=-(this.m_ptpMass.col1.x*ptpCdotX+this.m_ptpMass.col2.x*ptpCdotY);var ptpImpulseY=-(this.m_ptpMass.col1.y*ptpCdotX+this.m_ptpMass.col2.y*ptpCdotY);this.m_ptpImpulse.x+=ptpImpulseX;this.m_ptpImpulse.y+=ptpImpulseY;b1.m_linearVelocity.x-=b1.m_invMass*ptpImpulseX;b1.m_linearVelocity.y-=b1.m_invMass*ptpImpulseY;b1.m_angularVelocity-=b1.m_invI*(r1X*ptpImpulseY-r1Y*ptpImpulseX);b2.m_linearVelocity.x+=b2.m_invMass*ptpImpulseX;b2.m_linearVelocity.y+=b2.m_invMass*ptpImpulseY;b2.m_angularVelocity+=b2.m_invI*(r2X*ptpImpulseY-r2Y*ptpImpulseX);if(this.m_enableMotor&&this.m_limitState!=b2Joint.e_equalLimits)

+{var motorCdot=b2.m_angularVelocity-b1.m_angularVelocity-this.m_motorSpeed;var motorImpulse=-this.m_motorMass*motorCdot;var oldMotorImpulse=this.m_motorImpulse;this.m_motorImpulse=b2Math.b2Clamp(this.m_motorImpulse+motorImpulse,-step.dt*this.m_maxMotorTorque,step.dt*this.m_maxMotorTorque);motorImpulse=this.m_motorImpulse-oldMotorImpulse;b1.m_angularVelocity-=b1.m_invI*motorImpulse;b2.m_angularVelocity+=b2.m_invI*motorImpulse;}

+if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)

+{var limitCdot=b2.m_angularVelocity-b1.m_angularVelocity;var limitImpulse=-this.m_motorMass*limitCdot;if(this.m_limitState==b2Joint.e_equalLimits)

+{this.m_limitImpulse+=limitImpulse;}

+else if(this.m_limitState==b2Joint.e_atLowerLimit)

+{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Max(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}

+else if(this.m_limitState==b2Joint.e_atUpperLimit)

+{oldLimitImpulse=this.m_limitImpulse;this.m_limitImpulse=b2Math.b2Min(this.m_limitImpulse+limitImpulse,0.0);limitImpulse=this.m_limitImpulse-oldLimitImpulse;}

+b1.m_angularVelocity-=b1.m_invI*limitImpulse;b2.m_angularVelocity+=b2.m_invI*limitImpulse;}},SolvePositionConstraints:function(){var oldLimitImpulse;var limitC;var b1=this.m_body1;var b2=this.m_body2;var positionError=0.0;var tMat;tMat=b1.m_R;var r1X=tMat.col1.x*this.m_localAnchor1.x+tMat.col2.x*this.m_localAnchor1.y;var r1Y=tMat.col1.y*this.m_localAnchor1.x+tMat.col2.y*this.m_localAnchor1.y;tMat=b2.m_R;var r2X=tMat.col1.x*this.m_localAnchor2.x+tMat.col2.x*this.m_localAnchor2.y;var r2Y=tMat.col1.y*this.m_localAnchor2.x+tMat.col2.y*this.m_localAnchor2.y;var p1X=b1.m_position.x+r1X;var p1Y=b1.m_position.y+r1Y;var p2X=b2.m_position.x+r2X;var p2Y=b2.m_position.y+r2Y;var ptpCX=p2X-p1X;var ptpCY=p2Y-p1Y;positionError=Math.sqrt(ptpCX*ptpCX+ptpCY*ptpCY);var invMass1=b1.m_invMass;var invMass2=b2.m_invMass;var invI1=b1.m_invI;var invI2=b2.m_invI;this.K1.col1.x=invMass1+invMass2;this.K1.col2.x=0.0;this.K1.col1.y=0.0;this.K1.col2.y=invMass1+invMass2;this.K2.col1.x=invI1*r1Y*r1Y;this.K2.col2.x=-invI1*r1X*r1Y;this.K2.col1.y=-invI1*r1X*r1Y;this.K2.col2.y=invI1*r1X*r1X;this.K3.col1.x=invI2*r2Y*r2Y;this.K3.col2.x=-invI2*r2X*r2Y;this.K3.col1.y=-invI2*r2X*r2Y;this.K3.col2.y=invI2*r2X*r2X;this.K.SetM(this.K1);this.K.AddM(this.K2);this.K.AddM(this.K3);this.K.Solve(b2RevoluteJoint.tImpulse,-ptpCX,-ptpCY);var impulseX=b2RevoluteJoint.tImpulse.x;var impulseY=b2RevoluteJoint.tImpulse.y;b1.m_position.x-=b1.m_invMass*impulseX;b1.m_position.y-=b1.m_invMass*impulseY;b1.m_rotation-=b1.m_invI*(r1X*impulseY-r1Y*impulseX);b1.m_R.Set(b1.m_rotation);b2.m_position.x+=b2.m_invMass*impulseX;b2.m_position.y+=b2.m_invMass*impulseY;b2.m_rotation+=b2.m_invI*(r2X*impulseY-r2Y*impulseX);b2.m_R.Set(b2.m_rotation);var angularError=0.0;if(this.m_enableLimit&&this.m_limitState!=b2Joint.e_inactiveLimit)

+{var angle=b2.m_rotation-b1.m_rotation-this.m_intialAngle;var limitImpulse=0.0;if(this.m_limitState==b2Joint.e_equalLimits)

+{limitC=b2Math.b2Clamp(angle,-b2Settings.b2_maxAngularCorrection,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;angularError=b2Math.b2Abs(limitC);}

+else if(this.m_limitState==b2Joint.e_atLowerLimit)

+{limitC=angle-this.m_lowerAngle;angularError=b2Math.b2Max(0.0,-limitC);limitC=b2Math.b2Clamp(limitC+b2Settings.b2_angularSlop,-b2Settings.b2_maxAngularCorrection,0.0);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Max(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}

+else if(this.m_limitState==b2Joint.e_atUpperLimit)

+{limitC=angle-this.m_upperAngle;angularError=b2Math.b2Max(0.0,limitC);limitC=b2Math.b2Clamp(limitC-b2Settings.b2_angularSlop,0.0,b2Settings.b2_maxAngularCorrection);limitImpulse=-this.m_motorMass*limitC;oldLimitImpulse=this.m_limitPositionImpulse;this.m_limitPositionImpulse=b2Math.b2Min(this.m_limitPositionImpulse+limitImpulse,0.0);limitImpulse=this.m_limitPositionImpulse-oldLimitImpulse;}

+b1.m_rotation-=b1.m_invI*limitImpulse;b1.m_R.Set(b1.m_rotation);b2.m_rotation+=b2.m_invI*limitImpulse;b2.m_R.Set(b2.m_rotation);}

+return positionError<=b2Settings.b2_linearSlop&&angularError<=b2Settings.b2_angularSlop;},m_localAnchor1:new b2Vec2(),m_localAnchor2:new b2Vec2(),m_ptpImpulse:new b2Vec2(),m_motorImpulse:null,m_limitImpulse:null,m_limitPositionImpulse:null,m_ptpMass:new b2Mat22(),m_motorMass:null,m_intialAngle:null,m_lowerAngle:null,m_upperAngle:null,m_maxMotorTorque:null,m_motorSpeed:null,m_enableLimit:null,m_enableMotor:null,m_limitState:0});b2RevoluteJoint.tImpulse=new b2Vec2();

+var b2RevoluteJointDef=Class.create();Object.extend(b2RevoluteJointDef.prototype,b2JointDef.prototype);Object.extend(b2RevoluteJointDef.prototype,{initialize:function()

+{this.type=b2Joint.e_unknownJoint;this.userData=null;this.body1=null;this.body2=null;this.collideConnected=false;this.type=b2Joint.e_revoluteJoint;this.anchorPoint=new b2Vec2(0.0,0.0);this.lowerAngle=0.0;this.upperAngle=0.0;this.motorTorque=0.0;this.motorSpeed=0.0;this.enableLimit=false;this.enableMotor=false;},anchorPoint:null,lowerAngle:null,upperAngle:null,motorTorque:null,motorSpeed:null,enableLimit:null,enableMotor:null});

diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/ClipVertex.js b/o3d/samples/box2d-3d/third_party/box2d/collision/ClipVertex.js
deleted file mode 100644
index 7c944dd..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/ClipVertex.js
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var ClipVertex = Class.create();
-ClipVertex.prototype = 
-{
-	v: new b2Vec2(),
-	id: new b2ContactID(),
-	initialize: function() {
-		// initialize instance variables for references
-		this.v = new b2Vec2();
-		this.id = new b2ContactID();
-		//
-}};
-
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/Features.js b/o3d/samples/box2d-3d/third_party/box2d/collision/Features.js
deleted file mode 100644
index b0042a6..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/Features.js
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-// We use contact ids to facilitate warm starting.
-var Features = Class.create();
-Features.prototype = 
-{
-	//
-	set_referenceFace: function(value){
-		this._referenceFace = value;
-		this._m_id._key = (this._m_id._key & 0xffffff00) | (this._referenceFace & 0x000000ff)
-	},
-	get_referenceFace: function(){
-		return this._referenceFace;
-	},
-	_referenceFace: 0,
-	//
-	set_incidentEdge: function(value){
-		this._incidentEdge = value;
-		this._m_id._key = (this._m_id._key & 0xffff00ff) | ((this._incidentEdge << 8) & 0x0000ff00)
-	},
-	get_incidentEdge: function(){
-		return this._incidentEdge;
-	},
-	_incidentEdge: 0,
-	//
-	set_incidentVertex: function(value){
-		this._incidentVertex = value;
-		this._m_id._key = (this._m_id._key & 0xff00ffff) | ((this._incidentVertex << 16) & 0x00ff0000)
-	},
-	get_incidentVertex: function(){
-		return this._incidentVertex;
-	},
-	_incidentVertex: 0,
-	//
-	set_flip: function(value){
-		this._flip = value;
-		this._m_id._key = (this._m_id._key & 0x00ffffff) | ((this._flip << 24) & 0xff000000)
-	},
-	get_flip: function(){
-		return this._flip;
-	},
-	_flip: 0,
-	_m_id: null,
-	initialize: function() {}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2AABB.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2AABB.js
deleted file mode 100644
index c22ccc3..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2AABB.js
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// A manifold for two touching convex shapes.
-var b2AABB = Class.create();
-b2AABB.prototype = 
-{
-	IsValid: function(){
-		//var d = b2Math.SubtractVV(this.maxVertex, this.minVertex);
-		var dX = this.maxVertex.x;
-		var dY = this.maxVertex.y;
-		dX = this.maxVertex.x;
-		dY = this.maxVertex.y;
-		dX -= this.minVertex.x;
-		dY -= this.minVertex.y;
-		var valid = dX >= 0.0 && dY >= 0.0;
-		valid = valid && this.minVertex.IsValid() && this.maxVertex.IsValid();
-		return valid;
-	},
-
-	minVertex: new b2Vec2(),
-	maxVertex: new b2Vec2(),
-	initialize: function() {
-		// initialize instance variables for references
-		this.minVertex = new b2Vec2();
-		this.maxVertex = new b2Vec2();
-		//
-}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Bound.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Bound.js
deleted file mode 100644
index b203323..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Bound.js
+++ /dev/null
@@ -1,43 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2Bound = Class.create();
-b2Bound.prototype = {
-	IsLower: function(){ return (this.value & 1) == 0; },
-	IsUpper: function(){ return (this.value & 1) == 1; },
-	Swap: function(b){
-		var tempValue = this.value;
-		var tempProxyId = this.proxyId;
-		var tempStabbingCount = this.stabbingCount;
-
-		this.value = b.value;
-		this.proxyId = b.proxyId;
-		this.stabbingCount = b.stabbingCount;
-
-		b.value = tempValue;
-		b.proxyId = tempProxyId;
-		b.stabbingCount = tempStabbingCount;
-	},
-
-	value: 0,
-	proxyId: 0,
-	stabbingCount: 0,
-
-	initialize: function() {}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BoundValues.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2BoundValues.js
deleted file mode 100644
index 25294f2..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BoundValues.js
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2BoundValues = Class.create();
-b2BoundValues.prototype = {
-	lowerValues: [0,0],
-	upperValues: [0,0],
-
-	initialize: function() {
-		// initialize instance variables for references
-		this.lowerValues = [0,0];
-		this.upperValues = [0,0];
-		//
-}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BroadPhase.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2BroadPhase.js
deleted file mode 100644
index f562329..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BroadPhase.js
+++ /dev/null
@@ -1,898 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-/*
-This broad phase uses the Sweep and Prune algorithm in:
-Collision Detection in Interactive 3D Environments by Gino van den Bergen
-Also, some ideas, such integral values for fast compares comes from
-Bullet (http:/www.bulletphysics.com).
-*/
-
-
-// Notes:
-// - we use bound arrays instead of linked lists for cache coherence.
-// - we use quantized integral values for fast compares.
-// - we use short indices rather than pointers to save memory.
-// - we use a stabbing count for fast overlap queries (less than order N).
-// - we also use a time stamp on each proxy to speed up the registration of
-//   overlap query results.
-// - where possible, we compare bound indices instead of values to reduce
-//   cache misses (TODO_ERIN).
-// - no broadphase is perfect and neither is this one: it is not great for huge
-//   worlds (use a multi-SAP instead), it is not great for large objects.
-
-var b2BroadPhase = Class.create();
-b2BroadPhase.prototype = 
-{
-//public:
-	initialize: function(worldAABB, callback){
-		// initialize instance variables for references
-		this.m_pairManager = new b2PairManager();
-		this.m_proxyPool = new Array(b2Settings.b2_maxPairs);
-		this.m_bounds = new Array(2*b2Settings.b2_maxProxies);
-		this.m_queryResults = new Array(b2Settings.b2_maxProxies);
-		this.m_quantizationFactor = new b2Vec2();
-		//
-
-		//b2Settings.b2Assert(worldAABB.IsValid());
-		var i = 0;
-
-		this.m_pairManager.Initialize(this, callback);
-
-		this.m_worldAABB = worldAABB;
-
-		this.m_proxyCount = 0;
-
-		// query results
-		for (i = 0; i < b2Settings.b2_maxProxies; i++){
-			this.m_queryResults[i] = 0;
-		}
-
-		// bounds array
-		this.m_bounds = new Array(2);
-		for (i = 0; i < 2; i++){
-			this.m_bounds[i] = new Array(2*b2Settings.b2_maxProxies);
-			for (var j = 0; j < 2*b2Settings.b2_maxProxies; j++){
-				this.m_bounds[i][j] = new b2Bound();
-			}
-		}
-
-		//var d = b2Math.SubtractVV(worldAABB.maxVertex, worldAABB.minVertex);
-		var dX = worldAABB.maxVertex.x;
-		var dY = worldAABB.maxVertex.y;
-		dX -= worldAABB.minVertex.x;
-		dY -= worldAABB.minVertex.y;
-
-		this.m_quantizationFactor.x = b2Settings.USHRT_MAX / dX;
-		this.m_quantizationFactor.y = b2Settings.USHRT_MAX / dY;
-
-		var tProxy;
-		for (i = 0; i < b2Settings.b2_maxProxies - 1; ++i)
-		{
-			tProxy = new b2Proxy();
-			this.m_proxyPool[i] = tProxy;
-			tProxy.SetNext(i + 1);
-			tProxy.timeStamp = 0;
-			tProxy.overlapCount = b2BroadPhase.b2_invalid;
-			tProxy.userData = null;
-		}
-		tProxy = new b2Proxy();
-		this.m_proxyPool[b2Settings.b2_maxProxies-1] = tProxy;
-		tProxy.SetNext(b2Pair.b2_nullProxy);
-		tProxy.timeStamp = 0;
-		tProxy.overlapCount = b2BroadPhase.b2_invalid;
-		tProxy.userData = null;
-		this.m_freeProxy = 0;
-
-		this.m_timeStamp = 1;
-		this.m_queryResultCount = 0;
-	},
-	//~b2BroadPhase();
-
-	// Use this to see if your proxy is in range. If it is not in range,
-	// it should be destroyed. Otherwise you may get O(m^2) pairs, where m
-	// is the number of proxies that are out of range.
-	InRange: function(aabb){
-		//var d = b2Math.b2MaxV(b2Math.SubtractVV(aabb.minVertex, this.m_worldAABB.maxVertex), b2Math.SubtractVV(this.m_worldAABB.minVertex, aabb.maxVertex));
-		var dX;
-		var dY;
-		var d2X;
-		var d2Y;
-
-		dX = aabb.minVertex.x;
-		dY = aabb.minVertex.y;
-		dX -= this.m_worldAABB.maxVertex.x;
-		dY -= this.m_worldAABB.maxVertex.y;
-
-		d2X = this.m_worldAABB.minVertex.x;
-		d2Y = this.m_worldAABB.minVertex.y;
-		d2X -= aabb.maxVertex.x;
-		d2Y -= aabb.maxVertex.y;
-
-		dX = b2Math.b2Max(dX, d2X);
-		dY = b2Math.b2Max(dY, d2Y);
-
-		return b2Math.b2Max(dX, dY) < 0.0;
-	},
-
-	// Get a single proxy. Returns NULL if the id is invalid.
-	GetProxy: function(proxyId){
-		if (proxyId == b2Pair.b2_nullProxy || this.m_proxyPool[proxyId].IsValid() == false)
-		{
-			return null;
-		}
-
-		return this.m_proxyPool[ proxyId ];
-	},
-
-	// Create and destroy proxies. These call Flush first.
-	CreateProxy: function(aabb, userData){
-		var index = 0;
-		var proxy;
-
-		//b2Settings.b2Assert(this.m_proxyCount < b2_maxProxies);
-		//b2Settings.b2Assert(this.m_freeProxy != b2Pair.b2_nullProxy);
-
-		var proxyId = this.m_freeProxy;
-		proxy = this.m_proxyPool[ proxyId ];
-		this.m_freeProxy = proxy.GetNext();
-
-		proxy.overlapCount = 0;
-		proxy.userData = userData;
-
-		var boundCount = 2 * this.m_proxyCount;
-
-		var lowerValues = new Array();
-		var upperValues = new Array();
-		this.ComputeBounds(lowerValues, upperValues, aabb);
-
-		for (var axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-			var lowerIndex = 0;
-			var upperIndex = 0;
-			var lowerIndexOut = [lowerIndex];
-			var upperIndexOut = [upperIndex];
-			this.Query(lowerIndexOut, upperIndexOut, lowerValues[axis], upperValues[axis], bounds, boundCount, axis);
-			lowerIndex = lowerIndexOut[0];
-			upperIndex = upperIndexOut[0];
-
-			// Replace memmove calls
-			//memmove(bounds + upperIndex + 2, bounds + upperIndex, (edgeCount - upperIndex) * sizeof(b2Bound));
-			var tArr = new Array();
-			var j = 0;
-			var tEnd = boundCount - upperIndex
-			var tBound1;
-			var tBound2;
-			// make temp array
-			for (j = 0; j < tEnd; j++){
-				tArr[j] = new b2Bound();
-				tBound1 = tArr[j];
-				tBound2 = bounds[upperIndex+j];
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			// move temp array back in to bounds
-			tEnd = tArr.length;
-			var tIndex = upperIndex+2;
-			for (j = 0; j < tEnd; j++){
-				//bounds[tIndex+j] = tArr[j];
-				tBound2 = tArr[j];
-				tBound1 = bounds[tIndex+j]
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			//memmove(bounds + lowerIndex + 1, bounds + lowerIndex, (upperIndex - lowerIndex) * sizeof(b2Bound));
-			// make temp array
-			tArr = new Array();
-			tEnd = upperIndex - lowerIndex;
-			for (j = 0; j < tEnd; j++){
-				tArr[j] = new b2Bound();
-				tBound1 = tArr[j];
-				tBound2 = bounds[lowerIndex+j];
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			// move temp array back in to bounds
-			tEnd = tArr.length;
-			tIndex = lowerIndex+1;
-			for (j = 0; j < tEnd; j++){
-				//bounds[tIndex+j] = tArr[j];
-				tBound2 = tArr[j];
-				tBound1 = bounds[tIndex+j]
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-
-			// The upper index has increased because of the lower bound insertion.
-			++upperIndex;
-
-			// Copy in the new bounds.
-			bounds[lowerIndex].value = lowerValues[axis];
-			bounds[lowerIndex].proxyId = proxyId;
-			bounds[upperIndex].value = upperValues[axis];
-			bounds[upperIndex].proxyId = proxyId;
-
-			bounds[lowerIndex].stabbingCount = lowerIndex == 0 ? 0 : bounds[lowerIndex-1].stabbingCount;
-			bounds[upperIndex].stabbingCount = bounds[upperIndex-1].stabbingCount;
-
-			// Adjust the stabbing count between the new bounds.
-			for (index = lowerIndex; index < upperIndex; ++index)
-			{
-				bounds[index].stabbingCount++;
-			}
-
-			// Adjust the all the affected bound indices.
-			for (index = lowerIndex; index < boundCount + 2; ++index)
-			{
-				var proxy2 = this.m_proxyPool[ bounds[index].proxyId ];
-				if (bounds[index].IsLower())
-				{
-					proxy2.lowerBounds[axis] = index;
-				}
-				else
-				{
-					proxy2.upperBounds[axis] = index;
-				}
-			}
-		}
-
-		++this.m_proxyCount;
-
-		//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
-
-		for (var i = 0; i < this.m_queryResultCount; ++i)
-		{
-			//b2Settings.b2Assert(this.m_queryResults[i] < b2_maxProxies);
-			//b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
-
-			this.m_pairManager.AddBufferedPair(proxyId, this.m_queryResults[i]);
-		}
-
-		this.m_pairManager.Commit();
-
-		// Prepare for next query.
-		this.m_queryResultCount = 0;
-		this.IncrementTimeStamp();
-
-		return proxyId;
-	},
-
-	DestroyProxy: function(proxyId){
-
-		//b2Settings.b2Assert(0 < this.m_proxyCount && this.m_proxyCount <= b2_maxProxies);
-
-		var proxy = this.m_proxyPool[ proxyId ];
-		//b2Settings.b2Assert(proxy.IsValid());
-
-		var boundCount = 2 * this.m_proxyCount;
-
-		for (var axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-
-			var lowerIndex = proxy.lowerBounds[axis];
-			var upperIndex = proxy.upperBounds[axis];
-			var lowerValue = bounds[lowerIndex].value;
-			var upperValue = bounds[upperIndex].value;
-
-			// replace memmove calls
-			//memmove(bounds + lowerIndex, bounds + lowerIndex + 1, (upperIndex - lowerIndex - 1) * sizeof(b2Bound));
-			var tArr = new Array();
-			var j = 0;
-			var tEnd = upperIndex - lowerIndex - 1;
-			var tBound1;
-			var tBound2;
-			// make temp array
-			for (j = 0; j < tEnd; j++){
-				tArr[j] = new b2Bound();
-				tBound1 = tArr[j];
-				tBound2 = bounds[lowerIndex+1+j];
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			// move temp array back in to bounds
-			tEnd = tArr.length;
-			var tIndex = lowerIndex;
-			for (j = 0; j < tEnd; j++){
-				//bounds[tIndex+j] = tArr[j];
-				tBound2 = tArr[j];
-				tBound1 = bounds[tIndex+j]
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			//memmove(bounds + upperIndex-1, bounds + upperIndex + 1, (edgeCount - upperIndex - 1) * sizeof(b2Bound));
-			// make temp array
-			tArr = new Array();
-			tEnd = boundCount - upperIndex - 1;
-			for (j = 0; j < tEnd; j++){
-				tArr[j] = new b2Bound();
-				tBound1 = tArr[j];
-				tBound2 = bounds[upperIndex+1+j];
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-			// move temp array back in to bounds
-			tEnd = tArr.length;
-			tIndex = upperIndex-1;
-			for (j = 0; j < tEnd; j++){
-				//bounds[tIndex+j] = tArr[j];
-				tBound2 = tArr[j];
-				tBound1 = bounds[tIndex+j]
-				tBound1.value = tBound2.value;
-				tBound1.proxyId = tBound2.proxyId;
-				tBound1.stabbingCount = tBound2.stabbingCount;
-			}
-
-			// Fix bound indices.
-			tEnd = boundCount - 2;
-			for (var index = lowerIndex; index < tEnd; ++index)
-			{
-				var proxy2 = this.m_proxyPool[ bounds[index].proxyId ];
-				if (bounds[index].IsLower())
-				{
-					proxy2.lowerBounds[axis] = index;
-				}
-				else
-				{
-					proxy2.upperBounds[axis] = index;
-				}
-			}
-
-			// Fix stabbing count.
-			tEnd = upperIndex - 1;
-			for (var index2 = lowerIndex; index2 < tEnd; ++index2)
-			{
-				bounds[index2].stabbingCount--;
-			}
-
-			// this.Query for pairs to be removed. lowerIndex and upperIndex are not needed.
-			// make lowerIndex and upper output using an array and do this for others if compiler doesn't pick them up
-			this.Query([0], [0], lowerValue, upperValue, bounds, boundCount - 2, axis);
-		}
-
-		//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
-
-		for (var i = 0; i < this.m_queryResultCount; ++i)
-		{
-			//b2Settings.b2Assert(this.m_proxyPool[this.m_queryResults[i]].IsValid());
-
-			this.m_pairManager.RemoveBufferedPair(proxyId, this.m_queryResults[i]);
-		}
-
-		this.m_pairManager.Commit();
-
-		// Prepare for next query.
-		this.m_queryResultCount = 0;
-		this.IncrementTimeStamp();
-
-		// Return the proxy to the pool.
-		proxy.userData = null;
-		proxy.overlapCount = b2BroadPhase.b2_invalid;
-		proxy.lowerBounds[0] = b2BroadPhase.b2_invalid;
-		proxy.lowerBounds[1] = b2BroadPhase.b2_invalid;
-		proxy.upperBounds[0] = b2BroadPhase.b2_invalid;
-		proxy.upperBounds[1] = b2BroadPhase.b2_invalid;
-
-		proxy.SetNext(this.m_freeProxy);
-		this.m_freeProxy = proxyId;
-		--this.m_proxyCount;
-	},
-
-
-	// Call this.MoveProxy times like, then when you are done
-	// call this.Commit to finalized the proxy pairs (for your time step).
-	MoveProxy: function(proxyId, aabb){
-		var axis = 0;
-		var index = 0;
-		var bound;
-		var prevBound
-		var nextBound
-		var nextProxyId = 0;
-		var nextProxy;
-
-		if (proxyId == b2Pair.b2_nullProxy || b2Settings.b2_maxProxies <= proxyId)
-		{
-			//b2Settings.b2Assert(false);
-			return;
-		}
-
-		if (aabb.IsValid() == false)
-		{
-			//b2Settings.b2Assert(false);
-			return;
-		}
-
-		var boundCount = 2 * this.m_proxyCount;
-
-		var proxy = this.m_proxyPool[ proxyId ];
-		// Get new bound values
-		var newValues = new b2BoundValues();
-		this.ComputeBounds(newValues.lowerValues, newValues.upperValues, aabb);
-
-		// Get old bound values
-		var oldValues = new b2BoundValues();
-		for (axis = 0; axis < 2; ++axis)
-		{
-			oldValues.lowerValues[axis] = this.m_bounds[axis][proxy.lowerBounds[axis]].value;
-			oldValues.upperValues[axis] = this.m_bounds[axis][proxy.upperBounds[axis]].value;
-		}
-
-		for (axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-
-			var lowerIndex = proxy.lowerBounds[axis];
-			var upperIndex = proxy.upperBounds[axis];
-
-			var lowerValue = newValues.lowerValues[axis];
-			var upperValue = newValues.upperValues[axis];
-
-			var deltaLower = lowerValue - bounds[lowerIndex].value;
-			var deltaUpper = upperValue - bounds[upperIndex].value;
-
-			bounds[lowerIndex].value = lowerValue;
-			bounds[upperIndex].value = upperValue;
-
-			//
-			// Expanding adds overlaps
-			//
-
-			// Should we move the lower bound down?
-			if (deltaLower < 0)
-			{
-				index = lowerIndex;
-				while (index > 0 && lowerValue < bounds[index-1].value)
-				{
-					bound = bounds[index];
-					prevBound = bounds[index - 1];
-
-					var prevProxyId = prevBound.proxyId;
-					var prevProxy = this.m_proxyPool[ prevBound.proxyId ];
-
-					prevBound.stabbingCount++;
-
-					if (prevBound.IsUpper() == true)
-					{
-						if (this.TestOverlap(newValues, prevProxy))
-						{
-							this.m_pairManager.AddBufferedPair(proxyId, prevProxyId);
-						}
-
-						prevProxy.upperBounds[axis]++;
-						bound.stabbingCount++;
-					}
-					else
-					{
-						prevProxy.lowerBounds[axis]++;
-						bound.stabbingCount--;
-					}
-
-					proxy.lowerBounds[axis]--;
-
-					// swap
-					//var temp = bound;
-					//bound = prevEdge;
-					//prevEdge = temp;
-					bound.Swap(prevBound);
-					//b2Math.b2Swap(bound, prevEdge);
-					--index;
-				}
-			}
-
-			// Should we move the upper bound up?
-			if (deltaUpper > 0)
-			{
-				index = upperIndex;
-				while (index < boundCount-1 && bounds[index+1].value <= upperValue)
-				{
-					bound = bounds[ index ];
-					nextBound = bounds[ index + 1 ];
-					nextProxyId = nextBound.proxyId;
-					nextProxy = this.m_proxyPool[ nextProxyId ];
-
-					nextBound.stabbingCount++;
-
-					if (nextBound.IsLower() == true)
-					{
-						if (this.TestOverlap(newValues, nextProxy))
-						{
-							this.m_pairManager.AddBufferedPair(proxyId, nextProxyId);
-						}
-
-						nextProxy.lowerBounds[axis]--;
-						bound.stabbingCount++;
-					}
-					else
-					{
-						nextProxy.upperBounds[axis]--;
-						bound.stabbingCount--;
-					}
-
-					proxy.upperBounds[axis]++;
-					// swap
-					//var temp = bound;
-					//bound = nextEdge;
-					//nextEdge = temp;
-					bound.Swap(nextBound);
-					//b2Math.b2Swap(bound, nextEdge);
-					index++;
-				}
-			}
-
-			//
-			// Shrinking removes overlaps
-			//
-
-			// Should we move the lower bound up?
-			if (deltaLower > 0)
-			{
-				index = lowerIndex;
-				while (index < boundCount-1 && bounds[index+1].value <= lowerValue)
-				{
-					bound = bounds[ index ];
-					nextBound = bounds[ index + 1 ];
-
-					nextProxyId = nextBound.proxyId;
-					nextProxy = this.m_proxyPool[ nextProxyId ];
-
-					nextBound.stabbingCount--;
-
-					if (nextBound.IsUpper())
-					{
-						if (this.TestOverlap(oldValues, nextProxy))
-						{
-							this.m_pairManager.RemoveBufferedPair(proxyId, nextProxyId);
-						}
-
-						nextProxy.upperBounds[axis]--;
-						bound.stabbingCount--;
-					}
-					else
-					{
-						nextProxy.lowerBounds[axis]--;
-						bound.stabbingCount++;
-					}
-
-					proxy.lowerBounds[axis]++;
-					// swap
-					//var temp = bound;
-					//bound = nextEdge;
-					//nextEdge = temp;
-					bound.Swap(nextBound);
-					//b2Math.b2Swap(bound, nextEdge);
-					index++;
-				}
-			}
-
-			// Should we move the upper bound down?
-			if (deltaUpper < 0)
-			{
-				index = upperIndex;
-				while (index > 0 && upperValue < bounds[index-1].value)
-				{
-					bound = bounds[index];
-					prevBound = bounds[index - 1];
-
-					prevProxyId = prevBound.proxyId;
-					prevProxy = this.m_proxyPool[ prevProxyId ];
-
-					prevBound.stabbingCount--;
-
-					if (prevBound.IsLower() == true)
-					{
-						if (this.TestOverlap(oldValues, prevProxy))
-						{
-							this.m_pairManager.RemoveBufferedPair(proxyId, prevProxyId);
-						}
-
-						prevProxy.lowerBounds[axis]++;
-						bound.stabbingCount--;
-					}
-					else
-					{
-						prevProxy.upperBounds[axis]++;
-						bound.stabbingCount++;
-					}
-
-					proxy.upperBounds[axis]--;
-					// swap
-					//var temp = bound;
-					//bound = prevEdge;
-					//prevEdge = temp;
-					bound.Swap(prevBound);
-					//b2Math.b2Swap(bound, prevEdge);
-					index--;
-				}
-			}
-		}
-	},
-
-	Commit: function(){
-		this.m_pairManager.Commit();
-	},
-
-	// this.Query an AABB for overlapping proxies, returns the user data and
-	// the count, up to the supplied maximum count.
-	QueryAABB: function(aabb, userData, maxCount){
-		var lowerValues = new Array();
-		var upperValues = new Array();
-		this.ComputeBounds(lowerValues, upperValues, aabb);
-
-		var lowerIndex = 0;
-		var upperIndex = 0;
-		var lowerIndexOut = [lowerIndex];
-		var upperIndexOut = [upperIndex];
-		this.Query(lowerIndexOut, upperIndexOut, lowerValues[0], upperValues[0], this.m_bounds[0], 2*this.m_proxyCount, 0);
-		this.Query(lowerIndexOut, upperIndexOut, lowerValues[1], upperValues[1], this.m_bounds[1], 2*this.m_proxyCount, 1);
-
-		//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
-
-		var count = 0;
-		for (var i = 0; i < this.m_queryResultCount && count < maxCount; ++i, ++count)
-		{
-			//b2Settings.b2Assert(this.m_queryResults[i] < b2Settings.b2_maxProxies);
-			var proxy = this.m_proxyPool[ this.m_queryResults[i] ];
-			//b2Settings.b2Assert(proxy.IsValid());
-			userData[i] = proxy.userData;
-		}
-
-		// Prepare for next query.
-		this.m_queryResultCount = 0;
-		this.IncrementTimeStamp();
-
-		return count;
-	},
-
-	Validate: function(){
-		var pair;
-		var proxy1;
-		var proxy2;
-		var overlap;
-
-		for (var axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-
-			var boundCount = 2 * this.m_proxyCount;
-			var stabbingCount = 0;
-
-			for (var i = 0; i < boundCount; ++i)
-			{
-				var bound = bounds[i];
-				//b2Settings.b2Assert(i == 0 || bounds[i-1].value <= bound->value);
-				//b2Settings.b2Assert(bound->proxyId != b2_nullProxy);
-				//b2Settings.b2Assert(this.m_proxyPool[bound->proxyId].IsValid());
-
-				if (bound.IsLower() == true)
-				{
-					//b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].lowerBounds[axis] == i);
-					stabbingCount++;
-				}
-				else
-				{
-					//b2Settings.b2Assert(this.m_proxyPool[bound.proxyId].upperBounds[axis] == i);
-					stabbingCount--;
-				}
-
-				//b2Settings.b2Assert(bound.stabbingCount == stabbingCount);
-			}
-		}
-
-	},
-
-//private:
-	ComputeBounds: function(lowerValues, upperValues, aabb)
-	{
-		//b2Settings.b2Assert(aabb.maxVertex.x > aabb.minVertex.x);
-		//b2Settings.b2Assert(aabb.maxVertex.y > aabb.minVertex.y);
-
-		//var minVertex = b2Math.b2ClampV(aabb.minVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
-		var minVertexX = aabb.minVertex.x;
-		var minVertexY = aabb.minVertex.y;
-		minVertexX = b2Math.b2Min(minVertexX, this.m_worldAABB.maxVertex.x);
-		minVertexY = b2Math.b2Min(minVertexY, this.m_worldAABB.maxVertex.y);
-		minVertexX = b2Math.b2Max(minVertexX, this.m_worldAABB.minVertex.x);
-		minVertexY = b2Math.b2Max(minVertexY, this.m_worldAABB.minVertex.y);
-
-		//var maxVertex = b2Math.b2ClampV(aabb.maxVertex, this.m_worldAABB.minVertex, this.m_worldAABB.maxVertex);
-		var maxVertexX = aabb.maxVertex.x;
-		var maxVertexY = aabb.maxVertex.y;
-		maxVertexX = b2Math.b2Min(maxVertexX, this.m_worldAABB.maxVertex.x);
-		maxVertexY = b2Math.b2Min(maxVertexY, this.m_worldAABB.maxVertex.y);
-		maxVertexX = b2Math.b2Max(maxVertexX, this.m_worldAABB.minVertex.x);
-		maxVertexY = b2Math.b2Max(maxVertexY, this.m_worldAABB.minVertex.y);
-
-		// Bump lower bounds downs and upper bounds up. This ensures correct sorting of
-		// lower/upper bounds that would have equal values.
-		// TODO_ERIN implement fast float to uint16 conversion.
-		lowerValues[0] = /*uint*/(this.m_quantizationFactor.x * (minVertexX - this.m_worldAABB.minVertex.x)) & (b2Settings.USHRT_MAX - 1);
-		upperValues[0] = (/*uint*/(this.m_quantizationFactor.x * (maxVertexX - this.m_worldAABB.minVertex.x))& 0x0000ffff) | 1;
-
-		lowerValues[1] = /*uint*/(this.m_quantizationFactor.y * (minVertexY - this.m_worldAABB.minVertex.y)) & (b2Settings.USHRT_MAX - 1);
-		upperValues[1] = (/*uint*/(this.m_quantizationFactor.y * (maxVertexY - this.m_worldAABB.minVertex.y))& 0x0000ffff) | 1;
-	},
-
-	// This one is only used for validation.
-	TestOverlapValidate: function(p1, p2){
-
-		for (var axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-
-			//b2Settings.b2Assert(p1.lowerBounds[axis] < 2 * this.m_proxyCount);
-			//b2Settings.b2Assert(p1.upperBounds[axis] < 2 * this.m_proxyCount);
-			//b2Settings.b2Assert(p2.lowerBounds[axis] < 2 * this.m_proxyCount);
-			//b2Settings.b2Assert(p2.upperBounds[axis] < 2 * this.m_proxyCount);
-
-			if (bounds[p1.lowerBounds[axis]].value > bounds[p2.upperBounds[axis]].value)
-				return false;
-
-			if (bounds[p1.upperBounds[axis]].value < bounds[p2.lowerBounds[axis]].value)
-				return false;
-		}
-
-		return true;
-	},
-
-	TestOverlap: function(b, p)
-	{
-		for (var axis = 0; axis < 2; ++axis)
-		{
-			var bounds = this.m_bounds[axis];
-
-			//b2Settings.b2Assert(p.lowerBounds[axis] < 2 * this.m_proxyCount);
-			//b2Settings.b2Assert(p.upperBounds[axis] < 2 * this.m_proxyCount);
-
-			if (b.lowerValues[axis] > bounds[p.upperBounds[axis]].value)
-				return false;
-
-			if (b.upperValues[axis] < bounds[p.lowerBounds[axis]].value)
-				return false;
-		}
-
-		return true;
-	},
-
-	Query: function(lowerQueryOut, upperQueryOut, lowerValue, upperValue, bounds, boundCount, axis){
-
-		var lowerQuery = b2BroadPhase.BinarySearch(bounds, boundCount, lowerValue);
-		var upperQuery = b2BroadPhase.BinarySearch(bounds, boundCount, upperValue);
-
-		// Easy case: lowerQuery <= lowerIndex(i) < upperQuery
-		// Solution: search query range for min bounds.
-		for (var j = lowerQuery; j < upperQuery; ++j)
-		{
-			if (bounds[j].IsLower())
-			{
-				this.IncrementOverlapCount(bounds[j].proxyId);
-			}
-		}
-
-		// Hard case: lowerIndex(i) < lowerQuery < upperIndex(i)
-		// Solution: use the stabbing count to search down the bound array.
-		if (lowerQuery > 0)
-		{
-			var i = lowerQuery - 1;
-			var s = bounds[i].stabbingCount;
-
-			// Find the s overlaps.
-			while (s)
-			{
-				//b2Settings.b2Assert(i >= 0);
-
-				if (bounds[i].IsLower())
-				{
-					var proxy = this.m_proxyPool[ bounds[i].proxyId ];
-					if (lowerQuery <= proxy.upperBounds[axis])
-					{
-						this.IncrementOverlapCount(bounds[i].proxyId);
-						--s;
-					}
-				}
-				--i;
-			}
-		}
-
-		lowerQueryOut[0] = lowerQuery;
-		upperQueryOut[0] = upperQuery;
-	},
-
-
-	IncrementOverlapCount: function(proxyId){
-		var proxy = this.m_proxyPool[ proxyId ];
-		if (proxy.timeStamp < this.m_timeStamp)
-		{
-			proxy.timeStamp = this.m_timeStamp;
-			proxy.overlapCount = 1;
-		}
-		else
-		{
-			proxy.overlapCount = 2;
-			//b2Settings.b2Assert(this.m_queryResultCount < b2Settings.b2_maxProxies);
-			this.m_queryResults[this.m_queryResultCount] = proxyId;
-			++this.m_queryResultCount;
-		}
-	},
-	IncrementTimeStamp: function(){
-		if (this.m_timeStamp == b2Settings.USHRT_MAX)
-		{
-			for (var i = 0; i < b2Settings.b2_maxProxies; ++i)
-			{
-				this.m_proxyPool[i].timeStamp = 0;
-			}
-			this.m_timeStamp = 1;
-		}
-		else
-		{
-			++this.m_timeStamp;
-		}
-	},
-
-//public:
-	m_pairManager: new b2PairManager(),
-
-	m_proxyPool: new Array(b2Settings.b2_maxPairs),
-	m_freeProxy: 0,
-
-	m_bounds: new Array(2*b2Settings.b2_maxProxies),
-
-	m_queryResults: new Array(b2Settings.b2_maxProxies),
-	m_queryResultCount: 0,
-
-	m_worldAABB: null,
-	m_quantizationFactor: new b2Vec2(),
-	m_proxyCount: 0,
-	m_timeStamp: 0};
-b2BroadPhase.s_validate = false;
-b2BroadPhase.b2_invalid = b2Settings.USHRT_MAX;
-b2BroadPhase.b2_nullEdge = b2Settings.USHRT_MAX;
-b2BroadPhase.BinarySearch = function(bounds, count, value)
-	{
-		var low = 0;
-		var high = count - 1;
-		while (low <= high)
-		{
-			var mid = Math.floor((low + high) / 2);
-			if (bounds[mid].value > value)
-			{
-				high = mid - 1;
-			}
-			else if (bounds[mid].value < value)
-			{
-				low = mid + 1;
-			}
-			else
-			{
-				return /*uint*/(mid);
-			}
-		}
-
-		return /*uint*/(low);
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BufferedPair.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2BufferedPair.js
deleted file mode 100644
index fe1419e..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2BufferedPair.js
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2BufferedPair = Class.create();
-b2BufferedPair.prototype = {
-	proxyId1: 0,
-	proxyId2: 0,
-
-	initialize: function() {}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Collision.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Collision.js
deleted file mode 100644
index 31719e3..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Collision.js
+++ /dev/null
@@ -1,738 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-var b2Collision = Class.create();
-b2Collision.prototype = {
-
-	// Null feature
-
-
-
-
-	// Find the separation between poly1 and poly2 for a give edge normal on poly1.
-
-
-
-
-	// Find the max separation between poly1 and poly2 using edge normals
-	// from poly1.
-
-
-
-
-
-
-
-	// Find edge normal of max separation on A - return if separating axis is found
-	// Find edge normal of max separation on B - return if separation axis is found
-	// Choose reference edge(minA, minB)
-	// Find incident edge
-	// Clip
-	// The normal points from 1 to 2
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-	initialize: function() {}}
-b2Collision.b2_nullFeature = 0x000000ff;
-b2Collision.ClipSegmentToLine = function(vOut, vIn, normal, offset)
-	{
-		// Start with no output points
-		var numOut = 0;
-
-		var vIn0 = vIn[0].v;
-		var vIn1 = vIn[1].v;
-
-		// Calculate the distance of end points to the line
-		var distance0 = b2Math.b2Dot(normal, vIn[0].v) - offset;
-		var distance1 = b2Math.b2Dot(normal, vIn[1].v) - offset;
-
-		// If the points are behind the plane
-		if (distance0 <= 0.0) vOut[numOut++] = vIn[0];
-		if (distance1 <= 0.0) vOut[numOut++] = vIn[1];
-
-		// If the points are on different sides of the plane
-		if (distance0 * distance1 < 0.0)
-		{
-			// Find intersection point of edge and plane
-			var interp = distance0 / (distance0 - distance1);
-			// expanded for performance
-			var tVec = vOut[numOut].v;
-			tVec.x = vIn0.x + interp * (vIn1.x - vIn0.x);
-			tVec.y = vIn0.y + interp * (vIn1.y - vIn0.y);
-			if (distance0 > 0.0)
-			{
-				vOut[numOut].id = vIn[0].id;
-			}
-			else
-			{
-				vOut[numOut].id = vIn[1].id;
-			}
-			++numOut;
-		}
-
-		return numOut;
-	};
-b2Collision.EdgeSeparation = function(poly1, edge1, poly2)
-	{
-		var vert1s = poly1.m_vertices;
-		var count2 = poly2.m_vertexCount;
-		var vert2s = poly2.m_vertices;
-
-		// Convert normal from into poly2's frame.
-		//b2Settings.b2Assert(edge1 < poly1.m_vertexCount);
-
-		//var normal = b2Math.b2MulMV(poly1.m_R, poly1->m_normals[edge1]);
-		var normalX = poly1.m_normals[edge1].x;
-		var normalY = poly1.m_normals[edge1].y;
-		var tX = normalX;
-		var tMat = poly1.m_R;
-		normalX = tMat.col1.x * tX + tMat.col2.x * normalY;
-		normalY = tMat.col1.y * tX + tMat.col2.y * normalY;
-		// ^^^^^^^ normal.MulM(poly1.m_R);
-
-		//var normalLocal2 = b2Math.b2MulTMV(poly2.m_R, normal);
-		var normalLocal2X = normalX;
-		var normalLocal2Y = normalY;
-		tMat = poly2.m_R;
-		tX = normalLocal2X * tMat.col1.x + normalLocal2Y * tMat.col1.y;
-		normalLocal2Y = normalLocal2X * tMat.col2.x + normalLocal2Y * tMat.col2.y;
-		normalLocal2X = tX;
-		// ^^^^^ normalLocal2.MulTM(poly2.m_R);
-
-		// Find support vertex on poly2 for -normal.
-		var vertexIndex2 = 0;
-		var minDot = Number.MAX_VALUE;
-		for (var i = 0; i < count2; ++i)
-		{
-			//var dot = b2Math.b2Dot(vert2s[i], normalLocal2);
-			var tVec = vert2s[i];
-			var dot = tVec.x * normalLocal2X + tVec.y * normalLocal2Y;
-			if (dot < minDot)
-			{
-				minDot = dot;
-				vertexIndex2 = i;
-			}
-		}
-
-		//b2Vec2 v1 = poly1->m_position + b2Mul(poly1->m_R, vert1s[edge1]);
-		tMat = poly1.m_R;
-		var v1X = poly1.m_position.x + (tMat.col1.x * vert1s[edge1].x + tMat.col2.x * vert1s[edge1].y)
-		var v1Y = poly1.m_position.y + (tMat.col1.y * vert1s[edge1].x + tMat.col2.y * vert1s[edge1].y)
-
-		//b2Vec2 v2 = poly2->m_position + b2Mul(poly2->m_R, vert2s[vertexIndex2]);
-		tMat = poly2.m_R;
-		var v2X = poly2.m_position.x + (tMat.col1.x * vert2s[vertexIndex2].x + tMat.col2.x * vert2s[vertexIndex2].y)
-		var v2Y = poly2.m_position.y + (tMat.col1.y * vert2s[vertexIndex2].x + tMat.col2.y * vert2s[vertexIndex2].y)
-
-		//var separation = b2Math.b2Dot( b2Math.SubtractVV( v2, v1 ) , normal);
-		v2X -= v1X;
-		v2Y -= v1Y;
-		//var separation = b2Math.b2Dot( v2 , normal);
-		var separation = v2X * normalX + v2Y * normalY;
-		return separation;
-	};
-b2Collision.FindMaxSeparation = function(edgeIndex /*int ptr*/, poly1, poly2, conservative)
-	{
-		var count1 = poly1.m_vertexCount;
-
-		// Vector pointing from the origin of poly1 to the origin of poly2.
-		//var d = b2Math.SubtractVV( poly2.m_position, poly1.m_position );
-		var dX = poly2.m_position.x - poly1.m_position.x;
-		var dY = poly2.m_position.y - poly1.m_position.y;
-
-		//var dLocal1 = b2Math.b2MulTMV(poly1.m_R, d);
-		var dLocal1X = (dX * poly1.m_R.col1.x + dY * poly1.m_R.col1.y);
-		var dLocal1Y = (dX * poly1.m_R.col2.x + dY * poly1.m_R.col2.y);
-
-		// Get support vertex hint for our search
-		var edge = 0;
-		var maxDot = -Number.MAX_VALUE;
-		for (var i = 0; i < count1; ++i)
-		{
-			//var dot = b2Math.b2Dot(poly.m_normals[i], dLocal1);
-			var dot = (poly1.m_normals[i].x * dLocal1X + poly1.m_normals[i].y * dLocal1Y);
-			if (dot > maxDot)
-			{
-				maxDot = dot;
-				edge = i;
-			}
-		}
-
-		// Get the separation for the edge normal.
-		var s = b2Collision.EdgeSeparation(poly1, edge, poly2);
-		if (s > 0.0 && conservative == false)
-		{
-			return s;
-		}
-
-		// Check the separation for the neighboring edges.
-		var prevEdge = edge - 1 >= 0 ? edge - 1 : count1 - 1;
-		var sPrev = b2Collision.EdgeSeparation(poly1, prevEdge, poly2);
-		if (sPrev > 0.0 && conservative == false)
-		{
-			return sPrev;
-		}
-
-		var nextEdge = edge + 1 < count1 ? edge + 1 : 0;
-		var sNext = b2Collision.EdgeSeparation(poly1, nextEdge, poly2);
-		if (sNext > 0.0 && conservative == false)
-		{
-			return sNext;
-		}
-
-		// Find the best edge and the search direction.
-		var bestEdge = 0;
-		var bestSeparation;
-		var increment = 0;
-		if (sPrev > s && sPrev > sNext)
-		{
-			increment = -1;
-			bestEdge = prevEdge;
-			bestSeparation = sPrev;
-		}
-		else if (sNext > s)
-		{
-			increment = 1;
-			bestEdge = nextEdge;
-			bestSeparation = sNext;
-		}
-		else
-		{
-			// pointer out
-			edgeIndex[0] = edge;
-			return s;
-		}
-
-		while (true)
-		{
-
-			if (increment == -1)
-				edge = bestEdge - 1 >= 0 ? bestEdge - 1 : count1 - 1;
-			else
-				edge = bestEdge + 1 < count1 ? bestEdge + 1 : 0;
-
-			s = b2Collision.EdgeSeparation(poly1, edge, poly2);
-			if (s > 0.0 && conservative == false)
-			{
-				return s;
-			}
-
-			if (s > bestSeparation)
-			{
-				bestEdge = edge;
-				bestSeparation = s;
-			}
-			else
-			{
-				break;
-			}
-		}
-
-		// pointer out
-		edgeIndex[0] = bestEdge;
-		return bestSeparation;
-	};
-b2Collision.FindIncidentEdge = function(c, poly1, edge1, poly2)
-	{
-		var count1 = poly1.m_vertexCount;
-		var vert1s = poly1.m_vertices;
-		var count2 = poly2.m_vertexCount;
-		var vert2s = poly2.m_vertices;
-
-		// Get the vertices associated with edge1.
-		var vertex11 = edge1;
-		var vertex12 = edge1 + 1 == count1 ? 0 : edge1 + 1;
-
-		// Get the normal of edge1.
-		var tVec = vert1s[vertex12];
-		//var normal1Local1 = b2Math.b2CrossVF( b2Math.SubtractVV( vert1s[vertex12], vert1s[vertex11] ), 1.0);
-		var normal1Local1X = tVec.x;
-		var normal1Local1Y = tVec.y;
-		tVec = vert1s[vertex11];
-		normal1Local1X -= tVec.x;
-		normal1Local1Y -= tVec.y;
-		var tX = normal1Local1X;
-		normal1Local1X = normal1Local1Y;
-		normal1Local1Y = -tX;
-		// ^^^^ normal1Local1.CrossVF(1.0);
-
-		var invLength = 1.0 / Math.sqrt(normal1Local1X*normal1Local1X + normal1Local1Y*normal1Local1Y);
-		normal1Local1X *= invLength;
-		normal1Local1Y *= invLength;
-		// ^^^^normal1Local1.Normalize();
-		//var normal1 = b2Math.b2MulMV(poly1.m_R, normal1Local1);
-		var normal1X = normal1Local1X;
-		var normal1Y = normal1Local1Y;
-
-		tX = normal1X;
-		var tMat = poly1.m_R;
-		normal1X = tMat.col1.x * tX + tMat.col2.x * normal1Y;
-		normal1Y = tMat.col1.y * tX + tMat.col2.y * normal1Y;
-		// ^^^^ normal1.MulM(poly1.m_R);
-
-		//var normal1Local2 = b2Math.b2MulTMV(poly2.m_R, normal1);
-		var normal1Local2X = normal1X;
-		var normal1Local2Y = normal1Y;
-		tMat = poly2.m_R;
-		tX = normal1Local2X * tMat.col1.x + normal1Local2Y * tMat.col1.y;
-		normal1Local2Y = normal1Local2X * tMat.col2.x + normal1Local2Y * tMat.col2.y;
-		normal1Local2X = tX;
-		// ^^^^ normal1Local2.MulTM(poly2.m_R);
-
-		// Find the incident edge on poly2.
-		var vertex21 = 0;
-		var vertex22 = 0;
-		var minDot = Number.MAX_VALUE;
-		for (var i = 0; i < count2; ++i)
-		{
-			var i1 = i;
-			var i2 = i + 1 < count2 ? i + 1 : 0;
-
-			//var normal2Local2 = b2Math.b2CrossVF( b2Math.SubtractVV( vert2s[i2], vert2s[i1] ), 1.0);
-			tVec = vert2s[i2];
-			var normal2Local2X = tVec.x;
-			var normal2Local2Y = tVec.y;
-			tVec = vert2s[i1];
-			normal2Local2X -= tVec.x;
-			normal2Local2Y -= tVec.y;
-			tX = normal2Local2X;
-			normal2Local2X = normal2Local2Y;
-			normal2Local2Y = -tX;
-			// ^^^^ normal2Local2.CrossVF(1.0);
-
-			invLength = 1.0 / Math.sqrt(normal2Local2X*normal2Local2X + normal2Local2Y*normal2Local2Y);
-			normal2Local2X *= invLength;
-			normal2Local2Y *= invLength;
-			// ^^^^ normal2Local2.Normalize();
-
-			//var dot = b2Math.b2Dot(normal2Local2, normal1Local2);
-			var dot = normal2Local2X * normal1Local2X + normal2Local2Y * normal1Local2Y;
-			if (dot < minDot)
-			{
-				minDot = dot;
-				vertex21 = i1;
-				vertex22 = i2;
-			}
-		}
-
-		var tClip;
-		// Build the clip vertices for the incident edge.
-		tClip = c[0];
-		//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex21]));
-		tVec = tClip.v;
-		tVec.SetV(vert2s[vertex21]);
-		tVec.MulM(poly2.m_R);
-		tVec.Add(poly2.m_position);
-
-		tClip.id.features.referenceFace = edge1;
-		tClip.id.features.incidentEdge = vertex21;
-		tClip.id.features.incidentVertex = vertex21;
-
-		tClip = c[1];
-		//tClip.v = b2Math.AddVV(poly2.m_position, b2Math.b2MulMV(poly2.m_R, vert2s[vertex22]));
-		tVec = tClip.v;
-		tVec.SetV(vert2s[vertex22]);
-		tVec.MulM(poly2.m_R);
-		tVec.Add(poly2.m_position);
-		tClip.id.features.referenceFace = edge1;
-		tClip.id.features.incidentEdge = vertex21;
-		tClip.id.features.incidentVertex = vertex22;
-	};
-b2Collision.b2CollidePolyTempVec = new b2Vec2();
-b2Collision.b2CollidePoly = function(manifold, polyA, polyB, conservative)
-	{
-		manifold.pointCount = 0;
-
-		var edgeA = 0;
-		var edgeAOut = [edgeA];
-		var separationA = b2Collision.FindMaxSeparation(edgeAOut, polyA, polyB, conservative);
-		edgeA = edgeAOut[0];
-		if (separationA > 0.0 && conservative == false)
-			return;
-
-		var edgeB = 0;
-		var edgeBOut = [edgeB];
-		var separationB = b2Collision.FindMaxSeparation(edgeBOut, polyB, polyA, conservative);
-		edgeB = edgeBOut[0];
-		if (separationB > 0.0 && conservative == false)
-			return;
-
-		var poly1;
-		var poly2;
-		var edge1 = 0;
-		var flip = 0;
-		var k_relativeTol = 0.98;
-		var k_absoluteTol = 0.001;
-
-		// TODO_ERIN use "radius" of poly for absolute tolerance.
-		if (separationB > k_relativeTol * separationA + k_absoluteTol)
-		{
-			poly1 = polyB;
-			poly2 = polyA;
-			edge1 = edgeB;
-			flip = 1;
-		}
-		else
-		{
-			poly1 = polyA;
-			poly2 = polyB;
-			edge1 = edgeA;
-			flip = 0;
-		}
-
-		var incidentEdge = [new ClipVertex(), new ClipVertex()];
-		b2Collision.FindIncidentEdge(incidentEdge, poly1, edge1, poly2);
-
-		var count1 = poly1.m_vertexCount;
-		var vert1s = poly1.m_vertices;
-
-		var v11 = vert1s[edge1];
-		var v12 = edge1 + 1 < count1 ? vert1s[edge1+1] : vert1s[0];
-
-		//var dv = b2Math.SubtractVV(v12, v11);
-		var dvX = v12.x - v11.x;
-		var dvY = v12.y - v11.y;
-
-		//var sideNormal = b2Math.b2MulMV(poly1.m_R, b2Math.SubtractVV(v12, v11));
-		var sideNormalX = v12.x - v11.x;
-		var sideNormalY = v12.y - v11.y;
-
-		var tX = sideNormalX;
-		var tMat = poly1.m_R;
-		sideNormalX = tMat.col1.x * tX + tMat.col2.x * sideNormalY;
-		sideNormalY = tMat.col1.y * tX + tMat.col2.y * sideNormalY;
-		// ^^^^ sideNormal.MulM(poly1.m_R);
-
-		var invLength = 1.0 / Math.sqrt(sideNormalX*sideNormalX + sideNormalY*sideNormalY);
-		sideNormalX *= invLength;
-		sideNormalY *= invLength;
-		// ^^^^ sideNormal.Normalize();
-
-		//var frontNormal = b2Math.b2CrossVF(sideNormal, 1.0);
-		var frontNormalX = sideNormalX;
-		var frontNormalY = sideNormalY;
-		tX = frontNormalX;
-		frontNormalX = frontNormalY;
-		frontNormalY = -tX;
-		// ^^^^ frontNormal.CrossVF(1.0);
-
-		// Expanded for performance
-		//v11 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v11));
-		var v11X = v11.x;
-		var v11Y = v11.y;
-		tX = v11X;
-		tMat = poly1.m_R;
-		v11X = tMat.col1.x * tX + tMat.col2.x * v11Y;
-		v11Y = tMat.col1.y * tX + tMat.col2.y * v11Y;
-		// ^^^^ v11.MulM(poly1.m_R);
-		v11X += poly1.m_position.x;
-		v11Y += poly1.m_position.y;
-		//v12 = b2Math.AddVV(poly1.m_position, b2Math.b2MulMV(poly1.m_R, v12));
-		var v12X = v12.x;
-		var v12Y = v12.y;
-		tX = v12X;
-		tMat = poly1.m_R;
-		v12X = tMat.col1.x * tX + tMat.col2.x * v12Y;
-		v12Y = tMat.col1.y * tX + tMat.col2.y * v12Y;
-		// ^^^^ v12.MulM(poly1.m_R);
-		v12X += poly1.m_position.x;
-		v12Y += poly1.m_position.y;
-
-		//var frontOffset = b2Math.b2Dot(frontNormal, v11);
-		var frontOffset = frontNormalX * v11X + frontNormalY * v11Y;
-		//var sideOffset1 = -b2Math.b2Dot(sideNormal, v11);
-		var sideOffset1 = -(sideNormalX * v11X + sideNormalY * v11Y);
-		//var sideOffset2 = b2Math.b2Dot(sideNormal, v12);
-		var sideOffset2 = sideNormalX * v12X + sideNormalY * v12Y;
-
-		// Clip incident edge against extruded edge1 side edges.
-		var clipPoints1 = [new ClipVertex(), new ClipVertex()];
-		var clipPoints2 = [new ClipVertex(), new ClipVertex()];
-
-		var np = 0;
-
-		// Clip to box side 1
-		b2Collision.b2CollidePolyTempVec.Set(-sideNormalX, -sideNormalY);
-		np = b2Collision.ClipSegmentToLine(clipPoints1, incidentEdge, b2Collision.b2CollidePolyTempVec, sideOffset1);
-
-		if (np < 2)
-			return;
-
-		// Clip to negative box side 1
-		b2Collision.b2CollidePolyTempVec.Set(sideNormalX, sideNormalY);
-		np = b2Collision.ClipSegmentToLine(clipPoints2, clipPoints1,  b2Collision.b2CollidePolyTempVec, sideOffset2);
-
-		if (np < 2)
-			return;
-
-		// Now clipPoints2 contains the clipped points.
-		if (flip){
-			manifold.normal.Set(-frontNormalX, -frontNormalY);
-		}
-		else{
-			manifold.normal.Set(frontNormalX, frontNormalY);
-		}
-		// ^^^^ manifold.normal = flip ? frontNormal.Negative() : frontNormal;
-
-		var pointCount = 0;
-		for (var i = 0; i < b2Settings.b2_maxManifoldPoints; ++i)
-		{
-			//var separation = b2Math.b2Dot(frontNormal, clipPoints2[i].v) - frontOffset;
-			var tVec = clipPoints2[i].v;
-			var separation = (frontNormalX * tVec.x + frontNormalY * tVec.y) - frontOffset;
-
-			if (separation <= 0.0 || conservative == true)
-			{
-				var cp = manifold.points[ pointCount ];
-				cp.separation = separation;
-				cp.position.SetV( clipPoints2[i].v );
-				cp.id.Set( clipPoints2[i].id );
-				cp.id.features.flip = flip;
-				++pointCount;
-			}
-		}
-
-		manifold.pointCount = pointCount;
-	};
-b2Collision.b2CollideCircle = function(manifold, circle1, circle2, conservative)
-	{
-		manifold.pointCount = 0;
-
-		//var d = b2Math.SubtractVV(circle2.m_position, circle1.m_position);
-		var dX = circle2.m_position.x - circle1.m_position.x;
-		var dY = circle2.m_position.y - circle1.m_position.y;
-		//var distSqr = b2Math.b2Dot(d, d);
-		var distSqr = dX * dX + dY * dY;
-		var radiusSum = circle1.m_radius + circle2.m_radius;
-		if (distSqr > radiusSum * radiusSum && conservative == false)
-		{
-			return;
-		}
-
-		var separation;
-		if (distSqr < Number.MIN_VALUE)
-		{
-			separation = -radiusSum;
-			manifold.normal.Set(0.0, 1.0);
-		}
-		else
-		{
-			var dist = Math.sqrt(distSqr);
-			separation = dist - radiusSum;
-			var a = 1.0 / dist;
-			manifold.normal.x = a * dX;
-			manifold.normal.y = a * dY;
-		}
-
-		manifold.pointCount = 1;
-		var tPoint = manifold.points[0];
-		tPoint.id.set_key(0);
-		tPoint.separation = separation;
-		//tPoint.position = b2Math.SubtractVV(circle2.m_position, b2Math.MulFV(circle2.m_radius, manifold.normal));
-		tPoint.position.x = circle2.m_position.x - (circle2.m_radius * manifold.normal.x);
-		tPoint.position.y = circle2.m_position.y - (circle2.m_radius * manifold.normal.y);
-	};
-b2Collision.b2CollidePolyAndCircle = function(manifold, poly, circle, conservative)
-	{
-		manifold.pointCount = 0;
-		var tPoint;
-
-		var dX;
-		var dY;
-
-		// Compute circle position in the frame of the polygon.
-		//var xLocal = b2Math.b2MulTMV(poly.m_R, b2Math.SubtractVV(circle.m_position, poly.m_position));
-		var xLocalX = circle.m_position.x - poly.m_position.x;
-		var xLocalY = circle.m_position.y - poly.m_position.y;
-		var tMat = poly.m_R;
-		var tX = xLocalX * tMat.col1.x + xLocalY * tMat.col1.y;
-		xLocalY = xLocalX * tMat.col2.x + xLocalY * tMat.col2.y;
-		xLocalX = tX;
-
-		var dist;
-
-		// Find the min separating edge.
-		var normalIndex = 0;
-		var separation = -Number.MAX_VALUE;
-		var radius = circle.m_radius;
-		for (var i = 0; i < poly.m_vertexCount; ++i)
-		{
-			//var s = b2Math.b2Dot(poly.m_normals[i], b2Math.SubtractVV(xLocal, poly.m_vertices[i]));
-			var s = poly.m_normals[i].x * (xLocalX-poly.m_vertices[i].x) + poly.m_normals[i].y * (xLocalY-poly.m_vertices[i].y);
-			if (s > radius)
-			{
-				// Early out.
-				return;
-			}
-
-			if (s > separation)
-			{
-				separation = s;
-				normalIndex = i;
-			}
-		}
-
-		// If the center is inside the polygon ...
-		if (separation < Number.MIN_VALUE)
-		{
-			manifold.pointCount = 1;
-			//manifold.normal = b2Math.b2MulMV(poly.m_R, poly.m_normals[normalIndex]);
-			var tVec = poly.m_normals[normalIndex];
-			manifold.normal.x = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
-			manifold.normal.y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
-
-			tPoint = manifold.points[0];
-			tPoint.id.features.incidentEdge = normalIndex;
-			tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
-			tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
-			tPoint.id.features.flip = 0;
-			tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
-			tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
-			//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
-			tPoint.separation = separation - radius;
-			return;
-		}
-
-		// Project the circle center onto the edge segment.
-		var vertIndex1 = normalIndex;
-		var vertIndex2 = vertIndex1 + 1 < poly.m_vertexCount ? vertIndex1 + 1 : 0;
-		//var e = b2Math.SubtractVV(poly.m_vertices[vertIndex2] , poly.m_vertices[vertIndex1]);
-		var eX = poly.m_vertices[vertIndex2].x - poly.m_vertices[vertIndex1].x;
-		var eY = poly.m_vertices[vertIndex2].y - poly.m_vertices[vertIndex1].y;
-		//var length = e.Normalize();
-		var length = Math.sqrt(eX*eX + eY*eY);
-		eX /= length;
-		eY /= length;
-
-		// If the edge length is zero ...
-		if (length < Number.MIN_VALUE)
-		{
-			//d = b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]);
-			dX = xLocalX - poly.m_vertices[vertIndex1].x;
-			dY = xLocalY - poly.m_vertices[vertIndex1].y;
-			//dist = d.Normalize();
-			dist = Math.sqrt(dX*dX + dY*dY);
-			dX /= dist;
-			dY /= dist;
-			if (dist > radius)
-			{
-				return;
-			}
-
-			manifold.pointCount = 1;
-			//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
-			manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
-			tPoint = manifold.points[0];
-			tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
-			tPoint.id.features.incidentVertex = vertIndex1;
-			tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
-			tPoint.id.features.flip = 0;
-			//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
-			tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
-			tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
-			tPoint.separation = dist - radius;
-			return;
-		}
-
-		// Project the center onto the edge.
-		//var u = b2Math.b2Dot(b2Math.SubtractVV(xLocal , poly.m_vertices[vertIndex1]) , e);
-		var u = (xLocalX-poly.m_vertices[vertIndex1].x) * eX + (xLocalY-poly.m_vertices[vertIndex1].y) * eY;
-
-		tPoint = manifold.points[0];
-		tPoint.id.features.incidentEdge = b2Collision.b2_nullFeature;
-		tPoint.id.features.incidentVertex = b2Collision.b2_nullFeature;
-		tPoint.id.features.referenceFace = b2Collision.b2_nullFeature;
-		tPoint.id.features.flip = 0;
-
-		var pX, pY;
-		if (u <= 0.0)
-		{
-			pX = poly.m_vertices[vertIndex1].x;
-			pY = poly.m_vertices[vertIndex1].y;
-			tPoint.id.features.incidentVertex = vertIndex1;
-		}
-		else if (u >= length)
-		{
-			pX = poly.m_vertices[vertIndex2].x;
-			pY = poly.m_vertices[vertIndex2].y;
-			tPoint.id.features.incidentVertex = vertIndex2;
-		}
-		else
-		{
-			//p = b2Math.AddVV(poly.m_vertices[vertIndex1] , b2Math.MulFV(u, e));
-			pX = eX * u + poly.m_vertices[vertIndex1].x;
-			pY = eY * u + poly.m_vertices[vertIndex1].y;
-			tPoint.id.features.incidentEdge = vertIndex1;
-		}
-
-		//d = b2Math.SubtractVV(xLocal , p);
-		dX = xLocalX - pX;
-		dY = xLocalY - pY;
-		//dist = d.Normalize();
-		dist = Math.sqrt(dX*dX + dY*dY);
-		dX /= dist;
-		dY /= dist;
-		if (dist > radius)
-		{
-			return;
-		}
-
-		manifold.pointCount = 1;
-		//manifold.normal = b2Math.b2MulMV(poly.m_R, d);
-		manifold.normal.Set(tMat.col1.x * dX + tMat.col2.x * dY, tMat.col1.y * dX + tMat.col2.y * dY);
-		//tPoint.position = b2Math.SubtractVV(circle.m_position , b2Math.MulFV(radius , manifold.normal));
-		tPoint.position.x = circle.m_position.x - radius * manifold.normal.x;
-		tPoint.position.y = circle.m_position.y - radius * manifold.normal.y;
-		tPoint.separation = dist - radius;
-	};
-b2Collision.b2TestOverlap = function(a, b)
-	{
-		var t1 = b.minVertex;
-		var t2 = a.maxVertex;
-		//d1 = b2Math.SubtractVV(b.minVertex, a.maxVertex);
-		var d1X = t1.x - t2.x;
-		var d1Y = t1.y - t2.y;
-		//d2 = b2Math.SubtractVV(a.minVertex, b.maxVertex);
-		t1 = a.minVertex;
-		t2 = b.maxVertex;
-		var d2X = t1.x - t2.x;
-		var d2Y = t1.y - t2.y;
-
-		if (d1X > 0.0 || d1Y > 0.0)
-			return false;
-
-		if (d2X > 0.0 || d2Y > 0.0)
-			return false;
-
-		return true;
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactID.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactID.js
deleted file mode 100644
index f0962e9..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactID.js
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// We use contact ids to facilitate warm starting.
-var b2ContactID = Class.create();
-b2ContactID.prototype = 
-{
-	initialize: function(){
-		// initialize instance variables for references
-		this.features = new Features();
-		//
-
-		this.features._m_id = this;
-
-	},
-	Set: function(id){
-		this.set_key(id._key);
-	},
-	Copy: function(){
-		var id = new b2ContactID();
-		id.set_key(this._key);
-		return id;
-	},
-	get_key: function(){
-		return this._key;
-	},
-	set_key: function(value) {
-		this._key = value;
-		this.features._referenceFace = this._key & 0x000000ff;
-		this.features._incidentEdge = ((this._key & 0x0000ff00) >> 8) & 0x000000ff;
-		this.features._incidentVertex = ((this._key & 0x00ff0000) >> 16) & 0x000000ff;
-		this.features._flip = ((this._key & 0xff000000) >> 24) & 0x000000ff;
-	},
-	features: new Features(),
-	_key: 0};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactPoint.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactPoint.js
deleted file mode 100644
index 2ba6359..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2ContactPoint.js
+++ /dev/null
@@ -1,35 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// We use contact ids to facilitate warm starting.
-var b2ContactPoint = Class.create();
-b2ContactPoint.prototype = 
-{
-	position: new b2Vec2(),
-	separation: null,
-	normalImpulse: null,
-	tangentImpulse: null,
-	id: new b2ContactID(),
-	initialize: function() {
-		// initialize instance variables for references
-		this.position = new b2Vec2();
-		this.id = new b2ContactID();
-		//
-}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Distance.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Distance.js
deleted file mode 100644
index 66bd84a..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Distance.js
+++ /dev/null
@@ -1,333 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2Distance = Class.create();
-b2Distance.prototype = 
-{
-
-	// GJK using Voronoi regions (Christer Ericson) and region selection
-	// optimizations (Casey Muratori).
-
-	// The origin is either in the region of points[1] or in the edge region. The origin is
-	// not in region of points[0] because that is the old point.
-
-	// Possible regions:
-	// - points[2]
-	// - edge points[0]-points[2]
-	// - edge points[1]-points[2]
-	// - inside the triangle
-
-
-
-
-
-
-	initialize: function() {}};
-b2Distance.ProcessTwo = function(p1Out, p2Out, p1s, p2s, points)
-	{
-		// If in point[1] region
-		//b2Vec2 r = -points[1];
-		var rX = -points[1].x;
-		var rY = -points[1].y;
-		//b2Vec2 d = points[1] - points[0];
-		var dX = points[0].x - points[1].x;
-		var dY = points[0].y - points[1].y;
-		//float32 length = d.Normalize();
-		var length = Math.sqrt(dX*dX + dY*dY);
-		dX /= length;
-		dY /= length;
-
-		//float32 lambda = b2Dot(r, d);
-		var lambda = rX * dX + rY * dY;
-		if (lambda <= 0.0 || length < Number.MIN_VALUE)
-		{
-			// The simplex is reduced to a point.
-			//*p1Out = p1s[1];
-			p1Out.SetV(p1s[1]);
-			//*p2Out = p2s[1];
-			p2Out.SetV(p2s[1]);
-			//p1s[0] = p1s[1];
-			p1s[0].SetV(p1s[1]);
-			//p2s[0] = p2s[1];
-			p2s[0].SetV(p2s[1]);
-			points[0].SetV(points[1]);
-			return 1;
-		}
-
-		// Else in edge region
-		lambda /= length;
-		//*p1Out = p1s[1] + lambda * (p1s[0] - p1s[1]);
-		p1Out.x = p1s[1].x + lambda * (p1s[0].x - p1s[1].x);
-		p1Out.y = p1s[1].y + lambda * (p1s[0].y - p1s[1].y);
-		//*p2Out = p2s[1] + lambda * (p2s[0] - p2s[1]);
-		p2Out.x = p2s[1].x + lambda * (p2s[0].x - p2s[1].x);
-		p2Out.y = p2s[1].y + lambda * (p2s[0].y - p2s[1].y);
-		return 2;
-	};
-b2Distance.ProcessThree = function(p1Out, p2Out, p1s, p2s, points)
-	{
-		//b2Vec2 a = points[0];
-		var aX = points[0].x;
-		var aY = points[0].y;
-		//b2Vec2 b = points[1];
-		var bX = points[1].x;
-		var bY = points[1].y;
-		//b2Vec2 c = points[2];
-		var cX = points[2].x;
-		var cY = points[2].y;
-
-		//b2Vec2 ab = b - a;
-		var abX = bX - aX;
-		var abY = bY - aY;
-		//b2Vec2 ac = c - a;
-		var acX = cX - aX;
-		var acY = cY - aY;
-		//b2Vec2 bc = c - b;
-		var bcX = cX - bX;
-		var bcY = cY - bY;
-
-		//float32 sn = -b2Dot(a, ab), sd = b2Dot(b, ab);
-		var sn = -(aX * abX + aY * abY);
-		var sd = (bX * abX + bY * abY);
-		//float32 tn = -b2Dot(a, ac), td = b2Dot(c, ac);
-		var tn = -(aX * acX + aY * acY);
-		var td = (cX * acX + cY * acY);
-		//float32 un = -b2Dot(b, bc), ud = b2Dot(c, bc);
-		var un = -(bX * bcX + bY * bcY);
-		var ud = (cX * bcX + cY * bcY);
-
-		// In vertex c region?
-		if (td <= 0.0 && ud <= 0.0)
-		{
-			// Single point
-			//*p1Out = p1s[2];
-			p1Out.SetV(p1s[2]);
-			//*p2Out = p2s[2];
-			p2Out.SetV(p2s[2]);
-			//p1s[0] = p1s[2];
-			p1s[0].SetV(p1s[2]);
-			//p2s[0] = p2s[2];
-			p2s[0].SetV(p2s[2]);
-			points[0].SetV(points[2]);
-			return 1;
-		}
-
-		// Should not be in vertex a or b region.
-		//b2Settings.b2Assert(sn > 0.0 || tn > 0.0);
-		//b2Settings.b2Assert(sd > 0.0 || un > 0.0);
-
-		//float32 n = b2Cross(ab, ac);
-		var n = abX * acY - abY * acX;
-
-		// Should not be in edge ab region.
-		//float32 vc = n * b2Cross(a, b);
-		var vc = n * (aX * bY - aY * bX);
-		//b2Settings.b2Assert(vc > 0.0 || sn > 0.0 || sd > 0.0);
-
-		// In edge bc region?
-		//float32 va = n * b2Cross(b, c);
-		var va = n * (bX * cY - bY * cX);
-		if (va <= 0.0 && un >= 0.0 && ud >= 0.0)
-		{
-			//b2Settings.b2Assert(un + ud > 0.0);
-
-			//float32 lambda = un / (un + ud);
-			var lambda = un / (un + ud);
-			//*p1Out = p1s[1] + lambda * (p1s[2] - p1s[1]);
-			p1Out.x = p1s[1].x + lambda * (p1s[2].x - p1s[1].x);
-			p1Out.y = p1s[1].y + lambda * (p1s[2].y - p1s[1].y);
-			//*p2Out = p2s[1] + lambda * (p2s[2] - p2s[1]);
-			p2Out.x = p2s[1].x + lambda * (p2s[2].x - p2s[1].x);
-			p2Out.y = p2s[1].y + lambda * (p2s[2].y - p2s[1].y);
-			//p1s[0] = p1s[2];
-			p1s[0].SetV(p1s[2]);
-			//p2s[0] = p2s[2];
-			p2s[0].SetV(p2s[2]);
-			//points[0] = points[2];
-			points[0].SetV(points[2]);
-			return 2;
-		}
-
-		// In edge ac region?
-		//float32 vb = n * b2Cross(c, a);
-		var vb = n * (cX * aY - cY * aX);
-		if (vb <= 0.0 && tn >= 0.0 && td >= 0.0)
-		{
-			//b2Settings.b2Assert(tn + td > 0.0);
-
-			//float32 lambda = tn / (tn + td);
-			var lambda = tn / (tn + td);
-			//*p1Out = p1s[0] + lambda * (p1s[2] - p1s[0]);
-			p1Out.x = p1s[0].x + lambda * (p1s[2].x - p1s[0].x);
-			p1Out.y = p1s[0].y + lambda * (p1s[2].y - p1s[0].y);
-			//*p2Out = p2s[0] + lambda * (p2s[2] - p2s[0]);
-			p2Out.x = p2s[0].x + lambda * (p2s[2].x - p2s[0].x);
-			p2Out.y = p2s[0].y + lambda * (p2s[2].y - p2s[0].y);
-			//p1s[1] = p1s[2];
-			p1s[1].SetV(p1s[2]);
-			//p2s[1] = p2s[2];
-			p2s[1].SetV(p2s[2]);
-			//points[1] = points[2];
-			points[1].SetV(points[2]);
-			return 2;
-		}
-
-		// Inside the triangle, compute barycentric coordinates
-		//float32 denom = va + vb + vc;
-		var denom = va + vb + vc;
-		//b2Settings.b2Assert(denom > 0.0);
-		denom = 1.0 / denom;
-		//float32 u = va * denom;
-		var u = va * denom;
-		//float32 v = vb * denom;
-		var v = vb * denom;
-		//float32 w = 1.0f - u - v;
-		var w = 1.0 - u - v;
-		//*p1Out = u * p1s[0] + v * p1s[1] + w * p1s[2];
-		p1Out.x = u * p1s[0].x + v * p1s[1].x + w * p1s[2].x;
-		p1Out.y = u * p1s[0].y + v * p1s[1].y + w * p1s[2].y;
-		//*p2Out = u * p2s[0] + v * p2s[1] + w * p2s[2];
-		p2Out.x = u * p2s[0].x + v * p2s[1].x + w * p2s[2].x;
-		p2Out.y = u * p2s[0].y + v * p2s[1].y + w * p2s[2].y;
-		return 3;
-	};
-b2Distance.InPoinsts = function(w, points, pointCount)
-	{
-		for (var i = 0; i < pointCount; ++i)
-		{
-			if (w.x == points[i].x && w.y == points[i].y)
-			{
-				return true;
-			}
-		}
-
-		return false;
-	};
-b2Distance.Distance = function(p1Out, p2Out, shape1, shape2)
-	{
-		//b2Vec2 p1s[3], p2s[3];
-		var p1s = new Array(3);
-		var p2s = new Array(3);
-		//b2Vec2 points[3];
-		var points = new Array(3);
-		//int32 pointCount = 0;
-		var pointCount = 0;
-
-		//*p1Out = shape1->m_position;
-		p1Out.SetV(shape1.m_position);
-		//*p2Out = shape2->m_position;
-		p2Out.SetV(shape2.m_position);
-
-		var vSqr = 0.0;
-		var maxIterations = 20;
-		for (var iter = 0; iter < maxIterations; ++iter)
-		{
-			//b2Vec2 v = *p2Out - *p1Out;
-			var vX = p2Out.x - p1Out.x;
-			var vY = p2Out.y - p1Out.y;
-			//b2Vec2 w1 = shape1->Support(v);
-			var w1 = shape1.Support(vX, vY);
-			//b2Vec2 w2 = shape2->Support(-v);
-			var w2 = shape2.Support(-vX, -vY);
-			//float32 vSqr = b2Dot(v, v);
-			vSqr = (vX*vX + vY*vY);
-			//b2Vec2 w = w2 - w1;
-			var wX = w2.x - w1.x;
-			var wY = w2.y - w1.y;
-			//float32 vw = b2Dot(v, w);
-			var vw = (vX*wX + vY*wY);
-			//if (vSqr - b2Dot(v, w) <= 0.01f * vSqr)
-			if (vSqr - b2Dot(vX * wX + vY * wY) <= 0.01 * vSqr)
-			{
-				if (pointCount == 0)
-				{
-					//*p1Out = w1;
-					p1Out.SetV(w1);
-					//*p2Out = w2;
-					p2Out.SetV(w2);
-				}
-				b2Distance.g_GJK_Iterations = iter;
-				return Math.sqrt(vSqr);
-			}
-
-			switch (pointCount)
-			{
-			case 0:
-				//p1s[0] = w1;
-				p1s[0].SetV(w1);
-				//p2s[0] = w2;
-				p2s[0].SetV(w2);
-				points[0] = w;
-				//*p1Out = p1s[0];
-				p1Out.SetV(p1s[0]);
-				//*p2Out = p2s[0];
-				p2Out.SetV(p2s[0]);
-				++pointCount;
-				break;
-
-			case 1:
-				//p1s[1] = w1;
-				p1s[1].SetV(w1);
-				//p2s[1] = w2;
-				p2s[1].SetV(w2);
-				//points[1] = w;
-				points[1].x = wX;
-				points[1].y = wY;
-				pointCount = b2Distance.ProcessTwo(p1Out, p2Out, p1s, p2s, points);
-				break;
-
-			case 2:
-				//p1s[2] = w1;
-				p1s[2].SetV(w1);
-				//p2s[2] = w2;
-				p2s[2].SetV(w2);
-				//points[2] = w;
-				points[2].x = wX;
-				points[2].y = wY;
-				pointCount = b2Distance.ProcessThree(p1Out, p2Out, p1s, p2s, points);
-				break;
-			}
-
-			// If we have three points, then the origin is in the corresponding triangle.
-			if (pointCount == 3)
-			{
-				b2Distance.g_GJK_Iterations = iter;
-				return 0.0;
-			}
-
-			//float32 maxSqr = -FLT_MAX;
-			var maxSqr = -Number.MAX_VALUE;
-			for (var i = 0; i < pointCount; ++i)
-			{
-				//maxSqr = b2Math.b2Max(maxSqr, b2Dot(points[i], points[i]));
-				maxSqr = b2Math.b2Max(maxSqr, (points[i].x*points[i].x + points[i].y*points[i].y));
-			}
-
-			if (pointCount == 3 || vSqr <= 100.0 * Number.MIN_VALUE * maxSqr)
-			{
-				b2Distance.g_GJK_Iterations = iter;
-				return Math.sqrt(vSqr);
-			}
-		}
-
-		b2Distance.g_GJK_Iterations = maxIterations;
-		return Math.sqrt(vSqr);
-	};
-b2Distance.g_GJK_Iterations = 0;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Manifold.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Manifold.js
deleted file mode 100644
index 14b0979..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Manifold.js
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// A manifold for two touching convex shapes.
-var b2Manifold = Class.create();
-b2Manifold.prototype = 
-{
-	initialize: function(){
-		this.points = new Array(b2Settings.b2_maxManifoldPoints);
-		for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++){
-			this.points[i] = new b2ContactPoint();
-		}
-		this.normal = new b2Vec2();
-	},
-	points: null,
-	normal: null,
-	pointCount: 0};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2OBB.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2OBB.js
deleted file mode 100644
index 0214be8e..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2OBB.js
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// A manifold for two touching convex shapes.
-var b2OBB = Class.create();
-b2OBB.prototype = 
-{
-	R: new b2Mat22(),
-	center: new b2Vec2(),
-	extents: new b2Vec2(),
-	initialize: function() {
-		// initialize instance variables for references
-		this.R = new b2Mat22();
-		this.center = new b2Vec2();
-		this.extents = new b2Vec2();
-		//
-}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Pair.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Pair.js
deleted file mode 100644
index 56e615b..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Pair.js
+++ /dev/null
@@ -1,60 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-// The pair manager is used by the broad-phase to quickly add/remove/find pairs
-// of overlapping proxies. It is based closely on code provided by Pierre Terdiman.
-// http:
-
-
-
-
-
-var b2Pair = Class.create();
-b2Pair.prototype = 
-{
-
-
-	SetBuffered: function()	{ this.status |= b2Pair.e_pairBuffered; },
-	ClearBuffered: function()	{ this.status &= ~b2Pair.e_pairBuffered; },
-	IsBuffered: function(){ return (this.status & b2Pair.e_pairBuffered) == b2Pair.e_pairBuffered; },
-
-	SetRemoved: function()		{ this.status |= b2Pair.e_pairRemoved; },
-	ClearRemoved: function()	{ this.status &= ~b2Pair.e_pairRemoved; },
-	IsRemoved: function(){ return (this.status & b2Pair.e_pairRemoved) == b2Pair.e_pairRemoved; },
-
-	SetFinal: function()		{ this.status |= b2Pair.e_pairFinal; },
-	IsFinal: function(){ return (this.status & b2Pair.e_pairFinal) == b2Pair.e_pairFinal; },
-
-	userData: null,
-	proxyId1: 0,
-	proxyId2: 0,
-	next: 0,
-	status: 0,
-
-	// STATIC
-
-	// enum
-
-	initialize: function() {}};
-b2Pair.b2_nullPair = b2Settings.USHRT_MAX;
-b2Pair.b2_nullProxy = b2Settings.USHRT_MAX;
-b2Pair.b2_tableCapacity = b2Settings.b2_maxPairs;
-b2Pair.b2_tableMask = b2Pair.b2_tableCapacity - 1;
-b2Pair.e_pairBuffered = 0x0001;
-b2Pair.e_pairRemoved = 0x0002;
-b2Pair.e_pairFinal = 0x0004;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairCallback.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairCallback.js
deleted file mode 100644
index f68628c..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairCallback.js
+++ /dev/null
@@ -1,34 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2PairCallback = Class.create();
-b2PairCallback.prototype = 
-{
-	//virtual ~b2PairCallback() {}
-
-	// This returns the new pair user data.
-	PairAdded: function(proxyUserData1, proxyUserData2){return null},
-
-	// This should free the pair's user data. In extreme circumstances, it is possible
-	// this will be called with null pairUserData because the pair never existed.
-	PairRemoved: function(proxyUserData1, proxyUserData2, pairUserData){},
-	initialize: function() {}};
-
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairManager.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairManager.js
deleted file mode 100644
index 88d4c90..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2PairManager.js
+++ /dev/null
@@ -1,386 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-// The pair manager is used by the broad-phase to quickly add/remove/find pairs
-// of overlapping proxies. It is based closely on code provided by Pierre Terdiman.
-// http:
-
-
-
-
-
-var b2PairManager = Class.create();
-b2PairManager.prototype = 
-{
-//public:
-	initialize: function(){
-		var i = 0;
-		//b2Settings.b2Assert(b2Math.b2IsPowerOfTwo(b2Pair.b2_tableCapacity) == true);
-		//b2Settings.b2Assert(b2Pair.b2_tableCapacity >= b2Settings.b2_maxPairs);
-		this.m_hashTable = new Array(b2Pair.b2_tableCapacity);
-		for (i = 0; i < b2Pair.b2_tableCapacity; ++i)
-		{
-			this.m_hashTable[i] = b2Pair.b2_nullPair;
-		}
-		this.m_pairs = new Array(b2Settings.b2_maxPairs);
-		for (i = 0; i < b2Settings.b2_maxPairs; ++i)
-		{
-			this.m_pairs[i] = new b2Pair();
-		}
-		this.m_pairBuffer = new Array(b2Settings.b2_maxPairs);
-		for (i = 0; i < b2Settings.b2_maxPairs; ++i)
-		{
-			this.m_pairBuffer[i] = new b2BufferedPair();
-		}
-
-		for (i = 0; i < b2Settings.b2_maxPairs; ++i)
-		{
-			this.m_pairs[i].proxyId1 = b2Pair.b2_nullProxy;
-			this.m_pairs[i].proxyId2 = b2Pair.b2_nullProxy;
-			this.m_pairs[i].userData = null;
-			this.m_pairs[i].status = 0;
-			this.m_pairs[i].next = (i + 1);
-		}
-		this.m_pairs[b2Settings.b2_maxPairs-1].next = b2Pair.b2_nullPair;
-		this.m_pairCount = 0;
-	},
-	//~b2PairManager();
-
-	Initialize: function(broadPhase, callback){
-		this.m_broadPhase = broadPhase;
-		this.m_callback = callback;
-	},
-
-	/*
-	As proxies are created and moved, many pairs are created and destroyed. Even worse, the same
-	pair may be added and removed multiple times in a single time step of the physics engine. To reduce
-	traffic in the pair manager, we try to avoid destroying pairs in the pair manager until the
-	end of the physics step. This is done by buffering all the this.RemovePair requests. this.AddPair
-	requests are processed immediately because we need the hash table entry for quick lookup.
-
-	All user user callbacks are delayed until the buffered pairs are confirmed in this.Commit.
-	This is very important because the user callbacks may be very expensive and client logic
-	may be harmed if pairs are added and removed within the same time step.
-
-	Buffer a pair for addition.
-	We may add a pair that is not in the pair manager or pair buffer.
-	We may add a pair that is already in the pair manager and pair buffer.
-	If the added pair is not a new pair, then it must be in the pair buffer (because this.RemovePair was called).
-	*/
-	AddBufferedPair: function(proxyId1, proxyId2){
-		//b2Settings.b2Assert(id1 != b2_nullProxy && id2 != b2_nullProxy);
-		//b2Settings.b2Assert(this.m_pairBufferCount < b2_maxPairs);
-
-		var pair = this.AddPair(proxyId1, proxyId2);
-
-		// If this pair is not in the pair buffer ...
-		if (pair.IsBuffered() == false)
-		{
-			// This must be a newly added pair.
-			//b2Settings.b2Assert(pair.IsFinal() == false);
-
-			// Add it to the pair buffer.
-			pair.SetBuffered();
-			this.m_pairBuffer[this.m_pairBufferCount].proxyId1 = pair.proxyId1;
-			this.m_pairBuffer[this.m_pairBufferCount].proxyId2 = pair.proxyId2;
-			++this.m_pairBufferCount;
-
-			//b2Settings.b2Assert(this.m_pairBufferCount <= this.m_pairCount);
-		}
-
-		// Confirm this pair for the subsequent call to this.Commit.
-		pair.ClearRemoved();
-
-		if (b2BroadPhase.s_validate)
-		{
-			this.ValidateBuffer();
-		}
-	},
-
-	// Buffer a pair for removal.
-	RemoveBufferedPair: function(proxyId1, proxyId2){
-		//b2Settings.b2Assert(id1 != b2_nullProxy && id2 != b2_nullProxy);
-		//b2Settings.b2Assert(this.m_pairBufferCount < b2_maxPairs);
-
-		var pair = this.Find(proxyId1, proxyId2);
-
-		if (pair == null)
-		{
-			// The pair never existed. This is legal (due to collision filtering).
-			return;
-		}
-
-		// If this pair is not in the pair buffer ...
-		if (pair.IsBuffered() == false)
-		{
-			// This must be an old pair.
-			//b2Settings.b2Assert(pair.IsFinal() == true);
-
-			pair.SetBuffered();
-			this.m_pairBuffer[this.m_pairBufferCount].proxyId1 = pair.proxyId1;
-			this.m_pairBuffer[this.m_pairBufferCount].proxyId2 = pair.proxyId2;
-			++this.m_pairBufferCount;
-
-			//b2Settings.b2Assert(this.m_pairBufferCount <= this.m_pairCount);
-		}
-
-		pair.SetRemoved();
-
-		if (b2BroadPhase.s_validate)
-		{
-			this.ValidateBuffer();
-		}
-	},
-
-	Commit: function(){
-		var i = 0;
-
-		var removeCount = 0;
-
-		var proxies = this.m_broadPhase.m_proxyPool;
-
-		for (i = 0; i < this.m_pairBufferCount; ++i)
-		{
-			var pair = this.Find(this.m_pairBuffer[i].proxyId1, this.m_pairBuffer[i].proxyId2);
-			//b2Settings.b2Assert(pair.IsBuffered());
-			pair.ClearBuffered();
-
-			//b2Settings.b2Assert(pair.proxyId1 < b2Settings.b2_maxProxies && pair.proxyId2 < b2Settings.b2_maxProxies);
-
-			var proxy1 = proxies[ pair.proxyId1 ];
-			var proxy2 = proxies[ pair.proxyId2 ];
-
-			//b2Settings.b2Assert(proxy1.IsValid());
-			//b2Settings.b2Assert(proxy2.IsValid());
-
-			if (pair.IsRemoved())
-			{
-				// It is possible a pair was added then removed before a commit. Therefore,
-				// we should be careful not to tell the user the pair was removed when the
-				// the user didn't receive a matching add.
-				if (pair.IsFinal() == true)
-				{
-					this.m_callback.PairRemoved(proxy1.userData, proxy2.userData, pair.userData);
-				}
-
-				// Store the ids so we can actually remove the pair below.
-				this.m_pairBuffer[removeCount].proxyId1 = pair.proxyId1;
-				this.m_pairBuffer[removeCount].proxyId2 = pair.proxyId2;
-				++removeCount;
-			}
-			else
-			{
-				//b2Settings.b2Assert(this.m_broadPhase.TestOverlap(proxy1, proxy2) == true);
-
-				if (pair.IsFinal() == false)
-				{
-					pair.userData = this.m_callback.PairAdded(proxy1.userData, proxy2.userData);
-					pair.SetFinal();
-				}
-			}
-		}
-
-		for (i = 0; i < removeCount; ++i)
-		{
-			this.RemovePair(this.m_pairBuffer[i].proxyId1, this.m_pairBuffer[i].proxyId2);
-		}
-
-		this.m_pairBufferCount = 0;
-
-		if (b2BroadPhase.s_validate)
-		{
-			this.ValidateTable();
-		}
-	},
-
-//private:
-
-	// Add a pair and return the new pair. If the pair already exists,
-	// no new pair is created and the old one is returned.
-	AddPair: function(proxyId1, proxyId2){
-
-		if (proxyId1 > proxyId2){
-			var temp = proxyId1;
-			proxyId1 = proxyId2;
-			proxyId2 = temp;
-			//b2Math.b2Swap(p1, p2);
-		}
-
-		var hash = b2PairManager.Hash(proxyId1, proxyId2) & b2Pair.b2_tableMask;
-
-		//var pairIndex = this.FindHash(proxyId1, proxyId2, hash);
-		var pair = pair = this.FindHash(proxyId1, proxyId2, hash);
-
-		if (pair != null)
-		{
-			return pair;
-		}
-
-		//b2Settings.b2Assert(this.m_pairCount < b2Settings.b2_maxPairs && this.m_freePair != b2_nullPair);
-
-		var pIndex = this.m_freePair;
-		pair = this.m_pairs[pIndex];
-		this.m_freePair = pair.next;
-
-		pair.proxyId1 = proxyId1;
-		pair.proxyId2 = proxyId2;
-		pair.status = 0;
-		pair.userData = null;
-		pair.next = this.m_hashTable[hash];
-
-		this.m_hashTable[hash] = pIndex;
-
-		++this.m_pairCount;
-
-		return pair;
-	},
-
-	// Remove a pair, return the pair's userData.
-	RemovePair: function(proxyId1, proxyId2){
-
-		//b2Settings.b2Assert(this.m_pairCount > 0);
-
-		if (proxyId1 > proxyId2){
-			var temp = proxyId1;
-			proxyId1 = proxyId2;
-			proxyId2 = temp;
-			//b2Math.b2Swap(proxyId1, proxyId2);
-		}
-
-		var hash = b2PairManager.Hash(proxyId1, proxyId2) & b2Pair.b2_tableMask;
-
-		var node = this.m_hashTable[hash];
-		var pNode = null;
-
-		while (node != b2Pair.b2_nullPair)
-		{
-			if (b2PairManager.Equals(this.m_pairs[node], proxyId1, proxyId2))
-			{
-				var index = node;
-
-				//*node = this.m_pairs[*node].next;
-				if (pNode){
-					pNode.next = this.m_pairs[node].next;
-				}
-				else{
-					this.m_hashTable[hash] = this.m_pairs[node].next;
-				}
-
-				var pair = this.m_pairs[ index ];
-				var userData = pair.userData;
-
-				// Scrub
-				pair.next = this.m_freePair;
-				pair.proxyId1 = b2Pair.b2_nullProxy;
-				pair.proxyId2 = b2Pair.b2_nullProxy;
-				pair.userData = null;
-				pair.status = 0;
-
-				this.m_freePair = index;
-				--this.m_pairCount;
-				return userData;
-			}
-			else
-			{
-				//node = &this.m_pairs[*node].next;
-				pNode = this.m_pairs[node];
-				node = pNode.next;
-			}
-		}
-
-		//b2Settings.b2Assert(false);
-		return null;
-	},
-
-	Find: function(proxyId1, proxyId2){
-
-		if (proxyId1 > proxyId2){
-			var temp = proxyId1;
-			proxyId1 = proxyId2;
-			proxyId2 = temp;
-			//b2Math.b2Swap(proxyId1, proxyId2);
-		}
-
-		var hash = b2PairManager.Hash(proxyId1, proxyId2) & b2Pair.b2_tableMask;
-
-		return this.FindHash(proxyId1, proxyId2, hash);
-	},
-	FindHash: function(proxyId1, proxyId2, hash){
-		var index = this.m_hashTable[hash];
-
-		while( index != b2Pair.b2_nullPair && b2PairManager.Equals(this.m_pairs[index], proxyId1, proxyId2) == false)
-		{
-			index = this.m_pairs[index].next;
-		}
-
-		if ( index == b2Pair.b2_nullPair )
-		{
-			return null;
-		}
-
-		//b2Settings.b2Assert(index < b2_maxPairs);
-
-		return this.m_pairs[ index ];
-	},
-
-	ValidateBuffer: function(){
-		// DEBUG
-	},
-
-	ValidateTable: function(){
-		// DEBUG
-	},
-
-//public:
-	m_broadPhase: null,
-	m_callback: null,
-	m_pairs: null,
-	m_freePair: 0,
-	m_pairCount: 0,
-
-	m_pairBuffer: null,
-	m_pairBufferCount: 0,
-
-	m_hashTable: null
-
-
-// static
-	// Thomas Wang's hash, see: http:
-
-
-
-};
-b2PairManager.Hash = function(proxyId1, proxyId2)
-	{
-		var key = ((proxyId2 << 16) & 0xffff0000) | proxyId1;
-		key = ~key + ((key << 15) & 0xFFFF8000);
-		key = key ^ ((key >> 12) & 0x000fffff);
-		key = key + ((key << 2) & 0xFFFFFFFC);
-		key = key ^ ((key >> 4) & 0x0fffffff);
-		key = key * 2057;
-		key = key ^ ((key >> 16) & 0x0000ffff);
-		return key;
-	};
-b2PairManager.Equals = function(pair, proxyId1, proxyId2)
-	{
-		return (pair.proxyId1 == proxyId1 && pair.proxyId2 == proxyId2);
-	};
-b2PairManager.EqualsPair = function(pair1, pair2)
-	{
-		return pair1.proxyId1 == pair2.proxyId1 && pair1.proxyId2 == pair2.proxyId2;
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Proxy.js b/o3d/samples/box2d-3d/third_party/box2d/collision/b2Proxy.js
deleted file mode 100644
index 60726d0..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/b2Proxy.js
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2Proxy = Class.create();
-b2Proxy.prototype = {
-	GetNext: function(){ return this.lowerBounds[0]; },
-	SetNext: function(next) { this.lowerBounds[0] = next /*& 0x0000ffff*/; },
-
-	IsValid: function(){ return this.overlapCount != b2BroadPhase.b2_invalid; },
-
-	lowerBounds: [/*uint*/(0), /*uint*/(0)],
-	upperBounds: [/*uint*/(0), /*uint*/(0)],
-	overlapCount: 0,
-	timeStamp: 0,
-
-	userData: null,
-
-	initialize: function() {
-		// initialize instance variables for references
-		this.lowerBounds = [/*uint*/(0), /*uint*/(0)];
-		this.upperBounds = [/*uint*/(0), /*uint*/(0)];
-		//
-}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2BoxDef.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2BoxDef.js
deleted file mode 100644
index 9cc24f7..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2BoxDef.js
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2BoxDef = Class.create();
-Object.extend(b2BoxDef.prototype, b2ShapeDef.prototype);
-Object.extend(b2BoxDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2ShapeDef
-		this.type = b2Shape.e_unknownShape;
-		this.userData = null;
-		this.localPosition = new b2Vec2(0.0, 0.0);
-		this.localRotation = 0.0;
-		this.friction = 0.2;
-		this.restitution = 0.0;
-		this.density = 0.0;
-		this.categoryBits = 0x0001;
-		this.maskBits = 0xFFFF;
-		this.groupIndex = 0;	
-		//
-
-		this.type = b2Shape.e_boxShape;
-		this.extents = new b2Vec2(1.0, 1.0);
-	},
-
-	extents: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleDef.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleDef.js
deleted file mode 100644
index dd1c582..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleDef.js
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2CircleDef = Class.create();
-Object.extend(b2CircleDef.prototype, b2ShapeDef.prototype);
-Object.extend(b2CircleDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2ShapeDef
-		this.type = b2Shape.e_unknownShape;
-		this.userData = null;
-		this.localPosition = new b2Vec2(0.0, 0.0);
-		this.localRotation = 0.0;
-		this.friction = 0.2;
-		this.restitution = 0.0;
-		this.density = 0.0;
-		this.categoryBits = 0x0001;
-		this.maskBits = 0xFFFF;
-		this.groupIndex = 0;	
-		//
-
-		this.type = b2Shape.e_circleShape;
-		this.radius = 1.0;
-	},
-
-	radius: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleShape.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleShape.js
deleted file mode 100644
index 4456168..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2CircleShape.js
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2CircleShape = Class.create();
-Object.extend(b2CircleShape.prototype, b2Shape.prototype);
-Object.extend(b2CircleShape.prototype, 
-{
-	TestPoint: function(p){
-		//var d = b2Math.SubtractVV(p, this.m_position);
-		var d = new b2Vec2();
-		d.SetV(p);
-		d.Subtract(this.m_position);
-		return b2Math.b2Dot(d, d) <= this.m_radius * this.m_radius;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def, body, localCenter){
-		// initialize instance variables for references
-		this.m_R = new b2Mat22();
-		this.m_position = new b2Vec2();
-		//
-
-		// The constructor for b2Shape
-		this.m_userData = def.userData;
-
-		this.m_friction = def.friction;
-		this.m_restitution = def.restitution;
-		this.m_body = body;
-
-		this.m_proxyId = b2Pair.b2_nullProxy;
-
-		this.m_maxRadius = 0.0;
-
-		this.m_categoryBits = def.categoryBits;
-		this.m_maskBits = def.maskBits;
-		this.m_groupIndex = def.groupIndex;
-		//
-
-		// initialize instance variables for references
-		this.m_localPosition = new b2Vec2();
-		//
-
-		//super(def, body);
-
-		//b2Settings.b2Assert(def.type == b2Shape.e_circleShape);
-		var circle = def;
-
-		//this.m_localPosition = def.localPosition - localCenter;
-		this.m_localPosition.Set(def.localPosition.x - localCenter.x, def.localPosition.y - localCenter.y);
-		this.m_type = b2Shape.e_circleShape;
-		this.m_radius = circle.radius;
-
-		this.m_R.SetM(this.m_body.m_R);
-		//b2Vec2 r = b2Mul(this.m_body->this.m_R, this.m_localPosition);
-		var rX = this.m_R.col1.x * this.m_localPosition.x + this.m_R.col2.x * this.m_localPosition.y;
-		var rY = this.m_R.col1.y * this.m_localPosition.x + this.m_R.col2.y * this.m_localPosition.y;
-		//this.m_position = this.m_body->this.m_position + r;
-		this.m_position.x = this.m_body.m_position.x + rX;
-		this.m_position.y = this.m_body.m_position.y + rY;
-		//this.m_maxRadius = r.Length() + this.m_radius;
-		this.m_maxRadius = Math.sqrt(rX*rX+rY*rY) + this.m_radius;
-
-		var aabb = new b2AABB();
-		aabb.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius);
-		aabb.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius);
-
-		var broadPhase = this.m_body.m_world.m_broadPhase;
-		if (broadPhase.InRange(aabb))
-		{
-			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
-		}
-		else
-		{
-			this.m_proxyId = b2Pair.b2_nullProxy;
-		}
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-	Synchronize: function(position1, R1, position2, R2){
-		this.m_R.SetM(R2);
-		//this.m_position = position2 + b2Mul(R2, this.m_localPosition);
-		this.m_position.x = (R2.col1.x * this.m_localPosition.x + R2.col2.x * this.m_localPosition.y) + position2.x;
-		this.m_position.y = (R2.col1.y * this.m_localPosition.x + R2.col2.y * this.m_localPosition.y) + position2.y;
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			return;
-		}
-
-		// Compute an AABB that covers the swept shape (may miss some rotation effect).
-		//b2Vec2 p1 = position1 + b2Mul(R1, this.m_localPosition);
-		var p1X = position1.x + (R1.col1.x * this.m_localPosition.x + R1.col2.x * this.m_localPosition.y);
-		var p1Y = position1.y + (R1.col1.y * this.m_localPosition.x + R1.col2.y * this.m_localPosition.y);
-		//b2Vec2 lower = b2Min(p1, this.m_position);
-		var lowerX = Math.min(p1X, this.m_position.x);
-		var lowerY = Math.min(p1Y, this.m_position.y);
-		//b2Vec2 upper = b2Max(p1, this.m_position);
-		var upperX = Math.max(p1X, this.m_position.x);
-		var upperY = Math.max(p1Y, this.m_position.y);
-
-		var aabb = new b2AABB();
-		aabb.minVertex.Set(lowerX - this.m_radius, lowerY - this.m_radius);
-		aabb.maxVertex.Set(upperX + this.m_radius, upperY + this.m_radius);
-
-		var broadPhase = this.m_body.m_world.m_broadPhase;
-		if (broadPhase.InRange(aabb))
-		{
-			broadPhase.MoveProxy(this.m_proxyId, aabb);
-		}
-		else
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-	QuickSync: function(position, R){
-		this.m_R.SetM(R);
-		//this.m_position = position + b2Mul(R, this.m_localPosition);
-		this.m_position.x = (R.col1.x * this.m_localPosition.x + R.col2.x * this.m_localPosition.y) + position.x;
-		this.m_position.y = (R.col1.y * this.m_localPosition.x + R.col2.y * this.m_localPosition.y) + position.y;
-	},
-
-
-	ResetProxy: function(broadPhase)
-	{
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			return;
-		}
-
-		var proxy = broadPhase.GetProxy(this.m_proxyId);
-
-		broadPhase.DestroyProxy(this.m_proxyId);
-		proxy = null;
-
-		var aabb = new b2AABB();
-		aabb.minVertex.Set(this.m_position.x - this.m_radius, this.m_position.y - this.m_radius);
-		aabb.maxVertex.Set(this.m_position.x + this.m_radius, this.m_position.y + this.m_radius);
-
-		if (broadPhase.InRange(aabb))
-		{
-			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
-		}
-		else
-		{
-			this.m_proxyId = b2Pair.b2_nullProxy;
-		}
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-
-	Support: function(dX, dY, out)
-	{
-		//b2Vec2 u = d;
-		//u.Normalize();
-		var len = Math.sqrt(dX*dX + dY*dY);
-		dX /= len;
-		dY /= len;
-		//return this.m_position + this.m_radius * u;
-		out.Set(	this.m_position.x + this.m_radius*dX,
-					this.m_position.y + this.m_radius*dY);
-	},
-
-
-	// Local position in parent body
-	m_localPosition: new b2Vec2(),
-	m_radius: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2MassData.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2MassData.js
deleted file mode 100644
index 2cd1af5..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2MassData.js
+++ /dev/null
@@ -1,36 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2MassData = Class.create();
-b2MassData.prototype = 
-{
-	mass: 0.0,
-	center: new b2Vec2(0,0),
-	I: 0.0,
-
-	initialize: function() {
-		// initialize instance variables for references
-		this.center = new b2Vec2(0,0);
-		//
-}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyDef.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyDef.js
deleted file mode 100644
index 6f13c28..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyDef.js
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2PolyDef = Class.create();
-Object.extend(b2PolyDef.prototype, b2ShapeDef.prototype);
-Object.extend(b2PolyDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2ShapeDef
-		this.type = b2Shape.e_unknownShape;
-		this.userData = null;
-		this.localPosition = new b2Vec2(0.0, 0.0);
-		this.localRotation = 0.0;
-		this.friction = 0.2;
-		this.restitution = 0.0;
-		this.density = 0.0;
-		this.categoryBits = 0x0001;
-		this.maskBits = 0xFFFF;
-		this.groupIndex = 0;	
-		//
-
-		// initialize instance variables for references
-		this.vertices = new Array(b2Settings.b2_maxPolyVertices);
-		//
-
-		this.type = b2Shape.e_polyShape;
-		this.vertexCount = 0;
-
-		for (var i = 0; i < b2Settings.b2_maxPolyVertices; i++){
-			this.vertices[i] = new b2Vec2();
-		}
-	},
-
-	vertices: new Array(b2Settings.b2_maxPolyVertices),
-	vertexCount: 0});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyShape.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyShape.js
deleted file mode 100644
index 39ca4a6..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2PolyShape.js
+++ /dev/null
@@ -1,492 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-// A convex polygon. The position of the polygon (m_position) is the
-// position of the centroid. The vertices of the incoming polygon are pre-rotated
-// according to the local rotation. The vertices are also shifted to be centered
-// on the centroid. Since the local rotation is absorbed into the vertex
-// coordinates, the polygon rotation is equal to the body rotation. However,
-// the polygon position is centered on the polygon centroid. This simplifies
-// some collision algorithms.
-
-var b2PolyShape = Class.create();
-Object.extend(b2PolyShape.prototype, b2Shape.prototype);
-Object.extend(b2PolyShape.prototype, 
-{
-	TestPoint: function(p){
-
-		//var pLocal = b2Math.b2MulTMV(this.m_R, b2Math.SubtractVV(p, this.m_position));
-		var pLocal = new b2Vec2();
-		pLocal.SetV(p);
-		pLocal.Subtract(this.m_position);
-		pLocal.MulTM(this.m_R);
-
-		for (var i = 0; i < this.m_vertexCount; ++i)
-		{
-			//var dot = b2Math.b2Dot(this.m_normals[i], b2Math.SubtractVV(pLocal, this.m_vertices[i]));
-			var tVec = new b2Vec2();
-			tVec.SetV(pLocal);
-			tVec.Subtract(this.m_vertices[i]);
-
-			var dot = b2Math.b2Dot(this.m_normals[i], tVec);
-			if (dot > 0.0)
-			{
-				return false;
-			}
-		}
-
-		return true;
-	},
-
-	//--------------- Internals Below -------------------
-	// Temp vec for b2Shape.PolyCentroid
-
-	initialize: function(def, body, newOrigin){
-		// initialize instance variables for references
-		this.m_R = new b2Mat22();
-		this.m_position = new b2Vec2();
-		//
-
-		// The constructor for b2Shape
-		this.m_userData = def.userData;
-
-		this.m_friction = def.friction;
-		this.m_restitution = def.restitution;
-		this.m_body = body;
-
-		this.m_proxyId = b2Pair.b2_nullProxy;
-
-		this.m_maxRadius = 0.0;
-
-		this.m_categoryBits = def.categoryBits;
-		this.m_maskBits = def.maskBits;
-		this.m_groupIndex = def.groupIndex;
-		//
-
-		// initialize instance variables for references
-		this.syncAABB = new b2AABB();
-		this.syncMat = new b2Mat22();
-		this.m_localCentroid = new b2Vec2();
-		this.m_localOBB = new b2OBB();
-		//
-
-
-		//super(def, body);
-
-		var i = 0;
-
-
-		var hX;
-		var hY;
-
-		var tVec;
-
-		var aabb = new b2AABB();
-
-		// Vertices
-		this.m_vertices = new Array(b2Settings.b2_maxPolyVertices);
-		this.m_coreVertices = new Array(b2Settings.b2_maxPolyVertices);
-		//for (i = 0; i < b2Settings.b2_maxPolyVertices; i++)
-		//	this.m_vertices[i] = new b2Vec2();
-
-		// Normals
-		this.m_normals = new Array(b2Settings.b2_maxPolyVertices);
-		//for (i = 0; i < b2Settings.b2_maxPolyVertices; i++)
-		//	this.m_normals[i] = new b2Vec2();
-
-		//b2Settings.b2Assert(def.type == b2Shape.e_boxShape || def.type == b2Shape.e_polyShape);
-		this.m_type = b2Shape.e_polyShape;
-
-		var localR = new b2Mat22(def.localRotation);
-
-		// Get the vertices transformed into the body frame.
-		if (def.type == b2Shape.e_boxShape)
-		{
-			//this.m_localCentroid = def.localPosition - newOrigin;
-			this.m_localCentroid.x = def.localPosition.x - newOrigin.x;
-			this.m_localCentroid.y = def.localPosition.y - newOrigin.y;
-
-			var box = def;
-			this.m_vertexCount = 4;
-			hX = box.extents.x;
-			hY = box.extents.y;
-
-			//hc.x = b2Max(0.0f, h.x - 2.0f * b2_linearSlop);
-			var hcX = Math.max(0.0, hX - 2.0 * b2Settings.b2_linearSlop);
-			//hc.y = b2Max(0.0f, h.y - 2.0f * b2_linearSlop);
-			var hcY = Math.max(0.0, hY - 2.0 * b2Settings.b2_linearSlop);
-
-			//this.m_vertices[0] = b2Mul(localR, b2Vec2(h.x, h.y));
-			tVec = this.m_vertices[0] = new b2Vec2();
-			tVec.x = localR.col1.x * hX + localR.col2.x * hY;
-			tVec.y = localR.col1.y * hX + localR.col2.y * hY;
-			//this.m_vertices[1] = b2Mul(localR, b2Vec2(-h.x, h.y));
-			tVec = this.m_vertices[1] = new b2Vec2();
-			tVec.x = localR.col1.x * -hX + localR.col2.x * hY;
-			tVec.y = localR.col1.y * -hX + localR.col2.y * hY;
-			//this.m_vertices[2] = b2Mul(localR, b2Vec2(-h.x, -h.y));
-			tVec = this.m_vertices[2] = new b2Vec2();
-			tVec.x = localR.col1.x * -hX + localR.col2.x * -hY;
-			tVec.y = localR.col1.y * -hX + localR.col2.y * -hY;
-			//this.m_vertices[3] = b2Mul(localR, b2Vec2(h.x, -h.y));
-			tVec = this.m_vertices[3] = new b2Vec2();
-			tVec.x = localR.col1.x * hX + localR.col2.x * -hY;
-			tVec.y = localR.col1.y * hX + localR.col2.y * -hY;
-
-			//this.m_coreVertices[0] = b2Mul(localR, b2Vec2(hc.x, hc.y));
-			tVec = this.m_coreVertices[0] = new b2Vec2();
-			tVec.x = localR.col1.x * hcX + localR.col2.x * hcY;
-			tVec.y = localR.col1.y * hcX + localR.col2.y * hcY;
-			//this.m_coreVertices[1] = b2Mul(localR, b2Vec2(-hc.x, hc.y));
-			tVec = this.m_coreVertices[1] = new b2Vec2();
-			tVec.x = localR.col1.x * -hcX + localR.col2.x * hcY;
-			tVec.y = localR.col1.y * -hcX + localR.col2.y * hcY;
-			//this.m_coreVertices[2] = b2Mul(localR, b2Vec2(-hc.x, -hc.y));
-			tVec = this.m_coreVertices[2] = new b2Vec2();
-			tVec.x = localR.col1.x * -hcX + localR.col2.x * -hcY;
-			tVec.y = localR.col1.y * -hcX + localR.col2.y * -hcY;
-			//this.m_coreVertices[3] = b2Mul(localR, b2Vec2(hc.x, -hc.y));
-			tVec = this.m_coreVertices[3] = new b2Vec2();
-			tVec.x = localR.col1.x * hcX + localR.col2.x * -hcY;
-			tVec.y = localR.col1.y * hcX + localR.col2.y * -hcY;
-		}
-		else
-		{
-			var poly = def;
-
-			this.m_vertexCount = poly.vertexCount;
-			//b2Settings.b2Assert(3 <= this.m_vertexCount && this.m_vertexCount <= b2Settings.b2_maxPolyVertices);
-			//b2Vec2 centroid = b2Shape.PolyCentroid(poly->vertices, poly->vertexCount);
-			b2Shape.PolyCentroid(poly.vertices, poly.vertexCount, b2PolyShape.tempVec);
-			var centroidX = b2PolyShape.tempVec.x;
-			var centroidY = b2PolyShape.tempVec.y;
-			//this.m_localCentroid = def->localPosition + b2Mul(localR, centroid) - newOrigin;
-			this.m_localCentroid.x = def.localPosition.x + (localR.col1.x * centroidX + localR.col2.x * centroidY) - newOrigin.x;
-			this.m_localCentroid.y = def.localPosition.y + (localR.col1.y * centroidX + localR.col2.y * centroidY) - newOrigin.y;
-
-			for (i = 0; i < this.m_vertexCount; ++i)
-			{
-				this.m_vertices[i] = new b2Vec2();
-				this.m_coreVertices[i] = new b2Vec2();
-
-				//this.m_vertices[i] = b2Mul(localR, poly->vertices[i] - centroid);
-				hX = poly.vertices[i].x - centroidX;
-				hY = poly.vertices[i].y - centroidY;
-				this.m_vertices[i].x = localR.col1.x * hX + localR.col2.x * hY;
-				this.m_vertices[i].y = localR.col1.y * hX + localR.col2.y * hY;
-
-				//b2Vec2 u = this.m_vertices[i];
-				var uX = this.m_vertices[i].x;
-				var uY = this.m_vertices[i].y;
-				//float32 length = u.Length();
-				var length = Math.sqrt(uX*uX + uY*uY);
-				if (length > Number.MIN_VALUE)
-				{
-					uX *= 1.0 / length;
-					uY *= 1.0 / length;
-				}
-
-				//this.m_coreVertices[i] = this.m_vertices[i] - 2.0f * b2_linearSlop * u;
-				this.m_coreVertices[i].x = this.m_vertices[i].x - 2.0 * b2Settings.b2_linearSlop * uX;
-				this.m_coreVertices[i].y = this.m_vertices[i].y - 2.0 * b2Settings.b2_linearSlop * uY;
-			}
-
-		}
-
-		// Compute bounding box. TODO_ERIN optimize OBB
-		//var minVertex = new b2Vec2(Number.MAX_VALUE, Number.MAX_VALUE);
-		var minVertexX = Number.MAX_VALUE;
-		var minVertexY = Number.MAX_VALUE;
-		var maxVertexX = -Number.MAX_VALUE;
-		var maxVertexY = -Number.MAX_VALUE;
-		this.m_maxRadius = 0.0;
-		for (i = 0; i < this.m_vertexCount; ++i)
-		{
-			var v = this.m_vertices[i];
-			//minVertex = b2Math.b2MinV(minVertex, this.m_vertices[i]);
-			minVertexX = Math.min(minVertexX, v.x);
-			minVertexY = Math.min(minVertexY, v.y);
-			//maxVertex = b2Math.b2MaxV(maxVertex, this.m_vertices[i]);
-			maxVertexX = Math.max(maxVertexX, v.x);
-			maxVertexY = Math.max(maxVertexY, v.y);
-			//this.m_maxRadius = b2Max(this.m_maxRadius, v.Length());
-			this.m_maxRadius = Math.max(this.m_maxRadius, v.Length());
-		}
-
-		this.m_localOBB.R.SetIdentity();
-		//this.m_localOBB.center = 0.5 * (minVertex + maxVertex);
-		this.m_localOBB.center.Set((minVertexX + maxVertexX) * 0.5, (minVertexY + maxVertexY) * 0.5);
-		//this.m_localOBB.extents = 0.5 * (maxVertex - minVertex);
-		this.m_localOBB.extents.Set((maxVertexX - minVertexX) * 0.5, (maxVertexY - minVertexY) * 0.5);
-
-		// Compute the edge normals and next index map.
-		var i1 = 0;
-		var i2 = 0;
-		for (i = 0; i < this.m_vertexCount; ++i)
-		{
-			this.m_normals[i] =  new b2Vec2();
-			i1 = i;
-			i2 = i + 1 < this.m_vertexCount ? i + 1 : 0;
-			//b2Vec2 edge = this.m_vertices[i2] - this.m_vertices[i1];
-			//var edgeX = this.m_vertices[i2].x - this.m_vertices[i1].x;
-			//var edgeY = this.m_vertices[i2].y - this.m_vertices[i1].y;
-			//this.m_normals[i] = b2Cross(edge, 1.0f);
-			this.m_normals[i].x = this.m_vertices[i2].y - this.m_vertices[i1].y;
-			this.m_normals[i].y = -(this.m_vertices[i2].x - this.m_vertices[i1].x);
-			this.m_normals[i].Normalize();
-		}
-
-		// Ensure the polygon in convex. TODO_ERIN compute convex hull.
-		for (i = 0; i < this.m_vertexCount; ++i)
-		{
-			i1 = i;
-			i2 = i + 1 < this.m_vertexCount ? i + 1 : 0;
-
-			//b2Settings.b2Assert(b2Math.b2CrossVV(this.m_normals[i1], this.m_normals[i2]) > Number.MIN_VALUE);
-		}
-
-		this.m_R.SetM(this.m_body.m_R);
-		//this.m_position.SetV( this.m_body.m_position  + b2Mul(this.m_body->this.m_R, this.m_localCentroid) );
-		this.m_position.x = this.m_body.m_position.x + (this.m_R.col1.x * this.m_localCentroid.x + this.m_R.col2.x * this.m_localCentroid.y);
-		this.m_position.y = this.m_body.m_position.y + (this.m_R.col1.y * this.m_localCentroid.x + this.m_R.col2.y * this.m_localCentroid.y);
-
-		//var R = b2Math.b2MulMM(this.m_R, this.m_localOBB.R);
-			//R.col1 = b2MulMV(this.m_R, this.m_localOBB.R.col1);
-			b2PolyShape.tAbsR.col1.x = this.m_R.col1.x * this.m_localOBB.R.col1.x + this.m_R.col2.x * this.m_localOBB.R.col1.y;
-			b2PolyShape.tAbsR.col1.y = this.m_R.col1.y * this.m_localOBB.R.col1.x + this.m_R.col2.y * this.m_localOBB.R.col1.y;
-			//R.col2 = b2MulMV(this.m_R, this.m_localOBB.R.col2)
-			b2PolyShape.tAbsR.col2.x = this.m_R.col1.x * this.m_localOBB.R.col2.x + this.m_R.col2.x * this.m_localOBB.R.col2.y;
-			b2PolyShape.tAbsR.col2.y = this.m_R.col1.y * this.m_localOBB.R.col2.x + this.m_R.col2.y * this.m_localOBB.R.col2.y;
-		//var absR = b2Math.b2AbsM(R);
-		b2PolyShape.tAbsR.Abs()
-
-		//h = b2Math.b2MulMV(b2PolyShape.tAbsR, this.m_localOBB.extents);
-		hX = b2PolyShape.tAbsR.col1.x * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.x * this.m_localOBB.extents.y;
-		hY = b2PolyShape.tAbsR.col1.y * this.m_localOBB.extents.x + b2PolyShape.tAbsR.col2.y * this.m_localOBB.extents.y;
-
-		//var position = this.m_position + b2Mul(this.m_R, this.m_localOBB.center);
-		var positionX = this.m_position.x + (this.m_R.col1.x * this.m_localOBB.center.x + this.m_R.col2.x * this.m_localOBB.center.y);
-		var positionY = this.m_position.y + (this.m_R.col1.y * this.m_localOBB.center.x + this.m_R.col2.y * this.m_localOBB.center.y);
-
-		//aabb.minVertex = b2Math.SubtractVV(this.m_position, h);
-		aabb.minVertex.x = positionX - hX;
-		aabb.minVertex.y = positionY - hY;
-		//aabb.maxVertex = b2Math.AddVV(this.m_position, h);
-		aabb.maxVertex.x = positionX + hX;
-		aabb.maxVertex.y = positionY + hY;
-
-		var broadPhase = this.m_body.m_world.m_broadPhase;
-		if (broadPhase.InRange(aabb))
-		{
-			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
-		}
-		else
-		{
-			this.m_proxyId = b2Pair.b2_nullProxy;
-		}
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-	// Temp AABB for Synch function
-	syncAABB: new b2AABB(),
-	syncMat: new b2Mat22(),
-	Synchronize: function(position1, R1, position2, R2){
-		// The body transform is copied for convenience.
-		this.m_R.SetM(R2);
-		//this.m_position = this.m_body->this.m_position + b2Mul(this.m_body->this.m_R, this.m_localCentroid)
-		this.m_position.x = this.m_body.m_position.x + (R2.col1.x * this.m_localCentroid.x + R2.col2.x * this.m_localCentroid.y);
-		this.m_position.y = this.m_body.m_position.y + (R2.col1.y * this.m_localCentroid.x + R2.col2.y * this.m_localCentroid.y);
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			return;
-		}
-
-		//b2AABB aabb1, aabb2;
-		var hX;
-		var hY;
-
-		//b2Mat22 obbR = b2Mul(R1, this.m_localOBB.R);
-			var v1 = R1.col1;
-			var v2 = R1.col2;
-			var v3 = this.m_localOBB.R.col1;
-			var v4 = this.m_localOBB.R.col2;
-			//this.syncMat.col1 = b2MulMV(R1, this.m_localOBB.R.col1);
-			this.syncMat.col1.x = v1.x * v3.x + v2.x * v3.y;
-			this.syncMat.col1.y = v1.y * v3.x + v2.y * v3.y;
-			//this.syncMat.col2 = b2MulMV(R1, this.m_localOBB.R.col2);
-			this.syncMat.col2.x = v1.x * v4.x + v2.x * v4.y;
-			this.syncMat.col2.y = v1.y * v4.x + v2.y * v4.y;
-		//b2Mat22 absR = b2Abs(obbR);
-		this.syncMat.Abs();
-		//b2Vec2 center = position1 + b2Mul(R1, this.m_localCentroid + this.m_localOBB.center);
-		hX = this.m_localCentroid.x + this.m_localOBB.center.x;
-		hY = this.m_localCentroid.y + this.m_localOBB.center.y;
-		var centerX = position1.x + (R1.col1.x * hX + R1.col2.x * hY);
-		var centerY = position1.y + (R1.col1.y * hX + R1.col2.y * hY);
-		//b2Vec2 h = b2Mul(this.syncMat, this.m_localOBB.extents);
-		hX = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y;
-		hY = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y;
-		//aabb1.minVertex = center - h;
-		this.syncAABB.minVertex.x = centerX - hX;
-		this.syncAABB.minVertex.y = centerY - hY;
-		//aabb1.maxVertex = center + h;
-		this.syncAABB.maxVertex.x = centerX + hX;
-		this.syncAABB.maxVertex.y = centerY + hY;
-
-		//b2Mat22 obbR = b2Mul(R2, this.m_localOBB.R);
-			v1 = R2.col1;
-			v2 = R2.col2;
-			v3 = this.m_localOBB.R.col1;
-			v4 = this.m_localOBB.R.col2;
-			//this.syncMat.col1 = b2MulMV(R1, this.m_localOBB.R.col1);
-			this.syncMat.col1.x = v1.x * v3.x + v2.x * v3.y;
-			this.syncMat.col1.y = v1.y * v3.x + v2.y * v3.y;
-			//this.syncMat.col2 = b2MulMV(R1, this.m_localOBB.R.col2);
-			this.syncMat.col2.x = v1.x * v4.x + v2.x * v4.y;
-			this.syncMat.col2.y = v1.y * v4.x + v2.y * v4.y;
-		//b2Mat22 absR = b2Abs(obbR);
-		this.syncMat.Abs();
-		//b2Vec2 center = position2 + b2Mul(R2, this.m_localCentroid + this.m_localOBB.center);
-		hX = this.m_localCentroid.x + this.m_localOBB.center.x;
-		hY = this.m_localCentroid.y + this.m_localOBB.center.y;
-		centerX = position2.x + (R2.col1.x * hX + R2.col2.x * hY);
-		centerY = position2.y + (R2.col1.y * hX + R2.col2.y * hY);
-		//b2Vec2 h = b2Mul(absR, this.m_localOBB.extents);
-		hX = this.syncMat.col1.x * this.m_localOBB.extents.x + this.syncMat.col2.x * this.m_localOBB.extents.y;
-		hY = this.syncMat.col1.y * this.m_localOBB.extents.x + this.syncMat.col2.y * this.m_localOBB.extents.y;
-		//aabb2.minVertex = center - h;
-		//aabb2.maxVertex = center + h;
-
-		//aabb.minVertex = b2Min(aabb1.minVertex, aabb2.minVertex);
-		this.syncAABB.minVertex.x = Math.min(this.syncAABB.minVertex.x, centerX - hX);
-		this.syncAABB.minVertex.y = Math.min(this.syncAABB.minVertex.y, centerY - hY);
-		//aabb.maxVertex = b2Max(aabb1.maxVertex, aabb2.maxVertex);
-		this.syncAABB.maxVertex.x = Math.max(this.syncAABB.maxVertex.x, centerX + hX);
-		this.syncAABB.maxVertex.y = Math.max(this.syncAABB.maxVertex.y, centerY + hY);
-
-		var broadPhase = this.m_body.m_world.m_broadPhase;
-		if (broadPhase.InRange(this.syncAABB))
-		{
-			broadPhase.MoveProxy(this.m_proxyId, this.syncAABB);
-		}
-		else
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-	QuickSync: function(position, R){
-		//this.m_R = R;
-		this.m_R.SetM(R);
-		//this.m_position = position + b2Mul(R, this.m_localCentroid);
-		this.m_position.x = position.x + (R.col1.x * this.m_localCentroid.x + R.col2.x * this.m_localCentroid.y);
-		this.m_position.y = position.y + (R.col1.y * this.m_localCentroid.x + R.col2.y * this.m_localCentroid.y);
-	},
-
-	ResetProxy: function(broadPhase){
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			return;
-		}
-
-		var proxy = broadPhase.GetProxy(this.m_proxyId);
-
-		broadPhase.DestroyProxy(this.m_proxyId);
-		proxy = null;
-
-		var R = b2Math.b2MulMM(this.m_R, this.m_localOBB.R);
-		var absR = b2Math.b2AbsM(R);
-		var h = b2Math.b2MulMV(absR, this.m_localOBB.extents);
-		//var position = this.m_position + b2Mul(this.m_R, this.m_localOBB.center);
-		var position = b2Math.b2MulMV(this.m_R, this.m_localOBB.center);
-		position.Add(this.m_position);
-
-		var aabb = new b2AABB();
-		//aabb.minVertex = position - h;
-		aabb.minVertex.SetV(position);
-		aabb.minVertex.Subtract(h);
-		//aabb.maxVertex = position + h;
-		aabb.maxVertex.SetV(position);
-		aabb.maxVertex.Add(h);
-
-		if (broadPhase.InRange(aabb))
-		{
-			this.m_proxyId = broadPhase.CreateProxy(aabb, this);
-		}
-		else
-		{
-			this.m_proxyId = b2Pair.b2_nullProxy;
-		}
-
-		if (this.m_proxyId == b2Pair.b2_nullProxy)
-		{
-			this.m_body.Freeze();
-		}
-	},
-
-
-	Support: function(dX, dY, out)
-	{
-		//b2Vec2 dLocal = b2MulT(this.m_R, d);
-		var dLocalX = (dX*this.m_R.col1.x + dY*this.m_R.col1.y);
-		var dLocalY = (dX*this.m_R.col2.x + dY*this.m_R.col2.y);
-
-		var bestIndex = 0;
-		//float32 bestValue = b2Dot(this.m_vertices[0], dLocal);
-		var bestValue = (this.m_coreVertices[0].x * dLocalX + this.m_coreVertices[0].y * dLocalY);
-		for (var i = 1; i < this.m_vertexCount; ++i)
-		{
-			//float32 value = b2Dot(this.m_vertices[i], dLocal);
-			var value = (this.m_coreVertices[i].x * dLocalX + this.m_coreVertices[i].y * dLocalY);
-			if (value > bestValue)
-			{
-				bestIndex = i;
-				bestValue = value;
-			}
-		}
-
-		//return this.m_position + b2Mul(this.m_R, this.m_vertices[bestIndex]);
-		out.Set(	this.m_position.x + (this.m_R.col1.x * this.m_coreVertices[bestIndex].x + this.m_R.col2.x * this.m_coreVertices[bestIndex].y),
-					this.m_position.y + (this.m_R.col1.y * this.m_coreVertices[bestIndex].x + this.m_R.col2.y * this.m_coreVertices[bestIndex].y));
-
-	},
-
-
-	// Local position of the shape centroid in parent body frame.
-	m_localCentroid: new b2Vec2(),
-
-	// Local position oriented bounding box. The OBB center is relative to
-	// shape centroid.
-	m_localOBB: new b2OBB(),
-	m_vertices: null,
-	m_coreVertices: null,
-	m_vertexCount: 0,
-	m_normals: null});
-
-b2PolyShape.tempVec = new b2Vec2();
-b2PolyShape.tAbsR = new b2Mat22();
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2Shape.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2Shape.js
deleted file mode 100644
index 17ebf8f..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2Shape.js
+++ /dev/null
@@ -1,339 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-
-// Shapes are created automatically when a body is created.
-// Client code does not normally interact with shapes.
-var b2Shape = Class.create();
-b2Shape.prototype = 
-{
-	TestPoint: function(p){return false},
-
-	GetUserData: function(){return this.m_userData;},
-
-	GetType: function(){
-		return this.m_type;
-	},
-
-	// Get the parent body of this shape.
-	GetBody: function(){
-		return this.m_body;
-	},
-
-	GetPosition: function(){
-		return this.m_position;
-	},
-	GetRotationMatrix: function(){
-		return this.m_R;
-	},
-
-	// Remove and then add proxy from the broad-phase.
-	// This is used to refresh the collision filters.
-	ResetProxy: function(broadPhase){},
-
-	// Get the next shape in the parent body's shape list.
-	GetNext: function(){
-		return this.m_next;
-	},
-
-	//--------------- Internals Below -------------------
-
-
-
-
-	initialize: function(def, body){
-		// initialize instance variables for references
-		this.m_R = new b2Mat22();
-		this.m_position = new b2Vec2();
-		//
-
-		this.m_userData = def.userData;
-
-		this.m_friction = def.friction;
-		this.m_restitution = def.restitution;
-		this.m_body = body;
-
-		this.m_proxyId = b2Pair.b2_nullProxy;
-
-		this.m_maxRadius = 0.0;
-
-		this.m_categoryBits = def.categoryBits;
-		this.m_maskBits = def.maskBits;
-		this.m_groupIndex = def.groupIndex;
-	},
-
-	// Internal use only. Do not call.
-	//b2Shape::~b2Shape()
-	//{
-	//	this.m_body->m_world->m_broadPhase->this.DestroyProxy(this.m_proxyId);
-	//}
-
-
-	DestroyProxy: function()
-	{
-		if (this.m_proxyId != b2Pair.b2_nullProxy)
-		{
-			this.m_body.m_world.m_broadPhase.DestroyProxy(this.m_proxyId);
-			this.m_proxyId = b2Pair.b2_nullProxy;
-		}
-	},
-
-
-	// Internal use only. Do not call.
-	Synchronize: function(position1, R1, position2, R2){},
-	QuickSync: function(position, R){},
-	Support: function(dX, dY, out){},
-	GetMaxRadius: function(){
-		return this.m_maxRadius;
-	},
-
-	m_next: null,
-
-	m_R: new b2Mat22(),
-	m_position: new b2Vec2(),
-
-	m_type: 0,
-
-	m_userData: null,
-
-	m_body: null,
-
-	m_friction: null,
-	m_restitution: null,
-
-	m_maxRadius: null,
-
-	m_proxyId: 0,
-	m_categoryBits: 0,
-	m_maskBits: 0,
-	m_groupIndex: 0
-
-
-
-	// b2ShapeType
-
-
-
-
-
-
-
-
-
-
-
-
-};
-
-
-b2Shape.Create = function(def, body, center){
-		switch (def.type)
-		{
-		case b2Shape.e_circleShape:
-			{
-				//void* mem = body->m_world->m_blockAllocator.Allocate(sizeof(b2CircleShape));
-				return new b2CircleShape(def, body, center);
-			}
-
-		case b2Shape.e_boxShape:
-		case b2Shape.e_polyShape:
-			{
-				//void* mem = body->m_world->m_blockAllocator.Allocate(sizeof(b2PolyShape));
-				return new b2PolyShape(def, body, center);
-			}
-		}
-
-		//b2Settings.b2Assert(false);
-		return null;
-	};
-b2Shape.Destroy = function(shape)
-	{
-		/*b2BlockAllocator& allocator = shape->m_body->m_world->m_blockAllocator;
-
-		switch (shape.m_type)
-		{
-		case b2Shape.e_circleShape:
-			shape->~b2Shape();
-			allocator.Free(shape, sizeof(b2CircleShape));
-			break;
-
-		case b2Shape.e_polyShape:
-			shape->~b2Shape();
-			allocator.Free(shape, sizeof(b2PolyShape));
-			break;
-
-		default:
-			b2Assert(false);
-		}
-
-		shape = NULL;*/
-
-		// FROM DESTRUCTOR
-		if (shape.m_proxyId != b2Pair.b2_nullProxy)
-			shape.m_body.m_world.m_broadPhase.DestroyProxy(shape.m_proxyId);
-	};
-b2Shape.e_unknownShape = -1;
-b2Shape.e_circleShape = 0;
-b2Shape.e_boxShape = 1;
-b2Shape.e_polyShape = 2;
-b2Shape.e_meshShape = 3;
-b2Shape.e_shapeTypeCount = 4;
-b2Shape.PolyMass = function(massData, vs, count, rho)
-	{
-		//b2Settings.b2Assert(count >= 3);
-
-		//var center = new b2Vec2(0.0, 0.0);
-		var center = new b2Vec2();
-		center.SetZero();
-
-		var area = 0.0;
-		var I = 0.0;
-
-		// pRef is the reference point for forming triangles.
-		// It's location doesn't change the result (except for rounding error).
-		var pRef = new b2Vec2(0.0, 0.0);
-
-		var inv3 = 1.0 / 3.0;
-
-		for (var i = 0; i < count; ++i)
-		{
-			// Triangle vertices.
-			var p1 = pRef;
-			var p2 = vs[i];
-			var p3 = i + 1 < count ? vs[i+1] : vs[0];
-
-			var e1 = b2Math.SubtractVV(p2, p1);
-			var e2 = b2Math.SubtractVV(p3, p1);
-
-			var D = b2Math.b2CrossVV(e1, e2);
-
-			var triangleArea = 0.5 * D;
-			area += triangleArea;
-
-			// Area weighted centroid
-			// center += triangleArea * inv3 * (p1 + p2 + p3);
-			var tVec = new b2Vec2();
-			tVec.SetV(p1);
-			tVec.Add(p2);
-			tVec.Add(p3);
-			tVec.Multiply(inv3*triangleArea);
-			center.Add(tVec);
-
-			var px = p1.x;
-			var py = p1.y;
-			var ex1 = e1.x;
-			var ey1 = e1.y;
-			var ex2 = e2.x;
-			var ey2 = e2.y;
-
-			var intx2 = inv3 * (0.25 * (ex1*ex1 + ex2*ex1 + ex2*ex2) + (px*ex1 + px*ex2)) + 0.5*px*px;
-			var inty2 = inv3 * (0.25 * (ey1*ey1 + ey2*ey1 + ey2*ey2) + (py*ey1 + py*ey2)) + 0.5*py*py;
-
-			I += D * (intx2 + inty2);
-		}
-
-		// Total mass
-		massData.mass = rho * area;
-
-		// Center of mass
-		//b2Settings.b2Assert(area > Number.MIN_VALUE);
-		center.Multiply( 1.0 / area );
-		massData.center = center;
-
-		// Inertia tensor relative to the center.
-		I = rho * (I - area * b2Math.b2Dot(center, center));
-		massData.I = I;
-	};
-b2Shape.PolyCentroid = function(vs, count, out)
-	{
-		//b2Settings.b2Assert(count >= 3);
-
-		//b2Vec2 c; c.Set(0.0f, 0.0f);
-		var cX = 0.0;
-		var cY = 0.0;
-		//float32 area = 0.0f;
-		var area = 0.0;
-
-		// pRef is the reference point for forming triangles.
-		// It's location doesn't change the result (except for rounding error).
-		//b2Vec2 pRef(0.0f, 0.0f);
-		var pRefX = 0.0;
-		var pRefY = 0.0;
-	/*
-		// This code would put the reference point inside the polygon.
-		for (var i = 0; i < count; ++i)
-		{
-			//pRef += vs[i];
-			pRef.x += vs[i].x;
-			pRef.y += vs[i].y;
-		}
-		pRef.x *= 1.0 / count;
-		pRef.y *= 1.0 / count;
-	*/
-
-		//const float32 inv3 = 1.0f / 3.0f;
-		var inv3 = 1.0 / 3.0;
-
-		for (var i = 0; i < count; ++i)
-		{
-			// Triangle vertices.
-			//b2Vec2 p1 = pRef;
-			var p1X = pRefX;
-			var p1Y = pRefY;
-			//b2Vec2 p2 = vs[i];
-			var p2X = vs[i].x;
-			var p2Y = vs[i].y;
-			//b2Vec2 p3 = i + 1 < count ? vs[i+1] : vs[0];
-			var p3X = i + 1 < count ? vs[i+1].x : vs[0].x;
-			var p3Y = i + 1 < count ? vs[i+1].y : vs[0].y;
-
-			//b2Vec2 e1 = p2 - p1;
-			var e1X = p2X - p1X;
-			var e1Y = p2Y - p1Y;
-			//b2Vec2 e2 = p3 - p1;
-			var e2X = p3X - p1X;
-			var e2Y = p3Y - p1Y;
-
-			//float32 D = b2Cross(e1, e2);
-			var D = (e1X * e2Y - e1Y * e2X);
-
-			//float32 triangleArea = 0.5f * D;
-			var triangleArea = 0.5 * D;
-			area += triangleArea;
-
-			// Area weighted centroid
-			//c += triangleArea * inv3 * (p1 + p2 + p3);
-			cX += triangleArea * inv3 * (p1X + p2X + p3X);
-			cY += triangleArea * inv3 * (p1Y + p2Y + p3Y);
-		}
-
-		// Centroid
-		//b2Settings.b2Assert(area > Number.MIN_VALUE);
-		cX *= 1.0 / area;
-		cY *= 1.0 / area;
-
-		// Replace return with 'out' vector
-		//return c;
-		out.Set(cX, cY);
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2ShapeDef.js b/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2ShapeDef.js
deleted file mode 100644
index 8f48f07..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/collision/shapes/b2ShapeDef.js
+++ /dev/null
@@ -1,109 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2ShapeDef = Class.create();
-b2ShapeDef.prototype = 
-{
-	initialize: function()
-	{
-		this.type = b2Shape.e_unknownShape;
-		this.userData = null;
-		this.localPosition = new b2Vec2(0.0, 0.0);
-		this.localRotation = 0.0;
-		this.friction = 0.2;
-		this.restitution = 0.0;
-		this.density = 0.0;
-		this.categoryBits = 0x0001;
-		this.maskBits = 0xFFFF;
-		this.groupIndex = 0;
-	},
-
-	//virtual ~b2ShapeDef() {}
-
-	ComputeMass: function(massData)
-	{
-
-		massData.center = new b2Vec2(0.0, 0.0)
-
-		if (this.density == 0.0)
-		{
-			massData.mass = 0.0;
-			massData.center.Set(0.0, 0.0);
-			massData.I = 0.0;
-		};
-
-		switch (this.type)
-		{
-		case b2Shape.e_circleShape:
-			{
-				var circle = this;
-				massData.mass = this.density * b2Settings.b2_pi * circle.radius * circle.radius;
-				massData.center.Set(0.0, 0.0);
-				massData.I = 0.5 * (massData.mass) * circle.radius * circle.radius;
-			}
-			break;
-
-		case b2Shape.e_boxShape:
-			{
-				var box = this;
-				massData.mass = 4.0 * this.density * box.extents.x * box.extents.y;
-				massData.center.Set(0.0, 0.0);
-				massData.I = massData.mass / 3.0 * b2Math.b2Dot(box.extents, box.extents);
-			}
-			break;
-
-		case b2Shape.e_polyShape:
-			{
-				var poly = this;
-				b2Shape.PolyMass(massData, poly.vertices, poly.vertexCount, this.density);
-			}
-			break;
-
-		default:
-			massData.mass = 0.0;
-			massData.center.Set(0.0, 0.0);
-			massData.I = 0.0;
-			break;
-		}
-	},
-
-	type: 0,
-	userData: null,
-	localPosition: null,
-	localRotation: null,
-	friction: null,
-	restitution: null,
-	density: null,
-
-	// The collision category bits. Normally you would just set one bit.
-	categoryBits: 0,
-
-	// The collision mask bits. This states the categories that this
-	// shape would accept for collision.
-	maskBits: 0,
-
-	// Collision groups allow a certain group of objects to never collide (negative)
-	// or always collide (positive). Zero means no collision group. Non-zero group
-	// filtering always wins against the mask bits.
-	groupIndex: 0};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/common/b2Settings.js b/o3d/samples/box2d-3d/third_party/box2d/common/b2Settings.js
deleted file mode 100644
index 890fde2..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/common/b2Settings.js
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2Settings = Class.create();
-b2Settings.prototype = {
-
-
-
-	// Define your unit system here. The default system is
-	// meters-kilograms-seconds. For the tuning to work well,
-	// your dynamic objects should be bigger than a pebble and smaller
-	// than a house.
-	//static public const b2Settings.b2_lengthUnitsPerMeter = 1.0;
-
-	// Use this for pixels:
-
-	// Global tuning constants based on MKS units.
-
-	// Collision
-
-	// Dynamics
-
-	// Sleep
-
-	// assert
-
-	initialize: function() {}}
-b2Settings.USHRT_MAX = 0x0000ffff;
-b2Settings.b2_pi = Math.PI;
-b2Settings.b2_massUnitsPerKilogram = 1.0;
-b2Settings.b2_timeUnitsPerSecond = 1.0;
-b2Settings.b2_lengthUnitsPerMeter = 30.0;
-b2Settings.b2_maxManifoldPoints = 2;
-b2Settings.b2_maxShapesPerBody = 64;
-b2Settings.b2_maxPolyVertices = 8;
-b2Settings.b2_maxProxies = 1024;
-b2Settings.b2_maxPairs = 8 * b2Settings.b2_maxProxies;
-b2Settings.b2_linearSlop = 0.005 * b2Settings.b2_lengthUnitsPerMeter;
-b2Settings.b2_angularSlop = 2.0 / 180.0 * b2Settings.b2_pi;
-b2Settings.b2_velocityThreshold = 1.0 * b2Settings.b2_lengthUnitsPerMeter / b2Settings.b2_timeUnitsPerSecond;
-b2Settings.b2_maxLinearCorrection = 0.2 * b2Settings.b2_lengthUnitsPerMeter;
-b2Settings.b2_maxAngularCorrection = 8.0 / 180.0 * b2Settings.b2_pi;
-b2Settings.b2_contactBaumgarte = 0.2;
-b2Settings.b2_timeToSleep = 0.5 * b2Settings.b2_timeUnitsPerSecond;
-b2Settings.b2_linearSleepTolerance = 0.01 * b2Settings.b2_lengthUnitsPerMeter / b2Settings.b2_timeUnitsPerSecond;
-b2Settings.b2_angularSleepTolerance = 2.0 / 180.0 / b2Settings.b2_timeUnitsPerSecond;
-b2Settings.b2Assert = function(a)
-	{
-		if (!a){
-			var nullVec;
-			nullVec.x++;
-		}
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Mat22.js b/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Mat22.js
deleted file mode 100644
index d5fb1fc..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Mat22.js
+++ /dev/null
@@ -1,130 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2Mat22 = Class.create();
-b2Mat22.prototype = 
-{
-	initialize: function(angle, c1, c2)
-	{
-		if (angle==null) angle = 0;
-		// initialize instance variables for references
-		this.col1 = new b2Vec2();
-		this.col2 = new b2Vec2();
-		//
-
-		if (c1!=null && c2!=null){
-			this.col1.SetV(c1);
-			this.col2.SetV(c2);
-		}
-		else{
-			var c = Math.cos(angle);
-			var s = Math.sin(angle);
-			this.col1.x = c; this.col2.x = -s;
-			this.col1.y = s; this.col2.y = c;
-		}
-	},
-
-	Set: function(angle)
-	{
-		var c = Math.cos(angle);
-		var s = Math.sin(angle);
-		this.col1.x = c; this.col2.x = -s;
-		this.col1.y = s; this.col2.y = c;
-	},
-
-	SetVV: function(c1, c2)
-	{
-		this.col1.SetV(c1);
-		this.col2.SetV(c2);
-	},
-
-	Copy: function(){
-		return new b2Mat22(0, this.col1, this.col2);
-	},
-
-	SetM: function(m)
-	{
-		this.col1.SetV(m.col1);
-		this.col2.SetV(m.col2);
-	},
-
-	AddM: function(m)
-	{
-		this.col1.x += m.col1.x;
-		this.col1.y += m.col1.y;
-		this.col2.x += m.col2.x;
-		this.col2.y += m.col2.y;
-	},
-
-	SetIdentity: function()
-	{
-		this.col1.x = 1.0; this.col2.x = 0.0;
-		this.col1.y = 0.0; this.col2.y = 1.0;
-	},
-
-	SetZero: function()
-	{
-		this.col1.x = 0.0; this.col2.x = 0.0;
-		this.col1.y = 0.0; this.col2.y = 0.0;
-	},
-
-	Invert: function(out)
-	{
-		var a = this.col1.x;
-		var b = this.col2.x;
-		var c = this.col1.y;
-		var d = this.col2.y;
-		//var B = new b2Mat22();
-		var det = a * d - b * c;
-		//b2Settings.b2Assert(det != 0.0);
-		det = 1.0 / det;
-		out.col1.x =  det * d;	out.col2.x = -det * b;
-		out.col1.y = -det * c;	out.col2.y =  det * a;
-		return out;
-	},
-
-	// this.Solve A * x = b
-	Solve: function(out, bX, bY)
-	{
-		//float32 a11 = this.col1.x, a12 = this.col2.x, a21 = this.col1.y, a22 = this.col2.y;
-		var a11 = this.col1.x;
-		var a12 = this.col2.x;
-		var a21 = this.col1.y;
-		var a22 = this.col2.y;
-		//float32 det = a11 * a22 - a12 * a21;
-		var det = a11 * a22 - a12 * a21;
-		//b2Settings.b2Assert(det != 0.0);
-		det = 1.0 / det;
-		out.x = det * (a22 * bX - a12 * bY);
-		out.y = det * (a11 * bY - a21 * bX);
-
-		return out;
-	},
-
-	Abs: function()
-	{
-		this.col1.Abs();
-		this.col2.Abs();
-	},
-
-	col1: new b2Vec2(),
-	col2: new b2Vec2()};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Math.js b/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Math.js
deleted file mode 100644
index 85185bf..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Math.js
+++ /dev/null
@@ -1,218 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2Math = Class.create();
-b2Math.prototype = {
-
-
-	/*static public function b2InvSqrt(x)
-	{
-		float32 xhalf = 0.5f * x;
-		int32 i = *(int32*)&x;
-		i = 0x5f3759df - (i >> 1);
-		x = *(float32*)&i;
-		x = x * (1.5f - xhalf * x * x);
-		return x;
-	}*/
-
-
-
-
-
-
-
-
-
-
-
-	// A * B
-
-	// A^T * B
-
-
-
-
-
-
-
-
-
-
-
-	// b2Math.b2Random number in range [-1,1]
-
-	/*inline float32 b2Math.b2Random(float32 lo, float32 hi)
-	{
-		float32 r = (float32)rand();
-		r /= RAND_MAX;
-		r = (hi - lo) * r + lo;
-		return r;
-	}*/
-
-	// "Next Largest Power of 2
-	// Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
-	// that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
-	// the same most significant 1, but all 1's below it. Adding 1 to that value yields the next
-	// largest power of 2. For a 32-bit value:"
-
-
-
-	// Temp vector functions to reduce calls to 'new'
-	/*static public var tempVec = new b2Vec2();
-
-
-	static public var tempAABB = new b2AABB();	*/
-
-
-
-	initialize: function() {}}
-b2Math.b2IsValid = function(x)
-	{
-		return isFinite(x);
-	};
-b2Math.b2Dot = function(a, b)
-	{
-		return a.x * b.x + a.y * b.y;
-	};
-b2Math.b2CrossVV = function(a, b)
-	{
-		return a.x * b.y - a.y * b.x;
-	};
-b2Math.b2CrossVF = function(a, s)
-	{
-		var v = new b2Vec2(s * a.y, -s * a.x);
-		return v;
-	};
-b2Math.b2CrossFV = function(s, a)
-	{
-		var v = new b2Vec2(-s * a.y, s * a.x);
-		return v;
-	};
-b2Math.b2MulMV = function(A, v)
-	{
-		var u = new b2Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y);
-		return u;
-	};
-b2Math.b2MulTMV = function(A, v)
-	{
-		var u = new b2Vec2(b2Math.b2Dot(v, A.col1), b2Math.b2Dot(v, A.col2));
-		return u;
-	};
-b2Math.AddVV = function(a, b)
-	{
-		var v = new b2Vec2(a.x + b.x, a.y + b.y);
-		return v;
-	};
-b2Math.SubtractVV = function(a, b)
-	{
-		var v = new b2Vec2(a.x - b.x, a.y - b.y);
-		return v;
-	};
-b2Math.MulFV = function(s, a)
-	{
-		var v = new b2Vec2(s * a.x, s * a.y);
-		return v;
-	};
-b2Math.AddMM = function(A, B)
-	{
-		var C = new b2Mat22(0, b2Math.AddVV(A.col1, B.col1), b2Math.AddVV(A.col2, B.col2));
-		return C;
-	};
-b2Math.b2MulMM = function(A, B)
-	{
-		var C = new b2Mat22(0, b2Math.b2MulMV(A, B.col1), b2Math.b2MulMV(A, B.col2));
-		return C;
-	};
-b2Math.b2MulTMM = function(A, B)
-	{
-		var c1 = new b2Vec2(b2Math.b2Dot(A.col1, B.col1), b2Math.b2Dot(A.col2, B.col1));
-		var c2 = new b2Vec2(b2Math.b2Dot(A.col1, B.col2), b2Math.b2Dot(A.col2, B.col2));
-		var C = new b2Mat22(0, c1, c2);
-		return C;
-	};
-b2Math.b2Abs = function(a)
-	{
-		return a > 0.0 ? a : -a;
-	};
-b2Math.b2AbsV = function(a)
-	{
-		var b = new b2Vec2(b2Math.b2Abs(a.x), b2Math.b2Abs(a.y));
-		return b;
-	};
-b2Math.b2AbsM = function(A)
-	{
-		var B = new b2Mat22(0, b2Math.b2AbsV(A.col1), b2Math.b2AbsV(A.col2));
-		return B;
-	};
-b2Math.b2Min = function(a, b)
-	{
-		return a < b ? a : b;
-	};
-b2Math.b2MinV = function(a, b)
-	{
-		var c = new b2Vec2(b2Math.b2Min(a.x, b.x), b2Math.b2Min(a.y, b.y));
-		return c;
-	};
-b2Math.b2Max = function(a, b)
-	{
-		return a > b ? a : b;
-	};
-b2Math.b2MaxV = function(a, b)
-	{
-		var c = new b2Vec2(b2Math.b2Max(a.x, b.x), b2Math.b2Max(a.y, b.y));
-		return c;
-	};
-b2Math.b2Clamp = function(a, low, high)
-	{
-		return b2Math.b2Max(low, b2Math.b2Min(a, high));
-	};
-b2Math.b2ClampV = function(a, low, high)
-	{
-		return b2Math.b2MaxV(low, b2Math.b2MinV(a, high));
-	};
-b2Math.b2Swap = function(a, b)
-	{
-		var tmp = a[0];
-		a[0] = b[0];
-		b[0] = tmp;
-	};
-b2Math.b2Random = function()
-	{
-		return Math.random() * 2 - 1;
-	};
-b2Math.b2NextPowerOfTwo = function(x)
-	{
-		x |= (x >> 1) & 0x7FFFFFFF;
-		x |= (x >> 2) & 0x3FFFFFFF;
-		x |= (x >> 4) & 0x0FFFFFFF;
-		x |= (x >> 8) & 0x00FFFFFF;
-		x |= (x >> 16)& 0x0000FFFF;
-		return x + 1;
-	};
-b2Math.b2IsPowerOfTwo = function(x)
-	{
-		var result = x > 0 && (x & (x - 1)) == 0;
-		return result;
-	};
-b2Math.tempVec2 = new b2Vec2();
-b2Math.tempVec3 = new b2Vec2();
-b2Math.tempVec4 = new b2Vec2();
-b2Math.tempVec5 = new b2Vec2();
-b2Math.tempMat = new b2Mat22();
diff --git a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Vec2.js b/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Vec2.js
deleted file mode 100644
index 24acd20..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/common/math/b2Vec2.js
+++ /dev/null
@@ -1,131 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-// b2Vec2 has no constructor so that it
-// can be placed in a union.
-var b2Vec2 = Class.create();
-b2Vec2.prototype = 
-{
-	initialize: function(x_, y_) {this.x=x_; this.y=y_;},
-
-	SetZero: function() { this.x = 0.0; this.y = 0.0; },
-	Set: function(x_, y_) {this.x=x_; this.y=y_;},
-	SetV: function(v) {this.x=v.x; this.y=v.y;},
-
-	Negative: function(){ return new b2Vec2(-this.x, -this.y); },
-
-
-	Copy: function(){
-		return new b2Vec2(this.x,this.y);
-	},
-
-	Add: function(v)
-	{
-		this.x += v.x; this.y += v.y;
-	},
-
-	Subtract: function(v)
-	{
-		this.x -= v.x; this.y -= v.y;
-	},
-
-	Multiply: function(a)
-	{
-		this.x *= a; this.y *= a;
-	},
-
-	MulM: function(A)
-	{
-		var tX = this.x;
-		this.x = A.col1.x * tX + A.col2.x * this.y;
-		this.y = A.col1.y * tX + A.col2.y * this.y;
-	},
-
-	MulTM: function(A)
-	{
-		var tX = b2Math.b2Dot(this, A.col1);
-		this.y = b2Math.b2Dot(this, A.col2);
-		this.x = tX;
-	},
-
-	CrossVF: function(s)
-	{
-		var tX = this.x;
-		this.x = s * this.y;
-		this.y = -s * tX;
-	},
-
-	CrossFV: function(s)
-	{
-		var tX = this.x;
-		this.x = -s * this.y;
-		this.y = s * tX;
-	},
-
-	MinV: function(b)
-	{
-		this.x = this.x < b.x ? this.x : b.x;
-		this.y = this.y < b.y ? this.y : b.y;
-	},
-
-	MaxV: function(b)
-	{
-		this.x = this.x > b.x ? this.x : b.x;
-		this.y = this.y > b.y ? this.y : b.y;
-	},
-
-	Abs: function()
-	{
-		this.x = Math.abs(this.x);
-		this.y = Math.abs(this.y);
-	},
-
-	Length: function()
-	{
-		return Math.sqrt(this.x * this.x + this.y * this.y);
-	},
-
-	Normalize: function()
-	{
-		var length = this.Length();
-		if (length < Number.MIN_VALUE)
-		{
-			return 0.0;
-		}
-		var invLength = 1.0 / length;
-		this.x *= invLength;
-		this.y *= invLength;
-
-		return length;
-	},
-
-	IsValid: function()
-	{
-		return b2Math.b2IsValid(this.x) && b2Math.b2IsValid(this.y);
-	},
-
-	x: null,
-	y: null};
-b2Vec2.Make = function(x_, y_)
-	{
-		return new b2Vec2(x_, y_);
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Body.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Body.js
deleted file mode 100644
index 6716d2f..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Body.js
+++ /dev/null
@@ -1,469 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-// A rigid body. Internal computation are done in terms
-// of the center of mass position. The center of mass may
-// be offset from the body's origin.
-var b2Body = Class.create();
-b2Body.prototype = 
-{
-	// Set the position of the body's origin and rotation (radians).
-	// This breaks any contacts and wakes the other bodies.
-	SetOriginPosition: function(position, rotation){
-		if (this.IsFrozen())
-		{
-			return;
-		}
-
-		this.m_rotation = rotation;
-		this.m_R.Set(this.m_rotation);
-		this.m_position = b2Math.AddVV(position , b2Math.b2MulMV(this.m_R, this.m_center));
-
-		this.m_position0.SetV(this.m_position);
-		this.m_rotation0 = this.m_rotation;
-
-		for (var s = this.m_shapeList; s != null; s = s.m_next)
-		{
-			s.Synchronize(this.m_position, this.m_R, this.m_position, this.m_R);
-		}
-
-		this.m_world.m_broadPhase.Commit();
-	},
-
-	// Get the position of the body's origin. The body's origin does not
-	// necessarily coincide with the center of mass. It depends on how the
-	// shapes are created.
-	GetOriginPosition: function(){
-		return b2Math.SubtractVV(this.m_position, b2Math.b2MulMV(this.m_R, this.m_center));
-	},
-
-	// Set the position of the body's center of mass and rotation (radians).
-	// This breaks any contacts and wakes the other bodies.
-	SetCenterPosition: function(position, rotation){
-		if (this.IsFrozen())
-		{
-			return;
-		}
-
-		this.m_rotation = rotation;
-		this.m_R.Set(this.m_rotation);
-		this.m_position.SetV( position );
-
-		this.m_position0.SetV(this.m_position);
-		this.m_rotation0 = this.m_rotation;
-
-		for (var s = this.m_shapeList; s != null; s = s.m_next)
-		{
-			s.Synchronize(this.m_position, this.m_R, this.m_position, this.m_R);
-		}
-
-		this.m_world.m_broadPhase.Commit();
-	},
-
-	// Get the position of the body's center of mass. The body's center of mass
-	// does not necessarily coincide with the body's origin. It depends on how the
-	// shapes are created.
-	GetCenterPosition: function(){
-		return this.m_position;
-	},
-
-	// Get the rotation in radians.
-	GetRotation: function(){
-		return this.m_rotation;
-	},
-
-	GetRotationMatrix: function(){
-		return this.m_R;
-	},
-
-	// Set/Get the linear velocity of the center of mass.
-	SetLinearVelocity: function(v){
-		this.m_linearVelocity.SetV(v);
-	},
-	GetLinearVelocity: function(){
-		return this.m_linearVelocity;
-	},
-
-	// Set/Get the angular velocity.
-	SetAngularVelocity: function(w){
-		this.m_angularVelocity = w;
-	},
-	GetAngularVelocity: function(){
-		return this.m_angularVelocity;
-	},
-
-	// Apply a force at a world point. Additive.
-	ApplyForce: function(force, point)
-	{
-		if (this.IsSleeping() == false)
-		{
-			this.m_force.Add( force );
-			this.m_torque += b2Math.b2CrossVV(b2Math.SubtractVV(point, this.m_position), force);
-		}
-	},
-
-	// Apply a torque. Additive.
-	ApplyTorque: function(torque)
-	{
-		if (this.IsSleeping() == false)
-		{
-			this.m_torque += torque;
-		}
-	},
-
-	// Apply an impulse at a point. This immediately modifies the velocity.
-	ApplyImpulse: function(impulse, point)
-	{
-		if (this.IsSleeping() == false)
-		{
-			this.m_linearVelocity.Add( b2Math.MulFV(this.m_invMass, impulse) );
-			this.m_angularVelocity += ( this.m_invI * b2Math.b2CrossVV( b2Math.SubtractVV(point, this.m_position), impulse)  );
-		}
-	},
-
-	GetMass: function(){
-		return this.m_mass;
-	},
-
-	GetInertia: function(){
-		return this.m_I;
-	},
-
-	// Get the world coordinates of a point give the local coordinates
-	// relative to the body's center of mass.
-	GetWorldPoint: function(localPoint){
-		return b2Math.AddVV(this.m_position , b2Math.b2MulMV(this.m_R, localPoint));
-	},
-
-	// Get the world coordinates of a vector given the local coordinates.
-	GetWorldVector: function(localVector){
-		return b2Math.b2MulMV(this.m_R, localVector);
-	},
-
-	// Returns a local point relative to the center of mass given a world point.
-	GetLocalPoint: function(worldPoint){
-		return b2Math.b2MulTMV(this.m_R, b2Math.SubtractVV(worldPoint, this.m_position));
-	},
-
-	// Returns a local vector given a world vector.
-	GetLocalVector: function(worldVector){
-		return b2Math.b2MulTMV(this.m_R, worldVector);
-	},
-
-	// Is this body static (immovable)?
-	IsStatic: function(){
-		return (this.m_flags & b2Body.e_staticFlag) == b2Body.e_staticFlag;
-	},
-
-	IsFrozen: function()
-	{
-		return (this.m_flags & b2Body.e_frozenFlag) == b2Body.e_frozenFlag;
-	},
-
-	// Is this body sleeping (not simulating).
-	IsSleeping: function(){
-		return (this.m_flags & b2Body.e_sleepFlag) == b2Body.e_sleepFlag;
-	},
-
-	// You can disable sleeping on this particular body.
-	AllowSleeping: function(flag)
-	{
-		if (flag)
-		{
-			this.m_flags |= b2Body.e_allowSleepFlag;
-		}
-		else
-		{
-			this.m_flags &= ~b2Body.e_allowSleepFlag;
-			this.WakeUp();
-		}
-	},
-
-	// Wake up this body so it will begin simulating.
-	WakeUp: function(){
-		this.m_flags &= ~b2Body.e_sleepFlag;
-		this.m_sleepTime = 0.0;
-	},
-
-	// Get the list of all shapes attached to this body.
-	GetShapeList: function(){
-		return this.m_shapeList;
-	},
-
-	GetContactList: function()
-	{
-		return this.m_contactList;
-	},
-
-	GetJointList: function()
-	{
-		return this.m_jointList;
-	},
-
-	// Get the next body in the world's body list.
-	GetNext: function(){
-		return this.m_next;
-	},
-
-	GetUserData: function(){
-		return this.m_userData;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(bd, world){
-		// initialize instance variables for references
-		this.sMat0 = new b2Mat22();
-		this.m_position = new b2Vec2();
-		this.m_R = new b2Mat22(0);
-		this.m_position0 = new b2Vec2();
-		//
-
-		var i = 0;
-		var sd;
-		var massData;
-
-		this.m_flags = 0;
-		this.m_position.SetV( bd.position );
-		this.m_rotation = bd.rotation;
-		this.m_R.Set(this.m_rotation);
-		this.m_position0.SetV(this.m_position);
-		this.m_rotation0 = this.m_rotation;
-		this.m_world = world;
-
-		this.m_linearDamping = b2Math.b2Clamp(1.0 - bd.linearDamping, 0.0, 1.0);
-		this.m_angularDamping = b2Math.b2Clamp(1.0 - bd.angularDamping, 0.0, 1.0);
-
-		this.m_force = new b2Vec2(0.0, 0.0);
-		this.m_torque = 0.0;
-
-		this.m_mass = 0.0;
-
-		var massDatas = new Array(b2Settings.b2_maxShapesPerBody);
-		for (i = 0; i < b2Settings.b2_maxShapesPerBody; i++){
-			massDatas[i] = new b2MassData();
-		}
-
-		// Compute the shape mass properties, the bodies total mass and COM.
-		this.m_shapeCount = 0;
-		this.m_center = new b2Vec2(0.0, 0.0);
-		for (i = 0; i < b2Settings.b2_maxShapesPerBody; ++i)
-		{
-			sd = bd.shapes[i];
-			if (sd == null) break;
-			massData = massDatas[ i ];
-			sd.ComputeMass(massData);
-			this.m_mass += massData.mass;
-			//this.m_center += massData->mass * (sd->localPosition + massData->center);
-			this.m_center.x += massData.mass * (sd.localPosition.x + massData.center.x);
-			this.m_center.y += massData.mass * (sd.localPosition.y + massData.center.y);
-			++this.m_shapeCount;
-		}
-
-		// Compute center of mass, and shift the origin to the COM.
-		if (this.m_mass > 0.0)
-		{
-			this.m_center.Multiply( 1.0 / this.m_mass );
-			this.m_position.Add( b2Math.b2MulMV(this.m_R, this.m_center) );
-		}
-		else
-		{
-			this.m_flags |= b2Body.e_staticFlag;
-		}
-
-		// Compute the moment of inertia.
-		this.m_I = 0.0;
-		for (i = 0; i < this.m_shapeCount; ++i)
-		{
-			sd = bd.shapes[i];
-			massData = massDatas[ i ];
-			this.m_I += massData.I;
-			var r = b2Math.SubtractVV( b2Math.AddVV(sd.localPosition, massData.center), this.m_center );
-			this.m_I += massData.mass * b2Math.b2Dot(r, r);
-		}
-
-		if (this.m_mass > 0.0)
-		{
-			this.m_invMass = 1.0 / this.m_mass;
-		}
-		else
-		{
-			this.m_invMass = 0.0;
-		}
-
-		if (this.m_I > 0.0 && bd.preventRotation == false)
-		{
-			this.m_invI = 1.0 / this.m_I;
-		}
-		else
-		{
-			this.m_I = 0.0;
-			this.m_invI = 0.0;
-		}
-
-		// Compute the center of mass velocity.
-		this.m_linearVelocity = b2Math.AddVV(bd.linearVelocity, b2Math.b2CrossFV(bd.angularVelocity, this.m_center));
-		this.m_angularVelocity = bd.angularVelocity;
-
-		this.m_jointList = null;
-		this.m_contactList = null;
-		this.m_prev = null;
-		this.m_next = null;
-
-		// Create the shapes.
-		this.m_shapeList = null;
-		for (i = 0; i < this.m_shapeCount; ++i)
-		{
-			sd = bd.shapes[i];
-			var shape = b2Shape.Create(sd, this, this.m_center);
-			shape.m_next = this.m_shapeList;
-			this.m_shapeList = shape;
-		}
-
-		this.m_sleepTime = 0.0;
-		if (bd.allowSleep)
-		{
-			this.m_flags |= b2Body.e_allowSleepFlag;
-		}
-		if (bd.isSleeping)
-		{
-			this.m_flags |= b2Body.e_sleepFlag;
-		}
-
-		if ((this.m_flags & b2Body.e_sleepFlag)  || this.m_invMass == 0.0)
-		{
-			this.m_linearVelocity.Set(0.0, 0.0);
-			this.m_angularVelocity = 0.0;
-		}
-
-		this.m_userData = bd.userData;
-	},
-	// does not support destructors
-	/*~b2Body(){
-		b2Shape* s = this.m_shapeList;
-		while (s)
-		{
-			b2Shape* s0 = s;
-			s = s->this.m_next;
-
-			b2Shape::this.Destroy(s0);
-		}
-	}*/
-
-	Destroy: function(){
-		var s = this.m_shapeList;
-		while (s)
-		{
-			var s0 = s;
-			s = s.m_next;
-
-			b2Shape.Destroy(s0);
-		}
-	},
-
-	// Temp mat
-	sMat0: new b2Mat22(),
-	SynchronizeShapes: function(){
-		//b2Mat22 R0(this.m_rotation0);
-		this.sMat0.Set(this.m_rotation0);
-		for (var s = this.m_shapeList; s != null; s = s.m_next)
-		{
-			s.Synchronize(this.m_position0, this.sMat0, this.m_position, this.m_R);
-		}
-	},
-
-	QuickSyncShapes: function(){
-		for (var s = this.m_shapeList; s != null; s = s.m_next)
-		{
-			s.QuickSync(this.m_position, this.m_R);
-		}
-	},
-
-	// This is used to prevent connected bodies from colliding.
-	// It may lie, depending on the collideConnected flag.
-	IsConnected: function(other){
-		for (var jn = this.m_jointList; jn != null; jn = jn.next)
-		{
-			if (jn.other == other)
-				return jn.joint.m_collideConnected == false;
-		}
-
-		return false;
-	},
-
-	Freeze: function(){
-		this.m_flags |= b2Body.e_frozenFlag;
-		this.m_linearVelocity.SetZero();
-		this.m_angularVelocity = 0.0;
-
-		for (var s = this.m_shapeList; s != null; s = s.m_next)
-		{
-			s.DestroyProxy();
-		}
-	},
-
-	m_flags: 0,
-
-	m_position: new b2Vec2(),
-	m_rotation: null,
-	m_R: new b2Mat22(0),
-
-	// Conservative advancement data.
-	m_position0: new b2Vec2(),
-	m_rotation0: null,
-
-	m_linearVelocity: null,
-	m_angularVelocity: null,
-
-	m_force: null,
-	m_torque: null,
-
-	m_center: null,
-
-	m_world: null,
-	m_prev: null,
-	m_next: null,
-
-	m_shapeList: null,
-	m_shapeCount: 0,
-
-	m_jointList: null,
-	m_contactList: null,
-
-	m_mass: null,
-	m_invMass: null,
-	m_I: null,
-	m_invI: null,
-
-	m_linearDamping: null,
-	m_angularDamping: null,
-
-	m_sleepTime: null,
-
-	m_userData: null};
-b2Body.e_staticFlag = 0x0001;
-b2Body.e_frozenFlag = 0x0002;
-b2Body.e_islandFlag = 0x0004;
-b2Body.e_sleepFlag = 0x0008;
-b2Body.e_allowSleepFlag = 0x0010;
-b2Body.e_destroyFlag = 0x0020;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2BodyDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2BodyDef.js
deleted file mode 100644
index c586b37..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2BodyDef.js
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2BodyDef = Class.create();
-b2BodyDef.prototype = 
-{
-	initialize: function()
-	{
-		// initialize instance variables for references
-		this.shapes = new Array();
-		//
-
-		this.userData = null;
-		for (var i = 0; i < b2Settings.b2_maxShapesPerBody; i++){
-			this.shapes[i] = null;
-		}
-		this.position = new b2Vec2(0.0, 0.0);
-		this.rotation = 0.0;
-		this.linearVelocity = new b2Vec2(0.0, 0.0);
-		this.angularVelocity = 0.0;
-		this.linearDamping = 0.0;
-		this.angularDamping = 0.0;
-		this.allowSleep = true;
-		this.isSleeping = false;
-		this.preventRotation = false;
-	},
-
-	userData: null,
-	shapes: new Array(),
-	position: null,
-	rotation: null,
-	linearVelocity: null,
-	angularVelocity: null,
-	linearDamping: null,
-	angularDamping: null,
-	allowSleep: null,
-	isSleeping: null,
-	preventRotation: null,
-
-	AddShape: function(shape)
-	{
-		for (var i = 0; i < b2Settings.b2_maxShapesPerBody; ++i)
-		{
-			if (this.shapes[i] == null)
-			{
-				this.shapes[i] = shape;
-				break;
-			}
-		}
-	}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2CollisionFilter.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2CollisionFilter.js
deleted file mode 100644
index 6724f25..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2CollisionFilter.js
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2CollisionFilter = Class.create();
-b2CollisionFilter.prototype = 
-{
-
-	// Return true if contact calculations should be performed between these two shapes.
-	ShouldCollide: function(shape1, shape2){
-		if (shape1.m_groupIndex == shape2.m_groupIndex && shape1.m_groupIndex != 0)
-		{
-			return shape1.m_groupIndex > 0;
-		}
-
-		var collide = (shape1.m_maskBits & shape2.m_categoryBits) != 0 && (shape1.m_categoryBits & shape2.m_maskBits) != 0;
-		return collide;
-	},
-
-
-	initialize: function() {}};
-b2CollisionFilter.b2_defaultFilter = new b2CollisionFilter;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2ContactManager.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2ContactManager.js
deleted file mode 100644
index cfb2df7..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2ContactManager.js
+++ /dev/null
@@ -1,337 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2ContactManager = Class.create();
-Object.extend(b2ContactManager.prototype, b2PairCallback.prototype);
-Object.extend(b2ContactManager.prototype, 
-{
-	initialize: function(){
-		// The constructor for b2PairCallback
-		//
-
-		// initialize instance variables for references
-		this.m_nullContact = new b2NullContact();
-		//
-
-		this.m_world = null;
-		this.m_destroyImmediate = false;
-	},
-
-	// This is a callback from the broadphase when two AABB proxies begin
-	// to overlap. We create a b2Contact to manage the narrow phase.
-	PairAdded: function(proxyUserData1, proxyUserData2){
-		var shape1 = proxyUserData1;
-		var shape2 = proxyUserData2;
-
-		var body1 = shape1.m_body;
-		var body2 = shape2.m_body;
-
-		if (body1.IsStatic() && body2.IsStatic())
-		{
-			return this.m_nullContact;
-		}
-
-		if (shape1.m_body == shape2.m_body)
-		{
-			return this.m_nullContact;
-		}
-
-		if (body2.IsConnected(body1))
-		{
-			return this.m_nullContact;
-		}
-
-		if (this.m_world.m_filter != null && this.m_world.m_filter.ShouldCollide(shape1, shape2) == false)
-		{
-			return this.m_nullContact;
-		}
-
-		// Ensure that body2 is dynamic (body1 is static or dynamic).
-		if (body2.m_invMass == 0.0)
-		{
-			var tempShape = shape1;
-			shape1 = shape2;
-			shape2 = tempShape;
-			//b2Math.b2Swap(shape1, shape2);
-			var tempBody = body1;
-			body1 = body2;
-			body2 = tempBody;
-			//b2Math.b2Swap(body1, body2);
-		}
-
-		// Call the factory.
-		var contact = b2Contact.Create(shape1, shape2, this.m_world.m_blockAllocator);
-
-		if (contact == null)
-		{
-			return this.m_nullContact;
-		}
-		else
-		{
-			// Insert into the world.
-			contact.m_prev = null;
-			contact.m_next = this.m_world.m_contactList;
-			if (this.m_world.m_contactList != null)
-			{
-				this.m_world.m_contactList.m_prev = contact;
-			}
-			this.m_world.m_contactList = contact;
-			this.m_world.m_contactCount++;
-		}
-
-		return contact;
-	},
-
-	// This is a callback from the broadphase when two AABB proxies cease
-	// to overlap. We destroy the b2Contact.
-	PairRemoved: function(proxyUserData1, proxyUserData2, pairUserData){
-
-		if (pairUserData == null)
-		{
-			return;
-		}
-
-		var c = pairUserData;
-		if (c != this.m_nullContact)
-		{
-			//b2Settings.b2Assert(this.m_world.m_contactCount > 0);
-			if (this.m_destroyImmediate == true)
-			{
-				this.DestroyContact(c);
-				c = null;
-			}
-			else
-			{
-				c.m_flags |= b2Contact.e_destroyFlag;
-			}
-		}
-	},
-
-	DestroyContact: function(c)
-	{
-
-		//b2Settings.b2Assert(this.m_world.m_contactCount > 0);
-
-		// Remove from the world.
-		if (c.m_prev)
-		{
-			c.m_prev.m_next = c.m_next;
-		}
-
-		if (c.m_next)
-		{
-			c.m_next.m_prev = c.m_prev;
-		}
-
-		if (c == this.m_world.m_contactList)
-		{
-			this.m_world.m_contactList = c.m_next;
-		}
-
-		// If there are contact points, then disconnect from the island graph.
-		if (c.GetManifoldCount() > 0)
-		{
-			var body1 = c.m_shape1.m_body;
-			var body2 = c.m_shape2.m_body;
-			var node1 = c.m_node1;
-			var node2 = c.m_node2;
-
-			// Wake up touching bodies.
-			body1.WakeUp();
-			body2.WakeUp();
-
-			// Remove from body 1
-			if (node1.prev)
-			{
-				node1.prev.next = node1.next;
-			}
-
-			if (node1.next)
-			{
-				node1.next.prev = node1.prev;
-			}
-
-			if (node1 == body1.m_contactList)
-			{
-				body1.m_contactList = node1.next;
-			}
-
-			node1.prev = null;
-			node1.next = null;
-
-			// Remove from body 2
-			if (node2.prev)
-			{
-				node2.prev.next = node2.next;
-			}
-
-			if (node2.next)
-			{
-				node2.next.prev = node2.prev;
-			}
-
-			if (node2 == body2.m_contactList)
-			{
-				body2.m_contactList = node2.next;
-			}
-
-			node2.prev = null;
-			node2.next = null;
-		}
-
-		// Call the factory.
-		b2Contact.Destroy(c, this.m_world.m_blockAllocator);
-		--this.m_world.m_contactCount;
-	},
-
-
-	// Destroy any contacts marked for deferred destruction.
-	CleanContactList: function()
-	{
-		var c = this.m_world.m_contactList;
-		while (c != null)
-		{
-			var c0 = c;
-			c = c.m_next;
-
-			if (c0.m_flags & b2Contact.e_destroyFlag)
-			{
-				this.DestroyContact(c0);
-				c0 = null;
-			}
-		}
-	},
-
-
-	// This is the top level collision call for the time step. Here
-	// all the narrow phase collision is processed for the world
-	// contact list.
-	Collide: function()
-	{
-		var body1;
-		var body2;
-		var node1;
-		var node2;
-
-		for (var c = this.m_world.m_contactList; c != null; c = c.m_next)
-		{
-			if (c.m_shape1.m_body.IsSleeping() &&
-				c.m_shape2.m_body.IsSleeping())
-			{
-				continue;
-			}
-
-			var oldCount = c.GetManifoldCount();
-			c.Evaluate();
-
-			var newCount = c.GetManifoldCount();
-
-			if (oldCount == 0 && newCount > 0)
-			{
-				//b2Settings.b2Assert(c.GetManifolds().pointCount > 0);
-
-				// Connect to island graph.
-				body1 = c.m_shape1.m_body;
-				body2 = c.m_shape2.m_body;
-				node1 = c.m_node1;
-				node2 = c.m_node2;
-
-				// Connect to body 1
-				node1.contact = c;
-				node1.other = body2;
-
-				node1.prev = null;
-				node1.next = body1.m_contactList;
-				if (node1.next != null)
-				{
-					node1.next.prev = c.m_node1;
-				}
-				body1.m_contactList = c.m_node1;
-
-				// Connect to body 2
-				node2.contact = c;
-				node2.other = body1;
-
-				node2.prev = null;
-				node2.next = body2.m_contactList;
-				if (node2.next != null)
-				{
-					node2.next.prev = node2;
-				}
-				body2.m_contactList = node2;
-			}
-			else if (oldCount > 0 && newCount == 0)
-			{
-				// Disconnect from island graph.
-				body1 = c.m_shape1.m_body;
-				body2 = c.m_shape2.m_body;
-				node1 = c.m_node1;
-				node2 = c.m_node2;
-
-				// Remove from body 1
-				if (node1.prev)
-				{
-					node1.prev.next = node1.next;
-				}
-
-				if (node1.next)
-				{
-					node1.next.prev = node1.prev;
-				}
-
-				if (node1 == body1.m_contactList)
-				{
-					body1.m_contactList = node1.next;
-				}
-
-				node1.prev = null;
-				node1.next = null;
-
-				// Remove from body 2
-				if (node2.prev)
-				{
-					node2.prev.next = node2.next;
-				}
-
-				if (node2.next)
-				{
-					node2.next.prev = node2.prev;
-				}
-
-				if (node2 == body2.m_contactList)
-				{
-					body2.m_contactList = node2.next;
-				}
-
-				node2.prev = null;
-				node2.next = null;
-			}
-		}
-	},
-
-	m_world: null,
-
-	// This lets us provide broadphase proxy pair user data for
-	// contacts that shouldn't exist.
-	m_nullContact: new b2NullContact(),
-	m_destroyImmediate: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Island.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Island.js
deleted file mode 100644
index ee15d71..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2Island.js
+++ /dev/null
@@ -1,331 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-/*
-Position Correction Notes
-=========================
-I tried the several algorithms for position correction of the 2D revolute joint.
-I looked at these systems:
-- simple pendulum (1m diameter sphere on massless 5m stick) with initial angular velocity of 100 rad/s.
-- suspension bridge with 30 1m long planks of length 1m.
-- multi-link chain with 30 1m long links.
-
-Here are the algorithms:
-
-Baumgarte - A fraction of the position error is added to the velocity error. There is no
-separate position solver.
-
-Pseudo Velocities - After the velocity solver and position integration,
-the position error, Jacobian, and effective mass are recomputed. Then
-the velocity constraints are solved with pseudo velocities and a fraction
-of the position error is added to the pseudo velocity error. The pseudo
-velocities are initialized to zero and there is no warm-starting. After
-the position solver, the pseudo velocities are added to the positions.
-This is also called the First Order World method or the Position LCP method.
-
-Modified Nonlinear Gauss-Seidel (NGS) - Like Pseudo Velocities except the
-position error is re-computed for each constraint and the positions are updated
-after the constraint is solved. The radius vectors (aka Jacobians) are
-re-computed too (otherwise the algorithm has horrible instability). The pseudo
-velocity states are not needed because they are effectively zero at the beginning
-of each iteration. Since we have the current position error, we allow the
-iterations to terminate early if the error becomes smaller than b2_linearSlop.
-
-Full NGS or just NGS - Like Modified NGS except the effective mass are re-computed
-each time a constraint is solved.
-
-Here are the results:
-Baumgarte - this is the cheapest algorithm but it has some stability problems,
-especially with the bridge. The chain links separate easily close to the root
-and they jitter struggle to pull together. This is one of the most common
-methods in the field. The big drawback is that the position correction artificially
-affects the momentum, thus leading to instabilities and false bounce. I used a
-bias factor of 0.2. A larger bias factor makes the bridge less stable, a smaller
-factor makes joints and contacts more spongy.
-
-Pseudo Velocities - the is more stable than the Baumgarte method. The bridge is
-stable. However, joints still separate with large angular velocities. Drag the
-simple pendulum in a circle quickly and the joint will separate. The chain separates
-easily and does not recover. I used a bias factor of 0.2. A larger value lead to
-the bridge collapsing when a heavy cube drops on it.
-
-Modified NGS - this algorithm is better in some ways than Baumgarte and Pseudo
-Velocities, but in other ways it is worse. The bridge and chain are much more
-stable, but the simple pendulum goes unstable at high angular velocities.
-
-Full NGS - stable in all tests. The joints display good stiffness. The bridge
-still sags, but this is better than infinite forces.
-
-Recommendations
-Pseudo Velocities are not really worthwhile because the bridge and chain cannot
-recover from joint separation. In other cases the benefit over Baumgarte is small.
-
-Modified NGS is not a robust method for the revolute joint due to the violent
-instability seen in the simple pendulum. Perhaps it is viable with other constraint
-types, especially scalar constraints where the effective mass is a scalar.
-
-This leaves Baumgarte and Full NGS. Baumgarte has small, but manageable instabilities
-and is very fast. I don't think we can escape Baumgarte, especially in highly
-demanding cases where high constraint fidelity is not needed.
-
-Full NGS is robust and easy on the eyes. I recommend this option for
-higher fidelity simulation and certainly for suspension bridges and long chains.
-Full NGS might be a good choice for ragdolls, especially motorized ragdolls where
-joint separation can be problematic. The number of NGS iterations can be reduced
-for better performance without harming robustness much.
-
-Each joint in a can be handled differently in the position solver. So I recommend
-a system where the user can select the algorithm on a per joint basis. I would
-probably default to the slower Full NGS and let the user select the faster
-Baumgarte method in performance critical scenarios.
-*/
-
-
-var b2Island = Class.create();
-b2Island.prototype = 
-{
-	initialize: function(bodyCapacity, contactCapacity, jointCapacity, allocator)
-	{
-		var i = 0;
-
-		this.m_bodyCapacity = bodyCapacity;
-		this.m_contactCapacity = contactCapacity;
-		this.m_jointCapacity	 = jointCapacity;
-		this.m_bodyCount = 0;
-		this.m_contactCount = 0;
-		this.m_jointCount = 0;
-
-
-		//this.m_bodies = (b2Body**)allocator->Allocate(bodyCapacity * sizeof(b2Body*));
-		this.m_bodies = new Array(bodyCapacity);
-		for (i = 0; i < bodyCapacity; i++)
-			this.m_bodies[i] = null;
-
-		//this.m_contacts = (b2Contact**)allocator->Allocate(contactCapacity	 * sizeof(b2Contact*));
-		this.m_contacts = new Array(contactCapacity);
-		for (i = 0; i < contactCapacity; i++)
-			this.m_contacts[i] = null;
-
-		//this.m_joints = (b2Joint**)allocator->Allocate(jointCapacity * sizeof(b2Joint*));
-		this.m_joints = new Array(jointCapacity);
-		for (i = 0; i < jointCapacity; i++)
-			this.m_joints[i] = null;
-
-		this.m_allocator = allocator;
-	},
-	//~b2Island();
-
-	Clear: function()
-	{
-		this.m_bodyCount = 0;
-		this.m_contactCount = 0;
-		this.m_jointCount = 0;
-	},
-
-	Solve: function(step, gravity)
-	{
-		var i = 0;
-		var b;
-
-		for (i = 0; i < this.m_bodyCount; ++i)
-		{
-			b = this.m_bodies[i];
-
-			if (b.m_invMass == 0.0)
-				continue;
-
-			b.m_linearVelocity.Add( b2Math.MulFV (step.dt, b2Math.AddVV(gravity, b2Math.MulFV( b.m_invMass, b.m_force ) ) ) );
-			b.m_angularVelocity += step.dt * b.m_invI * b.m_torque;
-
-			//b.m_linearVelocity *= b.m_linearDamping;
-			b.m_linearVelocity.Multiply(b.m_linearDamping);
-			b.m_angularVelocity *= b.m_angularDamping;
-
-			// Store positions for conservative advancement.
-			b.m_position0.SetV(b.m_position);
-			b.m_rotation0 = b.m_rotation;
-		}
-
-		var contactSolver = new b2ContactSolver(this.m_contacts, this.m_contactCount, this.m_allocator);
-
-		// Pre-solve
-		contactSolver.PreSolve();
-
-		for (i = 0; i < this.m_jointCount; ++i)
-		{
-			this.m_joints[i].PrepareVelocitySolver();
-		}
-
-		// this.Solve velocity constraints.
-		for (i = 0; i < step.iterations; ++i)
-		{
-			contactSolver.SolveVelocityConstraints();
-
-			for (var j = 0; j < this.m_jointCount; ++j)
-			{
-				this.m_joints[j].SolveVelocityConstraints(step);
-			}
-		}
-
-		// Integrate positions.
-		for (i = 0; i < this.m_bodyCount; ++i)
-		{
-			b = this.m_bodies[i];
-
-			if (b.m_invMass == 0.0)
-				continue;
-
-			//b.m_position.Add( b2Math.MulFV (step.dt, b.m_linearVelocity) );
-			b.m_position.x += step.dt * b.m_linearVelocity.x;
-			b.m_position.y += step.dt * b.m_linearVelocity.y;
-			b.m_rotation += step.dt * b.m_angularVelocity;
-
-			b.m_R.Set(b.m_rotation);
-		}
-
-		for (i = 0; i < this.m_jointCount; ++i)
-		{
-			this.m_joints[i].PreparePositionSolver();
-		}
-
-		// this.Solve position constraints.
-		if (b2World.s_enablePositionCorrection)
-		{
-			for (b2Island.m_positionIterationCount = 0; b2Island.m_positionIterationCount < step.iterations; ++b2Island.m_positionIterationCount)
-			{
-				var contactsOkay = contactSolver.SolvePositionConstraints(b2Settings.b2_contactBaumgarte);
-
-				var jointsOkay = true;
-				for (i = 0; i < this.m_jointCount; ++i)
-				{
-					var jointOkay = this.m_joints[i].SolvePositionConstraints();
-					jointsOkay = jointsOkay && jointOkay;
-				}
-
-				if (contactsOkay && jointsOkay)
-				{
-					break;
-				}
-			}
-		}
-
-		// Post-solve.
-		contactSolver.PostSolve();
-
-		// Synchronize shapes and reset forces.
-		for (i = 0; i < this.m_bodyCount; ++i)
-		{
-			b = this.m_bodies[i];
-
-			if (b.m_invMass == 0.0)
-				continue;
-
-			b.m_R.Set(b.m_rotation);
-
-			b.SynchronizeShapes();
-			b.m_force.Set(0.0, 0.0);
-			b.m_torque = 0.0;
-		}
-	},
-
-	UpdateSleep: function(dt)
-	{
-		var i = 0;
-		var b;
-
-		var minSleepTime = Number.MAX_VALUE;
-
-		var linTolSqr = b2Settings.b2_linearSleepTolerance * b2Settings.b2_linearSleepTolerance;
-		var angTolSqr = b2Settings.b2_angularSleepTolerance * b2Settings.b2_angularSleepTolerance;
-
-		for (i = 0; i < this.m_bodyCount; ++i)
-		{
-			b = this.m_bodies[i];
-			if (b.m_invMass == 0.0)
-			{
-				continue;
-			}
-
-			if ((b.m_flags & b2Body.e_allowSleepFlag) == 0)
-			{
-				b.m_sleepTime = 0.0;
-				minSleepTime = 0.0;
-			}
-
-			if ((b.m_flags & b2Body.e_allowSleepFlag) == 0 ||
-				b.m_angularVelocity * b.m_angularVelocity > angTolSqr ||
-				b2Math.b2Dot(b.m_linearVelocity, b.m_linearVelocity) > linTolSqr)
-			{
-				b.m_sleepTime = 0.0;
-				minSleepTime = 0.0;
-			}
-			else
-			{
-				b.m_sleepTime += dt;
-				minSleepTime = b2Math.b2Min(minSleepTime, b.m_sleepTime);
-			}
-		}
-
-		if (minSleepTime >= b2Settings.b2_timeToSleep)
-		{
-			for (i = 0; i < this.m_bodyCount; ++i)
-			{
-				b = this.m_bodies[i];
-				b.m_flags |= b2Body.e_sleepFlag;
-			}
-		}
-	},
-
-	AddBody: function(body)
-	{
-		//b2Settings.b2Assert(this.m_bodyCount < this.m_bodyCapacity);
-		this.m_bodies[this.m_bodyCount++] = body;
-	},
-
-	AddContact: function(contact)
-	{
-		//b2Settings.b2Assert(this.m_contactCount < this.m_contactCapacity);
-		this.m_contacts[this.m_contactCount++] = contact;
-	},
-
-	AddJoint: function(joint)
-	{
-		//b2Settings.b2Assert(this.m_jointCount < this.m_jointCapacity);
-		this.m_joints[this.m_jointCount++] = joint;
-	},
-
-	m_allocator: null,
-
-	m_bodies: null,
-	m_contacts: null,
-	m_joints: null,
-
-	m_bodyCount: 0,
-	m_jointCount: 0,
-	m_contactCount: 0,
-
-	m_bodyCapacity: 0,
-	m_contactCapacity: 0,
-	m_jointCapacity: 0,
-
-	m_positionError: null};
-b2Island.m_positionIterationCount = 0;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2TimeStep.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2TimeStep.js
deleted file mode 100644
index 599390ed..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2TimeStep.js
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2TimeStep = Class.create();
-b2TimeStep.prototype = 
-{
-	dt: null,
-	inv_dt: null,
-	iterations: 0,
-	initialize: function() {}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2World.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2World.js
deleted file mode 100644
index b90ae43..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2World.js
+++ /dev/null
@@ -1,522 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-var b2World = Class.create();
-b2World.prototype = 
-{
-	initialize: function(worldAABB, gravity, doSleep){
-		// initialize instance variables for references
-		this.step = new b2TimeStep();
-		this.m_contactManager = new b2ContactManager();
-		//
-
-
-		this.m_listener = null;
-		this.m_filter = b2CollisionFilter.b2_defaultFilter;
-
-		this.m_bodyList = null;
-		this.m_contactList = null;
-		this.m_jointList = null;
-
-		this.m_bodyCount = 0;
-		this.m_contactCount = 0;
-		this.m_jointCount = 0;
-
-		this.m_bodyDestroyList = null;
-
-		this.m_allowSleep = doSleep;
-
-		this.m_gravity = gravity;
-
-		this.m_contactManager.m_world = this;
-		this.m_broadPhase = new b2BroadPhase(worldAABB, this.m_contactManager);
-
-		var bd = new b2BodyDef();
-		this.m_groundBody = this.CreateBody(bd);
-	},
-	//~b2World(){
-	//	this.DestroyBody(this.m_groundBody);
-	//	delete this.m_broadPhase;
-	//}
-
-	// Set a callback to notify you when a joint is implicitly destroyed
-	// when an attached body is destroyed.
-	SetListener: function(listener){
-		this.m_listener = listener;
-	},
-
-	// Register a collision filter to provide specific control over collision.
-	// Otherwise the default filter is used (b2CollisionFilter).
-	SetFilter: function(filter){
-		this.m_filter = filter;
-	},
-
-	// Create and destroy rigid bodies. Destruction is deferred until the
-	// the next call to this.Step. This is done so that bodies may be destroyed
-	// while you iterate through the contact list.
-	CreateBody: function(def){
-		//void* mem = this.m_blockAllocator.Allocate(sizeof(b2Body));
-		var b = new b2Body(def, this);
-		b.m_prev = null;
-
-		b.m_next = this.m_bodyList;
-		if (this.m_bodyList)
-		{
-			this.m_bodyList.m_prev = b;
-		}
-		this.m_bodyList = b;
-		++this.m_bodyCount;
-
-		return b;
-	},
-	// Body destruction is deferred to make contact processing more robust.
-	DestroyBody: function(b)
-	{
-
-		if (b.m_flags & b2Body.e_destroyFlag)
-		{
-			return;
-		}
-
-		// Remove from normal body list.
-		if (b.m_prev)
-		{
-			b.m_prev.m_next = b.m_next;
-		}
-
-		if (b.m_next)
-		{
-			b.m_next.m_prev = b.m_prev;
-		}
-
-		if (b == this.m_bodyList)
-		{
-			this.m_bodyList = b.m_next;
-		}
-
-		b.m_flags |= b2Body.e_destroyFlag;
-		//b2Settings.b2Assert(this.m_bodyCount > 0);
-		--this.m_bodyCount;
-
-		//b->~b2Body();
-		//b.Destroy();
-		// Add to the deferred destruction list.
-		b.m_prev = null;
-		b.m_next = this.m_bodyDestroyList;
-		this.m_bodyDestroyList = b;
-	},
-
-	CleanBodyList: function()
-	{
-		this.m_contactManager.m_destroyImmediate = true;
-
-		var b = this.m_bodyDestroyList;
-		while (b)
-		{
-			//b2Settings.b2Assert((b.m_flags & b2Body.e_destroyFlag) != 0);
-
-			// Preserve the next pointer.
-			var b0 = b;
-			b = b.m_next;
-
-			// Delete the attached joints
-			var jn = b0.m_jointList;
-			while (jn)
-			{
-				var jn0 = jn;
-				jn = jn.next;
-
-				if (this.m_listener)
-				{
-					this.m_listener.NotifyJointDestroyed(jn0.joint);
-				}
-
-				this.DestroyJoint(jn0.joint);
-			}
-
-			b0.Destroy();
-			//this.m_blockAllocator.Free(b0, sizeof(b2Body));
-		}
-
-		// Reset the list.
-		this.m_bodyDestroyList = null;
-
-		this.m_contactManager.m_destroyImmediate = false;
-	},
-
-	CreateJoint: function(def){
-		var j = b2Joint.Create(def, this.m_blockAllocator);
-
-		// Connect to the world list.
-		j.m_prev = null;
-		j.m_next = this.m_jointList;
-		if (this.m_jointList)
-		{
-			this.m_jointList.m_prev = j;
-		}
-		this.m_jointList = j;
-		++this.m_jointCount;
-
-		// Connect to the bodies
-		j.m_node1.joint = j;
-		j.m_node1.other = j.m_body2;
-		j.m_node1.prev = null;
-		j.m_node1.next = j.m_body1.m_jointList;
-		if (j.m_body1.m_jointList) j.m_body1.m_jointList.prev = j.m_node1;
-		j.m_body1.m_jointList = j.m_node1;
-
-		j.m_node2.joint = j;
-		j.m_node2.other = j.m_body1;
-		j.m_node2.prev = null;
-		j.m_node2.next = j.m_body2.m_jointList;
-		if (j.m_body2.m_jointList) j.m_body2.m_jointList.prev = j.m_node2;
-		j.m_body2.m_jointList = j.m_node2;
-
-		// If the joint prevents collisions, then reset collision filtering.
-		if (def.collideConnected == false)
-		{
-			// Reset the proxies on the body with the minimum number of shapes.
-			var b = def.body1.m_shapeCount < def.body2.m_shapeCount ? def.body1 : def.body2;
-			for (var s = b.m_shapeList; s; s = s.m_next)
-			{
-				s.ResetProxy(this.m_broadPhase);
-			}
-		}
-
-		return j;
-	},
-	DestroyJoint: function(j)
-	{
-
-		var collideConnected = j.m_collideConnected;
-
-		// Remove from the world.
-		if (j.m_prev)
-		{
-			j.m_prev.m_next = j.m_next;
-		}
-
-		if (j.m_next)
-		{
-			j.m_next.m_prev = j.m_prev;
-		}
-
-		if (j == this.m_jointList)
-		{
-			this.m_jointList = j.m_next;
-		}
-
-		// Disconnect from island graph.
-		var body1 = j.m_body1;
-		var body2 = j.m_body2;
-
-		// Wake up touching bodies.
-		body1.WakeUp();
-		body2.WakeUp();
-
-		// Remove from body 1
-		if (j.m_node1.prev)
-		{
-			j.m_node1.prev.next = j.m_node1.next;
-		}
-
-		if (j.m_node1.next)
-		{
-			j.m_node1.next.prev = j.m_node1.prev;
-		}
-
-		if (j.m_node1 == body1.m_jointList)
-		{
-			body1.m_jointList = j.m_node1.next;
-		}
-
-		j.m_node1.prev = null;
-		j.m_node1.next = null;
-
-		// Remove from body 2
-		if (j.m_node2.prev)
-		{
-			j.m_node2.prev.next = j.m_node2.next;
-		}
-
-		if (j.m_node2.next)
-		{
-			j.m_node2.next.prev = j.m_node2.prev;
-		}
-
-		if (j.m_node2 == body2.m_jointList)
-		{
-			body2.m_jointList = j.m_node2.next;
-		}
-
-		j.m_node2.prev = null;
-		j.m_node2.next = null;
-
-		b2Joint.Destroy(j, this.m_blockAllocator);
-
-		//b2Settings.b2Assert(this.m_jointCount > 0);
-		--this.m_jointCount;
-
-		// If the joint prevents collisions, then reset collision filtering.
-		if (collideConnected == false)
-		{
-			// Reset the proxies on the body with the minimum number of shapes.
-			var b = body1.m_shapeCount < body2.m_shapeCount ? body1 : body2;
-			for (var s = b.m_shapeList; s; s = s.m_next)
-			{
-				s.ResetProxy(this.m_broadPhase);
-			}
-		}
-	},
-
-	// The world provides a single ground body with no collision shapes. You
-	// can use this to simplify the creation of joints.
-	GetGroundBody: function(){
-		return this.m_groundBody;
-	},
-
-
-	step: new b2TimeStep(),
-	// this.Step
-	Step: function(dt, iterations){
-
-		var b;
-		var other;
-
-
-		this.step.dt = dt;
-		this.step.iterations	= iterations;
-		if (dt > 0.0)
-		{
-			this.step.inv_dt = 1.0 / dt;
-		}
-		else
-		{
-			this.step.inv_dt = 0.0;
-		}
-
-		this.m_positionIterationCount = 0;
-
-		// Handle deferred contact destruction.
-		this.m_contactManager.CleanContactList();
-
-		// Handle deferred body destruction.
-		this.CleanBodyList();
-
-		// Update contacts.
-		this.m_contactManager.Collide();
-
-		// Size the island for the worst case.
-		var island = new b2Island(this.m_bodyCount, this.m_contactCount, this.m_jointCount, this.m_stackAllocator);
-
-		// Clear all the island flags.
-		for (b = this.m_bodyList; b != null; b = b.m_next)
-		{
-			b.m_flags &= ~b2Body.e_islandFlag;
-		}
-		for (var c = this.m_contactList; c != null; c = c.m_next)
-		{
-			c.m_flags &= ~b2Contact.e_islandFlag;
-		}
-		for (var j = this.m_jointList; j != null; j = j.m_next)
-		{
-			j.m_islandFlag = false;
-		}
-
-		// Build and simulate all awake islands.
-		var stackSize = this.m_bodyCount;
-		//var stack = (b2Body**)this.m_stackAllocator.Allocate(stackSize * sizeof(b2Body*));
-		var stack = new Array(this.m_bodyCount);
-		for (var k = 0; k < this.m_bodyCount; k++)
-			stack[k] = null;
-
-		for (var seed = this.m_bodyList; seed != null; seed = seed.m_next)
-		{
-			if (seed.m_flags & (b2Body.e_staticFlag | b2Body.e_islandFlag | b2Body.e_sleepFlag | b2Body.e_frozenFlag))
-			{
-				continue;
-			}
-
-			// Reset island and stack.
-			island.Clear();
-			var stackCount = 0;
-			stack[stackCount++] = seed;
-			seed.m_flags |= b2Body.e_islandFlag;;
-
-			// Perform a depth first search (DFS) on the constraint graph.
-			while (stackCount > 0)
-			{
-				// Grab the next body off the stack and add it to the island.
-				b = stack[--stackCount];
-				island.AddBody(b);
-
-				// Make sure the body is awake.
-				b.m_flags &= ~b2Body.e_sleepFlag;
-
-				// To keep islands, we don't
-				// propagate islands across static bodies.
-				if (b.m_flags & b2Body.e_staticFlag)
-				{
-					continue;
-				}
-
-				// Search all contacts connected to this body.
-				for (var cn = b.m_contactList; cn != null; cn = cn.next)
-				{
-					if (cn.contact.m_flags & b2Contact.e_islandFlag)
-					{
-						continue;
-					}
-
-					island.AddContact(cn.contact);
-					cn.contact.m_flags |= b2Contact.e_islandFlag;
-
-					other = cn.other;
-					if (other.m_flags & b2Body.e_islandFlag)
-					{
-						continue;
-					}
-
-					//b2Settings.b2Assert(stackCount < stackSize);
-					stack[stackCount++] = other;
-					other.m_flags |= b2Body.e_islandFlag;
-				}
-
-				// Search all joints connect to this body.
-				for (var jn = b.m_jointList; jn != null; jn = jn.next)
-				{
-					if (jn.joint.m_islandFlag == true)
-					{
-						continue;
-					}
-
-					island.AddJoint(jn.joint);
-					jn.joint.m_islandFlag = true;
-
-					other = jn.other;
-					if (other.m_flags & b2Body.e_islandFlag)
-					{
-						continue;
-					}
-
-					//b2Settings.b2Assert(stackCount < stackSize);
-					stack[stackCount++] = other;
-					other.m_flags |= b2Body.e_islandFlag;
-				}
-			}
-
-			island.Solve(this.step, this.m_gravity);
-
-			this.m_positionIterationCount = b2Math.b2Max(this.m_positionIterationCount, b2Island.m_positionIterationCount);
-
-			if (this.m_allowSleep)
-			{
-				island.UpdateSleep(dt);
-			}
-
-			// Post solve cleanup.
-			for (var i = 0; i < island.m_bodyCount; ++i)
-			{
-				// Allow static bodies to participate in other islands.
-				b = island.m_bodies[i];
-				if (b.m_flags & b2Body.e_staticFlag)
-				{
-					b.m_flags &= ~b2Body.e_islandFlag;
-				}
-
-				// Handle newly frozen bodies.
-				if (b.IsFrozen() && this.m_listener)
-				{
-					var response = this.m_listener.NotifyBoundaryViolated(b);
-					if (response == b2WorldListener.b2_destroyBody)
-					{
-						this.DestroyBody(b);
-						b = null;
-						island.m_bodies[i] = null;
-					}
-				}
-			}
-		}
-
-		this.m_broadPhase.Commit();
-
-		//this.m_stackAllocator.Free(stack);
-	},
-
-	// this.Query the world for all shapes that potentially overlap the
-	// provided AABB. You provide a shape pointer buffer of specified
-	// size. The number of shapes found is returned.
-	Query: function(aabb, shapes, maxCount){
-
-		//void** results = (void**)this.m_stackAllocator.Allocate(maxCount * sizeof(void*));
-		var results = new Array();
-		var count = this.m_broadPhase.QueryAABB(aabb, results, maxCount);
-
-		for (var i = 0; i < count; ++i)
-		{
-			shapes[i] = results[i];
-		}
-
-		//this.m_stackAllocator.Free(results);
-		return count;
-	},
-
-	// You can use these to iterate over all the bodies, joints, and contacts.
-	GetBodyList: function(){
-		return this.m_bodyList;
-	},
-	GetJointList: function(){
-		return this.m_jointList;
-	},
-	GetContactList: function(){
-		return this.m_contactList;
-	},
-
-	//--------------- Internals Below -------------------
-
-	m_blockAllocator: null,
-	m_stackAllocator: null,
-
-	m_broadPhase: null,
-	m_contactManager: new b2ContactManager(),
-
-	m_bodyList: null,
-	m_contactList: null,
-	m_jointList: null,
-
-	m_bodyCount: 0,
-	m_contactCount: 0,
-	m_jointCount: 0,
-
-	// These bodies will be destroyed at the next time this.step.
-	m_bodyDestroyList: null,
-
-	m_gravity: null,
-	m_allowSleep: null,
-
-	m_groundBody: null,
-
-	m_listener: null,
-	m_filter: null,
-
-	m_positionIterationCount: 0};
-b2World.s_enablePositionCorrection = 1;
-b2World.s_enableWarmStarting = 1;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2WorldListener.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2WorldListener.js
deleted file mode 100644
index 9167570..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/b2WorldListener.js
+++ /dev/null
@@ -1,52 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2WorldListener = Class.create();
-b2WorldListener.prototype = 
-{
-
-	// If a body is destroyed, then any joints attached to it are also destroyed.
-	// This prevents memory leaks, but you may unexpectedly be left with an
-	// orphaned joint pointer.
-	// Box2D will notify you when a joint is implicitly destroyed.
-	// It is NOT called if you directly destroy a joint.
-	// Implement this abstract class and provide it to b2World via
-	// b2World::SetListener().
-	// DO NOT modify the Box2D world inside this callback.
-	NotifyJointDestroyed: function(joint){},
-
-	// This is called when a body's shape passes outside of the world boundary. If you
-	// override this and pass back e_destroyBody, you must nullify your copies of the
-	// body pointer.
-	NotifyBoundaryViolated: function(body)
-	{
-		//NOT_USED(body);
-		return b2WorldListener.b2_freezeBody;
-	},
-
-
-
-	initialize: function() {}};
-b2WorldListener.b2_freezeBody = 0;
-b2WorldListener.b2_destroyBody = 1;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2CircleContact.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2CircleContact.js
deleted file mode 100644
index dc8df84..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2CircleContact.js
+++ /dev/null
@@ -1,102 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-var b2CircleContact = Class.create();
-Object.extend(b2CircleContact.prototype, b2Contact.prototype);
-Object.extend(b2CircleContact.prototype, 
-{
-
-		initialize: function(s1, s2) {
-		// The constructor for b2Contact
-		// initialize instance variables for references
-		this.m_node1 = new b2ContactNode();
-		this.m_node2 = new b2ContactNode();
-		//
-		this.m_flags = 0;
-
-		if (!s1 || !s2){
-			this.m_shape1 = null;
-			this.m_shape2 = null;
-			return;
-		}
-
-		this.m_shape1 = s1;
-		this.m_shape2 = s2;
-
-		this.m_manifoldCount = 0;
-
-		this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
-		this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
-
-		this.m_prev = null;
-		this.m_next = null;
-
-		this.m_node1.contact = null;
-		this.m_node1.prev = null;
-		this.m_node1.next = null;
-		this.m_node1.other = null;
-
-		this.m_node2.contact = null;
-		this.m_node2.prev = null;
-		this.m_node2.next = null;
-		this.m_node2.other = null;
-		//
-
-		// initialize instance variables for references
-		this.m_manifold = [new b2Manifold()];
-		//
-
-		//super(shape1, shape2);
-
-		//b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_circleShape);
-		//b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_circleShape);
-		this.m_manifold[0].pointCount = 0;
-		this.m_manifold[0].points[0].normalImpulse = 0.0;
-		this.m_manifold[0].points[0].tangentImpulse = 0.0;
-	},
-	//~b2CircleContact() {}
-
-	Evaluate: function(){
-		b2Collision.b2CollideCircle(this.m_manifold[0], this.m_shape1, this.m_shape2, false);
-
-		if (this.m_manifold[0].pointCount > 0)
-		{
-			this.m_manifoldCount = 1;
-		}
-		else
-		{
-			this.m_manifoldCount = 0;
-		}
-	},
-
-	GetManifolds: function()
-	{
-		return this.m_manifold;
-	},
-
-	m_manifold: [new b2Manifold()]});
-
-b2CircleContact.Create = function(shape1, shape2, allocator){
-		return new b2CircleContact(shape1, shape2);
-	};
-b2CircleContact.Destroy = function(contact, allocator){
-		//
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Conservative.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Conservative.js
deleted file mode 100644
index fe1cd4b..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Conservative.js
+++ /dev/null
@@ -1,228 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2Conservative = Class.create();
-b2Conservative.prototype = {
-
-	// Temp vars
-
-
-
-	initialize: function() {}}
-b2Conservative.R1 = new b2Mat22();
-b2Conservative.R2 = new b2Mat22();
-b2Conservative.x1 = new b2Vec2();
-b2Conservative.x2 = new b2Vec2();
-b2Conservative.Conservative = function(shape1, shape2){
-		var body1 = shape1.GetBody();
-		var body2 = shape2.GetBody();
-
-		//b2Vec2 v1 = body1->m_position - body1->m_position0;
-		var v1X = body1.m_position.x - body1.m_position0.x;
-		var v1Y = body1.m_position.y - body1.m_position0.y;
-		//float32 omega1 = body1->m_rotation - body1->m_rotation0;
-		var omega1 = body1.m_rotation - body1.m_rotation0;
-		//b2Vec2 v2 = body2->m_position - body2->m_position0;
-		var v2X = body2.m_position.x - body2.m_position0.x;
-		var v2Y = body2.m_position.y - body2.m_position0.y;
-		//float32 omega2 = body2->m_rotation - body2->m_rotation0;
-		var omega2 = body2.m_rotation - body2.m_rotation0;
-
-		//float32 r1 = shape1->GetMaxRadius();
-		var r1 = shape1.GetMaxRadius();
-		//float32 r2 = shape2->GetMaxRadius();
-		var r2 = shape2.GetMaxRadius();
-
-		//b2Vec2 p1Start = body1->m_position0;
-		var p1StartX = body1.m_position0.x;
-		var p1StartY = body1.m_position0.y;
-		//float32 a1Start = body1->m_rotation0;
-		var a1Start = body1.m_rotation0;
-
-		//b2Vec2 p2Start = body2->m_position0;
-		var p2StartX = body2.m_position0.x;
-		var p2StartY = body2.m_position0.y;
-		//float32 a2Start = body2->m_rotation0;
-		var a2Start = body2.m_rotation0;
-
-		//b2Vec2 p1 = p1Start;
-		var p1X = p1StartX;
-		var p1Y = p1StartY;
-		//float32 a1 = a1Start;
-		var a1 = a1Start;
-		//b2Vec2 p2 = p2Start;
-		var p2X = p2StartX;
-		var p2Y = p2StartY;
-		//float32 a2 = a2Start;
-		var a2 = a2Start;
-
-		//b2Mat22 b2Conservative.R1(a1), b2Conservative.R2(a2);
-		b2Conservative.R1.Set(a1);
-		b2Conservative.R2.Set(a2);
-
-		//shape1->QuickSync(p1, b2Conservative.R1);
-		shape1.QuickSync(p1, b2Conservative.R1);
-		//shape2->QuickSync(p2, b2Conservative.R2);
-		shape2.QuickSync(p2, b2Conservative.R2);
-
-		//float32 s1 = 0.0f;
-		var s1 = 0.0;
-		//const int32 maxIterations = 10;
-		var maxIterations = 10;
-		//b2Vec2 d;
-		var dX;
-		var dY;
-		//float32 invRelativeVelocity = 0.0f;
-		var invRelativeVelocity = 0.0;
-		//bool hit = true;
-		var hit = true;
-		//b2Vec2 b2Conservative.x1, b2Conservative.x2; moved to static var
-		for (var iter = 0; iter < maxIterations; ++iter)
-		{
-			// Get the accurate distance between shapes.
-			//float32 distance = b2Distance.Distance(&b2Conservative.x1, &b2Conservative.x2, shape1, shape2);
-			var distance = b2Distance.Distance(b2Conservative.x1, b2Conservative.x2, shape1, shape2);
-			if (distance < b2Settings.b2_linearSlop)
-			{
-				if (iter == 0)
-				{
-					hit = false;
-				}
-				else
-				{
-					hit = true;
-				}
-				break;
-			}
-
-			if (iter == 0)
-			{
-				//b2Vec2 d = b2Conservative.x2 - b2Conservative.x1;
-				dX = b2Conservative.x2.x - b2Conservative.x1.x;
-				dY = b2Conservative.x2.y - b2Conservative.x1.y;
-				//d.Normalize();
-				var dLen = Math.sqrt(dX*dX + dY*dY);
-				//float32 relativeVelocity = b2Dot(d, v1 - v2) + b2Abs(omega1) * r1 + b2Abs(omega2) * r2;
-				var relativeVelocity = (dX*(v1X-v2X) + dY*(v1Y - v2Y)) + Math.abs(omega1) * r1 + Math.abs(omega2) * r2;
-				if (Math.abs(relativeVelocity) < Number.MIN_VALUE)
-				{
-					hit = false;
-					break;
-				}
-
-				invRelativeVelocity = 1.0 / relativeVelocity;
-			}
-
-			// Get the conservative movement.
-			//float32 ds = distance * invRelativeVelocity;
-			var ds = distance * invRelativeVelocity;
-			//float32 s2 = s1 + ds;
-			var s2 = s1 + ds;
-
-			if (s2 < 0.0 || 1.0 < s2)
-			{
-				hit = false;
-				break;
-			}
-
-			if (s2 < (1.0 + 100.0 * Number.MIN_VALUE) * s1)
-			{
-				hit = true;
-				break;
-			}
-
-			s1 = s2;
-
-			// Move forward conservatively.
-			//p1 = p1Start + s1 * v1;
-			p1X = p1StartX + s1 * v1.x;
-			p1Y = p1StartY + s1 * v1.y;
-			//a1 = a1Start + s1 * omega1;
-			a1 = a1Start + s1 * omega1;
-			//p2 = p2Start + s1 * v2;
-			p2X = p2StartX + s1 * v2.x;
-			p2Y = p2StartY + s1 * v2.y;
-			//a2 = a2Start + s1 * omega2;
-			a2 = a2Start + s1 * omega2;
-
-			b2Conservative.R1.Set(a1);
-			b2Conservative.R2.Set(a2);
-			shape1.QuickSync(p1, b2Conservative.R1);
-			shape2.QuickSync(p2, b2Conservative.R2);
-		}
-
-		if (hit)
-		{
-			// Hit, move bodies to safe position and re-sync shapes.
-			//b2Vec2 d = b2Conservative.x2 - b2Conservative.x1;
-			dX = b2Conservative.x2.x - b2Conservative.x1.x;
-			dY = b2Conservative.x2.y - b2Conservative.x1.y;
-			//float32 length = d.Length();
-			var length = Math.sqrt(dX*dX + dY*dY);
-			if (length > FLT_EPSILON)
-			{
-				d *= b2_linearSlop / length;
-			}
-
-			if (body1.IsStatic())
-			{
-				//body1.m_position = p1;
-				body1.m_position.x = p1X;
-				body1.m_position.y = p1Y;
-			}
-			else
-			{
-				//body1.m_position = p1 - d;
-				body1.m_position.x = p1X - dX;
-				body1.m_position.y = p1Y - dY;
-			}
-			body1.m_rotation = a1;
-			body1.m_R.Set(a1);
-			body1.QuickSyncShapes();
-
-			if (body2.IsStatic())
-			{
-				//body2->m_position = p2;
-				body2.m_position.x = p2X;
-				body2.m_position.y = p2Y;
-			}
-			else
-			{
-				//body2->m_position = p2 + d;
-				body2.m_position.x = p2X + dX;
-				body2.m_position.y = p2Y + dY;
-			}
-			//body2.m_position = p2 + d;
-			body2.m_position.x = p2X + dX;
-			body2.m_position.y = p2Y + dY;
-			body2.m_rotation = a2;
-			body2.m_R.Set(a2);
-			body2.QuickSyncShapes();
-
-			return true;
-		}
-
-		// No hit, restore shapes.
-		shape1.QuickSync(body1.m_position, body1.m_R);
-		shape2.QuickSync(body2.m_position, body2.m_R);
-		return false;
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Contact.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Contact.js
deleted file mode 100644
index 283feaf..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2Contact.js
+++ /dev/null
@@ -1,201 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-//typedef b2Contact* b2ContactCreateFcn(b2Shape* shape1, b2Shape* shape2, b2BlockAllocator* allocator);
-//typedef void b2ContactDestroyFcn(b2Contact* contact, b2BlockAllocator* allocator);
-
-
-
-var b2Contact = Class.create();
-b2Contact.prototype = 
-{
-	GetManifolds: function(){return null},
-	GetManifoldCount: function()
-	{
-		return this.m_manifoldCount;
-	},
-
-	GetNext: function(){
-		return this.m_next;
-	},
-
-	GetShape1: function(){
-		return this.m_shape1;
-	},
-
-	GetShape2: function(){
-		return this.m_shape2;
-	},
-
-	//--------------- Internals Below -------------------
-
-	// this.m_flags
-	// enum
-
-
-	initialize: function(s1, s2)
-	{
-		// initialize instance variables for references
-		this.m_node1 = new b2ContactNode();
-		this.m_node2 = new b2ContactNode();
-		//
-
-		this.m_flags = 0;
-
-		if (!s1 || !s2){
-			this.m_shape1 = null;
-			this.m_shape2 = null;
-			return;
-		}
-
-		this.m_shape1 = s1;
-		this.m_shape2 = s2;
-
-		this.m_manifoldCount = 0;
-
-		this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
-		this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
-
-		this.m_prev = null;
-		this.m_next = null;
-
-		this.m_node1.contact = null;
-		this.m_node1.prev = null;
-		this.m_node1.next = null;
-		this.m_node1.other = null;
-
-		this.m_node2.contact = null;
-		this.m_node2.prev = null;
-		this.m_node2.next = null;
-		this.m_node2.other = null;
-	},
-
-	//virtual ~b2Contact() {}
-
-	Evaluate: function(){},
-
-	m_flags: 0,
-
-	// World pool and list pointers.
-	m_prev: null,
-	m_next: null,
-
-	// Nodes for connecting bodies.
-	m_node1: new b2ContactNode(),
-	m_node2: new b2ContactNode(),
-
-	m_shape1: null,
-	m_shape2: null,
-
-	m_manifoldCount: 0,
-
-	// Combined friction
-	m_friction: null,
-	m_restitution: null};
-b2Contact.e_islandFlag = 0x0001;
-b2Contact.e_destroyFlag = 0x0002;
-b2Contact.AddType = function(createFcn, destroyFcn, type1, type2)
-	{
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type1 && type1 < b2Shape.e_shapeTypeCount);
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type2 && type2 < b2Shape.e_shapeTypeCount);
-
-		b2Contact.s_registers[type1][type2].createFcn = createFcn;
-		b2Contact.s_registers[type1][type2].destroyFcn = destroyFcn;
-		b2Contact.s_registers[type1][type2].primary = true;
-
-		if (type1 != type2)
-		{
-			b2Contact.s_registers[type2][type1].createFcn = createFcn;
-			b2Contact.s_registers[type2][type1].destroyFcn = destroyFcn;
-			b2Contact.s_registers[type2][type1].primary = false;
-		}
-	};
-b2Contact.InitializeRegisters = function(){
-		b2Contact.s_registers = new Array(b2Shape.e_shapeTypeCount);
-		for (var i = 0; i < b2Shape.e_shapeTypeCount; i++){
-			b2Contact.s_registers[i] = new Array(b2Shape.e_shapeTypeCount);
-			for (var j = 0; j < b2Shape.e_shapeTypeCount; j++){
-				b2Contact.s_registers[i][j] = new b2ContactRegister();
-			}
-		}
-
-		b2Contact.AddType(b2CircleContact.Create, b2CircleContact.Destroy, b2Shape.e_circleShape, b2Shape.e_circleShape);
-		b2Contact.AddType(b2PolyAndCircleContact.Create, b2PolyAndCircleContact.Destroy, b2Shape.e_polyShape, b2Shape.e_circleShape);
-		b2Contact.AddType(b2PolyContact.Create, b2PolyContact.Destroy, b2Shape.e_polyShape, b2Shape.e_polyShape);
-
-	};
-b2Contact.Create = function(shape1, shape2, allocator){
-		if (b2Contact.s_initialized == false)
-		{
-			b2Contact.InitializeRegisters();
-			b2Contact.s_initialized = true;
-		}
-
-		var type1 = shape1.m_type;
-		var type2 = shape2.m_type;
-
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type1 && type1 < b2Shape.e_shapeTypeCount);
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type2 && type2 < b2Shape.e_shapeTypeCount);
-
-		var createFcn = b2Contact.s_registers[type1][type2].createFcn;
-		if (createFcn)
-		{
-			if (b2Contact.s_registers[type1][type2].primary)
-			{
-				return createFcn(shape1, shape2, allocator);
-			}
-			else
-			{
-				var c = createFcn(shape2, shape1, allocator);
-				for (var i = 0; i < c.GetManifoldCount(); ++i)
-				{
-					var m = c.GetManifolds()[ i ];
-					m.normal = m.normal.Negative();
-				}
-				return c;
-			}
-		}
-		else
-		{
-			return null;
-		}
-	};
-b2Contact.Destroy = function(contact, allocator){
-		//b2Settings.b2Assert(b2Contact.s_initialized == true);
-
-		if (contact.GetManifoldCount() > 0)
-		{
-			contact.m_shape1.m_body.WakeUp();
-			contact.m_shape2.m_body.WakeUp();
-		}
-
-		var type1 = contact.m_shape1.m_type;
-		var type2 = contact.m_shape2.m_type;
-
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type1 && type1 < b2Shape.e_shapeTypeCount);
-		//b2Settings.b2Assert(b2Shape.e_unknownShape < type2 && type2 < b2Shape.e_shapeTypeCount);
-
-		var destroyFcn = b2Contact.s_registers[type1][type2].destroyFcn;
-		destroyFcn(contact, allocator);
-	};
-b2Contact.s_registers = null;
-b2Contact.s_initialized = false;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraint.js
deleted file mode 100644
index 79b82e1..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraint.js
+++ /dev/null
@@ -1,45 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2ContactConstraint = Class.create();
-b2ContactConstraint.prototype = 
-{
-	initialize: function(){
-		// initialize instance variables for references
-		this.normal = new b2Vec2();
-		//
-
-		this.points = new Array(b2Settings.b2_maxManifoldPoints);
-		for (var i = 0; i < b2Settings.b2_maxManifoldPoints; i++){
-			this.points[i] = new b2ContactConstraintPoint();
-		}
-
-
-	},
-	points: null,
-	normal: new b2Vec2(),
-	manifold: null,
-	body1: null,
-	body2: null,
-	friction: null,
-	restitution: null,
-	pointCount: 0};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraintPoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraintPoint.js
deleted file mode 100644
index bc3dca6..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactConstraintPoint.js
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2ContactConstraintPoint = Class.create();
-b2ContactConstraintPoint.prototype = 
-{
-	localAnchor1: new b2Vec2(),
-	localAnchor2: new b2Vec2(),
-	normalImpulse: null,
-	tangentImpulse: null,
-	positionImpulse: null,
-	normalMass: null,
-	tangentMass: null,
-	separation: null,
-	velocityBias: null,
-	initialize: function() {
-		// initialize instance variables for references
-		this.localAnchor1 = new b2Vec2();
-		this.localAnchor2 = new b2Vec2();
-		//
-}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactNode.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactNode.js
deleted file mode 100644
index c10e482..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactNode.js
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2ContactNode = Class.create();
-b2ContactNode.prototype = 
-{
-	other: null,
-	contact: null,
-	prev: null,
-	next: null,
-	initialize: function() {}};
-
-
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactRegister.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactRegister.js
deleted file mode 100644
index 524c352..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactRegister.js
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-var b2ContactRegister = Class.create();
-b2ContactRegister.prototype = 
-{
-	createFcn: null,
-	destroyFcn: null,
-	primary: null,
-	initialize: function() {}};
-
-
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactSolver.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactSolver.js
deleted file mode 100644
index 0b0d3f4..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2ContactSolver.js
+++ /dev/null
@@ -1,537 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2ContactSolver = Class.create();
-b2ContactSolver.prototype = 
-{
-	initialize: function(contacts, contactCount, allocator){
-		// initialize instance variables for references
-		this.m_constraints = new Array();
-		//
-
-		this.m_allocator = allocator;
-
-		var i = 0;
-		var tVec;
-		var tMat;
-
-		this.m_constraintCount = 0;
-		for (i = 0; i < contactCount; ++i)
-		{
-			this.m_constraintCount += contacts[i].GetManifoldCount();
-		}
-
-		// fill array
-		for (i = 0; i < this.m_constraintCount; i++){
-			this.m_constraints[i] = new b2ContactConstraint();
-		}
-
-		var count = 0;
-		for (i = 0; i < contactCount; ++i)
-		{
-			var contact = contacts[i];
-			var b1 = contact.m_shape1.m_body;
-			var b2 = contact.m_shape2.m_body;
-			var manifoldCount = contact.GetManifoldCount();
-			var manifolds = contact.GetManifolds();
-			var friction = contact.m_friction;
-			var restitution = contact.m_restitution;
-
-			//var v1 = b1.m_linearVelocity.Copy();
-			var v1X = b1.m_linearVelocity.x;
-			var v1Y = b1.m_linearVelocity.y;
-			//var v2 = b2.m_linearVelocity.Copy();
-			var v2X = b2.m_linearVelocity.x;
-			var v2Y = b2.m_linearVelocity.y;
-			var w1 = b1.m_angularVelocity;
-			var w2 = b2.m_angularVelocity;
-
-			for (var j = 0; j < manifoldCount; ++j)
-			{
-				var manifold = manifolds[ j ];
-
-				//b2Settings.b2Assert(manifold.pointCount > 0);
-
-				//var normal = manifold.normal.Copy();
-				var normalX = manifold.normal.x;
-				var normalY = manifold.normal.y;
-
-				//b2Settings.b2Assert(count < this.m_constraintCount);
-				var c = this.m_constraints[ count ];
-				c.body1 = b1;
-				c.body2 = b2;
-				c.manifold = manifold;
-				//c.normal = normal;
-				c.normal.x = normalX;
-				c.normal.y = normalY;
-				c.pointCount = manifold.pointCount;
-				c.friction = friction;
-				c.restitution = restitution;
-
-				for (var k = 0; k < c.pointCount; ++k)
-				{
-					var cp = manifold.points[ k ];
-					var ccp = c.points[ k ];
-
-					ccp.normalImpulse = cp.normalImpulse;
-					ccp.tangentImpulse = cp.tangentImpulse;
-					ccp.separation = cp.separation;
-
-					//var r1 = b2Math.SubtractVV( cp.position, b1.m_position );
-					var r1X = cp.position.x - b1.m_position.x;
-					var r1Y = cp.position.y - b1.m_position.y;
-					//var r2 = b2Math.SubtractVV( cp.position, b2.m_position );
-					var r2X = cp.position.x - b2.m_position.x;
-					var r2Y = cp.position.y - b2.m_position.y;
-
-					//ccp.localAnchor1 = b2Math.b2MulTMV(b1.m_R, r1);
-					tVec = ccp.localAnchor1;
-					tMat = b1.m_R;
-					tVec.x = r1X * tMat.col1.x + r1Y * tMat.col1.y;
-					tVec.y = r1X * tMat.col2.x + r1Y * tMat.col2.y;
-
-					//ccp.localAnchor2 = b2Math.b2MulTMV(b2.m_R, r2);
-					tVec = ccp.localAnchor2;
-					tMat = b2.m_R;
-					tVec.x = r2X * tMat.col1.x + r2Y * tMat.col1.y;
-					tVec.y = r2X * tMat.col2.x + r2Y * tMat.col2.y;
-
-					var r1Sqr = r1X * r1X + r1Y * r1Y;
-					var r2Sqr = r2X * r2X + r2Y * r2Y;
-
-					//var rn1 = b2Math.b2Dot(r1, normal);
-					var rn1 = r1X*normalX + r1Y*normalY;
-					//var rn2 = b2Math.b2Dot(r2, normal);
-					var rn2 = r2X*normalX + r2Y*normalY;
-					var kNormal = b1.m_invMass + b2.m_invMass;
-					kNormal += b1.m_invI * (r1Sqr - rn1 * rn1) + b2.m_invI * (r2Sqr - rn2 * rn2);
-					//b2Settings.b2Assert(kNormal > Number.MIN_VALUE);
-					ccp.normalMass = 1.0 / kNormal;
-
-					//var tangent = b2Math.b2CrossVF(normal, 1.0);
-					var tangentX = normalY
-					var tangentY = -normalX;
-
-					//var rt1 = b2Math.b2Dot(r1, tangent);
-					var rt1 = r1X*tangentX + r1Y*tangentY;
-					//var rt2 = b2Math.b2Dot(r2, tangent);
-					var rt2 = r2X*tangentX + r2Y*tangentY;
-					var kTangent = b1.m_invMass + b2.m_invMass;
-					kTangent += b1.m_invI * (r1Sqr - rt1 * rt1) + b2.m_invI * (r2Sqr - rt2 * rt2);
-					//b2Settings.b2Assert(kTangent > Number.MIN_VALUE);
-					ccp.tangentMass = 1.0 /  kTangent;
-
-					// Setup a velocity bias for restitution.
-					ccp.velocityBias = 0.0;
-					if (ccp.separation > 0.0)
-					{
-						ccp.velocityBias = -60.0 * ccp.separation;
-					}
-					//var vRel = b2Math.b2Dot(c.normal, b2Math.SubtractVV( b2Math.SubtractVV( b2Math.AddVV( v2, b2Math.b2CrossFV(w2, r2)), v1 ), b2Math.b2CrossFV(w1, r1)));
-					var tX = v2X + (-w2*r2Y) - v1X - (-w1*r1Y);
-					var tY = v2Y + (w2*r2X) - v1Y - (w1*r1X);
-					//var vRel = b2Dot(c.normal, tX/Y);
-					var vRel = c.normal.x*tX + c.normal.y*tY;
-					if (vRel < -b2Settings.b2_velocityThreshold)
-					{
-						ccp.velocityBias += -c.restitution * vRel;
-					}
-				}
-
-				++count;
-			}
-		}
-
-		//b2Settings.b2Assert(count == this.m_constraintCount);
-	},
-	//~b2ContactSolver();
-
-	PreSolve: function(){
-		var tVec;
-		var tVec2;
-		var tMat;
-
-		// Warm start.
-		for (var i = 0; i < this.m_constraintCount; ++i)
-		{
-			var c = this.m_constraints[ i ];
-
-			var b1 = c.body1;
-			var b2 = c.body2;
-			var invMass1 = b1.m_invMass;
-			var invI1 = b1.m_invI;
-			var invMass2 = b2.m_invMass;
-			var invI2 = b2.m_invI;
-			//var normal = new b2Vec2(c.normal.x, c.normal.y);
-			var normalX = c.normal.x;
-			var normalY = c.normal.y;
-			//var tangent = b2Math.b2CrossVF(normal, 1.0);
-			var tangentX = normalY;
-			var tangentY = -normalX;
-
-			var j = 0;
-			var tCount = 0;
-			if (b2World.s_enableWarmStarting)
-			{
-				tCount = c.pointCount;
-				for (j = 0; j < tCount; ++j)
-				{
-					var ccp = c.points[ j ];
-					//var P = b2Math.AddVV( b2Math.MulFV(ccp.normalImpulse, normal), b2Math.MulFV(ccp.tangentImpulse, tangent));
-					var PX = ccp.normalImpulse*normalX + ccp.tangentImpulse*tangentX;
-					var PY = ccp.normalImpulse*normalY + ccp.tangentImpulse*tangentY;
-
-					//var r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
-					tMat = b1.m_R;
-					tVec = ccp.localAnchor1;
-					var r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
-					var r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
-
-					//var r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
-					tMat = b2.m_R;
-					tVec = ccp.localAnchor2;
-					var r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
-					var r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
-
-					//b1.m_angularVelocity -= invI1 * b2Math.b2CrossVV(r1, P);
-					b1.m_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
-					//b1.m_linearVelocity.Subtract( b2Math.MulFV(invMass1, P) );
-					b1.m_linearVelocity.x -= invMass1 * PX;
-					b1.m_linearVelocity.y -= invMass1 * PY;
-					//b2.m_angularVelocity += invI2 * b2Math.b2CrossVV(r2, P);
-					b2.m_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
-					//b2.m_linearVelocity.Add( b2Math.MulFV(invMass2, P) );
-					b2.m_linearVelocity.x += invMass2 * PX;
-					b2.m_linearVelocity.y += invMass2 * PY;
-
-					ccp.positionImpulse = 0.0;
-				}
-			}
-			else{
-				tCount = c.pointCount;
-				for (j = 0; j < tCount; ++j)
-				{
-					var ccp2 = c.points[ j ];
-					ccp2.normalImpulse = 0.0;
-					ccp2.tangentImpulse = 0.0;
-
-					ccp2.positionImpulse = 0.0;
-				}
-			}
-		}
-	},
-	SolveVelocityConstraints: function(){
-		var j = 0;
-		var ccp;
-		var r1X;
-		var r1Y;
-		var r2X;
-		var r2Y;
-		var dvX;
-		var dvY;
-		var lambda;
-		var newImpulse;
-		var PX;
-		var PY;
-
-		var tMat;
-		var tVec;
-
-		for (var i = 0; i < this.m_constraintCount; ++i)
-		{
-			var c = this.m_constraints[ i ];
-			var b1 = c.body1;
-			var b2 = c.body2;
-			var b1_angularVelocity = b1.m_angularVelocity;
-			var b1_linearVelocity = b1.m_linearVelocity;
-			var b2_angularVelocity = b2.m_angularVelocity;
-			var b2_linearVelocity = b2.m_linearVelocity;
-
-			var invMass1 = b1.m_invMass;
-			var invI1 = b1.m_invI;
-			var invMass2 = b2.m_invMass;
-			var invI2 = b2.m_invI;
-			//var normal = new b2Vec2(c.normal.x, c.normal.y);
-			var normalX = c.normal.x;
-			var normalY = c.normal.y;
-			//var tangent = b2Math.b2CrossVF(normal, 1.0);
-			var tangentX = normalY;
-			var tangentY = -normalX;
-
-			// Solver normal constraints
-			var tCount = c.pointCount;
-			for (j = 0; j < tCount; ++j)
-			{
-				ccp = c.points[ j ];
-
-				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
-				tMat = b1.m_R;
-				tVec = ccp.localAnchor1;
-				r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
-				tMat = b2.m_R;
-				tVec = ccp.localAnchor2;
-				r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-
-				// Relative velocity at contact
-				//var dv = b2Math.SubtractVV( b2Math.AddVV( b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b2Math.SubtractVV(b1.m_linearVelocity, b2Math.b2CrossFV(b1.m_angularVelocity, r1)));
-				//dv = b2Math.SubtractVV(b2Math.SubtractVV( b2Math.AddVV( b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
-				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
-				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
-
-				// Compute normal impulse
-				//var vn = b2Math.b2Dot(dv, normal);
-				var vn = dvX * normalX + dvY * normalY;
-				lambda = -ccp.normalMass * (vn - ccp.velocityBias);
-
-				// b2Clamp the accumulated impulse
-				newImpulse = b2Math.b2Max(ccp.normalImpulse + lambda, 0.0);
-				lambda = newImpulse - ccp.normalImpulse;
-
-				// Apply contact impulse
-				//P = b2Math.MulFV(lambda, normal);
-				PX = lambda * normalX;
-				PY = lambda * normalY;
-
-				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
-				b1_linearVelocity.x -= invMass1 * PX;
-				b1_linearVelocity.y -= invMass1 * PY;
-				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
-
-				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
-				b2_linearVelocity.x += invMass2 * PX;
-				b2_linearVelocity.y += invMass2 * PY;
-				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
-
-				ccp.normalImpulse = newImpulse;
-
-
-
-				// MOVED FROM BELOW
-				// Relative velocity at contact
-				//var dv = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
-				//dv =  b2Math.SubtractVV(b2Math.SubtractVV(b2Math.AddVV(b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
-				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
-				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
-
-				// Compute tangent impulse
-				var vt = dvX*tangentX + dvY*tangentY;
-				lambda = ccp.tangentMass * (-vt);
-
-				// b2Clamp the accumulated impulse
-				var maxFriction = c.friction * ccp.normalImpulse;
-				newImpulse = b2Math.b2Clamp(ccp.tangentImpulse + lambda, -maxFriction, maxFriction);
-				lambda = newImpulse - ccp.tangentImpulse;
-
-				// Apply contact impulse
-				//P = b2Math.MulFV(lambda, tangent);
-				PX = lambda * tangentX;
-				PY = lambda * tangentY;
-
-				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
-				b1_linearVelocity.x -= invMass1 * PX;
-				b1_linearVelocity.y -= invMass1 * PY;
-				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
-
-				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
-				b2_linearVelocity.x += invMass2 * PX;
-				b2_linearVelocity.y += invMass2 * PY;
-				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
-
-				ccp.tangentImpulse = newImpulse;
-			}
-
-
-
-			// Solver tangent constraints
-			// MOVED ABOVE FOR EFFICIENCY
-			/*for (j = 0; j < tCount; ++j)
-			{
-				ccp = c.points[ j ];
-
-				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
-				tMat = b1.m_R;
-				tVec = ccp.localAnchor1;
-				r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
-				tMat = b2.m_R;
-				tVec = ccp.localAnchor2;
-				r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-
-				// Relative velocity at contact
-				//var dv = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
-				//dv =  b2Math.SubtractVV(b2Math.SubtractVV(b2Math.AddVV(b2.m_linearVelocity, b2Math.b2CrossFV(b2.m_angularVelocity, r2)), b1.m_linearVelocity), b2Math.b2CrossFV(b1.m_angularVelocity, r1));
-				dvX = b2_linearVelocity.x + (-b2_angularVelocity * r2Y) - b1_linearVelocity.x - (-b1_angularVelocity * r1Y);
-				dvY = b2_linearVelocity.y + (b2_angularVelocity * r2X) - b1_linearVelocity.y - (b1_angularVelocity * r1X);
-
-				// Compute tangent impulse
-				var vt = dvX*tangentX + dvY*tangentY;
-				lambda = ccp.tangentMass * (-vt);
-
-				// b2Clamp the accumulated impulse
-				var maxFriction = c.friction * ccp.normalImpulse;
-				newImpulse = b2Math.b2Clamp(ccp.tangentImpulse + lambda, -maxFriction, maxFriction);
-				lambda = newImpulse - ccp.tangentImpulse;
-
-				// Apply contact impulse
-				//P = b2Math.MulFV(lambda, tangent);
-				PX = lambda * tangentX;
-				PY = lambda * tangentY;
-
-				//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, P ) );
-				b1_linearVelocity.x -= invMass1 * PX;
-				b1_linearVelocity.y -= invMass1 * PY;
-				b1_angularVelocity -= invI1 * (r1X * PY - r1Y * PX);
-
-				//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2, P ) );
-				b2_linearVelocity.x += invMass2 * PX;
-				b2_linearVelocity.y += invMass2 * PY;
-				b2_angularVelocity += invI2 * (r2X * PY - r2Y * PX);
-
-				ccp.tangentImpulse = newImpulse;
-			}*/
-
-			// Update angular velocity
-			b1.m_angularVelocity = b1_angularVelocity;
-			b2.m_angularVelocity = b2_angularVelocity;
-		}
-	},
-	SolvePositionConstraints: function(beta){
-		var minSeparation = 0.0;
-
-		var tMat;
-		var tVec;
-
-		for (var i = 0; i < this.m_constraintCount; ++i)
-		{
-			var c = this.m_constraints[ i ];
-			var b1 = c.body1;
-			var b2 = c.body2;
-			var b1_position = b1.m_position;
-			var b1_rotation = b1.m_rotation;
-			var b2_position = b2.m_position;
-			var b2_rotation = b2.m_rotation;
-
-			var invMass1 = b1.m_invMass;
-			var invI1 = b1.m_invI;
-			var invMass2 = b2.m_invMass;
-			var invI2 = b2.m_invI;
-			//var normal = new b2Vec2(c.normal.x, c.normal.y);
-			var normalX = c.normal.x;
-			var normalY = c.normal.y;
-			//var tangent = b2Math.b2CrossVF(normal, 1.0);
-			var tangentX = normalY;
-			var tangentY = -normalX;
-
-			// Solver normal constraints
-			var tCount = c.pointCount;
-			for (var j = 0; j < tCount; ++j)
-			{
-				var ccp = c.points[ j ];
-
-				//r1 = b2Math.b2MulMV(b1.m_R, ccp.localAnchor1);
-				tMat = b1.m_R;
-				tVec = ccp.localAnchor1;
-				var r1X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				var r1Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-				//r2 = b2Math.b2MulMV(b2.m_R, ccp.localAnchor2);
-				tMat = b2.m_R;
-				tVec = ccp.localAnchor2;
-				var r2X = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y
-				var r2Y = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y
-
-				//var p1 = b2Math.AddVV(b1.m_position, r1);
-				var p1X = b1_position.x + r1X;
-				var p1Y = b1_position.y + r1Y;
-
-				//var p2 = b2Math.AddVV(b2.m_position, r2);
-				var p2X = b2_position.x + r2X;
-				var p2Y = b2_position.y + r2Y;
-
-				//var dp = b2Math.SubtractVV(p2, p1);
-				var dpX = p2X - p1X;
-				var dpY = p2Y - p1Y;
-
-				// Approximate the current separation.
-				//var separation = b2Math.b2Dot(dp, normal) + ccp.separation;
-				var separation = (dpX*normalX + dpY*normalY) + ccp.separation;
-
-				// Track max constraint error.
-				minSeparation = b2Math.b2Min(minSeparation, separation);
-
-				// Prevent large corrections and allow slop.
-				var C = beta * b2Math.b2Clamp(separation + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
-
-				// Compute normal impulse
-				var dImpulse = -ccp.normalMass * C;
-
-				// b2Clamp the accumulated impulse
-				var impulse0 = ccp.positionImpulse;
-				ccp.positionImpulse = b2Math.b2Max(impulse0 + dImpulse, 0.0);
-				dImpulse = ccp.positionImpulse - impulse0;
-
-				//var impulse = b2Math.MulFV( dImpulse, normal );
-				var impulseX = dImpulse * normalX;
-				var impulseY = dImpulse * normalY;
-
-				//b1.m_position.Subtract( b2Math.MulFV( invMass1, impulse ) );
-				b1_position.x -= invMass1 * impulseX;
-				b1_position.y -= invMass1 * impulseY;
-				b1_rotation -= invI1 * (r1X * impulseY - r1Y * impulseX);
-				b1.m_R.Set(b1_rotation);
-
-				//b2.m_position.Add( b2Math.MulFV( invMass2, impulse ) );
-				b2_position.x += invMass2 * impulseX;
-				b2_position.y += invMass2 * impulseY;
-				b2_rotation += invI2 * (r2X * impulseY - r2Y * impulseX);
-				b2.m_R.Set(b2_rotation);
-			}
-			// Update body rotations
-			b1.m_rotation = b1_rotation;
-			b2.m_rotation = b2_rotation;
-		}
-
-		return minSeparation >= -b2Settings.b2_linearSlop;
-	},
-	PostSolve: function(){
-		for (var i = 0; i < this.m_constraintCount; ++i)
-		{
-			var c = this.m_constraints[ i ];
-			var m = c.manifold;
-
-			for (var j = 0; j < c.pointCount; ++j)
-			{
-				var mPoint = m.points[j];
-				var cPoint = c.points[j];
-				mPoint.normalImpulse = cPoint.normalImpulse;
-				mPoint.tangentImpulse = cPoint.tangentImpulse;
-			}
-		}
-	},
-
-	m_allocator: null,
-	m_constraints: new Array(),
-	m_constraintCount: 0};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2NullContact.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2NullContact.js
deleted file mode 100644
index faa2bb4..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2NullContact.js
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2NullContact = Class.create();
-Object.extend(b2NullContact.prototype, b2Contact.prototype);
-Object.extend(b2NullContact.prototype, 
-{
-		initialize: function(s1, s2) {
-		// The constructor for b2Contact
-		// initialize instance variables for references
-		this.m_node1 = new b2ContactNode();
-		this.m_node2 = new b2ContactNode();
-		//
-		this.m_flags = 0;
-
-		if (!s1 || !s2){
-			this.m_shape1 = null;
-			this.m_shape2 = null;
-			return;
-		}
-
-		this.m_shape1 = s1;
-		this.m_shape2 = s2;
-
-		this.m_manifoldCount = 0;
-
-		this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
-		this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
-
-		this.m_prev = null;
-		this.m_next = null;
-
-		this.m_node1.contact = null;
-		this.m_node1.prev = null;
-		this.m_node1.next = null;
-		this.m_node1.other = null;
-
-		this.m_node2.contact = null;
-		this.m_node2.prev = null;
-		this.m_node2.next = null;
-		this.m_node2.other = null;
-		//
-},
-	Evaluate: function() {},
-	GetManifolds: function(){ return null; }});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyAndCircleContact.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyAndCircleContact.js
deleted file mode 100644
index 1f0a7e3..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyAndCircleContact.js
+++ /dev/null
@@ -1,103 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2PolyAndCircleContact = Class.create();
-Object.extend(b2PolyAndCircleContact.prototype, b2Contact.prototype);
-Object.extend(b2PolyAndCircleContact.prototype, {
-
-
-		initialize: function(s1, s2) {
-		// The constructor for b2Contact
-		// initialize instance variables for references
-		this.m_node1 = new b2ContactNode();
-		this.m_node2 = new b2ContactNode();
-		//
-		this.m_flags = 0;
-
-		if (!s1 || !s2){
-			this.m_shape1 = null;
-			this.m_shape2 = null;
-			return;
-		}
-
-		this.m_shape1 = s1;
-		this.m_shape2 = s2;
-
-		this.m_manifoldCount = 0;
-
-		this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
-		this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
-
-		this.m_prev = null;
-		this.m_next = null;
-
-		this.m_node1.contact = null;
-		this.m_node1.prev = null;
-		this.m_node1.next = null;
-		this.m_node1.other = null;
-
-		this.m_node2.contact = null;
-		this.m_node2.prev = null;
-		this.m_node2.next = null;
-		this.m_node2.other = null;
-		//
-
-		// initialize instance variables for references
-		this.m_manifold = [new b2Manifold()];
-		//
-
-		//super(shape1, shape2);
-
-		b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_polyShape);
-		b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_circleShape);
-		this.m_manifold[0].pointCount = 0;
-		this.m_manifold[0].points[0].normalImpulse = 0.0;
-		this.m_manifold[0].points[0].tangentImpulse = 0.0;
-	},
-	//~b2PolyAndCircleContact() {}
-
-	Evaluate: function(){
-		b2Collision.b2CollidePolyAndCircle(this.m_manifold[0], this.m_shape1, this.m_shape2, false);
-
-		if (this.m_manifold[0].pointCount > 0)
-		{
-			this.m_manifoldCount = 1;
-		}
-		else
-		{
-			this.m_manifoldCount = 0;
-		}
-	},
-
-	GetManifolds: function()
-	{
-		return this.m_manifold;
-	},
-
-	m_manifold: [new b2Manifold()]})
-
-b2PolyAndCircleContact.Create = function(shape1, shape2, allocator){
-		return new b2PolyAndCircleContact(shape1, shape2);
-	};
-b2PolyAndCircleContact.Destroy = function(contact, allocator){
-		//
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyContact.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyContact.js
deleted file mode 100644
index e11bf40..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/contacts/b2PolyContact.js
+++ /dev/null
@@ -1,163 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2PolyContact = Class.create();
-Object.extend(b2PolyContact.prototype, b2Contact.prototype);
-Object.extend(b2PolyContact.prototype, 
-{
-
-		initialize: function(s1, s2) {
-		// The constructor for b2Contact
-		// initialize instance variables for references
-		this.m_node1 = new b2ContactNode();
-		this.m_node2 = new b2ContactNode();
-		//
-		this.m_flags = 0;
-
-		if (!s1 || !s2){
-			this.m_shape1 = null;
-			this.m_shape2 = null;
-			return;
-		}
-
-		this.m_shape1 = s1;
-		this.m_shape2 = s2;
-
-		this.m_manifoldCount = 0;
-
-		this.m_friction = Math.sqrt(this.m_shape1.m_friction * this.m_shape2.m_friction);
-		this.m_restitution = b2Math.b2Max(this.m_shape1.m_restitution, this.m_shape2.m_restitution);
-
-		this.m_prev = null;
-		this.m_next = null;
-
-		this.m_node1.contact = null;
-		this.m_node1.prev = null;
-		this.m_node1.next = null;
-		this.m_node1.other = null;
-
-		this.m_node2.contact = null;
-		this.m_node2.prev = null;
-		this.m_node2.next = null;
-		this.m_node2.other = null;
-		//
-
-		// initialize instance variables for references
-		this.m0 = new b2Manifold();
-		this.m_manifold = [new b2Manifold()];
-		//
-
-		//super(shape1, shape2);
-		//b2Settings.b2Assert(this.m_shape1.m_type == b2Shape.e_polyShape);
-		//b2Settings.b2Assert(this.m_shape2.m_type == b2Shape.e_polyShape);
-		this.m_manifold[0].pointCount = 0;
-	},
-	//~b2PolyContact() {}
-
-	// store temp manifold to reduce calls to new
-	m0: new b2Manifold(),
-
-	Evaluate: function(){
-		var tMani = this.m_manifold[0];
-		// replace memcpy
-		// memcpy(&this.m0, &this.m_manifold, sizeof(b2Manifold));
-		//this.m0.points = new Array(tMani.pointCount);
-		var tPoints = this.m0.points;
-
-		for (var k = 0; k < tMani.pointCount; k++){
-			var tPoint = tPoints[k];
-			var tPoint0 = tMani.points[k];
-			//tPoint.separation = tPoint0.separation;
-			tPoint.normalImpulse = tPoint0.normalImpulse;
-			tPoint.tangentImpulse = tPoint0.tangentImpulse;
-			//tPoint.position.SetV( tPoint0.position );
-
-			tPoint.id = tPoint0.id.Copy();
-
-			/*this.m0.points[k].id.features = new Features();
-			this.m0.points[k].id.features.referenceFace = this.m_manifold[0].points[k].id.features.referenceFace;
-			this.m0.points[k].id.features.incidentEdge = this.m_manifold[0].points[k].id.features.incidentEdge;
-			this.m0.points[k].id.features.incidentVertex = this.m_manifold[0].points[k].id.features.incidentVertex;
-			this.m0.points[k].id.features.flip = this.m_manifold[0].points[k].id.features.flip;*/
-		}
-		//this.m0.normal.SetV( tMani.normal );
-		this.m0.pointCount = tMani.pointCount;
-
-		b2Collision.b2CollidePoly(tMani, this.m_shape1, this.m_shape2, false);
-
-		// Match contact ids to facilitate warm starting.
-		if (tMani.pointCount > 0)
-		{
-			var match = [false, false];
-
-			// Match old contact ids to new contact ids and copy the
-			// stored impulses to warm start the solver.
-			for (var i = 0; i < tMani.pointCount; ++i)
-			{
-				var cp = tMani.points[ i ];
-
-				cp.normalImpulse = 0.0;
-				cp.tangentImpulse = 0.0;
-				var idKey = cp.id.key;
-
-				for (var j = 0; j < this.m0.pointCount; ++j)
-				{
-
-					if (match[j] == true)
-						continue;
-
-					var cp0 = this.m0.points[j];
-					var id0 = cp0.id;
-
-					if (id0.key == idKey)
-					{
-						match[j] = true;
-						cp.normalImpulse = cp0.normalImpulse;
-						cp.tangentImpulse = cp0.tangentImpulse;
-						break;
-					}
-				}
-			}
-
-			this.m_manifoldCount = 1;
-		}
-		else
-		{
-			this.m_manifoldCount = 0;
-		}
-	},
-
-	GetManifolds: function()
-	{
-		return this.m_manifold;
-	},
-
-	m_manifold: [new b2Manifold()]});
-
-b2PolyContact.Create = function(shape1, shape2, allocator){
-		//void* mem = allocator->Allocate(sizeof(b2PolyContact));
-		return new b2PolyContact(shape1, shape2);
-	};
-b2PolyContact.Destroy = function(contact, allocator){
-		//((b2PolyContact*)contact)->~b2PolyContact();
-		//allocator->Free(contact, sizeof(b2PolyContact));
-	};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJoint.js
deleted file mode 100644
index b91e4779..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJoint.js
+++ /dev/null
@@ -1,264 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-// C = norm(p2 - p1) - L
-// u = (p2 - p1) / norm(p2 - p1)
-// Cdot = dot(u, v2 + cross(w2, r2) - v1 - cross(w1, r1))
-// J = [-u -cross(r1, u) u cross(r2, u)]
-// K = J * invM * JT
-//   = invMass1 + invI1 * cross(r1, u)^2 + invMass2 + invI2 * cross(r2, u)^2
-
-var b2DistanceJoint = Class.create();
-Object.extend(b2DistanceJoint.prototype, b2Joint.prototype);
-Object.extend(b2DistanceJoint.prototype, 
-{
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.m_localAnchor1 = new b2Vec2();
-		this.m_localAnchor2 = new b2Vec2();
-		this.m_u = new b2Vec2();
-		//
-
-		//super(def);
-
-		var tMat;
-		var tX;
-		var tY;
-		//this.m_localAnchor1 = b2MulT(this.m_body1->m_R, def->anchorPoint1 - this.m_body1->m_position);
-		tMat = this.m_body1.m_R;
-		tX = def.anchorPoint1.x - this.m_body1.m_position.x;
-		tY = def.anchorPoint1.y - this.m_body1.m_position.y;
-		this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
-		this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
-		//this.m_localAnchor2 = b2MulT(this.m_body2->m_R, def->anchorPoint2 - this.m_body2->m_position);
-		tMat = this.m_body2.m_R;
-		tX = def.anchorPoint2.x - this.m_body2.m_position.x;
-		tY = def.anchorPoint2.y - this.m_body2.m_position.y;
-		this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
-		this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;
-
-		//b2Vec2 d = def->anchorPoint2 - def->anchorPoint1;
-		tX = def.anchorPoint2.x - def.anchorPoint1.x;
-		tY = def.anchorPoint2.y - def.anchorPoint1.y;
-		//this.m_length = d.Length();
-		this.m_length = Math.sqrt(tX*tX + tY*tY);
-		this.m_impulse = 0.0;
-	},
-
-	PrepareVelocitySolver: function(){
-
-		var tMat;
-
-		// Compute the effective mass matrix.
-		//b2Vec2 r1 = b2Mul(this.m_body1->m_R, this.m_localAnchor1);
-		tMat = this.m_body1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		tMat = this.m_body2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-		//this.m_u = this.m_body2->m_position + r2 - this.m_body1->m_position - r1;
-		this.m_u.x = this.m_body2.m_position.x + r2X - this.m_body1.m_position.x - r1X;
-		this.m_u.y = this.m_body2.m_position.y + r2Y - this.m_body1.m_position.y - r1Y;
-
-		// Handle singularity.
-		//float32 length = this.m_u.Length();
-		var length = Math.sqrt(this.m_u.x*this.m_u.x + this.m_u.y*this.m_u.y);
-		if (length > b2Settings.b2_linearSlop)
-		{
-			//this.m_u *= 1.0 / length;
-			this.m_u.Multiply( 1.0 / length );
-		}
-		else
-		{
-			this.m_u.SetZero();
-		}
-
-		//float32 cr1u = b2Cross(r1, this.m_u);
-		var cr1u = (r1X * this.m_u.y - r1Y * this.m_u.x);
-		//float32 cr2u = b2Cross(r2, this.m_u);
-		var cr2u = (r2X * this.m_u.y - r2Y * this.m_u.x);
-		//this.m_mass = this.m_body1->m_invMass + this.m_body1->m_invI * cr1u * cr1u + this.m_body2->m_invMass + this.m_body2->m_invI * cr2u * cr2u;
-		this.m_mass = this.m_body1.m_invMass + this.m_body1.m_invI * cr1u * cr1u + this.m_body2.m_invMass + this.m_body2.m_invI * cr2u * cr2u;
-		//b2Settings.b2Assert(this.m_mass > Number.MIN_VALUE);
-		this.m_mass = 1.0 / this.m_mass;
-
-		if (b2World.s_enableWarmStarting)
-		{
-			//b2Vec2 P = this.m_impulse * this.m_u;
-			var PX = this.m_impulse * this.m_u.x;
-			var PY = this.m_impulse * this.m_u.y;
-			//this.m_body1.m_linearVelocity -= this.m_body1.m_invMass * P;
-			this.m_body1.m_linearVelocity.x -= this.m_body1.m_invMass * PX;
-			this.m_body1.m_linearVelocity.y -= this.m_body1.m_invMass * PY;
-			//this.m_body1.m_angularVelocity -= this.m_body1.m_invI * b2Cross(r1, P);
-			this.m_body1.m_angularVelocity -= this.m_body1.m_invI * (r1X * PY - r1Y * PX);
-			//this.m_body2.m_linearVelocity += this.m_body2.m_invMass * P;
-			this.m_body2.m_linearVelocity.x += this.m_body2.m_invMass * PX;
-			this.m_body2.m_linearVelocity.y += this.m_body2.m_invMass * PY;
-			//this.m_body2.m_angularVelocity += this.m_body2.m_invI * b2Cross(r2, P);
-			this.m_body2.m_angularVelocity += this.m_body2.m_invI * (r2X * PY - r2Y * PX);
-		}
-		else
-		{
-			this.m_impulse = 0.0;
-		}
-
-	},
-
-
-
-	SolveVelocityConstraints: function(step){
-
-		var tMat;
-
-		//b2Vec2 r1 = b2Mul(this.m_body1->m_R, this.m_localAnchor1);
-		tMat = this.m_body1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		tMat = this.m_body2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		// Cdot = dot(u, v + cross(w, r))
-		//b2Vec2 v1 = this.m_body1->m_linearVelocity + b2Cross(this.m_body1->m_angularVelocity, r1);
-		var v1X = this.m_body1.m_linearVelocity.x + (-this.m_body1.m_angularVelocity * r1Y);
-		var v1Y = this.m_body1.m_linearVelocity.y + (this.m_body1.m_angularVelocity * r1X);
-		//b2Vec2 v2 = this.m_body2->m_linearVelocity + b2Cross(this.m_body2->m_angularVelocity, r2);
-		var v2X = this.m_body2.m_linearVelocity.x + (-this.m_body2.m_angularVelocity * r2Y);
-		var v2Y = this.m_body2.m_linearVelocity.y + (this.m_body2.m_angularVelocity * r2X);
-		//float32 Cdot = b2Dot(this.m_u, v2 - v1);
-		var Cdot = (this.m_u.x * (v2X - v1X) + this.m_u.y * (v2Y - v1Y));
-		//float32 impulse = -this.m_mass * Cdot;
-		var impulse = -this.m_mass * Cdot;
-		this.m_impulse += impulse;
-
-		//b2Vec2 P = impulse * this.m_u;
-		var PX = impulse * this.m_u.x;
-		var PY = impulse * this.m_u.y;
-		//this.m_body1->m_linearVelocity -= this.m_body1->m_invMass * P;
-		this.m_body1.m_linearVelocity.x -= this.m_body1.m_invMass * PX;
-		this.m_body1.m_linearVelocity.y -= this.m_body1.m_invMass * PY;
-		//this.m_body1->m_angularVelocity -= this.m_body1->m_invI * b2Cross(r1, P);
-		this.m_body1.m_angularVelocity -= this.m_body1.m_invI * (r1X * PY - r1Y * PX);
-		//this.m_body2->m_linearVelocity += this.m_body2->m_invMass * P;
-		this.m_body2.m_linearVelocity.x += this.m_body2.m_invMass * PX;
-		this.m_body2.m_linearVelocity.y += this.m_body2.m_invMass * PY;
-		//this.m_body2->m_angularVelocity += this.m_body2->m_invI * b2Cross(r2, P);
-		this.m_body2.m_angularVelocity += this.m_body2.m_invI * (r2X * PY - r2Y * PX);
-	},
-
-	SolvePositionConstraints: function(){
-
-		var tMat;
-
-		//b2Vec2 r1 = b2Mul(this.m_body1->m_R, this.m_localAnchor1);
-		tMat = this.m_body1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		tMat = this.m_body2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-		//b2Vec2 d = this.m_body2->m_position + r2 - this.m_body1->m_position - r1;
-		var dX = this.m_body2.m_position.x + r2X - this.m_body1.m_position.x - r1X;
-		var dY = this.m_body2.m_position.y + r2Y - this.m_body1.m_position.y - r1Y;
-
-		//float32 length = d.Normalize();
-		var length = Math.sqrt(dX*dX + dY*dY);
-		dX /= length;
-		dY /= length;
-		//float32 C = length - this.m_length;
-		var C = length - this.m_length;
-		C = b2Math.b2Clamp(C, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
-
-		var impulse = -this.m_mass * C;
-		//this.m_u = d;
-		this.m_u.Set(dX, dY);
-		//b2Vec2 P = impulse * this.m_u;
-		var PX = impulse * this.m_u.x;
-		var PY = impulse * this.m_u.y;
-
-		//this.m_body1->m_position -= this.m_body1->m_invMass * P;
-		this.m_body1.m_position.x -= this.m_body1.m_invMass * PX;
-		this.m_body1.m_position.y -= this.m_body1.m_invMass * PY;
-		//this.m_body1->m_rotation -= this.m_body1->m_invI * b2Cross(r1, P);
-		this.m_body1.m_rotation -= this.m_body1.m_invI * (r1X * PY - r1Y * PX);
-		//this.m_body2->m_position += this.m_body2->m_invMass * P;
-		this.m_body2.m_position.x += this.m_body2.m_invMass * PX;
-		this.m_body2.m_position.y += this.m_body2.m_invMass * PY;
-		//this.m_body2->m_rotation -= this.m_body2->m_invI * b2Cross(r2, P);
-		this.m_body2.m_rotation += this.m_body2.m_invI * (r2X * PY - r2Y * PX);
-
-		this.m_body1.m_R.Set(this.m_body1.m_rotation);
-		this.m_body2.m_R.Set(this.m_body2.m_rotation);
-
-		return b2Math.b2Abs(C) < b2Settings.b2_linearSlop;
-
-	},
-
-	GetAnchor1: function(){
-		return b2Math.AddVV(this.m_body1.m_position , b2Math.b2MulMV(this.m_body1.m_R, this.m_localAnchor1));
-	},
-	GetAnchor2: function(){
-		return b2Math.AddVV(this.m_body2.m_position , b2Math.b2MulMV(this.m_body2.m_R, this.m_localAnchor2));
-	},
-
-	GetReactionForce: function(invTimeStep)
-	{
-		//var F = (this.m_impulse * invTimeStep) * this.m_u;
-		var F = new b2Vec2();
-		F.SetV(this.m_u);
-		F.Multiply(this.m_impulse * invTimeStep);
-		return F;
-	},
-
-	GetReactionTorque: function(invTimeStep)
-	{
-		//NOT_USED(invTimeStep);
-		return 0.0;
-	},
-
-	m_localAnchor1: new b2Vec2(),
-	m_localAnchor2: new b2Vec2(),
-	m_u: new b2Vec2(),
-	m_impulse: null,
-	m_mass: null,
-	m_length: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJointDef.js
deleted file mode 100644
index 0c89b7a..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2DistanceJointDef.js
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2DistanceJointDef = Class.create();
-Object.extend(b2DistanceJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2DistanceJointDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2JointDef
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-		//
-
-		// initialize instance variables for references
-		this.anchorPoint1 = new b2Vec2();
-		this.anchorPoint2 = new b2Vec2();
-		//
-
-		this.type = b2Joint.e_distanceJoint;
-		//this.anchorPoint1.Set(0.0, 0.0);
-		//this.anchorPoint2.Set(0.0, 0.0);
-	},
-
-	anchorPoint1: new b2Vec2(),
-	anchorPoint2: new b2Vec2()});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJoint.js
deleted file mode 100644
index daace0b..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJoint.js
+++ /dev/null
@@ -1,307 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-var b2GearJoint = Class.create();
-Object.extend(b2GearJoint.prototype, b2Joint.prototype);
-Object.extend(b2GearJoint.prototype, 
-{
-	GetAnchor1: function(){
-		//return this.m_body1.m_position + b2MulMV(this.m_body1.m_R, this.m_localAnchor1);
-		var tMat = this.m_body1.m_R;
-		return new b2Vec2(	this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
-							this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
-	},
-	GetAnchor2: function(){
-		//return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		var tMat = this.m_body2.m_R;
-		return new b2Vec2(	this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
-							this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
-	},
-
-	GetReactionForce: function(invTimeStep){
-		//b2Vec2 F(0.0f, 0.0f);
-		return new b2Vec2();
-	},
-	GetReactionTorque: function(invTimeStep){
-		return 0.0;
-	},
-
-	GetRatio: function(){
-		return this.m_ratio;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.m_groundAnchor1 = new b2Vec2();
-		this.m_groundAnchor2 = new b2Vec2();
-		this.m_localAnchor1 = new b2Vec2();
-		this.m_localAnchor2 = new b2Vec2();
-		this.m_J = new b2Jacobian();
-		//
-
-		// parent constructor
-		//super(def);
-
-		//b2Settings.b2Assert(def.joint1.m_type == b2Joint.e_revoluteJoint || def.joint1.m_type == b2Joint.e_prismaticJoint);
-		//b2Settings.b2Assert(def.joint2.m_type == b2Joint.e_revoluteJoint || def.joint2.m_type == b2Joint.e_prismaticJoint);
-		//b2Settings.b2Assert(def.joint1.m_body1.IsStatic());
-		//b2Settings.b2Assert(def.joint2.m_body1.IsStatic());
-
-		this.m_revolute1 = null;
-		this.m_prismatic1 = null;
-		this.m_revolute2 = null;
-		this.m_prismatic2 = null;
-
-		var coordinate1;
-		var coordinate2;
-
-		this.m_ground1 = def.joint1.m_body1;
-		this.m_body1 = def.joint1.m_body2;
-		if (def.joint1.m_type == b2Joint.e_revoluteJoint)
-		{
-			this.m_revolute1 = def.joint1;
-			this.m_groundAnchor1.SetV( this.m_revolute1.m_localAnchor1 );
-			this.m_localAnchor1.SetV( this.m_revolute1.m_localAnchor2 );
-			coordinate1 = this.m_revolute1.GetJointAngle();
-		}
-		else
-		{
-			this.m_prismatic1 = def.joint1;
-			this.m_groundAnchor1.SetV( this.m_prismatic1.m_localAnchor1 );
-			this.m_localAnchor1.SetV( this.m_prismatic1.m_localAnchor2 );
-			coordinate1 = this.m_prismatic1.GetJointTranslation();
-		}
-
-		this.m_ground2 = def.joint2.m_body1;
-		this.m_body2 = def.joint2.m_body2;
-		if (def.joint2.m_type == b2Joint.e_revoluteJoint)
-		{
-			this.m_revolute2 = def.joint2;
-			this.m_groundAnchor2.SetV( this.m_revolute2.m_localAnchor1 );
-			this.m_localAnchor2.SetV( this.m_revolute2.m_localAnchor2 );
-			coordinate2 = this.m_revolute2.GetJointAngle();
-		}
-		else
-		{
-			this.m_prismatic2 = def.joint2;
-			this.m_groundAnchor2.SetV( this.m_prismatic2.m_localAnchor1 );
-			this.m_localAnchor2.SetV( this.m_prismatic2.m_localAnchor2 );
-			coordinate2 = this.m_prismatic2.GetJointTranslation();
-		}
-
-		this.m_ratio = def.ratio;
-
-		this.m_constant = coordinate1 + this.m_ratio * coordinate2;
-
-		this.m_impulse = 0.0;
-
-	},
-
-	PrepareVelocitySolver: function(){
-		var g1 = this.m_ground1;
-		var g2 = this.m_ground2;
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		// temp vars
-		var ugX;
-		var ugY;
-		var rX;
-		var rY;
-		var tMat;
-		var tVec;
-		var crug;
-
-		var K = 0.0;
-		this.m_J.SetZero();
-
-		if (this.m_revolute1)
-		{
-			this.m_J.angular1 = -1.0;
-			K += b1.m_invI;
-		}
-		else
-		{
-			//b2Vec2 ug = b2MulMV(g1->m_R, this.m_prismatic1->m_localXAxis1);
-			tMat = g1.m_R;
-			tVec = this.m_prismatic1.m_localXAxis1;
-			ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
-			ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
-			//b2Vec2 r = b2MulMV(b1->m_R, this.m_localAnchor1);
-			tMat = b1.m_R;
-			rX = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-			rY = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-
-			//var crug = b2Cross(r, ug);
-			crug = rX * ugY - rY * ugX;
-			//this.m_J.linear1 = -ug;
-			this.m_J.linear1.Set(-ugX, -ugY);
-			this.m_J.angular1 = -crug;
-			K += b1.m_invMass + b1.m_invI * crug * crug;
-		}
-
-		if (this.m_revolute2)
-		{
-			this.m_J.angular2 = -this.m_ratio;
-			K += this.m_ratio * this.m_ratio * b2.m_invI;
-		}
-		else
-		{
-			//b2Vec2 ug = b2Mul(g2->m_R, this.m_prismatic2->m_localXAxis1);
-			tMat = g2.m_R;
-			tVec = this.m_prismatic2.m_localXAxis1;
-			ugX = tMat.col1.x * tVec.x + tMat.col2.x * tVec.y;
-			ugY = tMat.col1.y * tVec.x + tMat.col2.y * tVec.y;
-			//b2Vec2 r = b2Mul(b2->m_R, this.m_localAnchor2);
-			tMat = b2.m_R;
-			rX = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-			rY = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-			//float32 crug = b2Cross(r, ug);
-			crug = rX * ugY - rY * ugX;
-			//this.m_J.linear2 = -this.m_ratio * ug;
-			this.m_J.linear2.Set(-this.m_ratio*ugX, -this.m_ratio*ugY);
-			this.m_J.angular2 = -this.m_ratio * crug;
-			K += this.m_ratio * this.m_ratio * (b2.m_invMass + b2.m_invI * crug * crug);
-		}
-
-		// Compute effective mass.
-		//b2Settings.b2Assert(K > 0.0);
-		this.m_mass = 1.0 / K;
-
-		// Warm starting.
-		//b1.m_linearVelocity += b1.m_invMass * this.m_impulse * this.m_J.linear1;
-		b1.m_linearVelocity.x += b1.m_invMass * this.m_impulse * this.m_J.linear1.x;
-		b1.m_linearVelocity.y += b1.m_invMass * this.m_impulse * this.m_J.linear1.y;
-		b1.m_angularVelocity += b1.m_invI * this.m_impulse * this.m_J.angular1;
-		//b2.m_linearVelocity += b2.m_invMass * this.m_impulse * this.m_J.linear2;
-		b2.m_linearVelocity.x += b2.m_invMass * this.m_impulse * this.m_J.linear2.x;
-		b2.m_linearVelocity.y += b2.m_invMass * this.m_impulse * this.m_J.linear2.y;
-		b2.m_angularVelocity += b2.m_invI * this.m_impulse * this.m_J.angular2;
-	},
-
-
-	SolveVelocityConstraints: function(step){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var Cdot = this.m_J.Compute(	b1.m_linearVelocity, b1.m_angularVelocity,
-										b2.m_linearVelocity, b2.m_angularVelocity);
-
-		var impulse = -this.m_mass * Cdot;
-		this.m_impulse += impulse;
-
-		b1.m_linearVelocity.x += b1.m_invMass * impulse * this.m_J.linear1.x;
-		b1.m_linearVelocity.y += b1.m_invMass * impulse * this.m_J.linear1.y;
-		b1.m_angularVelocity  += b1.m_invI * impulse * this.m_J.angular1;
-		b2.m_linearVelocity.x += b2.m_invMass * impulse * this.m_J.linear2.x;
-		b2.m_linearVelocity.y += b2.m_invMass * impulse * this.m_J.linear2.y;
-		b2.m_angularVelocity  += b2.m_invI * impulse * this.m_J.angular2;
-	},
-
-	SolvePositionConstraints: function(){
-		var linearError = 0.0;
-
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var coordinate1;
-		var coordinate2;
-		if (this.m_revolute1)
-		{
-			coordinate1 = this.m_revolute1.GetJointAngle();
-		}
-		else
-		{
-			coordinate1 = this.m_prismatic1.GetJointTranslation();
-		}
-
-		if (this.m_revolute2)
-		{
-			coordinate2 = this.m_revolute2.GetJointAngle();
-		}
-		else
-		{
-			coordinate2 = this.m_prismatic2.GetJointTranslation();
-		}
-
-		var C = this.m_constant - (coordinate1 + this.m_ratio * coordinate2);
-
-		var impulse = -this.m_mass * C;
-
-		b1.m_position.x += b1.m_invMass * impulse * this.m_J.linear1.x;
-		b1.m_position.y += b1.m_invMass * impulse * this.m_J.linear1.y;
-		b1.m_rotation += b1.m_invI * impulse * this.m_J.angular1;
-		b2.m_position.x += b2.m_invMass * impulse * this.m_J.linear2.x;
-		b2.m_position.y += b2.m_invMass * impulse * this.m_J.linear2.y;
-		b2.m_rotation += b2.m_invI * impulse * this.m_J.angular2;
-		b1.m_R.Set(b1.m_rotation);
-		b2.m_R.Set(b2.m_rotation);
-
-		return linearError < b2Settings.b2_linearSlop;
-	},
-
-	m_ground1: null,
-	m_ground2: null,
-
-	// One of these is NULL.
-	m_revolute1: null,
-	m_prismatic1: null,
-
-	// One of these is NULL.
-	m_revolute2: null,
-	m_prismatic2: null,
-
-	m_groundAnchor1: new b2Vec2(),
-	m_groundAnchor2: new b2Vec2(),
-
-	m_localAnchor1: new b2Vec2(),
-	m_localAnchor2: new b2Vec2(),
-
-	m_J: new b2Jacobian(),
-
-	m_constant: null,
-	m_ratio: null,
-
-	// Effective mass
-	m_mass: null,
-
-	// Impulse for accumulation/warm starting.
-	m_impulse: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJointDef.js
deleted file mode 100644
index aaf30a3..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2GearJointDef.js
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-// A gear joint is used to connect two joints together. Either joint
-// can be a revolute or prismatic joint. You specify a gear ratio
-// to bind the motions together:
-// coordinate1 + ratio * coordinate2 = constant
-// The ratio can be negative or positive. If one joint is a revolute joint
-// and the other joint is a prismatic joint, then the ratio will have units
-// of length or units of 1/length.
-//
-// RESTRICITON: The revolute and prismatic joints must be attached to
-// a fixed body (which must be body1 on those joints).
-
-var b2GearJointDef = Class.create();
-Object.extend(b2GearJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2GearJointDef.prototype, 
-{
-	initialize: function()
-	{
-		this.type = b2Joint.e_gearJoint;
-		this.joint1 = null;
-		this.joint2 = null;
-		this.ratio = 1.0;
-	},
-
-	joint1: null,
-	joint2: null,
-	ratio: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Jacobian.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Jacobian.js
deleted file mode 100644
index f67a22a..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Jacobian.js
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2Jacobian = Class.create();
-b2Jacobian.prototype = 
-{
-	linear1: new b2Vec2(),
-	angular1: null,
-	linear2: new b2Vec2(),
-	angular2: null,
-
-	SetZero: function(){
-		this.linear1.SetZero(); this.angular1 = 0.0;
-		this.linear2.SetZero(); this.angular2 = 0.0;
-	},
-	Set: function(x1, a1, x2, a2){
-		this.linear1.SetV(x1); this.angular1 = a1;
-		this.linear2.SetV(x2); this.angular2 = a2;
-	},
-	Compute: function(x1, a1, x2, a2){
-
-		//return b2Math.b2Dot(this.linear1, x1) + this.angular1 * a1 + b2Math.b2Dot(this.linear2, x2) + this.angular2 * a2;
-		return (this.linear1.x*x1.x + this.linear1.y*x1.y) + this.angular1 * a1 + (this.linear2.x*x2.x + this.linear2.y*x2.y) + this.angular2 * a2;
-	},
-	initialize: function() {
-		// initialize instance variables for references
-		this.linear1 = new b2Vec2();
-		this.linear2 = new b2Vec2();
-		//
-}};
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Joint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Joint.js
deleted file mode 100644
index 88a5766..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2Joint.js
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2Joint = Class.create();
-b2Joint.prototype = 
-{
-	GetType: function(){
-		return this.m_type;
-	},
-
-	GetAnchor1: function(){return null},
-	GetAnchor2: function(){return null},
-
-	GetReactionForce: function(invTimeStep){return null},
-	GetReactionTorque: function(invTimeStep){return 0.0},
-
-	GetBody1: function()
-	{
-		return this.m_body1;
-	},
-
-	GetBody2: function()
-	{
-		return this.m_body2;
-	},
-
-	GetNext: function(){
-		return this.m_next;
-	},
-
-	GetUserData: function(){
-		return this.m_userData;
-	},
-
-	//--------------- Internals Below -------------------
-
-
-
-	initialize: function(def){
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-	},
-	//virtual ~b2Joint() {}
-
-	PrepareVelocitySolver: function(){},
-	SolveVelocityConstraints: function(step){},
-
-	// This returns true if the position errors are within tolerance.
-	PreparePositionSolver: function(){},
-	SolvePositionConstraints: function(){return false},
-
-	m_type: 0,
-	m_prev: null,
-	m_next: null,
-	m_node1: new b2JointNode(),
-	m_node2: new b2JointNode(),
-	m_body1: null,
-	m_body2: null,
-
-	m_islandFlag: null,
-	m_collideConnected: null,
-
-	m_userData: null
-
-
-	// ENUMS
-
-	// enum b2JointType
-
-	// enum b2LimitState
-
-};
-b2Joint.Create = function(def, allocator){
-		var joint = null;
-
-		switch (def.type)
-		{
-		case b2Joint.e_distanceJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2DistanceJoint));
-				joint = new b2DistanceJoint(def);
-			}
-			break;
-
-		case b2Joint.e_mouseJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2MouseJoint));
-				joint = new b2MouseJoint(def);
-			}
-			break;
-
-		case b2Joint.e_prismaticJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2PrismaticJoint));
-				joint = new b2PrismaticJoint(def);
-			}
-			break;
-
-		case b2Joint.e_revoluteJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2RevoluteJoint));
-				joint = new b2RevoluteJoint(def);
-			}
-			break;
-
-		case b2Joint.e_pulleyJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2PulleyJoint));
-				joint = new b2PulleyJoint(def);
-			}
-			break;
-
-		case b2Joint.e_gearJoint:
-			{
-				//void* mem = allocator->Allocate(sizeof(b2GearJoint));
-				joint = new b2GearJoint(def);
-			}
-			break;
-
-		default:
-			//b2Settings.b2Assert(false);
-			break;
-		}
-
-		return joint;
-	};
-b2Joint.Destroy = function(joint, allocator){
-		/*joint->~b2Joint();
-		switch (joint.m_type)
-		{
-		case b2Joint.e_distanceJoint:
-			allocator->Free(joint, sizeof(b2DistanceJoint));
-			break;
-
-		case b2Joint.e_mouseJoint:
-			allocator->Free(joint, sizeof(b2MouseJoint));
-			break;
-
-		case b2Joint.e_prismaticJoint:
-			allocator->Free(joint, sizeof(b2PrismaticJoint));
-			break;
-
-		case b2Joint.e_revoluteJoint:
-			allocator->Free(joint, sizeof(b2RevoluteJoint));
-			break;
-
-		case b2Joint.e_pulleyJoint:
-			allocator->Free(joint, sizeof(b2PulleyJoint));
-			break;
-
-		case b2Joint.e_gearJoint:
-			allocator->Free(joint, sizeof(b2GearJoint));
-			break;
-
-		default:
-			b2Assert(false);
-			break;
-		}*/
-	};
-b2Joint.e_unknownJoint = 0;
-b2Joint.e_revoluteJoint = 1;
-b2Joint.e_prismaticJoint = 2;
-b2Joint.e_distanceJoint = 3;
-b2Joint.e_pulleyJoint = 4;
-b2Joint.e_mouseJoint = 5;
-b2Joint.e_gearJoint = 6;
-b2Joint.e_inactiveLimit = 0;
-b2Joint.e_atLowerLimit = 1;
-b2Joint.e_atUpperLimit = 2;
-b2Joint.e_equalLimits = 3;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointDef.js
deleted file mode 100644
index 6b949e6..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointDef.js
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2JointDef = Class.create();
-b2JointDef.prototype = 
-{
-
-	initialize: function()
-	{
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-	},
-
-	type: 0,
-	userData: null,
-	body1: null,
-	body2: null,
-	collideConnected: null}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointNode.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointNode.js
deleted file mode 100644
index b1c837b..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2JointNode.js
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2JointNode = Class.create();
-b2JointNode.prototype = 
-{
-
-	other: null,
-	joint: null,
-	prev: null,
-	next: null,
-
-
-	initialize: function() {}}
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJoint.js
deleted file mode 100644
index cf933a9..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJoint.js
+++ /dev/null
@@ -1,234 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-// p = attached point, m = mouse point
-// C = p - m
-// Cdot = v
-//      = v + cross(w, r)
-// J = [I r_skew]
-// Identity used:
-// w k % (rx i + ry j) = w * (-ry i + rx j)
-
-var b2MouseJoint = Class.create();
-Object.extend(b2MouseJoint.prototype, b2Joint.prototype);
-Object.extend(b2MouseJoint.prototype, 
-{
-	GetAnchor1: function(){
-		return this.m_target;
-	},
-	GetAnchor2: function(){
-		var tVec = b2Math.b2MulMV(this.m_body2.m_R, this.m_localAnchor);
-		tVec.Add(this.m_body2.m_position);
-		return tVec;
-	},
-
-	GetReactionForce: function(invTimeStep)
-	{
-		//b2Vec2 F = invTimeStep * this.m_impulse;
-		var F = new b2Vec2();
-		F.SetV(this.m_impulse);
-		F.Multiply(invTimeStep);
-		return F;
-	},
-
-	GetReactionTorque: function(invTimeStep)
-	{
-		//NOT_USED(invTimeStep);
-		return 0.0;
-	},
-
-	SetTarget: function(target){
-		this.m_body2.WakeUp();
-		this.m_target = target;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.K = new b2Mat22();
-		this.K1 = new b2Mat22();
-		this.K2 = new b2Mat22();
-		this.m_localAnchor = new b2Vec2();
-		this.m_target = new b2Vec2();
-		this.m_impulse = new b2Vec2();
-		this.m_ptpMass = new b2Mat22();
-		this.m_C = new b2Vec2();
-		//
-
-		//super(def);
-
-		this.m_target.SetV(def.target);
-		//this.m_localAnchor = b2Math.b2MulTMV(this.m_body2.m_R, b2Math.SubtractVV( this.m_target, this.m_body2.m_position ) );
-		var tX = this.m_target.x - this.m_body2.m_position.x;
-		var tY = this.m_target.y - this.m_body2.m_position.y;
-		this.m_localAnchor.x = (tX * this.m_body2.m_R.col1.x + tY * this.m_body2.m_R.col1.y);
-		this.m_localAnchor.y = (tX * this.m_body2.m_R.col2.x + tY * this.m_body2.m_R.col2.y);
-
-		this.m_maxForce = def.maxForce;
-		this.m_impulse.SetZero();
-
-		var mass = this.m_body2.m_mass;
-
-		// Frequency
-		var omega = 2.0 * b2Settings.b2_pi * def.frequencyHz;
-
-		// Damping coefficient
-		var d = 2.0 * mass * def.dampingRatio * omega;
-
-		// Spring stiffness
-		var k = mass * omega * omega;
-
-		// magic formulas
-		this.m_gamma = 1.0 / (d + def.timeStep * k);
-		this.m_beta = def.timeStep * k / (d + def.timeStep * k);
-	},
-
-	// Presolve vars
-	K: new b2Mat22(),
-	K1: new b2Mat22(),
-	K2: new b2Mat22(),
-	PrepareVelocitySolver: function(){
-		var b = this.m_body2;
-
-		var tMat;
-
-		// Compute the effective mass matrix.
-		//b2Vec2 r = b2Mul(b.m_R, this.m_localAnchor);
-		tMat = b.m_R;
-		var rX = tMat.col1.x * this.m_localAnchor.x + tMat.col2.x * this.m_localAnchor.y;
-		var rY = tMat.col1.y * this.m_localAnchor.x + tMat.col2.y * this.m_localAnchor.y;
-
-		// this.K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
-		//      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
-		//        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
-		var invMass = b.m_invMass;
-		var invI = b.m_invI;
-
-		//b2Mat22 this.K1;
-		this.K1.col1.x = invMass;	this.K1.col2.x = 0.0;
-		this.K1.col1.y = 0.0;		this.K1.col2.y = invMass;
-
-		//b2Mat22 this.K2;
-		this.K2.col1.x =  invI * rY * rY;	this.K2.col2.x = -invI * rX * rY;
-		this.K2.col1.y = -invI * rX * rY;	this.K2.col2.y =  invI * rX * rX;
-
-		//b2Mat22 this.K = this.K1 + this.K2;
-		this.K.SetM(this.K1);
-		this.K.AddM(this.K2);
-		this.K.col1.x += this.m_gamma;
-		this.K.col2.y += this.m_gamma;
-
-		//this.m_ptpMass = this.K.Invert();
-		this.K.Invert(this.m_ptpMass);
-
-		//this.m_C = b.m_position + r - this.m_target;
-		this.m_C.x = b.m_position.x + rX - this.m_target.x;
-		this.m_C.y = b.m_position.y + rY - this.m_target.y;
-
-		// Cheat with some damping
-		b.m_angularVelocity *= 0.98;
-
-		// Warm starting.
-		//b2Vec2 P = this.m_impulse;
-		var PX = this.m_impulse.x;
-		var PY = this.m_impulse.y;
-		//b.m_linearVelocity += invMass * P;
-		b.m_linearVelocity.x += invMass * PX;
-		b.m_linearVelocity.y += invMass * PY;
-		//b.m_angularVelocity += invI * b2Cross(r, P);
-		b.m_angularVelocity += invI * (rX * PY - rY * PX);
-	},
-
-
-	SolveVelocityConstraints: function(step){
-		var body = this.m_body2;
-
-		var tMat;
-
-		// Compute the effective mass matrix.
-		//b2Vec2 r = b2Mul(body.m_R, this.m_localAnchor);
-		tMat = body.m_R;
-		var rX = tMat.col1.x * this.m_localAnchor.x + tMat.col2.x * this.m_localAnchor.y;
-		var rY = tMat.col1.y * this.m_localAnchor.x + tMat.col2.y * this.m_localAnchor.y;
-
-		// Cdot = v + cross(w, r)
-		//b2Vec2 Cdot = body->m_linearVelocity + b2Cross(body->m_angularVelocity, r);
-		var CdotX = body.m_linearVelocity.x + (-body.m_angularVelocity * rY);
-		var CdotY = body.m_linearVelocity.y + (body.m_angularVelocity * rX);
-		//b2Vec2 impulse = -b2Mul(this.m_ptpMass, Cdot + (this.m_beta * step->inv_dt) * this.m_C + this.m_gamma * this.m_impulse);
-		tMat = this.m_ptpMass;
-		var tX = CdotX + (this.m_beta * step.inv_dt) * this.m_C.x + this.m_gamma * this.m_impulse.x;
-		var tY = CdotY + (this.m_beta * step.inv_dt) * this.m_C.y + this.m_gamma * this.m_impulse.y;
-		var impulseX = -(tMat.col1.x * tX + tMat.col2.x * tY);
-		var impulseY = -(tMat.col1.y * tX + tMat.col2.y * tY);
-
-		var oldImpulseX = this.m_impulse.x;
-		var oldImpulseY = this.m_impulse.y;
-		//this.m_impulse += impulse;
-		this.m_impulse.x += impulseX;
-		this.m_impulse.y += impulseY;
-		var length = this.m_impulse.Length();
-		if (length > step.dt * this.m_maxForce)
-		{
-			//this.m_impulse *= step.dt * this.m_maxForce / length;
-			this.m_impulse.Multiply(step.dt * this.m_maxForce / length);
-		}
-		//impulse = this.m_impulse - oldImpulse;
-		impulseX = this.m_impulse.x - oldImpulseX;
-		impulseY = this.m_impulse.y - oldImpulseY;
-
-		//body.m_linearVelocity += body->m_invMass * impulse;
-		body.m_linearVelocity.x += body.m_invMass * impulseX;
-		body.m_linearVelocity.y += body.m_invMass * impulseY;
-		//body.m_angularVelocity += body->m_invI * b2Cross(r, impulse);
-		body.m_angularVelocity += body.m_invI * (rX * impulseY - rY * impulseX);
-	},
-	SolvePositionConstraints: function(){
-		return true;
-	},
-
-	m_localAnchor: new b2Vec2(),
-	m_target: new b2Vec2(),
-	m_impulse: new b2Vec2(),
-
-	m_ptpMass: new b2Mat22(),
-	m_C: new b2Vec2(),
-	m_maxForce: null,
-	m_beta: null,
-	m_gamma: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJointDef.js
deleted file mode 100644
index b9a3b5c..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2MouseJointDef.js
+++ /dev/null
@@ -1,53 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2MouseJointDef = Class.create();
-Object.extend(b2MouseJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2MouseJointDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2JointDef
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-		//
-
-		// initialize instance variables for references
-		this.target = new b2Vec2();
-		//
-
-		this.type = b2Joint.e_mouseJoint;
-		this.maxForce = 0.0;
-		this.frequencyHz = 5.0;
-		this.dampingRatio = 0.7;
-		this.timeStep = 1.0 / 60.0;
-	},
-
-	target: new b2Vec2(),
-	maxForce: null,
-	frequencyHz: null,
-	dampingRatio: null,
-	timeStep: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJoint.js
deleted file mode 100644
index 94bfcf8..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJoint.js
+++ /dev/null
@@ -1,676 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-// Linear constraint (point-to-line)
-// d = p2 - p1 = x2 + r2 - x1 - r1
-// C = dot(ay1, d)
-// Cdot = dot(d, cross(w1, ay1)) + dot(ay1, v2 + cross(w2, r2) - v1 - cross(w1, r1))
-//      = -dot(ay1, v1) - dot(cross(d + r1, ay1), w1) + dot(ay1, v2) + dot(cross(r2, ay1), v2)
-// J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)]
-//
-// Angular constraint
-// C = a2 - a1 + a_initial
-// Cdot = w2 - w1
-// J = [0 0 -1 0 0 1]
-
-// Motor/Limit linear constraint
-// C = dot(ax1, d)
-// Cdot = = -dot(ax1, v1) - dot(cross(d + r1, ax1), w1) + dot(ax1, v2) + dot(cross(r2, ax1), v2)
-// J = [-ax1 -cross(d+r1,ax1) ax1 cross(r2,ax1)]
-
-
-var b2PrismaticJoint = Class.create();
-Object.extend(b2PrismaticJoint.prototype, b2Joint.prototype);
-Object.extend(b2PrismaticJoint.prototype, 
-{
-	GetAnchor1: function(){
-		var b1 = this.m_body1;
-		//return b2Math.AddVV(b1.m_position, b2Math.b2MulMV(b1.m_R, this.m_localAnchor1));
-		var tVec = new b2Vec2();
-		tVec.SetV(this.m_localAnchor1);
-		tVec.MulM(b1.m_R);
-		tVec.Add(b1.m_position);
-		return tVec;
-	},
-	GetAnchor2: function(){
-		var b2 = this.m_body2;
-		//return b2Math.AddVV(b2.m_position, b2Math.b2MulMV(b2.m_R, this.m_localAnchor2));
-		var tVec = new b2Vec2();
-		tVec.SetV(this.m_localAnchor2);
-		tVec.MulM(b2.m_R);
-		tVec.Add(b2.m_position);
-		return tVec;
-	},
-	GetJointTranslation: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-		//var p1 = b2Math.AddVV(b1.m_position , r1);
-		var p1X = b1.m_position.x + r1X;
-		var p1Y = b1.m_position.y + r1Y;
-		//var p2 = b2Math.AddVV(b2.m_position , r2);
-		var p2X = b2.m_position.x + r2X;
-		var p2Y = b2.m_position.y + r2Y;
-		//var d = b2Math.SubtractVV(p2, p1);
-		var dX = p2X - p1X;
-		var dY = p2Y - p1Y;
-		//var ax1 = b2Math.b2MulMV(b1.m_R, this.m_localXAxis1);
-		tMat = b1.m_R;
-		var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
-		var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
-
-		//var translation = b2Math.b2Dot(ax1, d);
-		var translation = ax1X*dX + ax1Y*dY;
-		return translation;
-	},
-	GetJointSpeed: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-		//var p1 = b2Math.AddVV(b1.m_position , r1);
-		var p1X = b1.m_position.x + r1X;
-		var p1Y = b1.m_position.y + r1Y;
-		//var p2 = b2Math.AddVV(b2.m_position , r2);
-		var p2X = b2.m_position.x + r2X;
-		var p2Y = b2.m_position.y + r2Y;
-		//var d = b2Math.SubtractVV(p2, p1);
-		var dX = p2X - p1X;
-		var dY = p2Y - p1Y;
-		//var ax1 = b2Math.b2MulMV(b1.m_R, this.m_localXAxis1);
-		tMat = b1.m_R;
-		var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
-		var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
-
-		var v1 = b1.m_linearVelocity;
-		var v2 = b2.m_linearVelocity;
-		var w1 = b1.m_angularVelocity;
-		var w2 = b2.m_angularVelocity;
-
-		//var speed = b2Math.b2Dot(d, b2Math.b2CrossFV(w1, ax1)) + b2Math.b2Dot(ax1, b2Math.SubtractVV( b2Math.SubtractVV( b2Math.AddVV( v2 , b2Math.b2CrossFV(w2, r2)) , v1) , b2Math.b2CrossFV(w1, r1)));
-		//var b2D = (dX*(-w1 * ax1Y) + dY*(w1 * ax1X));
-		//var b2D2 = (ax1X * ((( v2.x + (-w2 * r2Y)) - v1.x) - (-w1 * r1Y)) + ax1Y * ((( v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
-		var speed = (dX*(-w1 * ax1Y) + dY*(w1 * ax1X)) + (ax1X * ((( v2.x + (-w2 * r2Y)) - v1.x) - (-w1 * r1Y)) + ax1Y * ((( v2.y + (w2 * r2X)) - v1.y) - (w1 * r1X)));
-
-		return speed;
-	},
-	GetMotorForce: function(invTimeStep){
-		return invTimeStep * this.m_motorImpulse;
-	},
-
-	SetMotorSpeed: function(speed)
-	{
-		this.m_motorSpeed = speed;
-	},
-
-	SetMotorForce: function(force)
-	{
-		this.m_maxMotorForce = force;
-	},
-
-	GetReactionForce: function(invTimeStep)
-	{
-		var tImp = invTimeStep * this.m_limitImpulse;
-		var tMat;
-
-		//var ax1 = b2Math.b2MulMV(this.m_body1.m_R, this.m_localXAxis1);
-		tMat = this.m_body1.m_R;
-		var ax1X = tImp * (tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y);
-		var ax1Y = tImp * (tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y);
-		//var ay1 = b2Math.b2MulMV(this.m_body1.m_R, this.m_localYAxis1);
-		var ay1X = tImp * (tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y);
-		var ay1Y = tImp * (tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y);
-
-		//return (invTimeStep * this.m_limitImpulse) * ax1 + (invTimeStep * this.m_linearImpulse) * ay1;
-
-		return new b2Vec2(ax1X+ay1X, ax1Y+ay1Y);
-	},
-
-	GetReactionTorque: function(invTimeStep)
-	{
-		return invTimeStep * this.m_angularImpulse;
-	},
-
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.m_localAnchor1 = new b2Vec2();
-		this.m_localAnchor2 = new b2Vec2();
-		this.m_localXAxis1 = new b2Vec2();
-		this.m_localYAxis1 = new b2Vec2();
-		this.m_linearJacobian = new b2Jacobian();
-		this.m_motorJacobian = new b2Jacobian();
-		//
-
-		//super(def);
-
-		var tMat;
-		var tX;
-		var tY;
-
-		//this.m_localAnchor1 = b2Math.b2MulTMV(this.m_body1.m_R, b2Math.SubtractVV(def.anchorPoint , this.m_body1.m_position));
-		tMat = this.m_body1.m_R;
-		tX = (def.anchorPoint.x - this.m_body1.m_position.x);
-		tY = (def.anchorPoint.y - this.m_body1.m_position.y);
-		this.m_localAnchor1.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
-
-		//this.m_localAnchor2 = b2Math.b2MulTMV(this.m_body2.m_R, b2Math.SubtractVV(def.anchorPoint , this.m_body2.m_position));
-		tMat = this.m_body2.m_R;
-		tX = (def.anchorPoint.x - this.m_body2.m_position.x);
-		tY = (def.anchorPoint.y - this.m_body2.m_position.y);
-		this.m_localAnchor2.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
-
-		//this.m_localXAxis1 = b2Math.b2MulTMV(this.m_body1.m_R, def.axis);
-		tMat = this.m_body1.m_R;
-		tX = def.axis.x;
-		tY = def.axis.y;
-		this.m_localXAxis1.Set((tX*tMat.col1.x + tY*tMat.col1.y), (tX*tMat.col2.x + tY*tMat.col2.y));
-
-		//this.m_localYAxis1 = b2Math.b2CrossFV(1.0, this.m_localXAxis1);
-		this.m_localYAxis1.x = -this.m_localXAxis1.y;
-		this.m_localYAxis1.y = this.m_localXAxis1.x;
-
-		this.m_initialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation;
-
-		this.m_linearJacobian.SetZero();
-		this.m_linearMass = 0.0;
-		this.m_linearImpulse = 0.0;
-
-		this.m_angularMass = 0.0;
-		this.m_angularImpulse = 0.0;
-
-		this.m_motorJacobian.SetZero();
-		this.m_motorMass = 0.0;
-		this.m_motorImpulse = 0.0;
-		this.m_limitImpulse = 0.0;
-		this.m_limitPositionImpulse = 0.0;
-
-		this.m_lowerTranslation = def.lowerTranslation;
-		this.m_upperTranslation = def.upperTranslation;
-		this.m_maxMotorForce = def.motorForce;
-		this.m_motorSpeed = def.motorSpeed;
-		this.m_enableLimit = def.enableLimit;
-		this.m_enableMotor = def.enableMotor;
-	},
-
-	PrepareVelocitySolver: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		// Compute the effective masses.
-		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		//float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass;
-		var invMass1 = b1.m_invMass;
-		var invMass2 = b2.m_invMass;
-		//float32 invI1 = b1->m_invI, invI2 = b2->m_invI;
-		var invI1 = b1.m_invI;
-		var invI2 = b2.m_invI;
-
-		// Compute point to line constraint effective mass.
-		// J = [-ay1 -cross(d+r1,ay1) ay1 cross(r2,ay1)]
-		//b2Vec2 ay1 = b2Mul(b1->m_R, this.m_localYAxis1);
-		tMat = b1.m_R;
-		var ay1X = tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y;
-		var ay1Y = tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y;
-		//b2Vec2 e = b2->m_position + r2 - b1->m_position;
-		var eX = b2.m_position.x + r2X - b1.m_position.x;
-		var eY = b2.m_position.y + r2Y - b1.m_position.y;
-
-		//this.m_linearJacobian.Set(-ay1, -b2Math.b2Cross(e, ay1), ay1, b2Math.b2Cross(r2, ay1));
-		this.m_linearJacobian.linear1.x = -ay1X;
-		this.m_linearJacobian.linear1.y = -ay1Y;
-		this.m_linearJacobian.linear2.x = ay1X;
-		this.m_linearJacobian.linear2.y = ay1Y;
-		this.m_linearJacobian.angular1 = -(eX * ay1Y - eY * ay1X);
-		this.m_linearJacobian.angular2 = r2X * ay1Y - r2Y * ay1X;
-
-		this.m_linearMass =	invMass1 + invI1 * this.m_linearJacobian.angular1 * this.m_linearJacobian.angular1 +
-						invMass2 + invI2 * this.m_linearJacobian.angular2 * this.m_linearJacobian.angular2;
-		//b2Settings.b2Assert(this.m_linearMass > Number.MIN_VALUE);
-		this.m_linearMass = 1.0 / this.m_linearMass;
-
-		// Compute angular constraint effective mass.
-		this.m_angularMass = 1.0 / (invI1 + invI2);
-
-		// Compute motor and limit terms.
-		if (this.m_enableLimit || this.m_enableMotor)
-		{
-			// The motor and limit share a Jacobian and effective mass.
-			//b2Vec2 ax1 = b2Mul(b1->m_R, this.m_localXAxis1);
-			tMat = b1.m_R;
-			var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
-			var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
-			//this.m_motorJacobian.Set(-ax1, -b2Cross(e, ax1), ax1, b2Cross(r2, ax1));
-			this.m_motorJacobian.linear1.x = -ax1X; this.m_motorJacobian.linear1.y = -ax1Y;
-			this.m_motorJacobian.linear2.x = ax1X; this.m_motorJacobian.linear2.y = ax1Y;
-			this.m_motorJacobian.angular1 = -(eX * ax1Y - eY * ax1X);
-			this.m_motorJacobian.angular2 = r2X * ax1Y - r2Y * ax1X;
-
-			this.m_motorMass =	invMass1 + invI1 * this.m_motorJacobian.angular1 * this.m_motorJacobian.angular1 +
-							invMass2 + invI2 * this.m_motorJacobian.angular2 * this.m_motorJacobian.angular2;
-			//b2Settings.b2Assert(this.m_motorMass > Number.MIN_VALUE);
-			this.m_motorMass = 1.0 / this.m_motorMass;
-
-			if (this.m_enableLimit)
-			{
-				//b2Vec2 d = e - r1;
-				var dX = eX - r1X;
-				var dY = eY - r1Y;
-				//float32 jointTranslation = b2Dot(ax1, d);
-				var jointTranslation = ax1X * dX + ax1Y * dY;
-				if (b2Math.b2Abs(this.m_upperTranslation - this.m_lowerTranslation) < 2.0 * b2Settings.b2_linearSlop)
-				{
-					this.m_limitState = b2Joint.e_equalLimits;
-				}
-				else if (jointTranslation <= this.m_lowerTranslation)
-				{
-					if (this.m_limitState != b2Joint.e_atLowerLimit)
-					{
-						this.m_limitImpulse = 0.0;
-					}
-					this.m_limitState = b2Joint.e_atLowerLimit;
-				}
-				else if (jointTranslation >= this.m_upperTranslation)
-				{
-					if (this.m_limitState != b2Joint.e_atUpperLimit)
-					{
-						this.m_limitImpulse = 0.0;
-					}
-					this.m_limitState = b2Joint.e_atUpperLimit;
-				}
-				else
-				{
-					this.m_limitState = b2Joint.e_inactiveLimit;
-					this.m_limitImpulse = 0.0;
-				}
-			}
-		}
-
-		if (this.m_enableMotor == false)
-		{
-			this.m_motorImpulse = 0.0;
-		}
-
-		if (this.m_enableLimit == false)
-		{
-			this.m_limitImpulse = 0.0;
-		}
-
-		if (b2World.s_enableWarmStarting)
-		{
-			//b2Vec2 P1 = this.m_linearImpulse * this.m_linearJacobian.linear1 + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1;
-			var P1X = this.m_linearImpulse * this.m_linearJacobian.linear1.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.x;
-			var P1Y = this.m_linearImpulse * this.m_linearJacobian.linear1.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear1.y;
-			//b2Vec2 P2 = this.m_linearImpulse * this.m_linearJacobian.linear2 + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2;
-			var P2X = this.m_linearImpulse * this.m_linearJacobian.linear2.x + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.x;
-			var P2Y = this.m_linearImpulse * this.m_linearJacobian.linear2.y + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.linear2.y;
-			//float32 L1 = this.m_linearImpulse * this.m_linearJacobian.angular1 - this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular1;
-			var L1 = this.m_linearImpulse * this.m_linearJacobian.angular1 - this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular1;
-			//float32 L2 = this.m_linearImpulse * this.m_linearJacobian.angular2 + this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular2;
-			var L2 = this.m_linearImpulse * this.m_linearJacobian.angular2 + this.m_angularImpulse + (this.m_motorImpulse + this.m_limitImpulse) * this.m_motorJacobian.angular2;
-
-			//b1->m_linearVelocity += invMass1 * P1;
-			b1.m_linearVelocity.x += invMass1 * P1X;
-			b1.m_linearVelocity.y += invMass1 * P1Y;
-			//b1->m_angularVelocity += invI1 * L1;
-			b1.m_angularVelocity += invI1 * L1;
-
-			//b2->m_linearVelocity += invMass2 * P2;
-			b2.m_linearVelocity.x += invMass2 * P2X;
-			b2.m_linearVelocity.y += invMass2 * P2Y;
-			//b2->m_angularVelocity += invI2 * L2;
-			b2.m_angularVelocity += invI2 * L2;
-		}
-		else
-		{
-			this.m_linearImpulse = 0.0;
-			this.m_angularImpulse = 0.0;
-			this.m_limitImpulse = 0.0;
-			this.m_motorImpulse = 0.0;
-		}
-
-		this.m_limitPositionImpulse = 0.0;
-
-	},
-
-	SolveVelocityConstraints: function(step){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var invMass1 = b1.m_invMass;
-		var invMass2 = b2.m_invMass;
-		var invI1 = b1.m_invI;
-		var invI2 = b2.m_invI;
-
-		var oldLimitImpulse;
-
-		// Solve linear constraint.
-		var linearCdot = this.m_linearJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity);
-		var linearImpulse = -this.m_linearMass * linearCdot;
-		this.m_linearImpulse += linearImpulse;
-
-		//b1->m_linearVelocity += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1;
-		b1.m_linearVelocity.x += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.x;
-		b1.m_linearVelocity.y += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.y;
-		//b1->m_angularVelocity += invI1 * linearImpulse * this.m_linearJacobian.angular1;
-		b1.m_angularVelocity += invI1 * linearImpulse * this.m_linearJacobian.angular1;
-
-		//b2->m_linearVelocity += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2;
-		b2.m_linearVelocity.x += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.x;
-		b2.m_linearVelocity.y += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.y;
-		//b2.m_angularVelocity += invI2 * linearImpulse * this.m_linearJacobian.angular2;
-		b2.m_angularVelocity += invI2 * linearImpulse * this.m_linearJacobian.angular2;
-
-		// Solve angular constraint.
-		var angularCdot = b2.m_angularVelocity - b1.m_angularVelocity;
-		var angularImpulse = -this.m_angularMass * angularCdot;
-		this.m_angularImpulse += angularImpulse;
-
-		b1.m_angularVelocity -= invI1 * angularImpulse;
-		b2.m_angularVelocity += invI2 * angularImpulse;
-
-		// Solve linear motor constraint.
-		if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits)
-		{
-			var motorCdot = this.m_motorJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity) - this.m_motorSpeed;
-			var motorImpulse = -this.m_motorMass * motorCdot;
-			var oldMotorImpulse = this.m_motorImpulse;
-			this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + motorImpulse, -step.dt * this.m_maxMotorForce, step.dt * this.m_maxMotorForce);
-			motorImpulse = this.m_motorImpulse - oldMotorImpulse;
-
-			//b1.m_linearVelocity += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1;
-			b1.m_linearVelocity.x += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1.x;
-			b1.m_linearVelocity.y += (invMass1 * motorImpulse) * this.m_motorJacobian.linear1.y;
-			//b1.m_angularVelocity += invI1 * motorImpulse * this.m_motorJacobian.angular1;
-			b1.m_angularVelocity += invI1 * motorImpulse * this.m_motorJacobian.angular1;
-
-			//b2->m_linearVelocity += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2;
-			b2.m_linearVelocity.x += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2.x;
-			b2.m_linearVelocity.y += (invMass2 * motorImpulse) * this.m_motorJacobian.linear2.y;
-			//b2->m_angularVelocity += invI2 * motorImpulse * this.m_motorJacobian.angular2;
-			b2.m_angularVelocity += invI2 * motorImpulse * this.m_motorJacobian.angular2;
-		}
-
-		// Solve linear limit constraint.
-		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
-		{
-			var limitCdot = this.m_motorJacobian.Compute(b1.m_linearVelocity, b1.m_angularVelocity, b2.m_linearVelocity, b2.m_angularVelocity);
-			var limitImpulse = -this.m_motorMass * limitCdot;
-
-			if (this.m_limitState == b2Joint.e_equalLimits)
-			{
-				this.m_limitImpulse += limitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atLowerLimit)
-			{
-				oldLimitImpulse = this.m_limitImpulse;
-				this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atUpperLimit)
-			{
-				oldLimitImpulse = this.m_limitImpulse;
-				this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
-			}
-
-			//b1->m_linearVelocity += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1;
-			b1.m_linearVelocity.x += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.x;
-			b1.m_linearVelocity.y += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.y;
-			//b1->m_angularVelocity += invI1 * limitImpulse * this.m_motorJacobian.angular1;
-			b1.m_angularVelocity += invI1 * limitImpulse * this.m_motorJacobian.angular1;
-
-			//b2->m_linearVelocity += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2;
-			b2.m_linearVelocity.x += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.x;
-			b2.m_linearVelocity.y += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.y;
-			//b2->m_angularVelocity += invI2 * limitImpulse * this.m_motorJacobian.angular2;
-			b2.m_angularVelocity += invI2 * limitImpulse * this.m_motorJacobian.angular2;
-		}
-	},
-
-
-
-	SolvePositionConstraints: function(){
-
-		var limitC;
-		var oldLimitImpulse;
-
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var invMass1 = b1.m_invMass;
-		var invMass2 = b2.m_invMass;
-		var invI1 = b1.m_invI;
-		var invI2 = b2.m_invI;
-
-		var tMat;
-
-		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-		//b2Vec2 p1 = b1->m_position + r1;
-		var p1X = b1.m_position.x + r1X;
-		var p1Y = b1.m_position.y + r1Y;
-		//b2Vec2 p2 = b2->m_position + r2;
-		var p2X = b2.m_position.x + r2X;
-		var p2Y = b2.m_position.y + r2Y;
-		//b2Vec2 d = p2 - p1;
-		var dX = p2X - p1X;
-		var dY = p2Y - p1Y;
-		//b2Vec2 ay1 = b2Mul(b1->m_R, this.m_localYAxis1);
-		tMat = b1.m_R;
-		var ay1X = tMat.col1.x * this.m_localYAxis1.x + tMat.col2.x * this.m_localYAxis1.y;
-		var ay1Y = tMat.col1.y * this.m_localYAxis1.x + tMat.col2.y * this.m_localYAxis1.y;
-
-		// Solve linear (point-to-line) constraint.
-		//float32 linearC = b2Dot(ay1, d);
-		var linearC = ay1X*dX + ay1Y*dY;
-		// Prevent overly large corrections.
-		linearC = b2Math.b2Clamp(linearC, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
-		var linearImpulse = -this.m_linearMass * linearC;
-
-		//b1->m_position += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1;
-		b1.m_position.x += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.x;
-		b1.m_position.y += (invMass1 * linearImpulse) * this.m_linearJacobian.linear1.y;
-		//b1->m_rotation += invI1 * linearImpulse * this.m_linearJacobian.angular1;
-		b1.m_rotation += invI1 * linearImpulse * this.m_linearJacobian.angular1;
-		//b1->m_R.Set(b1->m_rotation);
-		//b2->m_position += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2;
-		b2.m_position.x += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.x;
-		b2.m_position.y += (invMass2 * linearImpulse) * this.m_linearJacobian.linear2.y;
-		b2.m_rotation += invI2 * linearImpulse * this.m_linearJacobian.angular2;
-		//b2->m_R.Set(b2->m_rotation);
-
-		var positionError = b2Math.b2Abs(linearC);
-
-		// Solve angular constraint.
-		var angularC = b2.m_rotation - b1.m_rotation - this.m_initialAngle;
-		// Prevent overly large corrections.
-		angularC = b2Math.b2Clamp(angularC, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection);
-		var angularImpulse = -this.m_angularMass * angularC;
-
-		b1.m_rotation -= b1.m_invI * angularImpulse;
-		b1.m_R.Set(b1.m_rotation);
-		b2.m_rotation += b2.m_invI * angularImpulse;
-		b2.m_R.Set(b2.m_rotation);
-
-		var angularError = b2Math.b2Abs(angularC);
-
-		// Solve linear limit constraint.
-		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
-		{
-
-			//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-			tMat = b1.m_R;
-			r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-			r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-			//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-			tMat = b2.m_R;
-			r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-			r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-			//b2Vec2 p1 = b1->m_position + r1;
-			p1X = b1.m_position.x + r1X;
-			p1Y = b1.m_position.y + r1Y;
-			//b2Vec2 p2 = b2->m_position + r2;
-			p2X = b2.m_position.x + r2X;
-			p2Y = b2.m_position.y + r2Y;
-			//b2Vec2 d = p2 - p1;
-			dX = p2X - p1X;
-			dY = p2Y - p1Y;
-			//b2Vec2 ax1 = b2Mul(b1->m_R, this.m_localXAxis1);
-			tMat = b1.m_R;
-			var ax1X = tMat.col1.x * this.m_localXAxis1.x + tMat.col2.x * this.m_localXAxis1.y;
-			var ax1Y = tMat.col1.y * this.m_localXAxis1.x + tMat.col2.y * this.m_localXAxis1.y;
-
-			//float32 translation = b2Dot(ax1, d);
-			var translation = (ax1X*dX + ax1Y*dY);
-			var limitImpulse = 0.0;
-
-			if (this.m_limitState == b2Joint.e_equalLimits)
-			{
-				// Prevent large angular corrections
-				limitC = b2Math.b2Clamp(translation, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
-				limitImpulse = -this.m_motorMass * limitC;
-				positionError = b2Math.b2Max(positionError, b2Math.b2Abs(angularC));
-			}
-			else if (this.m_limitState == b2Joint.e_atLowerLimit)
-			{
-				limitC = translation - this.m_lowerTranslation;
-				positionError = b2Math.b2Max(positionError, -limitC);
-
-				// Prevent large linear corrections and allow some slop.
-				limitC = b2Math.b2Clamp(limitC + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
-				limitImpulse = -this.m_motorMass * limitC;
-				oldLimitImpulse = this.m_limitPositionImpulse;
-				this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atUpperLimit)
-			{
-				limitC = translation - this.m_upperTranslation;
-				positionError = b2Math.b2Max(positionError, limitC);
-
-				// Prevent large linear corrections and allow some slop.
-				limitC = b2Math.b2Clamp(limitC - b2Settings.b2_linearSlop, 0.0, b2Settings.b2_maxLinearCorrection);
-				limitImpulse = -this.m_motorMass * limitC;
-				oldLimitImpulse = this.m_limitPositionImpulse;
-				this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
-			}
-
-			//b1->m_position += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1;
-			b1.m_position.x += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.x;
-			b1.m_position.y += (invMass1 * limitImpulse) * this.m_motorJacobian.linear1.y;
-			//b1->m_rotation += invI1 * limitImpulse * this.m_motorJacobian.angular1;
-			b1.m_rotation += invI1 * limitImpulse * this.m_motorJacobian.angular1;
-			b1.m_R.Set(b1.m_rotation);
-			//b2->m_position += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2;
-			b2.m_position.x += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.x;
-			b2.m_position.y += (invMass2 * limitImpulse) * this.m_motorJacobian.linear2.y;
-			//b2->m_rotation += invI2 * limitImpulse * this.m_motorJacobian.angular2;
-			b2.m_rotation += invI2 * limitImpulse * this.m_motorJacobian.angular2;
-			b2.m_R.Set(b2.m_rotation);
-		}
-
-		return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
-
-	},
-
-	m_localAnchor1: new b2Vec2(),
-	m_localAnchor2: new b2Vec2(),
-	m_localXAxis1: new b2Vec2(),
-	m_localYAxis1: new b2Vec2(),
-	m_initialAngle: null,
-
-	m_linearJacobian: new b2Jacobian(),
-	m_linearMass: null,
-	m_linearImpulse: null,
-
-	m_angularMass: null,
-	m_angularImpulse: null,
-
-	m_motorJacobian: new b2Jacobian(),
-	m_motorMass: null,
-	m_motorImpulse: null,
-	m_limitImpulse: null,
-	m_limitPositionImpulse: null,
-
-	m_lowerTranslation: null,
-	m_upperTranslation: null,
-	m_maxMotorForce: null,
-	m_motorSpeed: null,
-
-	m_enableLimit: null,
-	m_enableMotor: null,
-	m_limitState: 0});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJointDef.js
deleted file mode 100644
index 42d5743..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PrismaticJointDef.js
+++ /dev/null
@@ -1,56 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-var b2PrismaticJointDef = Class.create();
-Object.extend(b2PrismaticJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2PrismaticJointDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2JointDef
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-		//
-
-		this.type = b2Joint.e_prismaticJoint;
-		this.anchorPoint = new b2Vec2(0.0, 0.0);
-		this.axis = new b2Vec2(0.0, 0.0);
-		this.lowerTranslation = 0.0;
-		this.upperTranslation = 0.0;
-		this.motorForce = 0.0;
-		this.motorSpeed = 0.0;
-		this.enableLimit = false;
-		this.enableMotor = false;
-	},
-
-	anchorPoint: null,
-	axis: null,
-	lowerTranslation: null,
-	upperTranslation: null,
-	motorForce: null,
-	motorSpeed: null,
-	enableLimit: null,
-	enableMotor: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJoint.js
deleted file mode 100644
index 8b8506d..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJoint.js
+++ /dev/null
@@ -1,618 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-
-var b2PulleyJoint = Class.create();
-Object.extend(b2PulleyJoint.prototype, b2Joint.prototype);
-Object.extend(b2PulleyJoint.prototype, 
-{
-	GetAnchor1: function(){
-		//return this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
-		var tMat = this.m_body1.m_R;
-		return new b2Vec2(	this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
-							this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
-	},
-	GetAnchor2: function(){
-		//return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		var tMat = this.m_body2.m_R;
-		return new b2Vec2(	this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
-							this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
-	},
-
-	GetGroundPoint1: function(){
-		//return this.m_ground->m_position + this.m_groundAnchor1;
-		return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y);
-	},
-	GetGroundPoint2: function(){
-		return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y);
-	},
-
-	GetReactionForce: function(invTimeStep){
-		//b2Vec2 F(0.0f, 0.0f);
-		return new b2Vec2();
-	},
-	GetReactionTorque: function(invTimeStep){
-		return 0.0;
-	},
-
-	GetLength1: function(){
-		var tMat;
-		//b2Vec2 p = this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
-		tMat = this.m_body1.m_R;
-		var pX = this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y);
-		var pY = this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y);
-		//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor1;
-		//b2Vec2 d = p - s;
-		var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor1.x);
-		var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor1.y);
-		return Math.sqrt(dX*dX + dY*dY);
-	},
-	GetLength2: function(){
-		var tMat;
-		//b2Vec2 p = this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
-		tMat = this.m_body2.m_R;
-		var pX = this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y);
-		var pY = this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y);
-		//b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor2;
-		//b2Vec2 d = p - s;
-		var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor2.x);
-		var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor2.y);
-		return Math.sqrt(dX*dX + dY*dY);
-	},
-
-	GetRatio: function(){
-		return this.m_ratio;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.m_groundAnchor1 = new b2Vec2();
-		this.m_groundAnchor2 = new b2Vec2();
-		this.m_localAnchor1 = new b2Vec2();
-		this.m_localAnchor2 = new b2Vec2();
-		this.m_u1 = new b2Vec2();
-		this.m_u2 = new b2Vec2();
-		//
-
-
-		// parent
-		//super(def);
-
-		var tMat;
-		var tX;
-		var tY;
-
-		this.m_ground = this.m_body1.m_world.m_groundBody;
-		//this.m_groundAnchor1 = def.groundPoint1 - this.m_ground.m_position;
-		this.m_groundAnchor1.x = def.groundPoint1.x - this.m_ground.m_position.x;
-		this.m_groundAnchor1.y = def.groundPoint1.y - this.m_ground.m_position.y;
-		//this.m_groundAnchor2 = def.groundPoint2 - this.m_ground.m_position;
-		this.m_groundAnchor2.x = def.groundPoint2.x - this.m_ground.m_position.x;
-		this.m_groundAnchor2.y = def.groundPoint2.y - this.m_ground.m_position.y;
-		//this.m_localAnchor1 = b2MulT(this.m_body1.m_R, def.anchorPoint1 - this.m_body1.m_position);
-		tMat = this.m_body1.m_R;
-		tX = def.anchorPoint1.x - this.m_body1.m_position.x;
-		tY = def.anchorPoint1.y - this.m_body1.m_position.y;
-		this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
-		this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
-		//this.m_localAnchor2 = b2MulT(this.m_body2.m_R, def.anchorPoint2 - this.m_body2.m_position);
-		tMat = this.m_body2.m_R;
-		tX = def.anchorPoint2.x - this.m_body2.m_position.x;
-		tY = def.anchorPoint2.y - this.m_body2.m_position.y;
-		this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
-		this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;
-
-		this.m_ratio = def.ratio;
-
-		//var d1 = def.groundPoint1 - def.anchorPoint1;
-		tX = def.groundPoint1.x - def.anchorPoint1.x;
-		tY = def.groundPoint1.y - def.anchorPoint1.y;
-		var d1Len = Math.sqrt(tX*tX + tY*tY);
-		//var d2 = def.groundPoint2 - def.anchorPoint2;
-		tX = def.groundPoint2.x - def.anchorPoint2.x;
-		tY = def.groundPoint2.y - def.anchorPoint2.y;
-		var d2Len = Math.sqrt(tX*tX + tY*tY);
-
-		var length1 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d1Len);
-		var length2 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d2Len);
-
-		this.m_constant = length1 + this.m_ratio * length2;
-
-		this.m_maxLength1 = b2Math.b2Clamp(def.maxLength1, length1, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
-		this.m_maxLength2 = b2Math.b2Clamp(def.maxLength2, length2, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
-
-		this.m_pulleyImpulse = 0.0;
-		this.m_limitImpulse1 = 0.0;
-		this.m_limitImpulse2 = 0.0;
-
-	},
-
-	PrepareVelocitySolver: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		//b2Vec2 p1 = b1->m_position + r1;
-		var p1X = b1.m_position.x + r1X;
-		var p1Y = b1.m_position.y + r1Y;
-		//b2Vec2 p2 = b2->m_position + r2;
-		var p2X = b2.m_position.x + r2X;
-		var p2Y = b2.m_position.y + r2Y;
-
-		//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
-		var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
-		var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
-		//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
-		var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
-		var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
-
-		// Get the pulley axes.
-		//this.m_u1 = p1 - s1;
-		this.m_u1.Set(p1X - s1X, p1Y - s1Y);
-		//this.m_u2 = p2 - s2;
-		this.m_u2.Set(p2X - s2X, p2Y - s2Y);
-
-		var length1 = this.m_u1.Length();
-		var length2 = this.m_u2.Length();
-
-		if (length1 > b2Settings.b2_linearSlop)
-		{
-			//this.m_u1 *= 1.0f / length1;
-			this.m_u1.Multiply(1.0 / length1);
-		}
-		else
-		{
-			this.m_u1.SetZero();
-		}
-
-		if (length2 > b2Settings.b2_linearSlop)
-		{
-			//this.m_u2 *= 1.0f / length2;
-			this.m_u2.Multiply(1.0 / length2);
-		}
-		else
-		{
-			this.m_u2.SetZero();
-		}
-
-		if (length1 < this.m_maxLength1)
-		{
-			this.m_limitState1 = b2Joint.e_inactiveLimit;
-			this.m_limitImpulse1 = 0.0;
-		}
-		else
-		{
-			this.m_limitState1 = b2Joint.e_atUpperLimit;
-			this.m_limitPositionImpulse1 = 0.0;
-		}
-
-		if (length2 < this.m_maxLength2)
-		{
-			this.m_limitState2 = b2Joint.e_inactiveLimit;
-			this.m_limitImpulse2 = 0.0;
-		}
-		else
-		{
-			this.m_limitState2 = b2Joint.e_atUpperLimit;
-			this.m_limitPositionImpulse2 = 0.0;
-		}
-
-		// Compute effective mass.
-		//var cr1u1 = b2Cross(r1, this.m_u1);
-		var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x;
-		//var cr2u2 = b2Cross(r2, this.m_u2);
-		var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x;
-
-		this.m_limitMass1 = b1.m_invMass + b1.m_invI * cr1u1 * cr1u1;
-		this.m_limitMass2 = b2.m_invMass + b2.m_invI * cr2u2 * cr2u2;
-		this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2;
-		//b2Settings.b2Assert(this.m_limitMass1 > Number.MIN_VALUE);
-		//b2Settings.b2Assert(this.m_limitMass2 > Number.MIN_VALUE);
-		//b2Settings.b2Assert(this.m_pulleyMass > Number.MIN_VALUE);
-		this.m_limitMass1 = 1.0 / this.m_limitMass1;
-		this.m_limitMass2 = 1.0 / this.m_limitMass2;
-		this.m_pulleyMass = 1.0 / this.m_pulleyMass;
-
-		// Warm starting.
-		//b2Vec2 P1 = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1;
-		var P1X = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.x;
-		var P1Y = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.y;
-		//b2Vec2 P2 = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2;
-		var P2X = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.x;
-		var P2Y = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.y;
-		//b1.m_linearVelocity += b1.m_invMass * P1;
-		b1.m_linearVelocity.x += b1.m_invMass * P1X;
-		b1.m_linearVelocity.y += b1.m_invMass * P1Y;
-		//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
-		b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
-		//b2.m_linearVelocity += b2.m_invMass * P2;
-		b2.m_linearVelocity.x += b2.m_invMass * P2X;
-		b2.m_linearVelocity.y += b2.m_invMass * P2Y;
-		//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
-		b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
-	},
-
-	SolveVelocityConstraints: function(step){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		// temp vars
-		var v1X;
-		var v1Y;
-		var v2X;
-		var v2Y;
-		var P1X;
-		var P1Y;
-		var P2X;
-		var P2Y;
-		var Cdot;
-		var impulse;
-		var oldLimitImpulse;
-
-		//{
-			//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
-			v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
-			v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
-			//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
-			v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
-			v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
-
-			//Cdot = -b2Dot(this.m_u1, v1) - this.m_ratio * b2Dot(this.m_u2, v2);
-			Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y);
-			impulse = -this.m_pulleyMass * Cdot;
-			this.m_pulleyImpulse += impulse;
-
-			//b2Vec2 P1 = -impulse * this.m_u1;
-			P1X = -impulse * this.m_u1.x;
-			P1Y = -impulse * this.m_u1.y;
-			//b2Vec2 P2 = -this.m_ratio * impulse * this.m_u2;
-			P2X = -this.m_ratio * impulse * this.m_u2.x;
-			P2Y = -this.m_ratio * impulse * this.m_u2.y;
-			//b1.m_linearVelocity += b1.m_invMass * P1;
-			b1.m_linearVelocity.x += b1.m_invMass * P1X;
-			b1.m_linearVelocity.y += b1.m_invMass * P1Y;
-			//b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
-			b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
-			//b2.m_linearVelocity += b2.m_invMass * P2;
-			b2.m_linearVelocity.x += b2.m_invMass * P2X;
-			b2.m_linearVelocity.y += b2.m_invMass * P2Y;
-			//b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
-			b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
-		//}
-
-		if (this.m_limitState1 == b2Joint.e_atUpperLimit)
-		{
-			//b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
-			v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
-			v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
-
-			//float32 Cdot = -b2Dot(this.m_u1, v1);
-			Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y);
-			impulse = -this.m_limitMass1 * Cdot;
-			oldLimitImpulse = this.m_limitImpulse1;
-			this.m_limitImpulse1 = b2Math.b2Max(0.0, this.m_limitImpulse1 + impulse);
-			impulse = this.m_limitImpulse1 - oldLimitImpulse;
-			//b2Vec2 P1 = -impulse * this.m_u1;
-			P1X = -impulse * this.m_u1.x;
-			P1Y = -impulse * this.m_u1.y;
-			//b1.m_linearVelocity += b1->m_invMass * P1;
-			b1.m_linearVelocity.x += b1.m_invMass * P1X;
-			b1.m_linearVelocity.y += b1.m_invMass * P1Y;
-			//b1.m_angularVelocity += b1->m_invI * b2Cross(r1, P1);
-			b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
-		}
-
-		if (this.m_limitState2 == b2Joint.e_atUpperLimit)
-		{
-			//b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
-			v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
-			v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
-
-			//float32 Cdot = -b2Dot(this.m_u2, v2);
-			Cdot = -(this.m_u2.x * v2X + this.m_u2.y * v2Y);
-			impulse = -this.m_limitMass2 * Cdot;
-			oldLimitImpulse = this.m_limitImpulse2;
-			this.m_limitImpulse2 = b2Math.b2Max(0.0, this.m_limitImpulse2 + impulse);
-			impulse = this.m_limitImpulse2 - oldLimitImpulse;
-			//b2Vec2 P2 = -impulse * this.m_u2;
-			P2X = -impulse * this.m_u2.x;
-			P2Y = -impulse * this.m_u2.y;
-			//b2->m_linearVelocity += b2->m_invMass * P2;
-			b2.m_linearVelocity.x += b2.m_invMass * P2X;
-			b2.m_linearVelocity.y += b2.m_invMass * P2Y;
-			//b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P2);
-			b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
-		}
-	},
-
-
-
-	SolvePositionConstraints: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
-		var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
-		var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
-		//b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
-		var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
-		var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
-
-		// temp vars
-		var r1X;
-		var r1Y;
-		var r2X;
-		var r2Y;
-		var p1X;
-		var p1Y;
-		var p2X;
-		var p2Y;
-		var length1;
-		var length2;
-		var C;
-		var impulse;
-		var oldLimitPositionImpulse;
-
-		var linearError = 0.0;
-
-		{
-			//var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
-			tMat = b1.m_R;
-			r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-			r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-			//var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
-			tMat = b2.m_R;
-			r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-			r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-			//b2Vec2 p1 = b1->m_position + r1;
-			p1X = b1.m_position.x + r1X;
-			p1Y = b1.m_position.y + r1Y;
-			//b2Vec2 p2 = b2->m_position + r2;
-			p2X = b2.m_position.x + r2X;
-			p2Y = b2.m_position.y + r2Y;
-
-			// Get the pulley axes.
-			//this.m_u1 = p1 - s1;
-			this.m_u1.Set(p1X - s1X, p1Y - s1Y);
-			//this.m_u2 = p2 - s2;
-			this.m_u2.Set(p2X - s2X, p2Y - s2Y);
-
-			length1 = this.m_u1.Length();
-			length2 = this.m_u2.Length();
-
-			if (length1 > b2Settings.b2_linearSlop)
-			{
-				//this.m_u1 *= 1.0f / length1;
-				this.m_u1.Multiply( 1.0 / length1 );
-			}
-			else
-			{
-				this.m_u1.SetZero();
-			}
-
-			if (length2 > b2Settings.b2_linearSlop)
-			{
-				//this.m_u2 *= 1.0f / length2;
-				this.m_u2.Multiply( 1.0 / length2 );
-			}
-			else
-			{
-				this.m_u2.SetZero();
-			}
-
-			C = this.m_constant - length1 - this.m_ratio * length2;
-			linearError = b2Math.b2Max(linearError, Math.abs(C));
-			C = b2Math.b2Clamp(C, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
-			impulse = -this.m_pulleyMass * C;
-
-			p1X = -impulse * this.m_u1.x;
-			p1Y = -impulse * this.m_u1.y;
-			p2X = -this.m_ratio * impulse * this.m_u2.x;
-			p2Y = -this.m_ratio * impulse * this.m_u2.y;
-
-			b1.m_position.x += b1.m_invMass * p1X;
-			b1.m_position.y += b1.m_invMass * p1Y;
-			b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
-			b2.m_position.x += b2.m_invMass * p2X;
-			b2.m_position.y += b2.m_invMass * p2Y;
-			b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
-
-			b1.m_R.Set(b1.m_rotation);
-			b2.m_R.Set(b2.m_rotation);
-		}
-
-		if (this.m_limitState1 == b2Joint.e_atUpperLimit)
-		{
-			//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-			tMat = b1.m_R;
-			r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-			r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-			//b2Vec2 p1 = b1->m_position + r1;
-			p1X = b1.m_position.x + r1X;
-			p1Y = b1.m_position.y + r1Y;
-
-			//this.m_u1 = p1 - s1;
-			this.m_u1.Set(p1X - s1X, p1Y - s1Y);
-
-			length1 = this.m_u1.Length();
-
-			if (length1 > b2Settings.b2_linearSlop)
-			{
-				//this.m_u1 *= 1.0 / length1;
-				this.m_u1.x *= 1.0 / length1;
-				this.m_u1.y *= 1.0 / length1;
-			}
-			else
-			{
-				this.m_u1.SetZero();
-			}
-
-			C = this.m_maxLength1 - length1;
-			linearError = b2Math.b2Max(linearError, -C);
-			C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
-			impulse = -this.m_limitMass1 * C;
-			oldLimitPositionImpulse = this.m_limitPositionImpulse1;
-			this.m_limitPositionImpulse1 = b2Math.b2Max(0.0, this.m_limitPositionImpulse1 + impulse);
-			impulse = this.m_limitPositionImpulse1 - oldLimitPositionImpulse;
-
-			//P1 = -impulse * this.m_u1;
-			p1X = -impulse * this.m_u1.x;
-			p1Y = -impulse * this.m_u1.y;
-
-			b1.m_position.x += b1.m_invMass * p1X;
-			b1.m_position.y += b1.m_invMass * p1Y;
-			//b1.m_rotation += b1.m_invI * b2Cross(r1, P1);
-			b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
-			b1.m_R.Set(b1.m_rotation);
-		}
-
-		if (this.m_limitState2 == b2Joint.e_atUpperLimit)
-		{
-			//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-			tMat = b2.m_R;
-			r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-			r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-			//b2Vec2 p2 = b2->m_position + r2;
-			p2X = b2.m_position.x + r2X;
-			p2Y = b2.m_position.y + r2Y;
-
-			//this.m_u2 = p2 - s2;
-			this.m_u2.Set(p2X - s2X, p2Y - s2Y);
-
-			length2 = this.m_u2.Length();
-
-			if (length2 > b2Settings.b2_linearSlop)
-			{
-				//this.m_u2 *= 1.0 / length2;
-				this.m_u2.x *= 1.0 / length2;
-				this.m_u2.y *= 1.0 / length2;
-			}
-			else
-			{
-				this.m_u2.SetZero();
-			}
-
-			C = this.m_maxLength2 - length2;
-			linearError = b2Math.b2Max(linearError, -C);
-			C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
-			impulse = -this.m_limitMass2 * C;
-			oldLimitPositionImpulse = this.m_limitPositionImpulse2;
-			this.m_limitPositionImpulse2 = b2Math.b2Max(0.0, this.m_limitPositionImpulse2 + impulse);
-			impulse = this.m_limitPositionImpulse2 - oldLimitPositionImpulse;
-
-			//P2 = -impulse * this.m_u2;
-			p2X = -impulse * this.m_u2.x;
-			p2Y = -impulse * this.m_u2.y;
-
-			//b2.m_position += b2.m_invMass * P2;
-			b2.m_position.x += b2.m_invMass * p2X;
-			b2.m_position.y += b2.m_invMass * p2Y;
-			//b2.m_rotation += b2.m_invI * b2Cross(r2, P2);
-			b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
-			b2.m_R.Set(b2.m_rotation);
-		}
-
-		return linearError < b2Settings.b2_linearSlop;
-	},
-
-
-
-	m_ground: null,
-	m_groundAnchor1: new b2Vec2(),
-	m_groundAnchor2: new b2Vec2(),
-	m_localAnchor1: new b2Vec2(),
-	m_localAnchor2: new b2Vec2(),
-
-	m_u1: new b2Vec2(),
-	m_u2: new b2Vec2(),
-
-	m_constant: null,
-	m_ratio: null,
-
-	m_maxLength1: null,
-	m_maxLength2: null,
-
-	// Effective masses
-	m_pulleyMass: null,
-	m_limitMass1: null,
-	m_limitMass2: null,
-
-	// Impulses for accumulation/warm starting.
-	m_pulleyImpulse: null,
-	m_limitImpulse1: null,
-	m_limitImpulse2: null,
-
-	// Position impulses for accumulation.
-	m_limitPositionImpulse1: null,
-	m_limitPositionImpulse2: null,
-
-	m_limitState1: 0,
-	m_limitState2: 0
-
-	// static
-});
-
-
-
-b2PulleyJoint.b2_minPulleyLength = b2Settings.b2_lengthUnitsPerMeter;
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJointDef.js
deleted file mode 100644
index 28d0acb..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2PulleyJointDef.js
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-// The pulley joint is connected to two bodies and two fixed ground points.
-// The pulley supports a ratio such that:
-// length1 + ratio * length2 = constant
-// Yes, the force transmitted is scaled by the ratio.
-// The pulley also enforces a maximum length limit on both sides. This is
-// useful to prevent one side of the pulley hitting the top.
-
-var b2PulleyJointDef = Class.create();
-Object.extend(b2PulleyJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2PulleyJointDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2JointDef
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-		//
-
-		// initialize instance variables for references
-		this.groundPoint1 = new b2Vec2();
-		this.groundPoint2 = new b2Vec2();
-		this.anchorPoint1 = new b2Vec2();
-		this.anchorPoint2 = new b2Vec2();
-		//
-
-		this.type = b2Joint.e_pulleyJoint;
-		this.groundPoint1.Set(-1.0, 1.0);
-		this.groundPoint2.Set(1.0, 1.0);
-		this.anchorPoint1.Set(-1.0, 0.0);
-		this.anchorPoint2.Set(1.0, 0.0);
-		this.maxLength1 = 0.5 * b2PulleyJoint.b2_minPulleyLength;
-		this.maxLength2 = 0.5 * b2PulleyJoint.b2_minPulleyLength;
-		this.ratio = 1.0;
-		this.collideConnected = true;
-	},
-
-	groundPoint1: new b2Vec2(),
-	groundPoint2: new b2Vec2(),
-	anchorPoint1: new b2Vec2(),
-	anchorPoint2: new b2Vec2(),
-	maxLength1: null,
-	maxLength2: null,
-	ratio: null});
-
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJoint.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJoint.js
deleted file mode 100644
index db5738b..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJoint.js
+++ /dev/null
@@ -1,491 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-// Point-to-point constraint
-// C = p2 - p1
-// Cdot = v2 - v1
-//      = v2 + cross(w2, r2) - v1 - cross(w1, r1)
-// J = [-I -r1_skew I r2_skew ]
-// Identity used:
-// w k % (rx i + ry j) = w * (-ry i + rx j)
-
-// Motor constraint
-// Cdot = w2 - w1
-// J = [0 0 -1 0 0 1]
-// K = invI1 + invI2
-
-var b2RevoluteJoint = Class.create();
-Object.extend(b2RevoluteJoint.prototype, b2Joint.prototype);
-Object.extend(b2RevoluteJoint.prototype, 
-{
-	GetAnchor1: function(){
-		var tMat = this.m_body1.m_R;
-		return new b2Vec2(	this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
-							this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
-	},
-	GetAnchor2: function(){
-		var tMat = this.m_body2.m_R;
-		return new b2Vec2(	this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
-							this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
-	},
-	GetJointAngle: function(){
-		return this.m_body2.m_rotation - this.m_body1.m_rotation;
-	},
-	GetJointSpeed: function(){
-		return this.m_body2.m_angularVelocity - this.m_body1.m_angularVelocity;
-	},
-	GetMotorTorque: function(invTimeStep){
-		return  invTimeStep * this.m_motorImpulse;
-	},
-
-	SetMotorSpeed: function(speed)
-	{
-		this.m_motorSpeed = speed;
-	},
-
-	SetMotorTorque: function(torque)
-	{
-		this.m_maxMotorTorque = torque;
-	},
-
-	GetReactionForce: function(invTimeStep)
-	{
-		var tVec = this.m_ptpImpulse.Copy();
-		tVec.Multiply(invTimeStep);
-		//return invTimeStep * this.m_ptpImpulse;
-		return tVec;
-	},
-
-	GetReactionTorque: function(invTimeStep)
-	{
-		return invTimeStep * this.m_limitImpulse;
-	},
-
-	//--------------- Internals Below -------------------
-
-	initialize: function(def){
-		// The constructor for b2Joint
-		// initialize instance variables for references
-		this.m_node1 = new b2JointNode();
-		this.m_node2 = new b2JointNode();
-		//
-		this.m_type = def.type;
-		this.m_prev = null;
-		this.m_next = null;
-		this.m_body1 = def.body1;
-		this.m_body2 = def.body2;
-		this.m_collideConnected = def.collideConnected;
-		this.m_islandFlag = false;
-		this.m_userData = def.userData;
-		//
-
-		// initialize instance variables for references
-		this.K = new b2Mat22();
-		this.K1 = new b2Mat22();
-		this.K2 = new b2Mat22();
-		this.K3 = new b2Mat22();
-		this.m_localAnchor1 = new b2Vec2();
-		this.m_localAnchor2 = new b2Vec2();
-		this.m_ptpImpulse = new b2Vec2();
-		this.m_ptpMass = new b2Mat22();
-		//
-
-		//super(def);
-
-		var tMat;
-		var tX;
-		var tY;
-
-		//this.m_localAnchor1 = b2Math.b2MulTMV(this.m_body1.m_R, b2Math.SubtractVV( def.anchorPoint, this.m_body1.m_position));
-		tMat = this.m_body1.m_R;
-		tX = def.anchorPoint.x - this.m_body1.m_position.x;
-		tY = def.anchorPoint.y - this.m_body1.m_position.y;
-		this.m_localAnchor1.x = tX * tMat.col1.x + tY * tMat.col1.y;
-		this.m_localAnchor1.y = tX * tMat.col2.x + tY * tMat.col2.y;
-		//this.m_localAnchor2 = b2Math.b2MulTMV(this.m_body2.m_R, b2Math.SubtractVV( def.anchorPoint, this.m_body2.m_position));
-		tMat = this.m_body2.m_R;
-		tX = def.anchorPoint.x - this.m_body2.m_position.x;
-		tY = def.anchorPoint.y - this.m_body2.m_position.y;
-		this.m_localAnchor2.x = tX * tMat.col1.x + tY * tMat.col1.y;
-		this.m_localAnchor2.y = tX * tMat.col2.x + tY * tMat.col2.y;
-
-		this.m_intialAngle = this.m_body2.m_rotation - this.m_body1.m_rotation;
-
-		this.m_ptpImpulse.Set(0.0, 0.0);
-		this.m_motorImpulse = 0.0;
-		this.m_limitImpulse = 0.0;
-		this.m_limitPositionImpulse = 0.0;
-
-		this.m_lowerAngle = def.lowerAngle;
-		this.m_upperAngle = def.upperAngle;
-		this.m_maxMotorTorque = def.motorTorque;
-		this.m_motorSpeed = def.motorSpeed;
-		this.m_enableLimit = def.enableLimit;
-		this.m_enableMotor = def.enableMotor;
-	},
-
-	// internal vars
-	K: new b2Mat22(),
-	K1: new b2Mat22(),
-	K2: new b2Mat22(),
-	K3: new b2Mat22(),
-	PrepareVelocitySolver: function(){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		// Compute the effective mass matrix.
-		//b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		// this.K    = [(1/m1 + 1/m2) * eye(2) - skew(r1) * invI1 * skew(r1) - skew(r2) * invI2 * skew(r2)]
-		//      = [1/m1+1/m2     0    ] + invI1 * [r1.y*r1.y -r1.x*r1.y] + invI2 * [r1.y*r1.y -r1.x*r1.y]
-		//        [    0     1/m1+1/m2]           [-r1.x*r1.y r1.x*r1.x]           [-r1.x*r1.y r1.x*r1.x]
-		var invMass1 = b1.m_invMass;
-		var invMass2 = b2.m_invMass;
-		var invI1 = b1.m_invI;
-		var invI2 = b2.m_invI;
-
-		//var this.K1 = new b2Mat22();
-		this.K1.col1.x = invMass1 + invMass2;	this.K1.col2.x = 0.0;
-		this.K1.col1.y = 0.0;					this.K1.col2.y = invMass1 + invMass2;
-
-		//var this.K2 = new b2Mat22();
-		this.K2.col1.x =  invI1 * r1Y * r1Y;	this.K2.col2.x = -invI1 * r1X * r1Y;
-		this.K2.col1.y = -invI1 * r1X * r1Y;	this.K2.col2.y =  invI1 * r1X * r1X;
-
-		//var this.K3 = new b2Mat22();
-		this.K3.col1.x =  invI2 * r2Y * r2Y;	this.K3.col2.x = -invI2 * r2X * r2Y;
-		this.K3.col1.y = -invI2 * r2X * r2Y;	this.K3.col2.y =  invI2 * r2X * r2X;
-
-		//var this.K = b2Math.AddMM(b2Math.AddMM(this.K1, this.K2), this.K3);
-		this.K.SetM(this.K1);
-		this.K.AddM(this.K2);
-		this.K.AddM(this.K3);
-
-		//this.m_ptpMass = this.K.Invert();
-		this.K.Invert(this.m_ptpMass);
-
-		this.m_motorMass = 1.0 / (invI1 + invI2);
-
-		if (this.m_enableMotor == false)
-		{
-			this.m_motorImpulse = 0.0;
-		}
-
-		if (this.m_enableLimit)
-		{
-			var jointAngle = b2.m_rotation - b1.m_rotation - this.m_intialAngle;
-			if (b2Math.b2Abs(this.m_upperAngle - this.m_lowerAngle) < 2.0 * b2Settings.b2_angularSlop)
-			{
-				this.m_limitState = b2Joint.e_equalLimits;
-			}
-			else if (jointAngle <= this.m_lowerAngle)
-			{
-				if (this.m_limitState != b2Joint.e_atLowerLimit)
-				{
-					this.m_limitImpulse = 0.0;
-				}
-				this.m_limitState = b2Joint.e_atLowerLimit;
-			}
-			else if (jointAngle >= this.m_upperAngle)
-			{
-				if (this.m_limitState != b2Joint.e_atUpperLimit)
-				{
-					this.m_limitImpulse = 0.0;
-				}
-				this.m_limitState = b2Joint.e_atUpperLimit;
-			}
-			else
-			{
-				this.m_limitState = b2Joint.e_inactiveLimit;
-				this.m_limitImpulse = 0.0;
-			}
-		}
-		else
-		{
-			this.m_limitImpulse = 0.0;
-		}
-
-		// Warm starting.
-		if (b2World.s_enableWarmStarting)
-		{
-			//b1.m_linearVelocity.Subtract( b2Math.MulFV( invMass1, this.m_ptpImpulse) );
-			b1.m_linearVelocity.x -= invMass1 * this.m_ptpImpulse.x;
-			b1.m_linearVelocity.y -= invMass1 * this.m_ptpImpulse.y;
-			//b1.m_angularVelocity -= invI1 * (b2Math.b2CrossVV(r1, this.m_ptpImpulse) + this.m_motorImpulse + this.m_limitImpulse);
-			b1.m_angularVelocity -= invI1 * ((r1X * this.m_ptpImpulse.y - r1Y * this.m_ptpImpulse.x) + this.m_motorImpulse + this.m_limitImpulse);
-
-			//b2.m_linearVelocity.Add( b2Math.MulFV( invMass2 , this.m_ptpImpulse ));
-			b2.m_linearVelocity.x += invMass2 * this.m_ptpImpulse.x;
-			b2.m_linearVelocity.y += invMass2 * this.m_ptpImpulse.y;
-			//b2.m_angularVelocity += invI2 * (b2Math.b2CrossVV(r2, this.m_ptpImpulse) + this.m_motorImpulse + this.m_limitImpulse);
-			b2.m_angularVelocity += invI2 * ((r2X * this.m_ptpImpulse.y - r2Y * this.m_ptpImpulse.x) + this.m_motorImpulse + this.m_limitImpulse);
-		}
-		else{
-			this.m_ptpImpulse.SetZero();
-			this.m_motorImpulse = 0.0;
-			this.m_limitImpulse = 0.0;
-		}
-
-		this.m_limitPositionImpulse = 0.0;
-	},
-
-
-	SolveVelocityConstraints: function(step){
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var tMat;
-
-		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		var oldLimitImpulse;
-
-		// Solve point-to-point constraint
-		//b2Vec2 ptpCdot = b2.m_linearVelocity + b2Cross(b2.m_angularVelocity, r2) - b1.m_linearVelocity - b2Cross(b1.m_angularVelocity, r1);
-		var ptpCdotX = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y) - b1.m_linearVelocity.x - (-b1.m_angularVelocity * r1Y);
-		var ptpCdotY = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X) - b1.m_linearVelocity.y - (b1.m_angularVelocity * r1X);
-
-		//b2Vec2 ptpImpulse = -b2Mul(this.m_ptpMass, ptpCdot);
-		var ptpImpulseX = -(this.m_ptpMass.col1.x * ptpCdotX + this.m_ptpMass.col2.x * ptpCdotY);
-		var ptpImpulseY = -(this.m_ptpMass.col1.y * ptpCdotX + this.m_ptpMass.col2.y * ptpCdotY);
-		this.m_ptpImpulse.x += ptpImpulseX;
-		this.m_ptpImpulse.y += ptpImpulseY;
-
-		//b1->m_linearVelocity -= b1->m_invMass * ptpImpulse;
-		b1.m_linearVelocity.x -= b1.m_invMass * ptpImpulseX;
-		b1.m_linearVelocity.y -= b1.m_invMass * ptpImpulseY;
-		//b1->m_angularVelocity -= b1->m_invI * b2Cross(r1, ptpImpulse);
-		b1.m_angularVelocity -= b1.m_invI * (r1X * ptpImpulseY - r1Y * ptpImpulseX);
-
-		//b2->m_linearVelocity += b2->m_invMass * ptpImpulse;
-		b2.m_linearVelocity.x += b2.m_invMass * ptpImpulseX;
-		b2.m_linearVelocity.y += b2.m_invMass * ptpImpulseY;
-		//b2->m_angularVelocity += b2->m_invI * b2Cross(r2, ptpImpulse);
-		b2.m_angularVelocity += b2.m_invI * (r2X * ptpImpulseY - r2Y * ptpImpulseX);
-
-		if (this.m_enableMotor && this.m_limitState != b2Joint.e_equalLimits)
-		{
-			var motorCdot = b2.m_angularVelocity - b1.m_angularVelocity - this.m_motorSpeed;
-			var motorImpulse = -this.m_motorMass * motorCdot;
-			var oldMotorImpulse = this.m_motorImpulse;
-			this.m_motorImpulse = b2Math.b2Clamp(this.m_motorImpulse + motorImpulse, -step.dt * this.m_maxMotorTorque, step.dt * this.m_maxMotorTorque);
-			motorImpulse = this.m_motorImpulse - oldMotorImpulse;
-			b1.m_angularVelocity -= b1.m_invI * motorImpulse;
-			b2.m_angularVelocity += b2.m_invI * motorImpulse;
-		}
-
-		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
-		{
-			var limitCdot = b2.m_angularVelocity - b1.m_angularVelocity;
-			var limitImpulse = -this.m_motorMass * limitCdot;
-
-			if (this.m_limitState == b2Joint.e_equalLimits)
-			{
-				this.m_limitImpulse += limitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atLowerLimit)
-			{
-				oldLimitImpulse = this.m_limitImpulse;
-				this.m_limitImpulse = b2Math.b2Max(this.m_limitImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atUpperLimit)
-			{
-				oldLimitImpulse = this.m_limitImpulse;
-				this.m_limitImpulse = b2Math.b2Min(this.m_limitImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitImpulse - oldLimitImpulse;
-			}
-
-			b1.m_angularVelocity -= b1.m_invI * limitImpulse;
-			b2.m_angularVelocity += b2.m_invI * limitImpulse;
-		}
-	},
-
-
-	SolvePositionConstraints: function(){
-
-		var oldLimitImpulse;
-		var limitC;
-
-		var b1 = this.m_body1;
-		var b2 = this.m_body2;
-
-		var positionError = 0.0;
-
-		var tMat;
-
-		// Solve point-to-point position error.
-		//var r1 = b2Math.b2MulMV(b1.m_R, this.m_localAnchor1);
-		tMat = b1.m_R;
-		var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
-		var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
-		//var r2 = b2Math.b2MulMV(b2.m_R, this.m_localAnchor2);
-		tMat = b2.m_R;
-		var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
-		var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
-
-		//b2Vec2 p1 = b1->m_position + r1;
-		var p1X = b1.m_position.x + r1X;
-		var p1Y = b1.m_position.y + r1Y;
-		//b2Vec2 p2 = b2->m_position + r2;
-		var p2X = b2.m_position.x + r2X;
-		var p2Y = b2.m_position.y + r2Y;
-
-		//b2Vec2 ptpC = p2 - p1;
-		var ptpCX = p2X - p1X;
-		var ptpCY = p2Y - p1Y;
-
-		//float32 positionError = ptpC.Length();
-		positionError = Math.sqrt(ptpCX*ptpCX + ptpCY*ptpCY);
-
-		// Prevent overly large corrections.
-		//b2Vec2 dpMax(b2_maxLinearCorrection, b2_maxLinearCorrection);
-		//ptpC = b2Clamp(ptpC, -dpMax, dpMax);
-
-		//float32 invMass1 = b1->m_invMass, invMass2 = b2->m_invMass;
-		var invMass1 = b1.m_invMass;
-		var invMass2 = b2.m_invMass;
-		//float32 invI1 = b1->m_invI, invI2 = b2->m_invI;
-		var invI1 = b1.m_invI;
-		var invI2 = b2.m_invI;
-
-		//b2Mat22 this.K1;
-		this.K1.col1.x = invMass1 + invMass2;	this.K1.col2.x = 0.0;
-		this.K1.col1.y = 0.0;					this.K1.col2.y = invMass1 + invMass2;
-
-		//b2Mat22 this.K2;
-		this.K2.col1.x =  invI1 * r1Y * r1Y;	this.K2.col2.x = -invI1 * r1X * r1Y;
-		this.K2.col1.y = -invI1 * r1X * r1Y;	this.K2.col2.y =  invI1 * r1X * r1X;
-
-		//b2Mat22 this.K3;
-		this.K3.col1.x =  invI2 * r2Y * r2Y;		this.K3.col2.x = -invI2 * r2X * r2Y;
-		this.K3.col1.y = -invI2 * r2X * r2Y;		this.K3.col2.y =  invI2 * r2X * r2X;
-
-		//b2Mat22 this.K = this.K1 + this.K2 + this.K3;
-		this.K.SetM(this.K1);
-		this.K.AddM(this.K2);
-		this.K.AddM(this.K3);
-		//b2Vec2 impulse = this.K.Solve(-ptpC);
-		this.K.Solve(b2RevoluteJoint.tImpulse, -ptpCX, -ptpCY);
-		var impulseX = b2RevoluteJoint.tImpulse.x;
-		var impulseY = b2RevoluteJoint.tImpulse.y;
-
-		//b1.m_position -= b1.m_invMass * impulse;
-		b1.m_position.x -= b1.m_invMass * impulseX;
-		b1.m_position.y -= b1.m_invMass * impulseY;
-		//b1.m_rotation -= b1.m_invI * b2Cross(r1, impulse);
-		b1.m_rotation -= b1.m_invI * (r1X * impulseY - r1Y * impulseX);
-		b1.m_R.Set(b1.m_rotation);
-
-		//b2.m_position += b2.m_invMass * impulse;
-		b2.m_position.x += b2.m_invMass * impulseX;
-		b2.m_position.y += b2.m_invMass * impulseY;
-		//b2.m_rotation += b2.m_invI * b2Cross(r2, impulse);
-		b2.m_rotation += b2.m_invI * (r2X * impulseY - r2Y * impulseX);
-		b2.m_R.Set(b2.m_rotation);
-
-
-		// Handle limits.
-		var angularError = 0.0;
-
-		if (this.m_enableLimit && this.m_limitState != b2Joint.e_inactiveLimit)
-		{
-			var angle = b2.m_rotation - b1.m_rotation - this.m_intialAngle;
-			var limitImpulse = 0.0;
-
-			if (this.m_limitState == b2Joint.e_equalLimits)
-			{
-				// Prevent large angular corrections
-				limitC = b2Math.b2Clamp(angle, -b2Settings.b2_maxAngularCorrection, b2Settings.b2_maxAngularCorrection);
-				limitImpulse = -this.m_motorMass * limitC;
-				angularError = b2Math.b2Abs(limitC);
-			}
-			else if (this.m_limitState == b2Joint.e_atLowerLimit)
-			{
-				limitC = angle - this.m_lowerAngle;
-				angularError = b2Math.b2Max(0.0, -limitC);
-
-				// Prevent large angular corrections and allow some slop.
-				limitC = b2Math.b2Clamp(limitC + b2Settings.b2_angularSlop, -b2Settings.b2_maxAngularCorrection, 0.0);
-				limitImpulse = -this.m_motorMass * limitC;
-				oldLimitImpulse = this.m_limitPositionImpulse;
-				this.m_limitPositionImpulse = b2Math.b2Max(this.m_limitPositionImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
-			}
-			else if (this.m_limitState == b2Joint.e_atUpperLimit)
-			{
-				limitC = angle - this.m_upperAngle;
-				angularError = b2Math.b2Max(0.0, limitC);
-
-				// Prevent large angular corrections and allow some slop.
-				limitC = b2Math.b2Clamp(limitC - b2Settings.b2_angularSlop, 0.0, b2Settings.b2_maxAngularCorrection);
-				limitImpulse = -this.m_motorMass * limitC;
-				oldLimitImpulse = this.m_limitPositionImpulse;
-				this.m_limitPositionImpulse = b2Math.b2Min(this.m_limitPositionImpulse + limitImpulse, 0.0);
-				limitImpulse = this.m_limitPositionImpulse - oldLimitImpulse;
-			}
-
-			b1.m_rotation -= b1.m_invI * limitImpulse;
-			b1.m_R.Set(b1.m_rotation);
-			b2.m_rotation += b2.m_invI * limitImpulse;
-			b2.m_R.Set(b2.m_rotation);
-		}
-
-		return positionError <= b2Settings.b2_linearSlop && angularError <= b2Settings.b2_angularSlop;
-	},
-
-	m_localAnchor1: new b2Vec2(),
-	m_localAnchor2: new b2Vec2(),
-	m_ptpImpulse: new b2Vec2(),
-	m_motorImpulse: null,
-	m_limitImpulse: null,
-	m_limitPositionImpulse: null,
-
-	m_ptpMass: new b2Mat22(),
-	m_motorMass: null,
-	m_intialAngle: null,
-	m_lowerAngle: null,
-	m_upperAngle: null,
-	m_maxMotorTorque: null,
-	m_motorSpeed: null,
-
-	m_enableLimit: null,
-	m_enableMotor: null,
-	m_limitState: 0});
-
-b2RevoluteJoint.tImpulse = new b2Vec2();
diff --git a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJointDef.js b/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJointDef.js
deleted file mode 100644
index 4466785..0000000
--- a/o3d/samples/box2d-3d/third_party/box2d/dynamics/joints/b2RevoluteJointDef.js
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-* Copyright (c) 2006-2007 Erin Catto http:
-*
-* This software is provided 'as-is', without any express or implied
-* warranty.  In no event will the authors be held liable for any damages
-* arising from the use of this software.
-* Permission is granted to anyone to use this software for any purpose,
-* including commercial applications, and to alter it and redistribute it
-* freely, subject to the following restrictions:
-* 1. The origin of this software must not be misrepresented; you must not
-* claim that you wrote the original software. If you use this software
-* in a product, an acknowledgment in the product documentation would be
-* appreciated but is not required.
-* 2. Altered source versions must be plainly marked, and must not be
-* misrepresented the original software.
-* 3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-
-
-
-
-var b2RevoluteJointDef = Class.create();
-Object.extend(b2RevoluteJointDef.prototype, b2JointDef.prototype);
-Object.extend(b2RevoluteJointDef.prototype, 
-{
-	initialize: function()
-	{
-		// The constructor for b2JointDef
-		this.type = b2Joint.e_unknownJoint;
-		this.userData = null;
-		this.body1 = null;
-		this.body2 = null;
-		this.collideConnected = false;
-		//
-
-		this.type = b2Joint.e_revoluteJoint;
-		this.anchorPoint = new b2Vec2(0.0, 0.0);
-		this.lowerAngle = 0.0;
-		this.upperAngle = 0.0;
-		this.motorTorque = 0.0;
-		this.motorSpeed = 0.0;
-		this.enableLimit = false;
-		this.enableMotor = false;
-	},
-
-	anchorPoint: null,
-	lowerAngle: null,
-	upperAngle: null,
-	motorTorque: null,
-	motorSpeed: null,
-	enableLimit: null,
-	enableMotor: null});
-