guoyao-jiankang/public/static/threejs135/jsm/libs/OimoPhysics/OimoPhysics.js

// Generated by Haxe 4.2.0
var oimo = oimo || {};
if(!oimo.collision) oimo.collision = {};
if(!oimo.collision.broadphase) oimo.collision.broadphase = {};
oimo.collision.broadphase.BroadPhase = class oimo_collision_broadphase_BroadPhase {
	constructor(type) {
		this._type = type;
		this._numProxies = 0;
		this._proxyList = null;
		this._proxyListLast = null;
		this._proxyPairList = null;
		this._incremental = false;
		this._testCount = 0;
		this._proxyPairPool = null;
		this._idCount = 0;
		this._convexSweep = new oimo.collision.broadphase._BroadPhase.ConvexSweepGeometry();
		this._aabb = new oimo.collision.broadphase._BroadPhase.AabbGeometry();
		this.identity = new oimo.common.Transform();
		this.zero = new oimo.common.Vec3();
		this.rayCastHit = new oimo.collision.geometry.RayCastHit();
	}
	createProxy(userData,aabb) {
		return null;
	}
	destroyProxy(proxy) {
	}
	moveProxy(proxy,aabb,displacement) {
	}
	isOverlapping(proxy1,proxy2) {
		if(proxy1._aabbMinX < proxy2._aabbMaxX && proxy1._aabbMaxX > proxy2._aabbMinX && proxy1._aabbMinY < proxy2._aabbMaxY && proxy1._aabbMaxY > proxy2._aabbMinY && proxy1._aabbMinZ < proxy2._aabbMaxZ) {
			return proxy1._aabbMaxZ > proxy2._aabbMinZ;
		} else {
			return false;
		}
	}
	collectPairs() {
	}
	getProxyPairList() {
		return this._proxyPairList;
	}
	isIncremental() {
		return this._incremental;
	}
	getTestCount() {
		return this._testCount;
	}
	rayCast(begin,end,callback) {
	}
	convexCast(convex,begin,translation,callback) {
	}
	aabbTest(aabb,callback) {
	}
}
if(!oimo.collision.geometry) oimo.collision.geometry = {};
oimo.collision.geometry.Geometry = class oimo_collision_geometry_Geometry {
	constructor(type) {
		this._type = type;
		this._volume = 0;
	}
	_updateMass() {
	}
	_computeAabb(aabb,tf) {
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		return false;
	}
	getType() {
		return this._type;
	}
	getVolume() {
		return this._volume;
	}
	rayCast(begin,end,transform,hit) {
		let beginLocalX;
		let beginLocalY;
		let beginLocalZ;
		let endLocalX;
		let endLocalY;
		let endLocalZ;
		beginLocalX = begin.x;
		beginLocalY = begin.y;
		beginLocalZ = begin.z;
		endLocalX = end.x;
		endLocalY = end.y;
		endLocalZ = end.z;
		beginLocalX -= transform._positionX;
		beginLocalY -= transform._positionY;
		beginLocalZ -= transform._positionZ;
		endLocalX -= transform._positionX;
		endLocalY -= transform._positionY;
		endLocalZ -= transform._positionZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = transform._rotation00 * beginLocalX + transform._rotation10 * beginLocalY + transform._rotation20 * beginLocalZ;
		__tmp__Y = transform._rotation01 * beginLocalX + transform._rotation11 * beginLocalY + transform._rotation21 * beginLocalZ;
		__tmp__Z = transform._rotation02 * beginLocalX + transform._rotation12 * beginLocalY + transform._rotation22 * beginLocalZ;
		beginLocalX = __tmp__X;
		beginLocalY = __tmp__Y;
		beginLocalZ = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = transform._rotation00 * endLocalX + transform._rotation10 * endLocalY + transform._rotation20 * endLocalZ;
		__tmp__Y1 = transform._rotation01 * endLocalX + transform._rotation11 * endLocalY + transform._rotation21 * endLocalZ;
		__tmp__Z1 = transform._rotation02 * endLocalX + transform._rotation12 * endLocalY + transform._rotation22 * endLocalZ;
		endLocalX = __tmp__X1;
		endLocalY = __tmp__Y1;
		endLocalZ = __tmp__Z1;
		if(this._rayCastLocal(beginLocalX,beginLocalY,beginLocalZ,endLocalX,endLocalY,endLocalZ,hit)) {
			let localPosX;
			let localPosY;
			let localPosZ;
			let localNormalX;
			let localNormalY;
			let localNormalZ;
			let v = hit.position;
			localPosX = v.x;
			localPosY = v.y;
			localPosZ = v.z;
			let v1 = hit.normal;
			localNormalX = v1.x;
			localNormalY = v1.y;
			localNormalZ = v1.z;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = transform._rotation00 * localPosX + transform._rotation01 * localPosY + transform._rotation02 * localPosZ;
			__tmp__Y = transform._rotation10 * localPosX + transform._rotation11 * localPosY + transform._rotation12 * localPosZ;
			__tmp__Z = transform._rotation20 * localPosX + transform._rotation21 * localPosY + transform._rotation22 * localPosZ;
			localPosX = __tmp__X;
			localPosY = __tmp__Y;
			localPosZ = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = transform._rotation00 * localNormalX + transform._rotation01 * localNormalY + transform._rotation02 * localNormalZ;
			__tmp__Y1 = transform._rotation10 * localNormalX + transform._rotation11 * localNormalY + transform._rotation12 * localNormalZ;
			__tmp__Z1 = transform._rotation20 * localNormalX + transform._rotation21 * localNormalY + transform._rotation22 * localNormalZ;
			localNormalX = __tmp__X1;
			localNormalY = __tmp__Y1;
			localNormalZ = __tmp__Z1;
			localPosX += transform._positionX;
			localPosY += transform._positionY;
			localPosZ += transform._positionZ;
			let v2 = hit.position;
			v2.x = localPosX;
			v2.y = localPosY;
			v2.z = localPosZ;
			let v3 = hit.normal;
			v3.x = localNormalX;
			v3.y = localNormalY;
			v3.z = localNormalZ;
			return true;
		}
		return false;
	}
}
oimo.collision.geometry.ConvexGeometry = class oimo_collision_geometry_ConvexGeometry extends oimo.collision.geometry.Geometry {
	constructor(type) {
		super(type);
		this._gjkMargin = oimo.common.Setting.defaultGJKMargin;
		this._useGjkRayCast = false;
	}
	getGjkMergin() {
		return this._gjkMargin;
	}
	setGjkMergin(gjkMergin) {
		if(gjkMergin < 0) {
			gjkMergin = 0;
		}
		this._gjkMargin = gjkMergin;
	}
	computeLocalSupportingVertex(dir,out) {
	}
	rayCast(begin,end,transform,hit) {
		if(this._useGjkRayCast) {
			return oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance.rayCast(this,transform,begin,end,hit);
		} else {
			return super.rayCast(begin,end,transform,hit);
		}
	}
}
if(!oimo.collision.broadphase._BroadPhase) oimo.collision.broadphase._BroadPhase = {};
oimo.collision.broadphase._BroadPhase.ConvexSweepGeometry = class oimo_collision_broadphase__$BroadPhase_ConvexSweepGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor() {
		super(-1);
	}
	init(c,transform,translation) {
		this.c = c;
		let trX;
		let trY;
		let trZ;
		trX = translation.x;
		trY = translation.y;
		trZ = translation.z;
		let localTrX;
		let localTrY;
		let localTrZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = transform._rotation00 * trX + transform._rotation10 * trY + transform._rotation20 * trZ;
		__tmp__Y = transform._rotation01 * trX + transform._rotation11 * trY + transform._rotation21 * trZ;
		__tmp__Z = transform._rotation02 * trX + transform._rotation12 * trY + transform._rotation22 * trZ;
		localTrX = __tmp__X;
		localTrY = __tmp__Y;
		localTrZ = __tmp__Z;
		this.localTranslation = new oimo.common.Vec3();
		let v = this.localTranslation;
		v.x = localTrX;
		v.y = localTrY;
		v.z = localTrZ;
		this._gjkMargin = c._gjkMargin;
	}
	computeLocalSupportingVertex(dir,out) {
		this.c.computeLocalSupportingVertex(dir,out);
		let v = this.localTranslation;
		if(dir.x * v.x + dir.y * v.y + dir.z * v.z > 0) {
			let v = this.localTranslation;
			out.x += v.x;
			out.y += v.y;
			out.z += v.z;
		}
	}
}
oimo.collision.broadphase._BroadPhase.AabbGeometry = class oimo_collision_broadphase__$BroadPhase_AabbGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor() {
		super(-1);
		this.min = new oimo.common.Vec3();
		this.max = new oimo.common.Vec3();
	}
	computeLocalSupportingVertex(dir,out) {
		out.x = dir.x > 0 ? this.max.x : this.min.x;
		out.y = dir.y > 0 ? this.max.y : this.min.y;
		out.z = dir.z > 0 ? this.max.z : this.min.z;
	}
}
oimo.collision.broadphase.BroadPhaseProxyCallback = class oimo_collision_broadphase_BroadPhaseProxyCallback {
	constructor() {
	}
	process(proxy) {
	}
}
oimo.collision.broadphase.BroadPhaseType = class oimo_collision_broadphase_BroadPhaseType {
}
oimo.collision.broadphase.Proxy = class oimo_collision_broadphase_Proxy {
	constructor(userData,id) {
		this.userData = userData;
		this._id = id;
		this._prev = null;
		this._next = null;
		this._aabbMinX = 0;
		this._aabbMinY = 0;
		this._aabbMinZ = 0;
		this._aabbMaxX = 0;
		this._aabbMaxY = 0;
		this._aabbMaxZ = 0;
	}
	getId() {
		return this._id;
	}
	getFatAabb() {
		let aabb = new oimo.collision.geometry.Aabb();
		aabb._minX = this._aabbMinX;
		aabb._minY = this._aabbMinY;
		aabb._minZ = this._aabbMinZ;
		aabb._maxX = this._aabbMaxX;
		aabb._maxY = this._aabbMaxY;
		aabb._maxZ = this._aabbMaxZ;
		return aabb;
	}
	getFatAabbTo(aabb) {
		aabb._minX = this._aabbMinX;
		aabb._minY = this._aabbMinY;
		aabb._minZ = this._aabbMinZ;
		aabb._maxX = this._aabbMaxX;
		aabb._maxY = this._aabbMaxY;
		aabb._maxZ = this._aabbMaxZ;
	}
}
oimo.collision.broadphase.ProxyPair = class oimo_collision_broadphase_ProxyPair {
	constructor() {
		this._p1 = null;
		this._p2 = null;
	}
	getProxy1() {
		return this._p1;
	}
	getProxy2() {
		return this._p2;
	}
	getNext() {
		return this._next;
	}
}
if(!oimo.collision.broadphase.bruteforce) oimo.collision.broadphase.bruteforce = {};
oimo.collision.broadphase.bruteforce.BruteForceBroadPhase = class oimo_collision_broadphase_bruteforce_BruteForceBroadPhase extends oimo.collision.broadphase.BroadPhase {
	constructor() {
		super(1);
		this._incremental = false;
	}
	createProxy(userData,aabb) {
		let proxy = new oimo.collision.broadphase.Proxy(userData,this._idCount++);
		this._numProxies++;
		if(this._proxyList == null) {
			this._proxyList = proxy;
			this._proxyListLast = proxy;
		} else {
			this._proxyListLast._next = proxy;
			proxy._prev = this._proxyListLast;
			this._proxyListLast = proxy;
		}
		proxy._aabbMinX = aabb._minX;
		proxy._aabbMinY = aabb._minY;
		proxy._aabbMinZ = aabb._minZ;
		proxy._aabbMaxX = aabb._maxX;
		proxy._aabbMaxY = aabb._maxY;
		proxy._aabbMaxZ = aabb._maxZ;
		return proxy;
	}
	destroyProxy(proxy) {
		this._numProxies--;
		let prev = proxy._prev;
		let next = proxy._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(proxy == this._proxyList) {
			this._proxyList = this._proxyList._next;
		}
		if(proxy == this._proxyListLast) {
			this._proxyListLast = this._proxyListLast._prev;
		}
		proxy._next = null;
		proxy._prev = null;
		proxy.userData = null;
	}
	moveProxy(proxy,aabb,dislacement) {
		proxy._aabbMinX = aabb._minX;
		proxy._aabbMinY = aabb._minY;
		proxy._aabbMinZ = aabb._minZ;
		proxy._aabbMaxX = aabb._maxX;
		proxy._aabbMaxY = aabb._maxY;
		proxy._aabbMaxZ = aabb._maxZ;
	}
	collectPairs() {
		let p = this._proxyPairList;
		if(p != null) {
			while(true) {
				p._p1 = null;
				p._p2 = null;
				p = p._next;
				if(!(p != null)) {
					break;
				}
			}
			this._proxyPairList._next = this._proxyPairPool;
			this._proxyPairPool = this._proxyPairList;
			this._proxyPairList = null;
		}
		this._testCount = 0;
		let p1 = this._proxyList;
		while(p1 != null) {
			let n = p1._next;
			let p2 = p1._next;
			while(p2 != null) {
				let n = p2._next;
				this._testCount++;
				if(p1._aabbMinX < p2._aabbMaxX && p1._aabbMaxX > p2._aabbMinX && p1._aabbMinY < p2._aabbMaxY && p1._aabbMaxY > p2._aabbMinY && p1._aabbMinZ < p2._aabbMaxZ && p1._aabbMaxZ > p2._aabbMinZ) {
					let first = this._proxyPairPool;
					if(first != null) {
						this._proxyPairPool = first._next;
						first._next = null;
					} else {
						first = new oimo.collision.broadphase.ProxyPair();
					}
					let pp = first;
					if(this._proxyPairList == null) {
						this._proxyPairList = pp;
					} else {
						pp._next = this._proxyPairList;
						this._proxyPairList = pp;
					}
					pp._p1 = p1;
					pp._p2 = p2;
				}
				p2 = n;
			}
			p1 = n;
		}
	}
	rayCast(begin,end,callback) {
		let p1X;
		let p1Y;
		let p1Z;
		let p2X;
		let p2Y;
		let p2Z;
		p1X = begin.x;
		p1Y = begin.y;
		p1Z = begin.z;
		p2X = end.x;
		p2Y = end.y;
		p2Z = end.z;
		let p = this._proxyList;
		while(p != null) {
			let n = p._next;
			let x1 = p1X;
			let y1 = p1Y;
			let z1 = p1Z;
			let x2 = p2X;
			let y2 = p2Y;
			let z2 = p2Z;
			let pminx = p._aabbMinX;
			let pminy = p._aabbMinY;
			let pminz = p._aabbMinZ;
			let pmaxx = p._aabbMaxX;
			let pmaxy = p._aabbMaxY;
			let pmaxz = p._aabbMaxZ;
			let tmp;
			if(pminx > (x1 > x2 ? x1 : x2) || pmaxx < (x1 < x2 ? x1 : x2) || pminy > (y1 > y2 ? y1 : y2) || pmaxy < (y1 < y2 ? y1 : y2) || pminz > (z1 > z2 ? z1 : z2) || pmaxz < (z1 < z2 ? z1 : z2)) {
				tmp = false;
			} else {
				let dx = x2 - x1;
				let dy = y2 - y1;
				let dz = z2 - z1;
				let adx = dx < 0 ? -dx : dx;
				let ady = dy < 0 ? -dy : dy;
				let adz = dz < 0 ? -dz : dz;
				let pextx = (pmaxx - pminx) * 0.5;
				let pexty = (pmaxy - pminy) * 0.5;
				let pextz = (pmaxz - pminz) * 0.5;
				let cpx = x1 - (pmaxx + pminx) * 0.5;
				let cpy = y1 - (pmaxy + pminy) * 0.5;
				let cpz = z1 - (pmaxz + pminz) * 0.5;
				let tmp1;
				let tmp2;
				let x = cpy * dz - cpz * dy;
				if(!((x < 0 ? -x : x) - (pexty * adz + pextz * ady) > 0)) {
					let x = cpz * dx - cpx * dz;
					tmp2 = (x < 0 ? -x : x) - (pextz * adx + pextx * adz) > 0;
				} else {
					tmp2 = true;
				}
				if(!tmp2) {
					let x = cpx * dy - cpy * dx;
					tmp1 = (x < 0 ? -x : x) - (pextx * ady + pexty * adx) > 0;
				} else {
					tmp1 = true;
				}
				tmp = tmp1 ? false : true;
			}
			if(tmp) {
				callback.process(p);
			}
			p = n;
		}
	}
	convexCast(convex,begin,translation,callback) {
		let p = this._proxyList;
		while(p != null) {
			let n = p._next;
			let v = this._aabb.min;
			v.x = p._aabbMinX;
			v.y = p._aabbMinY;
			v.z = p._aabbMinZ;
			let v1 = this._aabb.max;
			v1.x = p._aabbMaxX;
			v1.y = p._aabbMaxY;
			v1.z = p._aabbMaxZ;
			this._convexSweep.init(convex,begin,translation);
			let gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
			if(gjkEpa.computeClosestPointsImpl(this._convexSweep,this._aabb,begin,this.identity,null,false) == 0 && gjkEpa.distance <= 0) {
				callback.process(p);
			}
			p = n;
		}
	}
	aabbTest(aabb,callback) {
		let p = this._proxyList;
		while(p != null) {
			let n = p._next;
			if(aabb._minX < p._aabbMaxX && aabb._maxX > p._aabbMinX && aabb._minY < p._aabbMaxY && aabb._maxY > p._aabbMinY && aabb._minZ < p._aabbMaxZ && aabb._maxZ > p._aabbMinZ) {
				callback.process(p);
			}
			p = n;
		}
	}
}
if(!oimo.collision.broadphase.bvh) oimo.collision.broadphase.bvh = {};
oimo.collision.broadphase.bvh.BvhBroadPhase = class oimo_collision_broadphase_bvh_BvhBroadPhase extends oimo.collision.broadphase.BroadPhase {
	constructor() {
		super(2);
		this._incremental = true;
		this._tree = new oimo.collision.broadphase.bvh.BvhTree();
		this.movedProxies = new Array(1024);
		this.numMovedProxies = 0;
	}
	collide(n1,n2) {
		this._testCount++;
		let l1 = n1._height == 0;
		let l2 = n2._height == 0;
		if(n1 == n2) {
			if(l1) {
				return;
			}
			this.collide(n1._children[0],n2);
			this.collide(n1._children[1],n2);
			return;
		}
		if(!(n1._aabbMinX < n2._aabbMaxX && n1._aabbMaxX > n2._aabbMinX && n1._aabbMinY < n2._aabbMaxY && n1._aabbMaxY > n2._aabbMinY && n1._aabbMinZ < n2._aabbMaxZ && n1._aabbMaxZ > n2._aabbMinZ)) {
			return;
		}
		if(l1 && l2) {
			let first = this._proxyPairPool;
			if(first != null) {
				this._proxyPairPool = first._next;
				first._next = null;
			} else {
				first = new oimo.collision.broadphase.ProxyPair();
			}
			let pp = first;
			if(this._proxyPairList == null) {
				this._proxyPairList = pp;
			} else {
				pp._next = this._proxyPairList;
				this._proxyPairList = pp;
			}
			pp._p1 = n1._proxy;
			pp._p2 = n2._proxy;
			return;
		}
		if(l2 || n1._height > n2._height) {
			this.collide(n1._children[0],n2);
			this.collide(n1._children[1],n2);
		} else {
			this.collide(n2._children[0],n1);
			this.collide(n2._children[1],n1);
		}
	}
	rayCastRecursive(node,_p1X,_p1Y,_p1Z,_p2X,_p2Y,_p2Z,callback) {
		let x1 = _p1X;
		let y1 = _p1Y;
		let z1 = _p1Z;
		let x2 = _p2X;
		let y2 = _p2Y;
		let z2 = _p2Z;
		let pminx = node._aabbMinX;
		let pminy = node._aabbMinY;
		let pminz = node._aabbMinZ;
		let pmaxx = node._aabbMaxX;
		let pmaxy = node._aabbMaxY;
		let pmaxz = node._aabbMaxZ;
		let tmp;
		if(pminx > (x1 > x2 ? x1 : x2) || pmaxx < (x1 < x2 ? x1 : x2) || pminy > (y1 > y2 ? y1 : y2) || pmaxy < (y1 < y2 ? y1 : y2) || pminz > (z1 > z2 ? z1 : z2) || pmaxz < (z1 < z2 ? z1 : z2)) {
			tmp = false;
		} else {
			let dx = x2 - x1;
			let dy = y2 - y1;
			let dz = z2 - z1;
			let adx = dx < 0 ? -dx : dx;
			let ady = dy < 0 ? -dy : dy;
			let adz = dz < 0 ? -dz : dz;
			let pextx = (pmaxx - pminx) * 0.5;
			let pexty = (pmaxy - pminy) * 0.5;
			let pextz = (pmaxz - pminz) * 0.5;
			let cpx = x1 - (pmaxx + pminx) * 0.5;
			let cpy = y1 - (pmaxy + pminy) * 0.5;
			let cpz = z1 - (pmaxz + pminz) * 0.5;
			let tmp1;
			let tmp2;
			let x = cpy * dz - cpz * dy;
			if(!((x < 0 ? -x : x) - (pexty * adz + pextz * ady) > 0)) {
				let x = cpz * dx - cpx * dz;
				tmp2 = (x < 0 ? -x : x) - (pextz * adx + pextx * adz) > 0;
			} else {
				tmp2 = true;
			}
			if(!tmp2) {
				let x = cpx * dy - cpy * dx;
				tmp1 = (x < 0 ? -x : x) - (pextx * ady + pexty * adx) > 0;
			} else {
				tmp1 = true;
			}
			tmp = tmp1 ? false : true;
		}
		if(!tmp) {
			return;
		}
		if(node._height == 0) {
			callback.process(node._proxy);
			return;
		}
		this.rayCastRecursive(node._children[0],_p1X,_p1Y,_p1Z,_p2X,_p2Y,_p2Z,callback);
		this.rayCastRecursive(node._children[1],_p1X,_p1Y,_p1Z,_p2X,_p2Y,_p2Z,callback);
	}
	convexCastRecursive(node,convex,begin,translation,callback) {
		let v = this._aabb.min;
		v.x = node._aabbMinX;
		v.y = node._aabbMinY;
		v.z = node._aabbMinZ;
		let v1 = this._aabb.max;
		v1.x = node._aabbMaxX;
		v1.y = node._aabbMaxY;
		v1.z = node._aabbMaxZ;
		this._convexSweep.init(convex,begin,translation);
		let gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
		if(!(gjkEpa.computeClosestPointsImpl(this._convexSweep,this._aabb,begin,this.identity,null,false) == 0 && gjkEpa.distance <= 0)) {
			return;
		}
		if(node._height == 0) {
			callback.process(node._proxy);
			return;
		}
		this.convexCastRecursive(node._children[0],convex,begin,translation,callback);
		this.convexCastRecursive(node._children[1],convex,begin,translation,callback);
	}
	aabbTestRecursive(node,aabb,callback) {
		if(!(node._aabbMinX < aabb._maxX && node._aabbMaxX > aabb._minX && node._aabbMinY < aabb._maxY && node._aabbMaxY > aabb._minY && node._aabbMinZ < aabb._maxZ && node._aabbMaxZ > aabb._minZ)) {
			return;
		}
		if(node._height == 0) {
			callback.process(node._proxy);
			return;
		}
		this.aabbTestRecursive(node._children[0],aabb,callback);
		this.aabbTestRecursive(node._children[1],aabb,callback);
	}
	createProxy(userData,aabb) {
		let p = new oimo.collision.broadphase.bvh.BvhProxy(userData,this._idCount++);
		this._numProxies++;
		if(this._proxyList == null) {
			this._proxyList = p;
			this._proxyListLast = p;
		} else {
			this._proxyListLast._next = p;
			p._prev = this._proxyListLast;
			this._proxyListLast = p;
		}
		p._aabbMinX = aabb._minX;
		p._aabbMinY = aabb._minY;
		p._aabbMinZ = aabb._minZ;
		p._aabbMaxX = aabb._maxX;
		p._aabbMaxY = aabb._maxY;
		p._aabbMaxZ = aabb._maxZ;
		let padding = oimo.common.Setting.bvhProxyPadding;
		p._aabbMinX -= padding;
		p._aabbMinY -= padding;
		p._aabbMinZ -= padding;
		p._aabbMaxX += padding;
		p._aabbMaxY += padding;
		p._aabbMaxZ += padding;
		let _this = this._tree;
		let first = _this._nodePool;
		if(first != null) {
			_this._nodePool = first._next;
			first._next = null;
		} else {
			first = new oimo.collision.broadphase.bvh.BvhNode();
		}
		let leaf = first;
		leaf._proxy = p;
		p._leaf = leaf;
		leaf._aabbMinX = p._aabbMinX;
		leaf._aabbMinY = p._aabbMinY;
		leaf._aabbMinZ = p._aabbMinZ;
		leaf._aabbMaxX = p._aabbMaxX;
		leaf._aabbMaxY = p._aabbMaxY;
		leaf._aabbMaxZ = p._aabbMaxZ;
		_this._numLeaves++;
		if(_this.leafList == null) {
			_this.leafList = leaf;
			_this.leafListLast = leaf;
		} else {
			_this.leafListLast._nextLeaf = leaf;
			leaf._prevLeaf = _this.leafListLast;
			_this.leafListLast = leaf;
		}
		if(_this._root == null) {
			_this._root = leaf;
		} else {
			let sibling = _this._root;
			while(sibling._height > 0) {
				let nextStep = _this._strategy._decideInsertion(sibling,leaf);
				if(nextStep == -1) {
					break;
				} else {
					sibling = sibling._children[nextStep];
				}
			}
			let parent = sibling._parent;
			let first = _this._nodePool;
			if(first != null) {
				_this._nodePool = first._next;
				first._next = null;
			} else {
				first = new oimo.collision.broadphase.bvh.BvhNode();
			}
			let node = first;
			if(parent == null) {
				_this._root = node;
			} else {
				let index = sibling._childIndex;
				parent._children[index] = node;
				node._parent = parent;
				node._childIndex = index;
			}
			let index = sibling._childIndex;
			node._children[index] = sibling;
			sibling._parent = node;
			sibling._childIndex = index;
			let index1 = sibling._childIndex ^ 1;
			node._children[index1] = leaf;
			leaf._parent = node;
			leaf._childIndex = index1;
			while(node != null) {
				if(_this._strategy._balancingEnabled) {
					if(node._height >= 2) {
						let p = node._parent;
						let l = node._children[0];
						let r = node._children[1];
						let balance = l._height - r._height;
						let nodeIndex = node._childIndex;
						if(balance > 1) {
							let ll = l._children[0];
							let lr = l._children[1];
							if(ll._height > lr._height) {
								l._children[1] = node;
								node._parent = l;
								node._childIndex = 1;
								node._children[0] = lr;
								lr._parent = node;
								lr._childIndex = 0;
								let c1 = l._children[0];
								let c2 = l._children[1];
								l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
								l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
								l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
								l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
								l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
								l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
								let h1 = l._children[0]._height;
								let h2 = l._children[1]._height;
								l._height = (h1 > h2 ? h1 : h2) + 1;
								let c11 = node._children[0];
								let c21 = node._children[1];
								node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
								node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
								node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
								node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
								node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
								node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
								let h11 = node._children[0]._height;
								let h21 = node._children[1]._height;
								node._height = (h11 > h21 ? h11 : h21) + 1;
							} else {
								l._children[0] = node;
								node._parent = l;
								node._childIndex = 0;
								node._children[0] = ll;
								ll._parent = node;
								ll._childIndex = 0;
								let c1 = l._children[0];
								let c2 = l._children[1];
								l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
								l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
								l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
								l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
								l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
								l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
								let h1 = l._children[0]._height;
								let h2 = l._children[1]._height;
								l._height = (h1 > h2 ? h1 : h2) + 1;
								let c11 = node._children[0];
								let c21 = node._children[1];
								node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
								node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
								node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
								node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
								node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
								node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
								let h11 = node._children[0]._height;
								let h21 = node._children[1]._height;
								node._height = (h11 > h21 ? h11 : h21) + 1;
							}
							if(p != null) {
								p._children[nodeIndex] = l;
								l._parent = p;
								l._childIndex = nodeIndex;
							} else {
								_this._root = l;
								l._parent = null;
							}
							node = l;
						} else if(balance < -1) {
							let rl = r._children[0];
							let rr = r._children[1];
							if(rl._height > rr._height) {
								r._children[1] = node;
								node._parent = r;
								node._childIndex = 1;
								node._children[1] = rr;
								rr._parent = node;
								rr._childIndex = 1;
								let c1 = r._children[0];
								let c2 = r._children[1];
								r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
								r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
								r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
								r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
								r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
								r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
								let h1 = r._children[0]._height;
								let h2 = r._children[1]._height;
								r._height = (h1 > h2 ? h1 : h2) + 1;
								let c11 = node._children[0];
								let c21 = node._children[1];
								node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
								node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
								node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
								node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
								node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
								node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
								let h11 = node._children[0]._height;
								let h21 = node._children[1]._height;
								node._height = (h11 > h21 ? h11 : h21) + 1;
							} else {
								r._children[0] = node;
								node._parent = r;
								node._childIndex = 0;
								node._children[1] = rl;
								rl._parent = node;
								rl._childIndex = 1;
								let c1 = r._children[0];
								let c2 = r._children[1];
								r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
								r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
								r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
								r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
								r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
								r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
								let h1 = r._children[0]._height;
								let h2 = r._children[1]._height;
								r._height = (h1 > h2 ? h1 : h2) + 1;
								let c11 = node._children[0];
								let c21 = node._children[1];
								node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
								node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
								node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
								node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
								node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
								node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
								let h11 = node._children[0]._height;
								let h21 = node._children[1]._height;
								node._height = (h11 > h21 ? h11 : h21) + 1;
							}
							if(p != null) {
								p._children[nodeIndex] = r;
								r._parent = p;
								r._childIndex = nodeIndex;
							} else {
								_this._root = r;
								r._parent = null;
							}
							node = r;
						}
					}
				}
				let h1 = node._children[0]._height;
				let h2 = node._children[1]._height;
				node._height = (h1 > h2 ? h1 : h2) + 1;
				let c1 = node._children[0];
				let c2 = node._children[1];
				node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
				node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
				node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
				node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
				node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
				node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
				node = node._parent;
			}
		}
		if(!p._moved) {
			p._moved = true;
			if(this.movedProxies.length == this.numMovedProxies) {
				let newArray = new Array(this.numMovedProxies << 1);
				let _g = 0;
				let _g1 = this.numMovedProxies;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.movedProxies[i];
					this.movedProxies[i] = null;
				}
				this.movedProxies = newArray;
			}
			this.movedProxies[this.numMovedProxies++] = p;
		}
		return p;
	}
	destroyProxy(proxy) {
		this._numProxies--;
		let prev = proxy._prev;
		let next = proxy._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(proxy == this._proxyList) {
			this._proxyList = this._proxyList._next;
		}
		if(proxy == this._proxyListLast) {
			this._proxyListLast = this._proxyListLast._prev;
		}
		proxy._next = null;
		proxy._prev = null;
		let bvhProxy = proxy;
		let _this = this._tree;
		let leaf = bvhProxy._leaf;
		_this._numLeaves--;
		let prev1 = leaf._prevLeaf;
		let next1 = leaf._nextLeaf;
		if(prev1 != null) {
			prev1._nextLeaf = next1;
		}
		if(next1 != null) {
			next1._prevLeaf = prev1;
		}
		if(leaf == _this.leafList) {
			_this.leafList = _this.leafList._nextLeaf;
		}
		if(leaf == _this.leafListLast) {
			_this.leafListLast = _this.leafListLast._prevLeaf;
		}
		leaf._nextLeaf = null;
		leaf._prevLeaf = null;
		if(_this._root == leaf) {
			_this._root = null;
		} else {
			let parent = leaf._parent;
			let sibling = parent._children[leaf._childIndex ^ 1];
			let grandParent = parent._parent;
			if(grandParent == null) {
				sibling._parent = null;
				sibling._childIndex = 0;
				_this._root = sibling;
				parent._next = null;
				parent._childIndex = 0;
				parent._children[0] = null;
				parent._children[1] = null;
				parent._childIndex = 0;
				parent._parent = null;
				parent._height = 0;
				parent._proxy = null;
				parent._next = _this._nodePool;
				_this._nodePool = parent;
			} else {
				sibling._parent = grandParent;
				let index = parent._childIndex;
				grandParent._children[index] = sibling;
				sibling._parent = grandParent;
				sibling._childIndex = index;
				parent._next = null;
				parent._childIndex = 0;
				parent._children[0] = null;
				parent._children[1] = null;
				parent._childIndex = 0;
				parent._parent = null;
				parent._height = 0;
				parent._proxy = null;
				parent._next = _this._nodePool;
				_this._nodePool = parent;
				let node = grandParent;
				while(node != null) {
					if(_this._strategy._balancingEnabled) {
						if(node._height >= 2) {
							let p = node._parent;
							let l = node._children[0];
							let r = node._children[1];
							let balance = l._height - r._height;
							let nodeIndex = node._childIndex;
							if(balance > 1) {
								let ll = l._children[0];
								let lr = l._children[1];
								if(ll._height > lr._height) {
									l._children[1] = node;
									node._parent = l;
									node._childIndex = 1;
									node._children[0] = lr;
									lr._parent = node;
									lr._childIndex = 0;
									let c1 = l._children[0];
									let c2 = l._children[1];
									l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
									l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
									l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
									l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
									l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
									l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
									let h1 = l._children[0]._height;
									let h2 = l._children[1]._height;
									l._height = (h1 > h2 ? h1 : h2) + 1;
									let c11 = node._children[0];
									let c21 = node._children[1];
									node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
									node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
									node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
									node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
									node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
									node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
									let h11 = node._children[0]._height;
									let h21 = node._children[1]._height;
									node._height = (h11 > h21 ? h11 : h21) + 1;
								} else {
									l._children[0] = node;
									node._parent = l;
									node._childIndex = 0;
									node._children[0] = ll;
									ll._parent = node;
									ll._childIndex = 0;
									let c1 = l._children[0];
									let c2 = l._children[1];
									l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
									l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
									l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
									l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
									l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
									l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
									let h1 = l._children[0]._height;
									let h2 = l._children[1]._height;
									l._height = (h1 > h2 ? h1 : h2) + 1;
									let c11 = node._children[0];
									let c21 = node._children[1];
									node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
									node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
									node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
									node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
									node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
									node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
									let h11 = node._children[0]._height;
									let h21 = node._children[1]._height;
									node._height = (h11 > h21 ? h11 : h21) + 1;
								}
								if(p != null) {
									p._children[nodeIndex] = l;
									l._parent = p;
									l._childIndex = nodeIndex;
								} else {
									_this._root = l;
									l._parent = null;
								}
								node = l;
							} else if(balance < -1) {
								let rl = r._children[0];
								let rr = r._children[1];
								if(rl._height > rr._height) {
									r._children[1] = node;
									node._parent = r;
									node._childIndex = 1;
									node._children[1] = rr;
									rr._parent = node;
									rr._childIndex = 1;
									let c1 = r._children[0];
									let c2 = r._children[1];
									r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
									r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
									r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
									r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
									r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
									r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
									let h1 = r._children[0]._height;
									let h2 = r._children[1]._height;
									r._height = (h1 > h2 ? h1 : h2) + 1;
									let c11 = node._children[0];
									let c21 = node._children[1];
									node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
									node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
									node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
									node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
									node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
									node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
									let h11 = node._children[0]._height;
									let h21 = node._children[1]._height;
									node._height = (h11 > h21 ? h11 : h21) + 1;
								} else {
									r._children[0] = node;
									node._parent = r;
									node._childIndex = 0;
									node._children[1] = rl;
									rl._parent = node;
									rl._childIndex = 1;
									let c1 = r._children[0];
									let c2 = r._children[1];
									r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
									r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
									r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
									r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
									r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
									r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
									let h1 = r._children[0]._height;
									let h2 = r._children[1]._height;
									r._height = (h1 > h2 ? h1 : h2) + 1;
									let c11 = node._children[0];
									let c21 = node._children[1];
									node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
									node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
									node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
									node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
									node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
									node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
									let h11 = node._children[0]._height;
									let h21 = node._children[1]._height;
									node._height = (h11 > h21 ? h11 : h21) + 1;
								}
								if(p != null) {
									p._children[nodeIndex] = r;
									r._parent = p;
									r._childIndex = nodeIndex;
								} else {
									_this._root = r;
									r._parent = null;
								}
								node = r;
							}
						}
					}
					let h1 = node._children[0]._height;
					let h2 = node._children[1]._height;
					node._height = (h1 > h2 ? h1 : h2) + 1;
					let c1 = node._children[0];
					let c2 = node._children[1];
					node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
					node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
					node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
					node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
					node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
					node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
					node = node._parent;
				}
			}
		}
		bvhProxy._leaf = null;
		leaf._next = null;
		leaf._childIndex = 0;
		leaf._children[0] = null;
		leaf._children[1] = null;
		leaf._childIndex = 0;
		leaf._parent = null;
		leaf._height = 0;
		leaf._proxy = null;
		leaf._next = _this._nodePool;
		_this._nodePool = leaf;
		bvhProxy.userData = null;
		bvhProxy._next = null;
		bvhProxy._prev = null;
		if(bvhProxy._moved) {
			bvhProxy._moved = false;
		}
	}
	moveProxy(proxy,aabb,displacement) {
		let p = proxy;
		if(p._aabbMinX <= aabb._minX && p._aabbMaxX >= aabb._maxX && p._aabbMinY <= aabb._minY && p._aabbMaxY >= aabb._maxY && p._aabbMinZ <= aabb._minZ && p._aabbMaxZ >= aabb._maxZ) {
			return;
		}
		p._aabbMinX = aabb._minX;
		p._aabbMinY = aabb._minY;
		p._aabbMinZ = aabb._minZ;
		p._aabbMaxX = aabb._maxX;
		p._aabbMaxY = aabb._maxY;
		p._aabbMaxZ = aabb._maxZ;
		let padding = oimo.common.Setting.bvhProxyPadding;
		p._aabbMinX -= padding;
		p._aabbMinY -= padding;
		p._aabbMinZ -= padding;
		p._aabbMaxX += padding;
		p._aabbMaxY += padding;
		p._aabbMaxZ += padding;
		if(displacement != null) {
			let dX;
			let dY;
			let dZ;
			let zeroX;
			let zeroY;
			let zeroZ;
			let addToMinX;
			let addToMinY;
			let addToMinZ;
			let addToMaxX;
			let addToMaxY;
			let addToMaxZ;
			zeroX = 0;
			zeroY = 0;
			zeroZ = 0;
			dX = displacement.x;
			dY = displacement.y;
			dZ = displacement.z;
			addToMinX = zeroX < dX ? zeroX : dX;
			addToMinY = zeroY < dY ? zeroY : dY;
			addToMinZ = zeroZ < dZ ? zeroZ : dZ;
			addToMaxX = zeroX > dX ? zeroX : dX;
			addToMaxY = zeroY > dY ? zeroY : dY;
			addToMaxZ = zeroZ > dZ ? zeroZ : dZ;
			p._aabbMinX += addToMinX;
			p._aabbMinY += addToMinY;
			p._aabbMinZ += addToMinZ;
			p._aabbMaxX += addToMaxX;
			p._aabbMaxY += addToMaxY;
			p._aabbMaxZ += addToMaxZ;
		}
		if(!p._moved) {
			p._moved = true;
			if(this.movedProxies.length == this.numMovedProxies) {
				let newArray = new Array(this.numMovedProxies << 1);
				let _g = 0;
				let _g1 = this.numMovedProxies;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.movedProxies[i];
					this.movedProxies[i] = null;
				}
				this.movedProxies = newArray;
			}
			this.movedProxies[this.numMovedProxies++] = p;
		}
	}
	collectPairs() {
		let p = this._proxyPairList;
		if(p != null) {
			while(true) {
				p._p1 = null;
				p._p2 = null;
				p = p._next;
				if(!(p != null)) {
					break;
				}
			}
			this._proxyPairList._next = this._proxyPairPool;
			this._proxyPairPool = this._proxyPairList;
			this._proxyPairList = null;
		}
		this._testCount = 0;
		if(this._numProxies < 2) {
			return;
		}
		let incrementalCollision = this.numMovedProxies / this._numProxies < oimo.common.Setting.bvhIncrementalCollisionThreshold;
		let _g = 0;
		let _g1 = this.numMovedProxies;
		while(_g < _g1) {
			let i = _g++;
			let p = this.movedProxies[i];
			if(p._moved) {
				let _this = this._tree;
				let leaf = p._leaf;
				_this._numLeaves--;
				let prev = leaf._prevLeaf;
				let next = leaf._nextLeaf;
				if(prev != null) {
					prev._nextLeaf = next;
				}
				if(next != null) {
					next._prevLeaf = prev;
				}
				if(leaf == _this.leafList) {
					_this.leafList = _this.leafList._nextLeaf;
				}
				if(leaf == _this.leafListLast) {
					_this.leafListLast = _this.leafListLast._prevLeaf;
				}
				leaf._nextLeaf = null;
				leaf._prevLeaf = null;
				if(_this._root == leaf) {
					_this._root = null;
				} else {
					let parent = leaf._parent;
					let sibling = parent._children[leaf._childIndex ^ 1];
					let grandParent = parent._parent;
					if(grandParent == null) {
						sibling._parent = null;
						sibling._childIndex = 0;
						_this._root = sibling;
						parent._next = null;
						parent._childIndex = 0;
						parent._children[0] = null;
						parent._children[1] = null;
						parent._childIndex = 0;
						parent._parent = null;
						parent._height = 0;
						parent._proxy = null;
						parent._next = _this._nodePool;
						_this._nodePool = parent;
					} else {
						sibling._parent = grandParent;
						let index = parent._childIndex;
						grandParent._children[index] = sibling;
						sibling._parent = grandParent;
						sibling._childIndex = index;
						parent._next = null;
						parent._childIndex = 0;
						parent._children[0] = null;
						parent._children[1] = null;
						parent._childIndex = 0;
						parent._parent = null;
						parent._height = 0;
						parent._proxy = null;
						parent._next = _this._nodePool;
						_this._nodePool = parent;
						let node = grandParent;
						while(node != null) {
							if(_this._strategy._balancingEnabled) {
								if(node._height >= 2) {
									let p = node._parent;
									let l = node._children[0];
									let r = node._children[1];
									let balance = l._height - r._height;
									let nodeIndex = node._childIndex;
									if(balance > 1) {
										let ll = l._children[0];
										let lr = l._children[1];
										if(ll._height > lr._height) {
											l._children[1] = node;
											node._parent = l;
											node._childIndex = 1;
											node._children[0] = lr;
											lr._parent = node;
											lr._childIndex = 0;
											let c1 = l._children[0];
											let c2 = l._children[1];
											l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
											l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
											l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
											l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
											l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
											l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
											let h1 = l._children[0]._height;
											let h2 = l._children[1]._height;
											l._height = (h1 > h2 ? h1 : h2) + 1;
											let c11 = node._children[0];
											let c21 = node._children[1];
											node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
											node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
											node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
											node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
											node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
											node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
											let h11 = node._children[0]._height;
											let h21 = node._children[1]._height;
											node._height = (h11 > h21 ? h11 : h21) + 1;
										} else {
											l._children[0] = node;
											node._parent = l;
											node._childIndex = 0;
											node._children[0] = ll;
											ll._parent = node;
											ll._childIndex = 0;
											let c1 = l._children[0];
											let c2 = l._children[1];
											l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
											l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
											l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
											l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
											l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
											l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
											let h1 = l._children[0]._height;
											let h2 = l._children[1]._height;
											l._height = (h1 > h2 ? h1 : h2) + 1;
											let c11 = node._children[0];
											let c21 = node._children[1];
											node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
											node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
											node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
											node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
											node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
											node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
											let h11 = node._children[0]._height;
											let h21 = node._children[1]._height;
											node._height = (h11 > h21 ? h11 : h21) + 1;
										}
										if(p != null) {
											p._children[nodeIndex] = l;
											l._parent = p;
											l._childIndex = nodeIndex;
										} else {
											_this._root = l;
											l._parent = null;
										}
										node = l;
									} else if(balance < -1) {
										let rl = r._children[0];
										let rr = r._children[1];
										if(rl._height > rr._height) {
											r._children[1] = node;
											node._parent = r;
											node._childIndex = 1;
											node._children[1] = rr;
											rr._parent = node;
											rr._childIndex = 1;
											let c1 = r._children[0];
											let c2 = r._children[1];
											r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
											r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
											r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
											r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
											r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
											r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
											let h1 = r._children[0]._height;
											let h2 = r._children[1]._height;
											r._height = (h1 > h2 ? h1 : h2) + 1;
											let c11 = node._children[0];
											let c21 = node._children[1];
											node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
											node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
											node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
											node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
											node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
											node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
											let h11 = node._children[0]._height;
											let h21 = node._children[1]._height;
											node._height = (h11 > h21 ? h11 : h21) + 1;
										} else {
											r._children[0] = node;
											node._parent = r;
											node._childIndex = 0;
											node._children[1] = rl;
											rl._parent = node;
											rl._childIndex = 1;
											let c1 = r._children[0];
											let c2 = r._children[1];
											r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
											r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
											r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
											r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
											r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
											r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
											let h1 = r._children[0]._height;
											let h2 = r._children[1]._height;
											r._height = (h1 > h2 ? h1 : h2) + 1;
											let c11 = node._children[0];
											let c21 = node._children[1];
											node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
											node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
											node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
											node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
											node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
											node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
											let h11 = node._children[0]._height;
											let h21 = node._children[1]._height;
											node._height = (h11 > h21 ? h11 : h21) + 1;
										}
										if(p != null) {
											p._children[nodeIndex] = r;
											r._parent = p;
											r._childIndex = nodeIndex;
										} else {
											_this._root = r;
											r._parent = null;
										}
										node = r;
									}
								}
							}
							let h1 = node._children[0]._height;
							let h2 = node._children[1]._height;
							node._height = (h1 > h2 ? h1 : h2) + 1;
							let c1 = node._children[0];
							let c2 = node._children[1];
							node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
							node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
							node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
							node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
							node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
							node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
							node = node._parent;
						}
					}
				}
				p._leaf = null;
				leaf._next = null;
				leaf._childIndex = 0;
				leaf._children[0] = null;
				leaf._children[1] = null;
				leaf._childIndex = 0;
				leaf._parent = null;
				leaf._height = 0;
				leaf._proxy = null;
				leaf._next = _this._nodePool;
				_this._nodePool = leaf;
				let _this1 = this._tree;
				let first = _this1._nodePool;
				if(first != null) {
					_this1._nodePool = first._next;
					first._next = null;
				} else {
					first = new oimo.collision.broadphase.bvh.BvhNode();
				}
				let leaf1 = first;
				leaf1._proxy = p;
				p._leaf = leaf1;
				leaf1._aabbMinX = p._aabbMinX;
				leaf1._aabbMinY = p._aabbMinY;
				leaf1._aabbMinZ = p._aabbMinZ;
				leaf1._aabbMaxX = p._aabbMaxX;
				leaf1._aabbMaxY = p._aabbMaxY;
				leaf1._aabbMaxZ = p._aabbMaxZ;
				_this1._numLeaves++;
				if(_this1.leafList == null) {
					_this1.leafList = leaf1;
					_this1.leafListLast = leaf1;
				} else {
					_this1.leafListLast._nextLeaf = leaf1;
					leaf1._prevLeaf = _this1.leafListLast;
					_this1.leafListLast = leaf1;
				}
				if(_this1._root == null) {
					_this1._root = leaf1;
				} else {
					let sibling = _this1._root;
					while(sibling._height > 0) {
						let nextStep = _this1._strategy._decideInsertion(sibling,leaf1);
						if(nextStep == -1) {
							break;
						} else {
							sibling = sibling._children[nextStep];
						}
					}
					let parent = sibling._parent;
					let first = _this1._nodePool;
					if(first != null) {
						_this1._nodePool = first._next;
						first._next = null;
					} else {
						first = new oimo.collision.broadphase.bvh.BvhNode();
					}
					let node = first;
					if(parent == null) {
						_this1._root = node;
					} else {
						let index = sibling._childIndex;
						parent._children[index] = node;
						node._parent = parent;
						node._childIndex = index;
					}
					let index = sibling._childIndex;
					node._children[index] = sibling;
					sibling._parent = node;
					sibling._childIndex = index;
					let index1 = sibling._childIndex ^ 1;
					node._children[index1] = leaf1;
					leaf1._parent = node;
					leaf1._childIndex = index1;
					while(node != null) {
						if(_this1._strategy._balancingEnabled) {
							if(node._height >= 2) {
								let p = node._parent;
								let l = node._children[0];
								let r = node._children[1];
								let balance = l._height - r._height;
								let nodeIndex = node._childIndex;
								if(balance > 1) {
									let ll = l._children[0];
									let lr = l._children[1];
									if(ll._height > lr._height) {
										l._children[1] = node;
										node._parent = l;
										node._childIndex = 1;
										node._children[0] = lr;
										lr._parent = node;
										lr._childIndex = 0;
										let c1 = l._children[0];
										let c2 = l._children[1];
										l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
										l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
										l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
										l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
										l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
										l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
										let h1 = l._children[0]._height;
										let h2 = l._children[1]._height;
										l._height = (h1 > h2 ? h1 : h2) + 1;
										let c11 = node._children[0];
										let c21 = node._children[1];
										node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
										node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
										node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
										node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
										node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
										node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
										let h11 = node._children[0]._height;
										let h21 = node._children[1]._height;
										node._height = (h11 > h21 ? h11 : h21) + 1;
									} else {
										l._children[0] = node;
										node._parent = l;
										node._childIndex = 0;
										node._children[0] = ll;
										ll._parent = node;
										ll._childIndex = 0;
										let c1 = l._children[0];
										let c2 = l._children[1];
										l._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
										l._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
										l._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
										l._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
										l._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
										l._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
										let h1 = l._children[0]._height;
										let h2 = l._children[1]._height;
										l._height = (h1 > h2 ? h1 : h2) + 1;
										let c11 = node._children[0];
										let c21 = node._children[1];
										node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
										node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
										node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
										node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
										node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
										node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
										let h11 = node._children[0]._height;
										let h21 = node._children[1]._height;
										node._height = (h11 > h21 ? h11 : h21) + 1;
									}
									if(p != null) {
										p._children[nodeIndex] = l;
										l._parent = p;
										l._childIndex = nodeIndex;
									} else {
										_this1._root = l;
										l._parent = null;
									}
									node = l;
								} else if(balance < -1) {
									let rl = r._children[0];
									let rr = r._children[1];
									if(rl._height > rr._height) {
										r._children[1] = node;
										node._parent = r;
										node._childIndex = 1;
										node._children[1] = rr;
										rr._parent = node;
										rr._childIndex = 1;
										let c1 = r._children[0];
										let c2 = r._children[1];
										r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
										r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
										r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
										r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
										r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
										r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
										let h1 = r._children[0]._height;
										let h2 = r._children[1]._height;
										r._height = (h1 > h2 ? h1 : h2) + 1;
										let c11 = node._children[0];
										let c21 = node._children[1];
										node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
										node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
										node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
										node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
										node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
										node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
										let h11 = node._children[0]._height;
										let h21 = node._children[1]._height;
										node._height = (h11 > h21 ? h11 : h21) + 1;
									} else {
										r._children[0] = node;
										node._parent = r;
										node._childIndex = 0;
										node._children[1] = rl;
										rl._parent = node;
										rl._childIndex = 1;
										let c1 = r._children[0];
										let c2 = r._children[1];
										r._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
										r._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
										r._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
										r._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
										r._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
										r._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
										let h1 = r._children[0]._height;
										let h2 = r._children[1]._height;
										r._height = (h1 > h2 ? h1 : h2) + 1;
										let c11 = node._children[0];
										let c21 = node._children[1];
										node._aabbMinX = c11._aabbMinX < c21._aabbMinX ? c11._aabbMinX : c21._aabbMinX;
										node._aabbMinY = c11._aabbMinY < c21._aabbMinY ? c11._aabbMinY : c21._aabbMinY;
										node._aabbMinZ = c11._aabbMinZ < c21._aabbMinZ ? c11._aabbMinZ : c21._aabbMinZ;
										node._aabbMaxX = c11._aabbMaxX > c21._aabbMaxX ? c11._aabbMaxX : c21._aabbMaxX;
										node._aabbMaxY = c11._aabbMaxY > c21._aabbMaxY ? c11._aabbMaxY : c21._aabbMaxY;
										node._aabbMaxZ = c11._aabbMaxZ > c21._aabbMaxZ ? c11._aabbMaxZ : c21._aabbMaxZ;
										let h11 = node._children[0]._height;
										let h21 = node._children[1]._height;
										node._height = (h11 > h21 ? h11 : h21) + 1;
									}
									if(p != null) {
										p._children[nodeIndex] = r;
										r._parent = p;
										r._childIndex = nodeIndex;
									} else {
										_this1._root = r;
										r._parent = null;
									}
									node = r;
								}
							}
						}
						let h1 = node._children[0]._height;
						let h2 = node._children[1]._height;
						node._height = (h1 > h2 ? h1 : h2) + 1;
						let c1 = node._children[0];
						let c2 = node._children[1];
						node._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
						node._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
						node._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
						node._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
						node._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
						node._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
						node = node._parent;
					}
				}
				if(incrementalCollision) {
					this.collide(this._tree._root,p._leaf);
				}
				p._moved = false;
			}
			this.movedProxies[i] = null;
		}
		if(!incrementalCollision) {
			this.collide(this._tree._root,this._tree._root);
		}
		this.numMovedProxies = 0;
	}
	rayCast(begin,end,callback) {
		if(this._tree._root == null) {
			return;
		}
		let p1X;
		let p1Y;
		let p1Z;
		let p2X;
		let p2Y;
		let p2Z;
		p1X = begin.x;
		p1Y = begin.y;
		p1Z = begin.z;
		p2X = end.x;
		p2Y = end.y;
		p2Z = end.z;
		this.rayCastRecursive(this._tree._root,p1X,p1Y,p1Z,p2X,p2Y,p2Z,callback);
	}
	convexCast(convex,begin,translation,callback) {
		if(this._tree._root == null) {
			return;
		}
		this.convexCastRecursive(this._tree._root,convex,begin,translation,callback);
	}
	aabbTest(aabb,callback) {
		if(this._tree._root == null) {
			return;
		}
		this.aabbTestRecursive(this._tree._root,aabb,callback);
	}
	getTreeBalance() {
		return this._tree._getBalance();
	}
}
oimo.collision.broadphase.bvh.BvhInsertionStrategy = class oimo_collision_broadphase_bvh_BvhInsertionStrategy {
}
oimo.collision.broadphase.bvh.BvhNode = class oimo_collision_broadphase_bvh_BvhNode {
	constructor() {
		this._next = null;
		this._prevLeaf = null;
		this._nextLeaf = null;
		this._children = new Array(2);
		this._childIndex = 0;
		this._parent = null;
		this._height = 0;
		this._proxy = null;
		this._aabbMinX = 0;
		this._aabbMinY = 0;
		this._aabbMinZ = 0;
		this._aabbMaxX = 0;
		this._aabbMaxY = 0;
		this._aabbMaxZ = 0;
	}
}
oimo.collision.broadphase.bvh.BvhProxy = class oimo_collision_broadphase_bvh_BvhProxy extends oimo.collision.broadphase.Proxy {
	constructor(userData,id) {
		super(userData,id);
		this._leaf = null;
		this._moved = false;
	}
}
oimo.collision.broadphase.bvh.BvhStrategy = class oimo_collision_broadphase_bvh_BvhStrategy {
	constructor() {
		this._insertionStrategy = 0;
		this._balancingEnabled = false;
	}
	_decideInsertion(currentNode,leaf) {
		switch(this._insertionStrategy) {
		case 0:
			let centerX;
			let centerY;
			let centerZ;
			centerX = leaf._aabbMinX + leaf._aabbMaxX;
			centerY = leaf._aabbMinY + leaf._aabbMaxY;
			centerZ = leaf._aabbMinZ + leaf._aabbMaxZ;
			let c1 = currentNode._children[0];
			let c2 = currentNode._children[1];
			let diff1X;
			let diff1Y;
			let diff1Z;
			let diff2X;
			let diff2Y;
			let diff2Z;
			diff1X = c1._aabbMinX + c1._aabbMaxX;
			diff1Y = c1._aabbMinY + c1._aabbMaxY;
			diff1Z = c1._aabbMinZ + c1._aabbMaxZ;
			diff2X = c2._aabbMinX + c2._aabbMaxX;
			diff2Y = c2._aabbMinY + c2._aabbMaxY;
			diff2Z = c2._aabbMinZ + c2._aabbMaxZ;
			diff1X -= centerX;
			diff1Y -= centerY;
			diff1Z -= centerZ;
			diff2X -= centerX;
			diff2Y -= centerY;
			diff2Z -= centerZ;
			if(diff1X * diff1X + diff1Y * diff1Y + diff1Z * diff1Z < diff2X * diff2X + diff2Y * diff2Y + diff2Z * diff2Z) {
				return 0;
			} else {
				return 1;
			}
			break;
		case 1:
			let c11 = currentNode._children[0];
			let c21 = currentNode._children[1];
			let ey = currentNode._aabbMaxY - currentNode._aabbMinY;
			let ez = currentNode._aabbMaxZ - currentNode._aabbMinZ;
			let combinedMinX;
			let combinedMinY;
			let combinedMinZ;
			let combinedMaxX;
			let combinedMaxY;
			let combinedMaxZ;
			combinedMinX = currentNode._aabbMinX < leaf._aabbMinX ? currentNode._aabbMinX : leaf._aabbMinX;
			combinedMinY = currentNode._aabbMinY < leaf._aabbMinY ? currentNode._aabbMinY : leaf._aabbMinY;
			combinedMinZ = currentNode._aabbMinZ < leaf._aabbMinZ ? currentNode._aabbMinZ : leaf._aabbMinZ;
			combinedMaxX = currentNode._aabbMaxX > leaf._aabbMaxX ? currentNode._aabbMaxX : leaf._aabbMaxX;
			combinedMaxY = currentNode._aabbMaxY > leaf._aabbMaxY ? currentNode._aabbMaxY : leaf._aabbMaxY;
			combinedMaxZ = currentNode._aabbMaxZ > leaf._aabbMaxZ ? currentNode._aabbMaxZ : leaf._aabbMaxZ;
			let ey1 = combinedMaxY - combinedMinY;
			let ez1 = combinedMaxZ - combinedMinZ;
			let newArea = ((combinedMaxX - combinedMinX) * (ey1 + ez1) + ey1 * ez1) * 2;
			let creatingCost = newArea * 2;
			let incrementalCost = (newArea - ((currentNode._aabbMaxX - currentNode._aabbMinX) * (ey + ez) + ey * ez) * 2) * 2;
			let descendingCost1;
			combinedMinX = c11._aabbMinX < leaf._aabbMinX ? c11._aabbMinX : leaf._aabbMinX;
			combinedMinY = c11._aabbMinY < leaf._aabbMinY ? c11._aabbMinY : leaf._aabbMinY;
			combinedMinZ = c11._aabbMinZ < leaf._aabbMinZ ? c11._aabbMinZ : leaf._aabbMinZ;
			combinedMaxX = c11._aabbMaxX > leaf._aabbMaxX ? c11._aabbMaxX : leaf._aabbMaxX;
			combinedMaxY = c11._aabbMaxY > leaf._aabbMaxY ? c11._aabbMaxY : leaf._aabbMaxY;
			combinedMaxZ = c11._aabbMaxZ > leaf._aabbMaxZ ? c11._aabbMaxZ : leaf._aabbMaxZ;
			if(c11._height == 0) {
				let ey = combinedMaxY - combinedMinY;
				let ez = combinedMaxZ - combinedMinZ;
				descendingCost1 = incrementalCost + ((combinedMaxX - combinedMinX) * (ey + ez) + ey * ez) * 2;
			} else {
				let ey = combinedMaxY - combinedMinY;
				let ez = combinedMaxZ - combinedMinZ;
				let ey1 = c11._aabbMaxY - c11._aabbMinY;
				let ez1 = c11._aabbMaxZ - c11._aabbMinZ;
				descendingCost1 = incrementalCost + (((combinedMaxX - combinedMinX) * (ey + ez) + ey * ez) * 2 - ((c11._aabbMaxX - c11._aabbMinX) * (ey1 + ez1) + ey1 * ez1) * 2);
			}
			let descendingCost2;
			combinedMinX = c21._aabbMinX < leaf._aabbMinX ? c21._aabbMinX : leaf._aabbMinX;
			combinedMinY = c21._aabbMinY < leaf._aabbMinY ? c21._aabbMinY : leaf._aabbMinY;
			combinedMinZ = c21._aabbMinZ < leaf._aabbMinZ ? c21._aabbMinZ : leaf._aabbMinZ;
			combinedMaxX = c21._aabbMaxX > leaf._aabbMaxX ? c21._aabbMaxX : leaf._aabbMaxX;
			combinedMaxY = c21._aabbMaxY > leaf._aabbMaxY ? c21._aabbMaxY : leaf._aabbMaxY;
			combinedMaxZ = c21._aabbMaxZ > leaf._aabbMaxZ ? c21._aabbMaxZ : leaf._aabbMaxZ;
			if(c21._height == 0) {
				let ey = combinedMaxY - combinedMinY;
				let ez = combinedMaxZ - combinedMinZ;
				descendingCost2 = incrementalCost + ((combinedMaxX - combinedMinX) * (ey + ez) + ey * ez) * 2;
			} else {
				let ey = combinedMaxY - combinedMinY;
				let ez = combinedMaxZ - combinedMinZ;
				let ey1 = c21._aabbMaxY - c21._aabbMinY;
				let ez1 = c21._aabbMaxZ - c21._aabbMinZ;
				descendingCost2 = incrementalCost + (((combinedMaxX - combinedMinX) * (ey + ez) + ey * ez) * 2 - ((c21._aabbMaxX - c21._aabbMinX) * (ey1 + ez1) + ey1 * ez1) * 2);
			}
			if(creatingCost < descendingCost1) {
				if(creatingCost < descendingCost2) {
					return -1;
				} else {
					return 1;
				}
			} else if(descendingCost1 < descendingCost2) {
				return 0;
			} else {
				return 1;
			}
			break;
		default:
			console.log("src/oimo/collision/broadphase/bvh/BvhStrategy.hx:37:","invalid BVH insertion strategy: " + this._insertionStrategy);
			return -1;
		}
	}
	_splitLeaves(leaves,from,until) {
		let invN = 1.0 / (until - from);
		let centerMeanX;
		let centerMeanY;
		let centerMeanZ;
		centerMeanX = 0;
		centerMeanY = 0;
		centerMeanZ = 0;
		let _g = from;
		while(_g < until) {
			let leaf = leaves[_g++];
			leaf._tmpX = leaf._aabbMaxX + leaf._aabbMinX;
			leaf._tmpY = leaf._aabbMaxY + leaf._aabbMinY;
			leaf._tmpZ = leaf._aabbMaxZ + leaf._aabbMinZ;
			centerMeanX += leaf._tmpX;
			centerMeanY += leaf._tmpY;
			centerMeanZ += leaf._tmpZ;
		}
		centerMeanX *= invN;
		centerMeanY *= invN;
		centerMeanZ *= invN;
		let varianceX;
		let varianceY;
		let varianceZ;
		varianceX = 0;
		varianceY = 0;
		varianceZ = 0;
		let _g1 = from;
		while(_g1 < until) {
			let leaf = leaves[_g1++];
			let diffX;
			let diffY;
			let diffZ;
			diffX = leaf._tmpX - centerMeanX;
			diffY = leaf._tmpY - centerMeanY;
			diffZ = leaf._tmpZ - centerMeanZ;
			diffX *= diffX;
			diffY *= diffY;
			diffZ *= diffZ;
			varianceX += diffX;
			varianceY += diffY;
			varianceZ += diffZ;
		}
		let varX = varianceX;
		let varY = varianceY;
		let varZ = varianceZ;
		let l = from;
		let r = until - 1;
		if(varX > varY) {
			if(varX > varZ) {
				let mean = centerMeanX;
				while(true) {
					while(!(leaves[l]._tmpX <= mean)) ++l;
					while(!(leaves[r]._tmpX >= mean)) --r;
					if(l >= r) {
						break;
					}
					let tmp = leaves[l];
					leaves[l] = leaves[r];
					leaves[r] = tmp;
					++l;
					--r;
				}
			} else {
				let mean = centerMeanZ;
				while(true) {
					while(!(leaves[l]._tmpZ <= mean)) ++l;
					while(!(leaves[r]._tmpZ >= mean)) --r;
					if(l >= r) {
						break;
					}
					let tmp = leaves[l];
					leaves[l] = leaves[r];
					leaves[r] = tmp;
					++l;
					--r;
				}
			}
		} else if(varY > varZ) {
			let mean = centerMeanY;
			while(true) {
				while(!(leaves[l]._tmpY <= mean)) ++l;
				while(!(leaves[r]._tmpY >= mean)) --r;
				if(l >= r) {
					break;
				}
				let tmp = leaves[l];
				leaves[l] = leaves[r];
				leaves[r] = tmp;
				++l;
				--r;
			}
		} else {
			let mean = centerMeanZ;
			while(true) {
				while(!(leaves[l]._tmpZ <= mean)) ++l;
				while(!(leaves[r]._tmpZ >= mean)) --r;
				if(l >= r) {
					break;
				}
				let tmp = leaves[l];
				leaves[l] = leaves[r];
				leaves[r] = tmp;
				++l;
				--r;
			}
		}
		return l;
	}
}
oimo.collision.broadphase.bvh.BvhTree = class oimo_collision_broadphase_bvh_BvhTree {
	constructor() {
		this._root = null;
		this._numLeaves = 0;
		this._strategy = new oimo.collision.broadphase.bvh.BvhStrategy();
		this._nodePool = null;
		this.leafList = null;
		this.leafListLast = null;
		this.tmp = new Array(1024);
	}
	_print(root,indent) {
		if(indent == null) {
			indent = "";
		}
		if(root == null) {
			return;
		}
		if(root._height == 0) {
			console.log("src/oimo/collision/broadphase/bvh/BvhTree.hx:39:",indent + root._proxy._id);
		} else {
			this._print(root._children[0],indent + "  ");
			let tmp;
			let sizeX;
			let sizeY;
			let sizeZ;
			sizeX = root._aabbMaxX - root._aabbMinX;
			sizeY = root._aabbMaxY - root._aabbMinY;
			sizeZ = root._aabbMaxZ - root._aabbMinZ;
			let y = sizeY;
			let z = sizeZ;
			if(sizeX * (y + z) + y * z > 0) {
				let sizeX;
				let sizeY;
				let sizeZ;
				sizeX = root._aabbMaxX - root._aabbMinX;
				sizeY = root._aabbMaxY - root._aabbMinY;
				sizeZ = root._aabbMaxZ - root._aabbMinZ;
				let y = sizeY;
				let z = sizeZ;
				tmp = ((sizeX * (y + z) + y * z) * 1000 + 0.5 | 0) / 1000;
			} else {
				let sizeX;
				let sizeY;
				let sizeZ;
				sizeX = root._aabbMaxX - root._aabbMinX;
				sizeY = root._aabbMaxY - root._aabbMinY;
				sizeZ = root._aabbMaxZ - root._aabbMinZ;
				let y = sizeY;
				let z = sizeZ;
				tmp = ((sizeX * (y + z) + y * z) * 1000 - 0.5 | 0) / 1000;
			}
			console.log("src/oimo/collision/broadphase/bvh/BvhTree.hx:42:",indent + "#" + root._height + ", " + tmp);
			this._print(root._children[1],indent + "  ");
		}
	}
	_getBalance() {
		return this.getBalanceRecursive(this._root);
	}
	deleteRecursive(root) {
		if(root._height == 0) {
			let prev = root._prevLeaf;
			let next = root._nextLeaf;
			if(prev != null) {
				prev._nextLeaf = next;
			}
			if(next != null) {
				next._prevLeaf = prev;
			}
			if(root == this.leafList) {
				this.leafList = this.leafList._nextLeaf;
			}
			if(root == this.leafListLast) {
				this.leafListLast = this.leafListLast._prevLeaf;
			}
			root._nextLeaf = null;
			root._prevLeaf = null;
			root._proxy._leaf = null;
			root._next = null;
			root._childIndex = 0;
			root._children[0] = null;
			root._children[1] = null;
			root._childIndex = 0;
			root._parent = null;
			root._height = 0;
			root._proxy = null;
			root._next = this._nodePool;
			this._nodePool = root;
			return;
		}
		this.deleteRecursive(root._children[0]);
		this.deleteRecursive(root._children[1]);
		root._next = null;
		root._childIndex = 0;
		root._children[0] = null;
		root._children[1] = null;
		root._childIndex = 0;
		root._parent = null;
		root._height = 0;
		root._proxy = null;
		root._next = this._nodePool;
		this._nodePool = root;
	}
	decomposeRecursive(root) {
		if(root._height == 0) {
			root._childIndex = 0;
			root._parent = null;
			return;
		}
		this.decomposeRecursive(root._children[0]);
		this.decomposeRecursive(root._children[1]);
		root._next = null;
		root._childIndex = 0;
		root._children[0] = null;
		root._children[1] = null;
		root._childIndex = 0;
		root._parent = null;
		root._height = 0;
		root._proxy = null;
		root._next = this._nodePool;
		this._nodePool = root;
	}
	buildTopDownRecursive(leaves,from,until) {
		if(until - from == 1) {
			let leaf = leaves[from];
			let proxy = leaf._proxy;
			leaf._aabbMinX = proxy._aabbMinX;
			leaf._aabbMinY = proxy._aabbMinY;
			leaf._aabbMinZ = proxy._aabbMinZ;
			leaf._aabbMaxX = proxy._aabbMaxX;
			leaf._aabbMaxY = proxy._aabbMaxY;
			leaf._aabbMaxZ = proxy._aabbMaxZ;
			return leaf;
		}
		let splitAt = this._strategy._splitLeaves(leaves,from,until);
		let child1 = this.buildTopDownRecursive(leaves,from,splitAt);
		let child2 = this.buildTopDownRecursive(leaves,splitAt,until);
		let first = this._nodePool;
		if(first != null) {
			this._nodePool = first._next;
			first._next = null;
		} else {
			first = new oimo.collision.broadphase.bvh.BvhNode();
		}
		let parent = first;
		parent._children[0] = child1;
		child1._parent = parent;
		child1._childIndex = 0;
		parent._children[1] = child2;
		child2._parent = parent;
		child2._childIndex = 1;
		let c1 = parent._children[0];
		let c2 = parent._children[1];
		parent._aabbMinX = c1._aabbMinX < c2._aabbMinX ? c1._aabbMinX : c2._aabbMinX;
		parent._aabbMinY = c1._aabbMinY < c2._aabbMinY ? c1._aabbMinY : c2._aabbMinY;
		parent._aabbMinZ = c1._aabbMinZ < c2._aabbMinZ ? c1._aabbMinZ : c2._aabbMinZ;
		parent._aabbMaxX = c1._aabbMaxX > c2._aabbMaxX ? c1._aabbMaxX : c2._aabbMaxX;
		parent._aabbMaxY = c1._aabbMaxY > c2._aabbMaxY ? c1._aabbMaxY : c2._aabbMaxY;
		parent._aabbMaxZ = c1._aabbMaxZ > c2._aabbMaxZ ? c1._aabbMaxZ : c2._aabbMaxZ;
		let h1 = parent._children[0]._height;
		let h2 = parent._children[1]._height;
		parent._height = (h1 > h2 ? h1 : h2) + 1;
		return parent;
	}
	getBalanceRecursive(root) {
		if(root == null || root._height == 0) {
			return 0;
		}
		let balance = root._children[0]._height - root._children[1]._height;
		if(balance < 0) {
			balance = -balance;
		}
		return balance + this.getBalanceRecursive(root._children[0]) + this.getBalanceRecursive(root._children[1]);
	}
}
oimo.collision.geometry.Aabb = class oimo_collision_geometry_Aabb {
	constructor() {
		this._minX = 0;
		this._minY = 0;
		this._minZ = 0;
		this._maxX = 0;
		this._maxY = 0;
		this._maxZ = 0;
	}
	init(min,max) {
		this._minX = min.x;
		this._minY = min.y;
		this._minZ = min.z;
		this._maxX = max.x;
		this._maxY = max.y;
		this._maxZ = max.z;
		return this;
	}
	getMin() {
		let min = new oimo.common.Vec3();
		min.x = this._minX;
		min.y = this._minY;
		min.z = this._minZ;
		return min;
	}
	getMinTo(min) {
		min.x = this._minX;
		min.y = this._minY;
		min.z = this._minZ;
	}
	setMin(min) {
		this._minX = min.x;
		this._minY = min.y;
		this._minZ = min.z;
		return this;
	}
	getMax() {
		let max = new oimo.common.Vec3();
		max.x = this._maxX;
		max.y = this._maxY;
		max.z = this._maxZ;
		return max;
	}
	getMaxTo(max) {
		max.x = this._maxX;
		max.y = this._maxY;
		max.z = this._maxZ;
	}
	setMax(max) {
		this._maxX = max.x;
		this._maxY = max.y;
		this._maxZ = max.z;
		return this;
	}
	getCenter() {
		let v = new oimo.common.Vec3();
		let cX;
		let cY;
		let cZ;
		cX = this._minX + this._maxX;
		cY = this._minY + this._maxY;
		cZ = this._minZ + this._maxZ;
		cX *= 0.5;
		cY *= 0.5;
		cZ *= 0.5;
		v.x = cX;
		v.y = cY;
		v.z = cZ;
		return v;
	}
	getCenterTo(center) {
		let cX;
		let cY;
		let cZ;
		cX = this._minX + this._maxX;
		cY = this._minY + this._maxY;
		cZ = this._minZ + this._maxZ;
		cX *= 0.5;
		cY *= 0.5;
		cZ *= 0.5;
		center.x = cX;
		center.y = cY;
		center.z = cZ;
	}
	getExtents() {
		let v = new oimo.common.Vec3();
		let cX;
		let cY;
		let cZ;
		cX = this._maxX - this._minX;
		cY = this._maxY - this._minY;
		cZ = this._maxZ - this._minZ;
		cX *= 0.5;
		cY *= 0.5;
		cZ *= 0.5;
		v.x = cX;
		v.y = cY;
		v.z = cZ;
		return v;
	}
	getExtentsTo(halfExtents) {
		let cX;
		let cY;
		let cZ;
		cX = this._maxX - this._minX;
		cY = this._maxY - this._minY;
		cZ = this._maxZ - this._minZ;
		cX *= 0.5;
		cY *= 0.5;
		cZ *= 0.5;
		halfExtents.x = cX;
		halfExtents.y = cY;
		halfExtents.z = cZ;
	}
	combine(other) {
		this._minX = this._minX < other._minX ? this._minX : other._minX;
		this._minY = this._minY < other._minY ? this._minY : other._minY;
		this._minZ = this._minZ < other._minZ ? this._minZ : other._minZ;
		this._maxX = this._maxX > other._maxX ? this._maxX : other._maxX;
		this._maxY = this._maxY > other._maxY ? this._maxY : other._maxY;
		this._maxZ = this._maxZ > other._maxZ ? this._maxZ : other._maxZ;
		return this;
	}
	combined(other) {
		let aabb = new oimo.collision.geometry.Aabb();
		aabb._minX = this._minX < other._minX ? this._minX : other._minX;
		aabb._minY = this._minY < other._minY ? this._minY : other._minY;
		aabb._minZ = this._minZ < other._minZ ? this._minZ : other._minZ;
		aabb._maxX = this._maxX > other._maxX ? this._maxX : other._maxX;
		aabb._maxY = this._maxY > other._maxY ? this._maxY : other._maxY;
		aabb._maxZ = this._maxZ > other._maxZ ? this._maxZ : other._maxZ;
		return aabb;
	}
	overlap(other) {
		if(this._minX < other._maxX && this._maxX > other._minX && this._minY < other._maxY && this._maxY > other._minY && this._minZ < other._maxZ) {
			return this._maxZ > other._minZ;
		} else {
			return false;
		}
	}
	getIntersection(other) {
		let aabb = new oimo.collision.geometry.Aabb();
		aabb._minX = this._minX > other._minX ? this._minX : other._minX;
		aabb._minY = this._minY > other._minY ? this._minY : other._minY;
		aabb._minZ = this._minZ > other._minZ ? this._minZ : other._minZ;
		aabb._maxX = this._maxX < other._maxX ? this._maxX : other._maxX;
		aabb._maxY = this._maxY < other._maxY ? this._maxY : other._maxY;
		aabb._maxZ = this._maxZ < other._maxZ ? this._maxZ : other._maxZ;
		return aabb;
	}
	getIntersectionTo(other,intersection) {
		intersection._minX = this._minX > other._minX ? this._minX : other._minX;
		intersection._minY = this._minY > other._minY ? this._minY : other._minY;
		intersection._minZ = this._minZ > other._minZ ? this._minZ : other._minZ;
		intersection._maxX = this._maxX < other._maxX ? this._maxX : other._maxX;
		intersection._maxY = this._maxY < other._maxY ? this._maxY : other._maxY;
		intersection._maxZ = this._maxZ < other._maxZ ? this._maxZ : other._maxZ;
	}
	copyFrom(aabb) {
		this._minX = aabb._minX;
		this._minY = aabb._minY;
		this._minZ = aabb._minZ;
		this._maxX = aabb._maxX;
		this._maxY = aabb._maxY;
		this._maxZ = aabb._maxZ;
		return this;
	}
	clone() {
		let aabb = new oimo.collision.geometry.Aabb();
		aabb._minX = this._minX;
		aabb._minY = this._minY;
		aabb._minZ = this._minZ;
		aabb._maxX = this._maxX;
		aabb._maxY = this._maxY;
		aabb._maxZ = this._maxZ;
		return aabb;
	}
}
oimo.collision.geometry.BoxGeometry = class oimo_collision_geometry_BoxGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(halfExtents) {
		super(1);
		this._halfExtentsX = halfExtents.x;
		this._halfExtentsY = halfExtents.y;
		this._halfExtentsZ = halfExtents.z;
		this._halfAxisXX = halfExtents.x;
		this._halfAxisXY = 0;
		this._halfAxisXZ = 0;
		this._halfAxisYX = 0;
		this._halfAxisYY = halfExtents.y;
		this._halfAxisYZ = 0;
		this._halfAxisZX = 0;
		this._halfAxisZY = 0;
		this._halfAxisZZ = halfExtents.z;
		this._updateMass();
		let minHalfExtents = halfExtents.x < halfExtents.y ? halfExtents.z < halfExtents.x ? halfExtents.z : halfExtents.x : halfExtents.z < halfExtents.y ? halfExtents.z : halfExtents.y;
		if(this._gjkMargin > minHalfExtents * 0.2) {
			this._gjkMargin = minHalfExtents * 0.2;
		}
	}
	getHalfExtents() {
		let v = new oimo.common.Vec3();
		v.x = this._halfExtentsX;
		v.y = this._halfExtentsY;
		v.z = this._halfExtentsZ;
		return v;
	}
	getHalfExtentsTo(halfExtents) {
		halfExtents.x = this._halfExtentsX;
		halfExtents.y = this._halfExtentsY;
		halfExtents.z = this._halfExtentsZ;
	}
	_updateMass() {
		this._volume = 8 * (this._halfExtentsX * this._halfExtentsY * this._halfExtentsZ);
		let sqX;
		let sqY;
		let sqZ;
		sqX = this._halfExtentsX * this._halfExtentsX;
		sqY = this._halfExtentsY * this._halfExtentsY;
		sqZ = this._halfExtentsZ * this._halfExtentsZ;
		this._inertiaCoeff00 = 0.33333333333333331 * (sqY + sqZ);
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 0.33333333333333331 * (sqZ + sqX);
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 0.33333333333333331 * (sqX + sqY);
	}
	_computeAabb(aabb,tf) {
		let tfxX;
		let tfxY;
		let tfxZ;
		let tfyX;
		let tfyY;
		let tfyZ;
		let tfzX;
		let tfzY;
		let tfzZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf._rotation00 * this._halfAxisXX + tf._rotation01 * this._halfAxisXY + tf._rotation02 * this._halfAxisXZ;
		__tmp__Y = tf._rotation10 * this._halfAxisXX + tf._rotation11 * this._halfAxisXY + tf._rotation12 * this._halfAxisXZ;
		__tmp__Z = tf._rotation20 * this._halfAxisXX + tf._rotation21 * this._halfAxisXY + tf._rotation22 * this._halfAxisXZ;
		tfxX = __tmp__X;
		tfxY = __tmp__Y;
		tfxZ = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = tf._rotation00 * this._halfAxisYX + tf._rotation01 * this._halfAxisYY + tf._rotation02 * this._halfAxisYZ;
		__tmp__Y1 = tf._rotation10 * this._halfAxisYX + tf._rotation11 * this._halfAxisYY + tf._rotation12 * this._halfAxisYZ;
		__tmp__Z1 = tf._rotation20 * this._halfAxisYX + tf._rotation21 * this._halfAxisYY + tf._rotation22 * this._halfAxisYZ;
		tfyX = __tmp__X1;
		tfyY = __tmp__Y1;
		tfyZ = __tmp__Z1;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = tf._rotation00 * this._halfAxisZX + tf._rotation01 * this._halfAxisZY + tf._rotation02 * this._halfAxisZZ;
		__tmp__Y2 = tf._rotation10 * this._halfAxisZX + tf._rotation11 * this._halfAxisZY + tf._rotation12 * this._halfAxisZZ;
		__tmp__Z2 = tf._rotation20 * this._halfAxisZX + tf._rotation21 * this._halfAxisZY + tf._rotation22 * this._halfAxisZZ;
		tfzX = __tmp__X2;
		tfzY = __tmp__Y2;
		tfzZ = __tmp__Z2;
		if(tfxX < 0) {
			tfxX = -tfxX;
		}
		if(tfxY < 0) {
			tfxY = -tfxY;
		}
		if(tfxZ < 0) {
			tfxZ = -tfxZ;
		}
		if(tfyX < 0) {
			tfyX = -tfyX;
		}
		if(tfyY < 0) {
			tfyY = -tfyY;
		}
		if(tfyZ < 0) {
			tfyZ = -tfyZ;
		}
		if(tfzX < 0) {
			tfzX = -tfzX;
		}
		if(tfzY < 0) {
			tfzY = -tfzY;
		}
		if(tfzZ < 0) {
			tfzZ = -tfzZ;
		}
		let tfsX;
		let tfsY;
		let tfsZ;
		tfsX = tfxX + tfyX;
		tfsY = tfxY + tfyY;
		tfsZ = tfxZ + tfyZ;
		tfsX += tfzX;
		tfsY += tfzY;
		tfsZ += tfzZ;
		aabb._minX = tf._positionX - tfsX;
		aabb._minY = tf._positionY - tfsY;
		aabb._minZ = tf._positionZ - tfsZ;
		aabb._maxX = tf._positionX + tfsX;
		aabb._maxY = tf._positionY + tfsY;
		aabb._maxZ = tf._positionZ + tfsZ;
	}
	computeLocalSupportingVertex(dir,out) {
		let gjkMarginsX;
		let gjkMarginsY;
		let gjkMarginsZ;
		let coreExtentsX;
		let coreExtentsY;
		let coreExtentsZ;
		gjkMarginsX = this._gjkMargin;
		gjkMarginsY = this._gjkMargin;
		gjkMarginsZ = this._gjkMargin;
		if(!(gjkMarginsX < this._halfExtentsX)) {
			gjkMarginsX = this._halfExtentsX;
		}
		if(!(gjkMarginsY < this._halfExtentsY)) {
			gjkMarginsY = this._halfExtentsY;
		}
		if(!(gjkMarginsZ < this._halfExtentsZ)) {
			gjkMarginsZ = this._halfExtentsZ;
		}
		coreExtentsX = this._halfExtentsX - gjkMarginsX;
		coreExtentsY = this._halfExtentsY - gjkMarginsY;
		coreExtentsZ = this._halfExtentsZ - gjkMarginsZ;
		out.x = dir.x > 0 ? coreExtentsX : -coreExtentsX;
		out.y = dir.y > 0 ? coreExtentsY : -coreExtentsY;
		out.z = dir.z > 0 ? coreExtentsZ : -coreExtentsZ;
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		let halfW = this._halfExtentsX;
		let halfH = this._halfExtentsY;
		let halfD = this._halfExtentsZ;
		let dx = endX - beginX;
		let dy = endY - beginY;
		let dz = endZ - beginZ;
		let tminx = 0;
		let tminy = 0;
		let tminz = 0;
		let tmaxx = 1;
		let tmaxy = 1;
		let tmaxz = 1;
		if(dx > -1e-6 && dx < 1e-6) {
			if(beginX <= -halfW || beginX >= halfW) {
				return false;
			}
		} else {
			let invDx = 1 / dx;
			let t1 = (-halfW - beginX) * invDx;
			let t2 = (halfW - beginX) * invDx;
			if(t1 > t2) {
				let tmp = t1;
				t1 = t2;
				t2 = tmp;
			}
			if(t1 > 0) {
				tminx = t1;
			}
			if(t2 < 1) {
				tmaxx = t2;
			}
		}
		if(dy > -1e-6 && dy < 1e-6) {
			if(beginY <= -halfH || beginY >= halfH) {
				return false;
			}
		} else {
			let invDy = 1 / dy;
			let t1 = (-halfH - beginY) * invDy;
			let t2 = (halfH - beginY) * invDy;
			if(t1 > t2) {
				let tmp = t1;
				t1 = t2;
				t2 = tmp;
			}
			if(t1 > 0) {
				tminy = t1;
			}
			if(t2 < 1) {
				tmaxy = t2;
			}
		}
		if(dz > -1e-6 && dz < 1e-6) {
			if(beginZ <= -halfD || beginZ >= halfD) {
				return false;
			}
		} else {
			let invDz = 1 / dz;
			let t1 = (-halfD - beginZ) * invDz;
			let t2 = (halfD - beginZ) * invDz;
			if(t1 > t2) {
				let tmp = t1;
				t1 = t2;
				t2 = tmp;
			}
			if(t1 > 0) {
				tminz = t1;
			}
			if(t2 < 1) {
				tmaxz = t2;
			}
		}
		if(tminx >= 1 || tminy >= 1 || tminz >= 1 || tmaxx <= 0 || tmaxy <= 0 || tmaxz <= 0) {
			return false;
		}
		let min = tminx;
		let max = tmaxx;
		let hitDirection = 0;
		if(tminy > min) {
			min = tminy;
			hitDirection = 1;
		}
		if(tminz > min) {
			min = tminz;
			hitDirection = 2;
		}
		if(tmaxy < max) {
			max = tmaxy;
		}
		if(tmaxz < max) {
			max = tmaxz;
		}
		if(min > max) {
			return false;
		}
		if(min == 0) {
			return false;
		}
		switch(hitDirection) {
		case 0:
			hit.normal.init(dx > 0 ? -1 : 1,0,0);
			break;
		case 1:
			hit.normal.init(0,dy > 0 ? -1 : 1,0);
			break;
		case 2:
			hit.normal.init(0,0,dz > 0 ? -1 : 1);
			break;
		}
		hit.position.init(beginX + min * dx,beginY + min * dy,beginZ + min * dz);
		hit.fraction = min;
		return true;
	}
}
oimo.collision.geometry.CapsuleGeometry = class oimo_collision_geometry_CapsuleGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(radius,halfHeight) {
		super(4);
		this._radius = radius;
		this._halfHeight = halfHeight;
		this._gjkMargin = this._radius;
		this._updateMass();
	}
	getRadius() {
		return this._radius;
	}
	getHalfHeight() {
		return this._halfHeight;
	}
	_updateMass() {
		let r2 = this._radius * this._radius;
		let hh2 = this._halfHeight * this._halfHeight;
		let cylinderVolume = 6.28318530717958 * r2 * this._halfHeight;
		let sphereVolume = 3.14159265358979 * r2 * this._radius * 4 / 3;
		this._volume = cylinderVolume + sphereVolume;
		let invVolume = this._volume == 0 ? 0 : 1 / this._volume;
		let inertiaXZ = invVolume * (cylinderVolume * (r2 * 0.25 + hh2 / 3) + sphereVolume * (r2 * 0.4 + this._halfHeight * this._radius * 0.75 + hh2));
		this._inertiaCoeff00 = inertiaXZ;
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = invVolume * (cylinderVolume * r2 * 0.5 + sphereVolume * r2 * 0.4);
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = inertiaXZ;
	}
	_computeAabb(aabb,tf) {
		let radVecX;
		let radVecY;
		let radVecZ;
		radVecX = this._radius;
		radVecY = this._radius;
		radVecZ = this._radius;
		let axisX;
		let axisY;
		let axisZ;
		axisX = tf._rotation01;
		axisY = tf._rotation11;
		axisZ = tf._rotation21;
		if(axisX < 0) {
			axisX = -axisX;
		}
		if(axisY < 0) {
			axisY = -axisY;
		}
		if(axisZ < 0) {
			axisZ = -axisZ;
		}
		axisX *= this._halfHeight;
		axisY *= this._halfHeight;
		axisZ *= this._halfHeight;
		radVecX += axisX;
		radVecY += axisY;
		radVecZ += axisZ;
		aabb._minX = tf._positionX - radVecX;
		aabb._minY = tf._positionY - radVecY;
		aabb._minZ = tf._positionZ - radVecZ;
		aabb._maxX = tf._positionX + radVecX;
		aabb._maxY = tf._positionY + radVecY;
		aabb._maxZ = tf._positionZ + radVecZ;
	}
	computeLocalSupportingVertex(dir,out) {
		if(dir.y > 0) {
			out.init(0,this._halfHeight,0);
		} else {
			out.init(0,-this._halfHeight,0);
		}
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		let halfH = this._halfHeight;
		let dx = endX - beginX;
		let dz = endZ - beginZ;
		let tminxz = 0;
		let tmaxxz;
		let a = dx * dx + dz * dz;
		let b = beginX * dx + beginZ * dz;
		let c = beginX * beginX + beginZ * beginZ - this._radius * this._radius;
		let D = b * b - a * c;
		if(D < 0) {
			return false;
		}
		if(a > 0) {
			let sqrtD = Math.sqrt(D);
			tminxz = (-b - sqrtD) / a;
			tmaxxz = (-b + sqrtD) / a;
			if(tminxz >= 1 || tmaxxz <= 0) {
				return false;
			}
		} else {
			if(c >= 0) {
				return false;
			}
			tminxz = 0;
		}
		let crossY = beginY + (endY - beginY) * tminxz;
		let min;
		if(crossY > -halfH && crossY < halfH) {
			if(tminxz > 0) {
				min = tminxz;
				let _this = hit.normal.init(beginX + dx * min,0,beginZ + dz * min);
				let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
				if(invLen > 0) {
					invLen = 1 / invLen;
				}
				_this.x *= invLen;
				_this.y *= invLen;
				_this.z *= invLen;
				hit.position.init(beginX + min * dx,crossY,beginZ + min * dz);
				hit.fraction = min;
				return true;
			}
			return false;
		}
		let spherePosX;
		let spherePosY;
		let spherePosZ;
		let sphereToBeginX;
		let sphereToBeginY;
		let sphereToBeginZ;
		spherePosX = 0;
		spherePosY = crossY < 0 ? -halfH : halfH;
		spherePosZ = 0;
		sphereToBeginX = beginX - spherePosX;
		sphereToBeginY = beginY - spherePosY;
		sphereToBeginZ = beginZ - spherePosZ;
		let dX;
		let dY;
		let dZ;
		dX = endX - beginX;
		dY = endY - beginY;
		dZ = endZ - beginZ;
		a = dX * dX + dY * dY + dZ * dZ;
		b = sphereToBeginX * dX + sphereToBeginY * dY + sphereToBeginZ * dZ;
		c = sphereToBeginX * sphereToBeginX + sphereToBeginY * sphereToBeginY + sphereToBeginZ * sphereToBeginZ - this._radius * this._radius;
		D = b * b - a * c;
		if(D < 0) {
			return false;
		}
		let t = (-b - Math.sqrt(D)) / a;
		if(t < 0 || t > 1) {
			return false;
		}
		let hitPosX;
		let hitPosY;
		let hitPosZ;
		let hitNormalX;
		let hitNormalY;
		let hitNormalZ;
		hitPosX = sphereToBeginX + dX * t;
		hitPosY = sphereToBeginY + dY * t;
		hitPosZ = sphereToBeginZ + dZ * t;
		let l = hitPosX * hitPosX + hitPosY * hitPosY + hitPosZ * hitPosZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		hitNormalX = hitPosX * l;
		hitNormalY = hitPosY * l;
		hitNormalZ = hitPosZ * l;
		hitPosX += spherePosX;
		hitPosY += spherePosY;
		hitPosZ += spherePosZ;
		let v = hit.position;
		v.x = hitPosX;
		v.y = hitPosY;
		v.z = hitPosZ;
		let v1 = hit.normal;
		v1.x = hitNormalX;
		v1.y = hitNormalY;
		v1.z = hitNormalZ;
		hit.fraction = t;
		return true;
	}
}
oimo.collision.geometry.ConeGeometry = class oimo_collision_geometry_ConeGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(radius,halfHeight) {
		super(3);
		this._radius = radius;
		this._halfHeight = halfHeight;
		this.sinTheta = radius / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);
		this.cosTheta = 2 * halfHeight / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);
		this._updateMass();
	}
	getRadius() {
		return this._radius;
	}
	getHalfHeight() {
		return this._halfHeight;
	}
	_updateMass() {
		let r2 = this._radius * this._radius;
		let h2 = this._halfHeight * this._halfHeight * 4;
		this._volume = 3.14159265358979 * r2 * this._halfHeight * 2 / 3;
		this._inertiaCoeff00 = 0.05 * (3 * r2 + 2 * h2);
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 0.3 * r2;
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 0.05 * (3 * r2 + 2 * h2);
	}
	_computeAabb(aabb,tf) {
		let axisX;
		let axisY;
		let axisZ;
		let axis2X;
		let axis2Y;
		let axis2Z;
		let ehX;
		let ehY;
		let ehZ;
		let erX;
		let erY;
		let erZ;
		axisX = tf._rotation01;
		axisY = tf._rotation11;
		axisZ = tf._rotation21;
		axis2X = axisX * axisX;
		axis2Y = axisY * axisY;
		axis2Z = axisZ * axisZ;
		erX = Math.sqrt(1 - axis2X);
		erY = Math.sqrt(1 - axis2Y);
		erZ = Math.sqrt(1 - axis2Z);
		erX *= this._radius;
		erY *= this._radius;
		erZ *= this._radius;
		ehX = axisX * this._halfHeight;
		ehY = axisY * this._halfHeight;
		ehZ = axisZ * this._halfHeight;
		let rminX;
		let rminY;
		let rminZ;
		let rmaxX;
		let rmaxY;
		let rmaxZ;
		rminX = -ehX;
		rminY = -ehY;
		rminZ = -ehZ;
		rminX -= erX;
		rminY -= erY;
		rminZ -= erZ;
		rmaxX = -ehX;
		rmaxY = -ehY;
		rmaxZ = -ehZ;
		rmaxX += erX;
		rmaxY += erY;
		rmaxZ += erZ;
		let maxX;
		let maxY;
		let maxZ;
		let minX;
		let minY;
		let minZ;
		maxX = rminX > rmaxX ? rminX : rmaxX;
		maxY = rminY > rmaxY ? rminY : rmaxY;
		maxZ = rminZ > rmaxZ ? rminZ : rmaxZ;
		if(!(maxX > ehX)) {
			maxX = ehX;
		}
		if(!(maxY > ehY)) {
			maxY = ehY;
		}
		if(!(maxZ > ehZ)) {
			maxZ = ehZ;
		}
		minX = rminX < rmaxX ? rminX : rmaxX;
		minY = rminY < rmaxY ? rminY : rmaxY;
		minZ = rminZ < rmaxZ ? rminZ : rmaxZ;
		if(!(minX < ehX)) {
			minX = ehX;
		}
		if(!(minY < ehY)) {
			minY = ehY;
		}
		if(!(minZ < ehZ)) {
			minZ = ehZ;
		}
		aabb._minX = tf._positionX + minX;
		aabb._minY = tf._positionY + minY;
		aabb._minZ = tf._positionZ + minZ;
		aabb._maxX = tf._positionX + maxX;
		aabb._maxY = tf._positionY + maxY;
		aabb._maxZ = tf._positionZ + maxZ;
	}
	computeLocalSupportingVertex(dir,out) {
		let dx = dir.x;
		let dy = dir.y;
		let dz = dir.z;
		if(dy > 0 && dy * dy > this.sinTheta * this.sinTheta * (dx * dx + dy * dy + dz * dz)) {
			out.init(0,this._halfHeight - this._gjkMargin / this.sinTheta,0);
			if(out.y < 0) {
				out.y = 0;
			}
			return;
		}
		let rx = dir.x;
		let rz = dir.z;
		let len = rx * rx + rz * rz;
		let height = 2 * this._halfHeight;
		let coreRadius = (height - this._gjkMargin) / height * this._radius - this._gjkMargin / this.cosTheta;
		if(coreRadius < 0) {
			coreRadius = 0;
		}
		let invLen = len > 0 ? coreRadius / Math.sqrt(len) : 0;
		let coreHalfHeight = this._halfHeight - this._gjkMargin;
		if(coreHalfHeight < 0) {
			coreHalfHeight = 0;
		}
		out.x = rx * invLen;
		out.y = -coreHalfHeight;
		out.z = rz * invLen;
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		let p1y;
		let halfH = this._halfHeight;
		let dx = endX - beginX;
		let dy = endY - beginY;
		let dz = endZ - beginZ;
		let tminy = 0;
		let tmaxy = 1;
		if(dy > -1e-6 && dy < 1e-6) {
			if(beginY <= -halfH || beginY >= halfH) {
				return false;
			}
		} else {
			let invDy = 1 / dy;
			let t1 = (-halfH - beginY) * invDy;
			let t2 = (halfH - beginY) * invDy;
			if(t1 > t2) {
				let tmp = t1;
				t1 = t2;
				t2 = tmp;
			}
			if(t1 > 0) {
				tminy = t1;
			}
			if(t2 < 1) {
				tmaxy = t2;
			}
		}
		if(tminy >= 1 || tmaxy <= 0) {
			return false;
		}
		let tminxz = 0;
		let tmaxxz = 0;
		p1y = beginY - halfH;
		let cos2 = this.cosTheta * this.cosTheta;
		let a = cos2 * (dx * dx + dy * dy + dz * dz) - dy * dy;
		let b = cos2 * (beginX * dx + p1y * dy + beginZ * dz) - p1y * dy;
		let c = cos2 * (beginX * beginX + p1y * p1y + beginZ * beginZ) - p1y * p1y;
		let D = b * b - a * c;
		if(a != 0) {
			if(D < 0) {
				return false;
			}
			let sqrtD = Math.sqrt(D);
			if(a < 0) {
				if(dy > 0) {
					tminxz = 0;
					tmaxxz = (-b + sqrtD) / a;
					if(tmaxxz <= 0) {
						return false;
					}
				} else {
					tminxz = (-b - sqrtD) / a;
					tmaxxz = 1;
					if(tminxz >= 1) {
						return false;
					}
				}
			} else {
				tminxz = (-b - sqrtD) / a;
				tmaxxz = (-b + sqrtD) / a;
				if(tminxz >= 1 || tmaxxz <= 0) {
					return false;
				}
			}
		} else {
			let t = -c / (2 * b);
			if(b > 0) {
				tminxz = 0;
				tmaxxz = t;
				if(t <= 0) {
					return false;
				}
			} else {
				tminxz = t;
				tmaxxz = 1;
				if(t >= 1) {
					return false;
				}
			}
		}
		p1y += halfH;
		let min;
		if(tmaxxz <= tminy || tmaxy <= tminxz) {
			return false;
		}
		if(tminxz < tminy) {
			min = tminy;
			if(min == 0) {
				return false;
			}
			hit.normal.init(0,dy > 0 ? -1 : 1,0);
		} else {
			min = tminxz;
			if(min == 0) {
				return false;
			}
			let _this = hit.normal.init(beginX + dx * min,0,beginZ + dz * min);
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
			let s = this.cosTheta;
			_this.x *= s;
			_this.y *= s;
			_this.z *= s;
			hit.normal.y += this.sinTheta;
		}
		hit.position.init(beginX + min * dx,p1y + min * dy,beginZ + min * dz);
		hit.fraction = min;
		return true;
	}
}
oimo.collision.geometry.ConvexHullGeometry = class oimo_collision_geometry_ConvexHullGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(vertices) {
		super(5);
		this._numVertices = vertices.length;
		this._vertices = new Array(this._numVertices);
		this._tmpVertices = new Array(this._numVertices);
		let _g = 0;
		let _g1 = this._numVertices;
		while(_g < _g1) {
			let i = _g++;
			this._vertices[i] = vertices[i];
			this._tmpVertices[i] = new oimo.common.Vec3();
		}
		this._useGjkRayCast = true;
		this._updateMass();
	}
	getVertices() {
		return this._vertices;
	}
	_updateMass() {
		this._volume = 1;
		this._inertiaCoeff00 = 1;
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 1;
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 1;
		let minx = this._vertices[0].x;
		let miny = this._vertices[0].y;
		let minz = this._vertices[0].z;
		let maxx = this._vertices[0].x;
		let maxy = this._vertices[0].y;
		let maxz = this._vertices[0].z;
		let _g = 1;
		let _g1 = this._numVertices;
		while(_g < _g1) {
			let i = _g++;
			let vx = this._vertices[i].x;
			let vy = this._vertices[i].y;
			let vz = this._vertices[i].z;
			if(vx < minx) {
				minx = vx;
			} else if(vx > maxx) {
				maxx = vx;
			}
			if(vy < miny) {
				miny = vy;
			} else if(vy > maxy) {
				maxy = vy;
			}
			if(vz < minz) {
				minz = vz;
			} else if(vz > maxz) {
				maxz = vz;
			}
		}
		let sizex = maxx - minx;
		let sizey = maxy - miny;
		let sizez = maxz - minz;
		this._volume = sizex * sizey * sizez;
		let diffCog = ((minx + maxx) * (minx + maxx) + (miny + maxy) * (miny + maxy) + (minz + maxz) * (minz + maxz)) * 0.25;
		sizex = sizex * sizex * 0.25;
		sizey = sizey * sizey * 0.25;
		sizez = sizez * sizez * 0.25;
		this._inertiaCoeff00 = 0.33333333333333331 * (sizey + sizez) + diffCog;
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 0.33333333333333331 * (sizez + sizex) + diffCog;
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 0.33333333333333331 * (sizex + sizey) + diffCog;
	}
	_computeAabb(aabb,tf) {
		let minX;
		let minY;
		let minZ;
		let maxX;
		let maxY;
		let maxZ;
		let marginX;
		let marginY;
		let marginZ;
		marginX = this._gjkMargin;
		marginY = this._gjkMargin;
		marginZ = this._gjkMargin;
		let localVX;
		let localVY;
		let localVZ;
		let v = this._vertices[0];
		localVX = v.x;
		localVY = v.y;
		localVZ = v.z;
		let worldVX;
		let worldVY;
		let worldVZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf._rotation00 * localVX + tf._rotation01 * localVY + tf._rotation02 * localVZ;
		__tmp__Y = tf._rotation10 * localVX + tf._rotation11 * localVY + tf._rotation12 * localVZ;
		__tmp__Z = tf._rotation20 * localVX + tf._rotation21 * localVY + tf._rotation22 * localVZ;
		worldVX = __tmp__X;
		worldVY = __tmp__Y;
		worldVZ = __tmp__Z;
		worldVX += tf._positionX;
		worldVY += tf._positionY;
		worldVZ += tf._positionZ;
		minX = worldVX;
		minY = worldVY;
		minZ = worldVZ;
		maxX = worldVX;
		maxY = worldVY;
		maxZ = worldVZ;
		let _g = 1;
		let _g1 = this._numVertices;
		while(_g < _g1) {
			let v = this._vertices[_g++];
			localVX = v.x;
			localVY = v.y;
			localVZ = v.z;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf._rotation00 * localVX + tf._rotation01 * localVY + tf._rotation02 * localVZ;
			__tmp__Y = tf._rotation10 * localVX + tf._rotation11 * localVY + tf._rotation12 * localVZ;
			__tmp__Z = tf._rotation20 * localVX + tf._rotation21 * localVY + tf._rotation22 * localVZ;
			worldVX = __tmp__X;
			worldVY = __tmp__Y;
			worldVZ = __tmp__Z;
			worldVX += tf._positionX;
			worldVY += tf._positionY;
			worldVZ += tf._positionZ;
			if(!(minX < worldVX)) {
				minX = worldVX;
			}
			if(!(minY < worldVY)) {
				minY = worldVY;
			}
			if(!(minZ < worldVZ)) {
				minZ = worldVZ;
			}
			if(!(maxX > worldVX)) {
				maxX = worldVX;
			}
			if(!(maxY > worldVY)) {
				maxY = worldVY;
			}
			if(!(maxZ > worldVZ)) {
				maxZ = worldVZ;
			}
		}
		aabb._minX = minX - marginX;
		aabb._minY = minY - marginY;
		aabb._minZ = minZ - marginZ;
		aabb._maxX = maxX + marginX;
		aabb._maxY = maxY + marginY;
		aabb._maxZ = maxZ + marginZ;
	}
	computeLocalSupportingVertex(dir,out) {
		let _this = this._vertices[0];
		let maxDot = _this.x * dir.x + _this.y * dir.y + _this.z * dir.z;
		let maxIndex = 0;
		let _g = 1;
		let _g1 = this._numVertices;
		while(_g < _g1) {
			let i = _g++;
			let _this = this._vertices[i];
			let dot = _this.x * dir.x + _this.y * dir.y + _this.z * dir.z;
			if(dot > maxDot) {
				maxDot = dot;
				maxIndex = i;
			}
		}
		let v = this._vertices[maxIndex];
		out.x = v.x;
		out.y = v.y;
		out.z = v.z;
	}
}
oimo.collision.geometry.CylinderGeometry = class oimo_collision_geometry_CylinderGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(radius,halfHeight) {
		super(2);
		this._radius = radius;
		this._halfHeight = halfHeight;
		this._updateMass();
	}
	getRadius() {
		return this._radius;
	}
	getHalfHeight() {
		return this._halfHeight;
	}
	_updateMass() {
		let r2 = this._radius * this._radius;
		let h2 = this._halfHeight * this._halfHeight * 4;
		this._volume = 3.14159265358979 * r2 * this._halfHeight * 2;
		this._inertiaCoeff00 = 0.083333333333333329 * (3 * r2 + h2);
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 0.5 * r2;
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 0.083333333333333329 * (3 * r2 + h2);
	}
	_computeAabb(aabb,tf) {
		let axisX;
		let axisY;
		let axisZ;
		let axis2X;
		let axis2Y;
		let axis2Z;
		let ehX;
		let ehY;
		let ehZ;
		let erX;
		let erY;
		let erZ;
		axisX = tf._rotation01;
		axisY = tf._rotation11;
		axisZ = tf._rotation21;
		if(axisX < 0) {
			axisX = -axisX;
		}
		if(axisY < 0) {
			axisY = -axisY;
		}
		if(axisZ < 0) {
			axisZ = -axisZ;
		}
		axis2X = axisX * axisX;
		axis2Y = axisY * axisY;
		axis2Z = axisZ * axisZ;
		erX = Math.sqrt(1 - axis2X);
		erY = Math.sqrt(1 - axis2Y);
		erZ = Math.sqrt(1 - axis2Z);
		erX *= this._radius;
		erY *= this._radius;
		erZ *= this._radius;
		ehX = axisX * this._halfHeight;
		ehY = axisY * this._halfHeight;
		ehZ = axisZ * this._halfHeight;
		let maxX;
		let maxY;
		let maxZ;
		maxX = erX + ehX;
		maxY = erY + ehY;
		maxZ = erZ + ehZ;
		aabb._minX = tf._positionX - maxX;
		aabb._minY = tf._positionY - maxY;
		aabb._minZ = tf._positionZ - maxZ;
		aabb._maxX = tf._positionX + maxX;
		aabb._maxY = tf._positionY + maxY;
		aabb._maxZ = tf._positionZ + maxZ;
	}
	computeLocalSupportingVertex(dir,out) {
		let rx = dir.x;
		let rz = dir.z;
		let len = rx * rx + rz * rz;
		let coreRadius = this._radius - this._gjkMargin;
		if(coreRadius < 0) {
			coreRadius = 0;
		}
		let invLen = len > 0 ? coreRadius / Math.sqrt(len) : 0;
		let coreHeight = this._halfHeight - this._gjkMargin;
		if(coreHeight < 0) {
			coreHeight = 0;
		}
		out.x = rx * invLen;
		out.y = dir.y > 0 ? coreHeight : -coreHeight;
		out.z = rz * invLen;
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		let halfH = this._halfHeight;
		let dx = endX - beginX;
		let dy = endY - beginY;
		let dz = endZ - beginZ;
		let tminy = 0;
		let tmaxy = 1;
		if(dy > -1e-6 && dy < 1e-6) {
			if(beginY <= -halfH || beginY >= halfH) {
				return false;
			}
		} else {
			let invDy = 1 / dy;
			let t1 = (-halfH - beginY) * invDy;
			let t2 = (halfH - beginY) * invDy;
			if(t1 > t2) {
				let tmp = t1;
				t1 = t2;
				t2 = tmp;
			}
			if(t1 > 0) {
				tminy = t1;
			}
			if(t2 < 1) {
				tmaxy = t2;
			}
		}
		if(tminy >= 1 || tmaxy <= 0) {
			return false;
		}
		let tminxz = 0;
		let tmaxxz;
		let a = dx * dx + dz * dz;
		let b = beginX * dx + beginZ * dz;
		let c = beginX * beginX + beginZ * beginZ - this._radius * this._radius;
		let D = b * b - a * c;
		if(D < 0) {
			return false;
		}
		if(a > 0) {
			let sqrtD = Math.sqrt(D);
			tminxz = (-b - sqrtD) / a;
			tmaxxz = (-b + sqrtD) / a;
			if(tminxz >= 1 || tmaxxz <= 0) {
				return false;
			}
		} else {
			if(c >= 0) {
				return false;
			}
			tminxz = 0;
			tmaxxz = 1;
		}
		let min;
		if(tmaxxz <= tminy || tmaxy <= tminxz) {
			return false;
		}
		if(tminxz < tminy) {
			min = tminy;
			if(min == 0) {
				return false;
			}
			hit.normal.init(0,dy > 0 ? -1 : 1,0);
		} else {
			min = tminxz;
			if(min == 0) {
				return false;
			}
			let _this = hit.normal.init(beginX + dx * min,0,beginZ + dz * min);
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
		}
		hit.position.init(beginX + min * dx,beginY + min * dy,beginZ + min * dz);
		hit.fraction = min;
		return true;
	}
}
oimo.collision.geometry.GeometryType = class oimo_collision_geometry_GeometryType {
}
oimo.collision.geometry.RayCastHit = class oimo_collision_geometry_RayCastHit {
	constructor() {
		this.position = new oimo.common.Vec3();
		this.normal = new oimo.common.Vec3();
		this.fraction = 0;
	}
}
oimo.collision.geometry.SphereGeometry = class oimo_collision_geometry_SphereGeometry extends oimo.collision.geometry.ConvexGeometry {
	constructor(radius) {
		super(0);
		this._radius = radius;
		this._gjkMargin = this._radius;
		this._updateMass();
	}
	getRadius() {
		return this._radius;
	}
	_updateMass() {
		this._volume = 4.1887902047863861 * this._radius * this._radius * this._radius;
		this._inertiaCoeff00 = 0.4 * this._radius * this._radius;
		this._inertiaCoeff01 = 0;
		this._inertiaCoeff02 = 0;
		this._inertiaCoeff10 = 0;
		this._inertiaCoeff11 = 0.4 * this._radius * this._radius;
		this._inertiaCoeff12 = 0;
		this._inertiaCoeff20 = 0;
		this._inertiaCoeff21 = 0;
		this._inertiaCoeff22 = 0.4 * this._radius * this._radius;
	}
	_computeAabb(aabb,tf) {
		let radVecX;
		let radVecY;
		let radVecZ;
		radVecX = this._radius;
		radVecY = this._radius;
		radVecZ = this._radius;
		aabb._minX = tf._positionX - radVecX;
		aabb._minY = tf._positionY - radVecY;
		aabb._minZ = tf._positionZ - radVecZ;
		aabb._maxX = tf._positionX + radVecX;
		aabb._maxY = tf._positionY + radVecY;
		aabb._maxZ = tf._positionZ + radVecZ;
	}
	computeLocalSupportingVertex(dir,out) {
		out.zero();
	}
	_rayCastLocal(beginX,beginY,beginZ,endX,endY,endZ,hit) {
		let dX;
		let dY;
		let dZ;
		dX = endX - beginX;
		dY = endY - beginY;
		dZ = endZ - beginZ;
		let a = dX * dX + dY * dY + dZ * dZ;
		let b = beginX * dX + beginY * dY + beginZ * dZ;
		let D = b * b - a * (beginX * beginX + beginY * beginY + beginZ * beginZ - this._radius * this._radius);
		if(D < 0) {
			return false;
		}
		let t = (-b - Math.sqrt(D)) / a;
		if(t < 0 || t > 1) {
			return false;
		}
		let hitPosX;
		let hitPosY;
		let hitPosZ;
		let hitNormalX;
		let hitNormalY;
		let hitNormalZ;
		hitPosX = beginX + dX * t;
		hitPosY = beginY + dY * t;
		hitPosZ = beginZ + dZ * t;
		let l = hitPosX * hitPosX + hitPosY * hitPosY + hitPosZ * hitPosZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		hitNormalX = hitPosX * l;
		hitNormalY = hitPosY * l;
		hitNormalZ = hitPosZ * l;
		let v = hit.position;
		v.x = hitPosX;
		v.y = hitPosY;
		v.z = hitPosZ;
		let v1 = hit.normal;
		v1.x = hitNormalX;
		v1.y = hitNormalY;
		v1.z = hitNormalZ;
		hit.fraction = t;
		return true;
	}
}
if(!oimo.collision.narrowphase) oimo.collision.narrowphase = {};
oimo.collision.narrowphase.CollisionMatrix = class oimo_collision_narrowphase_CollisionMatrix {
	constructor() {
		this.detectors = new Array(8);
		this.detectors[0] = new Array(8);
		this.detectors[1] = new Array(8);
		this.detectors[2] = new Array(8);
		this.detectors[3] = new Array(8);
		this.detectors[4] = new Array(8);
		this.detectors[5] = new Array(8);
		let gjkEpaDetector = new oimo.collision.narrowphase.detector.GjkEpaDetector();
		this.detectors[0][0] = new oimo.collision.narrowphase.detector.SphereSphereDetector();
		this.detectors[0][1] = new oimo.collision.narrowphase.detector.SphereBoxDetector(false);
		this.detectors[0][2] = gjkEpaDetector;
		this.detectors[0][3] = gjkEpaDetector;
		this.detectors[0][4] = new oimo.collision.narrowphase.detector.SphereCapsuleDetector(false);
		this.detectors[0][5] = gjkEpaDetector;
		this.detectors[1][0] = new oimo.collision.narrowphase.detector.SphereBoxDetector(true);
		this.detectors[1][1] = new oimo.collision.narrowphase.detector.BoxBoxDetector();
		this.detectors[1][2] = gjkEpaDetector;
		this.detectors[1][3] = gjkEpaDetector;
		this.detectors[1][4] = gjkEpaDetector;
		this.detectors[1][5] = gjkEpaDetector;
		this.detectors[2][0] = gjkEpaDetector;
		this.detectors[2][1] = gjkEpaDetector;
		this.detectors[2][2] = gjkEpaDetector;
		this.detectors[2][3] = gjkEpaDetector;
		this.detectors[2][4] = gjkEpaDetector;
		this.detectors[2][5] = gjkEpaDetector;
		this.detectors[3][0] = gjkEpaDetector;
		this.detectors[3][1] = gjkEpaDetector;
		this.detectors[3][2] = gjkEpaDetector;
		this.detectors[3][3] = gjkEpaDetector;
		this.detectors[3][4] = gjkEpaDetector;
		this.detectors[3][5] = gjkEpaDetector;
		this.detectors[4][0] = new oimo.collision.narrowphase.detector.SphereCapsuleDetector(true);
		this.detectors[4][1] = gjkEpaDetector;
		this.detectors[4][2] = gjkEpaDetector;
		this.detectors[4][3] = gjkEpaDetector;
		this.detectors[4][4] = new oimo.collision.narrowphase.detector.CapsuleCapsuleDetector();
		this.detectors[4][5] = gjkEpaDetector;
		this.detectors[5][0] = gjkEpaDetector;
		this.detectors[5][1] = gjkEpaDetector;
		this.detectors[5][2] = gjkEpaDetector;
		this.detectors[5][3] = gjkEpaDetector;
		this.detectors[5][4] = gjkEpaDetector;
		this.detectors[5][5] = gjkEpaDetector;
	}
	getDetector(geomType1,geomType2) {
		return this.detectors[geomType1][geomType2];
	}
}
oimo.collision.narrowphase.DetectorResult = class oimo_collision_narrowphase_DetectorResult {
	constructor() {
		this.numPoints = 0;
		this.normal = new oimo.common.Vec3();
		this.points = new Array(oimo.common.Setting.maxManifoldPoints);
		this.incremental = false;
		let _g = 0;
		let _g1 = oimo.common.Setting.maxManifoldPoints;
		while(_g < _g1) this.points[_g++] = new oimo.collision.narrowphase.DetectorResultPoint();
	}
	getMaxDepth() {
		let max = 0;
		let _g = 0;
		let _g1 = this.numPoints;
		while(_g < _g1) {
			let i = _g++;
			if(this.points[i].depth > max) {
				max = this.points[i].depth;
			}
		}
		return max;
	}
	clear() {
		this.numPoints = 0;
		let _g = 0;
		let _g1 = this.points;
		while(_g < _g1.length) {
			let p = _g1[_g];
			++_g;
			p.position1.zero();
			p.position2.zero();
			p.depth = 0;
			p.id = 0;
		}
		this.normal.zero();
	}
}
oimo.collision.narrowphase.DetectorResultPoint = class oimo_collision_narrowphase_DetectorResultPoint {
	constructor() {
		this.position1 = new oimo.common.Vec3();
		this.position2 = new oimo.common.Vec3();
		this.depth = 0;
		this.id = 0;
	}
}
if(!oimo.collision.narrowphase.detector) oimo.collision.narrowphase.detector = {};
oimo.collision.narrowphase.detector.Detector = class oimo_collision_narrowphase_detector_Detector {
	constructor(swapped) {
		this.swapped = swapped;
	}
	setNormal(result,nX,nY,nZ) {
		let v = result.normal;
		v.x = nX;
		v.y = nY;
		v.z = nZ;
		if(this.swapped) {
			let _this = result.normal;
			_this.x = -_this.x;
			_this.y = -_this.y;
			_this.z = -_this.z;
		}
	}
	addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,depth,id) {
		let p = result.points[result.numPoints++];
		p.depth = depth;
		p.id = id;
		if(this.swapped) {
			let v = p.position1;
			v.x = pos2X;
			v.y = pos2Y;
			v.z = pos2Z;
			let v1 = p.position2;
			v1.x = pos1X;
			v1.y = pos1Y;
			v1.z = pos1Z;
		} else {
			let v = p.position1;
			v.x = pos1X;
			v.y = pos1Y;
			v.z = pos1Z;
			let v1 = p.position2;
			v1.x = pos2X;
			v1.y = pos2Y;
			v1.z = pos2Z;
		}
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
	}
	detect(result,geom1,geom2,transform1,transform2,cachedData) {
		result.numPoints = 0;
		let _g = 0;
		let _g1 = result.points;
		while(_g < _g1.length) {
			let p = _g1[_g];
			++_g;
			p.position1.zero();
			p.position2.zero();
			p.depth = 0;
			p.id = 0;
		}
		result.normal.zero();
		if(this.swapped) {
			this.detectImpl(result,geom2,geom1,transform2,transform1,cachedData);
		} else {
			this.detectImpl(result,geom1,geom2,transform1,transform2,cachedData);
		}
	}
}
oimo.collision.narrowphase.detector.BoxBoxDetector = class oimo_collision_narrowphase_detector_BoxBoxDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor() {
		super(false);
		this.clipper = new oimo.collision.narrowphase.detector._BoxBoxDetector.FaceClipper();
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		let b1 = geom1;
		let b2 = geom2;
		result.incremental = false;
		let c1X;
		let c1Y;
		let c1Z;
		let c2X;
		let c2Y;
		let c2Z;
		let c12X;
		let c12Y;
		let c12Z;
		c1X = tf1._positionX;
		c1Y = tf1._positionY;
		c1Z = tf1._positionZ;
		c2X = tf2._positionX;
		c2Y = tf2._positionY;
		c2Z = tf2._positionZ;
		c12X = c2X - c1X;
		c12Y = c2Y - c1Y;
		c12Z = c2Z - c1Z;
		let x1X;
		let x1Y;
		let x1Z;
		let y1X;
		let y1Y;
		let y1Z;
		let z1X;
		let z1Y;
		let z1Z;
		let x2X;
		let x2Y;
		let x2Z;
		let y2X;
		let y2Y;
		let y2Z;
		let z2X;
		let z2Y;
		let z2Z;
		x1X = tf1._rotation00;
		x1Y = tf1._rotation10;
		x1Z = tf1._rotation20;
		y1X = tf1._rotation01;
		y1Y = tf1._rotation11;
		y1Z = tf1._rotation21;
		z1X = tf1._rotation02;
		z1Y = tf1._rotation12;
		z1Z = tf1._rotation22;
		x2X = tf2._rotation00;
		x2Y = tf2._rotation10;
		x2Z = tf2._rotation20;
		y2X = tf2._rotation01;
		y2Y = tf2._rotation11;
		y2Z = tf2._rotation21;
		z2X = tf2._rotation02;
		z2Y = tf2._rotation12;
		z2Z = tf2._rotation22;
		let w1 = b1._halfExtentsX;
		let h1 = b1._halfExtentsY;
		let d1 = b1._halfExtentsZ;
		let w2 = b2._halfExtentsX;
		let h2 = b2._halfExtentsY;
		let d2 = b2._halfExtentsZ;
		let sx1X;
		let sx1Y;
		let sx1Z;
		let sy1X;
		let sy1Y;
		let sy1Z;
		let sz1X;
		let sz1Y;
		let sz1Z;
		let sx2X;
		let sx2Y;
		let sx2Z;
		let sy2X;
		let sy2Y;
		let sy2Z;
		let sz2X;
		let sz2Y;
		let sz2Z;
		sx1X = x1X * w1;
		sx1Y = x1Y * w1;
		sx1Z = x1Z * w1;
		sy1X = y1X * h1;
		sy1Y = y1Y * h1;
		sy1Z = y1Z * h1;
		sz1X = z1X * d1;
		sz1Y = z1Y * d1;
		sz1Z = z1Z * d1;
		sx2X = x2X * w2;
		sx2Y = x2Y * w2;
		sx2Z = x2Z * w2;
		sy2X = y2X * h2;
		sy2Y = y2Y * h2;
		sy2Z = y2Z * h2;
		sz2X = z2X * d2;
		sz2Y = z2Y * d2;
		sz2Z = z2Z * d2;
		let mDepth = 1e65536;
		let mId = -1;
		let mSign = 0;
		let mAxisX;
		let mAxisY;
		let mAxisZ;
		mAxisX = 0;
		mAxisY = 0;
		mAxisZ = 0;
		let proj1 = w1;
		let dx = x1X * sx2X + x1Y * sx2Y + x1Z * sx2Z;
		let dy = x1X * sy2X + x1Y * sy2Y + x1Z * sy2Z;
		let dz = x1X * sz2X + x1Y * sz2Y + x1Z * sz2Z;
		if(dx < 0) {
			dx = -dx;
		}
		if(dy < 0) {
			dy = -dy;
		}
		if(dz < 0) {
			dz = -dz;
		}
		let proj2 = dx + dy + dz;
		let projC12 = x1X * c12X + x1Y * c12Y + x1Z * c12Z;
		let sum = proj1 + proj2;
		let neg = projC12 < 0;
		let abs = neg ? -projC12 : projC12;
		if(abs < sum) {
			let depth = sum - abs;
			if(depth < 1e65536) {
				mDepth = depth;
				mId = 0;
				mAxisX = x1X;
				mAxisY = x1Y;
				mAxisZ = x1Z;
				mSign = neg ? -1 : 1;
			}
		} else {
			return;
		}
		proj1 = h1;
		let dx1 = y1X * sx2X + y1Y * sx2Y + y1Z * sx2Z;
		let dy1 = y1X * sy2X + y1Y * sy2Y + y1Z * sy2Z;
		let dz1 = y1X * sz2X + y1Y * sz2Y + y1Z * sz2Z;
		if(dx1 < 0) {
			dx1 = -dx1;
		}
		if(dy1 < 0) {
			dy1 = -dy1;
		}
		if(dz1 < 0) {
			dz1 = -dz1;
		}
		proj2 = dx1 + dy1 + dz1;
		projC12 = y1X * c12X + y1Y * c12Y + y1Z * c12Z;
		let sum1 = proj1 + proj2;
		let neg1 = projC12 < 0;
		let abs1 = neg1 ? -projC12 : projC12;
		if(abs1 < sum1) {
			let depth = sum1 - abs1;
			if(depth < mDepth) {
				mDepth = depth;
				mId = 1;
				mAxisX = y1X;
				mAxisY = y1Y;
				mAxisZ = y1Z;
				mSign = neg1 ? -1 : 1;
			}
		} else {
			return;
		}
		proj1 = d1;
		let dx2 = z1X * sx2X + z1Y * sx2Y + z1Z * sx2Z;
		let dy2 = z1X * sy2X + z1Y * sy2Y + z1Z * sy2Z;
		let dz2 = z1X * sz2X + z1Y * sz2Y + z1Z * sz2Z;
		if(dx2 < 0) {
			dx2 = -dx2;
		}
		if(dy2 < 0) {
			dy2 = -dy2;
		}
		if(dz2 < 0) {
			dz2 = -dz2;
		}
		proj2 = dx2 + dy2 + dz2;
		projC12 = z1X * c12X + z1Y * c12Y + z1Z * c12Z;
		let sum2 = proj1 + proj2;
		let neg2 = projC12 < 0;
		let abs2 = neg2 ? -projC12 : projC12;
		if(abs2 < sum2) {
			let depth = sum2 - abs2;
			if(depth < mDepth) {
				mDepth = depth;
				mId = 2;
				mAxisX = z1X;
				mAxisY = z1Y;
				mAxisZ = z1Z;
				mSign = neg2 ? -1 : 1;
			}
		} else {
			return;
		}
		if(mDepth > oimo.common.Setting.linearSlop) {
			mDepth -= oimo.common.Setting.linearSlop;
		} else {
			mDepth = 0;
		}
		let dx3 = x2X * sx1X + x2Y * sx1Y + x2Z * sx1Z;
		let dy3 = x2X * sy1X + x2Y * sy1Y + x2Z * sy1Z;
		let dz3 = x2X * sz1X + x2Y * sz1Y + x2Z * sz1Z;
		if(dx3 < 0) {
			dx3 = -dx3;
		}
		if(dy3 < 0) {
			dy3 = -dy3;
		}
		if(dz3 < 0) {
			dz3 = -dz3;
		}
		proj1 = dx3 + dy3 + dz3;
		proj2 = w2;
		projC12 = x2X * c12X + x2Y * c12Y + x2Z * c12Z;
		let sum3 = proj1 + proj2;
		let neg3 = projC12 < 0;
		let abs3 = neg3 ? -projC12 : projC12;
		if(abs3 < sum3) {
			let depth = sum3 - abs3;
			if(depth < mDepth) {
				mDepth = depth;
				mId = 3;
				mAxisX = x2X;
				mAxisY = x2Y;
				mAxisZ = x2Z;
				mSign = neg3 ? -1 : 1;
			}
		} else {
			return;
		}
		let dx4 = y2X * sx1X + y2Y * sx1Y + y2Z * sx1Z;
		let dy4 = y2X * sy1X + y2Y * sy1Y + y2Z * sy1Z;
		let dz4 = y2X * sz1X + y2Y * sz1Y + y2Z * sz1Z;
		if(dx4 < 0) {
			dx4 = -dx4;
		}
		if(dy4 < 0) {
			dy4 = -dy4;
		}
		if(dz4 < 0) {
			dz4 = -dz4;
		}
		proj1 = dx4 + dy4 + dz4;
		proj2 = h2;
		projC12 = y2X * c12X + y2Y * c12Y + y2Z * c12Z;
		let sum4 = proj1 + proj2;
		let neg4 = projC12 < 0;
		let abs4 = neg4 ? -projC12 : projC12;
		if(abs4 < sum4) {
			let depth = sum4 - abs4;
			if(depth < mDepth) {
				mDepth = depth;
				mId = 4;
				mAxisX = y2X;
				mAxisY = y2Y;
				mAxisZ = y2Z;
				mSign = neg4 ? -1 : 1;
			}
		} else {
			return;
		}
		let dx5 = z2X * sx1X + z2Y * sx1Y + z2Z * sx1Z;
		let dy5 = z2X * sy1X + z2Y * sy1Y + z2Z * sy1Z;
		let dz5 = z2X * sz1X + z2Y * sz1Y + z2Z * sz1Z;
		if(dx5 < 0) {
			dx5 = -dx5;
		}
		if(dy5 < 0) {
			dy5 = -dy5;
		}
		if(dz5 < 0) {
			dz5 = -dz5;
		}
		proj1 = dx5 + dy5 + dz5;
		proj2 = d2;
		projC12 = z2X * c12X + z2Y * c12Y + z2Z * c12Z;
		let sum5 = proj1 + proj2;
		let neg5 = projC12 < 0;
		let abs5 = neg5 ? -projC12 : projC12;
		if(abs5 < sum5) {
			let depth = sum5 - abs5;
			if(depth < mDepth) {
				mDepth = depth;
				mId = 5;
				mAxisX = z2X;
				mAxisY = z2Y;
				mAxisZ = z2Z;
				mSign = neg5 ? -1 : 1;
			}
		} else {
			return;
		}
		if(mDepth > oimo.common.Setting.linearSlop) {
			mDepth -= oimo.common.Setting.linearSlop;
		} else {
			mDepth = 0;
		}
		let edgeAxisX;
		let edgeAxisY;
		let edgeAxisZ;
		edgeAxisX = x1Y * x2Z - x1Z * x2Y;
		edgeAxisY = x1Z * x2X - x1X * x2Z;
		edgeAxisZ = x1X * x2Y - x1Y * x2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 6;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = x1Y * y2Z - x1Z * y2Y;
		edgeAxisY = x1Z * y2X - x1X * y2Z;
		edgeAxisZ = x1X * y2Y - x1Y * y2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 7;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = x1Y * z2Z - x1Z * z2Y;
		edgeAxisY = x1Z * z2X - x1X * z2Z;
		edgeAxisZ = x1X * z2Y - x1Y * z2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 8;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = y1Y * x2Z - y1Z * x2Y;
		edgeAxisY = y1Z * x2X - y1X * x2Z;
		edgeAxisZ = y1X * x2Y - y1Y * x2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 9;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = y1Y * y2Z - y1Z * y2Y;
		edgeAxisY = y1Z * y2X - y1X * y2Z;
		edgeAxisZ = y1X * y2Y - y1Y * y2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 10;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = y1Y * z2Z - y1Z * z2Y;
		edgeAxisY = y1Z * z2X - y1X * z2Z;
		edgeAxisZ = y1X * z2Y - y1Y * z2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sz1X + edgeAxisY * sz1Y + edgeAxisZ * sz1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 11;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = z1Y * x2Z - z1Z * x2Y;
		edgeAxisY = z1Z * x2X - z1X * x2Z;
		edgeAxisZ = z1X * x2Y - z1Y * x2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 12;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = z1Y * y2Z - z1Z * y2Y;
		edgeAxisY = z1Z * y2X - z1X * y2Z;
		edgeAxisZ = z1X * y2Y - z1Y * y2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sz2X + edgeAxisY * sz2Y + edgeAxisZ * sz2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 13;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		edgeAxisX = z1Y * z2Z - z1Z * z2Y;
		edgeAxisY = z1Z * z2X - z1X * z2Z;
		edgeAxisZ = z1X * z2Y - z1Y * z2X;
		if(!(edgeAxisX == 0 && edgeAxisY == 0 && edgeAxisZ == 0)) {
			let l = edgeAxisX * edgeAxisX + edgeAxisY * edgeAxisY + edgeAxisZ * edgeAxisZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			edgeAxisX *= l;
			edgeAxisY *= l;
			edgeAxisZ *= l;
			let dx = edgeAxisX * sx1X + edgeAxisY * sx1Y + edgeAxisZ * sx1Z;
			let dy = edgeAxisX * sy1X + edgeAxisY * sy1Y + edgeAxisZ * sy1Z;
			if(dx < 0) {
				dx = -dx;
			}
			if(dy < 0) {
				dy = -dy;
			}
			proj1 = dx + dy;
			let dx1 = edgeAxisX * sx2X + edgeAxisY * sx2Y + edgeAxisZ * sx2Z;
			let dy1 = edgeAxisX * sy2X + edgeAxisY * sy2Y + edgeAxisZ * sy2Z;
			if(dx1 < 0) {
				dx1 = -dx1;
			}
			if(dy1 < 0) {
				dy1 = -dy1;
			}
			proj2 = dx1 + dy1;
			projC12 = edgeAxisX * c12X + edgeAxisY * c12Y + edgeAxisZ * c12Z;
			let sum = proj1 + proj2;
			let neg = projC12 < 0;
			let abs = neg ? -projC12 : projC12;
			if(abs < sum) {
				let depth = sum - abs;
				if(depth < mDepth) {
					mDepth = depth;
					mId = 14;
					mAxisX = edgeAxisX;
					mAxisY = edgeAxisY;
					mAxisZ = edgeAxisZ;
					mSign = neg ? -1 : 1;
				}
			} else {
				return;
			}
		}
		if(mId >= 6) {
			mAxisX *= mSign;
			mAxisY *= mSign;
			mAxisZ *= mSign;
			let id1 = (mId - 6) / 3 | 0;
			let id2 = mId - 6 - id1 * 3;
			let p1X;
			let p1Y;
			let p1Z;
			let p2X;
			let p2Y;
			let p2Z;
			let d1X;
			let d1Y;
			let d1Z;
			let d2X;
			let d2Y;
			let d2Z;
			switch(id1) {
			case 0:
				d1X = x1X;
				d1Y = x1Y;
				d1Z = x1Z;
				let signY = sz1X * mAxisX + sz1Y * mAxisY + sz1Z * mAxisZ > 0;
				if(sy1X * mAxisX + sy1Y * mAxisY + sy1Z * mAxisZ > 0) {
					if(signY) {
						p1X = sy1X + sz1X;
						p1Y = sy1Y + sz1Y;
						p1Z = sy1Z + sz1Z;
					} else {
						p1X = sy1X - sz1X;
						p1Y = sy1Y - sz1Y;
						p1Z = sy1Z - sz1Z;
					}
				} else if(signY) {
					p1X = sz1X - sy1X;
					p1Y = sz1Y - sy1Y;
					p1Z = sz1Z - sy1Z;
				} else {
					p1X = sy1X + sz1X;
					p1Y = sy1Y + sz1Y;
					p1Z = sy1Z + sz1Z;
					p1X = -p1X;
					p1Y = -p1Y;
					p1Z = -p1Z;
				}
				break;
			case 1:
				d1X = y1X;
				d1Y = y1Y;
				d1Z = y1Z;
				let signY1 = sz1X * mAxisX + sz1Y * mAxisY + sz1Z * mAxisZ > 0;
				if(sx1X * mAxisX + sx1Y * mAxisY + sx1Z * mAxisZ > 0) {
					if(signY1) {
						p1X = sx1X + sz1X;
						p1Y = sx1Y + sz1Y;
						p1Z = sx1Z + sz1Z;
					} else {
						p1X = sx1X - sz1X;
						p1Y = sx1Y - sz1Y;
						p1Z = sx1Z - sz1Z;
					}
				} else if(signY1) {
					p1X = sz1X - sx1X;
					p1Y = sz1Y - sx1Y;
					p1Z = sz1Z - sx1Z;
				} else {
					p1X = sx1X + sz1X;
					p1Y = sx1Y + sz1Y;
					p1Z = sx1Z + sz1Z;
					p1X = -p1X;
					p1Y = -p1Y;
					p1Z = -p1Z;
				}
				break;
			default:
				d1X = z1X;
				d1Y = z1Y;
				d1Z = z1Z;
				let signY2 = sy1X * mAxisX + sy1Y * mAxisY + sy1Z * mAxisZ > 0;
				if(sx1X * mAxisX + sx1Y * mAxisY + sx1Z * mAxisZ > 0) {
					if(signY2) {
						p1X = sx1X + sy1X;
						p1Y = sx1Y + sy1Y;
						p1Z = sx1Z + sy1Z;
					} else {
						p1X = sx1X - sy1X;
						p1Y = sx1Y - sy1Y;
						p1Z = sx1Z - sy1Z;
					}
				} else if(signY2) {
					p1X = sy1X - sx1X;
					p1Y = sy1Y - sx1Y;
					p1Z = sy1Z - sx1Z;
				} else {
					p1X = sx1X + sy1X;
					p1Y = sx1Y + sy1Y;
					p1Z = sx1Z + sy1Z;
					p1X = -p1X;
					p1Y = -p1Y;
					p1Z = -p1Z;
				}
			}
			p1X = c1X + p1X;
			p1Y = c1Y + p1Y;
			p1Z = c1Z + p1Z;
			switch(id2) {
			case 0:
				d2X = x2X;
				d2Y = x2Y;
				d2Z = x2Z;
				let signY3 = sz2X * mAxisX + sz2Y * mAxisY + sz2Z * mAxisZ > 0;
				if(sy2X * mAxisX + sy2Y * mAxisY + sy2Z * mAxisZ > 0) {
					if(signY3) {
						p2X = sy2X + sz2X;
						p2Y = sy2Y + sz2Y;
						p2Z = sy2Z + sz2Z;
					} else {
						p2X = sy2X - sz2X;
						p2Y = sy2Y - sz2Y;
						p2Z = sy2Z - sz2Z;
					}
				} else if(signY3) {
					p2X = sz2X - sy2X;
					p2Y = sz2Y - sy2Y;
					p2Z = sz2Z - sy2Z;
				} else {
					p2X = sy2X + sz2X;
					p2Y = sy2Y + sz2Y;
					p2Z = sy2Z + sz2Z;
					p2X = -p2X;
					p2Y = -p2Y;
					p2Z = -p2Z;
				}
				break;
			case 1:
				d2X = y2X;
				d2Y = y2Y;
				d2Z = y2Z;
				let signY4 = sz2X * mAxisX + sz2Y * mAxisY + sz2Z * mAxisZ > 0;
				if(sx2X * mAxisX + sx2Y * mAxisY + sx2Z * mAxisZ > 0) {
					if(signY4) {
						p2X = sx2X + sz2X;
						p2Y = sx2Y + sz2Y;
						p2Z = sx2Z + sz2Z;
					} else {
						p2X = sx2X - sz2X;
						p2Y = sx2Y - sz2Y;
						p2Z = sx2Z - sz2Z;
					}
				} else if(signY4) {
					p2X = sz2X - sx2X;
					p2Y = sz2Y - sx2Y;
					p2Z = sz2Z - sx2Z;
				} else {
					p2X = sx2X + sz2X;
					p2Y = sx2Y + sz2Y;
					p2Z = sx2Z + sz2Z;
					p2X = -p2X;
					p2Y = -p2Y;
					p2Z = -p2Z;
				}
				break;
			default:
				d2X = z2X;
				d2Y = z2Y;
				d2Z = z2Z;
				let signY5 = sy2X * mAxisX + sy2Y * mAxisY + sy2Z * mAxisZ > 0;
				if(sx2X * mAxisX + sx2Y * mAxisY + sx2Z * mAxisZ > 0) {
					if(signY5) {
						p2X = sx2X + sy2X;
						p2Y = sx2Y + sy2Y;
						p2Z = sx2Z + sy2Z;
					} else {
						p2X = sx2X - sy2X;
						p2Y = sx2Y - sy2Y;
						p2Z = sx2Z - sy2Z;
					}
				} else if(signY5) {
					p2X = sy2X - sx2X;
					p2Y = sy2Y - sx2Y;
					p2Z = sy2Z - sx2Z;
				} else {
					p2X = sx2X + sy2X;
					p2Y = sx2Y + sy2Y;
					p2Z = sx2Z + sy2Z;
					p2X = -p2X;
					p2Y = -p2Y;
					p2Z = -p2Z;
				}
			}
			p2X = c2X - p2X;
			p2Y = c2Y - p2Y;
			p2Z = c2Z - p2Z;
			let rX;
			let rY;
			let rZ;
			rX = p1X - p2X;
			rY = p1Y - p2Y;
			rZ = p1Z - p2Z;
			let dot12 = d1X * d2X + d1Y * d2Y + d1Z * d2Z;
			let dot1r = d1X * rX + d1Y * rY + d1Z * rZ;
			let dot2r = d2X * rX + d2Y * rY + d2Z * rZ;
			let invDet = 1 / (1 - dot12 * dot12);
			let t1 = (dot12 * dot2r - dot1r) * invDet;
			let t2 = (dot2r - dot12 * dot1r) * invDet;
			let cp1X;
			let cp1Y;
			let cp1Z;
			let cp2X;
			let cp2Y;
			let cp2Z;
			cp1X = p1X + d1X * t1;
			cp1Y = p1Y + d1Y * t1;
			cp1Z = p1Z + d1Z * t1;
			cp2X = p2X + d2X * t2;
			cp2Y = p2Y + d2Y * t2;
			cp2Z = p2Z + d2Z * t2;
			let normalX;
			let normalY;
			let normalZ;
			normalX = -mAxisX;
			normalY = -mAxisY;
			normalZ = -mAxisZ;
			this.setNormal(result,normalX,normalY,normalZ);
			this.addPoint(result,cp1X,cp1Y,cp1Z,cp2X,cp2Y,cp2Z,mDepth,4);
			return;
		}
		let tmpX;
		let tmpY;
		let tmpZ;
		let swapped;
		if(mId >= 3) {
			mSign = -mSign;
			c12X = -c12X;
			c12Y = -c12Y;
			c12Z = -c12Z;




			w1 = w2;


			h1 = h2;


			d1 = d2;




			c1X = c2X;
			c1Y = c2Y;
			c1Z = c2Z;



			tmpX = x1X;
			tmpY = x1Y;
			tmpZ = x1Z;
			x1X = x2X;
			x1Y = x2Y;
			x1Z = x2Z;
			x2X = tmpX;
			x2Y = tmpY;
			x2Z = tmpZ;
			tmpX = y1X;
			tmpY = y1Y;
			tmpZ = y1Z;
			y1X = y2X;
			y1Y = y2Y;
			y1Z = y2Z;
			y2X = tmpX;
			y2Y = tmpY;
			y2Z = tmpZ;
			tmpX = z1X;
			tmpY = z1Y;
			tmpZ = z1Z;
			z1X = z2X;
			z1Y = z2Y;
			z1Z = z2Z;
			z2X = tmpX;
			z2Y = tmpY;
			z2Z = tmpZ;
			tmpX = sx1X;
			tmpY = sx1Y;
			tmpZ = sx1Z;
			sx1X = sx2X;
			sx1Y = sx2Y;
			sx1Z = sx2Z;
			sx2X = tmpX;
			sx2Y = tmpY;
			sx2Z = tmpZ;
			tmpX = sy1X;
			tmpY = sy1Y;
			tmpZ = sy1Z;
			sy1X = sy2X;
			sy1Y = sy2Y;
			sy1Z = sy2Z;
			sy2X = tmpX;
			sy2Y = tmpY;
			sy2Z = tmpZ;
			tmpX = sz1X;
			tmpY = sz1Y;
			tmpZ = sz1Z;
			sz1X = sz2X;
			sz1Y = sz2Y;
			sz1Z = sz2Z;
			sz2X = tmpX;
			sz2Y = tmpY;
			sz2Z = tmpZ;
			mId -= 3;
			swapped = true;
		} else {
			swapped = false;
		}
		let refCenterX;
		let refCenterY;
		let refCenterZ;
		let refNormalX;
		let refNormalY;
		let refNormalZ;
		let refXX;
		let refXY;
		let refXZ;
		let refYX;
		let refYY;
		let refYZ;
		let refW;
		let refH;
		switch(mId) {
		case 0:
			refCenterX = sx1X;
			refCenterY = sx1Y;
			refCenterZ = sx1Z;
			refNormalX = x1X;
			refNormalY = x1Y;
			refNormalZ = x1Z;
			refXX = y1X;
			refXY = y1Y;
			refXZ = y1Z;
			refYX = z1X;
			refYY = z1Y;
			refYZ = z1Z;
			refW = h1;
			refH = d1;
			break;
		case 1:
			refCenterX = sy1X;
			refCenterY = sy1Y;
			refCenterZ = sy1Z;
			refNormalX = y1X;
			refNormalY = y1Y;
			refNormalZ = y1Z;
			refXX = z1X;
			refXY = z1Y;
			refXZ = z1Z;
			refYX = x1X;
			refYY = x1Y;
			refYZ = x1Z;
			refW = d1;
			refH = w1;
			break;
		default:
			refCenterX = sz1X;
			refCenterY = sz1Y;
			refCenterZ = sz1Z;
			refNormalX = z1X;
			refNormalY = z1Y;
			refNormalZ = z1Z;
			refXX = x1X;
			refXY = x1Y;
			refXZ = x1Z;
			refYX = y1X;
			refYY = y1Y;
			refYZ = y1Z;
			refW = w1;
			refH = h1;
		}
		if(mSign < 0) {
			refCenterX = -refCenterX;
			refCenterY = -refCenterY;
			refCenterZ = -refCenterZ;
			refNormalX = -refNormalX;
			refNormalY = -refNormalY;
			refNormalZ = -refNormalZ;
			tmpX = refXX;
			tmpY = refXY;
			tmpZ = refXZ;
			refXX = refYX;
			refXY = refYY;
			refXZ = refYZ;
			refYX = tmpX;
			refYY = tmpY;
			refYZ = tmpZ;
			let tmp = refW;
			refW = refH;
			refH = tmp;
		}
		refCenterX += c1X;
		refCenterY += c1Y;
		refCenterZ += c1Z;
		let minIncDot = 1;
		let incId = 0;
		let incDot = refNormalX * x2X + refNormalY * x2Y + refNormalZ * x2Z;
		if(incDot < minIncDot) {
			minIncDot = incDot;
			incId = 0;
		}
		if(-incDot < minIncDot) {
			minIncDot = -incDot;
			incId = 1;
		}
		incDot = refNormalX * y2X + refNormalY * y2Y + refNormalZ * y2Z;
		if(incDot < minIncDot) {
			minIncDot = incDot;
			incId = 2;
		}
		if(-incDot < minIncDot) {
			minIncDot = -incDot;
			incId = 3;
		}
		incDot = refNormalX * z2X + refNormalY * z2Y + refNormalZ * z2Z;
		if(incDot < minIncDot) {
			minIncDot = incDot;
			incId = 4;
		}
		if(-incDot < minIncDot) {

			incId = 5;
		}
		let incV1X;
		let incV1Y;
		let incV1Z;
		let incV2X;
		let incV2Y;
		let incV2Z;
		let incV3X;
		let incV3Y;
		let incV3Z;
		let incV4X;
		let incV4Y;
		let incV4Z;
		switch(incId) {
		case 0:
			incV1X = sx2X + sy2X;
			incV1Y = sx2Y + sy2Y;
			incV1Z = sx2Z + sy2Z;
			incV1X += sz2X;
			incV1Y += sz2Y;
			incV1Z += sz2Z;
			incV2X = sx2X - sy2X;
			incV2Y = sx2Y - sy2Y;
			incV2Z = sx2Z - sy2Z;
			incV2X += sz2X;
			incV2Y += sz2Y;
			incV2Z += sz2Z;
			incV3X = sx2X - sy2X;
			incV3Y = sx2Y - sy2Y;
			incV3Z = sx2Z - sy2Z;
			incV3X -= sz2X;
			incV3Y -= sz2Y;
			incV3Z -= sz2Z;
			incV4X = sx2X + sy2X;
			incV4Y = sx2Y + sy2Y;
			incV4Z = sx2Z + sy2Z;
			incV4X -= sz2X;
			incV4Y -= sz2Y;
			incV4Z -= sz2Z;
			break;
		case 1:
			incV1X = sy2X - sx2X;
			incV1Y = sy2Y - sx2Y;
			incV1Z = sy2Z - sx2Z;
			incV1X += sz2X;
			incV1Y += sz2Y;
			incV1Z += sz2Z;
			incV2X = sy2X - sx2X;
			incV2Y = sy2Y - sx2Y;
			incV2Z = sy2Z - sx2Z;
			incV2X -= sz2X;
			incV2Y -= sz2Y;
			incV2Z -= sz2Z;
			incV3X = sx2X + sy2X;
			incV3Y = sx2Y + sy2Y;
			incV3Z = sx2Z + sy2Z;
			incV3X = -incV3X;
			incV3Y = -incV3Y;
			incV3Z = -incV3Z;
			incV3X -= sz2X;
			incV3Y -= sz2Y;
			incV3Z -= sz2Z;
			incV4X = sx2X + sy2X;
			incV4Y = sx2Y + sy2Y;
			incV4Z = sx2Z + sy2Z;
			incV4X = -incV4X;
			incV4Y = -incV4Y;
			incV4Z = -incV4Z;
			incV4X += sz2X;
			incV4Y += sz2Y;
			incV4Z += sz2Z;
			break;
		case 2:
			incV1X = sx2X + sy2X;
			incV1Y = sx2Y + sy2Y;
			incV1Z = sx2Z + sy2Z;
			incV1X += sz2X;
			incV1Y += sz2Y;
			incV1Z += sz2Z;
			incV2X = sx2X + sy2X;
			incV2Y = sx2Y + sy2Y;
			incV2Z = sx2Z + sy2Z;
			incV2X -= sz2X;
			incV2Y -= sz2Y;
			incV2Z -= sz2Z;
			incV3X = sy2X - sx2X;
			incV3Y = sy2Y - sx2Y;
			incV3Z = sy2Z - sx2Z;
			incV3X -= sz2X;
			incV3Y -= sz2Y;
			incV3Z -= sz2Z;
			incV4X = sy2X - sx2X;
			incV4Y = sy2Y - sx2Y;
			incV4Z = sy2Z - sx2Z;
			incV4X += sz2X;
			incV4Y += sz2Y;
			incV4Z += sz2Z;
			break;
		case 3:
			incV1X = sx2X - sy2X;
			incV1Y = sx2Y - sy2Y;
			incV1Z = sx2Z - sy2Z;
			incV1X += sz2X;
			incV1Y += sz2Y;
			incV1Z += sz2Z;
			incV2X = sx2X + sy2X;
			incV2Y = sx2Y + sy2Y;
			incV2Z = sx2Z + sy2Z;
			incV2X = -incV2X;
			incV2Y = -incV2Y;
			incV2Z = -incV2Z;
			incV2X += sz2X;
			incV2Y += sz2Y;
			incV2Z += sz2Z;
			incV3X = sx2X + sy2X;
			incV3Y = sx2Y + sy2Y;
			incV3Z = sx2Z + sy2Z;
			incV3X = -incV3X;
			incV3Y = -incV3Y;
			incV3Z = -incV3Z;
			incV3X -= sz2X;
			incV3Y -= sz2Y;
			incV3Z -= sz2Z;
			incV4X = sx2X - sy2X;
			incV4Y = sx2Y - sy2Y;
			incV4Z = sx2Z - sy2Z;
			incV4X -= sz2X;
			incV4Y -= sz2Y;
			incV4Z -= sz2Z;
			break;
		case 4:
			incV1X = sx2X + sy2X;
			incV1Y = sx2Y + sy2Y;
			incV1Z = sx2Z + sy2Z;
			incV1X += sz2X;
			incV1Y += sz2Y;
			incV1Z += sz2Z;
			incV2X = sy2X - sx2X;
			incV2Y = sy2Y - sx2Y;
			incV2Z = sy2Z - sx2Z;
			incV2X += sz2X;
			incV2Y += sz2Y;
			incV2Z += sz2Z;
			incV3X = sx2X + sy2X;
			incV3Y = sx2Y + sy2Y;
			incV3Z = sx2Z + sy2Z;
			incV3X = -incV3X;
			incV3Y = -incV3Y;
			incV3Z = -incV3Z;
			incV3X += sz2X;
			incV3Y += sz2Y;
			incV3Z += sz2Z;
			incV4X = sx2X - sy2X;
			incV4Y = sx2Y - sy2Y;
			incV4Z = sx2Z - sy2Z;
			incV4X += sz2X;
			incV4Y += sz2Y;
			incV4Z += sz2Z;
			break;
		default:
			incV1X = sx2X + sy2X;
			incV1Y = sx2Y + sy2Y;
			incV1Z = sx2Z + sy2Z;
			incV1X -= sz2X;
			incV1Y -= sz2Y;
			incV1Z -= sz2Z;
			incV2X = sx2X - sy2X;
			incV2Y = sx2Y - sy2Y;
			incV2Z = sx2Z - sy2Z;
			incV2X -= sz2X;
			incV2Y -= sz2Y;
			incV2Z -= sz2Z;
			incV3X = sx2X + sy2X;
			incV3Y = sx2Y + sy2Y;
			incV3Z = sx2Z + sy2Z;
			incV3X = -incV3X;
			incV3Y = -incV3Y;
			incV3Z = -incV3Z;
			incV3X -= sz2X;
			incV3Y -= sz2Y;
			incV3Z -= sz2Z;
			incV4X = sy2X - sx2X;
			incV4Y = sy2Y - sx2Y;
			incV4Z = sy2Z - sx2Z;
			incV4X -= sz2X;
			incV4Y -= sz2Y;
			incV4Z -= sz2Z;
		}
		incV1X += c12X;
		incV1Y += c12Y;
		incV1Z += c12Z;
		incV2X += c12X;
		incV2Y += c12Y;
		incV2Z += c12Z;
		incV3X += c12X;
		incV3Y += c12Y;
		incV3Z += c12Z;
		incV4X += c12X;
		incV4Y += c12Y;
		incV4Z += c12Z;
		let _this = this.clipper;
		_this.w = refW;
		_this.h = refH;
		_this.numVertices = 0;
		_this.numTmpVertices = 0;
		let _this1 = this.clipper;
		let _this2 = _this1.vertices[_this1.numVertices++];
		_this2.x = incV1X * refXX + incV1Y * refXY + incV1Z * refXZ;
		_this2.y = incV1X * refYX + incV1Y * refYY + incV1Z * refYZ;
		_this2.wx = incV1X;
		_this2.wy = incV1Y;
		_this2.wz = incV1Z;
		let _this3 = this.clipper;
		let _this4 = _this3.vertices[_this3.numVertices++];
		_this4.x = incV2X * refXX + incV2Y * refXY + incV2Z * refXZ;
		_this4.y = incV2X * refYX + incV2Y * refYY + incV2Z * refYZ;
		_this4.wx = incV2X;
		_this4.wy = incV2Y;
		_this4.wz = incV2Z;
		let _this5 = this.clipper;
		let _this6 = _this5.vertices[_this5.numVertices++];
		_this6.x = incV3X * refXX + incV3Y * refXY + incV3Z * refXZ;
		_this6.y = incV3X * refYX + incV3Y * refYY + incV3Z * refYZ;
		_this6.wx = incV3X;
		_this6.wy = incV3Y;
		_this6.wz = incV3Z;
		let _this7 = this.clipper;
		let _this8 = _this7.vertices[_this7.numVertices++];
		_this8.x = incV4X * refXX + incV4Y * refXY + incV4Z * refXZ;
		_this8.y = incV4X * refYX + incV4Y * refYY + incV4Z * refYZ;
		_this8.wx = incV4X;
		_this8.wy = incV4Y;
		_this8.wz = incV4Z;
		this.clipper.clip();
		this.clipper.reduce();
		let normalX;
		let normalY;
		let normalZ;
		if(swapped) {
			normalX = refNormalX;
			normalY = refNormalY;
			normalZ = refNormalZ;
		} else {
			normalX = -refNormalX;
			normalY = -refNormalY;
			normalZ = -refNormalZ;
		}
		this.setNormal(result,normalX,normalY,normalZ);
		let _g = 0;
		let _g1 = this.clipper.numVertices;
		while(_g < _g1) {
			let i = _g++;
			let v = this.clipper.vertices[i];
			let clippedVertexX;
			let clippedVertexY;
			let clippedVertexZ;
			clippedVertexX = v.wx;
			clippedVertexY = v.wy;
			clippedVertexZ = v.wz;
			clippedVertexX += c1X;
			clippedVertexY += c1Y;
			clippedVertexZ += c1Z;
			let clippedVertexToRefCenterX;
			let clippedVertexToRefCenterY;
			let clippedVertexToRefCenterZ;
			clippedVertexToRefCenterX = refCenterX - clippedVertexX;
			clippedVertexToRefCenterY = refCenterY - clippedVertexY;
			clippedVertexToRefCenterZ = refCenterZ - clippedVertexZ;
			let depth = clippedVertexToRefCenterX * refNormalX + clippedVertexToRefCenterY * refNormalY + clippedVertexToRefCenterZ * refNormalZ;
			let clippedVertexOnRefFaceX;
			let clippedVertexOnRefFaceY;
			let clippedVertexOnRefFaceZ;
			clippedVertexOnRefFaceX = clippedVertexX + refNormalX * depth;
			clippedVertexOnRefFaceY = clippedVertexY + refNormalY * depth;
			clippedVertexOnRefFaceZ = clippedVertexZ + refNormalZ * depth;
			if(depth > -oimo.common.Setting.contactPersistenceThreshold) {
				if(swapped) {
					this.addPoint(result,clippedVertexX,clippedVertexY,clippedVertexZ,clippedVertexOnRefFaceX,clippedVertexOnRefFaceY,clippedVertexOnRefFaceZ,depth,i);
				} else {
					this.addPoint(result,clippedVertexOnRefFaceX,clippedVertexOnRefFaceY,clippedVertexOnRefFaceZ,clippedVertexX,clippedVertexY,clippedVertexZ,depth,i);
				}
			}
		}
	}
}
if(!oimo.collision.narrowphase.detector._BoxBoxDetector) oimo.collision.narrowphase.detector._BoxBoxDetector = {};
oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex = class oimo_collision_narrowphase_detector__$BoxBoxDetector_IncidentVertex {
	constructor() {
		this.x = 0;
		this.y = 0;
		this.wx = 0;
		this.wy = 0;
		this.wz = 0;
	}
}
oimo.collision.narrowphase.detector._BoxBoxDetector.FaceClipper = class oimo_collision_narrowphase_detector__$BoxBoxDetector_FaceClipper {
	constructor() {
		this.w = 0;
		this.h = 0;
		this.numVertices = 0;
		this.numTmpVertices = 0;
		this.vertices = new Array(8);
		this.tmpVertices = new Array(8);
		this.vertices[0] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[0] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[1] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[1] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[2] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[2] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[3] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[3] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[4] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[4] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[5] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[5] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[6] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[6] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.vertices[7] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
		this.tmpVertices[7] = new oimo.collision.narrowphase.detector._BoxBoxDetector.IncidentVertex();
	}
	clip() {
		let _g = 0;
		let _g1 = this.numVertices;
		while(_g < _g1) {
			let i = _g++;
			let v1 = this.vertices[i];
			let v2 = this.vertices[(i + 1) % this.numVertices];
			let s1 = this.w + v1.x;
			let s2 = this.w + v2.x;
			if(s1 > 0 && s2 > 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
			} else if(s1 > 0 && s2 <= 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
				let t = s1 / (s1 - s2);
				let _this1 = this.tmpVertices[this.numTmpVertices++];
				_this1.x = v1.x + (v2.x - v1.x) * t;
				_this1.y = v1.y + (v2.y - v1.y) * t;
				_this1.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this1.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this1.wz = v1.wz + (v2.wz - v1.wz) * t;
			} else if(s1 <= 0 && s2 > 0) {
				let t = s1 / (s1 - s2);
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x + (v2.x - v1.x) * t;
				_this.y = v1.y + (v2.y - v1.y) * t;
				_this.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this.wz = v1.wz + (v2.wz - v1.wz) * t;
			}
		}
		let tmp = this.vertices;
		this.vertices = this.tmpVertices;
		this.tmpVertices = tmp;
		this.numVertices = this.numTmpVertices;
		this.numTmpVertices = 0;
		let _g2 = 0;
		let _g3 = this.numVertices;
		while(_g2 < _g3) {
			let i = _g2++;
			let v1 = this.vertices[i];
			let v2 = this.vertices[(i + 1) % this.numVertices];
			let s1 = this.w - v1.x;
			let s2 = this.w - v2.x;
			if(s1 > 0 && s2 > 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
			} else if(s1 > 0 && s2 <= 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
				let t = s1 / (s1 - s2);
				let _this1 = this.tmpVertices[this.numTmpVertices++];
				_this1.x = v1.x + (v2.x - v1.x) * t;
				_this1.y = v1.y + (v2.y - v1.y) * t;
				_this1.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this1.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this1.wz = v1.wz + (v2.wz - v1.wz) * t;
			} else if(s1 <= 0 && s2 > 0) {
				let t = s1 / (s1 - s2);
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x + (v2.x - v1.x) * t;
				_this.y = v1.y + (v2.y - v1.y) * t;
				_this.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this.wz = v1.wz + (v2.wz - v1.wz) * t;
			}
		}
		let tmp1 = this.vertices;
		this.vertices = this.tmpVertices;
		this.tmpVertices = tmp1;
		this.numVertices = this.numTmpVertices;
		this.numTmpVertices = 0;
		let _g4 = 0;
		let _g5 = this.numVertices;
		while(_g4 < _g5) {
			let i = _g4++;
			let v1 = this.vertices[i];
			let v2 = this.vertices[(i + 1) % this.numVertices];
			let s1 = this.h + v1.y;
			let s2 = this.h + v2.y;
			if(s1 > 0 && s2 > 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
			} else if(s1 > 0 && s2 <= 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
				let t = s1 / (s1 - s2);
				let _this1 = this.tmpVertices[this.numTmpVertices++];
				_this1.x = v1.x + (v2.x - v1.x) * t;
				_this1.y = v1.y + (v2.y - v1.y) * t;
				_this1.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this1.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this1.wz = v1.wz + (v2.wz - v1.wz) * t;
			} else if(s1 <= 0 && s2 > 0) {
				let t = s1 / (s1 - s2);
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x + (v2.x - v1.x) * t;
				_this.y = v1.y + (v2.y - v1.y) * t;
				_this.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this.wz = v1.wz + (v2.wz - v1.wz) * t;
			}
		}
		let tmp2 = this.vertices;
		this.vertices = this.tmpVertices;
		this.tmpVertices = tmp2;
		this.numVertices = this.numTmpVertices;
		this.numTmpVertices = 0;
		let _g6 = 0;
		let _g7 = this.numVertices;
		while(_g6 < _g7) {
			let i = _g6++;
			let v1 = this.vertices[i];
			let v2 = this.vertices[(i + 1) % this.numVertices];
			let s1 = this.h - v1.y;
			let s2 = this.h - v2.y;
			if(s1 > 0 && s2 > 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
			} else if(s1 > 0 && s2 <= 0) {
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x;
				_this.y = v1.y;
				_this.wx = v1.wx;
				_this.wy = v1.wy;
				_this.wz = v1.wz;
				let t = s1 / (s1 - s2);
				let _this1 = this.tmpVertices[this.numTmpVertices++];
				_this1.x = v1.x + (v2.x - v1.x) * t;
				_this1.y = v1.y + (v2.y - v1.y) * t;
				_this1.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this1.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this1.wz = v1.wz + (v2.wz - v1.wz) * t;
			} else if(s1 <= 0 && s2 > 0) {
				let t = s1 / (s1 - s2);
				let _this = this.tmpVertices[this.numTmpVertices++];
				_this.x = v1.x + (v2.x - v1.x) * t;
				_this.y = v1.y + (v2.y - v1.y) * t;
				_this.wx = v1.wx + (v2.wx - v1.wx) * t;
				_this.wy = v1.wy + (v2.wy - v1.wy) * t;
				_this.wz = v1.wz + (v2.wz - v1.wz) * t;
			}
		}
		let tmp3 = this.vertices;
		this.vertices = this.tmpVertices;
		this.tmpVertices = tmp3;
		this.numVertices = this.numTmpVertices;
		this.numTmpVertices = 0;
	}
	reduce() {
		if(this.numVertices < 4) {
			return;
		}
		let max1 = -1e65536;
		let min1 = 1e65536;
		let max2 = -1e65536;
		let min2 = 1e65536;
		let max1V = null;
		let min1V = null;
		let max2V = null;
		let min2V = null;
		let e1x = 1;
		let e1y = 1;
		let e2x = -1;
		let e2y = 1;
		let _g = 0;
		let _g1 = this.numVertices;
		while(_g < _g1) {
			let v = this.vertices[_g++];
			let dot1 = v.x * e1x + v.y * e1y;
			let dot2 = v.x * e2x + v.y * e2y;
			if(dot1 > max1) {
				max1 = dot1;
				max1V = v;
			}
			if(dot1 < min1) {
				min1 = dot1;
				min1V = v;
			}
			if(dot2 > max2) {
				max2 = dot2;
				max2V = v;
			}
			if(dot2 < min2) {
				min2 = dot2;
				min2V = v;
			}
		}
		let _this = this.tmpVertices[this.numTmpVertices++];
		_this.x = max1V.x;
		_this.y = max1V.y;
		_this.wx = max1V.wx;
		_this.wy = max1V.wy;
		_this.wz = max1V.wz;
		let _this1 = this.tmpVertices[this.numTmpVertices++];
		_this1.x = max2V.x;
		_this1.y = max2V.y;
		_this1.wx = max2V.wx;
		_this1.wy = max2V.wy;
		_this1.wz = max2V.wz;
		let _this2 = this.tmpVertices[this.numTmpVertices++];
		_this2.x = min1V.x;
		_this2.y = min1V.y;
		_this2.wx = min1V.wx;
		_this2.wy = min1V.wy;
		_this2.wz = min1V.wz;
		let _this3 = this.tmpVertices[this.numTmpVertices++];
		_this3.x = min2V.x;
		_this3.y = min2V.y;
		_this3.wx = min2V.wx;
		_this3.wy = min2V.wy;
		_this3.wz = min2V.wz;
		let tmp = this.vertices;
		this.vertices = this.tmpVertices;
		this.tmpVertices = tmp;
		this.numVertices = this.numTmpVertices;
		this.numTmpVertices = 0;
	}
}
oimo.collision.narrowphase.detector.BoxBoxDetectorMacro = class oimo_collision_narrowphase_detector_BoxBoxDetectorMacro {
}
oimo.collision.narrowphase.detector.CachedDetectorData = class oimo_collision_narrowphase_detector_CachedDetectorData {
	constructor() {
	}
	_clear() {
		if(this._gjkCache != null) {
			this._gjkCache.clear();
		}
	}
}
oimo.collision.narrowphase.detector.CapsuleCapsuleDetector = class oimo_collision_narrowphase_detector_CapsuleCapsuleDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor() {
		super(false);
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		let c1 = geom1;
		let c2 = geom2;
		result.incremental = false;
		let axis1X;
		let axis1Y;
		let axis1Z;
		let axis2X;
		let axis2Y;
		let axis2Z;
		axis1X = tf1._rotation01;
		axis1Y = tf1._rotation11;
		axis1Z = tf1._rotation21;
		axis2X = tf2._rotation01;
		axis2Y = tf2._rotation11;
		axis2Z = tf2._rotation21;
		let hh1 = c1._halfHeight;
		let hh2 = c2._halfHeight;
		let r1 = c1._radius;
		let r2 = c2._radius;
		let p1X;
		let p1Y;
		let p1Z;
		let q1X;
		let q1Y;
		let q1Z;
		let p2X;
		let p2Y;
		let p2Z;
		let q2X;
		let q2Y;
		let q2Z;
		p1X = tf1._positionX + axis1X * -hh1;
		p1Y = tf1._positionY + axis1Y * -hh1;
		p1Z = tf1._positionZ + axis1Z * -hh1;
		q1X = tf1._positionX + axis1X * hh1;
		q1Y = tf1._positionY + axis1Y * hh1;
		q1Z = tf1._positionZ + axis1Z * hh1;
		p2X = tf2._positionX + axis2X * -hh2;
		p2Y = tf2._positionY + axis2Y * -hh2;
		p2Z = tf2._positionZ + axis2Z * -hh2;
		q2X = tf2._positionX + axis2X * hh2;
		q2Y = tf2._positionY + axis2Y * hh2;
		q2Z = tf2._positionZ + axis2Z * hh2;
		let p12X;
		let p12Y;
		let p12Z;
		p12X = p1X - p2X;
		p12Y = p1Y - p2Y;
		p12Z = p1Z - p2Z;
		let d1X;
		let d1Y;
		let d1Z;
		let d2X;
		let d2Y;
		let d2Z;
		d1X = q1X - p1X;
		d1Y = q1Y - p1Y;
		d1Z = q1Z - p1Z;
		d2X = q2X - p2X;
		d2Y = q2Y - p2Y;
		d2Z = q2Z - p2Z;
		let p21d1 = -(p12X * d1X + p12Y * d1Y + p12Z * d1Z);
		let p12d2 = p12X * d2X + p12Y * d2Y + p12Z * d2Z;
		let d11 = hh1 * hh1 * 4;
		let d12 = d1X * d2X + d1Y * d2Y + d1Z * d2Z;
		let d22 = hh2 * hh2 * 4;
		let t1;
		let t2;
		if(d11 == 0 && d22 == 0) {
			t1 = 0;
			t2 = 0;
		} else if(d11 == 0) {
			t1 = 0;

			if(p12d2 < 0) {
				t2 = 0;
			} else if(p12d2 > d22) {
				t2 = 1;
			} else {
				t2 = p12d2 / d22;
			}
		} else if(d22 == 0) {
			t2 = 0;

			if(p21d1 < 0) {
				t1 = 0;
			} else if(p21d1 > d11) {
				t1 = 1;
			} else {
				t1 = p21d1 / d11;
			}
		} else {
			let det = d11 * d22 - d12 * d12;
			if(det == 0) {
				t1 = 0;
			} else {
				t1 = d12 * p12d2 + d22 * p21d1;
				if(t1 < 0) {
					t1 = 0;
				} else if(t1 > det) {
					t1 = 1;
				} else {
					t1 /= det;
				}
			}
			t2 = t1 * d12 + p12d2;
			if(t2 < 0) {
				t2 = 0;

				if(p21d1 < 0) {
					t1 = 0;
				} else if(p21d1 > d11) {
					t1 = 1;
				} else {
					t1 = p21d1 / d11;
				}
			} else if(t2 > d22) {
				t2 = 1;
				t1 = d12 + p21d1;
				if(t1 < 0) {
					t1 = 0;
				} else if(t1 > d11) {
					t1 = 1;
				} else {
					t1 /= d11;
				}
			} else {
				t2 /= d22;
			}
		}
		let cp1X;
		let cp1Y;
		let cp1Z;
		let cp2X;
		let cp2Y;
		let cp2Z;
		cp1X = p1X + d1X * t1;
		cp1Y = p1Y + d1Y * t1;
		cp1Z = p1Z + d1Z * t1;
		cp2X = p2X + d2X * t2;
		cp2Y = p2Y + d2Y * t2;
		cp2Z = p2Z + d2Z * t2;
		let dX;
		let dY;
		let dZ;
		dX = cp1X - cp2X;
		dY = cp1Y - cp2Y;
		dZ = cp1Z - cp2Z;
		let len2 = dX * dX + dY * dY + dZ * dZ;
		if(len2 >= (r1 + r2) * (r1 + r2)) {
			return;
		}
		let len = Math.sqrt(len2);
		let nX;
		let nY;
		let nZ;
		if(len > 0) {
			nX = dX * (1 / len);
			nY = dY * (1 / len);
			nZ = dZ * (1 / len);
		} else {
			nX = 1;
			nY = 0;
			nZ = 0;
		}
		this.setNormal(result,nX,nY,nZ);
		let pos1X;
		let pos1Y;
		let pos1Z;
		let pos2X;
		let pos2Y;
		let pos2Z;
		pos1X = cp1X + nX * -r1;
		pos1Y = cp1Y + nY * -r1;
		pos1Z = cp1Z + nZ * -r1;
		pos2X = cp2X + nX * r2;
		pos2Y = cp2Y + nY * r2;
		pos2Z = cp2Z + nZ * r2;
		this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,r1 + r2 - len,0);
	}
}
oimo.collision.narrowphase.detector.GjkEpaDetector = class oimo_collision_narrowphase_detector_GjkEpaDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor() {
		super(false);
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		let gjkEpa = oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
		let g1 = geom1;
		let g2 = geom2;
		let status = gjkEpa.computeClosestPointsImpl(g1,g2,tf1,tf2,oimo.common.Setting.enableGJKCaching ? cachedData : null,true);
		result.incremental = true;
		if(status != oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED) {
			console.log("src/oimo/collision/narrowphase/detector/GjkEpaDetector.hx:28:","GJK/EPA failed: status=" + status);
			return;
		}
		if(gjkEpa.distance > g1._gjkMargin + g2._gjkMargin) {
			return;
		}
		let pos1X;
		let pos1Y;
		let pos1Z;
		let pos2X;
		let pos2Y;
		let pos2Z;
		let v = gjkEpa.closestPoint1;
		pos1X = v.x;
		pos1Y = v.y;
		pos1Z = v.z;
		let v1 = gjkEpa.closestPoint2;
		pos2X = v1.x;
		pos2Y = v1.y;
		pos2Z = v1.z;
		let normalX;
		let normalY;
		let normalZ;
		normalX = pos1X - pos2X;
		normalY = pos1Y - pos2Y;
		normalZ = pos1Z - pos2Z;
		if(normalX * normalX + normalY * normalY + normalZ * normalZ == 0) {
			return;
		}
		if(gjkEpa.distance < 0) {
			normalX = -normalX;
			normalY = -normalY;
			normalZ = -normalZ;
		}
		let l = normalX * normalX + normalY * normalY + normalZ * normalZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		normalX *= l;
		normalY *= l;
		normalZ *= l;
		this.setNormal(result,normalX,normalY,normalZ);
		pos1X += normalX * -g1._gjkMargin;
		pos1Y += normalY * -g1._gjkMargin;
		pos1Z += normalZ * -g1._gjkMargin;
		pos2X += normalX * g2._gjkMargin;
		pos2Y += normalY * g2._gjkMargin;
		pos2Z += normalZ * g2._gjkMargin;
		this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,g1._gjkMargin + g2._gjkMargin - gjkEpa.distance,0);
	}
}
oimo.collision.narrowphase.detector.SphereBoxDetector = class oimo_collision_narrowphase_detector_SphereBoxDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor(swapped) {
		super(swapped);
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		let b = geom2;
		result.incremental = false;
		let halfExtX;
		let halfExtY;
		let halfExtZ;
		let negHalfExtX;
		let negHalfExtY;
		let negHalfExtZ;
		halfExtX = b._halfExtentsX;
		halfExtY = b._halfExtentsY;
		halfExtZ = b._halfExtentsZ;
		negHalfExtX = -halfExtX;
		negHalfExtY = -halfExtY;
		negHalfExtZ = -halfExtZ;
		let r = geom1._radius;
		let boxToSphereX;
		let boxToSphereY;
		let boxToSphereZ;
		boxToSphereX = tf1._positionX - tf2._positionX;
		boxToSphereY = tf1._positionY - tf2._positionY;
		boxToSphereZ = tf1._positionZ - tf2._positionZ;
		let boxToSphereInBoxX;
		let boxToSphereInBoxY;
		let boxToSphereInBoxZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf2._rotation00 * boxToSphereX + tf2._rotation10 * boxToSphereY + tf2._rotation20 * boxToSphereZ;
		__tmp__Y = tf2._rotation01 * boxToSphereX + tf2._rotation11 * boxToSphereY + tf2._rotation21 * boxToSphereZ;
		__tmp__Z = tf2._rotation02 * boxToSphereX + tf2._rotation12 * boxToSphereY + tf2._rotation22 * boxToSphereZ;
		boxToSphereInBoxX = __tmp__X;
		boxToSphereInBoxY = __tmp__Y;
		boxToSphereInBoxZ = __tmp__Z;
		if(negHalfExtX < boxToSphereInBoxX && halfExtX > boxToSphereInBoxX && negHalfExtY < boxToSphereInBoxY && halfExtY > boxToSphereInBoxY && negHalfExtZ < boxToSphereInBoxZ && halfExtZ > boxToSphereInBoxZ) {
			let sphereToBoxSurfaceX;
			let sphereToBoxSurfaceY;
			let sphereToBoxSurfaceZ;
			sphereToBoxSurfaceX = boxToSphereInBoxX < 0 ? -boxToSphereInBoxX : boxToSphereInBoxX;
			sphereToBoxSurfaceY = boxToSphereInBoxY < 0 ? -boxToSphereInBoxY : boxToSphereInBoxY;
			sphereToBoxSurfaceZ = boxToSphereInBoxZ < 0 ? -boxToSphereInBoxZ : boxToSphereInBoxZ;
			sphereToBoxSurfaceX = halfExtX - sphereToBoxSurfaceX;
			sphereToBoxSurfaceY = halfExtY - sphereToBoxSurfaceY;
			sphereToBoxSurfaceZ = halfExtZ - sphereToBoxSurfaceZ;
			let normalInBoxX;
			let normalInBoxY;
			let normalInBoxZ;
			let distX = sphereToBoxSurfaceX;
			let distY = sphereToBoxSurfaceY;
			let distZ = sphereToBoxSurfaceZ;
			let depth;
			let projectionMaskX;
			let projectionMaskY;
			let projectionMaskZ;
			if(distX < distY) {
				if(distX < distZ) {
					if(boxToSphereInBoxX > 0) {
						normalInBoxX = 1;
						normalInBoxY = 0;
						normalInBoxZ = 0;
					} else {
						normalInBoxX = -1;
						normalInBoxY = 0;
						normalInBoxZ = 0;
					}
					projectionMaskX = 0;
					projectionMaskY = 1;
					projectionMaskZ = 1;
					depth = distX;
				} else {
					if(boxToSphereInBoxZ > 0) {
						normalInBoxX = 0;
						normalInBoxY = 0;
						normalInBoxZ = 1;
					} else {
						normalInBoxX = 0;
						normalInBoxY = 0;
						normalInBoxZ = -1;
					}
					projectionMaskX = 1;
					projectionMaskY = 1;
					projectionMaskZ = 0;
					depth = distZ;
				}
			} else if(distY < distZ) {
				if(boxToSphereInBoxY > 0) {
					normalInBoxX = 0;
					normalInBoxY = 1;
					normalInBoxZ = 0;
				} else {
					normalInBoxX = 0;
					normalInBoxY = -1;
					normalInBoxZ = 0;
				}
				projectionMaskX = 1;
				projectionMaskY = 0;
				projectionMaskZ = 1;
				depth = distY;
			} else {
				if(boxToSphereInBoxZ > 0) {
					normalInBoxX = 0;
					normalInBoxY = 0;
					normalInBoxZ = 1;
				} else {
					normalInBoxX = 0;
					normalInBoxY = 0;
					normalInBoxZ = -1;
				}
				projectionMaskX = 1;
				projectionMaskY = 1;
				projectionMaskZ = 0;
				depth = distZ;
			}
			let baseX;
			let baseY;
			let baseZ;
			baseX = projectionMaskX * boxToSphereInBoxX;
			baseY = projectionMaskY * boxToSphereInBoxY;
			baseZ = projectionMaskZ * boxToSphereInBoxZ;
			let boxToClosestPointInBoxX;
			let boxToClosestPointInBoxY;
			let boxToClosestPointInBoxZ;
			boxToClosestPointInBoxX = normalInBoxX * halfExtX;
			boxToClosestPointInBoxY = normalInBoxY * halfExtY;
			boxToClosestPointInBoxZ = normalInBoxZ * halfExtZ;
			boxToClosestPointInBoxX += baseX;
			boxToClosestPointInBoxY += baseY;
			boxToClosestPointInBoxZ += baseZ;
			let boxToClosestPointX;
			let boxToClosestPointY;
			let boxToClosestPointZ;
			let normalX;
			let normalY;
			let normalZ;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf2._rotation00 * boxToClosestPointInBoxX + tf2._rotation01 * boxToClosestPointInBoxY + tf2._rotation02 * boxToClosestPointInBoxZ;
			__tmp__Y = tf2._rotation10 * boxToClosestPointInBoxX + tf2._rotation11 * boxToClosestPointInBoxY + tf2._rotation12 * boxToClosestPointInBoxZ;
			__tmp__Z = tf2._rotation20 * boxToClosestPointInBoxX + tf2._rotation21 * boxToClosestPointInBoxY + tf2._rotation22 * boxToClosestPointInBoxZ;
			boxToClosestPointX = __tmp__X;
			boxToClosestPointY = __tmp__Y;
			boxToClosestPointZ = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * normalInBoxX + tf2._rotation01 * normalInBoxY + tf2._rotation02 * normalInBoxZ;
			__tmp__Y1 = tf2._rotation10 * normalInBoxX + tf2._rotation11 * normalInBoxY + tf2._rotation12 * normalInBoxZ;
			__tmp__Z1 = tf2._rotation20 * normalInBoxX + tf2._rotation21 * normalInBoxY + tf2._rotation22 * normalInBoxZ;
			normalX = __tmp__X1;
			normalY = __tmp__Y1;
			normalZ = __tmp__Z1;
			this.setNormal(result,normalX,normalY,normalZ);
			let pos1X;
			let pos1Y;
			let pos1Z;
			let pos2X;
			let pos2Y;
			let pos2Z;
			pos1X = tf1._positionX + normalX * -r;
			pos1Y = tf1._positionY + normalY * -r;
			pos1Z = tf1._positionZ + normalZ * -r;
			pos2X = tf2._positionX + boxToClosestPointX;
			pos2Y = tf2._positionY + boxToClosestPointY;
			pos2Z = tf2._positionZ + boxToClosestPointZ;
			this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,depth,0);
			return;
		}
		let boxToClosestPointInBoxX;
		let boxToClosestPointInBoxY;
		let boxToClosestPointInBoxZ;
		halfExtX -= 1e-9;
		halfExtY -= 1e-9;
		halfExtZ -= 1e-9;
		negHalfExtX += 1e-9;
		negHalfExtY += 1e-9;
		negHalfExtZ += 1e-9;
		boxToClosestPointInBoxX = boxToSphereInBoxX < halfExtX ? boxToSphereInBoxX : halfExtX;
		boxToClosestPointInBoxY = boxToSphereInBoxY < halfExtY ? boxToSphereInBoxY : halfExtY;
		boxToClosestPointInBoxZ = boxToSphereInBoxZ < halfExtZ ? boxToSphereInBoxZ : halfExtZ;
		if(!(boxToClosestPointInBoxX > negHalfExtX)) {
			boxToClosestPointInBoxX = negHalfExtX;
		}
		if(!(boxToClosestPointInBoxY > negHalfExtY)) {
			boxToClosestPointInBoxY = negHalfExtY;
		}
		if(!(boxToClosestPointInBoxZ > negHalfExtZ)) {
			boxToClosestPointInBoxZ = negHalfExtZ;
		}
		let closestPointToSphereInBoxX;
		let closestPointToSphereInBoxY;
		let closestPointToSphereInBoxZ;
		closestPointToSphereInBoxX = boxToSphereInBoxX - boxToClosestPointInBoxX;
		closestPointToSphereInBoxY = boxToSphereInBoxY - boxToClosestPointInBoxY;
		closestPointToSphereInBoxZ = boxToSphereInBoxZ - boxToClosestPointInBoxZ;
		let dist = closestPointToSphereInBoxX * closestPointToSphereInBoxX + closestPointToSphereInBoxY * closestPointToSphereInBoxY + closestPointToSphereInBoxZ * closestPointToSphereInBoxZ;
		if(dist >= r * r) {
			return;
		}
		dist = Math.sqrt(dist);
		let boxToClosestPointX;
		let boxToClosestPointY;
		let boxToClosestPointZ;
		let closestPointToSphereX;
		let closestPointToSphereY;
		let closestPointToSphereZ;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = tf2._rotation00 * boxToClosestPointInBoxX + tf2._rotation01 * boxToClosestPointInBoxY + tf2._rotation02 * boxToClosestPointInBoxZ;
		__tmp__Y1 = tf2._rotation10 * boxToClosestPointInBoxX + tf2._rotation11 * boxToClosestPointInBoxY + tf2._rotation12 * boxToClosestPointInBoxZ;
		__tmp__Z1 = tf2._rotation20 * boxToClosestPointInBoxX + tf2._rotation21 * boxToClosestPointInBoxY + tf2._rotation22 * boxToClosestPointInBoxZ;
		boxToClosestPointX = __tmp__X1;
		boxToClosestPointY = __tmp__Y1;
		boxToClosestPointZ = __tmp__Z1;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = tf2._rotation00 * closestPointToSphereInBoxX + tf2._rotation01 * closestPointToSphereInBoxY + tf2._rotation02 * closestPointToSphereInBoxZ;
		__tmp__Y2 = tf2._rotation10 * closestPointToSphereInBoxX + tf2._rotation11 * closestPointToSphereInBoxY + tf2._rotation12 * closestPointToSphereInBoxZ;
		__tmp__Z2 = tf2._rotation20 * closestPointToSphereInBoxX + tf2._rotation21 * closestPointToSphereInBoxY + tf2._rotation22 * closestPointToSphereInBoxZ;
		closestPointToSphereX = __tmp__X2;
		closestPointToSphereY = __tmp__Y2;
		closestPointToSphereZ = __tmp__Z2;
		let normalX;
		let normalY;
		let normalZ;
		let l = closestPointToSphereX * closestPointToSphereX + closestPointToSphereY * closestPointToSphereY + closestPointToSphereZ * closestPointToSphereZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		normalX = closestPointToSphereX * l;
		normalY = closestPointToSphereY * l;
		normalZ = closestPointToSphereZ * l;
		this.setNormal(result,normalX,normalY,normalZ);
		let pos1X;
		let pos1Y;
		let pos1Z;
		let pos2X;
		let pos2Y;
		let pos2Z;
		pos1X = tf1._positionX + normalX * -r;
		pos1Y = tf1._positionY + normalY * -r;
		pos1Z = tf1._positionZ + normalZ * -r;
		pos2X = tf2._positionX + boxToClosestPointX;
		pos2Y = tf2._positionY + boxToClosestPointY;
		pos2Z = tf2._positionZ + boxToClosestPointZ;
		this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,r - dist,0);
	}
}
oimo.collision.narrowphase.detector.SphereCapsuleDetector = class oimo_collision_narrowphase_detector_SphereCapsuleDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor(swapped) {
		super(swapped);
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		let c2 = geom2;
		result.incremental = false;
		let hh2 = c2._halfHeight;
		let r1 = geom1._radius;
		let r2 = c2._radius;
		let axis2X;
		let axis2Y;
		let axis2Z;
		axis2X = tf2._rotation01;
		axis2Y = tf2._rotation11;
		axis2Z = tf2._rotation21;
		let cp1X;
		let cp1Y;
		let cp1Z;
		cp1X = tf1._positionX;
		cp1Y = tf1._positionY;
		cp1Z = tf1._positionZ;
		let p2X;
		let p2Y;
		let p2Z;
		let q2X;
		let q2Y;
		let q2Z;
		p2X = tf2._positionX + axis2X * -hh2;
		p2Y = tf2._positionY + axis2Y * -hh2;
		p2Z = tf2._positionZ + axis2Z * -hh2;
		q2X = tf2._positionX + axis2X * hh2;
		q2Y = tf2._positionY + axis2Y * hh2;
		q2Z = tf2._positionZ + axis2Z * hh2;
		let p12X;
		let p12Y;
		let p12Z;
		p12X = cp1X - p2X;
		p12Y = cp1Y - p2Y;
		p12Z = cp1Z - p2Z;
		let d2X;
		let d2Y;
		let d2Z;
		d2X = q2X - p2X;
		d2Y = q2Y - p2Y;
		d2Z = q2Z - p2Z;
		let d22 = hh2 * hh2 * 4;
		let t = p12X * d2X + p12Y * d2Y + p12Z * d2Z;
		if(t < 0) {
			t = 0;
		} else if(t > d22) {
			t = 1;
		} else {
			t /= d22;
		}
		let cp2X;
		let cp2Y;
		let cp2Z;
		cp2X = p2X + d2X * t;
		cp2Y = p2Y + d2Y * t;
		cp2Z = p2Z + d2Z * t;
		let dX;
		let dY;
		let dZ;
		dX = cp1X - cp2X;
		dY = cp1Y - cp2Y;
		dZ = cp1Z - cp2Z;
		let len2 = dX * dX + dY * dY + dZ * dZ;
		if(len2 >= (r1 + r2) * (r1 + r2)) {
			return;
		}
		let len = Math.sqrt(len2);
		let nX;
		let nY;
		let nZ;
		if(len > 0) {
			nX = dX * (1 / len);
			nY = dY * (1 / len);
			nZ = dZ * (1 / len);
		} else {
			nX = 1;
			nY = 0;
			nZ = 0;
		}
		this.setNormal(result,nX,nY,nZ);
		let pos1X;
		let pos1Y;
		let pos1Z;
		let pos2X;
		let pos2Y;
		let pos2Z;
		pos1X = cp1X + nX * -r1;
		pos1Y = cp1Y + nY * -r1;
		pos1Z = cp1Z + nZ * -r1;
		pos2X = cp2X + nX * r2;
		pos2Y = cp2Y + nY * r2;
		pos2Z = cp2Z + nZ * r2;
		this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,r1 + r2 - len,0);
	}
}
oimo.collision.narrowphase.detector.SphereSphereDetector = class oimo_collision_narrowphase_detector_SphereSphereDetector extends oimo.collision.narrowphase.detector.Detector {
	constructor() {
		super(false);
	}
	detectImpl(result,geom1,geom2,tf1,tf2,cachedData) {
		result.incremental = false;
		let dX;
		let dY;
		let dZ;
		dX = tf1._positionX - tf2._positionX;
		dY = tf1._positionY - tf2._positionY;
		dZ = tf1._positionZ - tf2._positionZ;
		let r1 = geom1._radius;
		let r2 = geom2._radius;
		let len2 = dX * dX + dY * dY + dZ * dZ;
		if(len2 >= (r1 + r2) * (r1 + r2)) {
			return;
		}
		let len = Math.sqrt(len2);
		let nX;
		let nY;
		let nZ;
		if(len > 0) {
			nX = dX * (1 / len);
			nY = dY * (1 / len);
			nZ = dZ * (1 / len);
		} else {
			nX = 1;
			nY = 0;
			nZ = 0;
		}
		this.setNormal(result,nX,nY,nZ);
		let pos1X;
		let pos1Y;
		let pos1Z;
		let pos2X;
		let pos2Y;
		let pos2Z;
		pos1X = tf1._positionX + nX * -r1;
		pos1Y = tf1._positionY + nY * -r1;
		pos1Z = tf1._positionZ + nZ * -r1;
		pos2X = tf2._positionX + nX * r2;
		pos2Y = tf2._positionY + nY * r2;
		pos2Z = tf2._positionZ + nZ * r2;
		this.addPoint(result,pos1X,pos1Y,pos1Z,pos2X,pos2Y,pos2Z,r1 + r2 - len,0);
	}
}
if(!oimo.collision.narrowphase.detector.gjkepa) oimo.collision.narrowphase.detector.gjkepa = {};
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedron = class oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedron {
	constructor() {
		this._vertices = new Array(oimo.common.Setting.maxEPAVertices);
		this._center = new oimo.common.Vec3();
		this._numVertices = 0;
		this._triangleList = null;
		this._triangleListLast = null;
		this._numTriangles = 0;
		this._trianglePool = null;
		this._vertexPool = null;
	}
	dumpHoleEdge(first) {
	}
	validate() {
		let t = this._triangleList;
		while(t != null) {
			t._vertices[0]._tmpEdgeLoopOuterTriangle = null;
			t._vertices[0]._tmpEdgeLoopNext = null;
			if(t._adjacentPairIndex[0] == -1) {
				this._status = 2;
				return false;
			}
			if(t._adjacentTriangles[0] == null) {
				this._status = 3;
				return false;
			}
			t._vertices[1]._tmpEdgeLoopOuterTriangle = null;
			t._vertices[1]._tmpEdgeLoopNext = null;
			if(t._adjacentPairIndex[1] == -1) {
				this._status = 2;
				return false;
			}
			if(t._adjacentTriangles[1] == null) {
				this._status = 3;
				return false;
			}
			t._vertices[2]._tmpEdgeLoopOuterTriangle = null;
			t._vertices[2]._tmpEdgeLoopNext = null;
			if(t._adjacentPairIndex[2] == -1) {
				this._status = 2;
				return false;
			}
			if(t._adjacentTriangles[2] == null) {
				this._status = 3;
				return false;
			}
			t = t._next;
		}
		return true;
	}
	findEdgeLoop(id,base,from) {
		if(base._tmpDfsId == id) {
			return;
		}
		base._tmpDfsId = id;
		let _this = base.tmp;
		_this.x = from.x;
		_this.y = from.y;
		_this.z = from.z;
		let v = base._vertices[0].v;
		_this.x -= v.x;
		_this.y -= v.y;
		_this.z -= v.z;
		let _this1 = base.tmp;
		let v1 = base._normal;
		base._tmpDfsVisible = _this1.x * v1.x + _this1.y * v1.y + _this1.z * v1.z > 0;
		if(!base._tmpDfsVisible) {
			this._status = 6;
			return;
		}
		let _g = 0;
		while(_g < 3) {
			let i = _g++;
			let t = base._adjacentTriangles[i];
			if(t == null) {
				continue;
			}
			let _this = t.tmp;
			_this.x = from.x;
			_this.y = from.y;
			_this.z = from.z;
			let v = t._vertices[0].v;
			_this.x -= v.x;
			_this.y -= v.y;
			_this.z -= v.z;
			let _this1 = t.tmp;
			let v1 = t._normal;
			t._tmpDfsVisible = _this1.x * v1.x + _this1.y * v1.y + _this1.z * v1.z > 0;
			if(t._tmpDfsVisible) {
				this.findEdgeLoop(id,t,from);
			} else {
				let v1 = base._vertices[i];
				v1._tmpEdgeLoopNext = base._vertices[base._nextIndex[i]];
				v1._tmpEdgeLoopOuterTriangle = t;
			}
		}
		let triangle = base._adjacentTriangles[0];
		if(triangle != null) {
			let pairIndex = base._adjacentPairIndex[0];
			triangle._adjacentTriangles[pairIndex] = null;
			triangle._adjacentPairIndex[pairIndex] = -1;
			base._adjacentTriangles[0] = null;
			base._adjacentPairIndex[0] = -1;
		}
		let triangle1 = base._adjacentTriangles[1];
		if(triangle1 != null) {
			let pairIndex = base._adjacentPairIndex[1];
			triangle1._adjacentTriangles[pairIndex] = null;
			triangle1._adjacentPairIndex[pairIndex] = -1;
			base._adjacentTriangles[1] = null;
			base._adjacentPairIndex[1] = -1;
		}
		let triangle2 = base._adjacentTriangles[2];
		if(triangle2 != null) {
			let pairIndex = base._adjacentPairIndex[2];
			triangle2._adjacentTriangles[pairIndex] = null;
			triangle2._adjacentPairIndex[pairIndex] = -1;
			base._adjacentTriangles[2] = null;
			base._adjacentPairIndex[2] = -1;
		}
		this._numTriangles--;
		let prev = base._prev;
		let next = base._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(base == this._triangleList) {
			this._triangleList = this._triangleList._next;
		}
		if(base == this._triangleListLast) {
			this._triangleListLast = this._triangleListLast._prev;
		}
		base._next = null;
		base._prev = null;
		base.removeReferences();
		base._next = this._trianglePool;
		this._trianglePool = base;
	}
	_init(v1,v2,v3,v4) {
		this._status = 0;
		this._numVertices = 4;
		this._vertices[0] = v1;
		this._vertices[1] = v2;
		this._vertices[2] = v3;
		this._vertices[3] = v4;
		let _this = this._center;
		let v = v1.v;
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
		let v5 = v2.v;
		_this.x += v5.x;
		_this.y += v5.y;
		_this.z += v5.z;
		let v6 = v3.v;
		_this.x += v6.x;
		_this.y += v6.y;
		_this.z += v6.z;
		let v7 = v4.v;
		_this.x += v7.x;
		_this.y += v7.y;
		_this.z += v7.z;
		_this.x *= 0.25;
		_this.y *= 0.25;
		_this.z *= 0.25;
		let first = this._trianglePool;
		if(first != null) {
			this._trianglePool = first._next;
			first._next = null;
		} else {
			first = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
		}
		let t1 = first;
		let first1 = this._trianglePool;
		if(first1 != null) {
			this._trianglePool = first1._next;
			first1._next = null;
		} else {
			first1 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
		}
		let t2 = first1;
		let first2 = this._trianglePool;
		if(first2 != null) {
			this._trianglePool = first2._next;
			first2._next = null;
		} else {
			first2 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
		}
		let t3 = first2;
		let first3 = this._trianglePool;
		if(first3 != null) {
			this._trianglePool = first3._next;
			first3._next = null;
		} else {
			first3 = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
		}
		let t4 = first3;
		if(!t1.init(v1,v2,v3,this._center,true)) {
			this._status = 1;
		}
		if(!t2.init(v1,v2,v4,this._center,true)) {
			this._status = 1;
		}
		if(!t3.init(v1,v3,v4,this._center,true)) {
			this._status = 1;
		}
		if(!t4.init(v2,v3,v4,this._center,true)) {
			this._status = 1;
		}
		if(!t1.setAdjacentTriangle(t2)) {
			this._status = 1;
		}
		if(!t1.setAdjacentTriangle(t3)) {
			this._status = 1;
		}
		if(!t1.setAdjacentTriangle(t4)) {
			this._status = 1;
		}
		if(!t2.setAdjacentTriangle(t3)) {
			this._status = 1;
		}
		if(!t2.setAdjacentTriangle(t4)) {
			this._status = 1;
		}
		if(!t3.setAdjacentTriangle(t4)) {
			this._status = 1;
		}
		this._numTriangles++;
		if(this._triangleList == null) {
			this._triangleList = t1;
			this._triangleListLast = t1;
		} else {
			this._triangleListLast._next = t1;
			t1._prev = this._triangleListLast;
			this._triangleListLast = t1;
		}
		this._numTriangles++;
		if(this._triangleList == null) {
			this._triangleList = t2;
			this._triangleListLast = t2;
		} else {
			this._triangleListLast._next = t2;
			t2._prev = this._triangleListLast;
			this._triangleListLast = t2;
		}
		this._numTriangles++;
		if(this._triangleList == null) {
			this._triangleList = t3;
			this._triangleListLast = t3;
		} else {
			this._triangleListLast._next = t3;
			t3._prev = this._triangleListLast;
			this._triangleListLast = t3;
		}
		this._numTriangles++;
		if(this._triangleList == null) {
			this._triangleList = t4;
			this._triangleListLast = t4;
		} else {
			this._triangleListLast._next = t4;
			t4._prev = this._triangleListLast;
			this._triangleListLast = t4;
		}
		return this._status == 0;
	}
	_addVertex(vertex,base) {
		this._vertices[this._numVertices++] = vertex;
		let v1 = base._vertices[0];
		this.findEdgeLoop(this._numVertices,base,vertex.v);
		if(this._status != 0) {
			return false;
		}
		let v = v1;
		let prevT = null;
		let firstT = null;
		while(true) {
			if(v._tmpEdgeLoopNext == null) {
				this._dumpAsObjModel();
				this._status = 4;
				return false;
			}
			if(v._tmpEdgeLoopOuterTriangle == null) {
				this._status = 5;
				return false;
			}
			let first = this._trianglePool;
			if(first != null) {
				this._trianglePool = first._next;
				first._next = null;
			} else {
				first = new oimo.collision.narrowphase.detector.gjkepa.EpaTriangle();
			}
			let t = first;
			if(firstT == null) {
				firstT = t;
			}
			if(!t.init(v,v._tmpEdgeLoopNext,vertex,this._center,false)) {
				this._status = 1;
			}
			if(this._status != 0) {
				return false;
			}
			this._numTriangles++;
			if(this._triangleList == null) {
				this._triangleList = t;
				this._triangleListLast = t;
			} else {
				this._triangleListLast._next = t;
				t._prev = this._triangleListLast;
				this._triangleListLast = t;
			}
			if(!t.setAdjacentTriangle(v._tmpEdgeLoopOuterTriangle)) {
				this._status = 1;
			}
			if(prevT != null) {
				if(!t.setAdjacentTriangle(prevT)) {
					this._status = 1;
				}
			}
			prevT = t;
			v = v._tmpEdgeLoopNext;
			if(!(v != v1)) {
				break;
			}
		}
		if(!prevT.setAdjacentTriangle(firstT)) {
			this._status = 1;
		}
		if(this._status == 0) {
			return this.validate();
		} else {
			return false;
		}
	}
	_dumpAsObjModel() {
	}
}
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState = class oimo_collision_narrowphase_detector_gjkepa_EpaPolyhedronState {
}
oimo.collision.narrowphase.detector.gjkepa.EpaTriangle = class oimo_collision_narrowphase_detector_gjkepa_EpaTriangle {
	constructor() {
		this.id = ++oimo.collision.narrowphase.detector.gjkepa.EpaTriangle.count;
		this._next = null;
		this._prev = null;
		this._normal = new oimo.common.Vec3();
		this._distanceSq = 0;
		this._tmpDfsId = 0;
		this._tmpDfsVisible = false;
		this._vertices = new Array(3);
		this._adjacentTriangles = new Array(3);
		this._adjacentPairIndex = new Array(3);
		this.tmp = new oimo.common.Vec3();
		this._nextIndex = new Array(3);
		this._nextIndex[0] = 1;
		this._nextIndex[1] = 2;
		this._nextIndex[2] = 0;
	}
	init(vertex1,vertex2,vertex3,center,autoCheck) {
		if(autoCheck == null) {
			autoCheck = false;
		}
		let v1X;
		let v1Y;
		let v1Z;
		let v2X;
		let v2Y;
		let v2Z;
		let v3X;
		let v3Y;
		let v3Z;
		let vcX;
		let vcY;
		let vcZ;
		let v = vertex1.v;
		v1X = v.x;
		v1Y = v.y;
		v1Z = v.z;
		let v1 = vertex2.v;
		v2X = v1.x;
		v2Y = v1.y;
		v2Z = v1.z;
		let v2 = vertex3.v;
		v3X = v2.x;
		v3Y = v2.y;
		v3Z = v2.z;
		vcX = center.x;
		vcY = center.y;
		vcZ = center.z;
		let v12X;
		let v12Y;
		let v12Z;
		let v13X;
		let v13Y;
		let v13Z;
		let vc1X;
		let vc1Y;
		let vc1Z;
		v12X = v2X - v1X;
		v12Y = v2Y - v1Y;
		v12Z = v2Z - v1Z;
		v13X = v3X - v1X;
		v13Y = v3Y - v1Y;
		v13Z = v3Z - v1Z;
		vc1X = v1X - vcX;
		vc1Y = v1Y - vcY;
		vc1Z = v1Z - vcZ;
		let inorX;
		let inorY;
		let inorZ;
		inorX = v12Y * v13Z - v12Z * v13Y;
		inorY = v12Z * v13X - v12X * v13Z;
		inorZ = v12X * v13Y - v12Y * v13X;
		let inverted = false;
		if(vc1X * inorX + vc1Y * inorY + vc1Z * inorZ < 0) {
			if(autoCheck) {
				let tmp = vertex2;
				vertex2 = vertex3;
				vertex3 = tmp;
				inorX *= -1;
				inorY *= -1;
				inorZ *= -1;
			} else {
				inverted = true;
			}
		}
		this._vertices[0] = vertex1;
		this._vertices[1] = vertex2;
		this._vertices[2] = vertex3;
		let v3 = this._normal;
		v3.x = inorX;
		v3.y = inorY;
		v3.z = inorZ;
		let vec1 = vertex1.v;
		let vec2 = vertex2.v;
		let vec3 = vertex3.v;
		let out = this.tmp;
		let v1X1;
		let v1Y1;
		let v1Z1;
		let v2X1;
		let v2Y1;
		let v2Z1;
		let v3X1;
		let v3Y1;
		let v3Z1;
		let v12X1;
		let v12Y1;
		let v12Z1;
		let v23X;
		let v23Y;
		let v23Z;
		let v31X;
		let v31Y;
		let v31Z;
		v1X1 = vec1.x;
		v1Y1 = vec1.y;
		v1Z1 = vec1.z;
		v2X1 = vec2.x;
		v2Y1 = vec2.y;
		v2Z1 = vec2.z;
		v3X1 = vec3.x;
		v3Y1 = vec3.y;
		v3Z1 = vec3.z;
		v12X1 = v2X1 - v1X1;
		v12Y1 = v2Y1 - v1Y1;
		v12Z1 = v2Z1 - v1Z1;
		v23X = v3X1 - v2X1;
		v23Y = v3Y1 - v2Y1;
		v23Z = v3Z1 - v2Z1;
		v31X = v1X1 - v3X1;
		v31Y = v1Y1 - v3Y1;
		v31Z = v1Z1 - v3Z1;
		let nX;
		let nY;
		let nZ;
		nX = v12Y1 * v23Z - v12Z1 * v23Y;
		nY = v12Z1 * v23X - v12X1 * v23Z;
		nZ = v12X1 * v23Y - v12Y1 * v23X;
		let n12X;
		let n12Y;
		let n12Z;
		let n23X;
		let n23Y;
		let n23Z;
		let n31X;
		let n31Y;
		let n31Z;
		n12X = v12Y1 * nZ - v12Z1 * nY;
		n12Y = v12Z1 * nX - v12X1 * nZ;
		n12Z = v12X1 * nY - v12Y1 * nX;
		n23X = v23Y * nZ - v23Z * nY;
		n23Y = v23Z * nX - v23X * nZ;
		n23Z = v23X * nY - v23Y * nX;
		n31X = v31Y * nZ - v31Z * nY;
		n31Y = v31Z * nX - v31X * nZ;
		n31Z = v31X * nY - v31Y * nX;
		let mind = -1;
		let minvX;
		let minvY;
		let minvZ;
		minvX = 0;
		minvY = 0;
		minvZ = 0;
		if(v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec2.x;
			v2Y = vec2.y;
			v2Z = vec2.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
			}
			mind = out.x * out.x + out.y * out.y + out.z * out.z;
			minvX = out.x;
			minvY = out.y;
			minvZ = out.z;
		}
		if(v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec2.x;
			v1Y = vec2.y;
			v1Z = vec2.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if(v3X1 * n31X + v3Y1 * n31Y + v3Z1 * n31Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if(mind > 0) {
			out.x = minvX;
			out.y = minvY;
			out.z = minvZ;
		} else {
			let l = nX * nX + nY * nY + nZ * nZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			nX *= l;
			nY *= l;
			nZ *= l;
			let l2 = nX * nX + nY * nY + nZ * nZ;
			l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
			minvX = nX * l2;
			minvY = nY * l2;
			minvZ = nZ * l2;
			out.x = minvX;
			out.y = minvY;
			out.z = minvZ;
		}
		let _this = this.tmp;
		this._distanceSq = _this.x * _this.x + _this.y * _this.y + _this.z * _this.z;
		this._adjacentTriangles[0] = null;
		this._adjacentTriangles[1] = null;
		this._adjacentTriangles[2] = null;
		this._adjacentPairIndex[0] = -1;
		this._adjacentPairIndex[1] = -1;
		this._adjacentPairIndex[2] = -1;
		return !inverted;
	}
	setAdjacentTriangle(triangle) {
		let count = 0;
		if(this._vertices[0] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[0]] == triangle._vertices[0]) {
			this._adjacentTriangles[0] = triangle;
			this._adjacentPairIndex[0] = 0;
			triangle._adjacentTriangles[0] = this;
			triangle._adjacentPairIndex[0] = 0;
			count = 1;
		}
		if(this._vertices[0] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[0]] == triangle._vertices[1]) {
			this._adjacentTriangles[0] = triangle;
			this._adjacentPairIndex[0] = 1;
			triangle._adjacentTriangles[1] = this;
			triangle._adjacentPairIndex[1] = 0;
			++count;
		}
		if(this._vertices[0] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[0]] == triangle._vertices[2]) {
			this._adjacentTriangles[0] = triangle;
			this._adjacentPairIndex[0] = 2;
			triangle._adjacentTriangles[2] = this;
			triangle._adjacentPairIndex[2] = 0;
			++count;
		}
		if(this._vertices[1] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[1]] == triangle._vertices[0]) {
			this._adjacentTriangles[1] = triangle;
			this._adjacentPairIndex[1] = 0;
			triangle._adjacentTriangles[0] = this;
			triangle._adjacentPairIndex[0] = 1;
			++count;
		}
		if(this._vertices[1] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[1]] == triangle._vertices[1]) {
			this._adjacentTriangles[1] = triangle;
			this._adjacentPairIndex[1] = 1;
			triangle._adjacentTriangles[1] = this;
			triangle._adjacentPairIndex[1] = 1;
			++count;
		}
		if(this._vertices[1] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[1]] == triangle._vertices[2]) {
			this._adjacentTriangles[1] = triangle;
			this._adjacentPairIndex[1] = 2;
			triangle._adjacentTriangles[2] = this;
			triangle._adjacentPairIndex[2] = 1;
			++count;
		}
		if(this._vertices[2] == triangle._vertices[this._nextIndex[0]] && this._vertices[this._nextIndex[2]] == triangle._vertices[0]) {
			this._adjacentTriangles[2] = triangle;
			this._adjacentPairIndex[2] = 0;
			triangle._adjacentTriangles[0] = this;
			triangle._adjacentPairIndex[0] = 2;
			++count;
		}
		if(this._vertices[2] == triangle._vertices[this._nextIndex[1]] && this._vertices[this._nextIndex[2]] == triangle._vertices[1]) {
			this._adjacentTriangles[2] = triangle;
			this._adjacentPairIndex[2] = 1;
			triangle._adjacentTriangles[1] = this;
			triangle._adjacentPairIndex[1] = 2;
			++count;
		}
		if(this._vertices[2] == triangle._vertices[this._nextIndex[2]] && this._vertices[this._nextIndex[2]] == triangle._vertices[2]) {
			this._adjacentTriangles[2] = triangle;
			this._adjacentPairIndex[2] = 2;
			triangle._adjacentTriangles[2] = this;
			triangle._adjacentPairIndex[2] = 2;
			++count;
		}
		if(count != 1) {
			return false;
		}
		return true;
	}
	removeAdjacentTriangles() {
		let triangle = this._adjacentTriangles[0];
		if(triangle != null) {
			let pairIndex = this._adjacentPairIndex[0];
			triangle._adjacentTriangles[pairIndex] = null;
			triangle._adjacentPairIndex[pairIndex] = -1;
			this._adjacentTriangles[0] = null;
			this._adjacentPairIndex[0] = -1;
		}
		let triangle1 = this._adjacentTriangles[1];
		if(triangle1 != null) {
			let pairIndex = this._adjacentPairIndex[1];
			triangle1._adjacentTriangles[pairIndex] = null;
			triangle1._adjacentPairIndex[pairIndex] = -1;
			this._adjacentTriangles[1] = null;
			this._adjacentPairIndex[1] = -1;
		}
		let triangle2 = this._adjacentTriangles[2];
		if(triangle2 != null) {
			let pairIndex = this._adjacentPairIndex[2];
			triangle2._adjacentTriangles[pairIndex] = null;
			triangle2._adjacentPairIndex[pairIndex] = -1;
			this._adjacentTriangles[2] = null;
			this._adjacentPairIndex[2] = -1;
		}
	}
	removeReferences() {
		this._next = null;
		this._prev = null;
		this._tmpDfsId = 0;
		this._tmpDfsVisible = false;
		this._distanceSq = 0;
		this._vertices[0] = null;
		this._vertices[1] = null;
		this._vertices[2] = null;
		this._adjacentTriangles[0] = null;
		this._adjacentTriangles[1] = null;
		this._adjacentTriangles[2] = null;
		this._adjacentPairIndex[0] = 0;
		this._adjacentPairIndex[1] = 0;
		this._adjacentPairIndex[2] = 0;
	}
	dump() {
	}
}
oimo.collision.narrowphase.detector.gjkepa.EpaVertex = class oimo_collision_narrowphase_detector_gjkepa_EpaVertex {
	constructor() {
		this.randId = Math.random() * 100000 | 0;
		this.v = new oimo.common.Vec3();
		this.w1 = new oimo.common.Vec3();
		this.w2 = new oimo.common.Vec3();
	}
	init(v,w1,w2) {
		let _this = this.v;
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
		let _this1 = this.w1;
		_this1.x = w1.x;
		_this1.y = w1.y;
		_this1.z = w1.z;
		let _this2 = this.w2;
		_this2.x = w2.x;
		_this2.y = w2.y;
		_this2.z = w2.z;
		this._next = null;
		this._tmpEdgeLoopNext = null;
		this._tmpEdgeLoopOuterTriangle = null;
		return this;
	}
	removeReferences() {
		this._next = null;
		this._tmpEdgeLoopNext = null;
		this._tmpEdgeLoopOuterTriangle = null;
	}
}
oimo.collision.narrowphase.detector.gjkepa.GjkCache = class oimo_collision_narrowphase_detector_gjkepa_GjkCache {
	constructor() {
		this.prevClosestDir = new oimo.common.Vec3();
	}
	clear() {
		this.prevClosestDir.zero();
	}
}
if(!oimo.common) oimo.common = {};
oimo.common.Vec3 = class oimo_common_Vec3 {
	constructor(x,y,z) {
		if(z == null) {
			z = 0;
		}
		if(y == null) {
			y = 0;
		}
		if(x == null) {
			x = 0;
		}
		this.x = x;
		this.y = y;
		this.z = z;
		oimo.common.Vec3.numCreations++;
	}
	init(x,y,z) {
		this.x = x;
		this.y = y;
		this.z = z;
		return this;
	}
	zero() {
		this.x = 0;
		this.y = 0;
		this.z = 0;
		return this;
	}
	add(v) {
		return new oimo.common.Vec3(this.x + v.x,this.y + v.y,this.z + v.z);
	}
	add3(vx,vy,vz) {
		return new oimo.common.Vec3(this.x + vx,this.y + vy,this.z + vz);
	}
	addScaled(v,s) {
		return new oimo.common.Vec3(this.x + v.x * s,this.y + v.y * s,this.z + v.z * s);
	}
	sub(v) {
		return new oimo.common.Vec3(this.x - v.x,this.y - v.y,this.z - v.z);
	}
	sub3(vx,vy,vz) {
		return new oimo.common.Vec3(this.x - vx,this.y - vy,this.z - vz);
	}
	scale(s) {
		return new oimo.common.Vec3(this.x * s,this.y * s,this.z * s);
	}
	scale3(sx,sy,sz) {
		return new oimo.common.Vec3(this.x * sx,this.y * sy,this.z * sz);
	}
	dot(v) {
		return this.x * v.x + this.y * v.y + this.z * v.z;
	}
	cross(v) {
		return new oimo.common.Vec3(this.y * v.z - this.z * v.y,this.z * v.x - this.x * v.z,this.x * v.y - this.y * v.x);
	}
	addEq(v) {
		this.x += v.x;
		this.y += v.y;
		this.z += v.z;
		return this;
	}
	add3Eq(vx,vy,vz) {
		this.x += vx;
		this.y += vy;
		this.z += vz;
		return this;
	}
	addScaledEq(v,s) {
		this.x += v.x * s;
		this.y += v.y * s;
		this.z += v.z * s;
		return this;
	}
	subEq(v) {
		this.x -= v.x;
		this.y -= v.y;
		this.z -= v.z;
		return this;
	}
	sub3Eq(vx,vy,vz) {
		this.x -= vx;
		this.y -= vy;
		this.z -= vz;
		return this;
	}
	scaleEq(s) {
		this.x *= s;
		this.y *= s;
		this.z *= s;
		return this;
	}
	scale3Eq(sx,sy,sz) {
		this.x *= sx;
		this.y *= sy;
		this.z *= sz;
		return this;
	}
	crossEq(v) {
		let y = this.z * v.x - this.x * v.z;
		let z = this.x * v.y - this.y * v.x;
		this.x = this.y * v.z - this.z * v.y;
		this.y = y;
		this.z = z;
		return this;
	}
	mulMat3(m) {
		return new oimo.common.Vec3(this.x * m.e00 + this.y * m.e01 + this.z * m.e02,this.x * m.e10 + this.y * m.e11 + this.z * m.e12,this.x * m.e20 + this.y * m.e21 + this.z * m.e22);
	}
	mulMat4(m) {
		return new oimo.common.Vec3(this.x * m.e00 + this.y * m.e01 + this.z * m.e02 + m.e03,this.x * m.e10 + this.y * m.e11 + this.z * m.e12 + m.e13,this.x * m.e20 + this.y * m.e21 + this.z * m.e22 + m.e23);
	}
	mulTransform(tf) {
		let vX;
		let vY;
		let vZ;
		vX = this.x;
		vY = this.y;
		vZ = this.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf._rotation00 * vX + tf._rotation01 * vY + tf._rotation02 * vZ;
		__tmp__Y = tf._rotation10 * vX + tf._rotation11 * vY + tf._rotation12 * vZ;
		__tmp__Z = tf._rotation20 * vX + tf._rotation21 * vY + tf._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		vX += tf._positionX;
		vY += tf._positionY;
		vZ += tf._positionZ;
		let res = new oimo.common.Vec3();
		res.x = vX;
		res.y = vY;
		res.z = vZ;
		return res;
	}
	mulMat3Eq(m) {
		let y = this.x * m.e10 + this.y * m.e11 + this.z * m.e12;
		let z = this.x * m.e20 + this.y * m.e21 + this.z * m.e22;
		this.x = this.x * m.e00 + this.y * m.e01 + this.z * m.e02;
		this.y = y;
		this.z = z;
		return this;
	}
	mulMat4Eq(m) {
		let y = this.x * m.e10 + this.y * m.e11 + this.z * m.e12 + m.e13;
		let z = this.x * m.e20 + this.y * m.e21 + this.z * m.e22 + m.e23;
		this.x = this.x * m.e00 + this.y * m.e01 + this.z * m.e02 + m.e03;
		this.y = y;
		this.z = z;
		return this;
	}
	mulTransformEq(tf) {
		let vX;
		let vY;
		let vZ;
		vX = this.x;
		vY = this.y;
		vZ = this.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf._rotation00 * vX + tf._rotation01 * vY + tf._rotation02 * vZ;
		__tmp__Y = tf._rotation10 * vX + tf._rotation11 * vY + tf._rotation12 * vZ;
		__tmp__Z = tf._rotation20 * vX + tf._rotation21 * vY + tf._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		vX += tf._positionX;
		vY += tf._positionY;
		vZ += tf._positionZ;
		this.x = vX;
		this.y = vY;
		this.z = vZ;
		return this;
	}
	length() {
		return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
	}
	lengthSq() {
		return this.x * this.x + this.y * this.y + this.z * this.z;
	}
	normalized() {
		let invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
		if(invLen > 0) {
			invLen = 1 / invLen;
		}
		return new oimo.common.Vec3(this.x * invLen,this.y * invLen,this.z * invLen);
	}
	normalize() {
		let invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
		if(invLen > 0) {
			invLen = 1 / invLen;
		}
		this.x *= invLen;
		this.y *= invLen;
		this.z *= invLen;
		return this;
	}
	negate() {
		return new oimo.common.Vec3(-this.x,-this.y,-this.z);
	}
	negateEq() {
		this.x = -this.x;
		this.y = -this.y;
		this.z = -this.z;
		return this;
	}
	copyFrom(v) {
		this.x = v.x;
		this.y = v.y;
		this.z = v.z;
		return this;
	}
	clone() {
		return new oimo.common.Vec3(this.x,this.y,this.z);
	}
	toString() {
		return "Vec3[" + (this.x > 0 ? (this.x * 10000000 + 0.5 | 0) / 10000000 : (this.x * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.y > 0 ? (this.y * 10000000 + 0.5 | 0) / 10000000 : (this.y * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.z > 0 ? (this.z * 10000000 + 0.5 | 0) / 10000000 : (this.z * 10000000 - 0.5 | 0) / 10000000) + "]";
	}
}
oimo.common.Transform = class oimo_common_Transform {
	constructor() {
		this._positionX = 0;
		this._positionY = 0;
		this._positionZ = 0;
		this._rotation00 = 1;
		this._rotation01 = 0;
		this._rotation02 = 0;
		this._rotation10 = 0;
		this._rotation11 = 1;
		this._rotation12 = 0;
		this._rotation20 = 0;
		this._rotation21 = 0;
		this._rotation22 = 1;
	}
	identity() {
		this._positionX = 0;
		this._positionY = 0;
		this._positionZ = 0;
		this._rotation00 = 1;
		this._rotation01 = 0;
		this._rotation02 = 0;
		this._rotation10 = 0;
		this._rotation11 = 1;
		this._rotation12 = 0;
		this._rotation20 = 0;
		this._rotation21 = 0;
		this._rotation22 = 1;
		return this;
	}
	getPosition() {
		let position = new oimo.common.Vec3();
		position.x = this._positionX;
		position.y = this._positionY;
		position.z = this._positionZ;
		return position;
	}
	getPositionTo(position) {
		position.x = this._positionX;
		position.y = this._positionY;
		position.z = this._positionZ;
	}
	setPosition(position) {
		this._positionX = position.x;
		this._positionY = position.y;
		this._positionZ = position.z;
		return this;
	}
	translate(translation) {
		let diffX;
		let diffY;
		let diffZ;
		diffX = translation.x;
		diffY = translation.y;
		diffZ = translation.z;
		this._positionX += diffX;
		this._positionY += diffY;
		this._positionZ += diffZ;
	}
	getRotation() {
		let rotation = new oimo.common.Mat3();
		rotation.e00 = this._rotation00;
		rotation.e01 = this._rotation01;
		rotation.e02 = this._rotation02;
		rotation.e10 = this._rotation10;
		rotation.e11 = this._rotation11;
		rotation.e12 = this._rotation12;
		rotation.e20 = this._rotation20;
		rotation.e21 = this._rotation21;
		rotation.e22 = this._rotation22;
		return rotation;
	}
	getRotationTo(out) {
		out.e00 = this._rotation00;
		out.e01 = this._rotation01;
		out.e02 = this._rotation02;
		out.e10 = this._rotation10;
		out.e11 = this._rotation11;
		out.e12 = this._rotation12;
		out.e20 = this._rotation20;
		out.e21 = this._rotation21;
		out.e22 = this._rotation22;
	}
	setRotation(rotation) {
		this._rotation00 = rotation.e00;
		this._rotation01 = rotation.e01;
		this._rotation02 = rotation.e02;
		this._rotation10 = rotation.e10;
		this._rotation11 = rotation.e11;
		this._rotation12 = rotation.e12;
		this._rotation20 = rotation.e20;
		this._rotation21 = rotation.e21;
		this._rotation22 = rotation.e22;
		return this;
	}
	setRotationXyz(eulerAngles) {
		let xyzX;
		let xyzY;
		let xyzZ;
		xyzX = eulerAngles.x;
		xyzY = eulerAngles.y;
		xyzZ = eulerAngles.z;
		let sx = Math.sin(xyzX);
		let sy = Math.sin(xyzY);
		let sz = Math.sin(xyzZ);
		let cx = Math.cos(xyzX);
		let cy = Math.cos(xyzY);
		let cz = Math.cos(xyzZ);
		this._rotation00 = cy * cz;
		this._rotation01 = -cy * sz;
		this._rotation02 = sy;
		this._rotation10 = cx * sz + cz * sx * sy;
		this._rotation11 = cx * cz - sx * sy * sz;
		this._rotation12 = -cy * sx;
		this._rotation20 = sx * sz - cx * cz * sy;
		this._rotation21 = cz * sx + cx * sy * sz;
		this._rotation22 = cx * cy;
	}
	rotate(rotation) {
		let rot00;
		let rot01;
		let rot02;
		let rot10;
		let rot11;
		let rot12;
		let rot20;
		let rot21;
		let rot22;
		rot00 = rotation.e00;
		rot01 = rotation.e01;
		rot02 = rotation.e02;
		rot10 = rotation.e10;
		rot11 = rotation.e11;
		rot12 = rotation.e12;
		rot20 = rotation.e20;
		rot21 = rotation.e21;
		rot22 = rotation.e22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot00 * this._rotation00 + rot01 * this._rotation10 + rot02 * this._rotation20;
		__tmp__01 = rot00 * this._rotation01 + rot01 * this._rotation11 + rot02 * this._rotation21;
		__tmp__02 = rot00 * this._rotation02 + rot01 * this._rotation12 + rot02 * this._rotation22;
		__tmp__10 = rot10 * this._rotation00 + rot11 * this._rotation10 + rot12 * this._rotation20;
		__tmp__11 = rot10 * this._rotation01 + rot11 * this._rotation11 + rot12 * this._rotation21;
		__tmp__12 = rot10 * this._rotation02 + rot11 * this._rotation12 + rot12 * this._rotation22;
		__tmp__20 = rot20 * this._rotation00 + rot21 * this._rotation10 + rot22 * this._rotation20;
		__tmp__21 = rot20 * this._rotation01 + rot21 * this._rotation11 + rot22 * this._rotation21;
		__tmp__22 = rot20 * this._rotation02 + rot21 * this._rotation12 + rot22 * this._rotation22;
		this._rotation00 = __tmp__00;
		this._rotation01 = __tmp__01;
		this._rotation02 = __tmp__02;
		this._rotation10 = __tmp__10;
		this._rotation11 = __tmp__11;
		this._rotation12 = __tmp__12;
		this._rotation20 = __tmp__20;
		this._rotation21 = __tmp__21;
		this._rotation22 = __tmp__22;
	}
	rotateXyz(eulerAngles) {
		let xyzX;
		let xyzY;
		let xyzZ;
		let rot00;
		let rot01;
		let rot02;
		let rot10;
		let rot11;
		let rot12;
		let rot20;
		let rot21;
		let rot22;
		xyzX = eulerAngles.x;
		xyzY = eulerAngles.y;
		xyzZ = eulerAngles.z;
		let sx = Math.sin(xyzX);
		let sy = Math.sin(xyzY);
		let sz = Math.sin(xyzZ);
		let cx = Math.cos(xyzX);
		let cy = Math.cos(xyzY);
		let cz = Math.cos(xyzZ);
		rot00 = cy * cz;
		rot01 = -cy * sz;
		rot02 = sy;
		rot10 = cx * sz + cz * sx * sy;
		rot11 = cx * cz - sx * sy * sz;
		rot12 = -cy * sx;
		rot20 = sx * sz - cx * cz * sy;
		rot21 = cz * sx + cx * sy * sz;
		rot22 = cx * cy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot00 * this._rotation00 + rot01 * this._rotation10 + rot02 * this._rotation20;
		__tmp__01 = rot00 * this._rotation01 + rot01 * this._rotation11 + rot02 * this._rotation21;
		__tmp__02 = rot00 * this._rotation02 + rot01 * this._rotation12 + rot02 * this._rotation22;
		__tmp__10 = rot10 * this._rotation00 + rot11 * this._rotation10 + rot12 * this._rotation20;
		__tmp__11 = rot10 * this._rotation01 + rot11 * this._rotation11 + rot12 * this._rotation21;
		__tmp__12 = rot10 * this._rotation02 + rot11 * this._rotation12 + rot12 * this._rotation22;
		__tmp__20 = rot20 * this._rotation00 + rot21 * this._rotation10 + rot22 * this._rotation20;
		__tmp__21 = rot20 * this._rotation01 + rot21 * this._rotation11 + rot22 * this._rotation21;
		__tmp__22 = rot20 * this._rotation02 + rot21 * this._rotation12 + rot22 * this._rotation22;
		this._rotation00 = __tmp__00;
		this._rotation01 = __tmp__01;
		this._rotation02 = __tmp__02;
		this._rotation10 = __tmp__10;
		this._rotation11 = __tmp__11;
		this._rotation12 = __tmp__12;
		this._rotation20 = __tmp__20;
		this._rotation21 = __tmp__21;
		this._rotation22 = __tmp__22;
	}
	getOrientation() {
		let q = new oimo.common.Quat();
		let iqX;
		let iqY;
		let iqZ;
		let iqW;
		let e00 = this._rotation00;
		let e11 = this._rotation11;
		let e22 = this._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			iqW = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation21 - this._rotation12) * s;
			iqY = (this._rotation02 - this._rotation20) * s;
			iqZ = (this._rotation10 - this._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				iqX = 0.5 * s;
				s = 0.5 / s;
				iqY = (this._rotation01 + this._rotation10) * s;
				iqZ = (this._rotation02 + this._rotation20) * s;
				iqW = (this._rotation21 - this._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				iqZ = 0.5 * s;
				s = 0.5 / s;
				iqX = (this._rotation02 + this._rotation20) * s;
				iqY = (this._rotation12 + this._rotation21) * s;
				iqW = (this._rotation10 - this._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			iqY = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation01 + this._rotation10) * s;
			iqZ = (this._rotation12 + this._rotation21) * s;
			iqW = (this._rotation02 - this._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			iqZ = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation02 + this._rotation20) * s;
			iqY = (this._rotation12 + this._rotation21) * s;
			iqW = (this._rotation10 - this._rotation01) * s;
		}
		q.x = iqX;
		q.y = iqY;
		q.z = iqZ;
		q.w = iqW;
		return q;
	}
	getOrientationTo(orientation) {
		let iqX;
		let iqY;
		let iqZ;
		let iqW;
		let e00 = this._rotation00;
		let e11 = this._rotation11;
		let e22 = this._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			iqW = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation21 - this._rotation12) * s;
			iqY = (this._rotation02 - this._rotation20) * s;
			iqZ = (this._rotation10 - this._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				iqX = 0.5 * s;
				s = 0.5 / s;
				iqY = (this._rotation01 + this._rotation10) * s;
				iqZ = (this._rotation02 + this._rotation20) * s;
				iqW = (this._rotation21 - this._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				iqZ = 0.5 * s;
				s = 0.5 / s;
				iqX = (this._rotation02 + this._rotation20) * s;
				iqY = (this._rotation12 + this._rotation21) * s;
				iqW = (this._rotation10 - this._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			iqY = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation01 + this._rotation10) * s;
			iqZ = (this._rotation12 + this._rotation21) * s;
			iqW = (this._rotation02 - this._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			iqZ = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._rotation02 + this._rotation20) * s;
			iqY = (this._rotation12 + this._rotation21) * s;
			iqW = (this._rotation10 - this._rotation01) * s;
		}
		orientation.x = iqX;
		orientation.y = iqY;
		orientation.z = iqZ;
		orientation.w = iqW;
	}
	setOrientation(quaternion) {
		let qX;
		let qY;
		let qZ;
		let qW;
		qX = quaternion.x;
		qY = quaternion.y;
		qZ = quaternion.z;
		qW = quaternion.w;
		let x = qX;
		let y = qY;
		let z = qZ;
		let w = qW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		this._rotation00 = 1 - yy - zz;
		this._rotation01 = xy - wz;
		this._rotation02 = xz + wy;
		this._rotation10 = xy + wz;
		this._rotation11 = 1 - xx - zz;
		this._rotation12 = yz - wx;
		this._rotation20 = xz - wy;
		this._rotation21 = yz + wx;
		this._rotation22 = 1 - xx - yy;
		return this;
	}
	clone() {
		let tf = new oimo.common.Transform();
		tf._positionX = this._positionX;
		tf._positionY = this._positionY;
		tf._positionZ = this._positionZ;
		tf._rotation00 = this._rotation00;
		tf._rotation01 = this._rotation01;
		tf._rotation02 = this._rotation02;
		tf._rotation10 = this._rotation10;
		tf._rotation11 = this._rotation11;
		tf._rotation12 = this._rotation12;
		tf._rotation20 = this._rotation20;
		tf._rotation21 = this._rotation21;
		tf._rotation22 = this._rotation22;
		return tf;
	}
	copyFrom(transform) {
		this._positionX = transform._positionX;
		this._positionY = transform._positionY;
		this._positionZ = transform._positionZ;
		this._rotation00 = transform._rotation00;
		this._rotation01 = transform._rotation01;
		this._rotation02 = transform._rotation02;
		this._rotation10 = transform._rotation10;
		this._rotation11 = transform._rotation11;
		this._rotation12 = transform._rotation12;
		this._rotation20 = transform._rotation20;
		this._rotation21 = transform._rotation21;
		this._rotation22 = transform._rotation22;
		return this;
	}
}
oimo.common.Setting = class oimo_common_Setting {
}
oimo.collision.narrowphase.detector.gjkepa.GjkEpa = class oimo_collision_narrowphase_detector_gjkepa_GjkEpa {
	constructor() {
		this.s = new Array(4);
		this.w1 = new Array(4);
		this.w2 = new Array(4);
		this.baseDirs = new Array(3);
		this.baseDirs[0] = new oimo.common.Vec3(1,0,0);
		this.baseDirs[1] = new oimo.common.Vec3(0,1,0);
		this.baseDirs[2] = new oimo.common.Vec3(0,0,1);
		this.tl1 = new oimo.common.Vec3();
		this.tl2 = new oimo.common.Vec3();
		this.rayX = new oimo.common.Vec3();
		this.rayR = new oimo.common.Vec3();
		this.tempTransform = new oimo.common.Transform();
		this.s[0] = new oimo.common.Vec3();
		this.w1[0] = new oimo.common.Vec3();
		this.w2[0] = new oimo.common.Vec3();
		this.s[1] = new oimo.common.Vec3();
		this.w1[1] = new oimo.common.Vec3();
		this.w2[1] = new oimo.common.Vec3();
		this.s[2] = new oimo.common.Vec3();
		this.w1[2] = new oimo.common.Vec3();
		this.w2[2] = new oimo.common.Vec3();
		this.s[3] = new oimo.common.Vec3();
		this.w1[3] = new oimo.common.Vec3();
		this.w2[3] = new oimo.common.Vec3();
		this.dir = new oimo.common.Vec3();
		this.closest = new oimo.common.Vec3();
		this.closestPoint1 = new oimo.common.Vec3();
		this.closestPoint2 = new oimo.common.Vec3();
		this.polyhedron = new oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedron();
	}
	computeClosestPointsImpl(c1,c2,tf1,tf2,cache,useEpa) {
		this.c1 = c1;
		this.c2 = c2;
		this.tf1 = tf1;
		this.tf2 = tf2;
		let s = this.s;
		let w1 = this.w1;
		let w2 = this.w2;
		let closest = this.closest;
		let dir = this.dir;
		if(cache != null) {
			if(cache._gjkCache == null) {
				cache._gjkCache = new oimo.collision.narrowphase.detector.gjkepa.GjkCache();
			}
			this.loadCache(cache._gjkCache);
		} else {
			dir.zero();
		}
		if(dir.x * dir.x + dir.y * dir.y + dir.z * dir.z == 0) {
			let firstDirX;
			let firstDirY;
			let firstDirZ;
			firstDirX = tf2._positionX - tf1._positionX;
			firstDirY = tf2._positionY - tf1._positionY;
			firstDirZ = tf2._positionZ - tf1._positionZ;
			dir.x = firstDirX;
			dir.y = firstDirY;
			dir.z = firstDirZ;
			if(dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-6) {
				dir.init(1,0,0);
			}
		}
		this.simplexSize = 0;
		this.computeWitnessPoint1(false);
		this.computeWitnessPoint2(false);
		let _this = this.s[this.simplexSize];
		let v = this.w1[this.simplexSize];
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
		let v1 = this.w2[this.simplexSize];
		_this.x -= v1.x;
		_this.y -= v1.y;
		_this.z -= v1.z;
		this.simplexSize = 1;
		let count = 0;
		while(count < 40) {
			let v = 0;
			switch(this.simplexSize) {
			case 1:
				let v1 = s[0];
				closest.x = v1.x;
				closest.y = v1.y;
				closest.z = v1.z;
				v = 1;
				break;
			case 2:
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				let v2 = s[0];
				v1X = v2.x;
				v1Y = v2.y;
				v1Z = v2.z;
				let v3 = s[1];
				v2X = v3.x;
				v2Y = v3.y;
				v2Z = v3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				if(t < 0) {
					closest.x = v1X;
					closest.y = v1Y;
					closest.z = v1Z;
					v = 1;
				} else if(t > 1) {
					closest.x = v2X;
					closest.y = v2Y;
					closest.z = v2Z;
					v = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					closest.x = pX;
					closest.y = pY;
					closest.z = pZ;
					v = 3;
				}
				break;
			case 3:
				let vec1 = s[0];
				let vec2 = s[1];
				let vec3 = s[2];
				let v1X1;
				let v1Y1;
				let v1Z1;
				let v2X1;
				let v2Y1;
				let v2Z1;
				let v3X;
				let v3Y;
				let v3Z;
				let v12X1;
				let v12Y1;
				let v12Z1;
				let v23X;
				let v23Y;
				let v23Z;
				let v31X;
				let v31Y;
				let v31Z;
				v1X1 = vec1.x;
				v1Y1 = vec1.y;
				v1Z1 = vec1.z;
				v2X1 = vec2.x;
				v2Y1 = vec2.y;
				v2Z1 = vec2.z;
				v3X = vec3.x;
				v3Y = vec3.y;
				v3Z = vec3.z;
				v12X1 = v2X1 - v1X1;
				v12Y1 = v2Y1 - v1Y1;
				v12Z1 = v2Z1 - v1Z1;
				v23X = v3X - v2X1;
				v23Y = v3Y - v2Y1;
				v23Z = v3Z - v2Z1;
				v31X = v1X1 - v3X;
				v31Y = v1Y1 - v3Y;
				v31Z = v1Z1 - v3Z;
				let nX;
				let nY;
				let nZ;
				nX = v12Y1 * v23Z - v12Z1 * v23Y;
				nY = v12Z1 * v23X - v12X1 * v23Z;
				nZ = v12X1 * v23Y - v12Y1 * v23X;
				let n12X;
				let n12Y;
				let n12Z;
				let n23X;
				let n23Y;
				let n23Z;
				let n31X;
				let n31Y;
				let n31Z;
				n12X = v12Y1 * nZ - v12Z1 * nY;
				n12Y = v12Z1 * nX - v12X1 * nZ;
				n12Z = v12X1 * nY - v12Y1 * nX;
				n23X = v23Y * nZ - v23Z * nY;
				n23Y = v23Z * nX - v23X * nZ;
				n23Z = v23X * nY - v23Y * nX;
				n31X = v31Y * nZ - v31Z * nY;
				n31Y = v31Z * nX - v31X * nZ;
				n31Z = v31X * nY - v31Y * nX;
				let mind = -1;
				let minvX;
				let minvY;
				let minvZ;
				let mini = 0;
				minvX = 0;
				minvY = 0;
				minvZ = 0;
				if(v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec1.x;
					v1Y = vec1.y;
					v1Z = vec1.z;
					v2X = vec2.x;
					v2Y = vec2.y;
					v2Z = vec2.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					mini = b;
					mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					minvX = closest.x;
					minvY = closest.y;
					minvZ = closest.z;
				}
				if(v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec2.x;
					v1Y = vec2.y;
					v1Z = vec2.z;
					v2X = vec3.x;
					v2Y = vec3.y;
					v2Z = vec3.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind < 0 || d < mind) {
						mini = b << 1;
						mind = d;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
				}
				if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec1.x;
					v1Y = vec1.y;
					v1Z = vec1.z;
					v2X = vec3.x;
					v2Y = vec3.y;
					v2Z = vec3.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind < 0 || d < mind) {
						mini = b & 1 | (b & 2) << 1;
						mind = d;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
				}
				if(mind > 0) {
					closest.x = minvX;
					closest.y = minvY;
					closest.z = minvZ;
					v = mini;
				} else {
					let l = nX * nX + nY * nY + nZ * nZ;
					if(l > 0) {
						l = 1 / Math.sqrt(l);
					}
					nX *= l;
					nY *= l;
					nZ *= l;
					let l2 = nX * nX + nY * nY + nZ * nZ;
					l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
					minvX = nX * l2;
					minvY = nY * l2;
					minvZ = nZ * l2;
					closest.x = minvX;
					closest.y = minvY;
					closest.z = minvZ;
					v = 7;
				}
				break;
			case 4:
				let vec11 = s[0];
				let vec21 = s[1];
				let vec31 = s[2];
				let vec4 = s[3];
				let v1X2;
				let v1Y2;
				let v1Z2;
				let v2X2;
				let v2Y2;
				let v2Z2;
				let v3X1;
				let v3Y1;
				let v3Z1;
				let v4X;
				let v4Y;
				let v4Z;
				let v12X2;
				let v12Y2;
				let v12Z2;
				let v13X;
				let v13Y;
				let v13Z;
				let v14X;
				let v14Y;
				let v14Z;
				let v23X1;
				let v23Y1;
				let v23Z1;
				let v24X;
				let v24Y;
				let v24Z;
				v1X2 = vec11.x;
				v1Y2 = vec11.y;
				v1Z2 = vec11.z;
				v2X2 = vec21.x;
				v2Y2 = vec21.y;
				v2Z2 = vec21.z;
				v3X1 = vec31.x;
				v3Y1 = vec31.y;
				v3Z1 = vec31.z;
				v4X = vec4.x;
				v4Y = vec4.y;
				v4Z = vec4.z;
				v12X2 = v2X2 - v1X2;
				v12Y2 = v2Y2 - v1Y2;
				v12Z2 = v2Z2 - v1Z2;
				v13X = v3X1 - v1X2;
				v13Y = v3Y1 - v1Y2;
				v13Z = v3Z1 - v1Z2;
				v14X = v4X - v1X2;
				v14Y = v4Y - v1Y2;
				v14Z = v4Z - v1Z2;
				v23X1 = v3X1 - v2X2;
				v23Y1 = v3Y1 - v2Y2;
				v23Z1 = v3Z1 - v2Z2;
				v24X = v4X - v2X2;
				v24Y = v4Y - v2Y2;
				v24Z = v4Z - v2Z2;
				let n123X;
				let n123Y;
				let n123Z;
				let n134X;
				let n134Y;
				let n134Z;
				let n142X;
				let n142Y;
				let n142Z;
				let n243X;
				let n243Y;
				let n243Z;
				n123X = v12Y2 * v13Z - v12Z2 * v13Y;
				n123Y = v12Z2 * v13X - v12X2 * v13Z;
				n123Z = v12X2 * v13Y - v12Y2 * v13X;
				n134X = v13Y * v14Z - v13Z * v14Y;
				n134Y = v13Z * v14X - v13X * v14Z;
				n134Z = v13X * v14Y - v13Y * v14X;
				n142X = v14Y * v12Z2 - v14Z * v12Y2;
				n142Y = v14Z * v12X2 - v14X * v12Z2;
				n142Z = v14X * v12Y2 - v14Y * v12X2;
				n243X = v24Y * v23Z1 - v24Z * v23Y1;
				n243Y = v24Z * v23X1 - v24X * v23Z1;
				n243Z = v24X * v23Y1 - v24Y * v23X1;
				let sign = v12X2 * n243X + v12Y2 * n243Y + v12Z2 * n243Z > 0 ? 1 : -1;
				let mind1 = -1;
				let minvX1;
				let minvY1;
				let minvZ1;
				let mini1 = 0;
				minvX1 = 0;
				minvY1 = 0;
				minvZ1 = 0;
				if((v1X2 * n123X + v1Y2 * n123Y + v1Z2 * n123Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec21.x;
					v2Y = vec21.y;
					v2Z = vec21.z;
					v3X = vec31.x;
					v3Y = vec31.y;
					v3Z = vec31.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec21.x;
						v2Y = vec21.y;
						v2Z = vec21.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					mini1 = b;
					mind1 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					minvX1 = closest.x;
					minvY1 = closest.y;
					minvZ1 = closest.z;
				}
				if((v1X2 * n134X + v1Y2 * n134Y + v1Z2 * n134Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec31.x;
					v2Y = vec31.y;
					v2Z = vec31.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec31.x;
						v1Y = vec31.y;
						v1Z = vec31.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b & 1 | (b & 6) << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if((v1X2 * n142X + v1Y2 * n142Y + v1Z2 * n142Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec21.x;
					v2Y = vec21.y;
					v2Z = vec21.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec21.x;
						v2Y = vec21.y;
						v2Z = vec21.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b & 3 | (b & 4) << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if((v2X2 * n243X + v2Y2 * n243Y + v2Z2 * n243Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec21.x;
					v1Y = vec21.y;
					v1Z = vec21.z;
					v2X = vec31.x;
					v2Y = vec31.y;
					v2Z = vec31.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec31.x;
						v1Y = vec31.y;
						v1Z = vec31.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if(mind1 > 0) {
					closest.x = minvX1;
					closest.y = minvY1;
					closest.z = minvZ1;
					v = mini1;
				} else {
					closest.zero();
					v = 15;
				}
				break;
			}
			if(closest.x * closest.x + closest.y * closest.y + closest.z * closest.z < 1e-008) {
				if(!useEpa) {
					this.distance = 0;
					return 0;
				}
				switch(this.simplexSize) {
				case 1:
					this.pointToTetrahedron();
					break;
				case 2:
					this.lineToTetrahedron();
					break;
				case 3:
					this.triangleToTetrahedron();
					break;
				}
				if(this.simplexSize == 4) {
					let epaState = this.computeDepth(c1,c2,tf1,tf2,s,w1,w2);
					if(epaState != 0) {
						this.distance = 0;
						return epaState;
					}
					this.distance = -this.depth;
					return 0;
				}
				this.distance = 0;
				return 1;
			}
			this.shrinkSimplex(v);
			dir.x = closest.x;
			dir.y = closest.y;
			dir.z = closest.z;
			dir.x = -dir.x;
			dir.y = -dir.y;
			dir.z = -dir.z;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this = this.s[this.simplexSize];
			let v4 = this.w1[this.simplexSize];
			_this.x = v4.x;
			_this.y = v4.y;
			_this.z = v4.z;
			let v5 = this.w2[this.simplexSize];
			_this.x -= v5.x;
			_this.y -= v5.y;
			_this.z -= v5.z;
			if(dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-008) {
				throw new Error("!?");
			}
			let _this1 = s[this.simplexSize];
			if(_this1.x * dir.x + _this1.y * dir.y + _this1.z * dir.z - (closest.x * dir.x + closest.y * dir.y + closest.z * dir.z) < 1e-008) {
				this.interpolateClosestPoints();
				this.distance = Math.sqrt(closest.x * closest.x + closest.y * closest.y + closest.z * closest.z);
				if(cache != null && cache._gjkCache != null) {
					this.saveCache(cache._gjkCache);
				}
				return 0;
			}
			this.simplexSize++;
			++count;
		}
		return 2;
	}
	convexCastImpl(c1,c2,tf1,tf2,tl1,tl2,hit) {
		this.c1 = c1;
		this.c2 = c2;
		this.tf1 = tf1;
		this.tf2 = tf2;
		let s = this.s;
		let closest = this.closest;
		let dir = this.dir;
		let firstDirX;
		let firstDirY;
		let firstDirZ;
		firstDirX = tf2._positionX - tf1._positionX;
		firstDirY = tf2._positionY - tf1._positionY;
		firstDirZ = tf2._positionZ - tf1._positionZ;
		dir.x = firstDirX;
		dir.y = firstDirY;
		dir.z = firstDirZ;
		if(dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-6) {
			dir.init(1,0,0);
		}
		this.simplexSize = 0;
		if(this.c1 != null) {
			this.computeWitnessPoint1(true);
		} else {
			let v = this.w1[this.simplexSize];
			v.x = this.tf1._positionX;
			v.y = this.tf1._positionY;
			v.z = this.tf1._positionZ;
		}
		this.computeWitnessPoint2(true);
		let _this = this.s[this.simplexSize];
		let v = this.w1[this.simplexSize];
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
		let v1 = this.w2[this.simplexSize];
		_this.x -= v1.x;
		_this.y -= v1.y;
		_this.z -= v1.z;
		this.simplexSize = 1;
		let count = 0;
		let lambda = 0.0;
		let rayX = this.rayX;
		let rayR = this.rayR;
		rayX.zero();
		rayR.x = tl2.x;
		rayR.y = tl2.y;
		rayR.z = tl2.z;
		rayR.x -= tl1.x;
		rayR.y -= tl1.y;
		rayR.z -= tl1.z;
		while(count < 40) {
			let v = 0;
			switch(this.simplexSize) {
			case 1:
				let v1 = s[0];
				closest.x = v1.x;
				closest.y = v1.y;
				closest.z = v1.z;
				v = 1;
				break;
			case 2:
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				let v2 = s[0];
				v1X = v2.x;
				v1Y = v2.y;
				v1Z = v2.z;
				let v3 = s[1];
				v2X = v3.x;
				v2Y = v3.y;
				v2Z = v3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				if(t < 0) {
					closest.x = v1X;
					closest.y = v1Y;
					closest.z = v1Z;
					v = 1;
				} else if(t > 1) {
					closest.x = v2X;
					closest.y = v2Y;
					closest.z = v2Z;
					v = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					closest.x = pX;
					closest.y = pY;
					closest.z = pZ;
					v = 3;
				}
				break;
			case 3:
				let vec1 = s[0];
				let vec2 = s[1];
				let vec3 = s[2];
				let v1X1;
				let v1Y1;
				let v1Z1;
				let v2X1;
				let v2Y1;
				let v2Z1;
				let v3X;
				let v3Y;
				let v3Z;
				let v12X1;
				let v12Y1;
				let v12Z1;
				let v23X;
				let v23Y;
				let v23Z;
				let v31X;
				let v31Y;
				let v31Z;
				v1X1 = vec1.x;
				v1Y1 = vec1.y;
				v1Z1 = vec1.z;
				v2X1 = vec2.x;
				v2Y1 = vec2.y;
				v2Z1 = vec2.z;
				v3X = vec3.x;
				v3Y = vec3.y;
				v3Z = vec3.z;
				v12X1 = v2X1 - v1X1;
				v12Y1 = v2Y1 - v1Y1;
				v12Z1 = v2Z1 - v1Z1;
				v23X = v3X - v2X1;
				v23Y = v3Y - v2Y1;
				v23Z = v3Z - v2Z1;
				v31X = v1X1 - v3X;
				v31Y = v1Y1 - v3Y;
				v31Z = v1Z1 - v3Z;
				let nX;
				let nY;
				let nZ;
				nX = v12Y1 * v23Z - v12Z1 * v23Y;
				nY = v12Z1 * v23X - v12X1 * v23Z;
				nZ = v12X1 * v23Y - v12Y1 * v23X;
				let n12X;
				let n12Y;
				let n12Z;
				let n23X;
				let n23Y;
				let n23Z;
				let n31X;
				let n31Y;
				let n31Z;
				n12X = v12Y1 * nZ - v12Z1 * nY;
				n12Y = v12Z1 * nX - v12X1 * nZ;
				n12Z = v12X1 * nY - v12Y1 * nX;
				n23X = v23Y * nZ - v23Z * nY;
				n23Y = v23Z * nX - v23X * nZ;
				n23Z = v23X * nY - v23Y * nX;
				n31X = v31Y * nZ - v31Z * nY;
				n31Y = v31Z * nX - v31X * nZ;
				n31Z = v31X * nY - v31Y * nX;
				let mind = -1;
				let minvX;
				let minvY;
				let minvZ;
				let mini = 0;
				minvX = 0;
				minvY = 0;
				minvZ = 0;
				if(v1X1 * n12X + v1Y1 * n12Y + v1Z1 * n12Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec1.x;
					v1Y = vec1.y;
					v1Z = vec1.z;
					v2X = vec2.x;
					v2Y = vec2.y;
					v2Z = vec2.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					mini = b;
					mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					minvX = closest.x;
					minvY = closest.y;
					minvZ = closest.z;
				}
				if(v2X1 * n23X + v2Y1 * n23Y + v2Z1 * n23Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec2.x;
					v1Y = vec2.y;
					v1Z = vec2.z;
					v2X = vec3.x;
					v2Y = vec3.y;
					v2Z = vec3.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind < 0 || d < mind) {
						mini = b << 1;
						mind = d;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
				}
				if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					v1X = vec1.x;
					v1Y = vec1.y;
					v1Z = vec1.z;
					v2X = vec3.x;
					v2Y = vec3.y;
					v2Z = vec3.z;
					let v12X;
					let v12Y;
					let v12Z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
					t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
					let b;
					if(t < 0) {
						closest.x = v1X;
						closest.y = v1Y;
						closest.z = v1Z;
						b = 1;
					} else if(t > 1) {
						closest.x = v2X;
						closest.y = v2Y;
						closest.z = v2Z;
						b = 2;
					} else {
						let pX;
						let pY;
						let pZ;
						pX = v1X + v12X * t;
						pY = v1Y + v12Y * t;
						pZ = v1Z + v12Z * t;
						closest.x = pX;
						closest.y = pY;
						closest.z = pZ;
						b = 3;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind < 0 || d < mind) {
						mini = b & 1 | (b & 2) << 1;
						mind = d;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
				}
				if(mind > 0) {
					closest.x = minvX;
					closest.y = minvY;
					closest.z = minvZ;
					v = mini;
				} else {
					let l = nX * nX + nY * nY + nZ * nZ;
					if(l > 0) {
						l = 1 / Math.sqrt(l);
					}
					nX *= l;
					nY *= l;
					nZ *= l;
					let l2 = nX * nX + nY * nY + nZ * nZ;
					l2 = (v1X1 * nX + v1Y1 * nY + v1Z1 * nZ) / l2;
					minvX = nX * l2;
					minvY = nY * l2;
					minvZ = nZ * l2;
					closest.x = minvX;
					closest.y = minvY;
					closest.z = minvZ;
					v = 7;
				}
				break;
			case 4:
				let vec11 = s[0];
				let vec21 = s[1];
				let vec31 = s[2];
				let vec4 = s[3];
				let v1X2;
				let v1Y2;
				let v1Z2;
				let v2X2;
				let v2Y2;
				let v2Z2;
				let v3X1;
				let v3Y1;
				let v3Z1;
				let v4X;
				let v4Y;
				let v4Z;
				let v12X2;
				let v12Y2;
				let v12Z2;
				let v13X;
				let v13Y;
				let v13Z;
				let v14X;
				let v14Y;
				let v14Z;
				let v23X1;
				let v23Y1;
				let v23Z1;
				let v24X;
				let v24Y;
				let v24Z;
				v1X2 = vec11.x;
				v1Y2 = vec11.y;
				v1Z2 = vec11.z;
				v2X2 = vec21.x;
				v2Y2 = vec21.y;
				v2Z2 = vec21.z;
				v3X1 = vec31.x;
				v3Y1 = vec31.y;
				v3Z1 = vec31.z;
				v4X = vec4.x;
				v4Y = vec4.y;
				v4Z = vec4.z;
				v12X2 = v2X2 - v1X2;
				v12Y2 = v2Y2 - v1Y2;
				v12Z2 = v2Z2 - v1Z2;
				v13X = v3X1 - v1X2;
				v13Y = v3Y1 - v1Y2;
				v13Z = v3Z1 - v1Z2;
				v14X = v4X - v1X2;
				v14Y = v4Y - v1Y2;
				v14Z = v4Z - v1Z2;
				v23X1 = v3X1 - v2X2;
				v23Y1 = v3Y1 - v2Y2;
				v23Z1 = v3Z1 - v2Z2;
				v24X = v4X - v2X2;
				v24Y = v4Y - v2Y2;
				v24Z = v4Z - v2Z2;
				let n123X;
				let n123Y;
				let n123Z;
				let n134X;
				let n134Y;
				let n134Z;
				let n142X;
				let n142Y;
				let n142Z;
				let n243X;
				let n243Y;
				let n243Z;
				n123X = v12Y2 * v13Z - v12Z2 * v13Y;
				n123Y = v12Z2 * v13X - v12X2 * v13Z;
				n123Z = v12X2 * v13Y - v12Y2 * v13X;
				n134X = v13Y * v14Z - v13Z * v14Y;
				n134Y = v13Z * v14X - v13X * v14Z;
				n134Z = v13X * v14Y - v13Y * v14X;
				n142X = v14Y * v12Z2 - v14Z * v12Y2;
				n142Y = v14Z * v12X2 - v14X * v12Z2;
				n142Z = v14X * v12Y2 - v14Y * v12X2;
				n243X = v24Y * v23Z1 - v24Z * v23Y1;
				n243Y = v24Z * v23X1 - v24X * v23Z1;
				n243Z = v24X * v23Y1 - v24Y * v23X1;
				let sign = v12X2 * n243X + v12Y2 * n243Y + v12Z2 * n243Z > 0 ? 1 : -1;
				let mind1 = -1;
				let minvX1;
				let minvY1;
				let minvZ1;
				let mini1 = 0;
				minvX1 = 0;
				minvY1 = 0;
				minvZ1 = 0;
				if((v1X2 * n123X + v1Y2 * n123Y + v1Z2 * n123Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec21.x;
					v2Y = vec21.y;
					v2Z = vec21.z;
					v3X = vec31.x;
					v3Y = vec31.y;
					v3Z = vec31.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec21.x;
						v2Y = vec21.y;
						v2Z = vec21.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					mini1 = b;
					mind1 = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					minvX1 = closest.x;
					minvY1 = closest.y;
					minvZ1 = closest.z;
				}
				if((v1X2 * n134X + v1Y2 * n134Y + v1Z2 * n134Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec31.x;
					v2Y = vec31.y;
					v2Z = vec31.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec31.x;
						v1Y = vec31.y;
						v1Z = vec31.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b & 1 | (b & 6) << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if((v1X2 * n142X + v1Y2 * n142Y + v1Z2 * n142Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec11.x;
					v1Y = vec11.y;
					v1Z = vec11.z;
					v2X = vec21.x;
					v2Y = vec21.y;
					v2Z = vec21.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec21.x;
						v2Y = vec21.y;
						v2Z = vec21.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec11.x;
						v1Y = vec11.y;
						v1Z = vec11.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b & 3 | (b & 4) << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if((v2X2 * n243X + v2Y2 * n243Y + v2Z2 * n243Z) * sign < 0) {
					let v1X;
					let v1Y;
					let v1Z;
					let v2X;
					let v2Y;
					let v2Z;
					let v3X;
					let v3Y;
					let v3Z;
					let v12X;
					let v12Y;
					let v12Z;
					let v23X;
					let v23Y;
					let v23Z;
					let v31X;
					let v31Y;
					let v31Z;
					v1X = vec21.x;
					v1Y = vec21.y;
					v1Z = vec21.z;
					v2X = vec31.x;
					v2Y = vec31.y;
					v2Z = vec31.z;
					v3X = vec4.x;
					v3Y = vec4.y;
					v3Z = vec4.z;
					v12X = v2X - v1X;
					v12Y = v2Y - v1Y;
					v12Z = v2Z - v1Z;
					v23X = v3X - v2X;
					v23Y = v3Y - v2Y;
					v23Z = v3Z - v2Z;
					v31X = v1X - v3X;
					v31Y = v1Y - v3Y;
					v31Z = v1Z - v3Z;
					let nX;
					let nY;
					let nZ;
					nX = v12Y * v23Z - v12Z * v23Y;
					nY = v12Z * v23X - v12X * v23Z;
					nZ = v12X * v23Y - v12Y * v23X;
					let n12X;
					let n12Y;
					let n12Z;
					let n23X;
					let n23Y;
					let n23Z;
					let n31X;
					let n31Y;
					let n31Z;
					n12X = v12Y * nZ - v12Z * nY;
					n12Y = v12Z * nX - v12X * nZ;
					n12Z = v12X * nY - v12Y * nX;
					n23X = v23Y * nZ - v23Z * nY;
					n23Y = v23Z * nX - v23X * nZ;
					n23Z = v23X * nY - v23Y * nX;
					n31X = v31Y * nZ - v31Z * nY;
					n31Y = v31Z * nX - v31X * nZ;
					n31Z = v31X * nY - v31Y * nX;
					let mind = -1;
					let minvX;
					let minvY;
					let minvZ;
					let mini = 0;
					minvX = 0;
					minvY = 0;
					minvZ = 0;
					if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec31.x;
						v2Y = vec31.y;
						v2Z = vec31.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						mini = b;
						mind = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						minvX = closest.x;
						minvY = closest.y;
						minvZ = closest.z;
					}
					if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec31.x;
						v1Y = vec31.y;
						v1Z = vec31.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
						let v1X;
						let v1Y;
						let v1Z;
						let v2X;
						let v2Y;
						let v2Z;
						v1X = vec21.x;
						v1Y = vec21.y;
						v1Z = vec21.z;
						v2X = vec4.x;
						v2Y = vec4.y;
						v2Z = vec4.z;
						let v12X;
						let v12Y;
						let v12Z;
						v12X = v2X - v1X;
						v12Y = v2Y - v1Y;
						v12Z = v2Z - v1Z;
						let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
						t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
						let b;
						if(t < 0) {
							closest.x = v1X;
							closest.y = v1Y;
							closest.z = v1Z;
							b = 1;
						} else if(t > 1) {
							closest.x = v2X;
							closest.y = v2Y;
							closest.z = v2Z;
							b = 2;
						} else {
							let pX;
							let pY;
							let pZ;
							pX = v1X + v12X * t;
							pY = v1Y + v12Y * t;
							pZ = v1Z + v12Z * t;
							closest.x = pX;
							closest.y = pY;
							closest.z = pZ;
							b = 3;
						}
						let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
						if(mind < 0 || d < mind) {
							mini = b & 1 | (b & 2) << 1;
							mind = d;
							minvX = closest.x;
							minvY = closest.y;
							minvZ = closest.z;
						}
					}
					let b;
					if(mind > 0) {
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = mini;
					} else {
						let l = nX * nX + nY * nY + nZ * nZ;
						if(l > 0) {
							l = 1 / Math.sqrt(l);
						}
						nX *= l;
						nY *= l;
						nZ *= l;
						let l2 = nX * nX + nY * nY + nZ * nZ;
						l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
						minvX = nX * l2;
						minvY = nY * l2;
						minvZ = nZ * l2;
						closest.x = minvX;
						closest.y = minvY;
						closest.z = minvZ;
						b = 7;
					}
					let d = closest.x * closest.x + closest.y * closest.y + closest.z * closest.z;
					if(mind1 < 0 || d < mind1) {
						mini1 = b << 1;
						mind1 = d;
						minvX1 = closest.x;
						minvY1 = closest.y;
						minvZ1 = closest.z;
					}
				}
				if(mind1 > 0) {
					closest.x = minvX1;
					closest.y = minvY1;
					closest.z = minvZ1;
					v = mini1;
				} else {
					closest.zero();
					v = 15;
				}
				break;
			}
			this.shrinkSimplex(v);
			if(closest.x * closest.x + closest.y * closest.y + closest.z * closest.z < 1e-008) {
				if(lambda == 0 || this.simplexSize == 4) {
					hit.fraction = lambda;
					return false;
				}
				this.interpolateClosestPoints();
				hit.fraction = lambda;
				let _this = hit.normal;
				_this.x = dir.x;
				_this.y = dir.y;
				_this.z = dir.z;
				let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
				if(invLen > 0) {
					invLen = 1 / invLen;
				}
				_this.x *= invLen;
				_this.y *= invLen;
				_this.z *= invLen;
				let _this1 = hit.position;
				let v = this.closestPoint1;
				_this1.x = v.x;
				_this1.y = v.y;
				_this1.z = v.z;
				_this1.x += tl1.x * lambda;
				_this1.y += tl1.y * lambda;
				_this1.z += tl1.z * lambda;
				return true;
			}
			dir.x = closest.x;
			dir.y = closest.y;
			dir.z = closest.z;
			dir.x = -dir.x;
			dir.y = -dir.y;
			dir.z = -dir.z;
			if(this.c1 != null) {
				this.computeWitnessPoint1(true);
			} else {
				let v = this.w1[this.simplexSize];
				v.x = this.tf1._positionX;
				v.y = this.tf1._positionY;
				v.z = this.tf1._positionZ;
			}
			this.computeWitnessPoint2(true);
			let _this = this.s[this.simplexSize];
			let v4 = this.w1[this.simplexSize];
			_this.x = v4.x;
			_this.y = v4.y;
			_this.z = v4.z;
			let v5 = this.w2[this.simplexSize];
			_this.x -= v5.x;
			_this.y -= v5.y;
			_this.z -= v5.z;
			let _this1 = s[this.simplexSize];
			_this1.x -= rayX.x;
			_this1.y -= rayX.y;
			_this1.z -= rayX.z;
			if(dir.x * dir.x + dir.y * dir.y + dir.z * dir.z < 1e-008) {
				throw new Error("!?");
			}
			let p = s[this.simplexSize];
			let pn = p.x * dir.x + p.y * dir.y + p.z * dir.z;
			if(pn < 0) {
				if(rayR.x * dir.x + rayR.y * dir.y + rayR.z * dir.z >= 0) {
					return false;
				}
				let dLambda = pn / (rayR.x * dir.x + rayR.y * dir.y + rayR.z * dir.z);
				lambda += dLambda;
				if(lambda >= 1) {
					return false;
				}
				rayX.x += rayR.x * dLambda;
				rayX.y += rayR.y * dLambda;
				rayX.z += rayR.z * dLambda;
				let _g = 0;
				let _g1 = this.simplexSize + 1;
				while(_g < _g1) {
					let _this = s[_g++];
					let s1 = -dLambda;
					_this.x += rayR.x * s1;
					_this.y += rayR.y * s1;
					_this.z += rayR.z * s1;
				}
			}
			let duplicate = false;
			let _g = 0;
			let _g1 = this.simplexSize;
			while(_g < _g1) {
				let i = _g++;
				let dx = s[i].x - s[this.simplexSize].x;
				let dy = s[i].y - s[this.simplexSize].y;
				let dz = s[i].z - s[this.simplexSize].z;
				if(dx * dx + dy * dy + dz * dz < 1e-008) {
					duplicate = true;
					break;
				}
			}
			if(!duplicate) {
				this.simplexSize++;
			}
			++count;
		}
		return false;
	}
	interpolateClosestPoints() {
		switch(this.simplexSize) {
		case 1:
			let _this = this.closestPoint1;
			let v = this.w1[0];
			_this.x = v.x;
			_this.y = v.y;
			_this.z = v.z;
			let _this1 = this.closestPoint2;
			let v1 = this.w2[0];
			_this1.x = v1.x;
			_this1.y = v1.y;
			_this1.z = v1.z;
			break;
		case 2:
			let cX;
			let cY;
			let cZ;
			let v2 = this.closest;
			cX = v2.x;
			cY = v2.y;
			cZ = v2.z;
			let s0X;
			let s0Y;
			let s0Z;
			let w10X;
			let w10Y;
			let w10Z;
			let w20X;
			let w20Y;
			let w20Z;
			let s1X;
			let s1Y;
			let s1Z;
			let w11X;
			let w11Y;
			let w11Z;
			let w21X;
			let w21Y;
			let w21Z;
			let v3 = this.s[0];
			s0X = v3.x;
			s0Y = v3.y;
			s0Z = v3.z;
			let v4 = this.w1[0];
			w10X = v4.x;
			w10Y = v4.y;
			w10Z = v4.z;
			let v5 = this.w2[0];
			w20X = v5.x;
			w20Y = v5.y;
			w20Z = v5.z;
			let v6 = this.s[1];
			s1X = v6.x;
			s1Y = v6.y;
			s1Z = v6.z;
			let v7 = this.w1[1];
			w11X = v7.x;
			w11Y = v7.y;
			w11Z = v7.z;
			let v8 = this.w2[1];
			w21X = v8.x;
			w21Y = v8.y;
			w21Z = v8.z;
			let s01X;
			let s01Y;
			let s01Z;
			s01X = s1X - s0X;
			s01Y = s1Y - s0Y;
			s01Z = s1Z - s0Z;
			let invDet = s01X * s01X + s01Y * s01Y + s01Z * s01Z;
			if(invDet != 0) {
				invDet = 1 / invDet;
			}
			let s0cX;
			let s0cY;
			let s0cZ;
			s0cX = cX - s0X;
			s0cY = cY - s0Y;
			s0cZ = cZ - s0Z;
			let t = (s0cX * s01X + s0cY * s01Y + s0cZ * s01Z) * invDet;
			let diffX;
			let diffY;
			let diffZ;
			let cp1X;
			let cp1Y;
			let cp1Z;
			let cp2X;
			let cp2Y;
			let cp2Z;
			diffX = w11X - w10X;
			diffY = w11Y - w10Y;
			diffZ = w11Z - w10Z;
			cp1X = w10X + diffX * t;
			cp1Y = w10Y + diffY * t;
			cp1Z = w10Z + diffZ * t;
			diffX = w21X - w20X;
			diffY = w21Y - w20Y;
			diffZ = w21Z - w20Z;
			cp2X = w20X + diffX * t;
			cp2Y = w20Y + diffY * t;
			cp2Z = w20Z + diffZ * t;
			let v9 = this.closestPoint1;
			v9.x = cp1X;
			v9.y = cp1Y;
			v9.z = cp1Z;
			let v10 = this.closestPoint2;
			v10.x = cp2X;
			v10.y = cp2Y;
			v10.z = cp2Z;
			break;
		case 3:
			let cX1;
			let cY1;
			let cZ1;
			let v11 = this.closest;
			cX1 = v11.x;
			cY1 = v11.y;
			cZ1 = v11.z;
			let s0X1;
			let s0Y1;
			let s0Z1;
			let w10X1;
			let w10Y1;
			let w10Z1;
			let w20X1;
			let w20Y1;
			let w20Z1;
			let s1X1;
			let s1Y1;
			let s1Z1;
			let w11X1;
			let w11Y1;
			let w11Z1;
			let w21X1;
			let w21Y1;
			let w21Z1;
			let s2X;
			let s2Y;
			let s2Z;
			let w12X;
			let w12Y;
			let w12Z;
			let w22X;
			let w22Y;
			let w22Z;
			let v12 = this.s[0];
			s0X1 = v12.x;
			s0Y1 = v12.y;
			s0Z1 = v12.z;
			let v13 = this.w1[0];
			w10X1 = v13.x;
			w10Y1 = v13.y;
			w10Z1 = v13.z;
			let v14 = this.w2[0];
			w20X1 = v14.x;
			w20Y1 = v14.y;
			w20Z1 = v14.z;
			let v15 = this.s[1];
			s1X1 = v15.x;
			s1Y1 = v15.y;
			s1Z1 = v15.z;
			let v16 = this.w1[1];
			w11X1 = v16.x;
			w11Y1 = v16.y;
			w11Z1 = v16.z;
			let v17 = this.w2[1];
			w21X1 = v17.x;
			w21Y1 = v17.y;
			w21Z1 = v17.z;
			let v18 = this.s[2];
			s2X = v18.x;
			s2Y = v18.y;
			s2Z = v18.z;
			let v19 = this.w1[2];
			w12X = v19.x;
			w12Y = v19.y;
			w12Z = v19.z;
			let v20 = this.w2[2];
			w22X = v20.x;
			w22Y = v20.y;
			w22Z = v20.z;
			let s01X1;
			let s01Y1;
			let s01Z1;
			let s02X;
			let s02Y;
			let s02Z;
			let s0cX1;
			let s0cY1;
			let s0cZ1;
			s01X1 = s1X1 - s0X1;
			s01Y1 = s1Y1 - s0Y1;
			s01Z1 = s1Z1 - s0Z1;
			s02X = s2X - s0X1;
			s02Y = s2Y - s0Y1;
			s02Z = s2Z - s0Z1;
			s0cX1 = cX1 - s0X1;
			s0cY1 = cY1 - s0Y1;
			s0cZ1 = cZ1 - s0Z1;
			let d11 = s01X1 * s01X1 + s01Y1 * s01Y1 + s01Z1 * s01Z1;
			let d12 = s01X1 * s02X + s01Y1 * s02Y + s01Z1 * s02Z;
			let d22 = s02X * s02X + s02Y * s02Y + s02Z * s02Z;
			let d1c = s01X1 * s0cX1 + s01Y1 * s0cY1 + s01Z1 * s0cZ1;
			let d2c = s02X * s0cX1 + s02Y * s0cY1 + s02Z * s0cZ1;
			let invDet1 = d11 * d22 - d12 * d12;
			if(invDet1 != 0) {
				invDet1 = 1 / invDet1;
			}
			let s = (d1c * d22 - d2c * d12) * invDet1;
			let t1 = (-d1c * d12 + d2c * d11) * invDet1;
			let diffX1;
			let diffY1;
			let diffZ1;
			let cp1X1;
			let cp1Y1;
			let cp1Z1;
			let cp2X1;
			let cp2Y1;
			let cp2Z1;
			diffX1 = w11X1 - w10X1;
			diffY1 = w11Y1 - w10Y1;
			diffZ1 = w11Z1 - w10Z1;
			cp1X1 = w10X1 + diffX1 * s;
			cp1Y1 = w10Y1 + diffY1 * s;
			cp1Z1 = w10Z1 + diffZ1 * s;
			diffX1 = w12X - w10X1;
			diffY1 = w12Y - w10Y1;
			diffZ1 = w12Z - w10Z1;
			cp1X1 += diffX1 * t1;
			cp1Y1 += diffY1 * t1;
			cp1Z1 += diffZ1 * t1;
			diffX1 = w21X1 - w20X1;
			diffY1 = w21Y1 - w20Y1;
			diffZ1 = w21Z1 - w20Z1;
			cp2X1 = w20X1 + diffX1 * s;
			cp2Y1 = w20Y1 + diffY1 * s;
			cp2Z1 = w20Z1 + diffZ1 * s;
			diffX1 = w22X - w20X1;
			diffY1 = w22Y - w20Y1;
			diffZ1 = w22Z - w20Z1;
			cp2X1 += diffX1 * t1;
			cp2Y1 += diffY1 * t1;
			cp2Z1 += diffZ1 * t1;
			let v21 = this.closestPoint1;
			v21.x = cp1X1;
			v21.y = cp1Y1;
			v21.z = cp1Z1;
			let v22 = this.closestPoint2;
			v22.x = cp2X1;
			v22.y = cp2Y1;
			v22.z = cp2Z1;
			break;
		default:
			throw new Error("!?");
		}
	}
	loadCache(gjkCache) {
		let _this = this.dir;
		let v = gjkCache.prevClosestDir;
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
	}
	saveCache(gjkCache) {
		let _this = gjkCache.prevClosestDir;
		let v = this.closest;
		_this.x = v.x;
		_this.y = v.y;
		_this.z = v.z;
		_this.x = -_this.x;
		_this.y = -_this.y;
		_this.z = -_this.z;
	}
	shrinkSimplex(vertexBits) {
		this.simplexSize = vertexBits;
		this.simplexSize = (this.simplexSize & 5) + (this.simplexSize >> 1 & 5);
		this.simplexSize = (this.simplexSize & 3) + (this.simplexSize >> 2 & 3);
		switch(vertexBits) {
		case 2:
			let _this = this.s[0];
			let v = this.s[1];
			_this.x = v.x;
			_this.y = v.y;
			_this.z = v.z;
			let _this1 = this.w1[0];
			let v1 = this.w1[1];
			_this1.x = v1.x;
			_this1.y = v1.y;
			_this1.z = v1.z;
			let _this2 = this.w2[0];
			let v2 = this.w2[1];
			_this2.x = v2.x;
			_this2.y = v2.y;
			_this2.z = v2.z;
			break;
		case 4:
			let _this3 = this.s[0];
			let v3 = this.s[2];
			_this3.x = v3.x;
			_this3.y = v3.y;
			_this3.z = v3.z;
			let _this4 = this.w1[0];
			let v4 = this.w1[2];
			_this4.x = v4.x;
			_this4.y = v4.y;
			_this4.z = v4.z;
			let _this5 = this.w2[0];
			let v5 = this.w2[2];
			_this5.x = v5.x;
			_this5.y = v5.y;
			_this5.z = v5.z;
			break;
		case 5:
			let _this6 = this.s[1];
			let v6 = this.s[2];
			_this6.x = v6.x;
			_this6.y = v6.y;
			_this6.z = v6.z;
			let _this7 = this.w1[1];
			let v7 = this.w1[2];
			_this7.x = v7.x;
			_this7.y = v7.y;
			_this7.z = v7.z;
			let _this8 = this.w2[1];
			let v8 = this.w2[2];
			_this8.x = v8.x;
			_this8.y = v8.y;
			_this8.z = v8.z;
			break;
		case 6:
			let _this9 = this.s[0];
			let v9 = this.s[2];
			_this9.x = v9.x;
			_this9.y = v9.y;
			_this9.z = v9.z;
			let _this10 = this.w1[0];
			let v10 = this.w1[2];
			_this10.x = v10.x;
			_this10.y = v10.y;
			_this10.z = v10.z;
			let _this11 = this.w2[0];
			let v11 = this.w2[2];
			_this11.x = v11.x;
			_this11.y = v11.y;
			_this11.z = v11.z;
			break;
		case 8:
			let _this12 = this.s[0];
			let v12 = this.s[3];
			_this12.x = v12.x;
			_this12.y = v12.y;
			_this12.z = v12.z;
			let _this13 = this.w1[0];
			let v13 = this.w1[3];
			_this13.x = v13.x;
			_this13.y = v13.y;
			_this13.z = v13.z;
			let _this14 = this.w2[0];
			let v14 = this.w2[3];
			_this14.x = v14.x;
			_this14.y = v14.y;
			_this14.z = v14.z;
			break;
		case 9:
			let _this15 = this.s[1];
			let v15 = this.s[3];
			_this15.x = v15.x;
			_this15.y = v15.y;
			_this15.z = v15.z;
			let _this16 = this.w1[1];
			let v16 = this.w1[3];
			_this16.x = v16.x;
			_this16.y = v16.y;
			_this16.z = v16.z;
			let _this17 = this.w2[1];
			let v17 = this.w2[3];
			_this17.x = v17.x;
			_this17.y = v17.y;
			_this17.z = v17.z;
			break;
		case 10:
			let _this18 = this.s[0];
			let v18 = this.s[3];
			_this18.x = v18.x;
			_this18.y = v18.y;
			_this18.z = v18.z;
			let _this19 = this.w1[0];
			let v19 = this.w1[3];
			_this19.x = v19.x;
			_this19.y = v19.y;
			_this19.z = v19.z;
			let _this20 = this.w2[0];
			let v20 = this.w2[3];
			_this20.x = v20.x;
			_this20.y = v20.y;
			_this20.z = v20.z;
			break;
		case 11:
			let _this21 = this.s[2];
			let v21 = this.s[3];
			_this21.x = v21.x;
			_this21.y = v21.y;
			_this21.z = v21.z;
			let _this22 = this.w1[2];
			let v22 = this.w1[3];
			_this22.x = v22.x;
			_this22.y = v22.y;
			_this22.z = v22.z;
			let _this23 = this.w2[2];
			let v23 = this.w2[3];
			_this23.x = v23.x;
			_this23.y = v23.y;
			_this23.z = v23.z;
			break;
		case 12:
			let _this24 = this.s[0];
			let v24 = this.s[2];
			_this24.x = v24.x;
			_this24.y = v24.y;
			_this24.z = v24.z;
			let _this25 = this.w1[0];
			let v25 = this.w1[2];
			_this25.x = v25.x;
			_this25.y = v25.y;
			_this25.z = v25.z;
			let _this26 = this.w2[0];
			let v26 = this.w2[2];
			_this26.x = v26.x;
			_this26.y = v26.y;
			_this26.z = v26.z;
			let _this27 = this.s[1];
			let v27 = this.s[3];
			_this27.x = v27.x;
			_this27.y = v27.y;
			_this27.z = v27.z;
			let _this28 = this.w1[1];
			let v28 = this.w1[3];
			_this28.x = v28.x;
			_this28.y = v28.y;
			_this28.z = v28.z;
			let _this29 = this.w2[1];
			let v29 = this.w2[3];
			_this29.x = v29.x;
			_this29.y = v29.y;
			_this29.z = v29.z;
			break;
		case 13:
			let _this30 = this.s[1];
			let v30 = this.s[3];
			_this30.x = v30.x;
			_this30.y = v30.y;
			_this30.z = v30.z;
			let _this31 = this.w1[1];
			let v31 = this.w1[3];
			_this31.x = v31.x;
			_this31.y = v31.y;
			_this31.z = v31.z;
			let _this32 = this.w2[1];
			let v32 = this.w2[3];
			_this32.x = v32.x;
			_this32.y = v32.y;
			_this32.z = v32.z;
			break;
		case 14:
			let _this33 = this.s[0];
			let v33 = this.s[3];
			_this33.x = v33.x;
			_this33.y = v33.y;
			_this33.z = v33.z;
			let _this34 = this.w1[0];
			let v34 = this.w1[3];
			_this34.x = v34.x;
			_this34.y = v34.y;
			_this34.z = v34.z;
			let _this35 = this.w2[0];
			let v35 = this.w2[3];
			_this35.x = v35.x;
			_this35.y = v35.y;
			_this35.z = v35.z;
			break;
		}
	}
	computeWitnessPoint1(addMargin) {
		let tmpX;
		let tmpY;
		let tmpZ;
		let idirX;
		let idirY;
		let idirZ;
		let v = this.dir;
		idirX = v.x;
		idirY = v.y;
		idirZ = v.z;
		let ldir1X;
		let ldir1Y;
		let ldir1Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this.tf1._rotation00 * idirX + this.tf1._rotation10 * idirY + this.tf1._rotation20 * idirZ;
		__tmp__Y = this.tf1._rotation01 * idirX + this.tf1._rotation11 * idirY + this.tf1._rotation21 * idirZ;
		__tmp__Z = this.tf1._rotation02 * idirX + this.tf1._rotation12 * idirY + this.tf1._rotation22 * idirZ;
		ldir1X = __tmp__X;
		ldir1Y = __tmp__Y;
		ldir1Z = __tmp__Z;
		let iw1X;
		let iw1Y;
		let iw1Z;
		let v1 = this.dir;
		v1.x = ldir1X;
		v1.y = ldir1Y;
		v1.z = ldir1Z;
		this.c1.computeLocalSupportingVertex(this.dir,this.w1[this.simplexSize]);
		if(addMargin) {
			let _this = this.dir;
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
			let _this1 = this.w1[this.simplexSize];
			let v = this.dir;
			let s = this.c1._gjkMargin;
			_this1.x += v.x * s;
			_this1.y += v.y * s;
			_this1.z += v.z * s;
		}
		let v2 = this.w1[this.simplexSize];
		tmpX = v2.x;
		tmpY = v2.y;
		tmpZ = v2.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = this.tf1._rotation00 * tmpX + this.tf1._rotation01 * tmpY + this.tf1._rotation02 * tmpZ;
		__tmp__Y1 = this.tf1._rotation10 * tmpX + this.tf1._rotation11 * tmpY + this.tf1._rotation12 * tmpZ;
		__tmp__Z1 = this.tf1._rotation20 * tmpX + this.tf1._rotation21 * tmpY + this.tf1._rotation22 * tmpZ;
		iw1X = __tmp__X1;
		iw1Y = __tmp__Y1;
		iw1Z = __tmp__Z1;
		iw1X += this.tf1._positionX;
		iw1Y += this.tf1._positionY;
		iw1Z += this.tf1._positionZ;
		let v3 = this.w1[this.simplexSize];
		v3.x = iw1X;
		v3.y = iw1Y;
		v3.z = iw1Z;
		let v4 = this.dir;
		v4.x = idirX;
		v4.y = idirY;
		v4.z = idirZ;
	}
	computeWitnessPoint2(addMargin) {
		let tmpX;
		let tmpY;
		let tmpZ;
		let idirX;
		let idirY;
		let idirZ;
		let v = this.dir;
		idirX = v.x;
		idirY = v.y;
		idirZ = v.z;
		let ldir2X;
		let ldir2Y;
		let ldir2Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this.tf2._rotation00 * idirX + this.tf2._rotation10 * idirY + this.tf2._rotation20 * idirZ;
		__tmp__Y = this.tf2._rotation01 * idirX + this.tf2._rotation11 * idirY + this.tf2._rotation21 * idirZ;
		__tmp__Z = this.tf2._rotation02 * idirX + this.tf2._rotation12 * idirY + this.tf2._rotation22 * idirZ;
		ldir2X = __tmp__X;
		ldir2Y = __tmp__Y;
		ldir2Z = __tmp__Z;
		ldir2X = -ldir2X;
		ldir2Y = -ldir2Y;
		ldir2Z = -ldir2Z;
		let iw2X;
		let iw2Y;
		let iw2Z;
		let v1 = this.dir;
		v1.x = ldir2X;
		v1.y = ldir2Y;
		v1.z = ldir2Z;
		this.c2.computeLocalSupportingVertex(this.dir,this.w2[this.simplexSize]);
		if(addMargin) {
			let _this = this.dir;
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
			let _this1 = this.w2[this.simplexSize];
			let v = this.dir;
			let s = this.c2._gjkMargin;
			_this1.x += v.x * s;
			_this1.y += v.y * s;
			_this1.z += v.z * s;
		}
		let v2 = this.w2[this.simplexSize];
		tmpX = v2.x;
		tmpY = v2.y;
		tmpZ = v2.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = this.tf2._rotation00 * tmpX + this.tf2._rotation01 * tmpY + this.tf2._rotation02 * tmpZ;
		__tmp__Y1 = this.tf2._rotation10 * tmpX + this.tf2._rotation11 * tmpY + this.tf2._rotation12 * tmpZ;
		__tmp__Z1 = this.tf2._rotation20 * tmpX + this.tf2._rotation21 * tmpY + this.tf2._rotation22 * tmpZ;
		iw2X = __tmp__X1;
		iw2Y = __tmp__Y1;
		iw2Z = __tmp__Z1;
		iw2X += this.tf2._positionX;
		iw2Y += this.tf2._positionY;
		iw2Z += this.tf2._positionZ;
		let v3 = this.w2[this.simplexSize];
		v3.x = iw2X;
		v3.y = iw2Y;
		v3.z = iw2Z;
		let v4 = this.dir;
		v4.x = idirX;
		v4.y = idirY;
		v4.z = idirZ;
	}
	pointToTetrahedron() {
		let _g = 0;
		while(_g < 3) {
			let _this = this.dir;
			let v = this.baseDirs[_g++];
			_this.x = v.x;
			_this.y = v.y;
			_this.z = v.z;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this1 = this.s[this.simplexSize];
			let v1 = this.w1[this.simplexSize];
			_this1.x = v1.x;
			_this1.y = v1.y;
			_this1.z = v1.z;
			let v2 = this.w2[this.simplexSize];
			_this1.x -= v2.x;
			_this1.y -= v2.y;
			_this1.z -= v2.z;
			this.simplexSize++;
			this.lineToTetrahedron();
			if(this.simplexSize == 4) {
				break;
			}
			this.simplexSize--;
			let _this2 = this.dir;
			_this2.x = -_this2.x;
			_this2.y = -_this2.y;
			_this2.z = -_this2.z;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this3 = this.s[this.simplexSize];
			let v3 = this.w1[this.simplexSize];
			_this3.x = v3.x;
			_this3.y = v3.y;
			_this3.z = v3.z;
			let v4 = this.w2[this.simplexSize];
			_this3.x -= v4.x;
			_this3.y -= v4.y;
			_this3.z -= v4.z;
			this.simplexSize++;
			this.lineToTetrahedron();
			if(this.simplexSize == 4) {
				break;
			}
			this.simplexSize--;
		}
	}
	lineToTetrahedron() {
		let oldDirX;
		let oldDirY;
		let oldDirZ;
		let v = this.dir;
		oldDirX = v.x;
		oldDirY = v.y;
		oldDirZ = v.z;
		let s0X;
		let s0Y;
		let s0Z;
		let s1X;
		let s1Y;
		let s1Z;
		let lineDirX;
		let lineDirY;
		let lineDirZ;
		let v1 = this.s[0];
		s0X = v1.x;
		s0Y = v1.y;
		s0Z = v1.z;
		let v2 = this.s[1];
		s1X = v2.x;
		s1Y = v2.y;
		s1Z = v2.z;
		lineDirX = s0X - s1X;
		lineDirY = s0Y - s1Y;
		lineDirZ = s0Z - s1Z;
		let _g = 0;
		while(_g < 3) {
			let baseDirX;
			let baseDirY;
			let baseDirZ;
			let v = this.baseDirs[_g++];
			baseDirX = v.x;
			baseDirY = v.y;
			baseDirZ = v.z;
			let newDirX;
			let newDirY;
			let newDirZ;
			newDirX = lineDirY * baseDirZ - lineDirZ * baseDirY;
			newDirY = lineDirZ * baseDirX - lineDirX * baseDirZ;
			newDirZ = lineDirX * baseDirY - lineDirY * baseDirX;
			let v1 = this.dir;
			v1.x = newDirX;
			v1.y = newDirY;
			v1.z = newDirZ;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this = this.s[this.simplexSize];
			let v2 = this.w1[this.simplexSize];
			_this.x = v2.x;
			_this.y = v2.y;
			_this.z = v2.z;
			let v3 = this.w2[this.simplexSize];
			_this.x -= v3.x;
			_this.y -= v3.y;
			_this.z -= v3.z;
			this.simplexSize++;
			this.triangleToTetrahedron();
			if(this.simplexSize == 4) {
				break;
			}
			this.simplexSize--;
			let _this1 = this.dir;
			_this1.x = -_this1.x;
			_this1.y = -_this1.y;
			_this1.z = -_this1.z;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this2 = this.s[this.simplexSize];
			let v4 = this.w1[this.simplexSize];
			_this2.x = v4.x;
			_this2.y = v4.y;
			_this2.z = v4.z;
			let v5 = this.w2[this.simplexSize];
			_this2.x -= v5.x;
			_this2.y -= v5.y;
			_this2.z -= v5.z;
			this.simplexSize++;
			this.triangleToTetrahedron();
			if(this.simplexSize == 4) {
				break;
			}
			this.simplexSize--;
		}
		let v3 = this.dir;
		v3.x = oldDirX;
		v3.y = oldDirY;
		v3.z = oldDirZ;
	}
	triangleToTetrahedron() {
		let oldDirX;
		let oldDirY;
		let oldDirZ;
		let v = this.dir;
		oldDirX = v.x;
		oldDirY = v.y;
		oldDirZ = v.z;
		while(true) {
			let s0X;
			let s0Y;
			let s0Z;
			let s1X;
			let s1Y;
			let s1Z;
			let s2X;
			let s2Y;
			let s2Z;
			let s01X;
			let s01Y;
			let s01Z;
			let s02X;
			let s02Y;
			let s02Z;
			let v = this.s[0];
			s0X = v.x;
			s0Y = v.y;
			s0Z = v.z;
			let v1 = this.s[1];
			s1X = v1.x;
			s1Y = v1.y;
			s1Z = v1.z;
			let v2 = this.s[2];
			s2X = v2.x;
			s2Y = v2.y;
			s2Z = v2.z;
			s01X = s1X - s0X;
			s01Y = s1Y - s0Y;
			s01Z = s1Z - s0Z;
			s02X = s2X - s0X;
			s02Y = s2Y - s0Y;
			s02Z = s2Z - s0Z;
			let nX;
			let nY;
			let nZ;
			nX = s01Y * s02Z - s01Z * s02Y;
			nY = s01Z * s02X - s01X * s02Z;
			nZ = s01X * s02Y - s01Y * s02X;
			let v3 = this.dir;
			v3.x = nX;
			v3.y = nY;
			v3.z = nZ;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this = this.s[this.simplexSize];
			let v4 = this.w1[this.simplexSize];
			_this.x = v4.x;
			_this.y = v4.y;
			_this.z = v4.z;
			let v5 = this.w2[this.simplexSize];
			_this.x -= v5.x;
			_this.y -= v5.y;
			_this.z -= v5.z;
			this.simplexSize++;
			if(this.isValidTetrahedron()) {
				break;
			}
			this.simplexSize--;
			let _this1 = this.dir;
			_this1.x = -_this1.x;
			_this1.y = -_this1.y;
			_this1.z = -_this1.z;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this2 = this.s[this.simplexSize];
			let v6 = this.w1[this.simplexSize];
			_this2.x = v6.x;
			_this2.y = v6.y;
			_this2.z = v6.z;
			let v7 = this.w2[this.simplexSize];
			_this2.x -= v7.x;
			_this2.y -= v7.y;
			_this2.z -= v7.z;
			this.simplexSize++;
			if(this.isValidTetrahedron()) {
				break;
			}
			this.simplexSize--;
			break;
		}
		let v1 = this.dir;
		v1.x = oldDirX;
		v1.y = oldDirY;
		v1.z = oldDirZ;
	}
	isValidTetrahedron() {
		let e10 = this.s[2].x - this.s[0].x;
		let e11 = this.s[2].y - this.s[0].y;
		let e12 = this.s[2].z - this.s[0].z;
		let e20 = this.s[3].x - this.s[0].x;
		let e21 = this.s[3].y - this.s[0].y;
		let e22 = this.s[3].z - this.s[0].z;
		let det = (this.s[1].x - this.s[0].x) * (e11 * e22 - e12 * e21) - (this.s[1].y - this.s[0].y) * (e10 * e22 - e12 * e20) + (this.s[1].z - this.s[0].z) * (e10 * e21 - e11 * e20);
		if(!(det > 1e-12)) {
			return det < -1e-12;
		} else {
			return true;
		}
	}
	computeDepth(convex1,convex2,tf1,tf2,initialPolyhedron,initialPolyhedron1,initialPolyhedron2) {
		let _this = this.polyhedron;
		while(_this._numTriangles > 0) {
			let t = _this._triangleList;
			_this._numTriangles--;
			let prev = t._prev;
			let next = t._next;
			if(prev != null) {
				prev._next = next;
			}
			if(next != null) {
				next._prev = prev;
			}
			if(t == _this._triangleList) {
				_this._triangleList = _this._triangleList._next;
			}
			if(t == _this._triangleListLast) {
				_this._triangleListLast = _this._triangleListLast._prev;
			}
			t._next = null;
			t._prev = null;
			t.removeReferences();
			t._next = _this._trianglePool;
			_this._trianglePool = t;
		}
		while(_this._numVertices > 0) {
			let v = _this._vertices[--_this._numVertices];
			v.removeReferences();
			v._next = _this._vertexPool;
			_this._vertexPool = v;
		}
		let tmp = this.polyhedron;
		let _this1 = this.polyhedron;
		let first = _this1._vertexPool;
		if(first != null) {
			_this1._vertexPool = first._next;
			first._next = null;
		} else {
			first = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
		}
		let tmp1 = first.init(initialPolyhedron[0],initialPolyhedron1[0],initialPolyhedron2[0]);
		let _this2 = this.polyhedron;
		let first1 = _this2._vertexPool;
		if(first1 != null) {
			_this2._vertexPool = first1._next;
			first1._next = null;
		} else {
			first1 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
		}
		let tmp2 = first1.init(initialPolyhedron[1],initialPolyhedron1[1],initialPolyhedron2[1]);
		let _this3 = this.polyhedron;
		let first2 = _this3._vertexPool;
		if(first2 != null) {
			_this3._vertexPool = first2._next;
			first2._next = null;
		} else {
			first2 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
		}
		let tmp3 = first2.init(initialPolyhedron[2],initialPolyhedron1[2],initialPolyhedron2[2]);
		let _this4 = this.polyhedron;
		let first3 = _this4._vertexPool;
		if(first3 != null) {
			_this4._vertexPool = first3._next;
			first3._next = null;
		} else {
			first3 = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
		}
		if(!tmp._init(tmp1,tmp2,tmp3,first3.init(initialPolyhedron[3],initialPolyhedron1[3],initialPolyhedron2[3]))) {
			return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_INIT;
		}
		this.simplexSize = 0;
		let supportingVertex = this.s[0];
		let witness1 = this.w1[0];
		let witness2 = this.w2[0];
		let count = 0;
		while(count < 40) {
			let f = this.polyhedron._triangleList;
			let mind = 1e65536;
			let minf = null;
			while(f != null) {
				if(f._distanceSq < mind) {
					mind = f._distanceSq;
					minf = f;
				}
				f = f._next;
			}
			let face = minf;
			let _this = this.dir;
			let v = face._normal;
			_this.x = v.x;
			_this.y = v.y;
			_this.z = v.z;
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
			this.computeWitnessPoint1(false);
			this.computeWitnessPoint2(false);
			let _this1 = this.s[this.simplexSize];
			let v1 = this.w1[this.simplexSize];
			_this1.x = v1.x;
			_this1.y = v1.y;
			_this1.z = v1.z;
			let v2 = this.w2[this.simplexSize];
			_this1.x -= v2.x;
			_this1.y -= v2.y;
			_this1.z -= v2.z;
			let v0 = face._vertices[0];
			let v11 = face._vertices[1];
			let v21 = face._vertices[2];
			let _this2 = v0.v;
			let v3 = this.dir;
			let v4 = this.dir;
			if(supportingVertex.x * v4.x + supportingVertex.y * v4.y + supportingVertex.z * v4.z - (_this2.x * v3.x + _this2.y * v3.y + _this2.z * v3.z) < 1e-6 || count == 39) {
				let _this = this.closest;
				let v = this.dir;
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				let _this1 = this.dir;
				let v1 = v0.v;
				let _this2 = this.dir;
				let s = (_this1.x * v1.x + _this1.y * v1.y + _this1.z * v1.z) / (_this2.x * _this2.x + _this2.y * _this2.y + _this2.z * _this2.z);
				_this.x *= s;
				_this.y *= s;
				_this.z *= s;
				let cX;
				let cY;
				let cZ;
				let v2 = this.closest;
				cX = v2.x;
				cY = v2.y;
				cZ = v2.z;
				let s0X;
				let s0Y;
				let s0Z;
				let w10X;
				let w10Y;
				let w10Z;
				let w20X;
				let w20Y;
				let w20Z;
				let s1X;
				let s1Y;
				let s1Z;
				let w11X;
				let w11Y;
				let w11Z;
				let w21X;
				let w21Y;
				let w21Z;
				let s2X;
				let s2Y;
				let s2Z;
				let w12X;
				let w12Y;
				let w12Z;
				let w22X;
				let w22Y;
				let w22Z;
				let v3 = v0.v;
				s0X = v3.x;
				s0Y = v3.y;
				s0Z = v3.z;
				let v4 = v0.w1;
				w10X = v4.x;
				w10Y = v4.y;
				w10Z = v4.z;
				let v5 = v0.w2;
				w20X = v5.x;
				w20Y = v5.y;
				w20Z = v5.z;
				let v6 = v11.v;
				s1X = v6.x;
				s1Y = v6.y;
				s1Z = v6.z;
				let v7 = v11.w1;
				w11X = v7.x;
				w11Y = v7.y;
				w11Z = v7.z;
				let v8 = v11.w2;
				w21X = v8.x;
				w21Y = v8.y;
				w21Z = v8.z;
				let v9 = v21.v;
				s2X = v9.x;
				s2Y = v9.y;
				s2Z = v9.z;
				let v10 = v21.w1;
				w12X = v10.x;
				w12Y = v10.y;
				w12Z = v10.z;
				let v12 = v21.w2;
				w22X = v12.x;
				w22Y = v12.y;
				w22Z = v12.z;
				let s01X;
				let s01Y;
				let s01Z;
				let s02X;
				let s02Y;
				let s02Z;
				let s0cX;
				let s0cY;
				let s0cZ;
				s01X = s1X - s0X;
				s01Y = s1Y - s0Y;
				s01Z = s1Z - s0Z;
				s02X = s2X - s0X;
				s02Y = s2Y - s0Y;
				s02Z = s2Z - s0Z;
				s0cX = cX - s0X;
				s0cY = cY - s0Y;
				s0cZ = cZ - s0Z;
				let d11 = s01X * s01X + s01Y * s01Y + s01Z * s01Z;
				let d12 = s01X * s02X + s01Y * s02Y + s01Z * s02Z;
				let d22 = s02X * s02X + s02Y * s02Y + s02Z * s02Z;
				let d1c = s01X * s0cX + s01Y * s0cY + s01Z * s0cZ;
				let d2c = s02X * s0cX + s02Y * s0cY + s02Z * s0cZ;
				let invDet = d11 * d22 - d12 * d12;
				if(invDet != 0) {
					invDet = 1 / invDet;
				}
				let s1 = (d1c * d22 - d2c * d12) * invDet;
				let t = (-d1c * d12 + d2c * d11) * invDet;
				let diffX;
				let diffY;
				let diffZ;
				let cp1X;
				let cp1Y;
				let cp1Z;
				let cp2X;
				let cp2Y;
				let cp2Z;
				diffX = w11X - w10X;
				diffY = w11Y - w10Y;
				diffZ = w11Z - w10Z;
				cp1X = w10X + diffX * s1;
				cp1Y = w10Y + diffY * s1;
				cp1Z = w10Z + diffZ * s1;
				diffX = w12X - w10X;
				diffY = w12Y - w10Y;
				diffZ = w12Z - w10Z;
				cp1X += diffX * t;
				cp1Y += diffY * t;
				cp1Z += diffZ * t;
				diffX = w21X - w20X;
				diffY = w21Y - w20Y;
				diffZ = w21Z - w20Z;
				cp2X = w20X + diffX * s1;
				cp2Y = w20Y + diffY * s1;
				cp2Z = w20Z + diffZ * s1;
				diffX = w22X - w20X;
				diffY = w22Y - w20Y;
				diffZ = w22Z - w20Z;
				cp2X += diffX * t;
				cp2Y += diffY * t;
				cp2Z += diffZ * t;
				let v13 = this.closestPoint1;
				v13.x = cp1X;
				v13.y = cp1Y;
				v13.z = cp1Z;
				let v14 = this.closestPoint2;
				v14.x = cp2X;
				v14.y = cp2Y;
				v14.z = cp2Z;
				let _this3 = this.closest;
				this.depth = Math.sqrt(_this3.x * _this3.x + _this3.y * _this3.y + _this3.z * _this3.z);
				return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED;
			}
			let _this3 = this.polyhedron;
			let first = _this3._vertexPool;
			if(first != null) {
				_this3._vertexPool = first._next;
				first._next = null;
			} else {
				first = new oimo.collision.narrowphase.detector.gjkepa.EpaVertex();
			}
			let epaVertex = first.init(supportingVertex,witness1,witness2);
			if(!this.polyhedron._addVertex(epaVertex,face)) {
				return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_ADD_VERTEX;
			}
			++count;
		}
		return oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_DID_NOT_CONVERGE;
	}
	computeClosestPoints(c1,c2,tf1,tf2,cache) {
		return this.computeClosestPointsImpl(c1,c2,tf1,tf2,cache,true);
	}
	computeDistance(c1,c2,tf1,tf2,cache) {
		return this.computeClosestPointsImpl(c1,c2,tf1,tf2,cache,false);
	}
	convexCast(c1,c2,tf1,tf2,tl1,tl2,hit) {
		return this.convexCastImpl(c1,c2,tf1,tf2,tl1,tl2,hit);
	}
	rayCast(c,tf,begin,end,hit) {
		let tf1 = this.tempTransform;
		tf1._positionX = begin.x;
		tf1._positionY = begin.y;
		tf1._positionZ = begin.z;
		let tl1 = this.tl1;
		let tl2 = this.tl2;
		tl1.x = end.x;
		tl1.y = end.y;
		tl1.z = end.z;
		tl1.x -= begin.x;
		tl1.y -= begin.y;
		tl1.z -= begin.z;
		tl2.zero();
		return this.convexCastImpl(null,c,tf1,tf,tl1,tl2,hit);
	}
	static getInstance() {
		return oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance;
	}
}
oimo.collision.narrowphase.detector.gjkepa.GjkEpaLog = class oimo_collision_narrowphase_detector_gjkepa_GjkEpaLog {
}
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState = class oimo_collision_narrowphase_detector_gjkepa_GjkEpaResultState {
}
oimo.collision.narrowphase.detector.gjkepa.SimplexUtil = class oimo_collision_narrowphase_detector_gjkepa_SimplexUtil {
	static projectOrigin2(vec1,vec2,out) {
		let v1X;
		let v1Y;
		let v1Z;
		let v2X;
		let v2Y;
		let v2Z;
		v1X = vec1.x;
		v1Y = vec1.y;
		v1Z = vec1.z;
		v2X = vec2.x;
		v2Y = vec2.y;
		v2Z = vec2.z;
		let v12X;
		let v12Y;
		let v12Z;
		v12X = v2X - v1X;
		v12Y = v2Y - v1Y;
		v12Z = v2Z - v1Z;
		let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
		t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
		if(t < 0) {
			out.x = v1X;
			out.y = v1Y;
			out.z = v1Z;
			return 1;
		}
		if(t > 1) {
			out.x = v2X;
			out.y = v2Y;
			out.z = v2Z;
			return 2;
		}
		let pX;
		let pY;
		let pZ;
		pX = v1X + v12X * t;
		pY = v1Y + v12Y * t;
		pZ = v1Z + v12Z * t;
		out.x = pX;
		out.y = pY;
		out.z = pZ;
		return 3;
	}
	static projectOrigin3(vec1,vec2,vec3,out) {
		let v1X;
		let v1Y;
		let v1Z;
		let v2X;
		let v2Y;
		let v2Z;
		let v3X;
		let v3Y;
		let v3Z;
		let v12X;
		let v12Y;
		let v12Z;
		let v23X;
		let v23Y;
		let v23Z;
		let v31X;
		let v31Y;
		let v31Z;
		v1X = vec1.x;
		v1Y = vec1.y;
		v1Z = vec1.z;
		v2X = vec2.x;
		v2Y = vec2.y;
		v2Z = vec2.z;
		v3X = vec3.x;
		v3Y = vec3.y;
		v3Z = vec3.z;
		v12X = v2X - v1X;
		v12Y = v2Y - v1Y;
		v12Z = v2Z - v1Z;
		v23X = v3X - v2X;
		v23Y = v3Y - v2Y;
		v23Z = v3Z - v2Z;
		v31X = v1X - v3X;
		v31Y = v1Y - v3Y;
		v31Z = v1Z - v3Z;
		let nX;
		let nY;
		let nZ;
		nX = v12Y * v23Z - v12Z * v23Y;
		nY = v12Z * v23X - v12X * v23Z;
		nZ = v12X * v23Y - v12Y * v23X;
		let n12X;
		let n12Y;
		let n12Z;
		let n23X;
		let n23Y;
		let n23Z;
		let n31X;
		let n31Y;
		let n31Z;
		n12X = v12Y * nZ - v12Z * nY;
		n12Y = v12Z * nX - v12X * nZ;
		n12Z = v12X * nY - v12Y * nX;
		n23X = v23Y * nZ - v23Z * nY;
		n23Y = v23Z * nX - v23X * nZ;
		n23Z = v23X * nY - v23Y * nX;
		n31X = v31Y * nZ - v31Z * nY;
		n31Y = v31Z * nX - v31X * nZ;
		n31Z = v31X * nY - v31Y * nX;
		let mind = -1;
		let minvX;
		let minvY;
		let minvZ;
		let mini = 0;
		minvX = 0;
		minvY = 0;
		minvZ = 0;
		if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec2.x;
			v2Y = vec2.y;
			v2Z = vec2.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			let b;
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
				b = 1;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
				b = 2;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
				b = 3;
			}
			mini = b;
			mind = out.x * out.x + out.y * out.y + out.z * out.z;
			minvX = out.x;
			minvY = out.y;
			minvZ = out.z;
		}
		if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec2.x;
			v1Y = vec2.y;
			v1Z = vec2.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			let b;
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
				b = 1;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
				b = 2;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
				b = 3;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mini = b << 1;
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			let v12X;
			let v12Y;
			let v12Z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
			t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
			let b;
			if(t < 0) {
				out.x = v1X;
				out.y = v1Y;
				out.z = v1Z;
				b = 1;
			} else if(t > 1) {
				out.x = v2X;
				out.y = v2Y;
				out.z = v2Z;
				b = 2;
			} else {
				let pX;
				let pY;
				let pZ;
				pX = v1X + v12X * t;
				pY = v1Y + v12Y * t;
				pZ = v1Z + v12Z * t;
				out.x = pX;
				out.y = pY;
				out.z = pZ;
				b = 3;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mini = b & 1 | (b & 2) << 1;
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if(mind > 0) {
			out.x = minvX;
			out.y = minvY;
			out.z = minvZ;
			return mini;
		}
		let l = nX * nX + nY * nY + nZ * nZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		nX *= l;
		nY *= l;
		nZ *= l;
		let l2 = nX * nX + nY * nY + nZ * nZ;
		l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
		minvX = nX * l2;
		minvY = nY * l2;
		minvZ = nZ * l2;
		out.x = minvX;
		out.y = minvY;
		out.z = minvZ;
		return 7;
	}
	static projectOrigin4(vec1,vec2,vec3,vec4,out) {
		let v1X;
		let v1Y;
		let v1Z;
		let v2X;
		let v2Y;
		let v2Z;
		let v3X;
		let v3Y;
		let v3Z;
		let v4X;
		let v4Y;
		let v4Z;
		let v12X;
		let v12Y;
		let v12Z;
		let v13X;
		let v13Y;
		let v13Z;
		let v14X;
		let v14Y;
		let v14Z;
		let v23X;
		let v23Y;
		let v23Z;
		let v24X;
		let v24Y;
		let v24Z;
		v1X = vec1.x;
		v1Y = vec1.y;
		v1Z = vec1.z;
		v2X = vec2.x;
		v2Y = vec2.y;
		v2Z = vec2.z;
		v3X = vec3.x;
		v3Y = vec3.y;
		v3Z = vec3.z;
		v4X = vec4.x;
		v4Y = vec4.y;
		v4Z = vec4.z;
		v12X = v2X - v1X;
		v12Y = v2Y - v1Y;
		v12Z = v2Z - v1Z;
		v13X = v3X - v1X;
		v13Y = v3Y - v1Y;
		v13Z = v3Z - v1Z;
		v14X = v4X - v1X;
		v14Y = v4Y - v1Y;
		v14Z = v4Z - v1Z;
		v23X = v3X - v2X;
		v23Y = v3Y - v2Y;
		v23Z = v3Z - v2Z;
		v24X = v4X - v2X;
		v24Y = v4Y - v2Y;
		v24Z = v4Z - v2Z;
		let n123X;
		let n123Y;
		let n123Z;
		let n134X;
		let n134Y;
		let n134Z;
		let n142X;
		let n142Y;
		let n142Z;
		let n243X;
		let n243Y;
		let n243Z;
		n123X = v12Y * v13Z - v12Z * v13Y;
		n123Y = v12Z * v13X - v12X * v13Z;
		n123Z = v12X * v13Y - v12Y * v13X;
		n134X = v13Y * v14Z - v13Z * v14Y;
		n134Y = v13Z * v14X - v13X * v14Z;
		n134Z = v13X * v14Y - v13Y * v14X;
		n142X = v14Y * v12Z - v14Z * v12Y;
		n142Y = v14Z * v12X - v14X * v12Z;
		n142Z = v14X * v12Y - v14Y * v12X;
		n243X = v24Y * v23Z - v24Z * v23Y;
		n243Y = v24Z * v23X - v24X * v23Z;
		n243Z = v24X * v23Y - v24Y * v23X;
		let sign = v12X * n243X + v12Y * n243Y + v12Z * n243Z > 0 ? 1 : -1;
		let mind = -1;
		let minvX;
		let minvY;
		let minvZ;
		let mini = 0;
		minvX = 0;
		minvY = 0;
		minvZ = 0;
		if((v1X * n123X + v1Y * n123Y + v1Z * n123Z) * sign < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			let v3X;
			let v3Y;
			let v3Z;
			let v12X;
			let v12Y;
			let v12Z;
			let v23X;
			let v23Y;
			let v23Z;
			let v31X;
			let v31Y;
			let v31Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec2.x;
			v2Y = vec2.y;
			v2Z = vec2.z;
			v3X = vec3.x;
			v3Y = vec3.y;
			v3Z = vec3.z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			v23X = v3X - v2X;
			v23Y = v3Y - v2Y;
			v23Z = v3Z - v2Z;
			v31X = v1X - v3X;
			v31Y = v1Y - v3Y;
			v31Z = v1Z - v3Z;
			let nX;
			let nY;
			let nZ;
			nX = v12Y * v23Z - v12Z * v23Y;
			nY = v12Z * v23X - v12X * v23Z;
			nZ = v12X * v23Y - v12Y * v23X;
			let n12X;
			let n12Y;
			let n12Z;
			let n23X;
			let n23Y;
			let n23Z;
			let n31X;
			let n31Y;
			let n31Z;
			n12X = v12Y * nZ - v12Z * nY;
			n12Y = v12Z * nX - v12X * nZ;
			n12Z = v12X * nY - v12Y * nX;
			n23X = v23Y * nZ - v23Z * nY;
			n23Y = v23Z * nX - v23X * nZ;
			n23Z = v23X * nY - v23Y * nX;
			n31X = v31Y * nZ - v31Z * nY;
			n31Y = v31Z * nX - v31X * nZ;
			n31Z = v31X * nY - v31Y * nX;
			let mind1 = -1;
			let minvX1;
			let minvY1;
			let minvZ1;
			let mini1 = 0;
			minvX1 = 0;
			minvY1 = 0;
			minvZ1 = 0;
			if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec2.x;
				v2Y = vec2.y;
				v2Z = vec2.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				mini1 = b;
				mind1 = out.x * out.x + out.y * out.y + out.z * out.z;
				minvX1 = out.x;
				minvY1 = out.y;
				minvZ1 = out.z;
			}
			if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec2.x;
				v1Y = vec2.y;
				v1Z = vec2.z;
				v2X = vec3.x;
				v2Y = vec3.y;
				v2Z = vec3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec3.x;
				v2Y = vec3.y;
				v2Z = vec3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b & 1 | (b & 2) << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			let b;
			if(mind1 > 0) {
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = mini1;
			} else {
				let l = nX * nX + nY * nY + nZ * nZ;
				if(l > 0) {
					l = 1 / Math.sqrt(l);
				}
				nX *= l;
				nY *= l;
				nZ *= l;
				let l2 = nX * nX + nY * nY + nZ * nZ;
				l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
				minvX1 = nX * l2;
				minvY1 = nY * l2;
				minvZ1 = nZ * l2;
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = 7;
			}
			mini = b;
			mind = out.x * out.x + out.y * out.y + out.z * out.z;
			minvX = out.x;
			minvY = out.y;
			minvZ = out.z;
		}
		if((v1X * n134X + v1Y * n134Y + v1Z * n134Z) * sign < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			let v3X;
			let v3Y;
			let v3Z;
			let v12X;
			let v12Y;
			let v12Z;
			let v23X;
			let v23Y;
			let v23Z;
			let v31X;
			let v31Y;
			let v31Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			v3X = vec4.x;
			v3Y = vec4.y;
			v3Z = vec4.z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			v23X = v3X - v2X;
			v23Y = v3Y - v2Y;
			v23Z = v3Z - v2Z;
			v31X = v1X - v3X;
			v31Y = v1Y - v3Y;
			v31Z = v1Z - v3Z;
			let nX;
			let nY;
			let nZ;
			nX = v12Y * v23Z - v12Z * v23Y;
			nY = v12Z * v23X - v12X * v23Z;
			nZ = v12X * v23Y - v12Y * v23X;
			let n12X;
			let n12Y;
			let n12Z;
			let n23X;
			let n23Y;
			let n23Z;
			let n31X;
			let n31Y;
			let n31Z;
			n12X = v12Y * nZ - v12Z * nY;
			n12Y = v12Z * nX - v12X * nZ;
			n12Z = v12X * nY - v12Y * nX;
			n23X = v23Y * nZ - v23Z * nY;
			n23Y = v23Z * nX - v23X * nZ;
			n23Z = v23X * nY - v23Y * nX;
			n31X = v31Y * nZ - v31Z * nY;
			n31Y = v31Z * nX - v31X * nZ;
			n31Z = v31X * nY - v31Y * nX;
			let mind1 = -1;
			let minvX1;
			let minvY1;
			let minvZ1;
			let mini1 = 0;
			minvX1 = 0;
			minvY1 = 0;
			minvZ1 = 0;
			if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec3.x;
				v2Y = vec3.y;
				v2Z = vec3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				mini1 = b;
				mind1 = out.x * out.x + out.y * out.y + out.z * out.z;
				minvX1 = out.x;
				minvY1 = out.y;
				minvZ1 = out.z;
			}
			if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec3.x;
				v1Y = vec3.y;
				v1Z = vec3.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b & 1 | (b & 2) << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			let b;
			if(mind1 > 0) {
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = mini1;
			} else {
				let l = nX * nX + nY * nY + nZ * nZ;
				if(l > 0) {
					l = 1 / Math.sqrt(l);
				}
				nX *= l;
				nY *= l;
				nZ *= l;
				let l2 = nX * nX + nY * nY + nZ * nZ;
				l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
				minvX1 = nX * l2;
				minvY1 = nY * l2;
				minvZ1 = nZ * l2;
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = 7;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mini = b & 1 | (b & 6) << 1;
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if((v1X * n142X + v1Y * n142Y + v1Z * n142Z) * sign < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			let v3X;
			let v3Y;
			let v3Z;
			let v12X;
			let v12Y;
			let v12Z;
			let v23X;
			let v23Y;
			let v23Z;
			let v31X;
			let v31Y;
			let v31Z;
			v1X = vec1.x;
			v1Y = vec1.y;
			v1Z = vec1.z;
			v2X = vec2.x;
			v2Y = vec2.y;
			v2Z = vec2.z;
			v3X = vec4.x;
			v3Y = vec4.y;
			v3Z = vec4.z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			v23X = v3X - v2X;
			v23Y = v3Y - v2Y;
			v23Z = v3Z - v2Z;
			v31X = v1X - v3X;
			v31Y = v1Y - v3Y;
			v31Z = v1Z - v3Z;
			let nX;
			let nY;
			let nZ;
			nX = v12Y * v23Z - v12Z * v23Y;
			nY = v12Z * v23X - v12X * v23Z;
			nZ = v12X * v23Y - v12Y * v23X;
			let n12X;
			let n12Y;
			let n12Z;
			let n23X;
			let n23Y;
			let n23Z;
			let n31X;
			let n31Y;
			let n31Z;
			n12X = v12Y * nZ - v12Z * nY;
			n12Y = v12Z * nX - v12X * nZ;
			n12Z = v12X * nY - v12Y * nX;
			n23X = v23Y * nZ - v23Z * nY;
			n23Y = v23Z * nX - v23X * nZ;
			n23Z = v23X * nY - v23Y * nX;
			n31X = v31Y * nZ - v31Z * nY;
			n31Y = v31Z * nX - v31X * nZ;
			n31Z = v31X * nY - v31Y * nX;
			let mind1 = -1;
			let minvX1;
			let minvY1;
			let minvZ1;
			let mini1 = 0;
			minvX1 = 0;
			minvY1 = 0;
			minvZ1 = 0;
			if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec2.x;
				v2Y = vec2.y;
				v2Z = vec2.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				mini1 = b;
				mind1 = out.x * out.x + out.y * out.y + out.z * out.z;
				minvX1 = out.x;
				minvY1 = out.y;
				minvZ1 = out.z;
			}
			if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec2.x;
				v1Y = vec2.y;
				v1Z = vec2.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec1.x;
				v1Y = vec1.y;
				v1Z = vec1.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b & 1 | (b & 2) << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			let b;
			if(mind1 > 0) {
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = mini1;
			} else {
				let l = nX * nX + nY * nY + nZ * nZ;
				if(l > 0) {
					l = 1 / Math.sqrt(l);
				}
				nX *= l;
				nY *= l;
				nZ *= l;
				let l2 = nX * nX + nY * nY + nZ * nZ;
				l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
				minvX1 = nX * l2;
				minvY1 = nY * l2;
				minvZ1 = nZ * l2;
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = 7;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mini = b & 3 | (b & 4) << 1;
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if((v2X * n243X + v2Y * n243Y + v2Z * n243Z) * sign < 0) {
			let v1X;
			let v1Y;
			let v1Z;
			let v2X;
			let v2Y;
			let v2Z;
			let v3X;
			let v3Y;
			let v3Z;
			let v12X;
			let v12Y;
			let v12Z;
			let v23X;
			let v23Y;
			let v23Z;
			let v31X;
			let v31Y;
			let v31Z;
			v1X = vec2.x;
			v1Y = vec2.y;
			v1Z = vec2.z;
			v2X = vec3.x;
			v2Y = vec3.y;
			v2Z = vec3.z;
			v3X = vec4.x;
			v3Y = vec4.y;
			v3Z = vec4.z;
			v12X = v2X - v1X;
			v12Y = v2Y - v1Y;
			v12Z = v2Z - v1Z;
			v23X = v3X - v2X;
			v23Y = v3Y - v2Y;
			v23Z = v3Z - v2Z;
			v31X = v1X - v3X;
			v31Y = v1Y - v3Y;
			v31Z = v1Z - v3Z;
			let nX;
			let nY;
			let nZ;
			nX = v12Y * v23Z - v12Z * v23Y;
			nY = v12Z * v23X - v12X * v23Z;
			nZ = v12X * v23Y - v12Y * v23X;
			let n12X;
			let n12Y;
			let n12Z;
			let n23X;
			let n23Y;
			let n23Z;
			let n31X;
			let n31Y;
			let n31Z;
			n12X = v12Y * nZ - v12Z * nY;
			n12Y = v12Z * nX - v12X * nZ;
			n12Z = v12X * nY - v12Y * nX;
			n23X = v23Y * nZ - v23Z * nY;
			n23Y = v23Z * nX - v23X * nZ;
			n23Z = v23X * nY - v23Y * nX;
			n31X = v31Y * nZ - v31Z * nY;
			n31Y = v31Z * nX - v31X * nZ;
			n31Z = v31X * nY - v31Y * nX;
			let mind1 = -1;
			let minvX1;
			let minvY1;
			let minvZ1;
			let mini1 = 0;
			minvX1 = 0;
			minvY1 = 0;
			minvZ1 = 0;
			if(v1X * n12X + v1Y * n12Y + v1Z * n12Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec2.x;
				v1Y = vec2.y;
				v1Z = vec2.z;
				v2X = vec3.x;
				v2Y = vec3.y;
				v2Z = vec3.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				mini1 = b;
				mind1 = out.x * out.x + out.y * out.y + out.z * out.z;
				minvX1 = out.x;
				minvY1 = out.y;
				minvZ1 = out.z;
			}
			if(v2X * n23X + v2Y * n23Y + v2Z * n23Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec3.x;
				v1Y = vec3.y;
				v1Z = vec3.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			if(v3X * n31X + v3Y * n31Y + v3Z * n31Z < 0) {
				let v1X;
				let v1Y;
				let v1Z;
				let v2X;
				let v2Y;
				let v2Z;
				v1X = vec2.x;
				v1Y = vec2.y;
				v1Z = vec2.z;
				v2X = vec4.x;
				v2Y = vec4.y;
				v2Z = vec4.z;
				let v12X;
				let v12Y;
				let v12Z;
				v12X = v2X - v1X;
				v12Y = v2Y - v1Y;
				v12Z = v2Z - v1Z;
				let t = v12X * v1X + v12Y * v1Y + v12Z * v1Z;
				t = -t / (v12X * v12X + v12Y * v12Y + v12Z * v12Z);
				let b;
				if(t < 0) {
					out.x = v1X;
					out.y = v1Y;
					out.z = v1Z;
					b = 1;
				} else if(t > 1) {
					out.x = v2X;
					out.y = v2Y;
					out.z = v2Z;
					b = 2;
				} else {
					let pX;
					let pY;
					let pZ;
					pX = v1X + v12X * t;
					pY = v1Y + v12Y * t;
					pZ = v1Z + v12Z * t;
					out.x = pX;
					out.y = pY;
					out.z = pZ;
					b = 3;
				}
				let d = out.x * out.x + out.y * out.y + out.z * out.z;
				if(mind1 < 0 || d < mind1) {
					mini1 = b & 1 | (b & 2) << 1;
					mind1 = d;
					minvX1 = out.x;
					minvY1 = out.y;
					minvZ1 = out.z;
				}
			}
			let b;
			if(mind1 > 0) {
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = mini1;
			} else {
				let l = nX * nX + nY * nY + nZ * nZ;
				if(l > 0) {
					l = 1 / Math.sqrt(l);
				}
				nX *= l;
				nY *= l;
				nZ *= l;
				let l2 = nX * nX + nY * nY + nZ * nZ;
				l2 = (v1X * nX + v1Y * nY + v1Z * nZ) / l2;
				minvX1 = nX * l2;
				minvY1 = nY * l2;
				minvZ1 = nZ * l2;
				out.x = minvX1;
				out.y = minvY1;
				out.z = minvZ1;
				b = 7;
			}
			let d = out.x * out.x + out.y * out.y + out.z * out.z;
			if(mind < 0 || d < mind) {
				mini = b << 1;
				mind = d;
				minvX = out.x;
				minvY = out.y;
				minvZ = out.z;
			}
		}
		if(mind > 0) {
			out.x = minvX;
			out.y = minvY;
			out.z = minvZ;
			return mini;
		}
		out.zero();
		return 15;
	}
}
oimo.common.Mat3 = class oimo_common_Mat3 {
	constructor(e00,e01,e02,e10,e11,e12,e20,e21,e22) {
		if(e22 == null) {
			e22 = 1;
		}
		if(e21 == null) {
			e21 = 0;
		}
		if(e20 == null) {
			e20 = 0;
		}
		if(e12 == null) {
			e12 = 0;
		}
		if(e11 == null) {
			e11 = 1;
		}
		if(e10 == null) {
			e10 = 0;
		}
		if(e02 == null) {
			e02 = 0;
		}
		if(e01 == null) {
			e01 = 0;
		}
		if(e00 == null) {
			e00 = 1;
		}
		this.e00 = e00;
		this.e01 = e01;
		this.e02 = e02;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		oimo.common.Mat3.numCreations++;
	}
	init(e00,e01,e02,e10,e11,e12,e20,e21,e22) {
		this.e00 = e00;
		this.e01 = e01;
		this.e02 = e02;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		return this;
	}
	identity() {
		this.e00 = 1;
		this.e01 = 0;
		this.e02 = 0;
		this.e10 = 0;
		this.e11 = 1;
		this.e12 = 0;
		this.e20 = 0;
		this.e21 = 0;
		this.e22 = 1;
		return this;
	}
	add(m) {
		return new oimo.common.Mat3(this.e00 + m.e00,this.e01 + m.e01,this.e02 + m.e02,this.e10 + m.e10,this.e11 + m.e11,this.e12 + m.e12,this.e20 + m.e20,this.e21 + m.e21,this.e22 + m.e22);
	}
	sub(m) {
		return new oimo.common.Mat3(this.e00 - m.e00,this.e01 - m.e01,this.e02 - m.e02,this.e10 - m.e10,this.e11 - m.e11,this.e12 - m.e12,this.e20 - m.e20,this.e21 - m.e21,this.e22 - m.e22);
	}
	scale(s) {
		return new oimo.common.Mat3(this.e00 * s,this.e01 * s,this.e02 * s,this.e10 * s,this.e11 * s,this.e12 * s,this.e20 * s,this.e21 * s,this.e22 * s);
	}
	mul(m) {
		return new oimo.common.Mat3(this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20,this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21,this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22,this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20,this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21,this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22,this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20,this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21,this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22);
	}
	addEq(m) {
		this.e00 += m.e00;
		this.e01 += m.e01;
		this.e02 += m.e02;
		this.e10 += m.e10;
		this.e11 += m.e11;
		this.e12 += m.e12;
		this.e20 += m.e20;
		this.e21 += m.e21;
		this.e22 += m.e22;
		return this;
	}
	subEq(m) {
		this.e00 -= m.e00;
		this.e01 -= m.e01;
		this.e02 -= m.e02;
		this.e10 -= m.e10;
		this.e11 -= m.e11;
		this.e12 -= m.e12;
		this.e20 -= m.e20;
		this.e21 -= m.e21;
		this.e22 -= m.e22;
		return this;
	}
	scaleEq(s) {
		this.e00 *= s;
		this.e01 *= s;
		this.e02 *= s;
		this.e10 *= s;
		this.e11 *= s;
		this.e12 *= s;
		this.e20 *= s;
		this.e21 *= s;
		this.e22 *= s;
		return this;
	}
	mulEq(m) {
		let e01 = this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21;
		let e02 = this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22;
		let e10 = this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20;
		let e11 = this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21;
		let e12 = this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22;
		let e20 = this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20;
		let e21 = this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21;
		let e22 = this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22;
		this.e00 = this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20;
		this.e01 = e01;
		this.e02 = e02;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		return this;
	}
	prependScale(sx,sy,sz) {
		return new oimo.common.Mat3(this.e00 * sx,this.e01 * sx,this.e02 * sx,this.e10 * sy,this.e11 * sy,this.e12 * sy,this.e20 * sz,this.e21 * sz,this.e22 * sz);
	}
	appendScale(sx,sy,sz) {
		return new oimo.common.Mat3(this.e00 * sx,this.e01 * sy,this.e02 * sz,this.e10 * sx,this.e11 * sy,this.e12 * sz,this.e20 * sx,this.e21 * sy,this.e22 * sz);
	}
	prependRotation(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		return new oimo.common.Mat3(r00 * this.e00 + r01 * this.e10 + r02 * this.e20,r00 * this.e01 + r01 * this.e11 + r02 * this.e21,r00 * this.e02 + r01 * this.e12 + r02 * this.e22,r10 * this.e00 + r11 * this.e10 + r12 * this.e20,r10 * this.e01 + r11 * this.e11 + r12 * this.e21,r10 * this.e02 + r11 * this.e12 + r12 * this.e22,r20 * this.e00 + r21 * this.e10 + r22 * this.e20,r20 * this.e01 + r21 * this.e11 + r22 * this.e21,r20 * this.e02 + r21 * this.e12 + r22 * this.e22);
	}
	appendRotation(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		return new oimo.common.Mat3(this.e00 * r00 + this.e01 * r10 + this.e02 * r20,this.e00 * r01 + this.e01 * r11 + this.e02 * r21,this.e00 * r02 + this.e01 * r12 + this.e02 * r22,this.e10 * r00 + this.e11 * r10 + this.e12 * r20,this.e10 * r01 + this.e11 * r11 + this.e12 * r21,this.e10 * r02 + this.e11 * r12 + this.e12 * r22,this.e20 * r00 + this.e21 * r10 + this.e22 * r20,this.e20 * r01 + this.e21 * r11 + this.e22 * r21,this.e20 * r02 + this.e21 * r12 + this.e22 * r22);
	}
	prependScaleEq(sx,sy,sz) {
		this.e00 *= sx;
		this.e01 *= sx;
		this.e02 *= sx;
		this.e10 *= sy;
		this.e11 *= sy;
		this.e12 *= sy;
		this.e20 *= sz;
		this.e21 *= sz;
		this.e22 *= sz;
		return this;
	}
	appendScaleEq(sx,sy,sz) {
		this.e00 *= sx;
		this.e01 *= sy;
		this.e02 *= sz;
		this.e10 *= sx;
		this.e11 *= sy;
		this.e12 *= sz;
		this.e20 *= sx;
		this.e21 *= sy;
		this.e22 *= sz;
		return this;
	}
	prependRotationEq(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		let e10 = r10 * this.e00 + r11 * this.e10 + r12 * this.e20;
		let e11 = r10 * this.e01 + r11 * this.e11 + r12 * this.e21;
		let e12 = r10 * this.e02 + r11 * this.e12 + r12 * this.e22;
		let e20 = r20 * this.e00 + r21 * this.e10 + r22 * this.e20;
		let e21 = r20 * this.e01 + r21 * this.e11 + r22 * this.e21;
		let e22 = r20 * this.e02 + r21 * this.e12 + r22 * this.e22;
		this.e00 = r00 * this.e00 + r01 * this.e10 + r02 * this.e20;
		this.e01 = r00 * this.e01 + r01 * this.e11 + r02 * this.e21;
		this.e02 = r00 * this.e02 + r01 * this.e12 + r02 * this.e22;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		return this;
	}
	appendRotationEq(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		let e01 = this.e00 * r01 + this.e01 * r11 + this.e02 * r21;
		let e02 = this.e00 * r02 + this.e01 * r12 + this.e02 * r22;
		let e11 = this.e10 * r01 + this.e11 * r11 + this.e12 * r21;
		let e12 = this.e10 * r02 + this.e11 * r12 + this.e12 * r22;
		let e21 = this.e20 * r01 + this.e21 * r11 + this.e22 * r21;
		let e22 = this.e20 * r02 + this.e21 * r12 + this.e22 * r22;
		this.e00 = this.e00 * r00 + this.e01 * r10 + this.e02 * r20;
		this.e01 = e01;
		this.e02 = e02;
		this.e10 = this.e10 * r00 + this.e11 * r10 + this.e12 * r20;
		this.e11 = e11;
		this.e12 = e12;
		this.e20 = this.e20 * r00 + this.e21 * r10 + this.e22 * r20;
		this.e21 = e21;
		this.e22 = e22;
		return this;
	}
	transpose() {
		return new oimo.common.Mat3(this.e00,this.e10,this.e20,this.e01,this.e11,this.e21,this.e02,this.e12,this.e22);
	}
	transposeEq() {
		let e10 = this.e01;
		let e20 = this.e02;
		let e21 = this.e12;

		this.e01 = this.e10;
		this.e02 = this.e20;
		this.e10 = e10;

		this.e12 = this.e21;
		this.e20 = e20;
		this.e21 = e21;

		return this;
	}
	determinant() {
		return this.e00 * (this.e11 * this.e22 - this.e12 * this.e21) - this.e01 * (this.e10 * this.e22 - this.e12 * this.e20) + this.e02 * (this.e10 * this.e21 - this.e11 * this.e20);
	}
	trace() {
		return this.e00 + this.e11 + this.e22;
	}
	inverse() {
		let d00 = this.e11 * this.e22 - this.e12 * this.e21;
		let d01 = this.e10 * this.e22 - this.e12 * this.e20;
		let d02 = this.e10 * this.e21 - this.e11 * this.e20;
		let invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02;
		if(invDet != 0) {
			invDet = 1 / invDet;
		}
		return new oimo.common.Mat3(d00 * invDet,-(this.e01 * this.e22 - this.e02 * this.e21) * invDet,(this.e01 * this.e12 - this.e02 * this.e11) * invDet,-d01 * invDet,(this.e00 * this.e22 - this.e02 * this.e20) * invDet,-(this.e00 * this.e12 - this.e02 * this.e10) * invDet,d02 * invDet,-(this.e00 * this.e21 - this.e01 * this.e20) * invDet,(this.e00 * this.e11 - this.e01 * this.e10) * invDet);
	}
	inverseEq() {
		let d00 = this.e11 * this.e22 - this.e12 * this.e21;
		let d01 = this.e10 * this.e22 - this.e12 * this.e20;
		let d02 = this.e10 * this.e21 - this.e11 * this.e20;
		let invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02;
		if(invDet != 0) {
			invDet = 1 / invDet;
		}
		let t02 = (this.e01 * this.e12 - this.e02 * this.e11) * invDet;
		let t11 = (this.e00 * this.e22 - this.e02 * this.e20) * invDet;
		let t12 = -(this.e00 * this.e12 - this.e02 * this.e10) * invDet;
		let t21 = -(this.e00 * this.e21 - this.e01 * this.e20) * invDet;
		let t22 = (this.e00 * this.e11 - this.e01 * this.e10) * invDet;
		this.e00 = d00 * invDet;
		this.e01 = -(this.e01 * this.e22 - this.e02 * this.e21) * invDet;
		this.e02 = t02;
		this.e10 = -d01 * invDet;
		this.e11 = t11;
		this.e12 = t12;
		this.e20 = d02 * invDet;
		this.e21 = t21;
		this.e22 = t22;
		return this;
	}
	toArray(columnMajor) {
		if(columnMajor == null) {
			columnMajor = false;
		}
		if(columnMajor) {
			return [this.e00,this.e10,this.e20,this.e01,this.e11,this.e21,this.e02,this.e12,this.e22];
		} else {
			return [this.e00,this.e01,this.e02,this.e10,this.e11,this.e12,this.e20,this.e21,this.e22];
		}
	}
	copyFrom(m) {
		this.e00 = m.e00;
		this.e01 = m.e01;
		this.e02 = m.e02;
		this.e10 = m.e10;
		this.e11 = m.e11;
		this.e12 = m.e12;
		this.e20 = m.e20;
		this.e21 = m.e21;
		this.e22 = m.e22;
		return this;
	}
	clone() {
		return new oimo.common.Mat3(this.e00,this.e01,this.e02,this.e10,this.e11,this.e12,this.e20,this.e21,this.e22);
	}
	fromQuat(q) {
		let x = q.x;
		let y = q.y;
		let z = q.z;
		let w = q.w;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		this.e00 = 1 - yy - zz;
		this.e01 = xy - wz;
		this.e02 = xz + wy;
		this.e10 = xy + wz;
		this.e11 = 1 - xx - zz;
		this.e12 = yz - wx;
		this.e20 = xz - wy;
		this.e21 = yz + wx;
		this.e22 = 1 - xx - yy;
		return this;
	}
	toQuat() {
		let _this = new oimo.common.Quat();
		let e00 = this.e00;
		let e11 = this.e11;
		let e22 = this.e22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			_this.w = 0.5 * s;
			s = 0.5 / s;
			_this.x = (this.e21 - this.e12) * s;
			_this.y = (this.e02 - this.e20) * s;
			_this.z = (this.e10 - this.e01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				_this.x = 0.5 * s;
				s = 0.5 / s;
				_this.y = (this.e01 + this.e10) * s;
				_this.z = (this.e02 + this.e20) * s;
				_this.w = (this.e21 - this.e12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				_this.z = 0.5 * s;
				s = 0.5 / s;
				_this.x = (this.e02 + this.e20) * s;
				_this.y = (this.e12 + this.e21) * s;
				_this.w = (this.e10 - this.e01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			_this.y = 0.5 * s;
			s = 0.5 / s;
			_this.x = (this.e01 + this.e10) * s;
			_this.z = (this.e12 + this.e21) * s;
			_this.w = (this.e02 - this.e20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			_this.z = 0.5 * s;
			s = 0.5 / s;
			_this.x = (this.e02 + this.e20) * s;
			_this.y = (this.e12 + this.e21) * s;
			_this.w = (this.e10 - this.e01) * s;
		}
		return _this;
	}
	fromEulerXyz(eulerAngles) {
		let sx = Math.sin(eulerAngles.x);
		let sy = Math.sin(eulerAngles.y);
		let sz = Math.sin(eulerAngles.z);
		let cx = Math.cos(eulerAngles.x);
		let cy = Math.cos(eulerAngles.y);
		let cz = Math.cos(eulerAngles.z);
		this.e00 = cy * cz;
		this.e01 = -cy * sz;
		this.e02 = sy;
		this.e10 = cx * sz + cz * sx * sy;
		this.e11 = cx * cz - sx * sy * sz;
		this.e12 = -cy * sx;
		this.e20 = sx * sz - cx * cz * sy;
		this.e21 = cz * sx + cx * sy * sz;
		this.e22 = cx * cy;
		return this;
	}
	toEulerXyz() {
		let sy = this.e02;
		if(sy <= -1) {
			let xSubZ = Math.atan2(this.e21,this.e11);
			return new oimo.common.Vec3(xSubZ * 0.5,-1.570796326794895,-xSubZ * 0.5);
		}
		if(sy >= 1) {
			let xAddZ = Math.atan2(this.e21,this.e11);
			return new oimo.common.Vec3(xAddZ * 0.5,1.570796326794895,xAddZ * 0.5);
		}
		return new oimo.common.Vec3(Math.atan2(-this.e12,this.e22),Math.asin(sy),Math.atan2(-this.e01,this.e00));
	}
	getRow(index) {
		if(index == 0) {
			return new oimo.common.Vec3(this.e00,this.e01,this.e02);
		} else if(index == 1) {
			return new oimo.common.Vec3(this.e10,this.e11,this.e12);
		} else if(index == 2) {
			return new oimo.common.Vec3(this.e20,this.e21,this.e22);
		} else {
			return null;
		}
	}
	getCol(index) {
		if(index == 0) {
			return new oimo.common.Vec3(this.e00,this.e10,this.e20);
		} else if(index == 1) {
			return new oimo.common.Vec3(this.e01,this.e11,this.e21);
		} else if(index == 2) {
			return new oimo.common.Vec3(this.e02,this.e12,this.e22);
		} else {
			return null;
		}
	}
	getRowTo(index,dst) {
		if(index == 0) {
			dst.init(this.e00,this.e01,this.e02);
		} else if(index == 1) {
			dst.init(this.e10,this.e11,this.e12);
		} else if(index == 2) {
			dst.init(this.e20,this.e21,this.e22);
		} else {
			dst.zero();
		}
	}
	getColTo(index,dst) {
		if(index == 0) {
			dst.init(this.e00,this.e10,this.e20);
		} else if(index == 1) {
			dst.init(this.e01,this.e11,this.e21);
		} else if(index == 2) {
			dst.init(this.e02,this.e12,this.e22);
		} else {
			dst.zero();
		}
	}
	fromRows(row0,row1,row2) {
		this.e00 = row0.x;
		this.e01 = row0.y;
		this.e02 = row0.z;
		this.e10 = row1.x;
		this.e11 = row1.y;
		this.e12 = row1.z;
		this.e20 = row2.x;
		this.e21 = row2.y;
		this.e22 = row2.z;
		return this;
	}
	fromCols(col0,col1,col2) {
		this.e00 = col0.x;
		this.e01 = col1.x;
		this.e02 = col2.x;
		this.e10 = col0.y;
		this.e11 = col1.y;
		this.e12 = col2.y;
		this.e20 = col0.z;
		this.e21 = col1.z;
		this.e22 = col2.z;
		return this;
	}
	toString() {
		return "Mat3[" + (this.e00 > 0 ? (this.e00 * 10000000 + 0.5 | 0) / 10000000 : (this.e00 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e01 > 0 ? (this.e01 * 10000000 + 0.5 | 0) / 10000000 : (this.e01 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e02 > 0 ? (this.e02 * 10000000 + 0.5 | 0) / 10000000 : (this.e02 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "     " + (this.e10 > 0 ? (this.e10 * 10000000 + 0.5 | 0) / 10000000 : (this.e10 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e11 > 0 ? (this.e11 * 10000000 + 0.5 | 0) / 10000000 : (this.e11 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e12 > 0 ? (this.e12 * 10000000 + 0.5 | 0) / 10000000 : (this.e12 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "     " + (this.e20 > 0 ? (this.e20 * 10000000 + 0.5 | 0) / 10000000 : (this.e20 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e21 > 0 ? (this.e21 * 10000000 + 0.5 | 0) / 10000000 : (this.e21 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e22 > 0 ? (this.e22 * 10000000 + 0.5 | 0) / 10000000 : (this.e22 * 10000000 - 0.5 | 0) / 10000000) + "]";
	}
}
oimo.common.Mat4 = class oimo_common_Mat4 {
	constructor(e00,e01,e02,e03,e10,e11,e12,e13,e20,e21,e22,e23,e30,e31,e32,e33) {
		if(e33 == null) {
			e33 = 1;
		}
		if(e32 == null) {
			e32 = 0;
		}
		if(e31 == null) {
			e31 = 0;
		}
		if(e30 == null) {
			e30 = 0;
		}
		if(e23 == null) {
			e23 = 0;
		}
		if(e22 == null) {
			e22 = 1;
		}
		if(e21 == null) {
			e21 = 0;
		}
		if(e20 == null) {
			e20 = 0;
		}
		if(e13 == null) {
			e13 = 0;
		}
		if(e12 == null) {
			e12 = 0;
		}
		if(e11 == null) {
			e11 = 1;
		}
		if(e10 == null) {
			e10 = 0;
		}
		if(e03 == null) {
			e03 = 0;
		}
		if(e02 == null) {
			e02 = 0;
		}
		if(e01 == null) {
			e01 = 0;
		}
		if(e00 == null) {
			e00 = 1;
		}
		this.e00 = e00;
		this.e01 = e01;
		this.e02 = e02;
		this.e03 = e03;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e13 = e13;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		this.e23 = e23;
		this.e30 = e30;
		this.e31 = e31;
		this.e32 = e32;
		this.e33 = e33;
		oimo.common.Mat4.numCreations++;
	}
	init(e00,e01,e02,e03,e10,e11,e12,e13,e20,e21,e22,e23,e30,e31,e32,e33) {
		this.e00 = e00;
		this.e01 = e01;
		this.e02 = e02;
		this.e03 = e03;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e13 = e13;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		this.e23 = e23;
		this.e30 = e30;
		this.e31 = e31;
		this.e32 = e32;
		this.e33 = e33;
		return this;
	}
	identity() {
		this.e00 = 1;
		this.e01 = 0;
		this.e02 = 0;
		this.e03 = 0;
		this.e10 = 0;
		this.e11 = 1;
		this.e12 = 0;
		this.e13 = 0;
		this.e20 = 0;
		this.e21 = 0;
		this.e22 = 1;
		this.e23 = 0;
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = 0;
		this.e33 = 1;
		return this;
	}
	add(m) {
		return new oimo.common.Mat4(this.e00 + m.e00,this.e01 + m.e01,this.e02 + m.e02,this.e03 + m.e03,this.e10 + m.e10,this.e11 + m.e11,this.e12 + m.e12,this.e13 + m.e13,this.e20 + m.e20,this.e21 + m.e21,this.e22 + m.e22,this.e23 + m.e23,this.e30 + m.e30,this.e31 + m.e31,this.e32 + m.e32,this.e33 + m.e33);
	}
	sub(m) {
		return new oimo.common.Mat4(this.e00 - m.e00,this.e01 - m.e01,this.e02 - m.e02,this.e03 - m.e03,this.e10 - m.e10,this.e11 - m.e11,this.e12 - m.e12,this.e13 - m.e13,this.e20 - m.e20,this.e21 - m.e21,this.e22 - m.e22,this.e23 - m.e23,this.e30 - m.e30,this.e31 - m.e31,this.e32 - m.e32,this.e33 - m.e33);
	}
	scale(s) {
		return new oimo.common.Mat4(this.e00 * s,this.e01 * s,this.e02 * s,this.e03 * s,this.e10 * s,this.e11 * s,this.e12 * s,this.e13 * s,this.e20 * s,this.e21 * s,this.e22 * s,this.e23 * s,this.e30 * s,this.e31 * s,this.e32 * s,this.e33 * s);
	}
	mul(m) {
		return new oimo.common.Mat4(this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20 + this.e03 * m.e30,this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21 + this.e03 * m.e31,this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22 + this.e03 * m.e32,this.e00 * m.e03 + this.e01 * m.e13 + this.e02 * m.e23 + this.e03 * m.e33,this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20 + this.e13 * m.e30,this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21 + this.e13 * m.e31,this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22 + this.e13 * m.e32,this.e10 * m.e03 + this.e11 * m.e13 + this.e12 * m.e23 + this.e13 * m.e33,this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20 + this.e23 * m.e30,this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21 + this.e23 * m.e31,this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22 + this.e23 * m.e32,this.e20 * m.e03 + this.e21 * m.e13 + this.e22 * m.e23 + this.e23 * m.e33,this.e30 * m.e00 + this.e31 * m.e10 + this.e32 * m.e20 + this.e33 * m.e30,this.e30 * m.e01 + this.e31 * m.e11 + this.e32 * m.e21 + this.e33 * m.e31,this.e30 * m.e02 + this.e31 * m.e12 + this.e32 * m.e22 + this.e33 * m.e32,this.e30 * m.e03 + this.e31 * m.e13 + this.e32 * m.e23 + this.e33 * m.e33);
	}
	addEq(m) {
		this.e00 += m.e00;
		this.e01 += m.e01;
		this.e02 += m.e02;
		this.e03 += m.e03;
		this.e10 += m.e10;
		this.e11 += m.e11;
		this.e12 += m.e12;
		this.e13 += m.e13;
		this.e20 += m.e20;
		this.e21 += m.e21;
		this.e22 += m.e22;
		this.e23 += m.e23;
		this.e30 += m.e30;
		this.e31 += m.e31;
		this.e32 += m.e32;
		this.e33 += m.e33;
		return this;
	}
	subEq(m) {
		this.e00 -= m.e00;
		this.e01 -= m.e01;
		this.e02 -= m.e02;
		this.e03 -= m.e03;
		this.e10 -= m.e10;
		this.e11 -= m.e11;
		this.e12 -= m.e12;
		this.e13 -= m.e13;
		this.e20 -= m.e20;
		this.e21 -= m.e21;
		this.e22 -= m.e22;
		this.e23 -= m.e23;
		this.e30 -= m.e30;
		this.e31 -= m.e31;
		this.e32 -= m.e32;
		this.e33 -= m.e33;
		return this;
	}
	scaleEq(s) {
		this.e00 *= s;
		this.e01 *= s;
		this.e02 *= s;
		this.e03 *= s;
		this.e10 *= s;
		this.e11 *= s;
		this.e12 *= s;
		this.e13 *= s;
		this.e20 *= s;
		this.e21 *= s;
		this.e22 *= s;
		this.e23 *= s;
		this.e30 *= s;
		this.e31 *= s;
		this.e32 *= s;
		this.e33 *= s;
		return this;
	}
	mulEq(m) {
		let e01 = this.e00 * m.e01 + this.e01 * m.e11 + this.e02 * m.e21 + this.e03 * m.e31;
		let e02 = this.e00 * m.e02 + this.e01 * m.e12 + this.e02 * m.e22 + this.e03 * m.e32;
		let e03 = this.e00 * m.e03 + this.e01 * m.e13 + this.e02 * m.e23 + this.e03 * m.e33;
		let e10 = this.e10 * m.e00 + this.e11 * m.e10 + this.e12 * m.e20 + this.e13 * m.e30;
		let e11 = this.e10 * m.e01 + this.e11 * m.e11 + this.e12 * m.e21 + this.e13 * m.e31;
		let e12 = this.e10 * m.e02 + this.e11 * m.e12 + this.e12 * m.e22 + this.e13 * m.e32;
		let e13 = this.e10 * m.e03 + this.e11 * m.e13 + this.e12 * m.e23 + this.e13 * m.e33;
		let e20 = this.e20 * m.e00 + this.e21 * m.e10 + this.e22 * m.e20 + this.e23 * m.e30;
		let e21 = this.e20 * m.e01 + this.e21 * m.e11 + this.e22 * m.e21 + this.e23 * m.e31;
		let e22 = this.e20 * m.e02 + this.e21 * m.e12 + this.e22 * m.e22 + this.e23 * m.e32;
		let e23 = this.e20 * m.e03 + this.e21 * m.e13 + this.e22 * m.e23 + this.e23 * m.e33;
		let e30 = this.e30 * m.e00 + this.e31 * m.e10 + this.e32 * m.e20 + this.e33 * m.e30;
		let e31 = this.e30 * m.e01 + this.e31 * m.e11 + this.e32 * m.e21 + this.e33 * m.e31;
		let e32 = this.e30 * m.e02 + this.e31 * m.e12 + this.e32 * m.e22 + this.e33 * m.e32;
		let e33 = this.e30 * m.e03 + this.e31 * m.e13 + this.e32 * m.e23 + this.e33 * m.e33;
		this.e00 = this.e00 * m.e00 + this.e01 * m.e10 + this.e02 * m.e20 + this.e03 * m.e30;
		this.e01 = e01;
		this.e02 = e02;
		this.e03 = e03;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e13 = e13;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		this.e23 = e23;
		this.e30 = e30;
		this.e31 = e31;
		this.e32 = e32;
		this.e33 = e33;
		return this;
	}
	prependScale(sx,sy,sz) {
		return new oimo.common.Mat4(this.e00 * sx,this.e01 * sx,this.e02 * sx,this.e03 * sx,this.e10 * sy,this.e11 * sy,this.e12 * sy,this.e13 * sy,this.e20 * sz,this.e21 * sz,this.e22 * sz,this.e23 * sz,this.e30,this.e31,this.e32,this.e33);
	}
	appendScale(sx,sy,sz) {
		return new oimo.common.Mat4(this.e00 * sx,this.e01 * sy,this.e02 * sz,this.e03,this.e10 * sx,this.e11 * sy,this.e12 * sz,this.e13,this.e20 * sx,this.e21 * sy,this.e22 * sz,this.e23,this.e30 * sx,this.e31 * sy,this.e32 * sz,this.e33);
	}
	prependRotation(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		return new oimo.common.Mat4(r00 * this.e00 + r01 * this.e10 + r02 * this.e20,r00 * this.e01 + r01 * this.e11 + r02 * this.e21,r00 * this.e02 + r01 * this.e12 + r02 * this.e22,r00 * this.e03 + r01 * this.e13 + r02 * this.e23,r10 * this.e00 + r11 * this.e10 + r12 * this.e20,r10 * this.e01 + r11 * this.e11 + r12 * this.e21,r10 * this.e02 + r11 * this.e12 + r12 * this.e22,r10 * this.e03 + r11 * this.e13 + r12 * this.e23,r20 * this.e00 + r21 * this.e10 + r22 * this.e20,r20 * this.e01 + r21 * this.e11 + r22 * this.e21,r20 * this.e02 + r21 * this.e12 + r22 * this.e22,r20 * this.e03 + r21 * this.e13 + r22 * this.e23,this.e30,this.e31,this.e32,this.e33);
	}
	appendRotation(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		return new oimo.common.Mat4(this.e00 * r00 + this.e01 * r10 + this.e02 * r20,this.e00 * r01 + this.e01 * r11 + this.e02 * r21,this.e00 * r02 + this.e01 * r12 + this.e02 * r22,this.e03,this.e10 * r00 + this.e11 * r10 + this.e12 * r20,this.e10 * r01 + this.e11 * r11 + this.e12 * r21,this.e10 * r02 + this.e11 * r12 + this.e12 * r22,this.e13,this.e20 * r00 + this.e21 * r10 + this.e22 * r20,this.e20 * r01 + this.e21 * r11 + this.e22 * r21,this.e20 * r02 + this.e21 * r12 + this.e22 * r22,this.e23,this.e30 * r00 + this.e31 * r10 + this.e32 * r20,this.e30 * r01 + this.e31 * r11 + this.e32 * r21,this.e30 * r02 + this.e31 * r12 + this.e32 * r22,this.e33);
	}
	prependTranslation(tx,ty,tz) {
		return new oimo.common.Mat4(this.e00 + tx * this.e30,this.e01 + tx * this.e31,this.e02 + tx * this.e32,this.e03 + tx * this.e33,this.e10 + ty * this.e30,this.e11 + ty * this.e31,this.e12 + ty * this.e32,this.e13 + ty * this.e33,this.e20 + tz * this.e30,this.e21 + tz * this.e31,this.e22 + tz * this.e32,this.e23 + tz * this.e33,this.e30,this.e31,this.e32,this.e33);
	}
	appendTranslation(tx,ty,tz) {
		return new oimo.common.Mat4(this.e00,this.e01,this.e02,this.e00 * tx + this.e01 * ty + this.e02 * tz + this.e03,this.e10,this.e11,this.e12,this.e10 * tx + this.e11 * ty + this.e12 * tz + this.e13,this.e20,this.e21,this.e22,this.e20 * tx + this.e21 * ty + this.e22 * tz + this.e23,this.e30,this.e31,this.e32,this.e30 * tx + this.e31 * ty + this.e32 * tz + this.e33);
	}
	prependScaleEq(sx,sy,sz) {
		this.e00 *= sx;
		this.e01 *= sx;
		this.e02 *= sx;
		this.e03 *= sx;
		this.e10 *= sy;
		this.e11 *= sy;
		this.e12 *= sy;
		this.e13 *= sy;
		this.e20 *= sz;
		this.e21 *= sz;
		this.e22 *= sz;
		this.e23 *= sz;




		return this;
	}
	appendScaleEq(sx,sy,sz) {
		this.e00 *= sx;
		this.e01 *= sy;
		this.e02 *= sz;

		this.e10 *= sx;
		this.e11 *= sy;
		this.e12 *= sz;

		this.e20 *= sx;
		this.e21 *= sy;
		this.e22 *= sz;

		this.e30 *= sx;
		this.e31 *= sy;
		this.e32 *= sz;

		return this;
	}
	prependRotationEq(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		let e10 = r10 * this.e00 + r11 * this.e10 + r12 * this.e20;
		let e11 = r10 * this.e01 + r11 * this.e11 + r12 * this.e21;
		let e12 = r10 * this.e02 + r11 * this.e12 + r12 * this.e22;
		let e13 = r10 * this.e03 + r11 * this.e13 + r12 * this.e23;
		let e20 = r20 * this.e00 + r21 * this.e10 + r22 * this.e20;
		let e21 = r20 * this.e01 + r21 * this.e11 + r22 * this.e21;
		let e22 = r20 * this.e02 + r21 * this.e12 + r22 * this.e22;
		let e23 = r20 * this.e03 + r21 * this.e13 + r22 * this.e23;
		this.e00 = r00 * this.e00 + r01 * this.e10 + r02 * this.e20;
		this.e01 = r00 * this.e01 + r01 * this.e11 + r02 * this.e21;
		this.e02 = r00 * this.e02 + r01 * this.e12 + r02 * this.e22;
		this.e03 = r00 * this.e03 + r01 * this.e13 + r02 * this.e23;
		this.e10 = e10;
		this.e11 = e11;
		this.e12 = e12;
		this.e13 = e13;
		this.e20 = e20;
		this.e21 = e21;
		this.e22 = e22;
		this.e23 = e23;




		return this;
	}
	appendRotationEq(rad,axisX,axisY,axisZ) {
		let s = Math.sin(rad);
		let c = Math.cos(rad);
		let c1 = 1 - c;
		let r00 = axisX * axisX * c1 + c;
		let r01 = axisX * axisY * c1 - axisZ * s;
		let r02 = axisX * axisZ * c1 + axisY * s;
		let r10 = axisY * axisX * c1 + axisZ * s;
		let r11 = axisY * axisY * c1 + c;
		let r12 = axisY * axisZ * c1 - axisX * s;
		let r20 = axisZ * axisX * c1 - axisY * s;
		let r21 = axisZ * axisY * c1 + axisX * s;
		let r22 = axisZ * axisZ * c1 + c;
		let e01 = this.e00 * r01 + this.e01 * r11 + this.e02 * r21;
		let e02 = this.e00 * r02 + this.e01 * r12 + this.e02 * r22;
		let e11 = this.e10 * r01 + this.e11 * r11 + this.e12 * r21;
		let e12 = this.e10 * r02 + this.e11 * r12 + this.e12 * r22;
		let e21 = this.e20 * r01 + this.e21 * r11 + this.e22 * r21;
		let e22 = this.e20 * r02 + this.e21 * r12 + this.e22 * r22;
		let e31 = this.e30 * r01 + this.e31 * r11 + this.e32 * r21;
		let e32 = this.e30 * r02 + this.e31 * r12 + this.e32 * r22;
		this.e00 = this.e00 * r00 + this.e01 * r10 + this.e02 * r20;
		this.e01 = e01;
		this.e02 = e02;

		this.e10 = this.e10 * r00 + this.e11 * r10 + this.e12 * r20;
		this.e11 = e11;
		this.e12 = e12;

		this.e20 = this.e20 * r00 + this.e21 * r10 + this.e22 * r20;
		this.e21 = e21;
		this.e22 = e22;

		this.e30 = this.e30 * r00 + this.e31 * r10 + this.e32 * r20;
		this.e31 = e31;
		this.e32 = e32;

		return this;
	}
	prependTranslationEq(tx,ty,tz) {
		this.e00 += tx * this.e30;
		this.e01 += tx * this.e31;
		this.e02 += tx * this.e32;
		this.e03 += tx * this.e33;
		this.e10 += ty * this.e30;
		this.e11 += ty * this.e31;
		this.e12 += ty * this.e32;
		this.e13 += ty * this.e33;
		this.e20 += tz * this.e30;
		this.e21 += tz * this.e31;
		this.e22 += tz * this.e32;
		this.e23 += tz * this.e33;




		return this;
	}
	appendTranslationEq(tx,ty,tz) {
		let e03 = this.e00 * tx + this.e01 * ty + this.e02 * tz + this.e03;
		let e13 = this.e10 * tx + this.e11 * ty + this.e12 * tz + this.e13;
		let e23 = this.e20 * tx + this.e21 * ty + this.e22 * tz + this.e23;
		let e33 = this.e30 * tx + this.e31 * ty + this.e32 * tz + this.e33;




		this.e03 = e03;




		this.e13 = e13;




		this.e23 = e23;




		this.e33 = e33;
		return this;
	}
	transpose() {
		return new oimo.common.Mat4(this.e00,this.e10,this.e20,this.e30,this.e01,this.e11,this.e21,this.e31,this.e02,this.e12,this.e22,this.e32,this.e03,this.e13,this.e23,this.e33);
	}
	transposeEq() {
		let e10 = this.e01;
		let e20 = this.e02;
		let e21 = this.e12;
		let e30 = this.e03;
		let e31 = this.e13;
		let e32 = this.e23;

		this.e01 = this.e10;
		this.e02 = this.e20;
		this.e03 = this.e30;
		this.e10 = e10;

		this.e12 = this.e21;
		this.e13 = this.e31;
		this.e20 = e20;
		this.e21 = e21;

		this.e23 = this.e32;
		this.e30 = e30;
		this.e31 = e31;
		this.e32 = e32;

		return this;
	}
	determinant() {
		let d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
		let d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
		let d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
		let d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
		let d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
		let d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
		return this.e00 * (this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12) - this.e01 * (this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02) + this.e02 * (this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01) - this.e03 * (this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01);
	}
	trace() {
		return this.e00 + this.e11 + this.e22 + this.e33;
	}
	inverse() {
		let d01_01 = this.e00 * this.e11 - this.e01 * this.e10;
		let d01_02 = this.e00 * this.e12 - this.e02 * this.e10;
		let d01_03 = this.e00 * this.e13 - this.e03 * this.e10;
		let d01_12 = this.e01 * this.e12 - this.e02 * this.e11;
		let d01_13 = this.e01 * this.e13 - this.e03 * this.e11;
		let d01_23 = this.e02 * this.e13 - this.e03 * this.e12;
		let d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
		let d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
		let d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
		let d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
		let d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
		let d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
		let d00 = this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12;
		let d01 = this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02;
		let d02 = this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01;
		let d03 = this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01;
		let invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02 - this.e03 * d03;
		if(invDet != 0) {
			invDet = 1 / invDet;
		}
		return new oimo.common.Mat4(d00 * invDet,-(this.e01 * d23_23 - this.e02 * d23_13 + this.e03 * d23_12) * invDet,(this.e31 * d01_23 - this.e32 * d01_13 + this.e33 * d01_12) * invDet,-(this.e21 * d01_23 - this.e22 * d01_13 + this.e23 * d01_12) * invDet,-d01 * invDet,(this.e00 * d23_23 - this.e02 * d23_03 + this.e03 * d23_02) * invDet,-(this.e30 * d01_23 - this.e32 * d01_03 + this.e33 * d01_02) * invDet,(this.e20 * d01_23 - this.e22 * d01_03 + this.e23 * d01_02) * invDet,d02 * invDet,-(this.e00 * d23_13 - this.e01 * d23_03 + this.e03 * d23_01) * invDet,(this.e30 * d01_13 - this.e31 * d01_03 + this.e33 * d01_01) * invDet,-(this.e20 * d01_13 - this.e21 * d01_03 + this.e23 * d01_01) * invDet,-d03 * invDet,(this.e00 * d23_12 - this.e01 * d23_02 + this.e02 * d23_01) * invDet,-(this.e30 * d01_12 - this.e31 * d01_02 + this.e32 * d01_01) * invDet,(this.e20 * d01_12 - this.e21 * d01_02 + this.e22 * d01_01) * invDet);
	}
	inverseEq() {
		let d01_01 = this.e00 * this.e11 - this.e01 * this.e10;
		let d01_02 = this.e00 * this.e12 - this.e02 * this.e10;
		let d01_03 = this.e00 * this.e13 - this.e03 * this.e10;
		let d01_12 = this.e01 * this.e12 - this.e02 * this.e11;
		let d01_13 = this.e01 * this.e13 - this.e03 * this.e11;
		let d01_23 = this.e02 * this.e13 - this.e03 * this.e12;
		let d23_01 = this.e20 * this.e31 - this.e21 * this.e30;
		let d23_02 = this.e20 * this.e32 - this.e22 * this.e30;
		let d23_03 = this.e20 * this.e33 - this.e23 * this.e30;
		let d23_12 = this.e21 * this.e32 - this.e22 * this.e31;
		let d23_13 = this.e21 * this.e33 - this.e23 * this.e31;
		let d23_23 = this.e22 * this.e33 - this.e23 * this.e32;
		let d00 = this.e11 * d23_23 - this.e12 * d23_13 + this.e13 * d23_12;
		let d01 = this.e10 * d23_23 - this.e12 * d23_03 + this.e13 * d23_02;
		let d02 = this.e10 * d23_13 - this.e11 * d23_03 + this.e13 * d23_01;
		let d03 = this.e10 * d23_12 - this.e11 * d23_02 + this.e12 * d23_01;
		let invDet = this.e00 * d00 - this.e01 * d01 + this.e02 * d02 - this.e03 * d03;
		if(invDet != 0) {
			invDet = 1 / invDet;
		}
		let t11 = (this.e00 * d23_23 - this.e02 * d23_03 + this.e03 * d23_02) * invDet;
		let t21 = -(this.e00 * d23_13 - this.e01 * d23_03 + this.e03 * d23_01) * invDet;
		let t23 = -(this.e20 * d01_13 - this.e21 * d01_03 + this.e23 * d01_01) * invDet;
		let t31 = (this.e00 * d23_12 - this.e01 * d23_02 + this.e02 * d23_01) * invDet;
		let t32 = -(this.e30 * d01_12 - this.e31 * d01_02 + this.e32 * d01_01) * invDet;
		let t33 = (this.e20 * d01_12 - this.e21 * d01_02 + this.e22 * d01_01) * invDet;
		this.e00 = d00 * invDet;
		this.e01 = -(this.e01 * d23_23 - this.e02 * d23_13 + this.e03 * d23_12) * invDet;
		this.e02 = (this.e31 * d01_23 - this.e32 * d01_13 + this.e33 * d01_12) * invDet;
		this.e03 = -(this.e21 * d01_23 - this.e22 * d01_13 + this.e23 * d01_12) * invDet;
		this.e10 = -d01 * invDet;
		this.e11 = t11;
		this.e12 = -(this.e30 * d01_23 - this.e32 * d01_03 + this.e33 * d01_02) * invDet;
		this.e13 = (this.e20 * d01_23 - this.e22 * d01_03 + this.e23 * d01_02) * invDet;
		this.e20 = d02 * invDet;
		this.e21 = t21;
		this.e22 = (this.e30 * d01_13 - this.e31 * d01_03 + this.e33 * d01_01) * invDet;
		this.e23 = t23;
		this.e30 = -d03 * invDet;
		this.e31 = t31;
		this.e32 = t32;
		this.e33 = t33;
		return this;
	}
	lookAt(eyeX,eyeY,eyeZ,atX,atY,atZ,upX,upY,upZ) {
		let zx = eyeX - atX;
		let zy = eyeY - atY;
		let zz = eyeZ - atZ;
		let tmp = 1 / Math.sqrt(zx * zx + zy * zy + zz * zz);
		zx *= tmp;
		zy *= tmp;
		zz *= tmp;
		let xx = upY * zz - upZ * zy;
		let xy = upZ * zx - upX * zz;
		let xz = upX * zy - upY * zx;
		tmp = 1 / Math.sqrt(xx * xx + xy * xy + xz * xz);
		xx *= tmp;
		xy *= tmp;
		xz *= tmp;
		let yx = zy * xz - zz * xy;
		let yy = zz * xx - zx * xz;
		let yz = zx * xy - zy * xx;
		this.e00 = xx;
		this.e01 = xy;
		this.e02 = xz;
		this.e03 = -(xx * eyeX + xy * eyeY + xz * eyeZ);
		this.e10 = yx;
		this.e11 = yy;
		this.e12 = yz;
		this.e13 = -(yx * eyeX + yy * eyeY + yz * eyeZ);
		this.e20 = zx;
		this.e21 = zy;
		this.e22 = zz;
		this.e23 = -(zx * eyeX + zy * eyeY + zz * eyeZ);
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = 0;
		this.e33 = 1;
		return this;
	}
	perspective(fovY,aspect,near,far) {
		let h = 1 / Math.tan(fovY * 0.5);
		let fnf = far / (near - far);
		this.e00 = h / aspect;
		this.e01 = 0;
		this.e02 = 0;
		this.e03 = 0;
		this.e10 = 0;
		this.e11 = h;
		this.e12 = 0;
		this.e13 = 0;
		this.e20 = 0;
		this.e21 = 0;
		this.e22 = fnf;
		this.e23 = near * fnf;
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = -1;
		this.e33 = 0;
		return this;
	}
	ortho(width,height,near,far) {
		let nf = 1 / (near - far);
		this.e00 = 2 / width;
		this.e01 = 0;
		this.e02 = 0;
		this.e03 = 0;
		this.e10 = 0;
		this.e11 = 2 / height;
		this.e12 = 0;
		this.e13 = 0;
		this.e20 = 0;
		this.e21 = 0;
		this.e22 = nf;
		this.e23 = near * nf;
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = 0;
		this.e33 = 1;
		return this;
	}
	toArray(columnMajor) {
		if(columnMajor == null) {
			columnMajor = false;
		}
		if(columnMajor) {
			return [this.e00,this.e10,this.e20,this.e30,this.e01,this.e11,this.e21,this.e31,this.e02,this.e12,this.e22,this.e32,this.e03,this.e13,this.e23,this.e33];
		} else {
			return [this.e00,this.e01,this.e02,this.e03,this.e10,this.e11,this.e12,this.e13,this.e20,this.e21,this.e22,this.e23,this.e30,this.e31,this.e32,this.e33];
		}
	}
	copyFrom(m) {
		this.e00 = m.e00;
		this.e01 = m.e01;
		this.e02 = m.e02;
		this.e03 = m.e03;
		this.e10 = m.e10;
		this.e11 = m.e11;
		this.e12 = m.e12;
		this.e13 = m.e13;
		this.e20 = m.e20;
		this.e21 = m.e21;
		this.e22 = m.e22;
		this.e23 = m.e23;
		this.e30 = m.e30;
		this.e31 = m.e31;
		this.e32 = m.e32;
		this.e33 = m.e33;
		return this;
	}
	fromMat3(m) {
		this.e00 = m.e00;
		this.e01 = m.e01;
		this.e02 = m.e02;
		this.e03 = 0;
		this.e10 = m.e10;
		this.e11 = m.e11;
		this.e12 = m.e12;
		this.e13 = 0;
		this.e20 = m.e20;
		this.e21 = m.e21;
		this.e22 = m.e22;
		this.e23 = 0;
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = 0;
		this.e33 = 1;
		return this;
	}
	fromTransform(transform) {
		this.e00 = transform._rotation00;
		this.e01 = transform._rotation01;
		this.e02 = transform._rotation02;
		this.e10 = transform._rotation10;
		this.e11 = transform._rotation11;
		this.e12 = transform._rotation12;
		this.e20 = transform._rotation20;
		this.e21 = transform._rotation21;
		this.e22 = transform._rotation22;
		this.e03 = transform._positionX;
		this.e13 = transform._positionY;
		this.e23 = transform._positionZ;
		this.e30 = 0;
		this.e31 = 0;
		this.e32 = 0;
		this.e33 = 1;
		return this;
	}
	clone() {
		return new oimo.common.Mat4(this.e00,this.e01,this.e02,this.e03,this.e10,this.e11,this.e12,this.e13,this.e20,this.e21,this.e22,this.e23,this.e30,this.e31,this.e32,this.e33);
	}
	toString() {
		return "Mat4[" + (this.e00 > 0 ? (this.e00 * 10000000 + 0.5 | 0) / 10000000 : (this.e00 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e01 > 0 ? (this.e01 * 10000000 + 0.5 | 0) / 10000000 : (this.e01 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e02 > 0 ? (this.e02 * 10000000 + 0.5 | 0) / 10000000 : (this.e02 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e03 > 0 ? (this.e03 * 10000000 + 0.5 | 0) / 10000000 : (this.e03 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e10 > 0 ? (this.e10 * 10000000 + 0.5 | 0) / 10000000 : (this.e10 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e11 > 0 ? (this.e11 * 10000000 + 0.5 | 0) / 10000000 : (this.e11 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e12 > 0 ? (this.e12 * 10000000 + 0.5 | 0) / 10000000 : (this.e12 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e13 > 0 ? (this.e13 * 10000000 + 0.5 | 0) / 10000000 : (this.e13 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e20 > 0 ? (this.e20 * 10000000 + 0.5 | 0) / 10000000 : (this.e20 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e21 > 0 ? (this.e21 * 10000000 + 0.5 | 0) / 10000000 : (this.e21 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e22 > 0 ? (this.e22 * 10000000 + 0.5 | 0) / 10000000 : (this.e22 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e23 > 0 ? (this.e23 * 10000000 + 0.5 | 0) / 10000000 : (this.e23 * 10000000 - 0.5 | 0) / 10000000) + ",\n" + "    " + (this.e30 > 0 ? (this.e30 * 10000000 + 0.5 | 0) / 10000000 : (this.e30 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e31 > 0 ? (this.e31 * 10000000 + 0.5 | 0) / 10000000 : (this.e31 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e32 > 0 ? (this.e32 * 10000000 + 0.5 | 0) / 10000000 : (this.e32 * 10000000 - 0.5 | 0) / 10000000) + ", " + (this.e33 > 0 ? (this.e33 * 10000000 + 0.5 | 0) / 10000000 : (this.e33 * 10000000 - 0.5 | 0) / 10000000) + "]";
	}
}
oimo.common.MathUtil = class oimo_common_MathUtil {
	static abs(x) {
		if(x > 0) {
			return x;
		} else {
			return -x;
		}
	}
	static sin(x) {
		return Math.sin(x);
	}
	static cos(x) {
		return Math.cos(x);
	}
	static tan(x) {
		return Math.tan(x);
	}
	static asin(x) {
		return Math.asin(x);
	}
	static acos(x) {
		return Math.acos(x);
	}
	static atan(x) {
		return Math.atan(x);
	}
	static safeAsin(x) {
		if(x <= -1) {
			return -1.570796326794895;
		}
		if(x >= 1) {
			return 1.570796326794895;
		}
		return Math.asin(x);
	}
	static safeAcos(x) {
		if(x <= -1) {
			return 3.14159265358979;
		}
		if(x >= 1) {
			return 0;
		}
		return Math.acos(x);
	}
	static atan2(y,x) {
		return Math.atan2(y,x);
	}
	static sqrt(x) {
		return Math.sqrt(x);
	}
	static clamp(x,min,max) {
		if(x < min) {
			return min;
		} else if(x > max) {
			return max;
		} else {
			return x;
		}
	}
	static rand() {
		return Math.random();
	}
	static randIn(min,max) {
		return min + Math.random() * (max - min);
	}
	static randVec3In(min,max) {
		return new oimo.common.Vec3(min + Math.random() * (max - min),min + Math.random() * (max - min),min + Math.random() * (max - min));
	}
	static randVec3() {
		return new oimo.common.Vec3(-1 + Math.random() * 2,-1 + Math.random() * 2,-1 + Math.random() * 2);
	}
}
oimo.common.Pool = class oimo_common_Pool {
	constructor() {
		this.stackVec3 = new Array(256);
		this.sizeVec3 = 0;
		this.stackMat3 = new Array(256);
		this.sizeMat3 = 0;
		this.stackMat4 = new Array(256);
		this.sizeMat4 = 0;
		this.stackQuat = new Array(256);
		this.sizeQuat = 0;
	}
	vec3() {
		if(this.sizeVec3 == 0) {
			return new oimo.common.Vec3();
		} else {
			return this.stackVec3[--this.sizeVec3];
		}
	}
	mat3() {
		if(this.sizeMat3 == 0) {
			return new oimo.common.Mat3();
		} else {
			return this.stackMat3[--this.sizeMat3];
		}
	}
	mat4() {
		if(this.sizeMat4 == 0) {
			return new oimo.common.Mat4();
		} else {
			return this.stackMat4[--this.sizeMat4];
		}
	}
	quat() {
		if(this.sizeQuat == 0) {
			return new oimo.common.Quat();
		} else {
			return this.stackQuat[--this.sizeQuat];
		}
	}
	dispose(vec3,mat3,mat4,quat) {
		if(vec3 != null) {
			vec3.zero();
			if(this.sizeVec3 == this.stackVec3.length) {
				let newArray = new Array(this.sizeVec3 << 1);
				let _g = 0;
				let _g1 = this.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.stackVec3[i];
					this.stackVec3[i] = null;
				}
				this.stackVec3 = newArray;
			}
			this.stackVec3[this.sizeVec3++] = vec3;
		}
		if(mat3 != null) {
			mat3.e00 = 1;
			mat3.e01 = 0;
			mat3.e02 = 0;
			mat3.e10 = 0;
			mat3.e11 = 1;
			mat3.e12 = 0;
			mat3.e20 = 0;
			mat3.e21 = 0;
			mat3.e22 = 1;
			if(this.sizeMat3 == this.stackMat3.length) {
				let newArray = new Array(this.sizeMat3 << 1);
				let _g = 0;
				let _g1 = this.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.stackMat3[i];
					this.stackMat3[i] = null;
				}
				this.stackMat3 = newArray;
			}
			this.stackMat3[this.sizeMat3++] = mat3;
		}
		if(mat4 != null) {
			mat4.e00 = 1;
			mat4.e01 = 0;
			mat4.e02 = 0;
			mat4.e03 = 0;
			mat4.e10 = 0;
			mat4.e11 = 1;
			mat4.e12 = 0;
			mat4.e13 = 0;
			mat4.e20 = 0;
			mat4.e21 = 0;
			mat4.e22 = 1;
			mat4.e23 = 0;
			mat4.e30 = 0;
			mat4.e31 = 0;
			mat4.e32 = 0;
			mat4.e33 = 1;
			if(this.sizeMat4 == this.stackMat4.length) {
				let newArray = new Array(this.sizeMat4 << 1);
				let _g = 0;
				let _g1 = this.sizeMat4;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.stackMat4[i];
					this.stackMat4[i] = null;
				}
				this.stackMat4 = newArray;
			}
			this.stackMat4[this.sizeMat4++] = mat4;
		}
		if(quat != null) {
			quat.x = 0;
			quat.y = 0;
			quat.z = 0;
			quat.w = 1;
			if(this.sizeQuat == this.stackQuat.length) {
				let newArray = new Array(this.sizeQuat << 1);
				let _g = 0;
				let _g1 = this.sizeQuat;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.stackQuat[i];
					this.stackQuat[i] = null;
				}
				this.stackQuat = newArray;
			}
			this.stackQuat[this.sizeQuat++] = quat;
		}
	}
	disposeVec3(v) {
		v.zero();
		if(this.sizeVec3 == this.stackVec3.length) {
			let newArray = new Array(this.sizeVec3 << 1);
			let _g = 0;
			let _g1 = this.sizeVec3;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.stackVec3[i];
				this.stackVec3[i] = null;
			}
			this.stackVec3 = newArray;
		}
		this.stackVec3[this.sizeVec3++] = v;
	}
	disposeMat3(m) {
		m.e00 = 1;
		m.e01 = 0;
		m.e02 = 0;
		m.e10 = 0;
		m.e11 = 1;
		m.e12 = 0;
		m.e20 = 0;
		m.e21 = 0;
		m.e22 = 1;
		if(this.sizeMat3 == this.stackMat3.length) {
			let newArray = new Array(this.sizeMat3 << 1);
			let _g = 0;
			let _g1 = this.sizeMat3;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.stackMat3[i];
				this.stackMat3[i] = null;
			}
			this.stackMat3 = newArray;
		}
		this.stackMat3[this.sizeMat3++] = m;
	}
	disposeMat4(m) {
		m.e00 = 1;
		m.e01 = 0;
		m.e02 = 0;
		m.e03 = 0;
		m.e10 = 0;
		m.e11 = 1;
		m.e12 = 0;
		m.e13 = 0;
		m.e20 = 0;
		m.e21 = 0;
		m.e22 = 1;
		m.e23 = 0;
		m.e30 = 0;
		m.e31 = 0;
		m.e32 = 0;
		m.e33 = 1;
		if(this.sizeMat4 == this.stackMat4.length) {
			let newArray = new Array(this.sizeMat4 << 1);
			let _g = 0;
			let _g1 = this.sizeMat4;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.stackMat4[i];
				this.stackMat4[i] = null;
			}
			this.stackMat4 = newArray;
		}
		this.stackMat4[this.sizeMat4++] = m;
	}
	disposeQuat(q) {
		q.x = 0;
		q.y = 0;
		q.z = 0;
		q.w = 1;
		if(this.sizeQuat == this.stackQuat.length) {
			let newArray = new Array(this.sizeQuat << 1);
			let _g = 0;
			let _g1 = this.sizeQuat;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.stackQuat[i];
				this.stackQuat[i] = null;
			}
			this.stackQuat = newArray;
		}
		this.stackQuat[this.sizeQuat++] = q;
	}
}
oimo.common.Quat = class oimo_common_Quat {
	constructor(x,y,z,w) {
		if(w == null) {
			w = 1;
		}
		if(z == null) {
			z = 0;
		}
		if(y == null) {
			y = 0;
		}
		if(x == null) {
			x = 0;
		}
		this.x = x;
		this.y = y;
		this.z = z;
		this.w = w;
		oimo.common.Quat.numCreations++;
	}
	identity() {
		this.x = 0;
		this.y = 0;
		this.z = 0;
		this.w = 1;
		return this;
	}
	init(x,y,z,w) {
		this.x = x;
		this.y = y;
		this.z = z;
		this.w = w;
		return this;
	}
	add(q) {
		return new oimo.common.Quat(this.x + q.x,this.y + q.y,this.z + q.z,this.w + q.w);
	}
	sub(q) {
		return new oimo.common.Quat(this.x - q.x,this.y - q.y,this.z - q.z,this.w - q.w);
	}
	scale(s) {
		return new oimo.common.Quat(this.x * s,this.y * s,this.z * s,this.w * s);
	}
	addEq(q) {
		this.x += q.x;
		this.y += q.y;
		this.z += q.z;
		this.w += q.w;
		return this;
	}
	subEq(q) {
		this.x -= q.x;
		this.y -= q.y;
		this.z -= q.z;
		this.w -= q.w;
		return this;
	}
	scaleEq(s) {
		this.x *= s;
		this.y *= s;
		this.z *= s;
		this.w *= s;
		return this;
	}
	length() {
		return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
	}
	lengthSq() {
		return this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w;
	}
	dot(q) {
		return this.x * q.x + this.y * q.y + this.z * q.z + this.w * q.w;
	}
	normalized() {
		let invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
		if(invLen > 0) {
			invLen = 1 / invLen;
		}
		return new oimo.common.Quat(this.x * invLen,this.y * invLen,this.z * invLen,this.w * invLen);
	}
	normalize() {
		let invLen = Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
		if(invLen > 0) {
			invLen = 1 / invLen;
		}
		this.x *= invLen;
		this.y *= invLen;
		this.z *= invLen;
		this.w *= invLen;
		return this;
	}
	setArc(v1,v2) {
		let x1 = v1.x;
		let y1 = v1.y;
		let z1 = v1.z;
		let x2 = v2.x;
		let y2 = v2.y;
		let z2 = v2.z;
		let d = x1 * x2 + y1 * y2 + z1 * z2;
		this.w = Math.sqrt((1 + d) * 0.5);
		if(this.w == 0) {
			x2 = x1 * x1;
			y2 = y1 * y1;
			z2 = z1 * z1;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					this.x = 0;
					this.y = z1 * d;
					this.z = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					this.z = 0;
					this.x = y1 * d;
					this.y = -x1 * d;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				this.y = 0;
				this.z = x1 * d;
				this.x = -z1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				this.z = 0;
				this.x = y1 * d;
				this.y = -x1 * d;
			}
			return this;
		}
		d = 0.5 / this.w;
		this.x = (y1 * z2 - z1 * y2) * d;
		this.y = (z1 * x2 - x1 * z2) * d;
		this.z = (x1 * y2 - y1 * x2) * d;
		return this;
	}
	slerp(q,t) {
		let qx;
		let qy;
		let qz;
		let qw;
		let d = this.x * q.x + this.y * q.y + this.z * q.z + this.w * q.w;
		if(d < 0) {
			d = -d;
			qx = -q.x;
			qy = -q.y;
			qz = -q.z;
			qw = -q.w;
		} else {
			qx = q.x;
			qy = q.y;
			qz = q.z;
			qw = q.w;
		}
		if(d > 0.999999) {
			let _this = new oimo.common.Quat(this.x + (qx - this.x) * t,this.y + (qy - this.y) * t,this.z + (qz - this.z) * t,this.w + (qw - this.w) * t);
			let invLen = Math.sqrt(_this.x * _this.x + _this.y * _this.y + _this.z * _this.z + _this.w * _this.w);
			if(invLen > 0) {
				invLen = 1 / invLen;
			}
			_this.x *= invLen;
			_this.y *= invLen;
			_this.z *= invLen;
			_this.w *= invLen;
			return _this;
		}
		let theta = t * Math.acos(d);
		qx -= this.x * d;
		qy -= this.y * d;
		qz -= this.z * d;
		qw -= this.w * d;
		let invLen = 1 / Math.sqrt(qx * qx + qy * qy + qz * qz + qw * qw);
		qx *= invLen;
		qy *= invLen;
		qz *= invLen;
		qw *= invLen;
		let sin = Math.sin(theta);
		let cos = Math.cos(theta);
		return new oimo.common.Quat(this.x * cos + qx * sin,this.y * cos + qy * sin,this.z * cos + qz * sin,this.w * cos + qw * sin);
	}
	copyFrom(q) {
		this.x = q.x;
		this.y = q.y;
		this.z = q.z;
		this.w = q.w;
		return this;
	}
	clone() {
		return new oimo.common.Quat(this.x,this.y,this.z,this.w);
	}
	fromMat3(m) {
		let e00 = m.e00;
		let e11 = m.e11;
		let e22 = m.e22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			this.w = 0.5 * s;
			s = 0.5 / s;
			this.x = (m.e21 - m.e12) * s;
			this.y = (m.e02 - m.e20) * s;
			this.z = (m.e10 - m.e01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				this.x = 0.5 * s;
				s = 0.5 / s;
				this.y = (m.e01 + m.e10) * s;
				this.z = (m.e02 + m.e20) * s;
				this.w = (m.e21 - m.e12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				this.z = 0.5 * s;
				s = 0.5 / s;
				this.x = (m.e02 + m.e20) * s;
				this.y = (m.e12 + m.e21) * s;
				this.w = (m.e10 - m.e01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			this.y = 0.5 * s;
			s = 0.5 / s;
			this.x = (m.e01 + m.e10) * s;
			this.z = (m.e12 + m.e21) * s;
			this.w = (m.e02 - m.e20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			this.z = 0.5 * s;
			s = 0.5 / s;
			this.x = (m.e02 + m.e20) * s;
			this.y = (m.e12 + m.e21) * s;
			this.w = (m.e10 - m.e01) * s;
		}
		return this;
	}
	toMat3() {
		let _this = new oimo.common.Mat3();
		let x = this.x;
		let y = this.y;
		let z = this.z;
		let w = this.w;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		_this.e00 = 1 - yy - zz;
		_this.e01 = xy - wz;
		_this.e02 = xz + wy;
		_this.e10 = xy + wz;
		_this.e11 = 1 - xx - zz;
		_this.e12 = yz - wx;
		_this.e20 = xz - wy;
		_this.e21 = yz + wx;
		_this.e22 = 1 - xx - yy;
		return _this;
	}
	toString() {
		return "Quat[" + (this.x > 0 ? (this.x * 10000000 + 0.5 | 0) / 10000000 : (this.x * 10000000 - 0.5 | 0) / 10000000) + " i,\n" + "    " + (this.y > 0 ? (this.y * 10000000 + 0.5 | 0) / 10000000 : (this.y * 10000000 - 0.5 | 0) / 10000000) + " j,\n" + "    " + (this.z > 0 ? (this.z * 10000000 + 0.5 | 0) / 10000000 : (this.z * 10000000 - 0.5 | 0) / 10000000) + " k,\n" + "    " + (this.w > 0 ? (this.w * 10000000 + 0.5 | 0) / 10000000 : (this.w * 10000000 - 0.5 | 0) / 10000000) + "]";
	}
}
if(!oimo.dynamics) oimo.dynamics = {};
oimo.dynamics.Contact = class oimo_dynamics_Contact {
	constructor() {
		this._next = null;
		this._prev = null;
		this._link1 = new oimo.dynamics.ContactLink();
		this._link2 = new oimo.dynamics.ContactLink();
		this._s1 = null;
		this._s2 = null;
		this._b1 = null;
		this._b2 = null;
		this._detector = null;
		this._cachedDetectorData = new oimo.collision.narrowphase.detector.CachedDetectorData();
		this._detectorResult = new oimo.collision.narrowphase.DetectorResult();
		this._latest = false;
		this._shouldBeSkipped = false;
		this._manifold = new oimo.dynamics.constraint.contact.Manifold();
		this._updater = new oimo.dynamics.constraint.contact.ManifoldUpdater(this._manifold);
		this._contactConstraint = new oimo.dynamics.constraint.contact.ContactConstraint(this._manifold);
		this._touching = false;
	}
	_updateManifold() {
		if(this._detector == null) {
			return;
		}
		let ptouching = this._touching;
		let result = this._detectorResult;
		this._detector.detect(result,this._s1._geom,this._s2._geom,this._s1._transform,this._s2._transform,this._cachedDetectorData);
		this._touching = result.numPoints > 0;
		if(this._touching) {
			this._manifold._buildBasis(result.normal);
			if(result.getMaxDepth() > oimo.common.Setting.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold) {
				this._contactConstraint._positionCorrectionAlgorithm = oimo.common.Setting.alternativeContactPositionCorrectionAlgorithm;
			} else {
				this._contactConstraint._positionCorrectionAlgorithm = oimo.common.Setting.defaultContactPositionCorrectionAlgorithm;
			}
			if(result.incremental) {
				this._updater.incrementalUpdate(result,this._b1._transform,this._b2._transform);
			} else {
				this._updater.totalUpdate(result,this._b1._transform,this._b2._transform);
			}
		} else {
			this._manifold._clear();
		}
		if(this._touching && !ptouching) {
			let cc1 = this._s1._contactCallback;
			let cc2 = this._s2._contactCallback;
			if(cc1 == cc2) {
				cc2 = null;
			}
			if(cc1 != null) {
				cc1.beginContact(this);
			}
			if(cc2 != null) {
				cc2.beginContact(this);
			}
		}
		if(!this._touching && ptouching) {
			let cc1 = this._s1._contactCallback;
			let cc2 = this._s2._contactCallback;
			if(cc1 == cc2) {
				cc2 = null;
			}
			if(cc1 != null) {
				cc1.endContact(this);
			}
			if(cc2 != null) {
				cc2.endContact(this);
			}
		}
		if(this._touching) {
			let cc1 = this._s1._contactCallback;
			let cc2 = this._s2._contactCallback;
			if(cc1 == cc2) {
				cc2 = null;
			}
			if(cc1 != null) {
				cc1.preSolve(this);
			}
			if(cc2 != null) {
				cc2.preSolve(this);
			}
		}
	}
	_postSolve() {
		let cc1 = this._s1._contactCallback;
		let cc2 = this._s2._contactCallback;
		if(cc1 == cc2) {
			cc2 = null;
		}
		if(cc1 != null) {
			cc1.postSolve(this);
		}
		if(cc2 != null) {
			cc2.postSolve(this);
		}
	}
	getShape1() {
		return this._s1;
	}
	getShape2() {
		return this._s2;
	}
	isTouching() {
		return this._touching;
	}
	getManifold() {
		return this._manifold;
	}
	getContactConstraint() {
		return this._contactConstraint;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.ContactLink = class oimo_dynamics_ContactLink {
	constructor() {
		this._prev = null;
		this._next = null;
		this._contact = null;
		this._other = null;
	}
	getContact() {
		return this._contact;
	}
	getOther() {
		return this._other;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.ContactManager = class oimo_dynamics_ContactManager {
	constructor(broadPhase) {
		this._broadPhase = broadPhase;
		this._collisionMatrix = new oimo.collision.narrowphase.CollisionMatrix();
		this._numContacts = 0;
	}
	createContacts() {
		let pp = this._broadPhase._proxyPairList;
		while(pp != null) {
			let n = pp._next;
			while(true) {
				let s1;
				let s2;
				if(pp._p1._id < pp._p2._id) {
					s1 = pp._p1.userData;
					s2 = pp._p2.userData;
				} else {
					s1 = pp._p2.userData;
					s2 = pp._p1.userData;
				}
				if(!this.shouldCollide(s1,s2)) {
					break;
				}
				let b1 = s1._rigidBody;
				let b2 = s2._rigidBody;
				let l;
				if(b1._numContactLinks < b2._numContactLinks) {
					l = b1._contactLinkList;
				} else {
					l = b2._contactLinkList;
				}
				let id1 = s1._id;
				let id2 = s2._id;
				let found = false;
				while(l != null) {
					let c = l._contact;
					if(c._s1._id == id1 && c._s2._id == id2) {
						c._latest = true;
						found = true;
						break;
					}
					l = l._next;
				}
				if(!found) {
					let first = this._contactPool;
					if(first != null) {
						this._contactPool = first._next;
						first._next = null;
					} else {
						first = new oimo.dynamics.Contact();
					}
					let c = first;
					if(this._contactList == null) {
						this._contactList = c;
						this._contactListLast = c;
					} else {
						this._contactListLast._next = c;
						c._prev = this._contactListLast;
						this._contactListLast = c;
					}
					c._latest = true;
					let detector = this._collisionMatrix.detectors[s1._geom._type][s2._geom._type];
					c._s1 = s1;
					c._s2 = s2;
					c._b1 = s1._rigidBody;
					c._b2 = s2._rigidBody;
					c._touching = false;
					if(c._b1._contactLinkList == null) {
						c._b1._contactLinkList = c._link1;
						c._b1._contactLinkListLast = c._link1;
					} else {
						c._b1._contactLinkListLast._next = c._link1;
						c._link1._prev = c._b1._contactLinkListLast;
						c._b1._contactLinkListLast = c._link1;
					}
					if(c._b2._contactLinkList == null) {
						c._b2._contactLinkList = c._link2;
						c._b2._contactLinkListLast = c._link2;
					} else {
						c._b2._contactLinkListLast._next = c._link2;
						c._link2._prev = c._b2._contactLinkListLast;
						c._b2._contactLinkListLast = c._link2;
					}
					c._b1._numContactLinks++;
					c._b2._numContactLinks++;
					c._link1._other = c._b2;
					c._link2._other = c._b1;
					c._link1._contact = c;
					c._link2._contact = c;
					c._detector = detector;
					let _this = c._contactConstraint;
					_this._s1 = s1;
					_this._s2 = s2;
					_this._b1 = _this._s1._rigidBody;
					_this._b2 = _this._s2._rigidBody;
					_this._tf1 = _this._b1._transform;
					_this._tf2 = _this._b2._transform;
					this._numContacts++;
				}
				break;
			}
			pp = n;
		}
	}
	destroyOutdatedContacts() {
		let incremental = this._broadPhase._incremental;
		let c = this._contactList;
		while(c != null) {
			let n = c._next;
			while(true) {
				if(c._latest) {
					c._latest = false;
					c._shouldBeSkipped = false;
					break;
				}
				if(!incremental) {
					let prev = c._prev;
					let next = c._next;
					if(prev != null) {
						prev._next = next;
					}
					if(next != null) {
						next._prev = prev;
					}
					if(c == this._contactList) {
						this._contactList = this._contactList._next;
					}
					if(c == this._contactListLast) {
						this._contactListLast = this._contactListLast._prev;
					}
					c._next = null;
					c._prev = null;
					if(c._touching) {
						let cc1 = c._s1._contactCallback;
						let cc2 = c._s2._contactCallback;
						if(cc1 == cc2) {
							cc2 = null;
						}
						if(cc1 != null) {
							cc1.endContact(c);
						}
						if(cc2 != null) {
							cc2.endContact(c);
						}
					}
					let prev1 = c._link1._prev;
					let next1 = c._link1._next;
					if(prev1 != null) {
						prev1._next = next1;
					}
					if(next1 != null) {
						next1._prev = prev1;
					}
					if(c._link1 == c._b1._contactLinkList) {
						c._b1._contactLinkList = c._b1._contactLinkList._next;
					}
					if(c._link1 == c._b1._contactLinkListLast) {
						c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
					}
					c._link1._next = null;
					c._link1._prev = null;
					let prev2 = c._link2._prev;
					let next2 = c._link2._next;
					if(prev2 != null) {
						prev2._next = next2;
					}
					if(next2 != null) {
						next2._prev = prev2;
					}
					if(c._link2 == c._b2._contactLinkList) {
						c._b2._contactLinkList = c._b2._contactLinkList._next;
					}
					if(c._link2 == c._b2._contactLinkListLast) {
						c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
					}
					c._link2._next = null;
					c._link2._prev = null;
					c._b1._numContactLinks--;
					c._b2._numContactLinks--;
					c._link1._other = null;
					c._link2._other = null;
					c._link1._contact = null;
					c._link2._contact = null;
					c._s1 = null;
					c._s2 = null;
					c._b1 = null;
					c._b2 = null;
					c._touching = false;
					c._cachedDetectorData._clear();
					c._manifold._clear();
					c._detector = null;
					let _this = c._contactConstraint;
					_this._s1 = null;
					_this._s2 = null;
					_this._b1 = null;
					_this._b2 = null;
					_this._tf1 = null;
					_this._tf2 = null;
					c._next = this._contactPool;
					this._contactPool = c;
					this._numContacts--;
					break;
				}
				let s1 = c._s1;
				let s2 = c._s2;
				let r1 = s1._rigidBody;
				let r2 = s2._rigidBody;
				if(!(!r1._sleeping && r1._type != 1) && !(!r2._sleeping && r2._type != 1)) {
					c._shouldBeSkipped = true;
					break;
				}
				let aabb1 = s1._aabb;
				let aabb2 = s2._aabb;
				let proxy1 = s1._proxy;
				let proxy2 = s2._proxy;
				if(!(proxy1._aabbMinX < proxy2._aabbMaxX && proxy1._aabbMaxX > proxy2._aabbMinX && proxy1._aabbMinY < proxy2._aabbMaxY && proxy1._aabbMaxY > proxy2._aabbMinY && proxy1._aabbMinZ < proxy2._aabbMaxZ && proxy1._aabbMaxZ > proxy2._aabbMinZ) || !this.shouldCollide(s1,s2)) {
					let prev = c._prev;
					let next = c._next;
					if(prev != null) {
						prev._next = next;
					}
					if(next != null) {
						next._prev = prev;
					}
					if(c == this._contactList) {
						this._contactList = this._contactList._next;
					}
					if(c == this._contactListLast) {
						this._contactListLast = this._contactListLast._prev;
					}
					c._next = null;
					c._prev = null;
					if(c._touching) {
						let cc1 = c._s1._contactCallback;
						let cc2 = c._s2._contactCallback;
						if(cc1 == cc2) {
							cc2 = null;
						}
						if(cc1 != null) {
							cc1.endContact(c);
						}
						if(cc2 != null) {
							cc2.endContact(c);
						}
					}
					let prev1 = c._link1._prev;
					let next1 = c._link1._next;
					if(prev1 != null) {
						prev1._next = next1;
					}
					if(next1 != null) {
						next1._prev = prev1;
					}
					if(c._link1 == c._b1._contactLinkList) {
						c._b1._contactLinkList = c._b1._contactLinkList._next;
					}
					if(c._link1 == c._b1._contactLinkListLast) {
						c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
					}
					c._link1._next = null;
					c._link1._prev = null;
					let prev2 = c._link2._prev;
					let next2 = c._link2._next;
					if(prev2 != null) {
						prev2._next = next2;
					}
					if(next2 != null) {
						next2._prev = prev2;
					}
					if(c._link2 == c._b2._contactLinkList) {
						c._b2._contactLinkList = c._b2._contactLinkList._next;
					}
					if(c._link2 == c._b2._contactLinkListLast) {
						c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
					}
					c._link2._next = null;
					c._link2._prev = null;
					c._b1._numContactLinks--;
					c._b2._numContactLinks--;
					c._link1._other = null;
					c._link2._other = null;
					c._link1._contact = null;
					c._link2._contact = null;
					c._s1 = null;
					c._s2 = null;
					c._b1 = null;
					c._b2 = null;
					c._touching = false;
					c._cachedDetectorData._clear();
					c._manifold._clear();
					c._detector = null;
					let _this = c._contactConstraint;
					_this._s1 = null;
					_this._s2 = null;
					_this._b1 = null;
					_this._b2 = null;
					_this._tf1 = null;
					_this._tf2 = null;
					c._next = this._contactPool;
					this._contactPool = c;
					this._numContacts--;
					break;
				}
				c._shouldBeSkipped = !(aabb1._minX < aabb2._maxX && aabb1._maxX > aabb2._minX && aabb1._minY < aabb2._maxY && aabb1._maxY > aabb2._minY && aabb1._minZ < aabb2._maxZ && aabb1._maxZ > aabb2._minZ);
				break;
			}
			c = n;
		}
	}
	shouldCollide(s1,s2) {
		let r1 = s1._rigidBody;
		let r2 = s2._rigidBody;
		if(r1 == r2) {
			return false;
		}
		if(r1._type != 0 && r2._type != 0) {
			return false;
		}
		if((s1._collisionGroup & s2._collisionMask) == 0 || (s2._collisionGroup & s1._collisionMask) == 0) {
			return false;
		}
		let jl;
		let other;
		if(r1._numJointLinks < r2._numJointLinks) {
			jl = r1._jointLinkList;
			other = r2;
		} else {
			jl = r2._jointLinkList;
			other = r1;
		}
		while(jl != null) {
			if(jl._other == other && !jl._joint._allowCollision) {
				return false;
			}
			jl = jl._next;
		}
		return true;
	}
	_updateContacts() {
		this._broadPhase.collectPairs();
		this.createContacts();
		this.destroyOutdatedContacts();
	}
	_postSolve() {
		let c = this._contactList;
		while(c != null) {
			let n = c._next;
			if(c._touching) {
				c._postSolve();
			}
			c = n;
		}
	}
	getNumContacts() {
		return this._numContacts;
	}
	getContactList() {
		return this._contactList;
	}
}
oimo.dynamics.Island = class oimo_dynamics_Island {
	constructor() {
		this.rigidBodies = new Array(oimo.common.Setting.islandInitialRigidBodyArraySize);
		this.solvers = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
		this.solversSi = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
		this.solversNgs = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
		this.numRigidBodies = 0;
		this.numSolvers = 0;
		this.numSolversSi = 0;
		this.numSolversNgs = 0;
	}
	_clear() {
		while(this.numRigidBodies > 0) this.rigidBodies[--this.numRigidBodies] = null;
		while(this.numSolvers > 0) this.solvers[--this.numSolvers] = null;
		while(this.numSolversSi > 0) this.solversSi[--this.numSolversSi] = null;
		while(this.numSolversNgs > 0) this.solversNgs[--this.numSolversNgs] = null;
	}
	_addRigidBody(rigidBody) {
		if(this.numRigidBodies == this.rigidBodies.length) {
			let newArray = new Array(this.numRigidBodies << 1);
			let _g = 0;
			let _g1 = this.numRigidBodies;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.rigidBodies[i];
				this.rigidBodies[i] = null;
			}
			this.rigidBodies = newArray;
		}
		rigidBody._addedToIsland = true;
		this.rigidBodies[this.numRigidBodies++] = rigidBody;
	}
	_addConstraintSolver(solver,positionCorrection) {
		if(this.numSolvers == this.solvers.length) {
			let newArray = new Array(this.numSolvers << 1);
			let _g = 0;
			let _g1 = this.numSolvers;
			while(_g < _g1) {
				let i = _g++;
				newArray[i] = this.solvers[i];
				this.solvers[i] = null;
			}
			this.solvers = newArray;
		}
		solver._addedToIsland = true;
		this.solvers[this.numSolvers++] = solver;
		if(positionCorrection == oimo.dynamics.constraint.PositionCorrectionAlgorithm.SPLIT_IMPULSE) {
			if(this.numSolversSi == this.solversSi.length) {
				let newArray = new Array(this.numSolversSi << 1);
				let _g = 0;
				let _g1 = this.numSolversSi;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.solversSi[i];
					this.solversSi[i] = null;
				}
				this.solversSi = newArray;
			}
			this.solversSi[this.numSolversSi++] = solver;
		}
		if(positionCorrection == oimo.dynamics.constraint.PositionCorrectionAlgorithm.NGS) {
			if(this.numSolversNgs == this.solversNgs.length) {
				let newArray = new Array(this.numSolversNgs << 1);
				let _g = 0;
				let _g1 = this.numSolversNgs;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = this.solversNgs[i];
					this.solversNgs[i] = null;
				}
				this.solversNgs = newArray;
			}
			this.solversNgs[this.numSolversNgs++] = solver;
		}
	}
	_stepSingleRigidBody(timeStep,rb) {
		let dt = timeStep.dt;
		let dst = rb._ptransform;
		let src = rb._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		rb._linearContactImpulseX = 0;
		rb._linearContactImpulseY = 0;
		rb._linearContactImpulseZ = 0;
		rb._angularContactImpulseX = 0;
		rb._angularContactImpulseY = 0;
		rb._angularContactImpulseZ = 0;
		if(rb._autoSleep && rb._velX * rb._velX + rb._velY * rb._velY + rb._velZ * rb._velZ < oimo.common.Setting.sleepingVelocityThreshold * oimo.common.Setting.sleepingVelocityThreshold && rb._angVelX * rb._angVelX + rb._angVelY * rb._angVelY + rb._angVelZ * rb._angVelZ < oimo.common.Setting.sleepingAngularVelocityThreshold * oimo.common.Setting.sleepingAngularVelocityThreshold) {
			rb._sleepTime += dt;
			if(rb._sleepTime > oimo.common.Setting.sleepingTimeThreshold) {
				rb._sleeping = true;
				rb._sleepTime = 0;
			}
		} else {
			rb._sleepTime = 0;
		}
		if(!rb._sleeping) {
			if(rb._type == 0) {
				let x = dt * rb._linearDamping;
				let x2 = x * x;
				let linScale = 1 / (1 + x + x2 * (0.5 + x * 0.16666666666666666 + x2 * 0.041666666666666664));
				let x1 = dt * rb._angularDamping;
				let x21 = x1 * x1;
				let angScale = 1 / (1 + x1 + x21 * (0.5 + x1 * 0.16666666666666666 + x21 * 0.041666666666666664));
				let linAccX;
				let linAccY;
				let linAccZ;
				let angAccX;
				let angAccY;
				let angAccZ;
				linAccX = this.gravityX * rb._gravityScale;
				linAccY = this.gravityY * rb._gravityScale;
				linAccZ = this.gravityZ * rb._gravityScale;
				linAccX += rb._forceX * rb._invMass;
				linAccY += rb._forceY * rb._invMass;
				linAccZ += rb._forceZ * rb._invMass;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = rb._invInertia00 * rb._torqueX + rb._invInertia01 * rb._torqueY + rb._invInertia02 * rb._torqueZ;
				__tmp__Y = rb._invInertia10 * rb._torqueX + rb._invInertia11 * rb._torqueY + rb._invInertia12 * rb._torqueZ;
				__tmp__Z = rb._invInertia20 * rb._torqueX + rb._invInertia21 * rb._torqueY + rb._invInertia22 * rb._torqueZ;
				angAccX = __tmp__X;
				angAccY = __tmp__Y;
				angAccZ = __tmp__Z;
				rb._velX += linAccX * dt;
				rb._velY += linAccY * dt;
				rb._velZ += linAccZ * dt;
				rb._velX *= linScale;
				rb._velY *= linScale;
				rb._velZ *= linScale;
				rb._angVelX += angAccX * dt;
				rb._angVelY += angAccY * dt;
				rb._angVelZ += angAccZ * dt;
				rb._angVelX *= angScale;
				rb._angVelY *= angScale;
				rb._angVelZ *= angScale;
			}
			rb._integrate(dt);
			let s = rb._shapeList;
			while(s != null) {
				let n = s._next;
				let tf1 = rb._ptransform;
				let tf2 = rb._transform;
				let dst = s._ptransform;
				let src1 = s._localTransform;
				let __tmp__00;
				let __tmp__01;
				let __tmp__02;
				let __tmp__10;
				let __tmp__11;
				let __tmp__12;
				let __tmp__20;
				let __tmp__21;
				let __tmp__22;
				__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
				__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
				__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
				__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
				__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
				__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
				__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
				__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
				__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
				dst._rotation00 = __tmp__00;
				dst._rotation01 = __tmp__01;
				dst._rotation02 = __tmp__02;
				dst._rotation10 = __tmp__10;
				dst._rotation11 = __tmp__11;
				dst._rotation12 = __tmp__12;
				dst._rotation20 = __tmp__20;
				dst._rotation21 = __tmp__21;
				dst._rotation22 = __tmp__22;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
				__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
				__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
				dst._positionX = __tmp__X;
				dst._positionY = __tmp__Y;
				dst._positionZ = __tmp__Z;
				dst._positionX += tf1._positionX;
				dst._positionY += tf1._positionY;
				dst._positionZ += tf1._positionZ;
				let dst1 = s._transform;
				let src11 = s._localTransform;
				let __tmp__001;
				let __tmp__011;
				let __tmp__021;
				let __tmp__101;
				let __tmp__111;
				let __tmp__121;
				let __tmp__201;
				let __tmp__211;
				let __tmp__221;
				__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
				__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
				__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
				__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
				__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
				__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
				__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
				__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
				__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
				dst1._rotation00 = __tmp__001;
				dst1._rotation01 = __tmp__011;
				dst1._rotation02 = __tmp__021;
				dst1._rotation10 = __tmp__101;
				dst1._rotation11 = __tmp__111;
				dst1._rotation12 = __tmp__121;
				dst1._rotation20 = __tmp__201;
				dst1._rotation21 = __tmp__211;
				dst1._rotation22 = __tmp__221;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
				__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
				__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
				dst1._positionX = __tmp__X1;
				dst1._positionY = __tmp__Y1;
				dst1._positionZ = __tmp__Z1;
				dst1._positionX += tf2._positionX;
				dst1._positionY += tf2._positionY;
				dst1._positionZ += tf2._positionZ;
				let minX;
				let minY;
				let minZ;
				let maxX;
				let maxY;
				let maxZ;
				s._geom._computeAabb(s._aabb,s._ptransform);
				minX = s._aabb._minX;
				minY = s._aabb._minY;
				minZ = s._aabb._minZ;
				maxX = s._aabb._maxX;
				maxY = s._aabb._maxY;
				maxZ = s._aabb._maxZ;
				s._geom._computeAabb(s._aabb,s._transform);
				s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
				s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
				s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
				s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
				s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
				s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
				if(s._proxy != null) {
					let dX;
					let dY;
					let dZ;
					dX = s._transform._positionX - s._ptransform._positionX;
					dY = s._transform._positionY - s._ptransform._positionY;
					dZ = s._transform._positionZ - s._ptransform._positionZ;
					let v = s.displacement;
					v.x = dX;
					v.y = dY;
					v.z = dZ;
					s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
				}
				s = n;
			}
		}
	}
	_step(timeStep,numVelocityIterations,numPositionIterations) {
		let dt = timeStep.dt;
		let sleepIsland = true;
		let _g = 0;
		let _g1 = this.numRigidBodies;
		while(_g < _g1) {
			let rb = this.rigidBodies[_g++];
			let dst = rb._ptransform;
			let src = rb._transform;
			dst._positionX = src._positionX;
			dst._positionY = src._positionY;
			dst._positionZ = src._positionZ;
			dst._rotation00 = src._rotation00;
			dst._rotation01 = src._rotation01;
			dst._rotation02 = src._rotation02;
			dst._rotation10 = src._rotation10;
			dst._rotation11 = src._rotation11;
			dst._rotation12 = src._rotation12;
			dst._rotation20 = src._rotation20;
			dst._rotation21 = src._rotation21;
			dst._rotation22 = src._rotation22;
			rb._linearContactImpulseX = 0;
			rb._linearContactImpulseY = 0;
			rb._linearContactImpulseZ = 0;
			rb._angularContactImpulseX = 0;
			rb._angularContactImpulseY = 0;
			rb._angularContactImpulseZ = 0;
			rb._sleeping = false;
			if(rb._autoSleep && rb._velX * rb._velX + rb._velY * rb._velY + rb._velZ * rb._velZ < oimo.common.Setting.sleepingVelocityThreshold * oimo.common.Setting.sleepingVelocityThreshold && rb._angVelX * rb._angVelX + rb._angVelY * rb._angVelY + rb._angVelZ * rb._angVelZ < oimo.common.Setting.sleepingAngularVelocityThreshold * oimo.common.Setting.sleepingAngularVelocityThreshold) {
				rb._sleepTime += dt;
			} else {
				rb._sleepTime = 0;
			}
			if(rb._sleepTime < oimo.common.Setting.sleepingTimeThreshold) {
				sleepIsland = false;
			}
			if(rb._type == 0) {
				let x = dt * rb._linearDamping;
				let x2 = x * x;
				let linScale = 1 / (1 + x + x2 * (0.5 + x * 0.16666666666666666 + x2 * 0.041666666666666664));
				let x1 = dt * rb._angularDamping;
				let x21 = x1 * x1;
				let angScale = 1 / (1 + x1 + x21 * (0.5 + x1 * 0.16666666666666666 + x21 * 0.041666666666666664));
				let linAccX;
				let linAccY;
				let linAccZ;
				let angAccX;
				let angAccY;
				let angAccZ;
				linAccX = this.gravityX * rb._gravityScale;
				linAccY = this.gravityY * rb._gravityScale;
				linAccZ = this.gravityZ * rb._gravityScale;
				linAccX += rb._forceX * rb._invMass;
				linAccY += rb._forceY * rb._invMass;
				linAccZ += rb._forceZ * rb._invMass;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = rb._invInertia00 * rb._torqueX + rb._invInertia01 * rb._torqueY + rb._invInertia02 * rb._torqueZ;
				__tmp__Y = rb._invInertia10 * rb._torqueX + rb._invInertia11 * rb._torqueY + rb._invInertia12 * rb._torqueZ;
				__tmp__Z = rb._invInertia20 * rb._torqueX + rb._invInertia21 * rb._torqueY + rb._invInertia22 * rb._torqueZ;
				angAccX = __tmp__X;
				angAccY = __tmp__Y;
				angAccZ = __tmp__Z;
				rb._velX += linAccX * dt;
				rb._velY += linAccY * dt;
				rb._velZ += linAccZ * dt;
				rb._velX *= linScale;
				rb._velY *= linScale;
				rb._velZ *= linScale;
				rb._angVelX += angAccX * dt;
				rb._angVelY += angAccY * dt;
				rb._angVelZ += angAccZ * dt;
				rb._angVelX *= angScale;
				rb._angVelY *= angScale;
				rb._angVelZ *= angScale;
			}
		}
		if(sleepIsland) {
			let _g = 0;
			let _g1 = this.numRigidBodies;
			while(_g < _g1) {
				let rb = this.rigidBodies[_g++];
				rb._sleeping = true;
				rb._sleepTime = 0;
			}
			return;
		}
		let _g2 = 0;
		let _g3 = this.numSolvers;
		while(_g2 < _g3) this.solvers[_g2++].preSolveVelocity(timeStep);
		let _g4 = 0;
		let _g5 = this.numSolvers;
		while(_g4 < _g5) this.solvers[_g4++].warmStart(timeStep);
		let _g6 = 0;
		while(_g6 < numVelocityIterations) {
			++_g6;
			let _g = 0;
			let _g1 = this.numSolvers;
			while(_g < _g1) this.solvers[_g++].solveVelocity();
		}
		let _g7 = 0;
		let _g8 = this.numSolvers;
		while(_g7 < _g8) this.solvers[_g7++].postSolveVelocity(timeStep);
		let _g9 = 0;
		let _g10 = this.numRigidBodies;
		while(_g9 < _g10) this.rigidBodies[_g9++]._integrate(dt);
		let _g11 = 0;
		let _g12 = this.numSolversSi;
		while(_g11 < _g12) this.solversSi[_g11++].preSolvePosition(timeStep);
		let _g13 = 0;
		while(_g13 < numPositionIterations) {
			++_g13;
			let _g = 0;
			let _g1 = this.numSolversSi;
			while(_g < _g1) this.solversSi[_g++].solvePositionSplitImpulse();
		}
		let _g14 = 0;
		let _g15 = this.numRigidBodies;
		while(_g14 < _g15) this.rigidBodies[_g14++]._integratePseudoVelocity();
		let _g16 = 0;
		let _g17 = this.numSolversNgs;
		while(_g16 < _g17) this.solversNgs[_g16++].preSolvePosition(timeStep);
		let _g18 = 0;
		while(_g18 < numPositionIterations) {
			++_g18;
			let _g = 0;
			let _g1 = this.numSolversNgs;
			while(_g < _g1) this.solversNgs[_g++].solvePositionNgs(timeStep);
		}
		let _g19 = 0;
		let _g20 = this.numSolvers;
		while(_g19 < _g20) this.solvers[_g19++].postSolve();
		let _g21 = 0;
		let _g22 = this.numRigidBodies;
		while(_g21 < _g22) {
			let rb = this.rigidBodies[_g21++];
			let s = rb._shapeList;
			while(s != null) {
				let n = s._next;
				let tf1 = rb._ptransform;
				let tf2 = rb._transform;
				let dst = s._ptransform;
				let src1 = s._localTransform;
				let __tmp__00;
				let __tmp__01;
				let __tmp__02;
				let __tmp__10;
				let __tmp__11;
				let __tmp__12;
				let __tmp__20;
				let __tmp__21;
				let __tmp__22;
				__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
				__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
				__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
				__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
				__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
				__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
				__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
				__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
				__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
				dst._rotation00 = __tmp__00;
				dst._rotation01 = __tmp__01;
				dst._rotation02 = __tmp__02;
				dst._rotation10 = __tmp__10;
				dst._rotation11 = __tmp__11;
				dst._rotation12 = __tmp__12;
				dst._rotation20 = __tmp__20;
				dst._rotation21 = __tmp__21;
				dst._rotation22 = __tmp__22;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
				__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
				__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
				dst._positionX = __tmp__X;
				dst._positionY = __tmp__Y;
				dst._positionZ = __tmp__Z;
				dst._positionX += tf1._positionX;
				dst._positionY += tf1._positionY;
				dst._positionZ += tf1._positionZ;
				let dst1 = s._transform;
				let src11 = s._localTransform;
				let __tmp__001;
				let __tmp__011;
				let __tmp__021;
				let __tmp__101;
				let __tmp__111;
				let __tmp__121;
				let __tmp__201;
				let __tmp__211;
				let __tmp__221;
				__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
				__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
				__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
				__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
				__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
				__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
				__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
				__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
				__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
				dst1._rotation00 = __tmp__001;
				dst1._rotation01 = __tmp__011;
				dst1._rotation02 = __tmp__021;
				dst1._rotation10 = __tmp__101;
				dst1._rotation11 = __tmp__111;
				dst1._rotation12 = __tmp__121;
				dst1._rotation20 = __tmp__201;
				dst1._rotation21 = __tmp__211;
				dst1._rotation22 = __tmp__221;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
				__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
				__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
				dst1._positionX = __tmp__X1;
				dst1._positionY = __tmp__Y1;
				dst1._positionZ = __tmp__Z1;
				dst1._positionX += tf2._positionX;
				dst1._positionY += tf2._positionY;
				dst1._positionZ += tf2._positionZ;
				let minX;
				let minY;
				let minZ;
				let maxX;
				let maxY;
				let maxZ;
				s._geom._computeAabb(s._aabb,s._ptransform);
				minX = s._aabb._minX;
				minY = s._aabb._minY;
				minZ = s._aabb._minZ;
				maxX = s._aabb._maxX;
				maxY = s._aabb._maxY;
				maxZ = s._aabb._maxZ;
				s._geom._computeAabb(s._aabb,s._transform);
				s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
				s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
				s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
				s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
				s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
				s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
				if(s._proxy != null) {
					let dX;
					let dY;
					let dZ;
					dX = s._transform._positionX - s._ptransform._positionX;
					dY = s._transform._positionY - s._ptransform._positionY;
					dZ = s._transform._positionZ - s._ptransform._positionZ;
					let v = s.displacement;
					v.x = dX;
					v.y = dY;
					v.z = dZ;
					s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
				}
				s = n;
			}
		}
	}
}
oimo.dynamics.TimeStep = class oimo_dynamics_TimeStep {
	constructor() {
		this.dt = 0;
		this.invDt = 0;
		this.dtRatio = 1;
	}
}
oimo.dynamics.World = class oimo_dynamics_World {
	constructor(broadPhaseType,gravity) {
		if(broadPhaseType == null) {
			broadPhaseType = 2;
		}
		switch(broadPhaseType) {
		case 1:
			this._broadPhase = new oimo.collision.broadphase.bruteforce.BruteForceBroadPhase();
			break;
		case 2:
			this._broadPhase = new oimo.collision.broadphase.bvh.BvhBroadPhase();
			break;
		}
		this._contactManager = new oimo.dynamics.ContactManager(this._broadPhase);
		if(gravity == null) {
			gravity = new oimo.common.Vec3(0,-9.80665,0);
		}
		this._gravity = new oimo.common.Vec3(gravity.x,gravity.y,gravity.z);
		this._rigidBodyList = null;
		this._rigidBodyListLast = null;
		this._jointList = null;
		this._jointListLast = null;
		this._numRigidBodies = 0;
		this._numShapes = 0;
		this._numJoints = 0;
		this._numIslands = 0;
		this._numVelocityIterations = 10;
		this._numPositionIterations = 5;
		this._rayCastWrapper = new oimo.dynamics._World.RayCastWrapper();
		this._convexCastWrapper = new oimo.dynamics._World.ConvexCastWrapper();
		this._aabbTestWrapper = new oimo.dynamics._World.AabbTestWrapper();
		this._island = new oimo.dynamics.Island();
		this._solversInIslands = new Array(oimo.common.Setting.islandInitialConstraintArraySize);
		this._rigidBodyStack = new Array(oimo.common.Setting.islandInitialRigidBodyArraySize);
		this._timeStep = new oimo.dynamics.TimeStep();
		this._pool = new oimo.common.Pool();
		this._shapeIdCount = 0;
	}
	_updateContacts() {
		let st = Date.now() / 1000;
		this._contactManager._updateContacts();
		oimo.dynamics.common.Performance.broadPhaseCollisionTime = (Date.now() / 1000 - st) * 1000;
		let st1 = Date.now() / 1000;
		let c = this._contactManager._contactList;
		while(c != null) {
			let n = c._next;
			if(!c._shouldBeSkipped) {
				c._updateManifold();
			}
			c = n;
		}
		oimo.dynamics.common.Performance.narrowPhaseCollisionTime = (Date.now() / 1000 - st1) * 1000;
	}
	_solveIslands() {
		let st = Date.now() / 1000;
		if(oimo.common.Setting.disableSleeping) {
			let b = this._rigidBodyList;
			while(b != null) {
				b._sleeping = false;
				b._sleepTime = 0;
				b = b._next;
			}
		}
		if(this._rigidBodyStack.length < this._numRigidBodies) {
			let newStackSize = this._rigidBodyStack.length << 1;
			while(newStackSize < this._numRigidBodies) newStackSize <<= 1;
			this._rigidBodyStack = new Array(newStackSize);
		}
		this._numIslands = 0;
		let _this = this._island;
		let gravity = this._gravity;
		_this.gravityX = gravity.x;
		_this.gravityY = gravity.y;
		_this.gravityZ = gravity.z;
		let b = this._rigidBodyList;
		this._numSolversInIslands = 0;
		while(b != null) {
			let n = b._next;
			while(!(b._addedToIsland || b._sleeping || b._type == 1)) {
				if(b._numContactLinks == 0 && b._numJointLinks == 0) {
					this._island._stepSingleRigidBody(this._timeStep,b);
					this._numIslands++;
					break;
				}
				this.buildIsland(b);
				this._island._step(this._timeStep,this._numVelocityIterations,this._numPositionIterations);
				this._island._clear();
				this._numIslands++;
				break;
			}
			b = n;
		}
		this._contactManager._postSolve();
		b = this._rigidBodyList;
		while(b != null) {
			b._addedToIsland = false;
			b = b._next;
		}
		b = this._rigidBodyList;
		while(b != null) {
			b._forceX = 0;
			b._forceY = 0;
			b._forceZ = 0;
			b._torqueX = 0;
			b._torqueY = 0;
			b._torqueZ = 0;
			b = b._next;
		}
		while(this._numSolversInIslands > 0) {
			this._solversInIslands[--this._numSolversInIslands]._addedToIsland = false;
			this._solversInIslands[this._numSolversInIslands] = null;
		}
		oimo.dynamics.common.Performance.dynamicsTime = (Date.now() / 1000 - st) * 1000;
	}
	buildIsland(base) {
		let stackCount = 1;
		this._island._addRigidBody(base);
		this._rigidBodyStack[0] = base;
		while(stackCount > 0) {
			let rb = this._rigidBodyStack[--stackCount];
			this._rigidBodyStack[stackCount] = null;
			if(rb._type == 1) {
				continue;
			}
			let cl = rb._contactLinkList;
			while(cl != null) {
				let n = cl._next;
				let cc = cl._contact._contactConstraint;
				let ccs = cl._contact._contactConstraint._solver;
				if(cc.isTouching() && !ccs._addedToIsland) {
					if(this._solversInIslands.length == this._numSolversInIslands) {
						let newArray = new Array(this._numSolversInIslands << 1);
						let _g = 0;
						let _g1 = this._numSolversInIslands;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = this._solversInIslands[i];
							this._solversInIslands[i] = null;
						}
						this._solversInIslands = newArray;
					}
					this._solversInIslands[this._numSolversInIslands++] = ccs;
					this._island._addConstraintSolver(ccs,cc._positionCorrectionAlgorithm);
					let other = cl._other;
					if(!other._addedToIsland) {
						this._island._addRigidBody(other);
						this._rigidBodyStack[stackCount++] = other;
					}
				}
				cl = n;
			}
			let jl = rb._jointLinkList;
			while(jl != null) {
				let n = jl._next;
				let j = jl._joint;
				let js1 = j._solver;
				if(!js1._addedToIsland) {
					if(this._solversInIslands.length == this._numSolversInIslands) {
						let newArray = new Array(this._numSolversInIslands << 1);
						let _g = 0;
						let _g1 = this._numSolversInIslands;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = this._solversInIslands[i];
							this._solversInIslands[i] = null;
						}
						this._solversInIslands = newArray;
					}
					this._solversInIslands[this._numSolversInIslands++] = js1;
					this._island._addConstraintSolver(js1,j._positionCorrectionAlgorithm);
					let other = jl._other;
					if(!other._addedToIsland) {
						this._island._addRigidBody(other);
						this._rigidBodyStack[stackCount++] = other;
					}
				}
				jl = n;
			}
		}
	}
	_drawBvh(d,tree) {
		if(d.drawBvh) {
			this._drawBvhNode(d,tree._root,0,d.style.bvhNodeColor);
		}
	}
	_drawBvhNode(d,node,level,color) {
		if(node == null) {
			return;
		}
		if(level >= d.drawBvhMinLevel && level <= d.drawBvhMaxLevel) {
			let _this = this._pool;
			let min = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			let _this1 = this._pool;
			let max = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
			let v = min;
			v.x = node._aabbMinX;
			v.y = node._aabbMinY;
			v.z = node._aabbMinZ;
			let v1 = max;
			v1.x = node._aabbMaxX;
			v1.y = node._aabbMaxY;
			v1.z = node._aabbMaxZ;
			d.aabb(min,max,color);
			let _this2 = this._pool;
			if(min != null) {
				min.zero();
				if(_this2.sizeVec3 == _this2.stackVec3.length) {
					let newArray = new Array(_this2.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this2.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this2.stackVec3[i];
						_this2.stackVec3[i] = null;
					}
					_this2.stackVec3 = newArray;
				}
				_this2.stackVec3[_this2.sizeVec3++] = min;
			}
			let _this3 = this._pool;
			if(max != null) {
				max.zero();
				if(_this3.sizeVec3 == _this3.stackVec3.length) {
					let newArray = new Array(_this3.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this3.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this3.stackVec3[i];
						_this3.stackVec3[i] = null;
					}
					_this3.stackVec3 = newArray;
				}
				_this3.stackVec3[_this3.sizeVec3++] = max;
			}
		}
		this._drawBvhNode(d,node._children[0],level + 1,color);
		this._drawBvhNode(d,node._children[1],level + 1,color);
	}
	_drawRigidBodies(d) {
		let style = d.style;
		let r = this._rigidBodyList;
		while(r != null) {
			let n = r._next;
			if(d.drawBases) {
				let style = d.style;
				d.basis(r._transform,style.basisLength,style.basisColorX,style.basisColorY,style.basisColorZ);
			}
			let shapeColor = null;
			let isDynamic = r._type == 0;
			if(!isDynamic) {
				shapeColor = r._type == 2 ? style.kinematicShapeColor : style.staticShapeColor;
			}
			let s = r._shapeList;
			while(s != null) {
				let n = s._next;
				if(isDynamic) {
					if((s._id & 1) == 0) {
						shapeColor = r._sleeping ? style.sleepingShapeColor1 : r._sleepTime > oimo.common.Setting.sleepingTimeThreshold ? style.sleepyShapeColor1 : style.shapeColor1;
					} else {
						shapeColor = r._sleeping ? style.sleepingShapeColor2 : r._sleepTime > oimo.common.Setting.sleepingTimeThreshold ? style.sleepyShapeColor2 : style.shapeColor2;
					}
				}
				if(d.drawShapes) {
					let geom = s._geom;
					let tf = s._transform;
					switch(geom._type) {
					case 0:
						d.sphere(tf,geom._radius,shapeColor);
						break;
					case 1:
						let g = geom;
						let _this = this._pool;
						let hx = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
						let v = hx;
						v.x = g._halfExtentsX;
						v.y = g._halfExtentsY;
						v.z = g._halfExtentsZ;
						d.box(tf,hx,shapeColor);
						let _this1 = this._pool;
						if(hx != null) {
							hx.zero();
							if(_this1.sizeVec3 == _this1.stackVec3.length) {
								let newArray = new Array(_this1.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this1.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this1.stackVec3[i];
									_this1.stackVec3[i] = null;
								}
								_this1.stackVec3 = newArray;
							}
							_this1.stackVec3[_this1.sizeVec3++] = hx;
						}
						break;
					case 2:
						let g1 = geom;
						d.cylinder(tf,g1._radius,g1._halfHeight,shapeColor);
						break;
					case 3:
						let g2 = geom;
						d.cone(tf,g2._radius,g2._halfHeight,shapeColor);
						break;
					case 4:
						let g3 = geom;
						d.capsule(tf,g3._radius,g3._halfHeight,shapeColor);
						break;
					case 5:
						let g4 = geom;
						let n = g4._numVertices;
						let _this2 = this._pool;
						let v1 = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
						let _this3 = this._pool;
						let v2 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
						let _this4 = this._pool;
						let v3 = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
						let _this5 = this._pool;
						let v12 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
						let _this6 = this._pool;
						let v13 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
						let _this7 = this._pool;
						let normal = _this7.sizeVec3 == 0 ? new oimo.common.Vec3() : _this7.stackVec3[--_this7.sizeVec3];
						let _this8 = this._pool;
						let m = _this8.sizeMat3 == 0 ? new oimo.common.Mat3() : _this8.stackMat3[--_this8.sizeMat3];
						let _this9 = this._pool;
						let o = _this9.sizeVec3 == 0 ? new oimo.common.Vec3() : _this9.stackVec3[--_this9.sizeVec3];
						let m1 = m;
						m1.e00 = tf._rotation00;
						m1.e01 = tf._rotation01;
						m1.e02 = tf._rotation02;
						m1.e10 = tf._rotation10;
						m1.e11 = tf._rotation11;
						m1.e12 = tf._rotation12;
						m1.e20 = tf._rotation20;
						m1.e21 = tf._rotation21;
						m1.e22 = tf._rotation22;
						let v4 = o;
						v4.x = tf._positionX;
						v4.y = tf._positionY;
						v4.z = tf._positionZ;
						let _g = 0;
						while(_g < n) {
							let i = _g++;
							let _this = g4._tmpVertices[i];
							let v = g4._vertices[i];
							_this.x = v.x;
							_this.y = v.y;
							_this.z = v.z;
							let y = _this.x * m.e10 + _this.y * m.e11 + _this.z * m.e12;
							let z = _this.x * m.e20 + _this.y * m.e21 + _this.z * m.e22;
							_this.x = _this.x * m.e00 + _this.y * m.e01 + _this.z * m.e02;
							_this.y = y;
							_this.z = z;
							_this.x += o.x;
							_this.y += o.y;
							_this.z += o.z;
						}
						if(n > 30) {
							let _g = 0;
							while(_g < n) {
								let i = _g++;
								let v = g4._tmpVertices[i];
								v1.x = v.x;
								v1.y = v.y;
								v1.z = v.z;
								let v3 = g4._tmpVertices[(i + 1) % n];
								v2.x = v3.x;
								v2.y = v3.y;
								v2.z = v3.z;
								d.line(v1,v2,shapeColor);
							}
						} else if(this._debugDraw.wireframe || n > 10) {
							let _g = 0;
							while(_g < n) {
								let i = _g++;
								let v = g4._tmpVertices[i];
								v1.x = v.x;
								v1.y = v.y;
								v1.z = v.z;
								let _g1 = 0;
								while(_g1 < i) {
									let v = g4._tmpVertices[_g1++];
									v2.x = v.x;
									v2.y = v.y;
									v2.z = v.z;
									d.line(v1,v2,shapeColor);
								}
							}
						} else {
							let _g = 0;
							while(_g < n) {
								let i = _g++;
								let v = g4._tmpVertices[i];
								v1.x = v.x;
								v1.y = v.y;
								v1.z = v.z;
								let _g1 = 0;
								while(_g1 < i) {
									let j = _g1++;
									let v = g4._tmpVertices[j];
									v2.x = v.x;
									v2.y = v.y;
									v2.z = v.z;
									let _g = 0;
									while(_g < j) {
										let v = g4._tmpVertices[_g++];
										v3.x = v.x;
										v3.y = v.y;
										v3.z = v.z;
										v12.x = v2.x;
										v12.y = v2.y;
										v12.z = v2.z;
										let _this = v12;
										_this.x -= v1.x;
										_this.y -= v1.y;
										_this.z -= v1.z;
										v13.x = v3.x;
										v13.y = v3.y;
										v13.z = v3.z;
										let _this1 = v13;
										_this1.x -= v1.x;
										_this1.y -= v1.y;
										_this1.z -= v1.z;
										normal.x = v12.x;
										normal.y = v12.y;
										normal.z = v12.z;
										let _this2 = normal;
										let y = _this2.z * v13.x - _this2.x * v13.z;
										let z = _this2.x * v13.y - _this2.y * v13.x;
										_this2.x = _this2.y * v13.z - _this2.z * v13.y;
										_this2.y = y;
										_this2.z = z;
										let invLen = Math.sqrt(_this2.x * _this2.x + _this2.y * _this2.y + _this2.z * _this2.z);
										if(invLen > 0) {
											invLen = 1 / invLen;
										}
										_this2.x *= invLen;
										_this2.y *= invLen;
										_this2.z *= invLen;
										d.triangle(v1,v2,v3,normal,normal,normal,shapeColor);
										normal.x = -normal.x;
										normal.y = -normal.y;
										normal.z = -normal.z;
										d.triangle(v1,v3,v2,normal,normal,normal,shapeColor);
									}
								}
							}
						}
						let _this10 = this._pool;
						if(v1 != null) {
							v1.zero();
							if(_this10.sizeVec3 == _this10.stackVec3.length) {
								let newArray = new Array(_this10.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this10.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this10.stackVec3[i];
									_this10.stackVec3[i] = null;
								}
								_this10.stackVec3 = newArray;
							}
							_this10.stackVec3[_this10.sizeVec3++] = v1;
						}
						let _this11 = this._pool;
						if(v2 != null) {
							v2.zero();
							if(_this11.sizeVec3 == _this11.stackVec3.length) {
								let newArray = new Array(_this11.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this11.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this11.stackVec3[i];
									_this11.stackVec3[i] = null;
								}
								_this11.stackVec3 = newArray;
							}
							_this11.stackVec3[_this11.sizeVec3++] = v2;
						}
						let _this12 = this._pool;
						if(v3 != null) {
							v3.zero();
							if(_this12.sizeVec3 == _this12.stackVec3.length) {
								let newArray = new Array(_this12.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this12.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this12.stackVec3[i];
									_this12.stackVec3[i] = null;
								}
								_this12.stackVec3 = newArray;
							}
							_this12.stackVec3[_this12.sizeVec3++] = v3;
						}
						let _this13 = this._pool;
						if(v12 != null) {
							v12.zero();
							if(_this13.sizeVec3 == _this13.stackVec3.length) {
								let newArray = new Array(_this13.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this13.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this13.stackVec3[i];
									_this13.stackVec3[i] = null;
								}
								_this13.stackVec3 = newArray;
							}
							_this13.stackVec3[_this13.sizeVec3++] = v12;
						}
						let _this14 = this._pool;
						if(v13 != null) {
							v13.zero();
							if(_this14.sizeVec3 == _this14.stackVec3.length) {
								let newArray = new Array(_this14.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this14.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this14.stackVec3[i];
									_this14.stackVec3[i] = null;
								}
								_this14.stackVec3 = newArray;
							}
							_this14.stackVec3[_this14.sizeVec3++] = v13;
						}
						let _this15 = this._pool;
						if(normal != null) {
							normal.zero();
							if(_this15.sizeVec3 == _this15.stackVec3.length) {
								let newArray = new Array(_this15.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this15.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this15.stackVec3[i];
									_this15.stackVec3[i] = null;
								}
								_this15.stackVec3 = newArray;
							}
							_this15.stackVec3[_this15.sizeVec3++] = normal;
						}
						let _this16 = this._pool;
						if(m != null) {
							m.e00 = 1;
							m.e01 = 0;
							m.e02 = 0;
							m.e10 = 0;
							m.e11 = 1;
							m.e12 = 0;
							m.e20 = 0;
							m.e21 = 0;
							m.e22 = 1;
							if(_this16.sizeMat3 == _this16.stackMat3.length) {
								let newArray = new Array(_this16.sizeMat3 << 1);
								let _g = 0;
								let _g1 = _this16.sizeMat3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this16.stackMat3[i];
									_this16.stackMat3[i] = null;
								}
								_this16.stackMat3 = newArray;
							}
							_this16.stackMat3[_this16.sizeMat3++] = m;
						}
						let _this17 = this._pool;
						if(o != null) {
							o.zero();
							if(_this17.sizeVec3 == _this17.stackVec3.length) {
								let newArray = new Array(_this17.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this17.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this17.stackVec3[i];
									_this17.stackVec3[i] = null;
								}
								_this17.stackVec3 = newArray;
							}
							_this17.stackVec3[_this17.sizeVec3++] = o;
						}
						break;
					}
				}
				if(d.drawAabbs) {
					let aabb = s._aabb;
					let color = style.aabbColor;
					let _this = this._pool;
					let min = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
					let _this1 = this._pool;
					let max = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
					let v = min;
					v.x = aabb._minX;
					v.y = aabb._minY;
					v.z = aabb._minZ;
					let v1 = max;
					v1.x = aabb._maxX;
					v1.y = aabb._maxY;
					v1.z = aabb._maxZ;
					d.aabb(min,max,color);
					let _this2 = this._pool;
					if(min != null) {
						min.zero();
						if(_this2.sizeVec3 == _this2.stackVec3.length) {
							let newArray = new Array(_this2.sizeVec3 << 1);
							let _g = 0;
							let _g1 = _this2.sizeVec3;
							while(_g < _g1) {
								let i = _g++;
								newArray[i] = _this2.stackVec3[i];
								_this2.stackVec3[i] = null;
							}
							_this2.stackVec3 = newArray;
						}
						_this2.stackVec3[_this2.sizeVec3++] = min;
					}
					let _this3 = this._pool;
					if(max != null) {
						max.zero();
						if(_this3.sizeVec3 == _this3.stackVec3.length) {
							let newArray = new Array(_this3.sizeVec3 << 1);
							let _g = 0;
							let _g1 = _this3.sizeVec3;
							while(_g < _g1) {
								let i = _g++;
								newArray[i] = _this3.stackVec3[i];
								_this3.stackVec3[i] = null;
							}
							_this3.stackVec3 = newArray;
						}
						_this3.stackVec3[_this3.sizeVec3++] = max;
					}
				}
				s = n;
			}
			r = n;
		}
	}
	_drawConstraints(d) {
		let style = d.style;
		if(d.drawPairs || d.drawContacts) {
			let c = this._contactManager._contactList;
			while(c != null) {
				let n = c._next;
				if(d.drawPairs) {
					let color = style.pairColor;
					let _this = this._pool;
					let v1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
					let _this1 = this._pool;
					let v2 = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
					let v = v1;
					v.x = c._s1._transform._positionX;
					v.y = c._s1._transform._positionY;
					v.z = c._s1._transform._positionZ;
					let v3 = v2;
					v3.x = c._s2._transform._positionX;
					v3.y = c._s2._transform._positionY;
					v3.z = c._s2._transform._positionZ;
					d.line(v1,v2,color);
					let _this2 = this._pool;
					if(v1 != null) {
						v1.zero();
						if(_this2.sizeVec3 == _this2.stackVec3.length) {
							let newArray = new Array(_this2.sizeVec3 << 1);
							let _g = 0;
							let _g1 = _this2.sizeVec3;
							while(_g < _g1) {
								let i = _g++;
								newArray[i] = _this2.stackVec3[i];
								_this2.stackVec3[i] = null;
							}
							_this2.stackVec3 = newArray;
						}
						_this2.stackVec3[_this2.sizeVec3++] = v1;
					}
					let _this3 = this._pool;
					if(v2 != null) {
						v2.zero();
						if(_this3.sizeVec3 == _this3.stackVec3.length) {
							let newArray = new Array(_this3.sizeVec3 << 1);
							let _g = 0;
							let _g1 = _this3.sizeVec3;
							while(_g < _g1) {
								let i = _g++;
								newArray[i] = _this3.stackVec3[i];
								_this3.stackVec3[i] = null;
							}
							_this3.stackVec3 = newArray;
						}
						_this3.stackVec3[_this3.sizeVec3++] = v2;
					}
				}
				if(d.drawContacts) {
					let cc = c._contactConstraint;
					let ps = c._contactConstraint._manifold._points;
					let _g = 0;
					let _g1 = c._contactConstraint._manifold._numPoints;
					while(_g < _g1) {
						let p = ps[_g++];
						let style = d.style;
						let _this = this._pool;
						let pos1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
						let _this1 = this._pool;
						let pos2 = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
						let _this2 = this._pool;
						let normal = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
						let _this3 = this._pool;
						let tangent = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
						let _this4 = this._pool;
						let binormal = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
						let v = pos1;
						v.x = p._pos1X;
						v.y = p._pos1Y;
						v.z = p._pos1Z;
						let v1 = pos2;
						v1.x = p._pos2X;
						v1.y = p._pos2Y;
						v1.z = p._pos2Z;
						let v2 = normal;
						v2.x = cc._manifold._normalX;
						v2.y = cc._manifold._normalY;
						v2.z = cc._manifold._normalZ;
						let v3 = tangent;
						v3.x = cc._manifold._tangentX;
						v3.y = cc._manifold._tangentY;
						v3.z = cc._manifold._tangentZ;
						let v4 = binormal;
						v4.x = cc._manifold._binormalX;
						v4.y = cc._manifold._binormalY;
						v4.z = cc._manifold._binormalZ;
						if(p._disabled) {
							d.point(pos1,style.disabledContactColor);
							d.point(pos2,style.disabledContactColor);
							d.line(pos1,pos2,style.disabledContactColor);
						} else if(p._warmStarted) {
							let color;
							switch(p._id & 3) {
							case 0:
								color = style.contactColor;
								break;
							case 1:
								color = style.contactColor2;
								break;
							case 2:
								color = style.contactColor3;
								break;
							default:
								color = style.contactColor4;
							}
							d.point(pos1,color);
							d.point(pos2,color);
							d.line(pos1,pos2,style.contactColor);
						} else {
							d.point(pos1,style.newContactColor);
							d.point(pos2,style.newContactColor);
							d.line(pos1,pos2,style.newContactColor);
						}
						pos2.x = pos1.x;
						pos2.y = pos1.y;
						pos2.z = pos1.z;
						let _this5 = pos2;
						let s = style.contactNormalLength;
						_this5.x += normal.x * s;
						_this5.y += normal.y * s;
						_this5.z += normal.z * s;
						d.line(pos1,pos2,style.contactNormalColor);
						if(d.drawContactBases) {
							pos2.x = pos1.x;
							pos2.y = pos1.y;
							pos2.z = pos1.z;
							let _this = pos2;
							let s = style.contactTangentLength;
							_this.x += tangent.x * s;
							_this.y += tangent.y * s;
							_this.z += tangent.z * s;
							d.line(pos1,pos2,style.contactTangentColor);
							pos2.x = pos1.x;
							pos2.y = pos1.y;
							pos2.z = pos1.z;
							let _this1 = pos2;
							let s1 = style.contactBinormalLength;
							_this1.x += binormal.x * s1;
							_this1.y += binormal.y * s1;
							_this1.z += binormal.z * s1;
							d.line(pos1,pos2,style.contactBinormalColor);
						}
						let _this6 = this._pool;
						if(pos1 != null) {
							pos1.zero();
							if(_this6.sizeVec3 == _this6.stackVec3.length) {
								let newArray = new Array(_this6.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this6.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this6.stackVec3[i];
									_this6.stackVec3[i] = null;
								}
								_this6.stackVec3 = newArray;
							}
							_this6.stackVec3[_this6.sizeVec3++] = pos1;
						}
						let _this7 = this._pool;
						if(pos2 != null) {
							pos2.zero();
							if(_this7.sizeVec3 == _this7.stackVec3.length) {
								let newArray = new Array(_this7.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this7.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this7.stackVec3[i];
									_this7.stackVec3[i] = null;
								}
								_this7.stackVec3 = newArray;
							}
							_this7.stackVec3[_this7.sizeVec3++] = pos2;
						}
						let _this8 = this._pool;
						if(normal != null) {
							normal.zero();
							if(_this8.sizeVec3 == _this8.stackVec3.length) {
								let newArray = new Array(_this8.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this8.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this8.stackVec3[i];
									_this8.stackVec3[i] = null;
								}
								_this8.stackVec3 = newArray;
							}
							_this8.stackVec3[_this8.sizeVec3++] = normal;
						}
						let _this9 = this._pool;
						if(tangent != null) {
							tangent.zero();
							if(_this9.sizeVec3 == _this9.stackVec3.length) {
								let newArray = new Array(_this9.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this9.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this9.stackVec3[i];
									_this9.stackVec3[i] = null;
								}
								_this9.stackVec3 = newArray;
							}
							_this9.stackVec3[_this9.sizeVec3++] = tangent;
						}
						let _this10 = this._pool;
						if(binormal != null) {
							binormal.zero();
							if(_this10.sizeVec3 == _this10.stackVec3.length) {
								let newArray = new Array(_this10.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this10.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this10.stackVec3[i];
									_this10.stackVec3[i] = null;
								}
								_this10.stackVec3 = newArray;
							}
							_this10.stackVec3[_this10.sizeVec3++] = binormal;
						}
					}
				}
				c = n;
			}
		}
		if(d.drawJoints) {
			let j = this._jointList;
			while(j != null) {
				let n = j._next;
				let _this = this._pool;
				let p1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
				let _this1 = this._pool;
				let p2 = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
				let v = p1;
				v.x = j._b1._transform._positionX;
				v.y = j._b1._transform._positionY;
				v.z = j._b1._transform._positionZ;
				let v1 = p2;
				v1.x = j._b2._transform._positionX;
				v1.y = j._b2._transform._positionY;
				v1.z = j._b2._transform._positionZ;
				let _this2 = this._pool;
				let anchor1 = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
				let _this3 = this._pool;
				let anchor2 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
				let _this4 = this._pool;
				let basisX1 = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
				let _this5 = this._pool;
				let basisY1 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
				let _this6 = this._pool;
				let basisZ1 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
				let _this7 = this._pool;
				let basisX2 = _this7.sizeVec3 == 0 ? new oimo.common.Vec3() : _this7.stackVec3[--_this7.sizeVec3];
				let _this8 = this._pool;
				let basisY2 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
				let _this9 = this._pool;
				let basisZ2 = _this9.sizeVec3 == 0 ? new oimo.common.Vec3() : _this9.stackVec3[--_this9.sizeVec3];
				let v2 = anchor1;
				v2.x = j._anchor1X;
				v2.y = j._anchor1Y;
				v2.z = j._anchor1Z;
				let v3 = anchor2;
				v3.x = j._anchor2X;
				v3.y = j._anchor2Y;
				v3.z = j._anchor2Z;
				let v4 = basisX1;
				v4.x = j._basisX1X;
				v4.y = j._basisX1Y;
				v4.z = j._basisX1Z;
				let v5 = basisY1;
				v5.x = j._basisY1X;
				v5.y = j._basisY1Y;
				v5.z = j._basisY1Z;
				let v6 = basisZ1;
				v6.x = j._basisZ1X;
				v6.y = j._basisZ1Y;
				v6.z = j._basisZ1Z;
				let v7 = basisX2;
				v7.x = j._basisX2X;
				v7.y = j._basisX2Y;
				v7.z = j._basisX2Z;
				let v8 = basisY2;
				v8.x = j._basisY2X;
				v8.y = j._basisY2Y;
				v8.z = j._basisY2Z;
				let v9 = basisZ2;
				v9.x = j._basisZ2X;
				v9.y = j._basisZ2Y;
				v9.z = j._basisZ2Z;
				d.line(p1,anchor1,d.style.jointLineColor);
				d.line(p2,anchor2,d.style.jointLineColor);
				if(d.drawJointLimits) {
					switch(j._type) {
					case 0:
						break;
					case 1:
						let lm = j._lm;
						this._drawRotationalLimit(d,anchor1,basisY1,basisZ1,basisY2,d.style.jointRotationalConstraintRadius,lm.lowerLimit,lm.upperLimit,d.style.jointLineColor);
						break;
					case 2:
						let j1 = j;
						let color = d.style.jointLineColor;
						let rlm = j1._rotLm;
						let tlm = j1._translLm;
						this._drawRotationalLimit(d,anchor2,basisY1,basisZ1,basisY2,d.style.jointRotationalConstraintRadius,rlm.lowerLimit,rlm.upperLimit,color);
						this._drawTranslationalLimit(d,anchor1,basisX1,tlm.lowerLimit,tlm.upperLimit,color);
						break;
					case 3:
						let lm1 = j._lm;
						this._drawTranslationalLimit(d,anchor1,basisX1,lm1.lowerLimit,lm1.upperLimit,d.style.jointLineColor);
						break;
					case 4:
						let j2 = j;
						let radius = d.style.jointRotationalConstraintRadius;
						let color1 = d.style.jointLineColor;
						let lm11 = j2._lm1;
						let lm2 = j2._lm2;
						this._drawRotationalLimit(d,anchor1,basisY1,basisZ1,basisY1,radius,j2._angleX - lm11.upperLimit,j2._angleX - lm11.lowerLimit,color1);
						this._drawRotationalLimit(d,anchor2,basisX2,basisY2,basisX2,radius,lm2.lowerLimit - j2._angleZ,lm2.upperLimit - j2._angleZ,color1);
						break;
					case 5:
						let j3 = j;
						let radius1 = d.style.jointRotationalConstraintRadius;
						let color2 = d.style.jointLineColor;
						let lm3 = j3._twistLm;
						this._drawRotationalLimit(d,anchor2,basisY2,basisZ2,basisY2,radius1,lm3.lowerLimit - j3._twistAngle,lm3.upperLimit - j3._twistAngle,color2);
						this._drawEllipseOnSphere(d,anchor1,basisX1,basisY1,basisZ1,j3._maxSwingAngle1,j3._maxSwingAngle2,radius1,color2);
						let _this10 = this._pool;
						let _this11 = _this10.sizeVec3 == 0 ? new oimo.common.Vec3() : _this10.stackVec3[--_this10.sizeVec3];
						_this11.x = anchor2.x;
						_this11.y = anchor2.y;
						_this11.z = anchor2.z;
						let _this12 = _this11;
						_this12.x += basisX2.x * radius1;
						_this12.y += basisX2.y * radius1;
						_this12.z += basisX2.z * radius1;
						d.line(anchor2,_this12,color2);
						let _this13 = this._pool;
						if(_this12 != null) {
							_this12.zero();
							if(_this13.sizeVec3 == _this13.stackVec3.length) {
								let newArray = new Array(_this13.sizeVec3 << 1);
								let _g = 0;
								let _g1 = _this13.sizeVec3;
								while(_g < _g1) {
									let i = _g++;
									newArray[i] = _this13.stackVec3[i];
									_this13.stackVec3[i] = null;
								}
								_this13.stackVec3 = newArray;
							}
							_this13.stackVec3[_this13.sizeVec3++] = _this12;
						}
						break;
					case 6:
						let j4 = j;
						let radius2 = d.style.jointRotationalConstraintRadius;
						let color3 = d.style.jointLineColor;
						let rxlm = j4._rotLms[0];
						let rylm = j4._rotLms[1];
						let rzlm = j4._rotLms[2];
						this._drawTranslationalLimit3D(d,anchor1,basisX1,basisY1,basisZ1,j4._translLms[0],j4._translLms[1],j4._translLms[2],color3);
						let _this14 = this._pool;
						let rotYAxis = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
						let v10 = rotYAxis;
						v10.x = j4._axisYX;
						v10.y = j4._axisYY;
						v10.z = j4._axisYZ;
						let _this15 = this._pool;
						let _this16 = _this15.sizeVec3 == 0 ? new oimo.common.Vec3() : _this15.stackVec3[--_this15.sizeVec3];
						_this16.x = basisX1.x;
						_this16.y = basisX1.y;
						_this16.z = basisX1.z;
						let rotYBasisX = _this16;
						let _this17 = this._pool;
						let _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];
						_this18.x = basisX1.x;
						_this18.y = basisX1.y;
						_this18.z = basisX1.z;
						let _this19 = _this18;
						let y = _this19.z * rotYAxis.x - _this19.x * rotYAxis.z;
						let z = _this19.x * rotYAxis.y - _this19.y * rotYAxis.x;
						_this19.x = _this19.y * rotYAxis.z - _this19.z * rotYAxis.y;
						_this19.y = y;
						_this19.z = z;
						this._drawRotationalLimit(d,anchor2,basisY1,basisZ1,basisY1,radius2,j4._angleX - rxlm.upperLimit,j4._angleX - rxlm.lowerLimit,color3);
						this._drawRotationalLimit(d,anchor2,rotYBasisX,_this19,rotYBasisX,radius2,rylm.lowerLimit - j4._angleY,rylm.upperLimit - j4._angleY,color3);
						this._drawRotationalLimit(d,anchor2,basisX2,basisY2,basisX2,radius2,rzlm.lowerLimit - j4._angleZ,rzlm.upperLimit - j4._angleZ,color3);
						break;
					}
				}
				d.line(anchor1,anchor2,d.style.jointErrorColor);
				let _this20 = this._pool;
				if(p1 != null) {
					p1.zero();
					if(_this20.sizeVec3 == _this20.stackVec3.length) {
						let newArray = new Array(_this20.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this20.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this20.stackVec3[i];
							_this20.stackVec3[i] = null;
						}
						_this20.stackVec3 = newArray;
					}
					_this20.stackVec3[_this20.sizeVec3++] = p1;
				}
				let _this21 = this._pool;
				if(p2 != null) {
					p2.zero();
					if(_this21.sizeVec3 == _this21.stackVec3.length) {
						let newArray = new Array(_this21.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this21.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this21.stackVec3[i];
							_this21.stackVec3[i] = null;
						}
						_this21.stackVec3 = newArray;
					}
					_this21.stackVec3[_this21.sizeVec3++] = p2;
				}
				let _this22 = this._pool;
				if(anchor1 != null) {
					anchor1.zero();
					if(_this22.sizeVec3 == _this22.stackVec3.length) {
						let newArray = new Array(_this22.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this22.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this22.stackVec3[i];
							_this22.stackVec3[i] = null;
						}
						_this22.stackVec3 = newArray;
					}
					_this22.stackVec3[_this22.sizeVec3++] = anchor1;
				}
				let _this23 = this._pool;
				if(anchor2 != null) {
					anchor2.zero();
					if(_this23.sizeVec3 == _this23.stackVec3.length) {
						let newArray = new Array(_this23.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this23.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this23.stackVec3[i];
							_this23.stackVec3[i] = null;
						}
						_this23.stackVec3 = newArray;
					}
					_this23.stackVec3[_this23.sizeVec3++] = anchor2;
				}
				let _this24 = this._pool;
				if(basisX1 != null) {
					basisX1.zero();
					if(_this24.sizeVec3 == _this24.stackVec3.length) {
						let newArray = new Array(_this24.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this24.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this24.stackVec3[i];
							_this24.stackVec3[i] = null;
						}
						_this24.stackVec3 = newArray;
					}
					_this24.stackVec3[_this24.sizeVec3++] = basisX1;
				}
				let _this25 = this._pool;
				if(basisY1 != null) {
					basisY1.zero();
					if(_this25.sizeVec3 == _this25.stackVec3.length) {
						let newArray = new Array(_this25.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this25.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this25.stackVec3[i];
							_this25.stackVec3[i] = null;
						}
						_this25.stackVec3 = newArray;
					}
					_this25.stackVec3[_this25.sizeVec3++] = basisY1;
				}
				let _this26 = this._pool;
				if(basisZ1 != null) {
					basisZ1.zero();
					if(_this26.sizeVec3 == _this26.stackVec3.length) {
						let newArray = new Array(_this26.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this26.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this26.stackVec3[i];
							_this26.stackVec3[i] = null;
						}
						_this26.stackVec3 = newArray;
					}
					_this26.stackVec3[_this26.sizeVec3++] = basisZ1;
				}
				let _this27 = this._pool;
				if(basisX2 != null) {
					basisX2.zero();
					if(_this27.sizeVec3 == _this27.stackVec3.length) {
						let newArray = new Array(_this27.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this27.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this27.stackVec3[i];
							_this27.stackVec3[i] = null;
						}
						_this27.stackVec3 = newArray;
					}
					_this27.stackVec3[_this27.sizeVec3++] = basisX2;
				}
				let _this28 = this._pool;
				if(basisY2 != null) {
					basisY2.zero();
					if(_this28.sizeVec3 == _this28.stackVec3.length) {
						let newArray = new Array(_this28.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this28.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this28.stackVec3[i];
							_this28.stackVec3[i] = null;
						}
						_this28.stackVec3 = newArray;
					}
					_this28.stackVec3[_this28.sizeVec3++] = basisY2;
				}
				let _this29 = this._pool;
				if(basisZ2 != null) {
					basisZ2.zero();
					if(_this29.sizeVec3 == _this29.stackVec3.length) {
						let newArray = new Array(_this29.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this29.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this29.stackVec3[i];
							_this29.stackVec3[i] = null;
						}
						_this29.stackVec3 = newArray;
					}
					_this29.stackVec3[_this29.sizeVec3++] = basisZ2;
				}
				j = n;
			}
		}
	}
	_drawRotationalLimit(d,center,ex,ey,needle,radius,min,max,color) {
		if(min != max) {
			let _this = this._pool;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = center.x;
			_this1.y = center.y;
			_this1.z = center.z;
			let _this2 = _this1;
			_this2.x += needle.x * radius;
			_this2.y += needle.y * radius;
			_this2.z += needle.z * radius;
			d.line(center,_this2,color);
			let _this3 = this._pool;
			if(_this2 != null) {
				_this2.zero();
				if(_this3.sizeVec3 == _this3.stackVec3.length) {
					let newArray = new Array(_this3.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this3.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this3.stackVec3[i];
						_this3.stackVec3[i] = null;
					}
					_this3.stackVec3 = newArray;
				}
				_this3.stackVec3[_this3.sizeVec3++] = _this2;
			}
			if(min > max) {
				d.ellipse(center,ex,ey,radius,radius,color);
			} else {
				d.arc(center,ex,ey,radius,radius,min,max,true,color);
			}
		}
	}
	_drawTranslationalLimit(d,center,ex,min,max,color) {
		if(min < max) {
			let _this = this._pool;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = center.x;
			_this1.y = center.y;
			_this1.z = center.z;
			let _this2 = _this1;
			_this2.x += ex.x * min;
			_this2.y += ex.y * min;
			_this2.z += ex.z * min;
			let _this3 = this._pool;
			let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
			_this4.x = center.x;
			_this4.y = center.y;
			_this4.z = center.z;
			let _this5 = _this4;
			_this5.x += ex.x * max;
			_this5.y += ex.y * max;
			_this5.z += ex.z * max;
			d.line(_this2,_this5,color);
			let _this6 = this._pool;
			if(_this2 != null) {
				_this2.zero();
				if(_this6.sizeVec3 == _this6.stackVec3.length) {
					let newArray = new Array(_this6.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this6.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this6.stackVec3[i];
						_this6.stackVec3[i] = null;
					}
					_this6.stackVec3 = newArray;
				}
				_this6.stackVec3[_this6.sizeVec3++] = _this2;
			}
			let _this7 = this._pool;
			if(_this5 != null) {
				_this5.zero();
				if(_this7.sizeVec3 == _this7.stackVec3.length) {
					let newArray = new Array(_this7.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this7.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this7.stackVec3[i];
						_this7.stackVec3[i] = null;
					}
					_this7.stackVec3 = newArray;
				}
				_this7.stackVec3[_this7.sizeVec3++] = _this5;
			}
		}
	}
	_drawTranslationalLimit3D(d,center,ex,ey,ez,xlm,ylm,zlm,color) {
		let minx = xlm.lowerLimit;
		let maxx = xlm.upperLimit;
		let miny = ylm.lowerLimit;
		let maxy = ylm.upperLimit;
		let minz = zlm.lowerLimit;
		let maxz = zlm.upperLimit;
		let _this = this._pool;
		if(_this.sizeVec3 == 0) {
			new oimo.common.Vec3();
		} else {
			--_this.sizeVec3;
		}
		let _this1 = this._pool;
		if(_this1.sizeVec3 == 0) {
			new oimo.common.Vec3();
		} else {
			--_this1.sizeVec3;
		}
		let _this2 = this._pool;
		let _this3 = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		_this3.x = center.x;
		_this3.y = center.y;
		_this3.z = center.z;
		let _this4 = _this3;
		_this4.x += ex.x * minx;
		_this4.y += ex.y * minx;
		_this4.z += ex.z * minx;
		_this4.x += ey.x * miny;
		_this4.y += ey.y * miny;
		_this4.z += ey.z * miny;
		_this4.x += ez.x * minz;
		_this4.y += ez.y * minz;
		_this4.z += ez.z * minz;
		let _this5 = this._pool;
		let _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
		_this6.x = center.x;
		_this6.y = center.y;
		_this6.z = center.z;
		let _this7 = _this6;
		_this7.x += ex.x * minx;
		_this7.y += ex.y * minx;
		_this7.z += ex.z * minx;
		_this7.x += ey.x * miny;
		_this7.y += ey.y * miny;
		_this7.z += ey.z * miny;
		_this7.x += ez.x * maxz;
		_this7.y += ez.y * maxz;
		_this7.z += ez.z * maxz;
		let _this8 = this._pool;
		let _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
		_this9.x = center.x;
		_this9.y = center.y;
		_this9.z = center.z;
		let _this10 = _this9;
		_this10.x += ex.x * minx;
		_this10.y += ex.y * minx;
		_this10.z += ex.z * minx;
		_this10.x += ey.x * maxy;
		_this10.y += ey.y * maxy;
		_this10.z += ey.z * maxy;
		_this10.x += ez.x * minz;
		_this10.y += ez.y * minz;
		_this10.z += ez.z * minz;
		let _this11 = this._pool;
		let _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];
		_this12.x = center.x;
		_this12.y = center.y;
		_this12.z = center.z;
		let _this13 = _this12;
		_this13.x += ex.x * minx;
		_this13.y += ex.y * minx;
		_this13.z += ex.z * minx;
		_this13.x += ey.x * maxy;
		_this13.y += ey.y * maxy;
		_this13.z += ey.z * maxy;
		_this13.x += ez.x * maxz;
		_this13.y += ez.y * maxz;
		_this13.z += ez.z * maxz;
		let _this14 = this._pool;
		let _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
		_this15.x = center.x;
		_this15.y = center.y;
		_this15.z = center.z;
		let _this16 = _this15;
		_this16.x += ex.x * maxx;
		_this16.y += ex.y * maxx;
		_this16.z += ex.z * maxx;
		_this16.x += ey.x * miny;
		_this16.y += ey.y * miny;
		_this16.z += ey.z * miny;
		_this16.x += ez.x * minz;
		_this16.y += ez.y * minz;
		_this16.z += ez.z * minz;
		let _this17 = this._pool;
		let _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];
		_this18.x = center.x;
		_this18.y = center.y;
		_this18.z = center.z;
		let _this19 = _this18;
		_this19.x += ex.x * maxx;
		_this19.y += ex.y * maxx;
		_this19.z += ex.z * maxx;
		_this19.x += ey.x * miny;
		_this19.y += ey.y * miny;
		_this19.z += ey.z * miny;
		_this19.x += ez.x * maxz;
		_this19.y += ez.y * maxz;
		_this19.z += ez.z * maxz;
		let _this20 = this._pool;
		let _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];
		_this21.x = center.x;
		_this21.y = center.y;
		_this21.z = center.z;
		let _this22 = _this21;
		_this22.x += ex.x * maxx;
		_this22.y += ex.y * maxx;
		_this22.z += ex.z * maxx;
		_this22.x += ey.x * maxy;
		_this22.y += ey.y * maxy;
		_this22.z += ey.z * maxy;
		_this22.x += ez.x * minz;
		_this22.y += ez.y * minz;
		_this22.z += ez.z * minz;
		let _this23 = this._pool;
		let _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];
		_this24.x = center.x;
		_this24.y = center.y;
		_this24.z = center.z;
		let _this25 = _this24;
		_this25.x += ex.x * maxx;
		_this25.y += ex.y * maxx;
		_this25.z += ex.z * maxx;
		_this25.x += ey.x * maxy;
		_this25.y += ey.y * maxy;
		_this25.z += ey.z * maxy;
		_this25.x += ez.x * maxz;
		_this25.y += ez.y * maxz;
		_this25.z += ez.z * maxz;
		d.line(_this4,_this16,color);
		d.line(_this10,_this22,color);
		d.line(_this7,_this19,color);
		d.line(_this13,_this25,color);
		d.line(_this4,_this10,color);
		d.line(_this16,_this22,color);
		d.line(_this7,_this13,color);
		d.line(_this19,_this25,color);
		d.line(_this4,_this7,color);
		d.line(_this16,_this19,color);
		d.line(_this10,_this13,color);
		d.line(_this22,_this25,color);
		let _this26 = this._pool;
		if(_this4 != null) {
			_this4.zero();
			if(_this26.sizeVec3 == _this26.stackVec3.length) {
				let newArray = new Array(_this26.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this26.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this26.stackVec3[i];
					_this26.stackVec3[i] = null;
				}
				_this26.stackVec3 = newArray;
			}
			_this26.stackVec3[_this26.sizeVec3++] = _this4;
		}
		let _this27 = this._pool;
		if(_this7 != null) {
			_this7.zero();
			if(_this27.sizeVec3 == _this27.stackVec3.length) {
				let newArray = new Array(_this27.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this27.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this27.stackVec3[i];
					_this27.stackVec3[i] = null;
				}
				_this27.stackVec3 = newArray;
			}
			_this27.stackVec3[_this27.sizeVec3++] = _this7;
		}
		let _this28 = this._pool;
		if(_this10 != null) {
			_this10.zero();
			if(_this28.sizeVec3 == _this28.stackVec3.length) {
				let newArray = new Array(_this28.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this28.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this28.stackVec3[i];
					_this28.stackVec3[i] = null;
				}
				_this28.stackVec3 = newArray;
			}
			_this28.stackVec3[_this28.sizeVec3++] = _this10;
		}
		let _this29 = this._pool;
		if(_this13 != null) {
			_this13.zero();
			if(_this29.sizeVec3 == _this29.stackVec3.length) {
				let newArray = new Array(_this29.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this29.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this29.stackVec3[i];
					_this29.stackVec3[i] = null;
				}
				_this29.stackVec3 = newArray;
			}
			_this29.stackVec3[_this29.sizeVec3++] = _this13;
		}
		let _this30 = this._pool;
		if(_this16 != null) {
			_this16.zero();
			if(_this30.sizeVec3 == _this30.stackVec3.length) {
				let newArray = new Array(_this30.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this30.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this30.stackVec3[i];
					_this30.stackVec3[i] = null;
				}
				_this30.stackVec3 = newArray;
			}
			_this30.stackVec3[_this30.sizeVec3++] = _this16;
		}
		let _this31 = this._pool;
		if(_this19 != null) {
			_this19.zero();
			if(_this31.sizeVec3 == _this31.stackVec3.length) {
				let newArray = new Array(_this31.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this31.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this31.stackVec3[i];
					_this31.stackVec3[i] = null;
				}
				_this31.stackVec3 = newArray;
			}
			_this31.stackVec3[_this31.sizeVec3++] = _this19;
		}
		let _this32 = this._pool;
		if(_this22 != null) {
			_this22.zero();
			if(_this32.sizeVec3 == _this32.stackVec3.length) {
				let newArray = new Array(_this32.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this32.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this32.stackVec3[i];
					_this32.stackVec3[i] = null;
				}
				_this32.stackVec3 = newArray;
			}
			_this32.stackVec3[_this32.sizeVec3++] = _this22;
		}
		let _this33 = this._pool;
		if(_this25 != null) {
			_this25.zero();
			if(_this33.sizeVec3 == _this33.stackVec3.length) {
				let newArray = new Array(_this33.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this33.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this33.stackVec3[i];
					_this33.stackVec3[i] = null;
				}
				_this33.stackVec3 = newArray;
			}
			_this33.stackVec3[_this33.sizeVec3++] = _this25;
		}
	}
	_drawEllipseOnSphere(d,center,normal,x,y,radiansX,radiansY,radius,color) {
		let theta = 0;
		let _this = this._pool;
		let rotVec = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this._pool;
		let rotQ = _this1.sizeQuat == 0 ? new oimo.common.Quat() : _this1.stackQuat[--_this1.sizeQuat];
		let _this2 = this._pool;
		let rotM = _this2.sizeMat3 == 0 ? new oimo.common.Mat3() : _this2.stackMat3[--_this2.sizeMat3];
		let _this3 = this._pool;
		let prevV = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _g = 0;
		while(_g < 17) {
			let i = _g++;
			let rx = Math.cos(theta) * radiansX;
			let ry = Math.sin(theta) * radiansY;
			let halfRotAng = Math.sqrt(rx * rx + ry * ry);
			let rotSin = Math.sin(halfRotAng * 0.5);
			let rotCos = Math.cos(halfRotAng * 0.5);
			let _this = rotVec.zero();
			_this.x += x.x * rx;
			_this.y += x.y * rx;
			_this.z += x.z * rx;
			_this.x += y.x * ry;
			_this.y += y.y * ry;
			_this.z += y.z * ry;
			let s = 1 / halfRotAng * rotSin;
			rotVec.x *= s;
			rotVec.y *= s;
			rotVec.z *= s;
			rotQ.x = rotVec.x;
			rotQ.y = rotVec.y;
			rotQ.z = rotVec.z;
			rotQ.w = rotCos;
			let x1 = rotQ.x;
			let y1 = rotQ.y;
			let z = rotQ.z;
			let w = rotQ.w;
			let x2 = 2 * x1;
			let y2 = 2 * y1;
			let z2 = 2 * z;
			let xx = x1 * x2;
			let yy = y1 * y2;
			let zz = z * z2;
			let xy = x1 * y2;
			let yz = y1 * z2;
			let xz = x1 * z2;
			let wx = w * x2;
			let wy = w * y2;
			let wz = w * z2;
			rotM.e00 = 1 - yy - zz;
			rotM.e01 = xy - wz;
			rotM.e02 = xz + wy;
			rotM.e10 = xy + wz;
			rotM.e11 = 1 - xx - zz;
			rotM.e12 = yz - wx;
			rotM.e20 = xz - wy;
			rotM.e21 = yz + wx;
			rotM.e22 = 1 - xx - yy;
			let _this1 = this._pool;
			let _this2 = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
			_this2.x += normal.x * radius;
			_this2.y += normal.y * radius;
			_this2.z += normal.z * radius;
			let v = _this2;
			let y3 = v.x * rotM.e10 + v.y * rotM.e11 + v.z * rotM.e12;
			let z1 = v.x * rotM.e20 + v.y * rotM.e21 + v.z * rotM.e22;
			v.x = v.x * rotM.e00 + v.y * rotM.e01 + v.z * rotM.e02;
			v.y = y3;
			v.z = z1;
			v.x += center.x;
			v.y += center.y;
			v.z += center.z;
			if(i >= 1) {
				d.line(prevV,v,color);
			}
			let _this3 = this._pool;
			if(prevV != null) {
				prevV.zero();
				if(_this3.sizeVec3 == _this3.stackVec3.length) {
					let newArray = new Array(_this3.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this3.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this3.stackVec3[i];
						_this3.stackVec3[i] = null;
					}
					_this3.stackVec3 = newArray;
				}
				_this3.stackVec3[_this3.sizeVec3++] = prevV;
			}
			prevV = v;
			theta += 0.39269908169872375;
		}
		let _this4 = this._pool;
		if(rotVec != null) {
			rotVec.zero();
			if(_this4.sizeVec3 == _this4.stackVec3.length) {
				let newArray = new Array(_this4.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this4.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this4.stackVec3[i];
					_this4.stackVec3[i] = null;
				}
				_this4.stackVec3 = newArray;
			}
			_this4.stackVec3[_this4.sizeVec3++] = rotVec;
		}
		let _this5 = this._pool;
		if(rotQ != null) {
			rotQ.x = 0;
			rotQ.y = 0;
			rotQ.z = 0;
			rotQ.w = 1;
			if(_this5.sizeQuat == _this5.stackQuat.length) {
				let newArray = new Array(_this5.sizeQuat << 1);
				let _g = 0;
				let _g1 = _this5.sizeQuat;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this5.stackQuat[i];
					_this5.stackQuat[i] = null;
				}
				_this5.stackQuat = newArray;
			}
			_this5.stackQuat[_this5.sizeQuat++] = rotQ;
		}
		let _this6 = this._pool;
		if(rotM != null) {
			rotM.e00 = 1;
			rotM.e01 = 0;
			rotM.e02 = 0;
			rotM.e10 = 0;
			rotM.e11 = 1;
			rotM.e12 = 0;
			rotM.e20 = 0;
			rotM.e21 = 0;
			rotM.e22 = 1;
			if(_this6.sizeMat3 == _this6.stackMat3.length) {
				let newArray = new Array(_this6.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this6.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this6.stackMat3[i];
					_this6.stackMat3[i] = null;
				}
				_this6.stackMat3 = newArray;
			}
			_this6.stackMat3[_this6.sizeMat3++] = rotM;
		}
		let _this7 = this._pool;
		if(prevV != null) {
			prevV.zero();
			if(_this7.sizeVec3 == _this7.stackVec3.length) {
				let newArray = new Array(_this7.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this7.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this7.stackVec3[i];
					_this7.stackVec3[i] = null;
				}
				_this7.stackVec3 = newArray;
			}
			_this7.stackVec3[_this7.sizeVec3++] = prevV;
		}
	}
	step(timeStep) {
		if(this._timeStep.dt > 0) {
			this._timeStep.dtRatio = timeStep / this._timeStep.dt;
		}
		this._timeStep.dt = timeStep;
		this._timeStep.invDt = 1 / timeStep;
		let st = Date.now() / 1000;
		this._updateContacts();
		this._solveIslands();
		oimo.dynamics.common.Performance.totalTime = (Date.now() / 1000 - st) * 1000;
	}
	addRigidBody(rigidBody) {
		if(rigidBody._world != null) {
			throw new Error("A rigid body cannot belong to multiple worlds.");
		}
		if(this._rigidBodyList == null) {
			this._rigidBodyList = rigidBody;
			this._rigidBodyListLast = rigidBody;
		} else {
			this._rigidBodyListLast._next = rigidBody;
			rigidBody._prev = this._rigidBodyListLast;
			this._rigidBodyListLast = rigidBody;
		}
		rigidBody._world = this;
		let s = rigidBody._shapeList;
		while(s != null) {
			let n = s._next;
			s._proxy = this._broadPhase.createProxy(s,s._aabb);
			s._id = this._shapeIdCount++;
			this._numShapes++;
			s = n;
		}
		this._numRigidBodies++;
	}
	removeRigidBody(rigidBody) {
		if(rigidBody._world != this) {
			throw new Error("The rigid body doesn't belong to the world.");
		}
		let prev = rigidBody._prev;
		let next = rigidBody._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(rigidBody == this._rigidBodyList) {
			this._rigidBodyList = this._rigidBodyList._next;
		}
		if(rigidBody == this._rigidBodyListLast) {
			this._rigidBodyListLast = this._rigidBodyListLast._prev;
		}
		rigidBody._next = null;
		rigidBody._prev = null;
		rigidBody._world = null;
		let s = rigidBody._shapeList;
		while(s != null) {
			let n = s._next;
			this._broadPhase.destroyProxy(s._proxy);
			s._proxy = null;
			s._id = -1;
			let cl = s._rigidBody._contactLinkList;
			while(cl != null) {
				let n = cl._next;
				let c = cl._contact;
				if(c._s1 == s || c._s2 == s) {
					let _this = cl._other;
					_this._sleeping = false;
					_this._sleepTime = 0;
					let _this1 = this._contactManager;
					let prev = c._prev;
					let next = c._next;
					if(prev != null) {
						prev._next = next;
					}
					if(next != null) {
						next._prev = prev;
					}
					if(c == _this1._contactList) {
						_this1._contactList = _this1._contactList._next;
					}
					if(c == _this1._contactListLast) {
						_this1._contactListLast = _this1._contactListLast._prev;
					}
					c._next = null;
					c._prev = null;
					if(c._touching) {
						let cc1 = c._s1._contactCallback;
						let cc2 = c._s2._contactCallback;
						if(cc1 == cc2) {
							cc2 = null;
						}
						if(cc1 != null) {
							cc1.endContact(c);
						}
						if(cc2 != null) {
							cc2.endContact(c);
						}
					}
					let prev1 = c._link1._prev;
					let next1 = c._link1._next;
					if(prev1 != null) {
						prev1._next = next1;
					}
					if(next1 != null) {
						next1._prev = prev1;
					}
					if(c._link1 == c._b1._contactLinkList) {
						c._b1._contactLinkList = c._b1._contactLinkList._next;
					}
					if(c._link1 == c._b1._contactLinkListLast) {
						c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
					}
					c._link1._next = null;
					c._link1._prev = null;
					let prev2 = c._link2._prev;
					let next2 = c._link2._next;
					if(prev2 != null) {
						prev2._next = next2;
					}
					if(next2 != null) {
						next2._prev = prev2;
					}
					if(c._link2 == c._b2._contactLinkList) {
						c._b2._contactLinkList = c._b2._contactLinkList._next;
					}
					if(c._link2 == c._b2._contactLinkListLast) {
						c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
					}
					c._link2._next = null;
					c._link2._prev = null;
					c._b1._numContactLinks--;
					c._b2._numContactLinks--;
					c._link1._other = null;
					c._link2._other = null;
					c._link1._contact = null;
					c._link2._contact = null;
					c._s1 = null;
					c._s2 = null;
					c._b1 = null;
					c._b2 = null;
					c._touching = false;
					c._cachedDetectorData._clear();
					c._manifold._clear();
					c._detector = null;
					let _this2 = c._contactConstraint;
					_this2._s1 = null;
					_this2._s2 = null;
					_this2._b1 = null;
					_this2._b2 = null;
					_this2._tf1 = null;
					_this2._tf2 = null;
					c._next = _this1._contactPool;
					_this1._contactPool = c;
					_this1._numContacts--;
				}
				cl = n;
			}
			this._numShapes--;
			s = n;
		}
		this._numRigidBodies--;
	}
	addJoint(joint) {
		if(joint._world != null) {
			throw new Error("A joint cannot belong to multiple worlds.");
		}
		if(this._jointList == null) {
			this._jointList = joint;
			this._jointListLast = joint;
		} else {
			this._jointListLast._next = joint;
			joint._prev = this._jointListLast;
			this._jointListLast = joint;
		}
		joint._world = this;
		joint._link1._other = joint._b2;
		joint._link2._other = joint._b1;
		if(joint._b1._jointLinkList == null) {
			joint._b1._jointLinkList = joint._link1;
			joint._b1._jointLinkListLast = joint._link1;
		} else {
			joint._b1._jointLinkListLast._next = joint._link1;
			joint._link1._prev = joint._b1._jointLinkListLast;
			joint._b1._jointLinkListLast = joint._link1;
		}
		if(joint._b2._jointLinkList == null) {
			joint._b2._jointLinkList = joint._link2;
			joint._b2._jointLinkListLast = joint._link2;
		} else {
			joint._b2._jointLinkListLast._next = joint._link2;
			joint._link2._prev = joint._b2._jointLinkListLast;
			joint._b2._jointLinkListLast = joint._link2;
		}
		joint._b1._numJointLinks++;
		joint._b2._numJointLinks++;
		let _this = joint._b1;
		_this._sleeping = false;
		_this._sleepTime = 0;
		let _this1 = joint._b2;
		_this1._sleeping = false;
		_this1._sleepTime = 0;
		joint._syncAnchors();
		this._numJoints++;
	}
	removeJoint(joint) {
		if(joint._world != this) {
			throw new Error("The joint doesn't belong to the world.");
		}
		let prev = joint._prev;
		let next = joint._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(joint == this._jointList) {
			this._jointList = this._jointList._next;
		}
		if(joint == this._jointListLast) {
			this._jointListLast = this._jointListLast._prev;
		}
		joint._next = null;
		joint._prev = null;
		joint._world = null;
		let prev1 = joint._link1._prev;
		let next1 = joint._link1._next;
		if(prev1 != null) {
			prev1._next = next1;
		}
		if(next1 != null) {
			next1._prev = prev1;
		}
		if(joint._link1 == joint._b1._jointLinkList) {
			joint._b1._jointLinkList = joint._b1._jointLinkList._next;
		}
		if(joint._link1 == joint._b1._jointLinkListLast) {
			joint._b1._jointLinkListLast = joint._b1._jointLinkListLast._prev;
		}
		joint._link1._next = null;
		joint._link1._prev = null;
		let prev2 = joint._link2._prev;
		let next2 = joint._link2._next;
		if(prev2 != null) {
			prev2._next = next2;
		}
		if(next2 != null) {
			next2._prev = prev2;
		}
		if(joint._link2 == joint._b2._jointLinkList) {
			joint._b2._jointLinkList = joint._b2._jointLinkList._next;
		}
		if(joint._link2 == joint._b2._jointLinkListLast) {
			joint._b2._jointLinkListLast = joint._b2._jointLinkListLast._prev;
		}
		joint._link2._next = null;
		joint._link2._prev = null;
		joint._link1._other = null;
		joint._link2._other = null;
		joint._b1._numJointLinks--;
		joint._b2._numJointLinks--;
		let _this = joint._b1;
		_this._sleeping = false;
		_this._sleepTime = 0;
		let _this1 = joint._b2;
		_this1._sleeping = false;
		_this1._sleepTime = 0;
		this._numJoints--;
	}
	setDebugDraw(debugDraw) {
		this._debugDraw = debugDraw;
	}
	getDebugDraw() {
		return this._debugDraw;
	}
	debugDraw() {
		if(this._debugDraw != null) {
			if(this._broadPhase._type == 2) {
				this._drawBvh(this._debugDraw,this._broadPhase._tree);
			}
			this._drawRigidBodies(this._debugDraw);
			this._drawConstraints(this._debugDraw);
		}
	}
	rayCast(begin,end,callback) {
		let _this = this._rayCastWrapper.begin;
		_this.x = begin.x;
		_this.y = begin.y;
		_this.z = begin.z;
		let _this1 = this._rayCastWrapper.end;
		_this1.x = end.x;
		_this1.y = end.y;
		_this1.z = end.z;
		this._rayCastWrapper.callback = callback;
		this._broadPhase.rayCast(begin,end,this._rayCastWrapper);
	}
	convexCast(convex,begin,translation,callback) {
		this._convexCastWrapper.convex = convex;
		let _this = this._convexCastWrapper.begin;
		_this._positionX = begin._positionX;
		_this._positionY = begin._positionY;
		_this._positionZ = begin._positionZ;
		_this._rotation00 = begin._rotation00;
		_this._rotation01 = begin._rotation01;
		_this._rotation02 = begin._rotation02;
		_this._rotation10 = begin._rotation10;
		_this._rotation11 = begin._rotation11;
		_this._rotation12 = begin._rotation12;
		_this._rotation20 = begin._rotation20;
		_this._rotation21 = begin._rotation21;
		_this._rotation22 = begin._rotation22;
		let _this1 = this._convexCastWrapper.translation;
		_this1.x = translation.x;
		_this1.y = translation.y;
		_this1.z = translation.z;
		this._convexCastWrapper.callback = callback;
		this._broadPhase.convexCast(convex,begin,translation,this._convexCastWrapper);
	}
	aabbTest(aabb,callback) {
		this._aabbTestWrapper._aabb.copyFrom(aabb);
		this._aabbTestWrapper._callback = callback;
		this._broadPhase.aabbTest(aabb,this._aabbTestWrapper);
	}
	getRigidBodyList() {
		return this._rigidBodyList;
	}
	getJointList() {
		return this._jointList;
	}
	getBroadPhase() {
		return this._broadPhase;
	}
	getContactManager() {
		return this._contactManager;
	}
	getNumRigidBodies() {
		return this._numRigidBodies;
	}
	getNumJoints() {
		return this._numJoints;
	}
	getNumShapes() {
		return this._numShapes;
	}
	getNumIslands() {
		return this._numIslands;
	}
	getNumVelocityIterations() {
		return this._numVelocityIterations;
	}
	setNumVelocityIterations(numVelocityIterations) {
		this._numVelocityIterations = numVelocityIterations;
	}
	getNumPositionIterations() {
		return this._numPositionIterations;
	}
	setNumPositionIterations(numPositionIterations) {
		this._numPositionIterations = numPositionIterations;
	}
	getGravity() {
		return this._gravity;
	}
	setGravity(gravity) {
		let _this = this._gravity;
		_this.x = gravity.x;
		_this.y = gravity.y;
		_this.z = gravity.z;
	}
}
if(!oimo.dynamics._World) oimo.dynamics._World = {};
oimo.dynamics._World.RayCastWrapper = class oimo_dynamics__$World_RayCastWrapper extends oimo.collision.broadphase.BroadPhaseProxyCallback {
	constructor() {
		super();
		this.rayCastHit = new oimo.collision.geometry.RayCastHit();
		this.begin = new oimo.common.Vec3();
		this.end = new oimo.common.Vec3();
		this.callback = null;
	}
	process(proxy) {
		let shape = proxy.userData;
		if(shape._geom.rayCast(this.begin,this.end,shape._transform,this.rayCastHit)) {
			this.callback.process(shape,this.rayCastHit);
		}
	}
}
oimo.dynamics._World.ConvexCastWrapper = class oimo_dynamics__$World_ConvexCastWrapper extends oimo.collision.broadphase.BroadPhaseProxyCallback {
	constructor() {
		super();
		this.rayCastHit = new oimo.collision.geometry.RayCastHit();
		this.begin = new oimo.common.Transform();
		this.translation = new oimo.common.Vec3();
		this.zero = new oimo.common.Vec3();
		this.callback = null;
		this.convex = null;
	}
	process(proxy) {
		let shape = proxy.userData;
		let type = shape._geom._type;
		if(type < 0 || type > 5) {
			return;
		}
		if(oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance.convexCast(this.convex,shape._geom,this.begin,shape._transform,this.translation,this.zero,this.rayCastHit)) {
			this.callback.process(shape,this.rayCastHit);
		}
	}
}
oimo.dynamics._World.AabbTestWrapper = class oimo_dynamics__$World_AabbTestWrapper extends oimo.collision.broadphase.BroadPhaseProxyCallback {
	constructor() {
		super();
		this._aabb = new oimo.collision.geometry.Aabb();
		this._callback = null;
	}
	process(proxy) {
		let shape = proxy.userData;
		let shapeAabb = shape._aabb;
		if(shapeAabb._minX < this._aabb._maxX && shapeAabb._maxX > this._aabb._minX && shapeAabb._minY < this._aabb._maxY && shapeAabb._maxY > this._aabb._minY && shapeAabb._minZ < this._aabb._maxZ && shapeAabb._maxZ > this._aabb._minZ) {
			this._callback.process(shape);
		}
	}
}
if(!oimo.dynamics.callback) oimo.dynamics.callback = {};
oimo.dynamics.callback.AabbTestCallback = class oimo_dynamics_callback_AabbTestCallback {
	constructor() {
	}
	process(shape) {
	}
}
oimo.dynamics.callback.ContactCallback = class oimo_dynamics_callback_ContactCallback {
	constructor() {
	}
	beginContact(c) {
	}
	preSolve(c) {
	}
	postSolve(c) {
	}
	endContact(c) {
	}
}
oimo.dynamics.callback.RayCastCallback = class oimo_dynamics_callback_RayCastCallback {
	constructor() {
	}
	process(shape,hit) {
	}
}
oimo.dynamics.callback.RayCastClosest = class oimo_dynamics_callback_RayCastClosest extends oimo.dynamics.callback.RayCastCallback {
	constructor() {
		super();
		this.position = new oimo.common.Vec3();
		this.normal = new oimo.common.Vec3();
		this.shape = null;
		this.fraction = 1;
		this.position.zero();
		this.normal.zero();
		this.hit = false;
	}
	clear() {
		this.shape = null;
		this.fraction = 1;
		this.position.zero();
		this.normal.zero();
		this.hit = false;
	}
	process(shape,hit) {
		if(hit.fraction < this.fraction) {
			this.shape = shape;
			this.hit = true;
			this.fraction = hit.fraction;
			let _this = this.position;
			let v = hit.position;
			_this.x = v.x;
			_this.y = v.y;
			_this.z = v.z;
			let _this1 = this.normal;
			let v1 = hit.normal;
			_this1.x = v1.x;
			_this1.y = v1.y;
			_this1.z = v1.z;
		}
	}
}
if(!oimo.dynamics.common) oimo.dynamics.common = {};
oimo.dynamics.common.DebugDraw = class oimo_dynamics_common_DebugDraw {
	constructor() {
		this.p = new oimo.common.Pool();
		this.wireframe = false;
		this.drawShapes = true;
		this.drawBvh = false;
		this.drawBvhMinLevel = 0;
		this.drawBvhMaxLevel = 65536;
		this.drawAabbs = false;
		this.drawBases = false;
		this.drawPairs = false;
		this.drawContacts = false;
		this.drawJoints = true;
		this.drawJointLimits = false;
		this.sphereCoords = new Array(5);
		this.tmpSphereVerts = new Array(5);
		this.tmpSphereNorms = new Array(5);
		let _g = 0;
		while(_g < 5) {
			let i = _g++;
			let num = i == 0 || i == 4 ? 1 : 8;
			this.sphereCoords[i] = new Array(num);
			this.tmpSphereVerts[i] = new Array(num);
			this.tmpSphereNorms[i] = new Array(num);
			let _g1 = 0;
			while(_g1 < 8) {
				let j = _g1++;
				let theta = i * 0.7853981633974475;
				let phi = j * 0.7853981633974475;
				this.sphereCoords[i][j] = new oimo.common.Vec3(Math.sin(theta) * Math.cos(phi),Math.cos(theta),-Math.sin(theta) * Math.sin(phi));
				this.tmpSphereVerts[i][j] = new oimo.common.Vec3();
				this.tmpSphereNorms[i][j] = new oimo.common.Vec3();
			}
		}
		this.circleCoords = new Array(8);
		this.circleCoordsShift = new Array(8);
		this.tmpCircleVerts1 = new Array(8);
		this.tmpCircleVerts2 = new Array(8);
		this.tmpCircleNorms = new Array(8);
		let _g1 = 0;
		while(_g1 < 8) {
			let i = _g1++;
			this.circleCoords[i] = new oimo.common.Vec3(Math.cos(i * 0.7853981633974475),0,-Math.sin(i * 0.7853981633974475));
			this.circleCoordsShift[i] = new oimo.common.Vec3(Math.cos((i + 0.5) * 0.7853981633974475),0,-Math.sin((i + 0.5) * 0.7853981633974475));
			this.tmpCircleVerts1[i] = new oimo.common.Vec3();
			this.tmpCircleVerts2[i] = new oimo.common.Vec3();
			this.tmpCircleNorms[i] = new oimo.common.Vec3();
		}
		this.style = new oimo.dynamics.common.DebugDrawStyle();
	}
	aabb(min,max,color) {
		let _this = this.p;
		let v1 = (_this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3]).init(min.x,min.y,min.z);
		let _this1 = this.p;
		let v2 = (_this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3]).init(min.x,min.y,max.z);
		let _this2 = this.p;
		let v3 = (_this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3]).init(min.x,max.y,min.z);
		let _this3 = this.p;
		let v4 = (_this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3]).init(min.x,max.y,max.z);
		let _this4 = this.p;
		let v5 = (_this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3]).init(max.x,min.y,min.z);
		let _this5 = this.p;
		let v6 = (_this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3]).init(max.x,min.y,max.z);
		let _this6 = this.p;
		let v7 = (_this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3]).init(max.x,max.y,min.z);
		let _this7 = this.p;
		let v8 = (_this7.sizeVec3 == 0 ? new oimo.common.Vec3() : _this7.stackVec3[--_this7.sizeVec3]).init(max.x,max.y,max.z);
		this.line(v1,v2,color);
		this.line(v3,v4,color);
		this.line(v5,v6,color);
		this.line(v7,v8,color);
		this.line(v1,v3,color);
		this.line(v2,v4,color);
		this.line(v5,v7,color);
		this.line(v6,v8,color);
		this.line(v1,v5,color);
		this.line(v2,v6,color);
		this.line(v3,v7,color);
		this.line(v4,v8,color);
		let _this8 = this.p;
		if(v1 != null) {
			v1.zero();
			if(_this8.sizeVec3 == _this8.stackVec3.length) {
				let newArray = new Array(_this8.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this8.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this8.stackVec3[i];
					_this8.stackVec3[i] = null;
				}
				_this8.stackVec3 = newArray;
			}
			_this8.stackVec3[_this8.sizeVec3++] = v1;
		}
		let _this9 = this.p;
		if(v2 != null) {
			v2.zero();
			if(_this9.sizeVec3 == _this9.stackVec3.length) {
				let newArray = new Array(_this9.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this9.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this9.stackVec3[i];
					_this9.stackVec3[i] = null;
				}
				_this9.stackVec3 = newArray;
			}
			_this9.stackVec3[_this9.sizeVec3++] = v2;
		}
		let _this10 = this.p;
		if(v3 != null) {
			v3.zero();
			if(_this10.sizeVec3 == _this10.stackVec3.length) {
				let newArray = new Array(_this10.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this10.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this10.stackVec3[i];
					_this10.stackVec3[i] = null;
				}
				_this10.stackVec3 = newArray;
			}
			_this10.stackVec3[_this10.sizeVec3++] = v3;
		}
		let _this11 = this.p;
		if(v4 != null) {
			v4.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = v4;
		}
		let _this12 = this.p;
		if(v5 != null) {
			v5.zero();
			if(_this12.sizeVec3 == _this12.stackVec3.length) {
				let newArray = new Array(_this12.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this12.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this12.stackVec3[i];
					_this12.stackVec3[i] = null;
				}
				_this12.stackVec3 = newArray;
			}
			_this12.stackVec3[_this12.sizeVec3++] = v5;
		}
		let _this13 = this.p;
		if(v6 != null) {
			v6.zero();
			if(_this13.sizeVec3 == _this13.stackVec3.length) {
				let newArray = new Array(_this13.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this13.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this13.stackVec3[i];
					_this13.stackVec3[i] = null;
				}
				_this13.stackVec3 = newArray;
			}
			_this13.stackVec3[_this13.sizeVec3++] = v6;
		}
		let _this14 = this.p;
		if(v7 != null) {
			v7.zero();
			if(_this14.sizeVec3 == _this14.stackVec3.length) {
				let newArray = new Array(_this14.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this14.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this14.stackVec3[i];
					_this14.stackVec3[i] = null;
				}
				_this14.stackVec3 = newArray;
			}
			_this14.stackVec3[_this14.sizeVec3++] = v7;
		}
		let _this15 = this.p;
		if(v8 != null) {
			v8.zero();
			if(_this15.sizeVec3 == _this15.stackVec3.length) {
				let newArray = new Array(_this15.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this15.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this15.stackVec3[i];
					_this15.stackVec3[i] = null;
				}
				_this15.stackVec3 = newArray;
			}
			_this15.stackVec3[_this15.sizeVec3++] = v8;
		}
	}
	basis(transform,length,colorX,colorY,colorZ) {
		let _this = this.p;
		let pos = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let rot = _this1.sizeMat3 == 0 ? new oimo.common.Mat3() : _this1.stackMat3[--_this1.sizeMat3];
		let _this2 = this.p;
		let ex = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		let _this3 = this.p;
		let ey = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _this4 = this.p;
		let ez = _this4.sizeVec3 == 0 ? new oimo.common.Vec3() : _this4.stackVec3[--_this4.sizeVec3];
		let v = pos;
		v.x = transform._positionX;
		v.y = transform._positionY;
		v.z = transform._positionZ;
		let m = rot;
		m.e00 = transform._rotation00;
		m.e01 = transform._rotation01;
		m.e02 = transform._rotation02;
		m.e10 = transform._rotation10;
		m.e11 = transform._rotation11;
		m.e12 = transform._rotation12;
		m.e20 = transform._rotation20;
		m.e21 = transform._rotation21;
		m.e22 = transform._rotation22;
		ex.init(rot.e00,rot.e10,rot.e20);
		ey.init(rot.e01,rot.e11,rot.e21);
		ez.init(rot.e02,rot.e12,rot.e22);
		ex.x *= length;
		ex.y *= length;
		ex.z *= length;
		let _this5 = ex;
		_this5.x += pos.x;
		_this5.y += pos.y;
		_this5.z += pos.z;
		ey.x *= length;
		ey.y *= length;
		ey.z *= length;
		let _this6 = ey;
		_this6.x += pos.x;
		_this6.y += pos.y;
		_this6.z += pos.z;
		ez.x *= length;
		ez.y *= length;
		ez.z *= length;
		let _this7 = ez;
		_this7.x += pos.x;
		_this7.y += pos.y;
		_this7.z += pos.z;
		this.line(pos,ex,colorX);
		this.line(pos,ey,colorY);
		this.line(pos,ez,colorZ);
		let _this8 = this.p;
		if(pos != null) {
			pos.zero();
			if(_this8.sizeVec3 == _this8.stackVec3.length) {
				let newArray = new Array(_this8.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this8.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this8.stackVec3[i];
					_this8.stackVec3[i] = null;
				}
				_this8.stackVec3 = newArray;
			}
			_this8.stackVec3[_this8.sizeVec3++] = pos;
		}
		let _this9 = this.p;
		if(rot != null) {
			rot.e00 = 1;
			rot.e01 = 0;
			rot.e02 = 0;
			rot.e10 = 0;
			rot.e11 = 1;
			rot.e12 = 0;
			rot.e20 = 0;
			rot.e21 = 0;
			rot.e22 = 1;
			if(_this9.sizeMat3 == _this9.stackMat3.length) {
				let newArray = new Array(_this9.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this9.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this9.stackMat3[i];
					_this9.stackMat3[i] = null;
				}
				_this9.stackMat3 = newArray;
			}
			_this9.stackMat3[_this9.sizeMat3++] = rot;
		}
		let _this10 = this.p;
		if(ex != null) {
			ex.zero();
			if(_this10.sizeVec3 == _this10.stackVec3.length) {
				let newArray = new Array(_this10.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this10.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this10.stackVec3[i];
					_this10.stackVec3[i] = null;
				}
				_this10.stackVec3 = newArray;
			}
			_this10.stackVec3[_this10.sizeVec3++] = ex;
		}
		let _this11 = this.p;
		if(ey != null) {
			ey.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = ey;
		}
		let _this12 = this.p;
		if(ez != null) {
			ez.zero();
			if(_this12.sizeVec3 == _this12.stackVec3.length) {
				let newArray = new Array(_this12.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this12.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this12.stackVec3[i];
					_this12.stackVec3[i] = null;
				}
				_this12.stackVec3 = newArray;
			}
			_this12.stackVec3[_this12.sizeVec3++] = ez;
		}
	}
	ellipse(center,ex,ey,radiusX,radiusY,color) {
		this.arc(center,ex,ey,radiusX,radiusY,0,6.28318530717958,false,color);
	}
	arc(center,ex,ey,radiusX,radiusY,startAngle,endAngle,drawSector,color) {
		let _this = this.p;
		let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		_this1.x = ex.x;
		_this1.y = ex.y;
		_this1.z = ex.z;
		let _this2 = _this1;
		_this2.x *= radiusX;
		_this2.y *= radiusX;
		_this2.z *= radiusX;

		let _this3 = this.p;
		let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		_this4.x = ey.x;
		_this4.y = ey.y;
		_this4.z = ey.z;
		let _this5 = _this4;
		_this5.x *= radiusY;
		_this5.y *= radiusY;
		_this5.z *= radiusY;

		let angDiff = endAngle - startAngle;
		if(angDiff < 0) {
			angDiff = -angDiff;
		}
		let n = angDiff / 0.52359877559829837 + 0.5 | 0;
		if(n == 0) {
			n = 1;
		}
		let theta = startAngle;
		let dt = (endAngle - startAngle) / n;
		let _this6 = this.p;
		let _this7 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
		_this7.x = center.x;
		_this7.y = center.y;
		_this7.z = center.z;
		let _this8 = _this7;
		let s = Math.cos(startAngle);
		_this8.x += _this2.x * s;
		_this8.y += _this2.y * s;
		_this8.z += _this2.z * s;
		let s1 = Math.sin(startAngle);
		_this8.x += _this5.x * s1;
		_this8.y += _this5.y * s1;
		_this8.z += _this5.z * s1;
		let prevV = _this8;
		if(drawSector) {
			this.line(center,_this8,color);
		}
		let _g = 0;
		let _g1 = n;
		while(_g < _g1) {
			++_g;
			theta += dt;
			let _this = this.p;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = center.x;
			_this1.y = center.y;
			_this1.z = center.z;
			let _this3 = _this1;
			let s = Math.cos(theta);
			_this3.x += _this2.x * s;
			_this3.y += _this2.y * s;
			_this3.z += _this2.z * s;
			let s1 = Math.sin(theta);
			_this3.x += _this5.x * s1;
			_this3.y += _this5.y * s1;
			_this3.z += _this5.z * s1;
			this.line(prevV,_this3,color);
			let _this4 = this.p;
			if(prevV != null) {
				prevV.zero();
				if(_this4.sizeVec3 == _this4.stackVec3.length) {
					let newArray = new Array(_this4.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this4.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this4.stackVec3[i];
						_this4.stackVec3[i] = null;
					}
					_this4.stackVec3 = newArray;
				}
				_this4.stackVec3[_this4.sizeVec3++] = prevV;
			}
			prevV = _this3;
		}
		if(drawSector) {
			this.line(center,prevV,color);
		}
		let _this9 = this.p;
		if(prevV != null) {
			prevV.zero();
			if(_this9.sizeVec3 == _this9.stackVec3.length) {
				let newArray = new Array(_this9.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this9.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this9.stackVec3[i];
					_this9.stackVec3[i] = null;
				}
				_this9.stackVec3 = newArray;
			}
			_this9.stackVec3[_this9.sizeVec3++] = prevV;
		}
		let _this10 = this.p;
		if(_this2 != null) {
			_this2.zero();
			if(_this10.sizeVec3 == _this10.stackVec3.length) {
				let newArray = new Array(_this10.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this10.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this10.stackVec3[i];
					_this10.stackVec3[i] = null;
				}
				_this10.stackVec3 = newArray;
			}
			_this10.stackVec3[_this10.sizeVec3++] = _this2;
		}
		let _this11 = this.p;
		if(_this5 != null) {
			_this5.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = _this5;
		}
	}
	cone(tf,radius,halfHeight,color) {
		let _this = this.p;
		let ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
		let _this2 = this.p;
		let ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		let _this3 = this.p;
		let o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _this4 = this.p;
		let m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
		let v = o;
		v.x = tf._positionX;
		v.y = tf._positionY;
		v.z = tf._positionZ;
		let m1 = m;
		m1.e00 = tf._rotation00;
		m1.e01 = tf._rotation01;
		m1.e02 = tf._rotation02;
		m1.e10 = tf._rotation10;
		m1.e11 = tf._rotation11;
		m1.e12 = tf._rotation12;
		m1.e20 = tf._rotation20;
		m1.e21 = tf._rotation21;
		m1.e22 = tf._rotation22;
		ex.init(m.e00,m.e10,m.e20);
		ey.init(m.e01,m.e11,m.e21);
		ez.init(m.e02,m.e12,m.e22);
		let _this5 = this.p;
		let _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
		_this6.x = o.x;
		_this6.y = o.y;
		_this6.z = o.z;
		let _this7 = _this6;
		_this7.x += ey.x * halfHeight;
		_this7.y += ey.y * halfHeight;
		_this7.z += ey.z * halfHeight;
		let _this8 = this.p;
		let _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
		_this9.x = o.x;
		_this9.y = o.y;
		_this9.z = o.z;
		let _this10 = _this9;
		let s = -halfHeight;
		_this10.x += ey.x * s;
		_this10.y += ey.y * s;
		_this10.z += ey.z * s;
		if(this.wireframe) {
			let _this = this.p;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = _this10.x;
			_this1.y = _this10.y;
			_this1.z = _this10.z;
			let _this2 = _this1;
			let s = -radius;
			_this2.x += ex.x * s;
			_this2.y += ex.y * s;
			_this2.z += ex.z * s;
			_this2.x += ez.x * 0;
			_this2.y += ez.y * 0;
			_this2.z += ez.z * 0;
			let _this3 = this.p;
			let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
			_this4.x = _this10.x;
			_this4.y = _this10.y;
			_this4.z = _this10.z;
			let _this5 = _this4;
			_this5.x += ex.x * radius;
			_this5.y += ex.y * radius;
			_this5.z += ex.z * radius;
			_this5.x += ez.x * 0;
			_this5.y += ez.y * 0;
			_this5.z += ez.z * 0;
			let _this6 = this.p;
			let _this8 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
			_this8.x = _this10.x;
			_this8.y = _this10.y;
			_this8.z = _this10.z;
			let _this9 = _this8;
			_this9.x += ex.x * 0;
			_this9.y += ex.y * 0;
			_this9.z += ex.z * 0;
			let s1 = -radius;
			_this9.x += ez.x * s1;
			_this9.y += ez.y * s1;
			_this9.z += ez.z * s1;
			let _this11 = this.p;
			let _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];
			_this12.x = _this10.x;
			_this12.y = _this10.y;
			_this12.z = _this10.z;
			let _this13 = _this12;
			_this13.x += ex.x * 0;
			_this13.y += ex.y * 0;
			_this13.z += ex.z * 0;
			_this13.x += ez.x * radius;
			_this13.y += ez.y * radius;
			_this13.z += ez.z * radius;
			this.ellipse(_this10,ex,ez,radius,radius,color);
			this.line(_this7,_this2,color);
			this.line(_this7,_this5,color);
			this.line(_this7,_this9,color);
			this.line(_this7,_this13,color);
			let _this14 = this.p;
			if(_this2 != null) {
				_this2.zero();
				if(_this14.sizeVec3 == _this14.stackVec3.length) {
					let newArray = new Array(_this14.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this14.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this14.stackVec3[i];
						_this14.stackVec3[i] = null;
					}
					_this14.stackVec3 = newArray;
				}
				_this14.stackVec3[_this14.sizeVec3++] = _this2;
			}
			let _this15 = this.p;
			if(_this5 != null) {
				_this5.zero();
				if(_this15.sizeVec3 == _this15.stackVec3.length) {
					let newArray = new Array(_this15.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this15.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this15.stackVec3[i];
						_this15.stackVec3[i] = null;
					}
					_this15.stackVec3 = newArray;
				}
				_this15.stackVec3[_this15.sizeVec3++] = _this5;
			}
			let _this16 = this.p;
			if(_this9 != null) {
				_this9.zero();
				if(_this16.sizeVec3 == _this16.stackVec3.length) {
					let newArray = new Array(_this16.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this16.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this16.stackVec3[i];
						_this16.stackVec3[i] = null;
					}
					_this16.stackVec3 = newArray;
				}
				_this16.stackVec3[_this16.sizeVec3++] = _this9;
			}
			let _this17 = this.p;
			if(_this13 != null) {
				_this13.zero();
				if(_this17.sizeVec3 == _this17.stackVec3.length) {
					let newArray = new Array(_this17.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this17.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this17.stackVec3[i];
						_this17.stackVec3[i] = null;
					}
					_this17.stackVec3 = newArray;
				}
				_this17.stackVec3[_this17.sizeVec3++] = _this13;
			}
		} else {
			let invDenom = 1 / Math.sqrt(radius * radius + 4 * halfHeight * halfHeight);
			let cos = 2 * halfHeight * invDenom;
			let sin = radius * invDenom;
			let _g = 0;
			while(_g < 8) {
				let i = _g++;
				let _this = this.tmpCircleNorms[i];
				let v = this.circleCoords[i];
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				_this.x *= cos;
				_this.y *= cos;
				_this.z *= cos;
				_this.y += sin;
				let _this1 = this.tmpCircleNorms[i];
				let y = _this1.x * m.e10 + _this1.y * m.e11 + _this1.z * m.e12;
				let z = _this1.x * m.e20 + _this1.y * m.e21 + _this1.z * m.e22;
				_this1.x = _this1.x * m.e00 + _this1.y * m.e01 + _this1.z * m.e02;
				_this1.y = y;
				_this1.z = z;
				let _this2 = this.tmpCircleVerts1[i];
				let v1 = this.circleCoordsShift[i];
				_this2.x = v1.x;
				_this2.y = v1.y;
				_this2.z = v1.z;
				_this2.x *= cos;
				_this2.y *= cos;
				_this2.z *= cos;
				_this2.y += sin;
				let _this3 = this.tmpCircleVerts1[i];
				let y1 = _this3.x * m.e10 + _this3.y * m.e11 + _this3.z * m.e12;
				let z1 = _this3.x * m.e20 + _this3.y * m.e21 + _this3.z * m.e22;
				_this3.x = _this3.x * m.e00 + _this3.y * m.e01 + _this3.z * m.e02;
				_this3.y = y1;
				_this3.z = z1;
				let _this4 = this.tmpCircleVerts2[i];
				let v2 = this.circleCoords[i];
				_this4.x = v2.x;
				_this4.y = v2.y;
				_this4.z = v2.z;
				let y2 = _this4.x * m.e10 + _this4.y * m.e11 + _this4.z * m.e12;
				let z2 = _this4.x * m.e20 + _this4.y * m.e21 + _this4.z * m.e22;
				_this4.x = _this4.x * m.e00 + _this4.y * m.e01 + _this4.z * m.e02;
				_this4.y = y2;
				_this4.z = z2;
				_this4.x *= radius;
				_this4.y *= radius;
				_this4.z *= radius;
				_this4.x += o.x;
				_this4.y += o.y;
				_this4.z += o.z;
				let _this5 = this.tmpCircleVerts2[i];
				let s = -halfHeight;
				_this5.x += ey.x * s;
				_this5.y += ey.y * s;
				_this5.z += ey.z * s;
			}
			let _g1 = 0;
			while(_g1 < 8) {
				let i = _g1++;
				let v2 = this.tmpCircleVerts2[i];
				let v3 = this.tmpCircleVerts2[(i + 1) % 8];
				let n1 = this.tmpCircleVerts1[i];
				this.triangle(_this7,v2,v3,n1,this.tmpCircleNorms[i],this.tmpCircleNorms[(i + 1) % 8],color);
				v2 = this.tmpCircleVerts2[(i + 1) % 8];
				v3 = this.tmpCircleVerts2[i];
				let _this = this.p;
				let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
				_this1.x = ey.x;
				_this1.y = ey.y;
				_this1.z = ey.z;
				let _this2 = _this1;
				_this2.x = -_this2.x;
				_this2.y = -_this2.y;
				_this2.z = -_this2.z;

				this.triangle(_this10,v2,v3,_this2,_this2,_this2,color);
				let _this3 = this.p;
				if(_this2 != null) {
					_this2.zero();
					if(_this3.sizeVec3 == _this3.stackVec3.length) {
						let newArray = new Array(_this3.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this3.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this3.stackVec3[i];
							_this3.stackVec3[i] = null;
						}
						_this3.stackVec3 = newArray;
					}
					_this3.stackVec3[_this3.sizeVec3++] = _this2;
				}
			}
		}
		let _this11 = this.p;
		if(_this7 != null) {
			_this7.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = _this7;
		}
		let _this12 = this.p;
		if(_this10 != null) {
			_this10.zero();
			if(_this12.sizeVec3 == _this12.stackVec3.length) {
				let newArray = new Array(_this12.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this12.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this12.stackVec3[i];
					_this12.stackVec3[i] = null;
				}
				_this12.stackVec3 = newArray;
			}
			_this12.stackVec3[_this12.sizeVec3++] = _this10;
		}
		let _this13 = this.p;
		if(o != null) {
			o.zero();
			if(_this13.sizeVec3 == _this13.stackVec3.length) {
				let newArray = new Array(_this13.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this13.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this13.stackVec3[i];
					_this13.stackVec3[i] = null;
				}
				_this13.stackVec3 = newArray;
			}
			_this13.stackVec3[_this13.sizeVec3++] = o;
		}
		let _this14 = this.p;
		if(m != null) {
			m.e00 = 1;
			m.e01 = 0;
			m.e02 = 0;
			m.e10 = 0;
			m.e11 = 1;
			m.e12 = 0;
			m.e20 = 0;
			m.e21 = 0;
			m.e22 = 1;
			if(_this14.sizeMat3 == _this14.stackMat3.length) {
				let newArray = new Array(_this14.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this14.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this14.stackMat3[i];
					_this14.stackMat3[i] = null;
				}
				_this14.stackMat3 = newArray;
			}
			_this14.stackMat3[_this14.sizeMat3++] = m;
		}
		let _this15 = this.p;
		if(ex != null) {
			ex.zero();
			if(_this15.sizeVec3 == _this15.stackVec3.length) {
				let newArray = new Array(_this15.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this15.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this15.stackVec3[i];
					_this15.stackVec3[i] = null;
				}
				_this15.stackVec3 = newArray;
			}
			_this15.stackVec3[_this15.sizeVec3++] = ex;
		}
		let _this16 = this.p;
		if(ey != null) {
			ey.zero();
			if(_this16.sizeVec3 == _this16.stackVec3.length) {
				let newArray = new Array(_this16.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this16.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this16.stackVec3[i];
					_this16.stackVec3[i] = null;
				}
				_this16.stackVec3 = newArray;
			}
			_this16.stackVec3[_this16.sizeVec3++] = ey;
		}
		let _this17 = this.p;
		if(ez != null) {
			ez.zero();
			if(_this17.sizeVec3 == _this17.stackVec3.length) {
				let newArray = new Array(_this17.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this17.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this17.stackVec3[i];
					_this17.stackVec3[i] = null;
				}
				_this17.stackVec3 = newArray;
			}
			_this17.stackVec3[_this17.sizeVec3++] = ez;
		}
	}
	cylinder(tf,radius,halfHeight,color) {
		let _this = this.p;
		let ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
		let _this2 = this.p;
		let ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		let _this3 = this.p;
		let o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _this4 = this.p;
		let m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
		let v = o;
		v.x = tf._positionX;
		v.y = tf._positionY;
		v.z = tf._positionZ;
		let m1 = m;
		m1.e00 = tf._rotation00;
		m1.e01 = tf._rotation01;
		m1.e02 = tf._rotation02;
		m1.e10 = tf._rotation10;
		m1.e11 = tf._rotation11;
		m1.e12 = tf._rotation12;
		m1.e20 = tf._rotation20;
		m1.e21 = tf._rotation21;
		m1.e22 = tf._rotation22;
		ex.init(m.e00,m.e10,m.e20);
		ey.init(m.e01,m.e11,m.e21);
		ez.init(m.e02,m.e12,m.e22);
		let _this5 = this.p;
		let _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
		_this6.x = o.x;
		_this6.y = o.y;
		_this6.z = o.z;
		let _this7 = _this6;
		_this7.x += ey.x * halfHeight;
		_this7.y += ey.y * halfHeight;
		_this7.z += ey.z * halfHeight;
		let _this8 = this.p;
		let _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
		_this9.x = o.x;
		_this9.y = o.y;
		_this9.z = o.z;
		let _this10 = _this9;
		let s = -halfHeight;
		_this10.x += ey.x * s;
		_this10.y += ey.y * s;
		_this10.z += ey.z * s;
		if(this.wireframe) {
			let _this = this.p;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = _this7.x;
			_this1.y = _this7.y;
			_this1.z = _this7.z;
			let _this2 = _this1;
			let s = -radius;
			_this2.x += ex.x * s;
			_this2.y += ex.y * s;
			_this2.z += ex.z * s;
			_this2.x += ez.x * 0;
			_this2.y += ez.y * 0;
			_this2.z += ez.z * 0;
			let _this3 = this.p;
			let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
			_this4.x = _this7.x;
			_this4.y = _this7.y;
			_this4.z = _this7.z;
			let _this5 = _this4;
			_this5.x += ex.x * radius;
			_this5.y += ex.y * radius;
			_this5.z += ex.z * radius;
			_this5.x += ez.x * 0;
			_this5.y += ez.y * 0;
			_this5.z += ez.z * 0;
			let _this6 = this.p;
			let _this8 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
			_this8.x = _this7.x;
			_this8.y = _this7.y;
			_this8.z = _this7.z;
			let _this9 = _this8;
			_this9.x += ex.x * 0;
			_this9.y += ex.y * 0;
			_this9.z += ex.z * 0;
			let s1 = -radius;
			_this9.x += ez.x * s1;
			_this9.y += ez.y * s1;
			_this9.z += ez.z * s1;
			let _this11 = this.p;
			let _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];
			_this12.x = _this7.x;
			_this12.y = _this7.y;
			_this12.z = _this7.z;
			let _this13 = _this12;
			_this13.x += ex.x * 0;
			_this13.y += ex.y * 0;
			_this13.z += ex.z * 0;
			_this13.x += ez.x * radius;
			_this13.y += ez.y * radius;
			_this13.z += ez.z * radius;
			let _this14 = this.p;
			let _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
			_this15.x = _this10.x;
			_this15.y = _this10.y;
			_this15.z = _this10.z;
			let _this16 = _this15;
			let s2 = -radius;
			_this16.x += ex.x * s2;
			_this16.y += ex.y * s2;
			_this16.z += ex.z * s2;
			_this16.x += ez.x * 0;
			_this16.y += ez.y * 0;
			_this16.z += ez.z * 0;
			let _this17 = this.p;
			let _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];
			_this18.x = _this10.x;
			_this18.y = _this10.y;
			_this18.z = _this10.z;
			let _this19 = _this18;
			_this19.x += ex.x * radius;
			_this19.y += ex.y * radius;
			_this19.z += ex.z * radius;
			_this19.x += ez.x * 0;
			_this19.y += ez.y * 0;
			_this19.z += ez.z * 0;
			let _this20 = this.p;
			let _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];
			_this21.x = _this10.x;
			_this21.y = _this10.y;
			_this21.z = _this10.z;
			let _this22 = _this21;
			_this22.x += ex.x * 0;
			_this22.y += ex.y * 0;
			_this22.z += ex.z * 0;
			let s3 = -radius;
			_this22.x += ez.x * s3;
			_this22.y += ez.y * s3;
			_this22.z += ez.z * s3;
			let _this23 = this.p;
			let _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];
			_this24.x = _this10.x;
			_this24.y = _this10.y;
			_this24.z = _this10.z;
			let _this25 = _this24;
			_this25.x += ex.x * 0;
			_this25.y += ex.y * 0;
			_this25.z += ex.z * 0;
			_this25.x += ez.x * radius;
			_this25.y += ez.y * radius;
			_this25.z += ez.z * radius;
			this.ellipse(_this7,ex,ez,radius,radius,color);
			this.ellipse(_this10,ex,ez,radius,radius,color);
			this.line(_this2,_this16,color);
			this.line(_this5,_this19,color);
			this.line(_this9,_this22,color);
			this.line(_this13,_this25,color);
			let _this26 = this.p;
			if(_this2 != null) {
				_this2.zero();
				if(_this26.sizeVec3 == _this26.stackVec3.length) {
					let newArray = new Array(_this26.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this26.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this26.stackVec3[i];
						_this26.stackVec3[i] = null;
					}
					_this26.stackVec3 = newArray;
				}
				_this26.stackVec3[_this26.sizeVec3++] = _this2;
			}
			let _this27 = this.p;
			if(_this5 != null) {
				_this5.zero();
				if(_this27.sizeVec3 == _this27.stackVec3.length) {
					let newArray = new Array(_this27.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this27.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this27.stackVec3[i];
						_this27.stackVec3[i] = null;
					}
					_this27.stackVec3 = newArray;
				}
				_this27.stackVec3[_this27.sizeVec3++] = _this5;
			}
			let _this28 = this.p;
			if(_this9 != null) {
				_this9.zero();
				if(_this28.sizeVec3 == _this28.stackVec3.length) {
					let newArray = new Array(_this28.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this28.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this28.stackVec3[i];
						_this28.stackVec3[i] = null;
					}
					_this28.stackVec3 = newArray;
				}
				_this28.stackVec3[_this28.sizeVec3++] = _this9;
			}
			let _this29 = this.p;
			if(_this13 != null) {
				_this13.zero();
				if(_this29.sizeVec3 == _this29.stackVec3.length) {
					let newArray = new Array(_this29.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this29.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this29.stackVec3[i];
						_this29.stackVec3[i] = null;
					}
					_this29.stackVec3 = newArray;
				}
				_this29.stackVec3[_this29.sizeVec3++] = _this13;
			}
			let _this30 = this.p;
			if(_this16 != null) {
				_this16.zero();
				if(_this30.sizeVec3 == _this30.stackVec3.length) {
					let newArray = new Array(_this30.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this30.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this30.stackVec3[i];
						_this30.stackVec3[i] = null;
					}
					_this30.stackVec3 = newArray;
				}
				_this30.stackVec3[_this30.sizeVec3++] = _this16;
			}
			let _this31 = this.p;
			if(_this19 != null) {
				_this19.zero();
				if(_this31.sizeVec3 == _this31.stackVec3.length) {
					let newArray = new Array(_this31.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this31.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this31.stackVec3[i];
						_this31.stackVec3[i] = null;
					}
					_this31.stackVec3 = newArray;
				}
				_this31.stackVec3[_this31.sizeVec3++] = _this19;
			}
			let _this32 = this.p;
			if(_this22 != null) {
				_this22.zero();
				if(_this32.sizeVec3 == _this32.stackVec3.length) {
					let newArray = new Array(_this32.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this32.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this32.stackVec3[i];
						_this32.stackVec3[i] = null;
					}
					_this32.stackVec3 = newArray;
				}
				_this32.stackVec3[_this32.sizeVec3++] = _this22;
			}
			let _this33 = this.p;
			if(_this25 != null) {
				_this25.zero();
				if(_this33.sizeVec3 == _this33.stackVec3.length) {
					let newArray = new Array(_this33.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this33.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this33.stackVec3[i];
						_this33.stackVec3[i] = null;
					}
					_this33.stackVec3 = newArray;
				}
				_this33.stackVec3[_this33.sizeVec3++] = _this25;
			}
		} else {
			let _g = 0;
			while(_g < 8) {
				let i = _g++;
				let _this = this.tmpCircleNorms[i];
				let v = this.circleCoords[i];
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				let y = _this.x * m.e10 + _this.y * m.e11 + _this.z * m.e12;
				let z = _this.x * m.e20 + _this.y * m.e21 + _this.z * m.e22;
				_this.x = _this.x * m.e00 + _this.y * m.e01 + _this.z * m.e02;
				_this.y = y;
				_this.z = z;
				let _this1 = this.tmpCircleVerts1[i];
				let v1 = this.tmpCircleNorms[i];
				_this1.x = v1.x;
				_this1.y = v1.y;
				_this1.z = v1.z;
				_this1.x *= radius;
				_this1.y *= radius;
				_this1.z *= radius;
				_this1.x += o.x;
				_this1.y += o.y;
				_this1.z += o.z;
				let _this2 = this.tmpCircleVerts2[i];
				let v2 = this.tmpCircleVerts1[i];
				_this2.x = v2.x;
				_this2.y = v2.y;
				_this2.z = v2.z;
				let _this3 = this.tmpCircleVerts1[i];
				_this3.x += ey.x * halfHeight;
				_this3.y += ey.y * halfHeight;
				_this3.z += ey.z * halfHeight;
				let _this4 = this.tmpCircleVerts2[i];
				let s = -halfHeight;
				_this4.x += ey.x * s;
				_this4.y += ey.y * s;
				_this4.z += ey.z * s;
			}
			let _g1 = 0;
			while(_g1 < 8) {
				let i = _g1++;
				let v1;
				let v2 = this.tmpCircleVerts1[i];
				let v3 = this.tmpCircleVerts1[(i + 1) % 8];
				let n1 = ey;
				this.triangle(_this7,v2,v3,n1,n1,n1,color);

				v2 = this.tmpCircleVerts2[(i + 1) % 8];
				v3 = this.tmpCircleVerts2[i];
				let _this = this.p;
				let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
				_this1.x = ey.x;
				_this1.y = ey.y;
				_this1.z = ey.z;
				let _this2 = _this1;
				_this2.x = -_this2.x;
				_this2.y = -_this2.y;
				_this2.z = -_this2.z;

				this.triangle(_this10,v2,v3,_this2,_this2,_this2,color);
				let _this3 = this.p;
				if(_this2 != null) {
					_this2.zero();
					if(_this3.sizeVec3 == _this3.stackVec3.length) {
						let newArray = new Array(_this3.sizeVec3 << 1);
						let _g = 0;
						let _g1 = _this3.sizeVec3;
						while(_g < _g1) {
							let i = _g++;
							newArray[i] = _this3.stackVec3[i];
							_this3.stackVec3[i] = null;
						}
						_this3.stackVec3 = newArray;
					}
					_this3.stackVec3[_this3.sizeVec3++] = _this2;
				}
				v1 = this.tmpCircleVerts1[i];
				v2 = this.tmpCircleVerts2[i];
				v3 = this.tmpCircleVerts2[(i + 1) % 8];
				n1 = this.tmpCircleNorms[i];
				let n2 = this.tmpCircleNorms[(i + 1) % 8];
				this.rect(v1,v2,v3,this.tmpCircleVerts1[(i + 1) % 8],n1,n1,n2,n2,color);
			}
		}
		let _this11 = this.p;
		if(_this7 != null) {
			_this7.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = _this7;
		}
		let _this12 = this.p;
		if(_this10 != null) {
			_this10.zero();
			if(_this12.sizeVec3 == _this12.stackVec3.length) {
				let newArray = new Array(_this12.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this12.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this12.stackVec3[i];
					_this12.stackVec3[i] = null;
				}
				_this12.stackVec3 = newArray;
			}
			_this12.stackVec3[_this12.sizeVec3++] = _this10;
		}
		let _this13 = this.p;
		if(o != null) {
			o.zero();
			if(_this13.sizeVec3 == _this13.stackVec3.length) {
				let newArray = new Array(_this13.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this13.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this13.stackVec3[i];
					_this13.stackVec3[i] = null;
				}
				_this13.stackVec3 = newArray;
			}
			_this13.stackVec3[_this13.sizeVec3++] = o;
		}
		let _this14 = this.p;
		if(m != null) {
			m.e00 = 1;
			m.e01 = 0;
			m.e02 = 0;
			m.e10 = 0;
			m.e11 = 1;
			m.e12 = 0;
			m.e20 = 0;
			m.e21 = 0;
			m.e22 = 1;
			if(_this14.sizeMat3 == _this14.stackMat3.length) {
				let newArray = new Array(_this14.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this14.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this14.stackMat3[i];
					_this14.stackMat3[i] = null;
				}
				_this14.stackMat3 = newArray;
			}
			_this14.stackMat3[_this14.sizeMat3++] = m;
		}
		let _this15 = this.p;
		if(ex != null) {
			ex.zero();
			if(_this15.sizeVec3 == _this15.stackVec3.length) {
				let newArray = new Array(_this15.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this15.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this15.stackVec3[i];
					_this15.stackVec3[i] = null;
				}
				_this15.stackVec3 = newArray;
			}
			_this15.stackVec3[_this15.sizeVec3++] = ex;
		}
		let _this16 = this.p;
		if(ey != null) {
			ey.zero();
			if(_this16.sizeVec3 == _this16.stackVec3.length) {
				let newArray = new Array(_this16.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this16.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this16.stackVec3[i];
					_this16.stackVec3[i] = null;
				}
				_this16.stackVec3 = newArray;
			}
			_this16.stackVec3[_this16.sizeVec3++] = ey;
		}
		let _this17 = this.p;
		if(ez != null) {
			ez.zero();
			if(_this17.sizeVec3 == _this17.stackVec3.length) {
				let newArray = new Array(_this17.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this17.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this17.stackVec3[i];
					_this17.stackVec3[i] = null;
				}
				_this17.stackVec3 = newArray;
			}
			_this17.stackVec3[_this17.sizeVec3++] = ez;
		}
	}
	capsule(tf,radius,halfHeight,color) {
		let _this = this.p;
		let ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
		let _this2 = this.p;
		let ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		let _this3 = this.p;
		let o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _this4 = this.p;
		let m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
		let v = o;
		v.x = tf._positionX;
		v.y = tf._positionY;
		v.z = tf._positionZ;
		let m1 = m;
		m1.e00 = tf._rotation00;
		m1.e01 = tf._rotation01;
		m1.e02 = tf._rotation02;
		m1.e10 = tf._rotation10;
		m1.e11 = tf._rotation11;
		m1.e12 = tf._rotation12;
		m1.e20 = tf._rotation20;
		m1.e21 = tf._rotation21;
		m1.e22 = tf._rotation22;
		ex.init(m.e00,m.e10,m.e20);
		ey.init(m.e01,m.e11,m.e21);
		ez.init(m.e02,m.e12,m.e22);
		let vs = this.tmpSphereVerts;
		let ns = this.tmpSphereNorms;
		let _g = 0;
		while(_g < 5) {
			let i2 = _g++;
			let n = this.tmpSphereVerts[i2].length;
			let _g1 = 0;
			while(_g1 < n) {
				let j2 = _g1++;
				let _this = ns[i2][j2];
				let v = this.sphereCoords[i2][j2];
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				let y = _this.x * m.e10 + _this.y * m.e11 + _this.z * m.e12;
				let z = _this.x * m.e20 + _this.y * m.e21 + _this.z * m.e22;
				_this.x = _this.x * m.e00 + _this.y * m.e01 + _this.z * m.e02;
				_this.y = y;
				_this.z = z;
			}
		}
		let _g1 = 0;
		while(_g1 < 4) {
			let i = _g1++;
			if(i == 0) {
				let _g = 0;
				while(_g < 3) {
					let i2 = _g++;
					let n = this.tmpSphereVerts[i2].length;
					let _g1 = 0;
					while(_g1 < n) {
						let j2 = _g1++;
						let _this = vs[i2][j2];
						let v = ns[i2][j2];
						_this.x = v.x;
						_this.y = v.y;
						_this.z = v.z;
						_this.x *= radius;
						_this.y *= radius;
						_this.z *= radius;
						_this.x += o.x;
						_this.y += o.y;
						_this.z += o.z;
						_this.x += ey.x * halfHeight;
						_this.y += ey.y * halfHeight;
						_this.z += ey.z * halfHeight;
					}
				}
			}
			if(i == 2) {
				let _g = 2;
				while(_g < 5) {
					let i2 = _g++;
					let n = this.tmpSphereVerts[i2].length;
					let _g1 = 0;
					while(_g1 < n) {
						let j2 = _g1++;
						let _this = vs[i2][j2];
						let v = ns[i2][j2];
						_this.x = v.x;
						_this.y = v.y;
						_this.z = v.z;
						_this.x *= radius;
						_this.y *= radius;
						_this.z *= radius;
						_this.x += o.x;
						_this.y += o.y;
						_this.z += o.z;
						let s = -halfHeight;
						_this.x += ey.x * s;
						_this.y += ey.y * s;
						_this.z += ey.z * s;
					}
				}
			}
			let _g = 0;
			while(_g < 8) {
				let j = _g++;
				let v1;
				let v2;
				let v3;
				let v4;
				let n1;
				let n2;
				let n3;
				let n4;
				if(i == 0) {
					if(this.wireframe) {
						v1 = vs[0][0];
						v2 = vs[1][j];
						this.line(v1,v2,color);
					} else {
						v1 = vs[0][0];
						v2 = vs[1][j];
						v3 = vs[1][(j + 1) % 8];
						n1 = ns[0][0];
						n2 = ns[1][j];
						n3 = ns[1][(j + 1) % 8];
						this.triangle(v1,v2,v3,n1,n2,n3,color);
					}
				} else if(i == 3) {
					if(this.wireframe) {
						v1 = vs[4][0];
						v2 = vs[i][(j + 1) % 8];
						v3 = vs[i][j];
						this.line(v1,v2,color);
						this.line(v2,v3,color);
					} else {
						v1 = vs[4][0];
						v2 = vs[i][(j + 1) % 8];
						v3 = vs[i][j];
						n1 = ns[4][0];
						n2 = ns[i][(j + 1) % 8];
						n3 = ns[i][j];
						this.triangle(v1,v2,v3,n1,n2,n3,color);
					}
				} else if(this.wireframe) {
					v1 = vs[i][j];
					v2 = vs[i][(j + 1) % 8];
					v3 = vs[i + 1][j];
					this.line(v1,v2,color);
					this.line(v1,v3,color);
				} else {
					v1 = vs[i][j];
					v2 = vs[i][(j + 1) % 8];
					v3 = vs[i + 1][j];
					v4 = vs[i + 1][(j + 1) % 8];
					n1 = ns[i][j];
					n2 = ns[i][(j + 1) % 8];
					n3 = ns[i + 1][j];
					n4 = ns[i + 1][(j + 1) % 8];
					this.rect(v1,v3,v4,v2,n1,n3,n4,n2,color);
				}
			}
		}
		let _this5 = this.p;
		let _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
		_this6.x = o.x;
		_this6.y = o.y;
		_this6.z = o.z;
		let _this7 = _this6;
		_this7.x += ey.x * halfHeight;
		_this7.y += ey.y * halfHeight;
		_this7.z += ey.z * halfHeight;
		let _this8 = this.p;
		let _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
		_this9.x = o.x;
		_this9.y = o.y;
		_this9.z = o.z;
		let _this10 = _this9;
		let s = -halfHeight;
		_this10.x += ey.x * s;
		_this10.y += ey.y * s;
		_this10.z += ey.z * s;
		if(this.wireframe) {
			let _this = this.p;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = _this7.x;
			_this1.y = _this7.y;
			_this1.z = _this7.z;
			let _this2 = _this1;
			let s = -radius;
			_this2.x += ex.x * s;
			_this2.y += ex.y * s;
			_this2.z += ex.z * s;
			_this2.x += ez.x * 0;
			_this2.y += ez.y * 0;
			_this2.z += ez.z * 0;
			let _this3 = this.p;
			let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
			_this4.x = _this7.x;
			_this4.y = _this7.y;
			_this4.z = _this7.z;
			let _this5 = _this4;
			_this5.x += ex.x * radius;
			_this5.y += ex.y * radius;
			_this5.z += ex.z * radius;
			_this5.x += ez.x * 0;
			_this5.y += ez.y * 0;
			_this5.z += ez.z * 0;
			let _this6 = this.p;
			let _this8 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
			_this8.x = _this7.x;
			_this8.y = _this7.y;
			_this8.z = _this7.z;
			let _this9 = _this8;
			_this9.x += ex.x * 0;
			_this9.y += ex.y * 0;
			_this9.z += ex.z * 0;
			let s1 = -radius;
			_this9.x += ez.x * s1;
			_this9.y += ez.y * s1;
			_this9.z += ez.z * s1;
			let _this11 = this.p;
			let _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];
			_this12.x = _this7.x;
			_this12.y = _this7.y;
			_this12.z = _this7.z;
			let _this13 = _this12;
			_this13.x += ex.x * 0;
			_this13.y += ex.y * 0;
			_this13.z += ex.z * 0;
			_this13.x += ez.x * radius;
			_this13.y += ez.y * radius;
			_this13.z += ez.z * radius;
			let _this14 = this.p;
			let _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
			_this15.x = _this10.x;
			_this15.y = _this10.y;
			_this15.z = _this10.z;
			let _this16 = _this15;
			let s2 = -radius;
			_this16.x += ex.x * s2;
			_this16.y += ex.y * s2;
			_this16.z += ex.z * s2;
			_this16.x += ez.x * 0;
			_this16.y += ez.y * 0;
			_this16.z += ez.z * 0;
			let _this17 = this.p;
			let _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];
			_this18.x = _this10.x;
			_this18.y = _this10.y;
			_this18.z = _this10.z;
			let _this19 = _this18;
			_this19.x += ex.x * radius;
			_this19.y += ex.y * radius;
			_this19.z += ex.z * radius;
			_this19.x += ez.x * 0;
			_this19.y += ez.y * 0;
			_this19.z += ez.z * 0;
			let _this20 = this.p;
			let _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];
			_this21.x = _this10.x;
			_this21.y = _this10.y;
			_this21.z = _this10.z;
			let _this22 = _this21;
			_this22.x += ex.x * 0;
			_this22.y += ex.y * 0;
			_this22.z += ex.z * 0;
			let s3 = -radius;
			_this22.x += ez.x * s3;
			_this22.y += ez.y * s3;
			_this22.z += ez.z * s3;
			let _this23 = this.p;
			let _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];
			_this24.x = _this10.x;
			_this24.y = _this10.y;
			_this24.z = _this10.z;
			let _this25 = _this24;
			_this25.x += ex.x * 0;
			_this25.y += ex.y * 0;
			_this25.z += ex.z * 0;
			_this25.x += ez.x * radius;
			_this25.y += ez.y * radius;
			_this25.z += ez.z * radius;
			this.ellipse(_this7,ex,ez,radius,radius,color);
			this.ellipse(_this10,ex,ez,radius,radius,color);
			this.line(_this2,_this16,color);
			this.line(_this5,_this19,color);
			this.line(_this9,_this22,color);
			this.line(_this13,_this25,color);
			let _this26 = this.p;
			if(_this2 != null) {
				_this2.zero();
				if(_this26.sizeVec3 == _this26.stackVec3.length) {
					let newArray = new Array(_this26.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this26.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this26.stackVec3[i];
						_this26.stackVec3[i] = null;
					}
					_this26.stackVec3 = newArray;
				}
				_this26.stackVec3[_this26.sizeVec3++] = _this2;
			}
			let _this27 = this.p;
			if(_this5 != null) {
				_this5.zero();
				if(_this27.sizeVec3 == _this27.stackVec3.length) {
					let newArray = new Array(_this27.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this27.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this27.stackVec3[i];
						_this27.stackVec3[i] = null;
					}
					_this27.stackVec3 = newArray;
				}
				_this27.stackVec3[_this27.sizeVec3++] = _this5;
			}
			let _this28 = this.p;
			if(_this9 != null) {
				_this9.zero();
				if(_this28.sizeVec3 == _this28.stackVec3.length) {
					let newArray = new Array(_this28.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this28.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this28.stackVec3[i];
						_this28.stackVec3[i] = null;
					}
					_this28.stackVec3 = newArray;
				}
				_this28.stackVec3[_this28.sizeVec3++] = _this9;
			}
			let _this29 = this.p;
			if(_this13 != null) {
				_this13.zero();
				if(_this29.sizeVec3 == _this29.stackVec3.length) {
					let newArray = new Array(_this29.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this29.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this29.stackVec3[i];
						_this29.stackVec3[i] = null;
					}
					_this29.stackVec3 = newArray;
				}
				_this29.stackVec3[_this29.sizeVec3++] = _this13;
			}
			let _this30 = this.p;
			if(_this16 != null) {
				_this16.zero();
				if(_this30.sizeVec3 == _this30.stackVec3.length) {
					let newArray = new Array(_this30.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this30.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this30.stackVec3[i];
						_this30.stackVec3[i] = null;
					}
					_this30.stackVec3 = newArray;
				}
				_this30.stackVec3[_this30.sizeVec3++] = _this16;
			}
			let _this31 = this.p;
			if(_this19 != null) {
				_this19.zero();
				if(_this31.sizeVec3 == _this31.stackVec3.length) {
					let newArray = new Array(_this31.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this31.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this31.stackVec3[i];
						_this31.stackVec3[i] = null;
					}
					_this31.stackVec3 = newArray;
				}
				_this31.stackVec3[_this31.sizeVec3++] = _this19;
			}
			let _this32 = this.p;
			if(_this22 != null) {
				_this22.zero();
				if(_this32.sizeVec3 == _this32.stackVec3.length) {
					let newArray = new Array(_this32.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this32.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this32.stackVec3[i];
						_this32.stackVec3[i] = null;
					}
					_this32.stackVec3 = newArray;
				}
				_this32.stackVec3[_this32.sizeVec3++] = _this22;
			}
			let _this33 = this.p;
			if(_this25 != null) {
				_this25.zero();
				if(_this33.sizeVec3 == _this33.stackVec3.length) {
					let newArray = new Array(_this33.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this33.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this33.stackVec3[i];
						_this33.stackVec3[i] = null;
					}
					_this33.stackVec3 = newArray;
				}
				_this33.stackVec3[_this33.sizeVec3++] = _this25;
			}
		} else {
			let _g = 0;
			while(_g < 8) {
				let i = _g++;
				let _this = this.tmpCircleNorms[i];
				let v = this.circleCoords[i];
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				let y = _this.x * m.e10 + _this.y * m.e11 + _this.z * m.e12;
				let z = _this.x * m.e20 + _this.y * m.e21 + _this.z * m.e22;
				_this.x = _this.x * m.e00 + _this.y * m.e01 + _this.z * m.e02;
				_this.y = y;
				_this.z = z;
				let _this1 = this.tmpCircleVerts1[i];
				let v1 = this.tmpCircleNorms[i];
				_this1.x = v1.x;
				_this1.y = v1.y;
				_this1.z = v1.z;
				_this1.x *= radius;
				_this1.y *= radius;
				_this1.z *= radius;
				_this1.x += o.x;
				_this1.y += o.y;
				_this1.z += o.z;
				let _this2 = this.tmpCircleVerts2[i];
				let v2 = this.tmpCircleVerts1[i];
				_this2.x = v2.x;
				_this2.y = v2.y;
				_this2.z = v2.z;
				let _this3 = this.tmpCircleVerts1[i];
				_this3.x += ey.x * halfHeight;
				_this3.y += ey.y * halfHeight;
				_this3.z += ey.z * halfHeight;
				let _this4 = this.tmpCircleVerts2[i];
				let s = -halfHeight;
				_this4.x += ey.x * s;
				_this4.y += ey.y * s;
				_this4.z += ey.z * s;
			}
			let _g1 = 0;
			while(_g1 < 8) {
				let i = _g1++;
				let n1 = this.tmpCircleNorms[i];
				let n2 = this.tmpCircleNorms[(i + 1) % 8];
				this.rect(this.tmpCircleVerts1[i],this.tmpCircleVerts2[i],this.tmpCircleVerts2[(i + 1) % 8],this.tmpCircleVerts1[(i + 1) % 8],n1,n1,n2,n2,color);
			}
		}
		let _this11 = this.p;
		if(_this7 != null) {
			_this7.zero();
			if(_this11.sizeVec3 == _this11.stackVec3.length) {
				let newArray = new Array(_this11.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this11.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this11.stackVec3[i];
					_this11.stackVec3[i] = null;
				}
				_this11.stackVec3 = newArray;
			}
			_this11.stackVec3[_this11.sizeVec3++] = _this7;
		}
		let _this12 = this.p;
		if(_this10 != null) {
			_this10.zero();
			if(_this12.sizeVec3 == _this12.stackVec3.length) {
				let newArray = new Array(_this12.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this12.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this12.stackVec3[i];
					_this12.stackVec3[i] = null;
				}
				_this12.stackVec3 = newArray;
			}
			_this12.stackVec3[_this12.sizeVec3++] = _this10;
		}
		let _this13 = this.p;
		if(o != null) {
			o.zero();
			if(_this13.sizeVec3 == _this13.stackVec3.length) {
				let newArray = new Array(_this13.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this13.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this13.stackVec3[i];
					_this13.stackVec3[i] = null;
				}
				_this13.stackVec3 = newArray;
			}
			_this13.stackVec3[_this13.sizeVec3++] = o;
		}
		let _this14 = this.p;
		if(m != null) {
			m.e00 = 1;
			m.e01 = 0;
			m.e02 = 0;
			m.e10 = 0;
			m.e11 = 1;
			m.e12 = 0;
			m.e20 = 0;
			m.e21 = 0;
			m.e22 = 1;
			if(_this14.sizeMat3 == _this14.stackMat3.length) {
				let newArray = new Array(_this14.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this14.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this14.stackMat3[i];
					_this14.stackMat3[i] = null;
				}
				_this14.stackMat3 = newArray;
			}
			_this14.stackMat3[_this14.sizeMat3++] = m;
		}
		let _this15 = this.p;
		if(ex != null) {
			ex.zero();
			if(_this15.sizeVec3 == _this15.stackVec3.length) {
				let newArray = new Array(_this15.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this15.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this15.stackVec3[i];
					_this15.stackVec3[i] = null;
				}
				_this15.stackVec3 = newArray;
			}
			_this15.stackVec3[_this15.sizeVec3++] = ex;
		}
		let _this16 = this.p;
		if(ey != null) {
			ey.zero();
			if(_this16.sizeVec3 == _this16.stackVec3.length) {
				let newArray = new Array(_this16.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this16.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this16.stackVec3[i];
					_this16.stackVec3[i] = null;
				}
				_this16.stackVec3 = newArray;
			}
			_this16.stackVec3[_this16.sizeVec3++] = ey;
		}
		let _this17 = this.p;
		if(ez != null) {
			ez.zero();
			if(_this17.sizeVec3 == _this17.stackVec3.length) {
				let newArray = new Array(_this17.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this17.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this17.stackVec3[i];
					_this17.stackVec3[i] = null;
				}
				_this17.stackVec3 = newArray;
			}
			_this17.stackVec3[_this17.sizeVec3++] = ez;
		}
	}
	sphere(tf,radius,color) {
		let _this = this.p;
		let o = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let m = _this1.sizeMat3 == 0 ? new oimo.common.Mat3() : _this1.stackMat3[--_this1.sizeMat3];
		let v = o;
		v.x = tf._positionX;
		v.y = tf._positionY;
		v.z = tf._positionZ;
		let m1 = m;
		m1.e00 = tf._rotation00;
		m1.e01 = tf._rotation01;
		m1.e02 = tf._rotation02;
		m1.e10 = tf._rotation10;
		m1.e11 = tf._rotation11;
		m1.e12 = tf._rotation12;
		m1.e20 = tf._rotation20;
		m1.e21 = tf._rotation21;
		m1.e22 = tf._rotation22;
		let vs = this.tmpSphereVerts;
		let ns = this.tmpSphereNorms;
		let _g = 0;
		while(_g < 5) {
			let i = _g++;
			let n = this.tmpSphereVerts[i].length;
			let _g1 = 0;
			while(_g1 < n) {
				let j = _g1++;
				let _this = ns[i][j];
				let v = this.sphereCoords[i][j];
				_this.x = v.x;
				_this.y = v.y;
				_this.z = v.z;
				let y = _this.x * m.e10 + _this.y * m.e11 + _this.z * m.e12;
				let z = _this.x * m.e20 + _this.y * m.e21 + _this.z * m.e22;
				_this.x = _this.x * m.e00 + _this.y * m.e01 + _this.z * m.e02;
				_this.y = y;
				_this.z = z;
				let _this1 = vs[i][j];
				let v1 = ns[i][j];
				_this1.x = v1.x;
				_this1.y = v1.y;
				_this1.z = v1.z;
				_this1.x *= radius;
				_this1.y *= radius;
				_this1.z *= radius;
				_this1.x += o.x;
				_this1.y += o.y;
				_this1.z += o.z;
			}
		}
		let _g1 = 0;
		while(_g1 < 4) {
			let i = _g1++;
			let _g = 0;
			while(_g < 8) {
				let j = _g++;
				let v1;
				let v2;
				let v3;
				let v4;
				let n1;
				let n2;
				let n3;
				let n4;
				if(i == 0) {
					if(this.wireframe) {
						v1 = vs[0][0];
						v2 = vs[1][j];
						this.line(v1,v2,color);
					} else {
						v1 = vs[0][0];
						v2 = vs[1][j];
						v3 = vs[1][(j + 1) % 8];
						n1 = ns[0][0];
						n2 = ns[1][j];
						n3 = ns[1][(j + 1) % 8];
						this.triangle(v1,v2,v3,n1,n2,n3,color);
					}
				} else if(i == 3) {
					if(this.wireframe) {
						v1 = vs[4][0];
						v2 = vs[i][(j + 1) % 8];
						v3 = vs[i][j];
						this.line(v1,v2,color);
						this.line(v2,v3,color);
					} else {
						v1 = vs[4][0];
						v2 = vs[i][(j + 1) % 8];
						v3 = vs[i][j];
						n1 = ns[4][0];
						n2 = ns[i][(j + 1) % 8];
						n3 = ns[i][j];
						this.triangle(v1,v2,v3,n1,n2,n3,color);
					}
				} else if(this.wireframe) {
					v1 = vs[i][j];
					v2 = vs[i][(j + 1) % 8];
					v3 = vs[i + 1][j];
					this.line(v1,v2,color);
					this.line(v1,v3,color);
				} else {
					v1 = vs[i][j];
					v2 = vs[i][(j + 1) % 8];
					v3 = vs[i + 1][j];
					v4 = vs[i + 1][(j + 1) % 8];
					n1 = ns[i][j];
					n2 = ns[i][(j + 1) % 8];
					n3 = ns[i + 1][j];
					n4 = ns[i + 1][(j + 1) % 8];
					this.rect(v1,v3,v4,v2,n1,n3,n4,n2,color);
				}
			}
		}
		let _this2 = this.p;
		if(o != null) {
			o.zero();
			if(_this2.sizeVec3 == _this2.stackVec3.length) {
				let newArray = new Array(_this2.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this2.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this2.stackVec3[i];
					_this2.stackVec3[i] = null;
				}
				_this2.stackVec3 = newArray;
			}
			_this2.stackVec3[_this2.sizeVec3++] = o;
		}
		let _this3 = this.p;
		if(m != null) {
			m.e00 = 1;
			m.e01 = 0;
			m.e02 = 0;
			m.e10 = 0;
			m.e11 = 1;
			m.e12 = 0;
			m.e20 = 0;
			m.e21 = 0;
			m.e22 = 1;
			if(_this3.sizeMat3 == _this3.stackMat3.length) {
				let newArray = new Array(_this3.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this3.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this3.stackMat3[i];
					_this3.stackMat3[i] = null;
				}
				_this3.stackMat3 = newArray;
			}
			_this3.stackMat3[_this3.sizeMat3++] = m;
		}
	}
	box(tf,halfExtents,color) {
		let _this = this.p;
		let ex = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
		let _this1 = this.p;
		let ey = _this1.sizeVec3 == 0 ? new oimo.common.Vec3() : _this1.stackVec3[--_this1.sizeVec3];
		let _this2 = this.p;
		let ez = _this2.sizeVec3 == 0 ? new oimo.common.Vec3() : _this2.stackVec3[--_this2.sizeVec3];
		let _this3 = this.p;
		let o = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
		let _this4 = this.p;
		let m = _this4.sizeMat3 == 0 ? new oimo.common.Mat3() : _this4.stackMat3[--_this4.sizeMat3];
		let v = o;
		v.x = tf._positionX;
		v.y = tf._positionY;
		v.z = tf._positionZ;
		let m1 = m;
		m1.e00 = tf._rotation00;
		m1.e01 = tf._rotation01;
		m1.e02 = tf._rotation02;
		m1.e10 = tf._rotation10;
		m1.e11 = tf._rotation11;
		m1.e12 = tf._rotation12;
		m1.e20 = tf._rotation20;
		m1.e21 = tf._rotation21;
		m1.e22 = tf._rotation22;
		ex.init(m.e00,m.e10,m.e20);
		ey.init(m.e01,m.e11,m.e21);
		ez.init(m.e02,m.e12,m.e22);
		let hx = halfExtents.x;
		let hy = halfExtents.y;
		let hz = halfExtents.z;
		let _this5 = this.p;
		let _this6 = _this5.sizeVec3 == 0 ? new oimo.common.Vec3() : _this5.stackVec3[--_this5.sizeVec3];
		_this6.x = o.x;
		_this6.y = o.y;
		_this6.z = o.z;
		let _this7 = _this6;
		let s = -hx;
		_this7.x += ex.x * s;
		_this7.y += ex.y * s;
		_this7.z += ex.z * s;
		let s1 = -hy;
		_this7.x += ey.x * s1;
		_this7.y += ey.y * s1;
		_this7.z += ey.z * s1;
		let s2 = -hz;
		_this7.x += ez.x * s2;
		_this7.y += ez.y * s2;
		_this7.z += ez.z * s2;
		let _this8 = this.p;
		let _this9 = _this8.sizeVec3 == 0 ? new oimo.common.Vec3() : _this8.stackVec3[--_this8.sizeVec3];
		_this9.x = o.x;
		_this9.y = o.y;
		_this9.z = o.z;
		let _this10 = _this9;
		let s3 = -hx;
		_this10.x += ex.x * s3;
		_this10.y += ex.y * s3;
		_this10.z += ex.z * s3;
		let s4 = -hy;
		_this10.x += ey.x * s4;
		_this10.y += ey.y * s4;
		_this10.z += ey.z * s4;
		_this10.x += ez.x * hz;
		_this10.y += ez.y * hz;
		_this10.z += ez.z * hz;
		let _this11 = this.p;
		let _this12 = _this11.sizeVec3 == 0 ? new oimo.common.Vec3() : _this11.stackVec3[--_this11.sizeVec3];
		_this12.x = o.x;
		_this12.y = o.y;
		_this12.z = o.z;
		let _this13 = _this12;
		let s5 = -hx;
		_this13.x += ex.x * s5;
		_this13.y += ex.y * s5;
		_this13.z += ex.z * s5;
		_this13.x += ey.x * hy;
		_this13.y += ey.y * hy;
		_this13.z += ey.z * hy;
		let s6 = -hz;
		_this13.x += ez.x * s6;
		_this13.y += ez.y * s6;
		_this13.z += ez.z * s6;
		let _this14 = this.p;
		let _this15 = _this14.sizeVec3 == 0 ? new oimo.common.Vec3() : _this14.stackVec3[--_this14.sizeVec3];
		_this15.x = o.x;
		_this15.y = o.y;
		_this15.z = o.z;
		let _this16 = _this15;
		let s7 = -hx;
		_this16.x += ex.x * s7;
		_this16.y += ex.y * s7;
		_this16.z += ex.z * s7;
		_this16.x += ey.x * hy;
		_this16.y += ey.y * hy;
		_this16.z += ey.z * hy;
		_this16.x += ez.x * hz;
		_this16.y += ez.y * hz;
		_this16.z += ez.z * hz;
		let _this17 = this.p;
		let _this18 = _this17.sizeVec3 == 0 ? new oimo.common.Vec3() : _this17.stackVec3[--_this17.sizeVec3];
		_this18.x = o.x;
		_this18.y = o.y;
		_this18.z = o.z;
		let _this19 = _this18;
		_this19.x += ex.x * hx;
		_this19.y += ex.y * hx;
		_this19.z += ex.z * hx;
		let s8 = -hy;
		_this19.x += ey.x * s8;
		_this19.y += ey.y * s8;
		_this19.z += ey.z * s8;
		let s9 = -hz;
		_this19.x += ez.x * s9;
		_this19.y += ez.y * s9;
		_this19.z += ez.z * s9;
		let _this20 = this.p;
		let _this21 = _this20.sizeVec3 == 0 ? new oimo.common.Vec3() : _this20.stackVec3[--_this20.sizeVec3];
		_this21.x = o.x;
		_this21.y = o.y;
		_this21.z = o.z;
		let _this22 = _this21;
		_this22.x += ex.x * hx;
		_this22.y += ex.y * hx;
		_this22.z += ex.z * hx;
		let s10 = -hy;
		_this22.x += ey.x * s10;
		_this22.y += ey.y * s10;
		_this22.z += ey.z * s10;
		_this22.x += ez.x * hz;
		_this22.y += ez.y * hz;
		_this22.z += ez.z * hz;
		let _this23 = this.p;
		let _this24 = _this23.sizeVec3 == 0 ? new oimo.common.Vec3() : _this23.stackVec3[--_this23.sizeVec3];
		_this24.x = o.x;
		_this24.y = o.y;
		_this24.z = o.z;
		let _this25 = _this24;
		_this25.x += ex.x * hx;
		_this25.y += ex.y * hx;
		_this25.z += ex.z * hx;
		_this25.x += ey.x * hy;
		_this25.y += ey.y * hy;
		_this25.z += ey.z * hy;
		let s11 = -hz;
		_this25.x += ez.x * s11;
		_this25.y += ez.y * s11;
		_this25.z += ez.z * s11;
		let _this26 = this.p;
		let _this27 = _this26.sizeVec3 == 0 ? new oimo.common.Vec3() : _this26.stackVec3[--_this26.sizeVec3];
		_this27.x = o.x;
		_this27.y = o.y;
		_this27.z = o.z;
		let _this28 = _this27;
		_this28.x += ex.x * hx;
		_this28.y += ex.y * hx;
		_this28.z += ex.z * hx;
		_this28.x += ey.x * hy;
		_this28.y += ey.y * hy;
		_this28.z += ey.z * hy;
		_this28.x += ez.x * hz;
		_this28.y += ez.y * hz;
		_this28.z += ez.z * hz;
		if(this.wireframe) {
			this.line(_this7,_this10,color);
			this.line(_this13,_this16,color);
			this.line(_this19,_this22,color);
			this.line(_this25,_this28,color);
			this.line(_this7,_this13,color);
			this.line(_this10,_this16,color);
			this.line(_this19,_this25,color);
			this.line(_this22,_this28,color);
			this.line(_this7,_this19,color);
			this.line(_this10,_this22,color);
			this.line(_this13,_this25,color);
			this.line(_this16,_this28,color);
		} else {
			let _this = this.p;
			let _this1 = _this.sizeVec3 == 0 ? new oimo.common.Vec3() : _this.stackVec3[--_this.sizeVec3];
			_this1.x = ex.x;
			_this1.y = ex.y;
			_this1.z = ex.z;
			let _this2 = _this1;
			_this2.x = -_this2.x;
			_this2.y = -_this2.y;
			_this2.z = -_this2.z;
			let _this3 = this.p;
			let _this4 = _this3.sizeVec3 == 0 ? new oimo.common.Vec3() : _this3.stackVec3[--_this3.sizeVec3];
			_this4.x = ey.x;
			_this4.y = ey.y;
			_this4.z = ey.z;
			let _this5 = _this4;
			_this5.x = -_this5.x;
			_this5.y = -_this5.y;
			_this5.z = -_this5.z;
			let _this6 = this.p;
			let _this8 = _this6.sizeVec3 == 0 ? new oimo.common.Vec3() : _this6.stackVec3[--_this6.sizeVec3];
			_this8.x = ez.x;
			_this8.y = ez.y;
			_this8.z = ez.z;
			let _this9 = _this8;
			_this9.x = -_this9.x;
			_this9.y = -_this9.y;
			_this9.z = -_this9.z;
			this.rect(_this7,_this10,_this16,_this13,_this2,_this2,_this2,_this2,color);
			this.rect(_this19,_this25,_this28,_this22,ex,ex,ex,ex,color);
			this.rect(_this7,_this19,_this22,_this10,_this5,_this5,_this5,_this5,color);
			this.rect(_this13,_this16,_this28,_this25,ey,ey,ey,ey,color);
			this.rect(_this7,_this13,_this25,_this19,_this9,_this9,_this9,_this9,color);
			this.rect(_this10,_this22,_this28,_this16,ez,ez,ez,ez,color);
			let _this11 = this.p;
			if(_this2 != null) {
				_this2.zero();
				if(_this11.sizeVec3 == _this11.stackVec3.length) {
					let newArray = new Array(_this11.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this11.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this11.stackVec3[i];
						_this11.stackVec3[i] = null;
					}
					_this11.stackVec3 = newArray;
				}
				_this11.stackVec3[_this11.sizeVec3++] = _this2;
			}
			let _this12 = this.p;
			if(_this5 != null) {
				_this5.zero();
				if(_this12.sizeVec3 == _this12.stackVec3.length) {
					let newArray = new Array(_this12.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this12.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this12.stackVec3[i];
						_this12.stackVec3[i] = null;
					}
					_this12.stackVec3 = newArray;
				}
				_this12.stackVec3[_this12.sizeVec3++] = _this5;
			}
			let _this14 = this.p;
			if(_this9 != null) {
				_this9.zero();
				if(_this14.sizeVec3 == _this14.stackVec3.length) {
					let newArray = new Array(_this14.sizeVec3 << 1);
					let _g = 0;
					let _g1 = _this14.sizeVec3;
					while(_g < _g1) {
						let i = _g++;
						newArray[i] = _this14.stackVec3[i];
						_this14.stackVec3[i] = null;
					}
					_this14.stackVec3 = newArray;
				}
				_this14.stackVec3[_this14.sizeVec3++] = _this9;
			}
		}
		let _this29 = this.p;
		if(_this7 != null) {
			_this7.zero();
			if(_this29.sizeVec3 == _this29.stackVec3.length) {
				let newArray = new Array(_this29.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this29.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this29.stackVec3[i];
					_this29.stackVec3[i] = null;
				}
				_this29.stackVec3 = newArray;
			}
			_this29.stackVec3[_this29.sizeVec3++] = _this7;
		}
		let _this30 = this.p;
		if(_this10 != null) {
			_this10.zero();
			if(_this30.sizeVec3 == _this30.stackVec3.length) {
				let newArray = new Array(_this30.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this30.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this30.stackVec3[i];
					_this30.stackVec3[i] = null;
				}
				_this30.stackVec3 = newArray;
			}
			_this30.stackVec3[_this30.sizeVec3++] = _this10;
		}
		let _this31 = this.p;
		if(_this13 != null) {
			_this13.zero();
			if(_this31.sizeVec3 == _this31.stackVec3.length) {
				let newArray = new Array(_this31.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this31.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this31.stackVec3[i];
					_this31.stackVec3[i] = null;
				}
				_this31.stackVec3 = newArray;
			}
			_this31.stackVec3[_this31.sizeVec3++] = _this13;
		}
		let _this32 = this.p;
		if(_this16 != null) {
			_this16.zero();
			if(_this32.sizeVec3 == _this32.stackVec3.length) {
				let newArray = new Array(_this32.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this32.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this32.stackVec3[i];
					_this32.stackVec3[i] = null;
				}
				_this32.stackVec3 = newArray;
			}
			_this32.stackVec3[_this32.sizeVec3++] = _this16;
		}
		let _this33 = this.p;
		if(_this19 != null) {
			_this19.zero();
			if(_this33.sizeVec3 == _this33.stackVec3.length) {
				let newArray = new Array(_this33.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this33.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this33.stackVec3[i];
					_this33.stackVec3[i] = null;
				}
				_this33.stackVec3 = newArray;
			}
			_this33.stackVec3[_this33.sizeVec3++] = _this19;
		}
		let _this34 = this.p;
		if(_this22 != null) {
			_this22.zero();
			if(_this34.sizeVec3 == _this34.stackVec3.length) {
				let newArray = new Array(_this34.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this34.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this34.stackVec3[i];
					_this34.stackVec3[i] = null;
				}
				_this34.stackVec3 = newArray;
			}
			_this34.stackVec3[_this34.sizeVec3++] = _this22;
		}
		let _this35 = this.p;
		if(_this25 != null) {
			_this25.zero();
			if(_this35.sizeVec3 == _this35.stackVec3.length) {
				let newArray = new Array(_this35.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this35.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this35.stackVec3[i];
					_this35.stackVec3[i] = null;
				}
				_this35.stackVec3 = newArray;
			}
			_this35.stackVec3[_this35.sizeVec3++] = _this25;
		}
		let _this36 = this.p;
		if(_this28 != null) {
			_this28.zero();
			if(_this36.sizeVec3 == _this36.stackVec3.length) {
				let newArray = new Array(_this36.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this36.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this36.stackVec3[i];
					_this36.stackVec3[i] = null;
				}
				_this36.stackVec3 = newArray;
			}
			_this36.stackVec3[_this36.sizeVec3++] = _this28;
		}
		let _this37 = this.p;
		if(o != null) {
			o.zero();
			if(_this37.sizeVec3 == _this37.stackVec3.length) {
				let newArray = new Array(_this37.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this37.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this37.stackVec3[i];
					_this37.stackVec3[i] = null;
				}
				_this37.stackVec3 = newArray;
			}
			_this37.stackVec3[_this37.sizeVec3++] = o;
		}
		let _this38 = this.p;
		if(m != null) {
			m.e00 = 1;
			m.e01 = 0;
			m.e02 = 0;
			m.e10 = 0;
			m.e11 = 1;
			m.e12 = 0;
			m.e20 = 0;
			m.e21 = 0;
			m.e22 = 1;
			if(_this38.sizeMat3 == _this38.stackMat3.length) {
				let newArray = new Array(_this38.sizeMat3 << 1);
				let _g = 0;
				let _g1 = _this38.sizeMat3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this38.stackMat3[i];
					_this38.stackMat3[i] = null;
				}
				_this38.stackMat3 = newArray;
			}
			_this38.stackMat3[_this38.sizeMat3++] = m;
		}
		let _this39 = this.p;
		if(ex != null) {
			ex.zero();
			if(_this39.sizeVec3 == _this39.stackVec3.length) {
				let newArray = new Array(_this39.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this39.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this39.stackVec3[i];
					_this39.stackVec3[i] = null;
				}
				_this39.stackVec3 = newArray;
			}
			_this39.stackVec3[_this39.sizeVec3++] = ex;
		}
		let _this40 = this.p;
		if(ey != null) {
			ey.zero();
			if(_this40.sizeVec3 == _this40.stackVec3.length) {
				let newArray = new Array(_this40.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this40.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this40.stackVec3[i];
					_this40.stackVec3[i] = null;
				}
				_this40.stackVec3 = newArray;
			}
			_this40.stackVec3[_this40.sizeVec3++] = ey;
		}
		let _this41 = this.p;
		if(ez != null) {
			ez.zero();
			if(_this41.sizeVec3 == _this41.stackVec3.length) {
				let newArray = new Array(_this41.sizeVec3 << 1);
				let _g = 0;
				let _g1 = _this41.sizeVec3;
				while(_g < _g1) {
					let i = _g++;
					newArray[i] = _this41.stackVec3[i];
					_this41.stackVec3[i] = null;
				}
				_this41.stackVec3 = newArray;
			}
			_this41.stackVec3[_this41.sizeVec3++] = ez;
		}
	}
	rect(v1,v2,v3,v4,n1,n2,n3,n4,color) {
		this.triangle(v1,v2,v3,n1,n2,n3,color);
		this.triangle(v1,v3,v4,n1,n3,n4,color);
	}
	point(v,color) {
	}
	triangle(v1,v2,v3,n1,n2,n3,color) {
	}
	line(v1,v2,color) {
	}
}
oimo.dynamics.common.DebugDrawStyle = class oimo_dynamics_common_DebugDrawStyle {
	constructor() {
		this.basisColorZ = new oimo.common.Vec3(0.0,0.0,1.0);
		this.basisColorY = new oimo.common.Vec3(0.0,1.0,0.0);
		this.basisColorX = new oimo.common.Vec3(1.0,0.0,0.0);
		this.basisLength = 0.5;
		this.jointRotationalConstraintRadius = 0.3;
		this.jointErrorColor = new oimo.common.Vec3(1.0,0.1,0.1);
		this.jointLineColor = new oimo.common.Vec3(0.8,0.8,0.8);
		this.contactBinormalLength = 0.5;
		this.contactTangentLength = 0.5;
		this.contactNormalLength = 0.5;
		this.contactBinormalColor = new oimo.common.Vec3(0.2,0.2,1.0);
		this.contactTangentColor = new oimo.common.Vec3(0.1,0.8,0.1);
		this.contactNormalColor = new oimo.common.Vec3(1.0,0.1,0.1);
		this.disabledContactColor = new oimo.common.Vec3(0.5,0.1,0.1);
		this.newContactColor = new oimo.common.Vec3(1.0,1.0,0.1);
		this.contactColor4 = new oimo.common.Vec3(0.8,0.1,1.0);
		this.contactColor3 = new oimo.common.Vec3(0.1,0.8,0.6);
		this.contactColor2 = new oimo.common.Vec3(1.0,0.6,0.1);
		this.contactColor = new oimo.common.Vec3(1.0,0.1,0.1);
		this.pairColor = new oimo.common.Vec3(1.0,1.0,0.1);
		this.bvhNodeColor = new oimo.common.Vec3(0.4,0.4,0.4);
		this.aabbColor = new oimo.common.Vec3(1.0,0.1,0.1);
		this.kinematicShapeColor = new oimo.common.Vec3(1.0,0.5,0.1);
		this.staticShapeColor = new oimo.common.Vec3(0.7,0.7,0.7);
		this.sleepingShapeColor2 = new oimo.common.Vec3(0.2,0.8,0.5);
		this.sleepingShapeColor1 = new oimo.common.Vec3(0.3,0.3,0.8);
		this.sleepyShapeColor2 = new oimo.common.Vec3(0.6,0.8,0.3);
		this.sleepyShapeColor1 = new oimo.common.Vec3(0.5,0.25,0.6);
		this.shapeColor2 = new oimo.common.Vec3(1.0,0.8,0.1);
		this.shapeColor1 = new oimo.common.Vec3(0.7,0.2,0.4);
	}
}
oimo.dynamics.common.Performance = class oimo_dynamics_common_Performance {
}
if(!oimo.dynamics.constraint) oimo.dynamics.constraint = {};
oimo.dynamics.constraint.ConstraintSolver = class oimo_dynamics_constraint_ConstraintSolver {
	constructor() {
		this._b1 = null;
		this._b2 = null;
		this._addedToIsland = false;
	}
	preSolveVelocity(timeStep) {
	}
	warmStart(timeStep) {
	}
	solveVelocity() {
	}
	postSolveVelocity(timeStep) {
	}
	preSolvePosition(timeStep) {
	}
	solvePositionSplitImpulse() {
	}
	solvePositionNgs(timeStep) {
	}
	postSolve() {
	}
}
oimo.dynamics.constraint.PositionCorrectionAlgorithm = class oimo_dynamics_constraint_PositionCorrectionAlgorithm {
}
if(!oimo.dynamics.constraint.contact) oimo.dynamics.constraint.contact = {};
oimo.dynamics.constraint.contact.ContactConstraint = class oimo_dynamics_constraint_contact_ContactConstraint {
	constructor(manifold) {
		this._solver = new oimo.dynamics.constraint.solver.pgs.PgsContactConstraintSolver(this);
		this._manifold = manifold;
	}
	_getVelocitySolverInfo(timeStep,info) {
		info.b1 = this._b1;
		info.b2 = this._b2;
		let normalX;
		let normalY;
		let normalZ;
		let tangentX;
		let tangentY;
		let tangentZ;
		let binormalX;
		let binormalY;
		let binormalZ;
		normalX = this._manifold._normalX;
		normalY = this._manifold._normalY;
		normalZ = this._manifold._normalZ;
		tangentX = this._manifold._tangentX;
		tangentY = this._manifold._tangentY;
		tangentZ = this._manifold._tangentZ;
		binormalX = this._manifold._binormalX;
		binormalY = this._manifold._binormalY;
		binormalZ = this._manifold._binormalZ;
		let friction = Math.sqrt(this._s1._friction * this._s2._friction);
		let restitution = Math.sqrt(this._s1._restitution * this._s2._restitution);
		let num = this._manifold._numPoints;
		info.numRows = 0;
		let _g = 0;
		while(_g < num) {
			let p = this._manifold._points[_g++];
			if(p._depth < 0) {
				p._disabled = true;
				let _this = p._impulse;
				_this.impulseN = 0;
				_this.impulseT = 0;
				_this.impulseB = 0;
				_this.impulseP = 0;
				_this.impulseLX = 0;
				_this.impulseLY = 0;
				_this.impulseLZ = 0;
				continue;
			} else {
				p._disabled = false;
			}
			let row = info.rows[info.numRows++];
			row.friction = friction;
			row.cfm = 0;
			let j = row.jacobianN;
			j.lin1X = normalX;
			j.lin1Y = normalY;
			j.lin1Z = normalZ;
			j.lin2X = normalX;
			j.lin2Y = normalY;
			j.lin2Z = normalZ;
			j.ang1X = p._relPos1Y * normalZ - p._relPos1Z * normalY;
			j.ang1Y = p._relPos1Z * normalX - p._relPos1X * normalZ;
			j.ang1Z = p._relPos1X * normalY - p._relPos1Y * normalX;
			j.ang2X = p._relPos2Y * normalZ - p._relPos2Z * normalY;
			j.ang2Y = p._relPos2Z * normalX - p._relPos2X * normalZ;
			j.ang2Z = p._relPos2X * normalY - p._relPos2Y * normalX;
			j = row.jacobianT;
			j.lin1X = tangentX;
			j.lin1Y = tangentY;
			j.lin1Z = tangentZ;
			j.lin2X = tangentX;
			j.lin2Y = tangentY;
			j.lin2Z = tangentZ;
			j.ang1X = p._relPos1Y * tangentZ - p._relPos1Z * tangentY;
			j.ang1Y = p._relPos1Z * tangentX - p._relPos1X * tangentZ;
			j.ang1Z = p._relPos1X * tangentY - p._relPos1Y * tangentX;
			j.ang2X = p._relPos2Y * tangentZ - p._relPos2Z * tangentY;
			j.ang2Y = p._relPos2Z * tangentX - p._relPos2X * tangentZ;
			j.ang2Z = p._relPos2X * tangentY - p._relPos2Y * tangentX;
			j = row.jacobianB;
			j.lin1X = binormalX;
			j.lin1Y = binormalY;
			j.lin1Z = binormalZ;
			j.lin2X = binormalX;
			j.lin2Y = binormalY;
			j.lin2Z = binormalZ;
			j.ang1X = p._relPos1Y * binormalZ - p._relPos1Z * binormalY;
			j.ang1Y = p._relPos1Z * binormalX - p._relPos1X * binormalZ;
			j.ang1Z = p._relPos1X * binormalY - p._relPos1Y * binormalX;
			j.ang2X = p._relPos2Y * binormalZ - p._relPos2Z * binormalY;
			j.ang2Y = p._relPos2Z * binormalX - p._relPos2X * binormalZ;
			j.ang2Z = p._relPos2X * binormalY - p._relPos2Y * binormalX;
			j = row.jacobianN;
			let rvn = j.lin1X * this._b1._velX + j.lin1Y * this._b1._velY + j.lin1Z * this._b1._velZ + (j.ang1X * this._b1._angVelX + j.ang1Y * this._b1._angVelY + j.ang1Z * this._b1._angVelZ) - (j.lin2X * this._b2._velX + j.lin2Y * this._b2._velY + j.lin2Z * this._b2._velZ + (j.ang2X * this._b2._angVelX + j.ang2Y * this._b2._angVelY + j.ang2Z * this._b2._angVelZ));
			if(rvn < -oimo.common.Setting.contactEnableBounceThreshold && !p._warmStarted) {
				row.rhs = -rvn * restitution;
			} else {
				row.rhs = 0;
			}
			if(this._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE) {
				if(p._depth > oimo.common.Setting.linearSlop) {
					let minRhs = (p._depth - oimo.common.Setting.linearSlop) * oimo.common.Setting.velocityBaumgarte * timeStep.invDt;
					if(row.rhs < minRhs) {
						row.rhs = minRhs;
					}
				}
			}
			if(!p._warmStarted) {
				let _this = p._impulse;
				_this.impulseN = 0;
				_this.impulseT = 0;
				_this.impulseB = 0;
				_this.impulseP = 0;
				_this.impulseLX = 0;
				_this.impulseLY = 0;
				_this.impulseLZ = 0;
			}
			row.impulse = p._impulse;
		}
	}
	_getPositionSolverInfo(info) {
		info.b1 = this._b1;
		info.b2 = this._b2;
		let normalX;
		let normalY;
		let normalZ;
		normalX = this._manifold._normalX;
		normalY = this._manifold._normalY;
		normalZ = this._manifold._normalZ;
		let num = this._manifold._numPoints;
		info.numRows = 0;
		let _g = 0;
		while(_g < num) {
			let p = this._manifold._points[_g++];
			if(p._disabled) {
				continue;
			}
			let row = info.rows[info.numRows++];
			let j = row.jacobianN;
			j.lin1X = normalX;
			j.lin1Y = normalY;
			j.lin1Z = normalZ;
			j.lin2X = normalX;
			j.lin2Y = normalY;
			j.lin2Z = normalZ;
			j.ang1X = p._relPos1Y * normalZ - p._relPos1Z * normalY;
			j.ang1Y = p._relPos1Z * normalX - p._relPos1X * normalZ;
			j.ang1Z = p._relPos1X * normalY - p._relPos1Y * normalX;
			j.ang2X = p._relPos2Y * normalZ - p._relPos2Z * normalY;
			j.ang2Y = p._relPos2Z * normalX - p._relPos2X * normalZ;
			j.ang2Z = p._relPos2X * normalY - p._relPos2Y * normalX;
			row.rhs = p._depth - oimo.common.Setting.linearSlop;
			if(row.rhs < 0) {
				row.rhs = 0;
			}
			row.impulse = p._impulse;
		}
	}
	_syncManifold() {
		this._manifold._updateDepthsAndPositions(this._tf1,this._tf2);
	}
	getShape1() {
		return this._s1;
	}
	getShape2() {
		return this._s2;
	}
	getManifold() {
		return this._manifold;
	}
	isTouching() {
		let _g = 0;
		let _g1 = this._manifold._numPoints;
		while(_g < _g1) if(this._manifold._points[_g++]._depth >= 0) {
			return true;
		}
		return false;
	}
}
oimo.dynamics.constraint.contact.ContactImpulse = class oimo_dynamics_constraint_contact_ContactImpulse {
	constructor() {
		this.impulseN = 0;
		this.impulseT = 0;
		this.impulseB = 0;
		this.impulseP = 0;
		this.impulseLX = 0;
		this.impulseLY = 0;
		this.impulseLZ = 0;
	}
	copyFrom(imp) {
		this.impulseN = imp.impulseN;
		this.impulseT = imp.impulseT;
		this.impulseB = imp.impulseB;
		this.impulseLX = imp.impulseLX;
		this.impulseLY = imp.impulseLY;
		this.impulseLZ = imp.impulseLZ;
	}
}
oimo.dynamics.constraint.contact.Manifold = class oimo_dynamics_constraint_contact_Manifold {
	constructor() {
		this._normalX = 0;
		this._normalY = 0;
		this._normalZ = 0;
		this._tangentX = 0;
		this._tangentY = 0;
		this._tangentZ = 0;
		this._binormalX = 0;
		this._binormalY = 0;
		this._binormalZ = 0;
		this._numPoints = 0;
		this._points = new Array(oimo.common.Setting.maxManifoldPoints);
		let _g = 0;
		let _g1 = oimo.common.Setting.maxManifoldPoints;
		while(_g < _g1) this._points[_g++] = new oimo.dynamics.constraint.contact.ManifoldPoint();
	}
	_clear() {
		let _g = 0;
		let _g1 = this._numPoints;
		while(_g < _g1) {
			let _this = this._points[_g++];
			_this._localPos1X = 0;
			_this._localPos1Y = 0;
			_this._localPos1Z = 0;
			_this._localPos2X = 0;
			_this._localPos2Y = 0;
			_this._localPos2Z = 0;
			_this._relPos1X = 0;
			_this._relPos1Y = 0;
			_this._relPos1Z = 0;
			_this._relPos2X = 0;
			_this._relPos2Y = 0;
			_this._relPos2Z = 0;
			_this._pos1X = 0;
			_this._pos1Y = 0;
			_this._pos1Z = 0;
			_this._pos2X = 0;
			_this._pos2Y = 0;
			_this._pos2Z = 0;
			_this._depth = 0;
			let _this1 = _this._impulse;
			_this1.impulseN = 0;
			_this1.impulseT = 0;
			_this1.impulseB = 0;
			_this1.impulseP = 0;
			_this1.impulseLX = 0;
			_this1.impulseLY = 0;
			_this1.impulseLZ = 0;
			_this._warmStarted = false;
			_this._disabled = false;
			_this._id = -1;
		}
		this._numPoints = 0;
	}
	_buildBasis(normal) {
		this._normalX = normal.x;
		this._normalY = normal.y;
		this._normalZ = normal.z;
		let nx = normal.x;
		let ny = normal.y;
		let nz = normal.z;
		let nx2 = nx * nx;
		let ny2 = ny * ny;
		let nz2 = nz * nz;
		let tx;
		let ty;
		let tz;
		let bx;
		let by;
		let bz;
		if(nx2 < ny2) {
			if(nx2 < nz2) {
				let invL = 1 / Math.sqrt(ny2 + nz2);
				tx = 0;
				ty = -nz * invL;
				tz = ny * invL;
				bx = ny * tz - nz * ty;
				by = -nx * tz;
				bz = nx * ty;
			} else {
				let invL = 1 / Math.sqrt(nx2 + ny2);
				tx = -ny * invL;
				ty = nx * invL;
				tz = 0;
				bx = -nz * ty;
				by = nz * tx;
				bz = nx * ty - ny * tx;
			}
		} else if(ny2 < nz2) {
			let invL = 1 / Math.sqrt(nx2 + nz2);
			tx = nz * invL;
			ty = 0;
			tz = -nx * invL;
			bx = ny * tz;
			by = nz * tx - nx * tz;
			bz = -ny * tx;
		} else {
			let invL = 1 / Math.sqrt(nx2 + ny2);
			tx = -ny * invL;
			ty = nx * invL;
			tz = 0;
			bx = -nz * ty;
			by = nz * tx;
			bz = nx * ty - ny * tx;
		}
		this._tangentX = tx;
		this._tangentY = ty;
		this._tangentZ = tz;
		this._binormalX = bx;
		this._binormalY = by;
		this._binormalZ = bz;
	}
	_updateDepthsAndPositions(tf1,tf2) {
		let _g = 0;
		let _g1 = this._numPoints;
		while(_g < _g1) {
			let p = this._points[_g++];
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * p._localPos1X + tf1._rotation01 * p._localPos1Y + tf1._rotation02 * p._localPos1Z;
			__tmp__Y = tf1._rotation10 * p._localPos1X + tf1._rotation11 * p._localPos1Y + tf1._rotation12 * p._localPos1Z;
			__tmp__Z = tf1._rotation20 * p._localPos1X + tf1._rotation21 * p._localPos1Y + tf1._rotation22 * p._localPos1Z;
			p._relPos1X = __tmp__X;
			p._relPos1Y = __tmp__Y;
			p._relPos1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * p._localPos2X + tf2._rotation01 * p._localPos2Y + tf2._rotation02 * p._localPos2Z;
			__tmp__Y1 = tf2._rotation10 * p._localPos2X + tf2._rotation11 * p._localPos2Y + tf2._rotation12 * p._localPos2Z;
			__tmp__Z1 = tf2._rotation20 * p._localPos2X + tf2._rotation21 * p._localPos2Y + tf2._rotation22 * p._localPos2Z;
			p._relPos2X = __tmp__X1;
			p._relPos2Y = __tmp__Y1;
			p._relPos2Z = __tmp__Z1;
			p._pos1X = p._relPos1X + tf1._positionX;
			p._pos1Y = p._relPos1Y + tf1._positionY;
			p._pos1Z = p._relPos1Z + tf1._positionZ;
			p._pos2X = p._relPos2X + tf2._positionX;
			p._pos2Y = p._relPos2Y + tf2._positionY;
			p._pos2Z = p._relPos2Z + tf2._positionZ;
			let diffX;
			let diffY;
			let diffZ;
			diffX = p._pos1X - p._pos2X;
			diffY = p._pos1Y - p._pos2Y;
			diffZ = p._pos1Z - p._pos2Z;
			p._depth = -(diffX * this._normalX + diffY * this._normalY + diffZ * this._normalZ);
		}
	}
	getNormal() {
		let v = new oimo.common.Vec3();
		v.x = this._normalX;
		v.y = this._normalY;
		v.z = this._normalZ;
		return v;
	}
	getNormalTo(normal) {
		normal.x = this._normalX;
		normal.y = this._normalY;
		normal.z = this._normalZ;
	}
	getTangent() {
		let v = new oimo.common.Vec3();
		v.x = this._tangentX;
		v.y = this._tangentY;
		v.z = this._tangentZ;
		return v;
	}
	getTangentTo(tangent) {
		tangent.x = this._tangentX;
		tangent.y = this._tangentY;
		tangent.z = this._tangentZ;
	}
	getBinormal() {
		let v = new oimo.common.Vec3();
		v.x = this._binormalX;
		v.y = this._binormalY;
		v.z = this._binormalZ;
		return v;
	}
	getBinormalTo(binormal) {
		binormal.x = this._binormalX;
		binormal.y = this._binormalY;
		binormal.z = this._binormalZ;
	}
	getPoints() {
		return this._points;
	}
	getNumPoints() {
		return this._numPoints;
	}
}
oimo.dynamics.constraint.contact.ManifoldPoint = class oimo_dynamics_constraint_contact_ManifoldPoint {
	constructor() {
		this._localPos1X = 0;
		this._localPos1Y = 0;
		this._localPos1Z = 0;
		this._localPos2X = 0;
		this._localPos2Y = 0;
		this._localPos2Z = 0;
		this._relPos1X = 0;
		this._relPos1Y = 0;
		this._relPos1Z = 0;
		this._relPos2X = 0;
		this._relPos2Y = 0;
		this._relPos2Z = 0;
		this._pos1X = 0;
		this._pos1Y = 0;
		this._pos1Z = 0;
		this._pos2X = 0;
		this._pos2Y = 0;
		this._pos2Z = 0;
		this._depth = 0;
		this._impulse = new oimo.dynamics.constraint.contact.ContactImpulse();
		this._warmStarted = false;
		this._disabled = false;
		this._id = -1;
	}
	getPosition1() {
		let v = new oimo.common.Vec3();
		v.x = this._pos1X;
		v.y = this._pos1Y;
		v.z = this._pos1Z;
		return v;
	}
	getPosition1To(position) {
		position.x = this._pos1X;
		position.y = this._pos1Y;
		position.z = this._pos1Z;
	}
	getPosition2() {
		let v = new oimo.common.Vec3();
		v.x = this._pos2X;
		v.y = this._pos2Y;
		v.z = this._pos2Z;
		return v;
	}
	getPosition2To(position) {
		position.x = this._pos2X;
		position.y = this._pos2Y;
		position.z = this._pos2Z;
	}
	getDepth() {
		return this._depth;
	}
	isWarmStarted() {
		return this._warmStarted;
	}
	getNormalImpulse() {
		return this._impulse.impulseN;
	}
	getTangentImpulse() {
		return this._impulse.impulseT;
	}
	getBinormalImpulse() {
		return this._impulse.impulseB;
	}
	isEnabled() {
		return !this._disabled;
	}
}
oimo.dynamics.constraint.contact.ManifoldUpdater = class oimo_dynamics_constraint_contact_ManifoldUpdater {
	constructor(manifold) {
		this._manifold = manifold;
		this.numOldPoints = 0;
		this.oldPoints = new Array(oimo.common.Setting.maxManifoldPoints);
		let _g = 0;
		let _g1 = oimo.common.Setting.maxManifoldPoints;
		while(_g < _g1) this.oldPoints[_g++] = new oimo.dynamics.constraint.contact.ManifoldPoint();
	}
	removeOutdatedPoints() {
		let index = this._manifold._numPoints;
		while(--index >= 0) {
			let p = this._manifold._points[index];
			let diffX;
			let diffY;
			let diffZ;
			diffX = p._pos1X - p._pos2X;
			diffY = p._pos1Y - p._pos2Y;
			diffZ = p._pos1Z - p._pos2Z;
			let dotN = this._manifold._normalX * diffX + this._manifold._normalY * diffY + this._manifold._normalZ * diffZ;
			if(dotN > oimo.common.Setting.contactPersistenceThreshold) {
				this.removeManifoldPoint(index);
				continue;
			}
			diffX += this._manifold._normalX * -dotN;
			diffY += this._manifold._normalY * -dotN;
			diffZ += this._manifold._normalZ * -dotN;
			if(diffX * diffX + diffY * diffY + diffZ * diffZ > oimo.common.Setting.contactPersistenceThreshold * oimo.common.Setting.contactPersistenceThreshold) {
				this.removeManifoldPoint(index);
				continue;
			}
		}
	}
	removeManifoldPoint(index) {
		let lastIndex = --this._manifold._numPoints;
		if(index != lastIndex) {
			let tmp = this._manifold._points[index];
			this._manifold._points[index] = this._manifold._points[lastIndex];
			this._manifold._points[lastIndex] = tmp;
		}
		let _this = this._manifold._points[lastIndex];
		_this._localPos1X = 0;
		_this._localPos1Y = 0;
		_this._localPos1Z = 0;
		_this._localPos2X = 0;
		_this._localPos2Y = 0;
		_this._localPos2Z = 0;
		_this._relPos1X = 0;
		_this._relPos1Y = 0;
		_this._relPos1Z = 0;
		_this._relPos2X = 0;
		_this._relPos2Y = 0;
		_this._relPos2Z = 0;
		_this._pos1X = 0;
		_this._pos1Y = 0;
		_this._pos1Z = 0;
		_this._pos2X = 0;
		_this._pos2Y = 0;
		_this._pos2Z = 0;
		_this._depth = 0;
		let _this1 = _this._impulse;
		_this1.impulseN = 0;
		_this1.impulseT = 0;
		_this1.impulseB = 0;
		_this1.impulseP = 0;
		_this1.impulseLX = 0;
		_this1.impulseLY = 0;
		_this1.impulseLZ = 0;
		_this._warmStarted = false;
		_this._disabled = false;
		_this._id = -1;
	}
	addManifoldPoint(point,tf1,tf2) {
		let num = this._manifold._numPoints;
		if(num == oimo.common.Setting.maxManifoldPoints) {
			let targetIndex = this.computeTargetIndex(point,tf1,tf2);
			let _this = this._manifold._points[targetIndex];
			let v = point.position1;
			_this._pos1X = v.x;
			_this._pos1Y = v.y;
			_this._pos1Z = v.z;
			let v1 = point.position2;
			_this._pos2X = v1.x;
			_this._pos2Y = v1.y;
			_this._pos2Z = v1.z;
			_this._relPos1X = _this._pos1X - tf1._positionX;
			_this._relPos1Y = _this._pos1Y - tf1._positionY;
			_this._relPos1Z = _this._pos1Z - tf1._positionZ;
			_this._relPos2X = _this._pos2X - tf2._positionX;
			_this._relPos2Y = _this._pos2Y - tf2._positionY;
			_this._relPos2Z = _this._pos2Z - tf2._positionZ;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * _this._relPos1X + tf1._rotation10 * _this._relPos1Y + tf1._rotation20 * _this._relPos1Z;
			__tmp__Y = tf1._rotation01 * _this._relPos1X + tf1._rotation11 * _this._relPos1Y + tf1._rotation21 * _this._relPos1Z;
			__tmp__Z = tf1._rotation02 * _this._relPos1X + tf1._rotation12 * _this._relPos1Y + tf1._rotation22 * _this._relPos1Z;
			_this._localPos1X = __tmp__X;
			_this._localPos1Y = __tmp__Y;
			_this._localPos1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * _this._relPos2X + tf2._rotation10 * _this._relPos2Y + tf2._rotation20 * _this._relPos2Z;
			__tmp__Y1 = tf2._rotation01 * _this._relPos2X + tf2._rotation11 * _this._relPos2Y + tf2._rotation21 * _this._relPos2Z;
			__tmp__Z1 = tf2._rotation02 * _this._relPos2X + tf2._rotation12 * _this._relPos2Y + tf2._rotation22 * _this._relPos2Z;
			_this._localPos2X = __tmp__X1;
			_this._localPos2Y = __tmp__Y1;
			_this._localPos2Z = __tmp__Z1;
			_this._depth = point.depth;
			let _this1 = _this._impulse;
			_this1.impulseN = 0;
			_this1.impulseT = 0;
			_this1.impulseB = 0;
			_this1.impulseP = 0;
			_this1.impulseLX = 0;
			_this1.impulseLY = 0;
			_this1.impulseLZ = 0;
			_this._id = point.id;
			_this._warmStarted = false;
			_this._disabled = false;
			return;
		}
		let _this = this._manifold._points[num];
		let v = point.position1;
		_this._pos1X = v.x;
		_this._pos1Y = v.y;
		_this._pos1Z = v.z;
		let v1 = point.position2;
		_this._pos2X = v1.x;
		_this._pos2Y = v1.y;
		_this._pos2Z = v1.z;
		_this._relPos1X = _this._pos1X - tf1._positionX;
		_this._relPos1Y = _this._pos1Y - tf1._positionY;
		_this._relPos1Z = _this._pos1Z - tf1._positionZ;
		_this._relPos2X = _this._pos2X - tf2._positionX;
		_this._relPos2Y = _this._pos2Y - tf2._positionY;
		_this._relPos2Z = _this._pos2Z - tf2._positionZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf1._rotation00 * _this._relPos1X + tf1._rotation10 * _this._relPos1Y + tf1._rotation20 * _this._relPos1Z;
		__tmp__Y = tf1._rotation01 * _this._relPos1X + tf1._rotation11 * _this._relPos1Y + tf1._rotation21 * _this._relPos1Z;
		__tmp__Z = tf1._rotation02 * _this._relPos1X + tf1._rotation12 * _this._relPos1Y + tf1._rotation22 * _this._relPos1Z;
		_this._localPos1X = __tmp__X;
		_this._localPos1Y = __tmp__Y;
		_this._localPos1Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = tf2._rotation00 * _this._relPos2X + tf2._rotation10 * _this._relPos2Y + tf2._rotation20 * _this._relPos2Z;
		__tmp__Y1 = tf2._rotation01 * _this._relPos2X + tf2._rotation11 * _this._relPos2Y + tf2._rotation21 * _this._relPos2Z;
		__tmp__Z1 = tf2._rotation02 * _this._relPos2X + tf2._rotation12 * _this._relPos2Y + tf2._rotation22 * _this._relPos2Z;
		_this._localPos2X = __tmp__X1;
		_this._localPos2Y = __tmp__Y1;
		_this._localPos2Z = __tmp__Z1;
		_this._depth = point.depth;
		let _this1 = _this._impulse;
		_this1.impulseN = 0;
		_this1.impulseT = 0;
		_this1.impulseB = 0;
		_this1.impulseP = 0;
		_this1.impulseLX = 0;
		_this1.impulseLY = 0;
		_this1.impulseLZ = 0;
		_this._id = point.id;
		_this._warmStarted = false;
		_this._disabled = false;
		this._manifold._numPoints++;
	}
	computeTargetIndex(newPoint,tf1,tf2) {
		let p1 = this._manifold._points[0];
		let p2 = this._manifold._points[1];
		let p3 = this._manifold._points[2];
		let p4 = this._manifold._points[3];
		let maxDepth = p1._depth;
		let maxDepthIndex = 0;
		if(p2._depth > maxDepth) {
			maxDepth = p2._depth;
			maxDepthIndex = 1;
		}
		if(p3._depth > maxDepth) {
			maxDepth = p3._depth;
			maxDepthIndex = 2;
		}
		if(p4._depth > maxDepth) {

			maxDepthIndex = 3;
		}
		let rp1X;
		let rp1Y;
		let rp1Z;
		let v = newPoint.position1;
		rp1X = v.x;
		rp1Y = v.y;
		rp1Z = v.z;
		rp1X -= tf1._positionX;
		rp1Y -= tf1._positionY;
		rp1Z -= tf1._positionZ;
		let p1X = p2._relPos1X;
		let p1Y = p2._relPos1Y;
		let p1Z = p2._relPos1Z;
		let p2X = p3._relPos1X;
		let p2Y = p3._relPos1Y;
		let p2Z = p3._relPos1Z;
		let p3X = p4._relPos1X;
		let p3Y = p4._relPos1Y;
		let p3Z = p4._relPos1Z;
		let v12X;
		let v12Y;
		let v12Z;
		let v34X;
		let v34Y;
		let v34Z;
		let v13X;
		let v13Y;
		let v13Z;
		let v24X;
		let v24Y;
		let v24Z;
		let v14X;
		let v14Y;
		let v14Z;
		let v23X;
		let v23Y;
		let v23Z;
		v12X = p2X - p1X;
		v12Y = p2Y - p1Y;
		v12Z = p2Z - p1Z;
		v34X = rp1X - p3X;
		v34Y = rp1Y - p3Y;
		v34Z = rp1Z - p3Z;
		v13X = p3X - p1X;
		v13Y = p3Y - p1Y;
		v13Z = p3Z - p1Z;
		v24X = rp1X - p2X;
		v24Y = rp1Y - p2Y;
		v24Z = rp1Z - p2Z;
		v14X = rp1X - p1X;
		v14Y = rp1Y - p1Y;
		v14Z = rp1Z - p1Z;
		v23X = p3X - p2X;
		v23Y = p3Y - p2Y;
		v23Z = p3Z - p2Z;
		let cross1X;
		let cross1Y;
		let cross1Z;
		let cross2X;
		let cross2Y;
		let cross2Z;
		let cross3X;
		let cross3Y;
		let cross3Z;
		cross1X = v12Y * v34Z - v12Z * v34Y;
		cross1Y = v12Z * v34X - v12X * v34Z;
		cross1Z = v12X * v34Y - v12Y * v34X;
		cross2X = v13Y * v24Z - v13Z * v24Y;
		cross2Y = v13Z * v24X - v13X * v24Z;
		cross2Z = v13X * v24Y - v13Y * v24X;
		cross3X = v14Y * v23Z - v14Z * v23Y;
		cross3Y = v14Z * v23X - v14X * v23Z;
		cross3Z = v14X * v23Y - v14Y * v23X;
		let a1 = cross1X * cross1X + cross1Y * cross1Y + cross1Z * cross1Z;
		let a2 = cross2X * cross2X + cross2Y * cross2Y + cross2Z * cross2Z;
		let a3 = cross3X * cross3X + cross3Y * cross3Y + cross3Z * cross3Z;
		let p1X1 = p1._relPos1X;
		let p1Y1 = p1._relPos1Y;
		let p1Z1 = p1._relPos1Z;
		let p2X1 = p3._relPos1X;
		let p2Y1 = p3._relPos1Y;
		let p2Z1 = p3._relPos1Z;
		let p3X1 = p4._relPos1X;
		let p3Y1 = p4._relPos1Y;
		let p3Z1 = p4._relPos1Z;
		let v12X1;
		let v12Y1;
		let v12Z1;
		let v34X1;
		let v34Y1;
		let v34Z1;
		let v13X1;
		let v13Y1;
		let v13Z1;
		let v24X1;
		let v24Y1;
		let v24Z1;
		let v14X1;
		let v14Y1;
		let v14Z1;
		let v23X1;
		let v23Y1;
		let v23Z1;
		v12X1 = p2X1 - p1X1;
		v12Y1 = p2Y1 - p1Y1;
		v12Z1 = p2Z1 - p1Z1;
		v34X1 = rp1X - p3X1;
		v34Y1 = rp1Y - p3Y1;
		v34Z1 = rp1Z - p3Z1;
		v13X1 = p3X1 - p1X1;
		v13Y1 = p3Y1 - p1Y1;
		v13Z1 = p3Z1 - p1Z1;
		v24X1 = rp1X - p2X1;
		v24Y1 = rp1Y - p2Y1;
		v24Z1 = rp1Z - p2Z1;
		v14X1 = rp1X - p1X1;
		v14Y1 = rp1Y - p1Y1;
		v14Z1 = rp1Z - p1Z1;
		v23X1 = p3X1 - p2X1;
		v23Y1 = p3Y1 - p2Y1;
		v23Z1 = p3Z1 - p2Z1;
		let cross1X1;
		let cross1Y1;
		let cross1Z1;
		let cross2X1;
		let cross2Y1;
		let cross2Z1;
		let cross3X1;
		let cross3Y1;
		let cross3Z1;
		cross1X1 = v12Y1 * v34Z1 - v12Z1 * v34Y1;
		cross1Y1 = v12Z1 * v34X1 - v12X1 * v34Z1;
		cross1Z1 = v12X1 * v34Y1 - v12Y1 * v34X1;
		cross2X1 = v13Y1 * v24Z1 - v13Z1 * v24Y1;
		cross2Y1 = v13Z1 * v24X1 - v13X1 * v24Z1;
		cross2Z1 = v13X1 * v24Y1 - v13Y1 * v24X1;
		cross3X1 = v14Y1 * v23Z1 - v14Z1 * v23Y1;
		cross3Y1 = v14Z1 * v23X1 - v14X1 * v23Z1;
		cross3Z1 = v14X1 * v23Y1 - v14Y1 * v23X1;
		let a11 = cross1X1 * cross1X1 + cross1Y1 * cross1Y1 + cross1Z1 * cross1Z1;
		let a21 = cross2X1 * cross2X1 + cross2Y1 * cross2Y1 + cross2Z1 * cross2Z1;
		let a31 = cross3X1 * cross3X1 + cross3Y1 * cross3Y1 + cross3Z1 * cross3Z1;
		let a22 = a11 > a21 ? a11 > a31 ? a11 : a31 : a21 > a31 ? a21 : a31;
		let p1X2 = p1._relPos1X;
		let p1Y2 = p1._relPos1Y;
		let p1Z2 = p1._relPos1Z;
		let p2X2 = p2._relPos1X;
		let p2Y2 = p2._relPos1Y;
		let p2Z2 = p2._relPos1Z;
		let p3X2 = p4._relPos1X;
		let p3Y2 = p4._relPos1Y;
		let p3Z2 = p4._relPos1Z;
		let v12X2;
		let v12Y2;
		let v12Z2;
		let v34X2;
		let v34Y2;
		let v34Z2;
		let v13X2;
		let v13Y2;
		let v13Z2;
		let v24X2;
		let v24Y2;
		let v24Z2;
		let v14X2;
		let v14Y2;
		let v14Z2;
		let v23X2;
		let v23Y2;
		let v23Z2;
		v12X2 = p2X2 - p1X2;
		v12Y2 = p2Y2 - p1Y2;
		v12Z2 = p2Z2 - p1Z2;
		v34X2 = rp1X - p3X2;
		v34Y2 = rp1Y - p3Y2;
		v34Z2 = rp1Z - p3Z2;
		v13X2 = p3X2 - p1X2;
		v13Y2 = p3Y2 - p1Y2;
		v13Z2 = p3Z2 - p1Z2;
		v24X2 = rp1X - p2X2;
		v24Y2 = rp1Y - p2Y2;
		v24Z2 = rp1Z - p2Z2;
		v14X2 = rp1X - p1X2;
		v14Y2 = rp1Y - p1Y2;
		v14Z2 = rp1Z - p1Z2;
		v23X2 = p3X2 - p2X2;
		v23Y2 = p3Y2 - p2Y2;
		v23Z2 = p3Z2 - p2Z2;
		let cross1X2;
		let cross1Y2;
		let cross1Z2;
		let cross2X2;
		let cross2Y2;
		let cross2Z2;
		let cross3X2;
		let cross3Y2;
		let cross3Z2;
		cross1X2 = v12Y2 * v34Z2 - v12Z2 * v34Y2;
		cross1Y2 = v12Z2 * v34X2 - v12X2 * v34Z2;
		cross1Z2 = v12X2 * v34Y2 - v12Y2 * v34X2;
		cross2X2 = v13Y2 * v24Z2 - v13Z2 * v24Y2;
		cross2Y2 = v13Z2 * v24X2 - v13X2 * v24Z2;
		cross2Z2 = v13X2 * v24Y2 - v13Y2 * v24X2;
		cross3X2 = v14Y2 * v23Z2 - v14Z2 * v23Y2;
		cross3Y2 = v14Z2 * v23X2 - v14X2 * v23Z2;
		cross3Z2 = v14X2 * v23Y2 - v14Y2 * v23X2;
		let a12 = cross1X2 * cross1X2 + cross1Y2 * cross1Y2 + cross1Z2 * cross1Z2;
		let a23 = cross2X2 * cross2X2 + cross2Y2 * cross2Y2 + cross2Z2 * cross2Z2;
		let a32 = cross3X2 * cross3X2 + cross3Y2 * cross3Y2 + cross3Z2 * cross3Z2;
		let a33 = a12 > a23 ? a12 > a32 ? a12 : a32 : a23 > a32 ? a23 : a32;
		let p1X3 = p1._relPos1X;
		let p1Y3 = p1._relPos1Y;
		let p1Z3 = p1._relPos1Z;
		let p2X3 = p2._relPos1X;
		let p2Y3 = p2._relPos1Y;
		let p2Z3 = p2._relPos1Z;
		let p3X3 = p3._relPos1X;
		let p3Y3 = p3._relPos1Y;
		let p3Z3 = p3._relPos1Z;
		let v12X3;
		let v12Y3;
		let v12Z3;
		let v34X3;
		let v34Y3;
		let v34Z3;
		let v13X3;
		let v13Y3;
		let v13Z3;
		let v24X3;
		let v24Y3;
		let v24Z3;
		let v14X3;
		let v14Y3;
		let v14Z3;
		let v23X3;
		let v23Y3;
		let v23Z3;
		v12X3 = p2X3 - p1X3;
		v12Y3 = p2Y3 - p1Y3;
		v12Z3 = p2Z3 - p1Z3;
		v34X3 = rp1X - p3X3;
		v34Y3 = rp1Y - p3Y3;
		v34Z3 = rp1Z - p3Z3;
		v13X3 = p3X3 - p1X3;
		v13Y3 = p3Y3 - p1Y3;
		v13Z3 = p3Z3 - p1Z3;
		v24X3 = rp1X - p2X3;
		v24Y3 = rp1Y - p2Y3;
		v24Z3 = rp1Z - p2Z3;
		v14X3 = rp1X - p1X3;
		v14Y3 = rp1Y - p1Y3;
		v14Z3 = rp1Z - p1Z3;
		v23X3 = p3X3 - p2X3;
		v23Y3 = p3Y3 - p2Y3;
		v23Z3 = p3Z3 - p2Z3;
		let cross1X3;
		let cross1Y3;
		let cross1Z3;
		let cross2X3;
		let cross2Y3;
		let cross2Z3;
		let cross3X3;
		let cross3Y3;
		let cross3Z3;
		cross1X3 = v12Y3 * v34Z3 - v12Z3 * v34Y3;
		cross1Y3 = v12Z3 * v34X3 - v12X3 * v34Z3;
		cross1Z3 = v12X3 * v34Y3 - v12Y3 * v34X3;
		cross2X3 = v13Y3 * v24Z3 - v13Z3 * v24Y3;
		cross2Y3 = v13Z3 * v24X3 - v13X3 * v24Z3;
		cross2Z3 = v13X3 * v24Y3 - v13Y3 * v24X3;
		cross3X3 = v14Y3 * v23Z3 - v14Z3 * v23Y3;
		cross3Y3 = v14Z3 * v23X3 - v14X3 * v23Z3;
		cross3Z3 = v14X3 * v23Y3 - v14Y3 * v23X3;
		let a13 = cross1X3 * cross1X3 + cross1Y3 * cross1Y3 + cross1Z3 * cross1Z3;
		let a24 = cross2X3 * cross2X3 + cross2Y3 * cross2Y3 + cross2Z3 * cross2Z3;
		let a34 = cross3X3 * cross3X3 + cross3Y3 * cross3Y3 + cross3Z3 * cross3Z3;
		let a4 = a13 > a24 ? a13 > a34 ? a13 : a34 : a24 > a34 ? a24 : a34;
		let max = a1 > a2 ? a1 > a3 ? a1 : a3 : a2 > a3 ? a2 : a3;
		let target = 0;
		if(a22 > max && maxDepthIndex != 1 || maxDepthIndex == 0) {
			max = a22;
			target = 1;
		}
		if(a33 > max && maxDepthIndex != 2) {
			max = a33;
			target = 2;
		}
		if(a4 > max && maxDepthIndex != 3) {

			target = 3;
		}
		return target;
	}
	computeRelativePositions(tf1,tf2) {
		let num = this._manifold._numPoints;
		let _g = 0;
		while(_g < num) {
			let p = this._manifold._points[_g++];
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * p._localPos1X + tf1._rotation01 * p._localPos1Y + tf1._rotation02 * p._localPos1Z;
			__tmp__Y = tf1._rotation10 * p._localPos1X + tf1._rotation11 * p._localPos1Y + tf1._rotation12 * p._localPos1Z;
			__tmp__Z = tf1._rotation20 * p._localPos1X + tf1._rotation21 * p._localPos1Y + tf1._rotation22 * p._localPos1Z;
			p._relPos1X = __tmp__X;
			p._relPos1Y = __tmp__Y;
			p._relPos1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * p._localPos2X + tf2._rotation01 * p._localPos2Y + tf2._rotation02 * p._localPos2Z;
			__tmp__Y1 = tf2._rotation10 * p._localPos2X + tf2._rotation11 * p._localPos2Y + tf2._rotation12 * p._localPos2Z;
			__tmp__Z1 = tf2._rotation20 * p._localPos2X + tf2._rotation21 * p._localPos2Y + tf2._rotation22 * p._localPos2Z;
			p._relPos2X = __tmp__X1;
			p._relPos2Y = __tmp__Y1;
			p._relPos2Z = __tmp__Z1;
			p._warmStarted = true;
		}
	}
	findNearestContactPointIndex(target,tf1,tf2) {
		let nearestSq = oimo.common.Setting.contactPersistenceThreshold * oimo.common.Setting.contactPersistenceThreshold;
		let idx = -1;
		let _g = 0;
		let _g1 = this._manifold._numPoints;
		while(_g < _g1) {
			let i = _g++;
			let mp = this._manifold._points[i];
			let rp1X;
			let rp1Y;
			let rp1Z;
			let rp2X;
			let rp2Y;
			let rp2Z;
			let v = target.position1;
			rp1X = v.x;
			rp1Y = v.y;
			rp1Z = v.z;
			let v1 = target.position2;
			rp2X = v1.x;
			rp2Y = v1.y;
			rp2Z = v1.z;
			rp1X -= tf1._positionX;
			rp1Y -= tf1._positionY;
			rp1Z -= tf1._positionZ;
			rp2X -= tf2._positionX;
			rp2Y -= tf2._positionY;
			rp2Z -= tf2._positionZ;
			let diff1X;
			let diff1Y;
			let diff1Z;
			let diff2X;
			let diff2Y;
			let diff2Z;
			diff1X = mp._relPos1X - rp1X;
			diff1Y = mp._relPos1Y - rp1Y;
			diff1Z = mp._relPos1Z - rp1Z;
			diff2X = mp._relPos2X - rp2X;
			diff2Y = mp._relPos2Y - rp2Y;
			diff2Z = mp._relPos2Z - rp2Z;
			let sq1 = diff1X * diff1X + diff1Y * diff1Y + diff1Z * diff1Z;
			let sq2 = diff2X * diff2X + diff2Y * diff2Y + diff2Z * diff2Z;
			let d = sq1 < sq2 ? sq1 : sq2;
			if(d < nearestSq) {
				nearestSq = d;
				idx = i;
			}
		}
		return idx;
	}
	totalUpdate(result,tf1,tf2) {
		this.numOldPoints = this._manifold._numPoints;
		let _g = 0;
		let _g1 = this.numOldPoints;
		while(_g < _g1) {
			let i = _g++;
			let _this = this.oldPoints[i];
			let cp = this._manifold._points[i];
			_this._localPos1X = cp._localPos1X;
			_this._localPos1Y = cp._localPos1Y;
			_this._localPos1Z = cp._localPos1Z;
			_this._localPos2X = cp._localPos2X;
			_this._localPos2Y = cp._localPos2Y;
			_this._localPos2Z = cp._localPos2Z;
			_this._relPos1X = cp._relPos1X;
			_this._relPos1Y = cp._relPos1Y;
			_this._relPos1Z = cp._relPos1Z;
			_this._relPos2X = cp._relPos2X;
			_this._relPos2Y = cp._relPos2Y;
			_this._relPos2Z = cp._relPos2Z;
			_this._pos1X = cp._pos1X;
			_this._pos1Y = cp._pos1Y;
			_this._pos1Z = cp._pos1Z;
			_this._pos2X = cp._pos2X;
			_this._pos2Y = cp._pos2Y;
			_this._pos2Z = cp._pos2Z;
			_this._depth = cp._depth;
			_this._impulse.copyFrom(cp._impulse);
			_this._id = cp._id;
			_this._warmStarted = cp._warmStarted;
			_this._disabled = false;
		}
		let num = result.numPoints;
		this._manifold._numPoints = num;
		let _g2 = 0;
		while(_g2 < num) {
			let i = _g2++;
			let p = this._manifold._points[i];
			let ref = result.points[i];
			let v = ref.position1;
			p._pos1X = v.x;
			p._pos1Y = v.y;
			p._pos1Z = v.z;
			let v1 = ref.position2;
			p._pos2X = v1.x;
			p._pos2Y = v1.y;
			p._pos2Z = v1.z;
			p._relPos1X = p._pos1X - tf1._positionX;
			p._relPos1Y = p._pos1Y - tf1._positionY;
			p._relPos1Z = p._pos1Z - tf1._positionZ;
			p._relPos2X = p._pos2X - tf2._positionX;
			p._relPos2Y = p._pos2Y - tf2._positionY;
			p._relPos2Z = p._pos2Z - tf2._positionZ;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * p._relPos1X + tf1._rotation10 * p._relPos1Y + tf1._rotation20 * p._relPos1Z;
			__tmp__Y = tf1._rotation01 * p._relPos1X + tf1._rotation11 * p._relPos1Y + tf1._rotation21 * p._relPos1Z;
			__tmp__Z = tf1._rotation02 * p._relPos1X + tf1._rotation12 * p._relPos1Y + tf1._rotation22 * p._relPos1Z;
			p._localPos1X = __tmp__X;
			p._localPos1Y = __tmp__Y;
			p._localPos1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * p._relPos2X + tf2._rotation10 * p._relPos2Y + tf2._rotation20 * p._relPos2Z;
			__tmp__Y1 = tf2._rotation01 * p._relPos2X + tf2._rotation11 * p._relPos2Y + tf2._rotation21 * p._relPos2Z;
			__tmp__Z1 = tf2._rotation02 * p._relPos2X + tf2._rotation12 * p._relPos2Y + tf2._rotation22 * p._relPos2Z;
			p._localPos2X = __tmp__X1;
			p._localPos2Y = __tmp__Y1;
			p._localPos2Z = __tmp__Z1;
			p._depth = ref.depth;
			let _this = p._impulse;
			_this.impulseN = 0;
			_this.impulseT = 0;
			_this.impulseB = 0;
			_this.impulseP = 0;
			_this.impulseLX = 0;
			_this.impulseLY = 0;
			_this.impulseLZ = 0;
			p._id = ref.id;
			p._warmStarted = false;
			p._disabled = false;
			let _g = 0;
			let _g1 = this.numOldPoints;
			while(_g < _g1) {
				let ocp = this.oldPoints[_g++];
				if(p._id == ocp._id) {
					p._impulse.copyFrom(ocp._impulse);
					p._warmStarted = true;
					break;
				}
			}
		}
	}
	incrementalUpdate(result,tf1,tf2) {
		this._manifold._updateDepthsAndPositions(tf1,tf2);
		let _g = 0;
		let _g1 = this._manifold._numPoints;
		while(_g < _g1) this._manifold._points[_g++]._warmStarted = true;
		let newPoint = result.points[0];
		let index = this.findNearestContactPointIndex(newPoint,tf1,tf2);
		if(index == -1) {
			this.addManifoldPoint(newPoint,tf1,tf2);
		} else {
			let cp = this._manifold._points[index];
			let v = newPoint.position1;
			cp._pos1X = v.x;
			cp._pos1Y = v.y;
			cp._pos1Z = v.z;
			let v1 = newPoint.position2;
			cp._pos2X = v1.x;
			cp._pos2Y = v1.y;
			cp._pos2Z = v1.z;
			cp._relPos1X = cp._pos1X - tf1._positionX;
			cp._relPos1Y = cp._pos1Y - tf1._positionY;
			cp._relPos1Z = cp._pos1Z - tf1._positionZ;
			cp._relPos2X = cp._pos2X - tf2._positionX;
			cp._relPos2Y = cp._pos2Y - tf2._positionY;
			cp._relPos2Z = cp._pos2Z - tf2._positionZ;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * cp._relPos1X + tf1._rotation10 * cp._relPos1Y + tf1._rotation20 * cp._relPos1Z;
			__tmp__Y = tf1._rotation01 * cp._relPos1X + tf1._rotation11 * cp._relPos1Y + tf1._rotation21 * cp._relPos1Z;
			__tmp__Z = tf1._rotation02 * cp._relPos1X + tf1._rotation12 * cp._relPos1Y + tf1._rotation22 * cp._relPos1Z;
			cp._localPos1X = __tmp__X;
			cp._localPos1Y = __tmp__Y;
			cp._localPos1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * cp._relPos2X + tf2._rotation10 * cp._relPos2Y + tf2._rotation20 * cp._relPos2Z;
			__tmp__Y1 = tf2._rotation01 * cp._relPos2X + tf2._rotation11 * cp._relPos2Y + tf2._rotation21 * cp._relPos2Z;
			__tmp__Z1 = tf2._rotation02 * cp._relPos2X + tf2._rotation12 * cp._relPos2Y + tf2._rotation22 * cp._relPos2Z;
			cp._localPos2X = __tmp__X1;
			cp._localPos2Y = __tmp__Y1;
			cp._localPos2Z = __tmp__Z1;
			cp._depth = newPoint.depth;
		}
		this.removeOutdatedPoints();
	}
}
if(!oimo.dynamics.constraint.info) oimo.dynamics.constraint.info = {};
oimo.dynamics.constraint.info.JacobianRow = class oimo_dynamics_constraint_info_JacobianRow {
	constructor() {
		this.lin1X = 0;
		this.lin1Y = 0;
		this.lin1Z = 0;
		this.lin2X = 0;
		this.lin2Y = 0;
		this.lin2Z = 0;
		this.ang1X = 0;
		this.ang1Y = 0;
		this.ang1Z = 0;
		this.ang2X = 0;
		this.ang2Y = 0;
		this.ang2Z = 0;
		this.flag = 0;
	}
	updateSparsity() {
		this.flag = 0;
		if(!(this.lin1X == 0 && this.lin1Y == 0 && this.lin1Z == 0) || !(this.lin2X == 0 && this.lin2Y == 0 && this.lin2Z == 0)) {
			this.flag |= 1;
		}
		if(!(this.ang1X == 0 && this.ang1Y == 0 && this.ang1Z == 0) || !(this.ang2X == 0 && this.ang2Y == 0 && this.ang2Z == 0)) {
			this.flag |= 2;
		}
	}
}
if(!oimo.dynamics.constraint.info.contact) oimo.dynamics.constraint.info.contact = {};
oimo.dynamics.constraint.info.contact.ContactSolverInfo = class oimo_dynamics_constraint_info_contact_ContactSolverInfo {
	constructor() {
		this.b1 = null;
		this.b2 = null;
		this.numRows = 0;
		this.rows = new Array(oimo.common.Setting.maxManifoldPoints);
		let _g = 0;
		let _g1 = this.rows.length;
		while(_g < _g1) this.rows[_g++] = new oimo.dynamics.constraint.info.contact.ContactSolverInfoRow();
	}
}
oimo.dynamics.constraint.info.contact.ContactSolverInfoRow = class oimo_dynamics_constraint_info_contact_ContactSolverInfoRow {
	constructor() {
		this.jacobianN = new oimo.dynamics.constraint.info.JacobianRow();
		this.jacobianT = new oimo.dynamics.constraint.info.JacobianRow();
		this.jacobianB = new oimo.dynamics.constraint.info.JacobianRow();
		this.rhs = 0;
		this.cfm = 0;
		this.friction = 0;
		this.impulse = null;
	}
}
if(!oimo.dynamics.constraint.info.joint) oimo.dynamics.constraint.info.joint = {};
oimo.dynamics.constraint.info.joint.JointSolverInfo = class oimo_dynamics_constraint_info_joint_JointSolverInfo {
	constructor() {
		this.b1 = null;
		this.b2 = null;
		this.numRows = 0;
		this.rows = new Array(oimo.common.Setting.maxJacobianRows);
		let _g = 0;
		let _g1 = this.rows.length;
		while(_g < _g1) this.rows[_g++] = new oimo.dynamics.constraint.info.joint.JointSolverInfoRow();
	}
}
oimo.dynamics.constraint.info.joint.JointSolverInfoRow = class oimo_dynamics_constraint_info_joint_JointSolverInfoRow {
	constructor() {
		this.jacobian = new oimo.dynamics.constraint.info.JacobianRow();
		this.rhs = 0;
		this.cfm = 0;
		this.minImpulse = 0;
		this.maxImpulse = 0;
		this.motorSpeed = 0;
		this.motorMaxImpulse = 0;
		this.impulse = null;
	}
}
if(!oimo.dynamics.constraint.joint) oimo.dynamics.constraint.joint = {};
oimo.dynamics.constraint.joint.BasisTracker = class oimo_dynamics_constraint_joint_BasisTracker {
	constructor(joint) {
		this.joint = joint;
		this.xX = 0;
		this.xY = 0;
		this.xZ = 0;
		this.yX = 0;
		this.yY = 0;
		this.yZ = 0;
		this.zX = 0;
		this.zY = 0;
		this.zZ = 0;
	}
}
oimo.dynamics.constraint.joint.Joint = class oimo_dynamics_constraint_joint_Joint {
	constructor(config,type) {
		this._link1 = new oimo.dynamics.constraint.joint.JointLink(this);
		this._link2 = new oimo.dynamics.constraint.joint.JointLink(this);
		this._positionCorrectionAlgorithm = oimo.common.Setting.defaultJointPositionCorrectionAlgorithm;
		this._type = type;
		this._world = null;
		this._b1 = config.rigidBody1;
		this._b2 = config.rigidBody2;
		this._allowCollision = config.allowCollision;
		this._breakForce = config.breakForce;
		this._breakTorque = config.breakTorque;
		switch(config.solverType) {
		case 0:
			this._solver = new oimo.dynamics.constraint.solver.pgs.PgsJointConstraintSolver(this);
			break;
		case 1:
			this._solver = new oimo.dynamics.constraint.solver.direct.DirectJointConstraintSolver(this);
			break;
		}
		let v = config.localAnchor1;
		this._localAnchor1X = v.x;
		this._localAnchor1Y = v.y;
		this._localAnchor1Z = v.z;
		let v1 = config.localAnchor2;
		this._localAnchor2X = v1.x;
		this._localAnchor2Y = v1.y;
		this._localAnchor2Z = v1.z;
		this._relativeAnchor1X = 0;
		this._relativeAnchor1Y = 0;
		this._relativeAnchor1Z = 0;
		this._relativeAnchor2X = 0;
		this._relativeAnchor2Y = 0;
		this._relativeAnchor2Z = 0;
		this._anchor1X = 0;
		this._anchor1Y = 0;
		this._anchor1Z = 0;
		this._anchor2X = 0;
		this._anchor2Y = 0;
		this._anchor2Z = 0;
		this._localBasisX1X = 0;
		this._localBasisX1Y = 0;
		this._localBasisX1Z = 0;
		this._localBasisY1X = 0;
		this._localBasisY1Y = 0;
		this._localBasisY1Z = 0;
		this._localBasisZ1X = 0;
		this._localBasisZ1Y = 0;
		this._localBasisZ1Z = 0;
		this._localBasisX2X = 0;
		this._localBasisX2Y = 0;
		this._localBasisX2Z = 0;
		this._localBasisY2X = 0;
		this._localBasisY2Y = 0;
		this._localBasisY2Z = 0;
		this._localBasisZ2X = 0;
		this._localBasisZ2Y = 0;
		this._localBasisZ2Z = 0;
		this._impulses = new Array(oimo.common.Setting.maxJacobianRows);
		let _g = 0;
		let _g1 = oimo.common.Setting.maxJacobianRows;
		while(_g < _g1) this._impulses[_g++] = new oimo.dynamics.constraint.joint.JointImpulse();
	}
	buildLocalBasesFromX() {
		if(this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
			this._localBasisX1X = 1;
			this._localBasisX1Y = 0;
			this._localBasisX1Z = 0;
		} else {
			let l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX1X *= l;
			this._localBasisX1Y *= l;
			this._localBasisX1Z *= l;
		}
		if(this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z == 0) {
			this._localBasisX2X = 1;
			this._localBasisX2Y = 0;
			this._localBasisX2Z = 0;
		} else {
			let l = this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX2X *= l;
			this._localBasisX2Y *= l;
			this._localBasisX2Z *= l;
		}
		let slerpQX;
		let slerpQY;
		let slerpQZ;
		let slerpQW;
		let slerpM00;
		let slerpM01;
		let slerpM02;
		let slerpM10;
		let slerpM11;
		let slerpM12;
		let slerpM20;
		let slerpM21;
		let slerpM22;
		let d = this._localBasisX1X * this._localBasisX2X + this._localBasisX1Y * this._localBasisX2Y + this._localBasisX1Z * this._localBasisX2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = this._localBasisX1X;
			let y1 = this._localBasisX1Y;
			let z1 = this._localBasisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			slerpQX = vX;
			slerpQY = vY;
			slerpQZ = vZ;
			slerpQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = this._localBasisX1Y * this._localBasisX2Z - this._localBasisX1Z * this._localBasisX2Y;
			cY = this._localBasisX1Z * this._localBasisX2X - this._localBasisX1X * this._localBasisX2Z;
			cZ = this._localBasisX1X * this._localBasisX2Y - this._localBasisX1Y * this._localBasisX2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			slerpQX = cX;
			slerpQY = cY;
			slerpQZ = cZ;
			slerpQW = w;
		}
		let x = slerpQX;
		let y = slerpQY;
		let z = slerpQZ;
		let w = slerpQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		slerpM00 = 1 - yy - zz;
		slerpM01 = xy - wz;
		slerpM02 = xz + wy;
		slerpM10 = xy + wz;
		slerpM11 = 1 - xx - zz;
		slerpM12 = yz - wx;
		slerpM20 = xz - wy;
		slerpM21 = yz + wx;
		slerpM22 = 1 - xx - yy;
		let x1 = this._localBasisX1X;
		let y1 = this._localBasisX1Y;
		let z1 = this._localBasisX1Z;
		let x21 = x1 * x1;
		let y21 = y1 * y1;
		let z21 = z1 * z1;
		let d1;
		if(x21 < y21) {
			if(x21 < z21) {
				d1 = 1 / Math.sqrt(y21 + z21);
				this._localBasisY1X = 0;
				this._localBasisY1Y = z1 * d1;
				this._localBasisY1Z = -y1 * d1;
			} else {
				d1 = 1 / Math.sqrt(x21 + y21);
				this._localBasisY1X = y1 * d1;
				this._localBasisY1Y = -x1 * d1;
				this._localBasisY1Z = 0;
			}
		} else if(y21 < z21) {
			d1 = 1 / Math.sqrt(z21 + x21);
			this._localBasisY1X = -z1 * d1;
			this._localBasisY1Y = 0;
			this._localBasisY1Z = x1 * d1;
		} else {
			d1 = 1 / Math.sqrt(x21 + y21);
			this._localBasisY1X = y1 * d1;
			this._localBasisY1Y = -x1 * d1;
			this._localBasisY1Z = 0;
		}
		this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
		this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
		this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = slerpM00 * this._localBasisX1X + slerpM01 * this._localBasisX1Y + slerpM02 * this._localBasisX1Z;
		__tmp__Y = slerpM10 * this._localBasisX1X + slerpM11 * this._localBasisX1Y + slerpM12 * this._localBasisX1Z;
		__tmp__Z = slerpM20 * this._localBasisX1X + slerpM21 * this._localBasisX1Y + slerpM22 * this._localBasisX1Z;
		this._localBasisX2X = __tmp__X;
		this._localBasisX2Y = __tmp__Y;
		this._localBasisX2Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = slerpM00 * this._localBasisY1X + slerpM01 * this._localBasisY1Y + slerpM02 * this._localBasisY1Z;
		__tmp__Y1 = slerpM10 * this._localBasisY1X + slerpM11 * this._localBasisY1Y + slerpM12 * this._localBasisY1Z;
		__tmp__Z1 = slerpM20 * this._localBasisY1X + slerpM21 * this._localBasisY1Y + slerpM22 * this._localBasisY1Z;
		this._localBasisY2X = __tmp__X1;
		this._localBasisY2Y = __tmp__Y1;
		this._localBasisY2Z = __tmp__Z1;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = slerpM00 * this._localBasisZ1X + slerpM01 * this._localBasisZ1Y + slerpM02 * this._localBasisZ1Z;
		__tmp__Y2 = slerpM10 * this._localBasisZ1X + slerpM11 * this._localBasisZ1Y + slerpM12 * this._localBasisZ1Z;
		__tmp__Z2 = slerpM20 * this._localBasisZ1X + slerpM21 * this._localBasisZ1Y + slerpM22 * this._localBasisZ1Z;
		this._localBasisZ2X = __tmp__X2;
		this._localBasisZ2Y = __tmp__Y2;
		this._localBasisZ2Z = __tmp__Z2;
	}
	buildLocalBasesFromXY() {
		if(this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
			this._localBasisX1X = 1;
			this._localBasisX1Y = 0;
			this._localBasisX1Z = 0;
		} else {
			let l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX1X *= l;
			this._localBasisX1Y *= l;
			this._localBasisX1Z *= l;
		}
		if(this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z == 0) {
			this._localBasisX2X = 1;
			this._localBasisX2Y = 0;
			this._localBasisX2Z = 0;
		} else {
			let l = this._localBasisX2X * this._localBasisX2X + this._localBasisX2Y * this._localBasisX2Y + this._localBasisX2Z * this._localBasisX2Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX2X *= l;
			this._localBasisX2Y *= l;
			this._localBasisX2Z *= l;
		}
		this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
		this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
		this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
		this._localBasisZ2X = this._localBasisX2Y * this._localBasisY2Z - this._localBasisX2Z * this._localBasisY2Y;
		this._localBasisZ2Y = this._localBasisX2Z * this._localBasisY2X - this._localBasisX2X * this._localBasisY2Z;
		this._localBasisZ2Z = this._localBasisX2X * this._localBasisY2Y - this._localBasisX2Y * this._localBasisY2X;
		if(this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z == 0) {
			let x1 = this._localBasisX1X;
			let y1 = this._localBasisX1Y;
			let z1 = this._localBasisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					this._localBasisY1X = 0;
					this._localBasisY1Y = z1 * d;
					this._localBasisY1Z = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					this._localBasisY1X = y1 * d;
					this._localBasisY1Y = -x1 * d;
					this._localBasisY1Z = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				this._localBasisY1X = -z1 * d;
				this._localBasisY1Y = 0;
				this._localBasisY1Z = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				this._localBasisY1X = y1 * d;
				this._localBasisY1Y = -x1 * d;
				this._localBasisY1Z = 0;
			}
			this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
			this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
			this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
		} else {
			let l = this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisZ1X *= l;
			this._localBasisZ1Y *= l;
			this._localBasisZ1Z *= l;
			this._localBasisY1X = this._localBasisZ1Y * this._localBasisX1Z - this._localBasisZ1Z * this._localBasisX1Y;
			this._localBasisY1Y = this._localBasisZ1Z * this._localBasisX1X - this._localBasisZ1X * this._localBasisX1Z;
			this._localBasisY1Z = this._localBasisZ1X * this._localBasisX1Y - this._localBasisZ1Y * this._localBasisX1X;
		}
		if(this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z == 0) {
			let x1 = this._localBasisX2X;
			let y1 = this._localBasisX2Y;
			let z1 = this._localBasisX2Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					this._localBasisY2X = 0;
					this._localBasisY2Y = z1 * d;
					this._localBasisY2Z = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					this._localBasisY2X = y1 * d;
					this._localBasisY2Y = -x1 * d;
					this._localBasisY2Z = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				this._localBasisY2X = -z1 * d;
				this._localBasisY2Y = 0;
				this._localBasisY2Z = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				this._localBasisY2X = y1 * d;
				this._localBasisY2Y = -x1 * d;
				this._localBasisY2Z = 0;
			}
			this._localBasisZ2X = this._localBasisX2Y * this._localBasisY2Z - this._localBasisX2Z * this._localBasisY2Y;
			this._localBasisZ2Y = this._localBasisX2Z * this._localBasisY2X - this._localBasisX2X * this._localBasisY2Z;
			this._localBasisZ2Z = this._localBasisX2X * this._localBasisY2Y - this._localBasisX2Y * this._localBasisY2X;
		} else {
			let l = this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisZ2X *= l;
			this._localBasisZ2Y *= l;
			this._localBasisZ2Z *= l;
			this._localBasisY2X = this._localBasisZ2Y * this._localBasisX2Z - this._localBasisZ2Z * this._localBasisX2Y;
			this._localBasisY2Y = this._localBasisZ2Z * this._localBasisX2X - this._localBasisZ2X * this._localBasisX2Z;
			this._localBasisY2Z = this._localBasisZ2X * this._localBasisX2Y - this._localBasisZ2Y * this._localBasisX2X;
		}
	}
	buildLocalBasesFromX1Z2() {
		if(this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
			this._localBasisX1X = 1;
			this._localBasisX1Y = 0;
			this._localBasisX1Z = 0;
		} else {
			let l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX1X *= l;
			this._localBasisX1Y *= l;
			this._localBasisX1Z *= l;
		}
		if(this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z == 0) {
			this._localBasisZ2X = 0;
			this._localBasisZ2Y = 0;
			this._localBasisZ2Z = 1;
		} else {
			let l = this._localBasisZ2X * this._localBasisZ2X + this._localBasisZ2Y * this._localBasisZ2Y + this._localBasisZ2Z * this._localBasisZ2Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisZ2X *= l;
			this._localBasisZ2Y *= l;
			this._localBasisZ2Z *= l;
		}
		let tf1 = this._b1._transform;
		let tf2 = this._b2._transform;
		let worldX1X;
		let worldX1Y;
		let worldX1Z;
		let worldZ1X;
		let worldZ1Y;
		let worldZ1Z;
		let worldYX;
		let worldYY;
		let worldYZ;
		let worldX2X;
		let worldX2Y;
		let worldX2Z;
		let worldZ2X;
		let worldZ2Y;
		let worldZ2Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf1._rotation00 * this._localBasisX1X + tf1._rotation01 * this._localBasisX1Y + tf1._rotation02 * this._localBasisX1Z;
		__tmp__Y = tf1._rotation10 * this._localBasisX1X + tf1._rotation11 * this._localBasisX1Y + tf1._rotation12 * this._localBasisX1Z;
		__tmp__Z = tf1._rotation20 * this._localBasisX1X + tf1._rotation21 * this._localBasisX1Y + tf1._rotation22 * this._localBasisX1Z;
		worldX1X = __tmp__X;
		worldX1Y = __tmp__Y;
		worldX1Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = tf2._rotation00 * this._localBasisZ2X + tf2._rotation01 * this._localBasisZ2Y + tf2._rotation02 * this._localBasisZ2Z;
		__tmp__Y1 = tf2._rotation10 * this._localBasisZ2X + tf2._rotation11 * this._localBasisZ2Y + tf2._rotation12 * this._localBasisZ2Z;
		__tmp__Z1 = tf2._rotation20 * this._localBasisZ2X + tf2._rotation21 * this._localBasisZ2Y + tf2._rotation22 * this._localBasisZ2Z;
		worldZ2X = __tmp__X1;
		worldZ2Y = __tmp__Y1;
		worldZ2Z = __tmp__Z1;
		worldYX = worldZ2Y * worldX1Z - worldZ2Z * worldX1Y;
		worldYY = worldZ2Z * worldX1X - worldZ2X * worldX1Z;
		worldYZ = worldZ2X * worldX1Y - worldZ2Y * worldX1X;
		if(worldYX * worldYX + worldYY * worldYY + worldYZ * worldYZ == 0) {
			let x1 = worldX1X;
			let y1 = worldX1Y;
			let z1 = worldX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					worldYX = 0;
					worldYY = z1 * d;
					worldYZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					worldYX = y1 * d;
					worldYY = -x1 * d;
					worldYZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				worldYX = -z1 * d;
				worldYY = 0;
				worldYZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				worldYX = y1 * d;
				worldYY = -x1 * d;
				worldYZ = 0;
			}
		}
		worldZ1X = worldX1Y * worldYZ - worldX1Z * worldYY;
		worldZ1Y = worldX1Z * worldYX - worldX1X * worldYZ;
		worldZ1Z = worldX1X * worldYY - worldX1Y * worldYX;
		worldX2X = worldYY * worldZ2Z - worldYZ * worldZ2Y;
		worldX2Y = worldYZ * worldZ2X - worldYX * worldZ2Z;
		worldX2Z = worldYX * worldZ2Y - worldYY * worldZ2X;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = tf1._rotation00 * worldX1X + tf1._rotation10 * worldX1Y + tf1._rotation20 * worldX1Z;
		__tmp__Y2 = tf1._rotation01 * worldX1X + tf1._rotation11 * worldX1Y + tf1._rotation21 * worldX1Z;
		__tmp__Z2 = tf1._rotation02 * worldX1X + tf1._rotation12 * worldX1Y + tf1._rotation22 * worldX1Z;
		this._localBasisX1X = __tmp__X2;
		this._localBasisX1Y = __tmp__Y2;
		this._localBasisX1Z = __tmp__Z2;
		let __tmp__X3;
		let __tmp__Y3;
		let __tmp__Z3;
		__tmp__X3 = tf1._rotation00 * worldYX + tf1._rotation10 * worldYY + tf1._rotation20 * worldYZ;
		__tmp__Y3 = tf1._rotation01 * worldYX + tf1._rotation11 * worldYY + tf1._rotation21 * worldYZ;
		__tmp__Z3 = tf1._rotation02 * worldYX + tf1._rotation12 * worldYY + tf1._rotation22 * worldYZ;
		this._localBasisY1X = __tmp__X3;
		this._localBasisY1Y = __tmp__Y3;
		this._localBasisY1Z = __tmp__Z3;
		let __tmp__X4;
		let __tmp__Y4;
		let __tmp__Z4;
		__tmp__X4 = tf1._rotation00 * worldZ1X + tf1._rotation10 * worldZ1Y + tf1._rotation20 * worldZ1Z;
		__tmp__Y4 = tf1._rotation01 * worldZ1X + tf1._rotation11 * worldZ1Y + tf1._rotation21 * worldZ1Z;
		__tmp__Z4 = tf1._rotation02 * worldZ1X + tf1._rotation12 * worldZ1Y + tf1._rotation22 * worldZ1Z;
		this._localBasisZ1X = __tmp__X4;
		this._localBasisZ1Y = __tmp__Y4;
		this._localBasisZ1Z = __tmp__Z4;
		let __tmp__X5;
		let __tmp__Y5;
		let __tmp__Z5;
		__tmp__X5 = tf2._rotation00 * worldX2X + tf2._rotation10 * worldX2Y + tf2._rotation20 * worldX2Z;
		__tmp__Y5 = tf2._rotation01 * worldX2X + tf2._rotation11 * worldX2Y + tf2._rotation21 * worldX2Z;
		__tmp__Z5 = tf2._rotation02 * worldX2X + tf2._rotation12 * worldX2Y + tf2._rotation22 * worldX2Z;
		this._localBasisX2X = __tmp__X5;
		this._localBasisX2Y = __tmp__Y5;
		this._localBasisX2Z = __tmp__Z5;
		let __tmp__X6;
		let __tmp__Y6;
		let __tmp__Z6;
		__tmp__X6 = tf2._rotation00 * worldYX + tf2._rotation10 * worldYY + tf2._rotation20 * worldYZ;
		__tmp__Y6 = tf2._rotation01 * worldYX + tf2._rotation11 * worldYY + tf2._rotation21 * worldYZ;
		__tmp__Z6 = tf2._rotation02 * worldYX + tf2._rotation12 * worldYY + tf2._rotation22 * worldYZ;
		this._localBasisY2X = __tmp__X6;
		this._localBasisY2Y = __tmp__Y6;
		this._localBasisY2Z = __tmp__Z6;
		let __tmp__X7;
		let __tmp__Y7;
		let __tmp__Z7;
		__tmp__X7 = tf2._rotation00 * worldZ2X + tf2._rotation10 * worldZ2Y + tf2._rotation20 * worldZ2Z;
		__tmp__Y7 = tf2._rotation01 * worldZ2X + tf2._rotation11 * worldZ2Y + tf2._rotation21 * worldZ2Z;
		__tmp__Z7 = tf2._rotation02 * worldZ2X + tf2._rotation12 * worldZ2Y + tf2._rotation22 * worldZ2Z;
		this._localBasisZ2X = __tmp__X7;
		this._localBasisZ2Y = __tmp__Y7;
		this._localBasisZ2Z = __tmp__Z7;
	}
	buildLocalBasesFromXY1X2() {
		if(this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z == 0) {
			this._localBasisX1X = 1;
			this._localBasisX1Y = 0;
			this._localBasisX1Z = 0;
		} else {
			let l = this._localBasisX1X * this._localBasisX1X + this._localBasisX1Y * this._localBasisX1Y + this._localBasisX1Z * this._localBasisX1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisX1X *= l;
			this._localBasisX1Y *= l;
			this._localBasisX1Z *= l;
		}
		this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
		this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
		this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
		if(this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z == 0) {
			let x1 = this._localBasisX1X;
			let y1 = this._localBasisX1Y;
			let z1 = this._localBasisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					this._localBasisY1X = 0;
					this._localBasisY1Y = z1 * d;
					this._localBasisY1Z = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					this._localBasisY1X = y1 * d;
					this._localBasisY1Y = -x1 * d;
					this._localBasisY1Z = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				this._localBasisY1X = -z1 * d;
				this._localBasisY1Y = 0;
				this._localBasisY1Z = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				this._localBasisY1X = y1 * d;
				this._localBasisY1Y = -x1 * d;
				this._localBasisY1Z = 0;
			}
			this._localBasisZ1X = this._localBasisX1Y * this._localBasisY1Z - this._localBasisX1Z * this._localBasisY1Y;
			this._localBasisZ1Y = this._localBasisX1Z * this._localBasisY1X - this._localBasisX1X * this._localBasisY1Z;
			this._localBasisZ1Z = this._localBasisX1X * this._localBasisY1Y - this._localBasisX1Y * this._localBasisY1X;
		} else {
			let l = this._localBasisZ1X * this._localBasisZ1X + this._localBasisZ1Y * this._localBasisZ1Y + this._localBasisZ1Z * this._localBasisZ1Z;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			this._localBasisZ1X *= l;
			this._localBasisZ1Y *= l;
			this._localBasisZ1Z *= l;
			this._localBasisY1X = this._localBasisZ1Y * this._localBasisX1Z - this._localBasisZ1Z * this._localBasisX1Y;
			this._localBasisY1Y = this._localBasisZ1Z * this._localBasisX1X - this._localBasisZ1X * this._localBasisX1Z;
			this._localBasisY1Z = this._localBasisZ1X * this._localBasisX1Y - this._localBasisZ1Y * this._localBasisX1X;
		}
		let slerpQX;
		let slerpQY;
		let slerpQZ;
		let slerpQW;
		let slerpM00;
		let slerpM01;
		let slerpM02;
		let slerpM10;
		let slerpM11;
		let slerpM12;
		let slerpM20;
		let slerpM21;
		let slerpM22;
		let d = this._localBasisX1X * this._localBasisX2X + this._localBasisX1Y * this._localBasisX2Y + this._localBasisX1Z * this._localBasisX2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = this._localBasisX1X;
			let y1 = this._localBasisX1Y;
			let z1 = this._localBasisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			slerpQX = vX;
			slerpQY = vY;
			slerpQZ = vZ;
			slerpQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = this._localBasisX1Y * this._localBasisX2Z - this._localBasisX1Z * this._localBasisX2Y;
			cY = this._localBasisX1Z * this._localBasisX2X - this._localBasisX1X * this._localBasisX2Z;
			cZ = this._localBasisX1X * this._localBasisX2Y - this._localBasisX1Y * this._localBasisX2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			slerpQX = cX;
			slerpQY = cY;
			slerpQZ = cZ;
			slerpQW = w;
		}
		let x = slerpQX;
		let y = slerpQY;
		let z = slerpQZ;
		let w = slerpQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		slerpM00 = 1 - yy - zz;
		slerpM01 = xy - wz;
		slerpM02 = xz + wy;
		slerpM10 = xy + wz;
		slerpM11 = 1 - xx - zz;
		slerpM12 = yz - wx;
		slerpM20 = xz - wy;
		slerpM21 = yz + wx;
		slerpM22 = 1 - xx - yy;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = slerpM00 * this._localBasisX1X + slerpM01 * this._localBasisX1Y + slerpM02 * this._localBasisX1Z;
		__tmp__Y = slerpM10 * this._localBasisX1X + slerpM11 * this._localBasisX1Y + slerpM12 * this._localBasisX1Z;
		__tmp__Z = slerpM20 * this._localBasisX1X + slerpM21 * this._localBasisX1Y + slerpM22 * this._localBasisX1Z;
		this._localBasisX2X = __tmp__X;
		this._localBasisX2Y = __tmp__Y;
		this._localBasisX2Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = slerpM00 * this._localBasisY1X + slerpM01 * this._localBasisY1Y + slerpM02 * this._localBasisY1Z;
		__tmp__Y1 = slerpM10 * this._localBasisY1X + slerpM11 * this._localBasisY1Y + slerpM12 * this._localBasisY1Z;
		__tmp__Z1 = slerpM20 * this._localBasisY1X + slerpM21 * this._localBasisY1Y + slerpM22 * this._localBasisY1Z;
		this._localBasisY2X = __tmp__X1;
		this._localBasisY2Y = __tmp__Y1;
		this._localBasisY2Z = __tmp__Z1;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = slerpM00 * this._localBasisZ1X + slerpM01 * this._localBasisZ1Y + slerpM02 * this._localBasisZ1Z;
		__tmp__Y2 = slerpM10 * this._localBasisZ1X + slerpM11 * this._localBasisZ1Y + slerpM12 * this._localBasisZ1Z;
		__tmp__Z2 = slerpM20 * this._localBasisZ1X + slerpM21 * this._localBasisZ1Y + slerpM22 * this._localBasisZ1Z;
		this._localBasisZ2X = __tmp__X2;
		this._localBasisZ2Y = __tmp__Y2;
		this._localBasisZ2Z = __tmp__Z2;
	}
	setSolverInfoRowLinear(row,diff,lm,mass,sd,timeStep,isPositionPart) {
		let cfmFactor;
		let erp;
		let slop = oimo.common.Setting.linearSlop;
		if(isPositionPart) {
			cfmFactor = 0;
			erp = 1;
		} else {
			if(sd.frequency > 0) {
				slop = 0;
				let omega = 6.28318530717958 * sd.frequency;
				let zeta = sd.dampingRatio;
				if(zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
					zeta = oimo.common.Setting.minSpringDamperDampingRatio;
				}
				let h = timeStep.dt;
				let c = 2 * zeta * omega;
				let k = omega * omega;
				if(sd.useSymplecticEuler) {
					cfmFactor = 1 / (h * c);
					erp = k / c;
				} else {
					cfmFactor = 1 / (h * (h * k + c));
					erp = k / (h * k + c);
				}
			} else {
				cfmFactor = 0;
				erp = this.getErp(timeStep,false);
			}
			if(lm.motorForce > 0) {
				row.motorSpeed = lm.motorSpeed;
				row.motorMaxImpulse = lm.motorForce * timeStep.dt;
			} else {
				row.motorSpeed = 0;
				row.motorMaxImpulse = 0;
			}
		}
		let lower = lm.lowerLimit;
		let upper = lm.upperLimit;
		let minImp;
		let maxImp;
		let error;
		if(lower > upper) {
			minImp = 0;
			maxImp = 0;
			error = 0;
		} else if(lower == upper) {
			minImp = -1e65536;
			maxImp = 1e65536;
			error = diff - lower;
		} else if(diff < lower) {
			minImp = -1e65536;
			maxImp = 0;
			error = diff - lower + slop;
			if(error > 0) {
				error = 0;
			}
		} else if(diff > upper) {
			minImp = 0;
			maxImp = 1e65536;
			error = diff - upper - slop;
			if(error < 0) {
				error = 0;
			}
		} else {
			minImp = 0;
			maxImp = 0;
			error = 0;
		}
		row.minImpulse = minImp;
		row.maxImpulse = maxImp;
		row.cfm = cfmFactor * (mass == 0 ? 0 : 1 / mass);
		row.rhs = error * erp;
	}
	setSolverInfoRowAngular(row,diff,lm,mass,sd,timeStep,isPositionPart) {
		let cfmFactor;
		let erp;
		let slop = oimo.common.Setting.angularSlop;
		if(isPositionPart) {
			cfmFactor = 0;
			erp = 1;
		} else {
			if(sd.frequency > 0) {
				slop = 0;
				let omega = 6.28318530717958 * sd.frequency;
				let zeta = sd.dampingRatio;
				if(zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
					zeta = oimo.common.Setting.minSpringDamperDampingRatio;
				}
				let h = timeStep.dt;
				let c = 2 * zeta * omega;
				let k = omega * omega;
				if(sd.useSymplecticEuler) {
					cfmFactor = 1 / (h * c);
					erp = k / c;
				} else {
					cfmFactor = 1 / (h * (h * k + c));
					erp = k / (h * k + c);
				}
			} else {
				cfmFactor = 0;
				erp = this.getErp(timeStep,false);
			}
			if(lm.motorTorque > 0) {
				row.motorSpeed = lm.motorSpeed;
				row.motorMaxImpulse = lm.motorTorque * timeStep.dt;
			} else {
				row.motorSpeed = 0;
				row.motorMaxImpulse = 0;
			}
		}
		let lower = lm.lowerLimit;
		let upper = lm.upperLimit;
		let mid = (lower + upper) * 0.5;
		diff -= mid;
		diff = ((diff + 3.14159265358979) % 6.28318530717958 + 6.28318530717958) % 6.28318530717958 - 3.14159265358979;
		diff += mid;
		let minImp;
		let maxImp;
		let error;
		if(lower > upper) {
			minImp = 0;
			maxImp = 0;
			error = 0;
		} else if(lower == upper) {
			minImp = -1e65536;
			maxImp = 1e65536;
			error = diff - lower;
		} else if(diff < lower) {
			minImp = -1e65536;
			maxImp = 0;
			error = diff - lower + slop;
			if(error > 0) {
				error = 0;
			}
		} else if(diff > upper) {
			minImp = 0;
			maxImp = 1e65536;
			error = diff - upper - slop;
			if(error < 0) {
				error = 0;
			}
		} else {
			minImp = 0;
			maxImp = 0;
			error = 0;
		}
		row.minImpulse = minImp;
		row.maxImpulse = maxImp;
		row.cfm = cfmFactor * (mass == 0 ? 0 : 1 / mass);
		row.rhs = error * erp;
	}
	getErp(timeStep,isPositionPart) {
		if(isPositionPart) {
			return 1;
		} else if(this._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE) {
			return timeStep.invDt * oimo.common.Setting.velocityBaumgarte;
		} else {
			return 0;
		}
	}
	computeEffectiveInertiaMoment(axisX,axisY,axisZ) {
		let ia1X;
		let ia1Y;
		let ia1Z;
		let ia2X;
		let ia2Y;
		let ia2Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._b1._invInertia00 * axisX + this._b1._invInertia01 * axisY + this._b1._invInertia02 * axisZ;
		__tmp__Y = this._b1._invInertia10 * axisX + this._b1._invInertia11 * axisY + this._b1._invInertia12 * axisZ;
		__tmp__Z = this._b1._invInertia20 * axisX + this._b1._invInertia21 * axisY + this._b1._invInertia22 * axisZ;
		ia1X = __tmp__X;
		ia1Y = __tmp__Y;
		ia1Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = this._b2._invInertia00 * axisX + this._b2._invInertia01 * axisY + this._b2._invInertia02 * axisZ;
		__tmp__Y1 = this._b2._invInertia10 * axisX + this._b2._invInertia11 * axisY + this._b2._invInertia12 * axisZ;
		__tmp__Z1 = this._b2._invInertia20 * axisX + this._b2._invInertia21 * axisY + this._b2._invInertia22 * axisZ;
		ia2X = __tmp__X1;
		ia2Y = __tmp__Y1;
		ia2Z = __tmp__Z1;
		let invI1 = ia1X * axisX + ia1Y * axisY + ia1Z * axisZ;
		let invI2 = ia2X * axisX + ia2Y * axisY + ia2Z * axisZ;
		if(invI1 > 0) {
			let dot = axisX * this._relativeAnchor1X + axisY * this._relativeAnchor1Y + axisZ * this._relativeAnchor1Z;
			let projsq = this._relativeAnchor1X * this._relativeAnchor1X + this._relativeAnchor1Y * this._relativeAnchor1Y + this._relativeAnchor1Z * this._relativeAnchor1Z - dot * dot;
			if(projsq > 0) {
				if(this._b1._invMass > 0) {
					invI1 = 1 / (1 / invI1 + this._b1._mass * projsq);
				} else {
					invI1 = 0;
				}
			}
		}
		if(invI2 > 0) {
			let dot = axisX * this._relativeAnchor2X + axisY * this._relativeAnchor2Y + axisZ * this._relativeAnchor2Z;
			let projsq = this._relativeAnchor2X * this._relativeAnchor2X + this._relativeAnchor2Y * this._relativeAnchor2Y + this._relativeAnchor2Z * this._relativeAnchor2Z - dot * dot;
			if(projsq > 0) {
				if(this._b2._invMass > 0) {
					invI2 = 1 / (1 / invI2 + this._b2._mass * projsq);
				} else {
					invI2 = 0;
				}
			}
		}
		if(invI1 + invI2 == 0) {
			return 0;
		} else {
			return 1 / (invI1 + invI2);
		}
	}
	computeEffectiveInertiaMoment2(axis1X,axis1Y,axis1Z,axis2X,axis2Y,axis2Z) {
		let ia1X;
		let ia1Y;
		let ia1Z;
		let ia2X;
		let ia2Y;
		let ia2Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._b1._invInertia00 * axis1X + this._b1._invInertia01 * axis1Y + this._b1._invInertia02 * axis1Z;
		__tmp__Y = this._b1._invInertia10 * axis1X + this._b1._invInertia11 * axis1Y + this._b1._invInertia12 * axis1Z;
		__tmp__Z = this._b1._invInertia20 * axis1X + this._b1._invInertia21 * axis1Y + this._b1._invInertia22 * axis1Z;
		ia1X = __tmp__X;
		ia1Y = __tmp__Y;
		ia1Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = this._b2._invInertia00 * axis2X + this._b2._invInertia01 * axis2Y + this._b2._invInertia02 * axis2Z;
		__tmp__Y1 = this._b2._invInertia10 * axis2X + this._b2._invInertia11 * axis2Y + this._b2._invInertia12 * axis2Z;
		__tmp__Z1 = this._b2._invInertia20 * axis2X + this._b2._invInertia21 * axis2Y + this._b2._invInertia22 * axis2Z;
		ia2X = __tmp__X1;
		ia2Y = __tmp__Y1;
		ia2Z = __tmp__Z1;
		let invI1 = ia1X * axis1X + ia1Y * axis1Y + ia1Z * axis1Z;
		let invI2 = ia2X * axis2X + ia2Y * axis2Y + ia2Z * axis2Z;
		if(invI1 > 0) {
			let rsq = this._relativeAnchor1X * this._relativeAnchor1X + this._relativeAnchor1Y * this._relativeAnchor1Y + this._relativeAnchor1Z * this._relativeAnchor1Z;
			let dot = axis1X * this._relativeAnchor1X + axis1Y * this._relativeAnchor1Y + axis1Z * this._relativeAnchor1Z;
			let projsq = rsq * rsq - dot * dot;
			if(projsq > 0) {
				if(this._b1._invMass > 0) {
					invI1 = 1 / (1 / invI1 + this._b1._mass * projsq);
				} else {
					invI1 = 0;
				}
			}
		}
		if(invI2 > 0) {
			let rsq = this._relativeAnchor2X * this._relativeAnchor2X + this._relativeAnchor2Y * this._relativeAnchor2Y + this._relativeAnchor2Z * this._relativeAnchor2Z;
			let dot = axis2X * this._relativeAnchor2X + axis2Y * this._relativeAnchor2Y + axis2Z * this._relativeAnchor2Z;
			let projsq = rsq * rsq - dot * dot;
			if(projsq > 0) {
				if(this._b2._invMass > 0) {
					invI2 = 1 / (1 / invI2 + this._b2._mass * projsq);
				} else {
					invI2 = 0;
				}
			}
		}
		if(invI1 + invI2 == 0) {
			return 0;
		} else {
			return 1 / (invI1 + invI2);
		}
	}
	_syncAnchors() {
		let tf1 = this._b1._transform;
		let tf2 = this._b2._transform;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = tf1._rotation00 * this._localAnchor1X + tf1._rotation01 * this._localAnchor1Y + tf1._rotation02 * this._localAnchor1Z;
		__tmp__Y = tf1._rotation10 * this._localAnchor1X + tf1._rotation11 * this._localAnchor1Y + tf1._rotation12 * this._localAnchor1Z;
		__tmp__Z = tf1._rotation20 * this._localAnchor1X + tf1._rotation21 * this._localAnchor1Y + tf1._rotation22 * this._localAnchor1Z;
		this._relativeAnchor1X = __tmp__X;
		this._relativeAnchor1Y = __tmp__Y;
		this._relativeAnchor1Z = __tmp__Z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = tf2._rotation00 * this._localAnchor2X + tf2._rotation01 * this._localAnchor2Y + tf2._rotation02 * this._localAnchor2Z;
		__tmp__Y1 = tf2._rotation10 * this._localAnchor2X + tf2._rotation11 * this._localAnchor2Y + tf2._rotation12 * this._localAnchor2Z;
		__tmp__Z1 = tf2._rotation20 * this._localAnchor2X + tf2._rotation21 * this._localAnchor2Y + tf2._rotation22 * this._localAnchor2Z;
		this._relativeAnchor2X = __tmp__X1;
		this._relativeAnchor2Y = __tmp__Y1;
		this._relativeAnchor2Z = __tmp__Z1;
		this._anchor1X = this._relativeAnchor1X + tf1._positionX;
		this._anchor1Y = this._relativeAnchor1Y + tf1._positionY;
		this._anchor1Z = this._relativeAnchor1Z + tf1._positionZ;
		this._anchor2X = this._relativeAnchor2X + tf2._positionX;
		this._anchor2Y = this._relativeAnchor2Y + tf2._positionY;
		this._anchor2Z = this._relativeAnchor2Z + tf2._positionZ;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = tf1._rotation00 * this._localBasisX1X + tf1._rotation01 * this._localBasisX1Y + tf1._rotation02 * this._localBasisX1Z;
		__tmp__Y2 = tf1._rotation10 * this._localBasisX1X + tf1._rotation11 * this._localBasisX1Y + tf1._rotation12 * this._localBasisX1Z;
		__tmp__Z2 = tf1._rotation20 * this._localBasisX1X + tf1._rotation21 * this._localBasisX1Y + tf1._rotation22 * this._localBasisX1Z;
		this._basisX1X = __tmp__X2;
		this._basisX1Y = __tmp__Y2;
		this._basisX1Z = __tmp__Z2;
		let __tmp__X3;
		let __tmp__Y3;
		let __tmp__Z3;
		__tmp__X3 = tf1._rotation00 * this._localBasisY1X + tf1._rotation01 * this._localBasisY1Y + tf1._rotation02 * this._localBasisY1Z;
		__tmp__Y3 = tf1._rotation10 * this._localBasisY1X + tf1._rotation11 * this._localBasisY1Y + tf1._rotation12 * this._localBasisY1Z;
		__tmp__Z3 = tf1._rotation20 * this._localBasisY1X + tf1._rotation21 * this._localBasisY1Y + tf1._rotation22 * this._localBasisY1Z;
		this._basisY1X = __tmp__X3;
		this._basisY1Y = __tmp__Y3;
		this._basisY1Z = __tmp__Z3;
		let __tmp__X4;
		let __tmp__Y4;
		let __tmp__Z4;
		__tmp__X4 = tf1._rotation00 * this._localBasisZ1X + tf1._rotation01 * this._localBasisZ1Y + tf1._rotation02 * this._localBasisZ1Z;
		__tmp__Y4 = tf1._rotation10 * this._localBasisZ1X + tf1._rotation11 * this._localBasisZ1Y + tf1._rotation12 * this._localBasisZ1Z;
		__tmp__Z4 = tf1._rotation20 * this._localBasisZ1X + tf1._rotation21 * this._localBasisZ1Y + tf1._rotation22 * this._localBasisZ1Z;
		this._basisZ1X = __tmp__X4;
		this._basisZ1Y = __tmp__Y4;
		this._basisZ1Z = __tmp__Z4;
		let __tmp__X5;
		let __tmp__Y5;
		let __tmp__Z5;
		__tmp__X5 = tf2._rotation00 * this._localBasisX2X + tf2._rotation01 * this._localBasisX2Y + tf2._rotation02 * this._localBasisX2Z;
		__tmp__Y5 = tf2._rotation10 * this._localBasisX2X + tf2._rotation11 * this._localBasisX2Y + tf2._rotation12 * this._localBasisX2Z;
		__tmp__Z5 = tf2._rotation20 * this._localBasisX2X + tf2._rotation21 * this._localBasisX2Y + tf2._rotation22 * this._localBasisX2Z;
		this._basisX2X = __tmp__X5;
		this._basisX2Y = __tmp__Y5;
		this._basisX2Z = __tmp__Z5;
		let __tmp__X6;
		let __tmp__Y6;
		let __tmp__Z6;
		__tmp__X6 = tf2._rotation00 * this._localBasisY2X + tf2._rotation01 * this._localBasisY2Y + tf2._rotation02 * this._localBasisY2Z;
		__tmp__Y6 = tf2._rotation10 * this._localBasisY2X + tf2._rotation11 * this._localBasisY2Y + tf2._rotation12 * this._localBasisY2Z;
		__tmp__Z6 = tf2._rotation20 * this._localBasisY2X + tf2._rotation21 * this._localBasisY2Y + tf2._rotation22 * this._localBasisY2Z;
		this._basisY2X = __tmp__X6;
		this._basisY2Y = __tmp__Y6;
		this._basisY2Z = __tmp__Z6;
		let __tmp__X7;
		let __tmp__Y7;
		let __tmp__Z7;
		__tmp__X7 = tf2._rotation00 * this._localBasisZ2X + tf2._rotation01 * this._localBasisZ2Y + tf2._rotation02 * this._localBasisZ2Z;
		__tmp__Y7 = tf2._rotation10 * this._localBasisZ2X + tf2._rotation11 * this._localBasisZ2Y + tf2._rotation12 * this._localBasisZ2Z;
		__tmp__Z7 = tf2._rotation20 * this._localBasisZ2X + tf2._rotation21 * this._localBasisZ2Y + tf2._rotation22 * this._localBasisZ2Z;
		this._basisZ2X = __tmp__X7;
		this._basisZ2Y = __tmp__Y7;
		this._basisZ2Z = __tmp__Z7;
	}
	_getVelocitySolverInfo(timeStep,info) {
		info.b1 = this._b1;
		info.b2 = this._b2;
		info.numRows = 0;
	}
	_getPositionSolverInfo(info) {
		info.b1 = this._b1;
		info.b2 = this._b2;
		info.numRows = 0;
	}
	_checkDestruction() {
		let torqueSq = this._appliedTorqueX * this._appliedTorqueX + this._appliedTorqueY * this._appliedTorqueY + this._appliedTorqueZ * this._appliedTorqueZ;
		if(this._breakForce > 0 && this._appliedForceX * this._appliedForceX + this._appliedForceY * this._appliedForceY + this._appliedForceZ * this._appliedForceZ > this._breakForce * this._breakForce) {
			this._world.removeJoint(this);
			return;
		}
		if(this._breakTorque > 0 && torqueSq > this._breakTorque * this._breakTorque) {
			this._world.removeJoint(this);
			return;
		}
	}
	getRigidBody1() {
		return this._b1;
	}
	getRigidBody2() {
		return this._b2;
	}
	getType() {
		return this._type;
	}
	getAnchor1() {
		let v = new oimo.common.Vec3();
		v.x = this._anchor1X;
		v.y = this._anchor1Y;
		v.z = this._anchor1Z;
		return v;
	}
	getAnchor2() {
		let v = new oimo.common.Vec3();
		v.x = this._anchor2X;
		v.y = this._anchor2Y;
		v.z = this._anchor2Z;
		return v;
	}
	getAnchor1To(anchor) {
		anchor.x = this._anchor1X;
		anchor.y = this._anchor1Y;
		anchor.z = this._anchor1Z;
	}
	getAnchor2To(anchor) {
		anchor.x = this._anchor2X;
		anchor.y = this._anchor2Y;
		anchor.z = this._anchor2Z;
	}
	getLocalAnchor1() {
		let v = new oimo.common.Vec3();
		v.x = this._localAnchor1X;
		v.y = this._localAnchor1Y;
		v.z = this._localAnchor1Z;
		return v;
	}
	getLocalAnchor2() {
		let v = new oimo.common.Vec3();
		v.x = this._localAnchor2X;
		v.y = this._localAnchor2Y;
		v.z = this._localAnchor2Z;
		return v;
	}
	getLocalAnchor1To(localAnchor) {
		localAnchor.x = this._localAnchor1X;
		localAnchor.y = this._localAnchor1Y;
		localAnchor.z = this._localAnchor1Z;
	}
	getLocalAnchor2To(localAnchor) {
		localAnchor.x = this._localAnchor2X;
		localAnchor.y = this._localAnchor2Y;
		localAnchor.z = this._localAnchor2Z;
	}
	getBasis1() {
		let m = new oimo.common.Mat3();
		let b00;
		let b01;
		let b02;
		let b10;
		let b11;
		let b12;
		let b20;
		let b21;
		let b22;
		b00 = this._basisX1X;
		b01 = this._basisY1X;
		b02 = this._basisZ1X;
		b10 = this._basisX1Y;
		b11 = this._basisY1Y;
		b12 = this._basisZ1Y;
		b20 = this._basisX1Z;
		b21 = this._basisY1Z;
		b22 = this._basisZ1Z;
		m.e00 = b00;
		m.e01 = b01;
		m.e02 = b02;
		m.e10 = b10;
		m.e11 = b11;
		m.e12 = b12;
		m.e20 = b20;
		m.e21 = b21;
		m.e22 = b22;
		return m;
	}
	getBasis2() {
		let m = new oimo.common.Mat3();
		let b00;
		let b01;
		let b02;
		let b10;
		let b11;
		let b12;
		let b20;
		let b21;
		let b22;
		b00 = this._basisX2X;
		b01 = this._basisY2X;
		b02 = this._basisZ2X;
		b10 = this._basisX2Y;
		b11 = this._basisY2Y;
		b12 = this._basisZ2Y;
		b20 = this._basisX2Z;
		b21 = this._basisY2Z;
		b22 = this._basisZ2Z;
		m.e00 = b00;
		m.e01 = b01;
		m.e02 = b02;
		m.e10 = b10;
		m.e11 = b11;
		m.e12 = b12;
		m.e20 = b20;
		m.e21 = b21;
		m.e22 = b22;
		return m;
	}
	getBasis1To(basis) {
		let b00;
		let b01;
		let b02;
		let b10;
		let b11;
		let b12;
		let b20;
		let b21;
		let b22;
		b00 = this._basisX1X;
		b01 = this._basisY1X;
		b02 = this._basisZ1X;
		b10 = this._basisX1Y;
		b11 = this._basisY1Y;
		b12 = this._basisZ1Y;
		b20 = this._basisX1Z;
		b21 = this._basisY1Z;
		b22 = this._basisZ1Z;
		basis.e00 = b00;
		basis.e01 = b01;
		basis.e02 = b02;
		basis.e10 = b10;
		basis.e11 = b11;
		basis.e12 = b12;
		basis.e20 = b20;
		basis.e21 = b21;
		basis.e22 = b22;
	}
	getBasis2To(basis) {
		let b00;
		let b01;
		let b02;
		let b10;
		let b11;
		let b12;
		let b20;
		let b21;
		let b22;
		b00 = this._basisX2X;
		b01 = this._basisY2X;
		b02 = this._basisZ2X;
		b10 = this._basisX2Y;
		b11 = this._basisY2Y;
		b12 = this._basisZ2Y;
		b20 = this._basisX2Z;
		b21 = this._basisY2Z;
		b22 = this._basisZ2Z;
		basis.e00 = b00;
		basis.e01 = b01;
		basis.e02 = b02;
		basis.e10 = b10;
		basis.e11 = b11;
		basis.e12 = b12;
		basis.e20 = b20;
		basis.e21 = b21;
		basis.e22 = b22;
	}
	getAllowCollision() {
		return this._allowCollision;
	}
	setAllowCollision(allowCollision) {
		this._allowCollision = allowCollision;
	}
	getBreakForce() {
		return this._breakForce;
	}
	setBreakForce(breakForce) {
		this._breakForce = breakForce;
	}
	getBreakTorque() {
		return this._breakTorque;
	}
	setBreakTorque(breakTorque) {
		this._breakTorque = breakTorque;
	}
	getPositionCorrectionAlgorithm() {
		return this._positionCorrectionAlgorithm;
	}
	setPositionCorrectionAlgorithm(positionCorrectionAlgorithm) {
		switch(positionCorrectionAlgorithm) {
		case 0:case 1:case 2:
			break;
		default:
			throw new Error("invalid position correction algorithm id: " + positionCorrectionAlgorithm);
		}
		this._positionCorrectionAlgorithm = positionCorrectionAlgorithm;
	}
	getAppliedForce() {
		let v = new oimo.common.Vec3();
		v.x = this._appliedForceX;
		v.y = this._appliedForceY;
		v.z = this._appliedForceZ;
		return v;
	}
	getAppliedForceTo(appliedForce) {
		appliedForce.x = this._appliedForceX;
		appliedForce.y = this._appliedForceY;
		appliedForce.z = this._appliedForceZ;
	}
	getAppliedTorque() {
		let v = new oimo.common.Vec3();
		v.x = this._appliedTorqueX;
		v.y = this._appliedTorqueY;
		v.z = this._appliedTorqueZ;
		return v;
	}
	getAppliedTorqueTo(appliedTorque) {
		appliedTorque.x = this._appliedTorqueX;
		appliedTorque.y = this._appliedTorqueY;
		appliedTorque.z = this._appliedTorqueZ;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.constraint.joint.CylindricalJoint = class oimo_dynamics_constraint_joint_CylindricalJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,2);
		let v = config.localAxis1;
		this._localBasisX1X = v.x;
		this._localBasisX1Y = v.y;
		this._localBasisX1Z = v.z;
		let v1 = config.localAxis2;
		this._localBasisX2X = v1.x;
		this._localBasisX2Y = v1.y;
		this._localBasisX2Z = v1.z;
		this.buildLocalBasesFromX();
		this.angle = 0;
		this.angularErrorY = 0;
		this.angularErrorZ = 0;
		this.translation = 0;
		this.linearErrorY = 0;
		this.linearErrorZ = 0;
		this._basis = new oimo.dynamics.constraint.joint.BasisTracker(this);
		this._translSd = config.translationalSpringDamper.clone();
		this._translLm = config.translationalLimitMotor.clone();
		this._rotSd = config.rotationalSpringDamper.clone();
		this._rotLm = config.rotationalLimitMotor.clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		let erp = this.getErp(timeStep,isPositionPart);
		let linRhsY = this.linearErrorY * erp;
		let linRhsZ = this.linearErrorZ * erp;
		let angRhsY = this.angularErrorY * erp;
		let angRhsZ = this.angularErrorZ * erp;
		let j;
		let translationalMotorMass = 1 / (this._b1._invMass + this._b2._invMass);
		let rotationalMotorMass = this.computeEffectiveInertiaMoment(this._basis.xX,this._basis.xY,this._basis.xZ);
		if(this._translSd.frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[0];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowLinear(row,this.translation,this._translLm,translationalMotorMass,this._translSd,timeStep,isPositionPart);
			j = row.jacobian;
			j.lin1X = this._basis.xX;
			j.lin1Y = this._basis.xY;
			j.lin1Z = this._basis.xZ;
			j.lin2X = this._basis.xX;
			j.lin2Y = this._basis.xY;
			j.lin2Z = this._basis.xZ;
			j.ang1X = this._relativeAnchor1Y * this._basis.xZ - this._relativeAnchor1Z * this._basis.xY;
			j.ang1Y = this._relativeAnchor1Z * this._basis.xX - this._relativeAnchor1X * this._basis.xZ;
			j.ang1Z = this._relativeAnchor1X * this._basis.xY - this._relativeAnchor1Y * this._basis.xX;
			j.ang2X = this._relativeAnchor2Y * this._basis.xZ - this._relativeAnchor2Z * this._basis.xY;
			j.ang2Y = this._relativeAnchor2Z * this._basis.xX - this._relativeAnchor2X * this._basis.xZ;
			j.ang2Z = this._relativeAnchor2X * this._basis.xY - this._relativeAnchor2Y * this._basis.xX;
		}
		let impulse = this._impulses[1];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linRhsY;
		row.cfm = 0;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		j = row.jacobian;
		j.lin1X = this._basis.yX;
		j.lin1Y = this._basis.yY;
		j.lin1Z = this._basis.yZ;
		j.lin2X = this._basis.yX;
		j.lin2Y = this._basis.yY;
		j.lin2Z = this._basis.yZ;
		j.ang1X = this._relativeAnchor1Y * this._basis.yZ - this._relativeAnchor1Z * this._basis.yY;
		j.ang1Y = this._relativeAnchor1Z * this._basis.yX - this._relativeAnchor1X * this._basis.yZ;
		j.ang1Z = this._relativeAnchor1X * this._basis.yY - this._relativeAnchor1Y * this._basis.yX;
		j.ang2X = this._relativeAnchor2Y * this._basis.yZ - this._relativeAnchor2Z * this._basis.yY;
		j.ang2Y = this._relativeAnchor2Z * this._basis.yX - this._relativeAnchor2X * this._basis.yZ;
		j.ang2Z = this._relativeAnchor2X * this._basis.yY - this._relativeAnchor2Y * this._basis.yX;
		let impulse1 = this._impulses[2];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linRhsZ;
		row1.cfm = 0;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = this._basis.zX;
		j.lin1Y = this._basis.zY;
		j.lin1Z = this._basis.zZ;
		j.lin2X = this._basis.zX;
		j.lin2Y = this._basis.zY;
		j.lin2Z = this._basis.zZ;
		j.ang1X = this._relativeAnchor1Y * this._basis.zZ - this._relativeAnchor1Z * this._basis.zY;
		j.ang1Y = this._relativeAnchor1Z * this._basis.zX - this._relativeAnchor1X * this._basis.zZ;
		j.ang1Z = this._relativeAnchor1X * this._basis.zY - this._relativeAnchor1Y * this._basis.zX;
		j.ang2X = this._relativeAnchor2Y * this._basis.zZ - this._relativeAnchor2Z * this._basis.zY;
		j.ang2Y = this._relativeAnchor2Z * this._basis.zX - this._relativeAnchor2X * this._basis.zZ;
		j.ang2Z = this._relativeAnchor2X * this._basis.zY - this._relativeAnchor2Y * this._basis.zX;
		if(this._rotSd.frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[3];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this.angle,this._rotLm,rotationalMotorMass,this._rotSd,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._basis.xX;
			j.ang1Y = this._basis.xY;
			j.ang1Z = this._basis.xZ;
			j.ang2X = this._basis.xX;
			j.ang2Y = this._basis.xY;
			j.ang2Z = this._basis.xZ;
		}
		let impulse2 = this._impulses[4];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = angRhsY;
		row2.cfm = 0;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.ang1X = this._basis.yX;
		j.ang1Y = this._basis.yY;
		j.ang1Z = this._basis.yZ;
		j.ang2X = this._basis.yX;
		j.ang2Y = this._basis.yY;
		j.ang2Z = this._basis.yZ;
		let impulse3 = this._impulses[5];
		let row3 = info.rows[info.numRows++];
		let _this3 = row3.jacobian;
		_this3.lin1X = 0;
		_this3.lin1Y = 0;
		_this3.lin1Z = 0;
		_this3.lin2X = 0;
		_this3.lin2Y = 0;
		_this3.lin2Z = 0;
		_this3.ang1X = 0;
		_this3.ang1Y = 0;
		_this3.ang1Z = 0;
		_this3.ang2X = 0;
		_this3.ang2Y = 0;
		_this3.ang2Z = 0;
		row3.rhs = 0;
		row3.cfm = 0;
		row3.minImpulse = 0;
		row3.maxImpulse = 0;
		row3.motorSpeed = 0;
		row3.motorMaxImpulse = 0;
		row3.impulse = null;
		row3.impulse = impulse3;
		row3.rhs = angRhsZ;
		row3.cfm = 0;
		row3.minImpulse = -1e65536;
		row3.maxImpulse = 1e65536;
		j = row3.jacobian;
		j.ang1X = this._basis.zX;
		j.ang1Y = this._basis.zY;
		j.ang1Z = this._basis.zZ;
		j.ang2X = this._basis.zX;
		j.ang2Y = this._basis.zY;
		j.ang2Z = this._basis.zZ;
	}
	_syncAnchors() {
		super._syncAnchors();
		let _this = this._basis;
		let invM1 = _this.joint._b1._invMass;
		let invM2 = _this.joint._b2._invMass;
		let qX;
		let qY;
		let qZ;
		let qW;
		let idQX;
		let idQY;
		let idQZ;
		let idQW;
		let slerpQX;
		let slerpQY;
		let slerpQZ;
		let slerpQW;
		let slerpM00;
		let slerpM01;
		let slerpM02;
		let slerpM10;
		let slerpM11;
		let slerpM12;
		let slerpM20;
		let slerpM21;
		let slerpM22;
		let newXX;
		let newXY;
		let newXZ;
		let newYX;
		let newYY;
		let newYZ;
		let newZX;
		let newZY;
		let newZZ;
		let prevXX;
		let prevXY;
		let prevXZ;
		let prevYX;
		let prevYY;
		let prevYZ;
		let d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = _this.joint._basisX1X;
			let y1 = _this.joint._basisX1Y;
			let z1 = _this.joint._basisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			qX = vX;
			qY = vY;
			qZ = vZ;
			qW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
			cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
			cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			qX = cX;
			qY = cY;
			qZ = cZ;
			qW = w;
		}
		idQX = 0;
		idQY = 0;
		idQZ = 0;
		idQW = 1;
		let q1X;
		let q1Y;
		let q1Z;
		let q1W;
		let q2X;
		let q2Y;
		let q2Z;
		let q2W;
		q1X = idQX;
		q1Y = idQY;
		q1Z = idQZ;
		q1W = idQW;
		q2X = qX;
		q2Y = qY;
		q2Z = qZ;
		q2W = qW;
		let d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;
		if(d1 < 0) {
			d1 = -d1;
			q2X = -q2X;
			q2Y = -q2Y;
			q2Z = -q2Z;
			q2W = -q2W;
		}
		if(d1 > 0.999999) {
			let dqX;
			let dqY;
			let dqZ;
			let dqW;
			dqX = q2X - q1X;
			dqY = q2Y - q1Y;
			dqZ = q2Z - q1Z;
			dqW = q2W - q1W;
			q2X = q1X + dqX * (invM1 / (invM1 + invM2));
			q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
			q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
			q2W = q1W + dqW * (invM1 / (invM1 + invM2));
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			slerpQX = q2X * l;
			slerpQY = q2Y * l;
			slerpQZ = q2Z * l;
			slerpQW = q2W * l;
		} else {
			let theta = invM1 / (invM1 + invM2) * Math.acos(d1);
			q2X += q1X * -d1;
			q2Y += q1Y * -d1;
			q2Z += q1Z * -d1;
			q2W += q1W * -d1;
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			q2X *= l;
			q2Y *= l;
			q2Z *= l;
			q2W *= l;
			let sin = Math.sin(theta);
			let cos = Math.cos(theta);
			q1X *= cos;
			q1Y *= cos;
			q1Z *= cos;
			q1W *= cos;
			slerpQX = q1X + q2X * sin;
			slerpQY = q1Y + q2Y * sin;
			slerpQZ = q1Z + q2Z * sin;
			slerpQW = q1W + q2W * sin;
		}
		let x = slerpQX;
		let y = slerpQY;
		let z = slerpQZ;
		let w = slerpQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		slerpM00 = 1 - yy - zz;
		slerpM01 = xy - wz;
		slerpM02 = xz + wy;
		slerpM10 = xy + wz;
		slerpM11 = 1 - xx - zz;
		slerpM12 = yz - wx;
		slerpM20 = xz - wy;
		slerpM21 = yz + wx;
		slerpM22 = 1 - xx - yy;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
		__tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
		__tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
		newXX = __tmp__X;
		newXY = __tmp__Y;
		newXZ = __tmp__Z;
		prevXX = _this.xX;
		prevXY = _this.xY;
		prevXZ = _this.xZ;
		prevYX = _this.yX;
		prevYY = _this.yY;
		prevYZ = _this.yZ;
		let d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;
		if(d2 < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = prevXX;
			let y1 = prevXY;
			let z1 = prevXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			slerpQX = vX;
			slerpQY = vY;
			slerpQZ = vZ;
			slerpQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = prevXY * newXZ - prevXZ * newXY;
			cY = prevXZ * newXX - prevXX * newXZ;
			cZ = prevXX * newXY - prevXY * newXX;
			let w = Math.sqrt((1 + d2) * 0.5);
			d2 = 0.5 / w;
			cX *= d2;
			cY *= d2;
			cZ *= d2;
			slerpQX = cX;
			slerpQY = cY;
			slerpQZ = cZ;
			slerpQW = w;
		}
		let x1 = slerpQX;
		let y1 = slerpQY;
		let z1 = slerpQZ;
		let w1 = slerpQW;
		let x21 = 2 * x1;
		let y21 = 2 * y1;
		let z21 = 2 * z1;
		let xx1 = x1 * x21;
		let yy1 = y1 * y21;
		let zz1 = z1 * z21;
		let xy1 = x1 * y21;
		let yz1 = y1 * z21;
		let xz1 = x1 * z21;
		let wx1 = w1 * x21;
		let wy1 = w1 * y21;
		let wz1 = w1 * z21;
		slerpM00 = 1 - yy1 - zz1;
		slerpM01 = xy1 - wz1;
		slerpM02 = xz1 + wy1;
		slerpM10 = xy1 + wz1;
		slerpM11 = 1 - xx1 - zz1;
		slerpM12 = yz1 - wx1;
		slerpM20 = xz1 - wy1;
		slerpM21 = yz1 + wx1;
		slerpM22 = 1 - xx1 - yy1;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
		__tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
		__tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
		newYX = __tmp__X1;
		newYY = __tmp__Y1;
		newYZ = __tmp__Z1;
		newZX = newXY * newYZ - newXZ * newYY;
		newZY = newXZ * newYX - newXX * newYZ;
		newZZ = newXX * newYY - newXY * newYX;
		if(newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
			let l = newZX * newZX + newZY * newZY + newZZ * newZZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			newZX *= l;
			newZY *= l;
			newZZ *= l;
		} else {
			let x1 = newXX;
			let y1 = newXY;
			let z1 = newXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					newZX = 0;
					newZY = z1 * d;
					newZZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					newZX = y1 * d;
					newZY = -x1 * d;
					newZZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				newZX = -z1 * d;
				newZY = 0;
				newZZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				newZX = y1 * d;
				newZY = -x1 * d;
				newZZ = 0;
			}
		}
		newYX = newZY * newXZ - newZZ * newXY;
		newYY = newZZ * newXX - newZX * newXZ;
		newYZ = newZX * newXY - newZY * newXX;
		_this.xX = newXX;
		_this.xY = newXY;
		_this.xZ = newXZ;
		_this.yX = newYX;
		_this.yY = newYY;
		_this.yZ = newYZ;
		_this.zX = newZX;
		_this.zY = newZY;
		_this.zZ = newZZ;
		let angErrorX;
		let angErrorY;
		let angErrorZ;
		angErrorX = this._basisX1Y * this._basisX2Z - this._basisX1Z * this._basisX2Y;
		angErrorY = this._basisX1Z * this._basisX2X - this._basisX1X * this._basisX2Z;
		angErrorZ = this._basisX1X * this._basisX2Y - this._basisX1Y * this._basisX2X;
		let cos = this._basisX1X * this._basisX2X + this._basisX1Y * this._basisX2Y + this._basisX1Z * this._basisX2Z;
		let theta = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
		let l = angErrorX * angErrorX + angErrorY * angErrorY + angErrorZ * angErrorZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		angErrorX *= l;
		angErrorY *= l;
		angErrorZ *= l;
		angErrorX *= theta;
		angErrorY *= theta;
		angErrorZ *= theta;
		this.angularErrorY = angErrorX * this._basis.yX + angErrorY * this._basis.yY + angErrorZ * this._basis.yZ;
		this.angularErrorZ = angErrorX * this._basis.zX + angErrorY * this._basis.zY + angErrorZ * this._basis.zZ;
		let perpCrossX;
		let perpCrossY;
		let perpCrossZ;
		perpCrossX = this._basisY1Y * this._basisY2Z - this._basisY1Z * this._basisY2Y;
		perpCrossY = this._basisY1Z * this._basisY2X - this._basisY1X * this._basisY2Z;
		perpCrossZ = this._basisY1X * this._basisY2Y - this._basisY1Y * this._basisY2X;
		cos = this._basisY1X * this._basisY2X + this._basisY1Y * this._basisY2Y + this._basisY1Z * this._basisY2Z;
		this.angle = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
		if(perpCrossX * this._basis.xX + perpCrossY * this._basis.xY + perpCrossZ * this._basis.xZ < 0) {
			this.angle = -this.angle;
		}
		let anchorDiffX;
		let anchorDiffY;
		let anchorDiffZ;
		anchorDiffX = this._anchor2X - this._anchor1X;
		anchorDiffY = this._anchor2Y - this._anchor1Y;
		anchorDiffZ = this._anchor2Z - this._anchor1Z;
		this.translation = anchorDiffX * this._basis.xX + anchorDiffY * this._basis.xY + anchorDiffZ * this._basis.xZ;
		this.linearErrorY = anchorDiffX * this._basis.yX + anchorDiffY * this._basis.yY + anchorDiffZ * this._basis.yZ;
		this.linearErrorZ = anchorDiffX * this._basis.zX + anchorDiffY * this._basis.zY + anchorDiffZ * this._basis.zZ;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX2X;
		v.y = this._basisX2Y;
		v.z = this._basisX2Z;
		return v;
	}
	getAxis1To(axis) {
		axis.x = this._basisX1X;
		axis.y = this._basisX1Y;
		axis.z = this._basisX1Z;
	}
	getAxis2To(axis) {
		axis.x = this._basisX2X;
		axis.y = this._basisX2Y;
		axis.z = this._basisX2Z;
	}
	getLocalAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX1X;
		v.y = this._localBasisX1Y;
		v.z = this._localBasisX1Z;
		return v;
	}
	getLocalAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX2X;
		v.y = this._localBasisX2Y;
		v.z = this._localBasisX2Z;
		return v;
	}
	getLocalAxis1To(axis) {
		axis.x = this._localBasisX1X;
		axis.y = this._localBasisX1Y;
		axis.z = this._localBasisX1Z;
	}
	getLocalAxis2To(axis) {
		axis.x = this._localBasisX2X;
		axis.y = this._localBasisX2Y;
		axis.z = this._localBasisX2Z;
	}
	getTranslationalSpringDamper() {
		return this._translSd;
	}
	getRotationalSpringDamper() {
		return this._rotSd;
	}
	getTranslationalLimitMotor() {
		return this._translLm;
	}
	getRotationalLimitMotor() {
		return this._rotLm;
	}
	getAngle() {
		return this.angle;
	}
	getTranslation() {
		return this.translation;
	}
}
oimo.dynamics.constraint.joint.JointConfig = class oimo_dynamics_constraint_joint_JointConfig {
	constructor() {
		this.rigidBody1 = null;
		this.rigidBody2 = null;
		this.localAnchor1 = new oimo.common.Vec3();
		this.localAnchor2 = new oimo.common.Vec3();
		this.allowCollision = false;
		this.solverType = oimo.common.Setting.defaultJointConstraintSolverType;
		this.positionCorrectionAlgorithm = oimo.common.Setting.defaultJointPositionCorrectionAlgorithm;
		this.breakForce = 0;
		this.breakTorque = 0;
	}
	_init(rb1,rb2,worldAnchor) {
		this.rigidBody1 = rb1;
		this.rigidBody2 = rb2;
		let _this = this.rigidBody1;
		let localPoint = this.localAnchor1;
		let vX;
		let vY;
		let vZ;
		vX = worldAnchor.x;
		vY = worldAnchor.y;
		vZ = worldAnchor.z;
		vX -= _this._transform._positionX;
		vY -= _this._transform._positionY;
		vZ -= _this._transform._positionZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = _this._transform._rotation00 * vX + _this._transform._rotation10 * vY + _this._transform._rotation20 * vZ;
		__tmp__Y = _this._transform._rotation01 * vX + _this._transform._rotation11 * vY + _this._transform._rotation21 * vZ;
		__tmp__Z = _this._transform._rotation02 * vX + _this._transform._rotation12 * vY + _this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localPoint.x = vX;
		localPoint.y = vY;
		localPoint.z = vZ;
		let _this1 = this.rigidBody2;
		let localPoint1 = this.localAnchor2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldAnchor.x;
		vY1 = worldAnchor.y;
		vZ1 = worldAnchor.z;
		vX1 -= _this1._transform._positionX;
		vY1 -= _this1._transform._positionY;
		vZ1 -= _this1._transform._positionZ;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = _this1._transform._rotation00 * vX1 + _this1._transform._rotation10 * vY1 + _this1._transform._rotation20 * vZ1;
		__tmp__Y1 = _this1._transform._rotation01 * vX1 + _this1._transform._rotation11 * vY1 + _this1._transform._rotation21 * vZ1;
		__tmp__Z1 = _this1._transform._rotation02 * vX1 + _this1._transform._rotation12 * vY1 + _this1._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localPoint1.x = vX1;
		localPoint1.y = vY1;
		localPoint1.z = vZ1;
	}
}
oimo.dynamics.constraint.joint.CylindricalJointConfig = class oimo_dynamics_constraint_joint_CylindricalJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localAxis1 = new oimo.common.Vec3(1,0,0);
		this.localAxis2 = new oimo.common.Vec3(1,0,0);
		this.translationalLimitMotor = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
		this.translationalSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
		this.rotationalLimitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
		this.rotationalSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldAxis) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let localVector = this.localAxis1;
		let vX;
		let vY;
		let vZ;
		vX = worldAxis.x;
		vY = worldAxis.y;
		vZ = worldAxis.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
		__tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
		__tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
		let localVector1 = this.localAxis2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldAxis.x;
		vY1 = worldAxis.y;
		vZ1 = worldAxis.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
		__tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
		__tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localVector1.x = vX1;
		localVector1.y = vY1;
		localVector1.z = vZ1;
		return this;
	}
}
oimo.dynamics.constraint.joint.GenericJoint = class oimo_dynamics_constraint_joint_GenericJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,oimo.dynamics.constraint.joint.JointType.GENERIC);
		let tmp;
		let _this = config.localBasis1;
		if(!(_this.e00 * (_this.e11 * _this.e22 - _this.e12 * _this.e21) - _this.e01 * (_this.e10 * _this.e22 - _this.e12 * _this.e20) + _this.e02 * (_this.e10 * _this.e21 - _this.e11 * _this.e20) < 0)) {
			let _this = config.localBasis2;
			tmp = _this.e00 * (_this.e11 * _this.e22 - _this.e12 * _this.e21) - _this.e01 * (_this.e10 * _this.e22 - _this.e12 * _this.e20) + _this.e02 * (_this.e10 * _this.e21 - _this.e11 * _this.e20) < 0;
		} else {
			tmp = true;
		}
		if(tmp) {
			console.log("src/oimo/dynamics/constraint/joint/GenericJoint.hx:50:","[warning] joint basis must be right handed");
		}
		let lb100;
		let lb101;
		let lb102;
		let lb110;
		let lb111;
		let lb112;
		let lb120;
		let lb121;
		let lb122;
		let lb200;
		let lb201;
		let lb202;
		let lb210;
		let lb211;
		let lb212;
		let lb220;
		let lb221;
		let lb222;
		let m = config.localBasis1;
		lb100 = m.e00;
		lb101 = m.e01;
		lb102 = m.e02;
		lb110 = m.e10;
		lb111 = m.e11;
		lb112 = m.e12;
		lb120 = m.e20;
		lb121 = m.e21;
		lb122 = m.e22;
		let m1 = config.localBasis2;
		lb200 = m1.e00;
		lb201 = m1.e01;
		lb202 = m1.e02;
		lb210 = m1.e10;
		lb211 = m1.e11;
		lb212 = m1.e12;
		lb220 = m1.e20;
		lb221 = m1.e21;
		lb222 = m1.e22;
		this._localBasisX1X = lb100;
		this._localBasisX1Y = lb110;
		this._localBasisX1Z = lb120;
		this._localBasisY1X = lb101;
		this._localBasisY1Y = lb111;
		this._localBasisY1Z = lb121;
		this._localBasisZ1X = lb102;
		this._localBasisZ1Y = lb112;
		this._localBasisZ1Z = lb122;
		this._localBasisX2X = lb200;
		this._localBasisX2Y = lb210;
		this._localBasisX2Z = lb220;
		this._localBasisY2X = lb201;
		this._localBasisY2Y = lb211;
		this._localBasisY2Z = lb221;
		this._localBasisZ2X = lb202;
		this._localBasisZ2Y = lb212;
		this._localBasisZ2Z = lb222;
		this._angleX = 0;
		this._angleY = 0;
		this._angleZ = 0;
		this.translationX = 0;
		this.translationY = 0;
		this.translationZ = 0;
		this.xSingular = false;
		this.ySingular = false;
		this.zSingular = false;
		this._translLms = new Array(3);
		this._translSds = new Array(3);
		this._rotLms = new Array(3);
		this._rotSds = new Array(3);
		this._translLms[0] = config.translationalLimitMotors[0].clone();
		this._translLms[1] = config.translationalLimitMotors[1].clone();
		this._translLms[2] = config.translationalLimitMotors[2].clone();
		this._translSds[0] = config.translationalSpringDampers[0].clone();
		this._translSds[1] = config.translationalSpringDampers[1].clone();
		this._translSds[2] = config.translationalSpringDampers[2].clone();
		this._rotLms[0] = config.rotationalLimitMotors[0].clone();
		this._rotLms[1] = config.rotationalLimitMotors[1].clone();
		this._rotLms[2] = config.rotationalLimitMotors[2].clone();
		this._rotSds[0] = config.rotationalSpringDampers[0].clone();
		this._rotSds[1] = config.rotationalSpringDampers[1].clone();
		this._rotSds[2] = config.rotationalSpringDampers[2].clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		let j;
		let translMotorMass = 1 / (this._b1._invMass + this._b2._invMass);
		let motorMassX = this.computeEffectiveInertiaMoment(this._axisXX,this._axisXY,this._axisXZ);
		let motorMassY = this.computeEffectiveInertiaMoment(this._axisYX,this._axisYY,this._axisYZ);
		let motorMassZ = this.computeEffectiveInertiaMoment(this._axisZX,this._axisZY,this._axisZZ);
		if(this._translSds[0].frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[0];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowLinear(row,this.translationX,this._translLms[0],translMotorMass,this._translSds[0],timeStep,isPositionPart);
			j = row.jacobian;
			j.lin1X = this._basisX1X;
			j.lin1Y = this._basisX1Y;
			j.lin1Z = this._basisX1Z;
			j.lin2X = this._basisX1X;
			j.lin2Y = this._basisX1Y;
			j.lin2Z = this._basisX1Z;
			j.ang1X = this._relativeAnchor1Y * this._basisX1Z - this._relativeAnchor1Z * this._basisX1Y;
			j.ang1Y = this._relativeAnchor1Z * this._basisX1X - this._relativeAnchor1X * this._basisX1Z;
			j.ang1Z = this._relativeAnchor1X * this._basisX1Y - this._relativeAnchor1Y * this._basisX1X;
			j.ang2X = this._relativeAnchor2Y * this._basisX1Z - this._relativeAnchor2Z * this._basisX1Y;
			j.ang2Y = this._relativeAnchor2Z * this._basisX1X - this._relativeAnchor2X * this._basisX1Z;
			j.ang2Z = this._relativeAnchor2X * this._basisX1Y - this._relativeAnchor2Y * this._basisX1X;
		}
		if(this._translSds[1].frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[1];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowLinear(row,this.translationY,this._translLms[1],translMotorMass,this._translSds[1],timeStep,isPositionPart);
			j = row.jacobian;
			j.lin1X = this._basisY1X;
			j.lin1Y = this._basisY1Y;
			j.lin1Z = this._basisY1Z;
			j.lin2X = this._basisY1X;
			j.lin2Y = this._basisY1Y;
			j.lin2Z = this._basisY1Z;
			j.ang1X = this._relativeAnchor1Y * this._basisY1Z - this._relativeAnchor1Z * this._basisY1Y;
			j.ang1Y = this._relativeAnchor1Z * this._basisY1X - this._relativeAnchor1X * this._basisY1Z;
			j.ang1Z = this._relativeAnchor1X * this._basisY1Y - this._relativeAnchor1Y * this._basisY1X;
			j.ang2X = this._relativeAnchor2Y * this._basisY1Z - this._relativeAnchor2Z * this._basisY1Y;
			j.ang2Y = this._relativeAnchor2Z * this._basisY1X - this._relativeAnchor2X * this._basisY1Z;
			j.ang2Z = this._relativeAnchor2X * this._basisY1Y - this._relativeAnchor2Y * this._basisY1X;
		}
		if(this._translSds[2].frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[2];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowLinear(row,this.translationZ,this._translLms[2],translMotorMass,this._translSds[2],timeStep,isPositionPart);
			j = row.jacobian;
			j.lin1X = this._basisZ1X;
			j.lin1Y = this._basisZ1Y;
			j.lin1Z = this._basisZ1Z;
			j.lin2X = this._basisZ1X;
			j.lin2Y = this._basisZ1Y;
			j.lin2Z = this._basisZ1Z;
			j.ang1X = this._relativeAnchor1Y * this._basisZ1Z - this._relativeAnchor1Z * this._basisZ1Y;
			j.ang1Y = this._relativeAnchor1Z * this._basisZ1X - this._relativeAnchor1X * this._basisZ1Z;
			j.ang1Z = this._relativeAnchor1X * this._basisZ1Y - this._relativeAnchor1Y * this._basisZ1X;
			j.ang2X = this._relativeAnchor2Y * this._basisZ1Z - this._relativeAnchor2Z * this._basisZ1Y;
			j.ang2Y = this._relativeAnchor2Z * this._basisZ1X - this._relativeAnchor2X * this._basisZ1Z;
			j.ang2Z = this._relativeAnchor2X * this._basisZ1Y - this._relativeAnchor2Y * this._basisZ1X;
		}
		if(!this.xSingular && (this._rotSds[0].frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[3];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._angleX,this._rotLms[0],motorMassX,this._rotSds[0],timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._axisXX;
			j.ang1Y = this._axisXY;
			j.ang1Z = this._axisXZ;
			j.ang2X = this._axisXX;
			j.ang2Y = this._axisXY;
			j.ang2Z = this._axisXZ;
		}
		if(!this.ySingular && (this._rotSds[1].frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[4];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._angleY,this._rotLms[1],motorMassY,this._rotSds[1],timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._axisYX;
			j.ang1Y = this._axisYY;
			j.ang1Z = this._axisYZ;
			j.ang2X = this._axisYX;
			j.ang2Y = this._axisYY;
			j.ang2Z = this._axisYZ;
		}
		if(!this.zSingular && (this._rotSds[2].frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[5];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._angleZ,this._rotLms[2],motorMassZ,this._rotSds[2],timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._axisZX;
			j.ang1Y = this._axisZY;
			j.ang1Z = this._axisZZ;
			j.ang2X = this._axisZX;
			j.ang2Y = this._axisZY;
			j.ang2Z = this._axisZZ;
		}
	}
	_syncAnchors() {
		super._syncAnchors();
		let angleAxisXX;
		let angleAxisXY;
		let angleAxisXZ;
		let angleAxisYX;
		let angleAxisYY;
		let angleAxisYZ;
		let angleAxisZX;
		let angleAxisZY;
		let angleAxisZZ;
		angleAxisXX = this._basisX1X;
		angleAxisXY = this._basisX1Y;
		angleAxisXZ = this._basisX1Z;
		angleAxisZX = this._basisZ2X;
		angleAxisZY = this._basisZ2Y;
		angleAxisZZ = this._basisZ2Z;
		angleAxisYX = angleAxisZY * angleAxisXZ - angleAxisZZ * angleAxisXY;
		angleAxisYY = angleAxisZZ * angleAxisXX - angleAxisZX * angleAxisXZ;
		angleAxisYZ = angleAxisZX * angleAxisXY - angleAxisZY * angleAxisXX;
		this._axisXX = angleAxisYY * angleAxisZZ - angleAxisYZ * angleAxisZY;
		this._axisXY = angleAxisYZ * angleAxisZX - angleAxisYX * angleAxisZZ;
		this._axisXZ = angleAxisYX * angleAxisZY - angleAxisYY * angleAxisZX;
		this._axisYX = angleAxisYX;
		this._axisYY = angleAxisYY;
		this._axisYZ = angleAxisYZ;
		this._axisZX = angleAxisXY * angleAxisYZ - angleAxisXZ * angleAxisYY;
		this._axisZY = angleAxisXZ * angleAxisYX - angleAxisXX * angleAxisYZ;
		this._axisZZ = angleAxisXX * angleAxisYY - angleAxisXY * angleAxisYX;
		let l = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		this._axisXX *= l;
		this._axisXY *= l;
		this._axisXZ *= l;
		let l1 = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ;
		if(l1 > 0) {
			l1 = 1 / Math.sqrt(l1);
		}
		this._axisYX *= l1;
		this._axisYY *= l1;
		this._axisYZ *= l1;
		let l2 = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ;
		if(l2 > 0) {
			l2 = 1 / Math.sqrt(l2);
		}
		this._axisZX *= l2;
		this._axisZY *= l2;
		this._axisZZ *= l2;
		this.xSingular = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ == 0;
		this.ySingular = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ == 0;
		this.zSingular = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ == 0;
		let rot100;
		let rot101;
		let rot102;
		let rot110;
		let rot111;
		let rot112;
		let rot120;
		let rot121;
		let rot122;
		let rot200;
		let rot201;
		let rot202;
		let rot210;
		let rot211;
		let rot212;
		let rot220;
		let rot221;
		let rot222;
		rot100 = this._basisX1X;
		rot101 = this._basisY1X;
		rot102 = this._basisZ1X;
		rot110 = this._basisX1Y;
		rot111 = this._basisY1Y;
		rot112 = this._basisZ1Y;
		rot120 = this._basisX1Z;
		rot121 = this._basisY1Z;
		rot122 = this._basisZ1Z;
		rot200 = this._basisX2X;
		rot201 = this._basisY2X;
		rot202 = this._basisZ2X;
		rot210 = this._basisX2Y;
		rot211 = this._basisY2Y;
		rot212 = this._basisZ2Y;
		rot220 = this._basisX2Z;
		rot221 = this._basisY2Z;
		rot222 = this._basisZ2Z;
		let relRot00;
		let relRot01;
		let relRot02;
		let relRot11;
		let relRot12;
		let relRot21;
		let relRot22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__11;
		let __tmp__12;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot100 * rot200 + rot110 * rot210 + rot120 * rot220;
		__tmp__01 = rot100 * rot201 + rot110 * rot211 + rot120 * rot221;
		__tmp__02 = rot100 * rot202 + rot110 * rot212 + rot120 * rot222;
		__tmp__11 = rot101 * rot201 + rot111 * rot211 + rot121 * rot221;
		__tmp__12 = rot101 * rot202 + rot111 * rot212 + rot121 * rot222;
		__tmp__21 = rot102 * rot201 + rot112 * rot211 + rot122 * rot221;
		__tmp__22 = rot102 * rot202 + rot112 * rot212 + rot122 * rot222;
		relRot00 = __tmp__00;
		relRot01 = __tmp__01;
		relRot02 = __tmp__02;
		relRot11 = __tmp__11;
		relRot12 = __tmp__12;
		relRot21 = __tmp__21;
		relRot22 = __tmp__22;
		let anglesX;
		let anglesY;
		let anglesZ;
		let sy = relRot02;
		if(sy <= -1) {
			let xSubZ = Math.atan2(relRot21,relRot11);
			anglesX = xSubZ * 0.5;
			anglesY = -1.570796326794895;
			anglesZ = -xSubZ * 0.5;
		} else if(sy >= 1) {
			let xAddZ = Math.atan2(relRot21,relRot11);
			anglesX = xAddZ * 0.5;
			anglesY = 1.570796326794895;
			anglesZ = xAddZ * 0.5;
		} else {
			anglesX = Math.atan2(-relRot12,relRot22);
			anglesY = Math.asin(sy);
			anglesZ = Math.atan2(-relRot01,relRot00);
		}
		this._angleX = anglesX;
		this._angleY = anglesY;
		this._angleZ = anglesZ;
		let anchorDiffX;
		let anchorDiffY;
		let anchorDiffZ;
		anchorDiffX = this._anchor2X - this._anchor1X;
		anchorDiffY = this._anchor2Y - this._anchor1Y;
		anchorDiffZ = this._anchor2Z - this._anchor1Z;
		this.translationX = anchorDiffX * this._basisX1X + anchorDiffY * this._basisX1Y + anchorDiffZ * this._basisX1Z;
		this.translationY = anchorDiffX * this._basisY1X + anchorDiffY * this._basisY1Y + anchorDiffZ * this._basisY1Z;
		this.translationZ = anchorDiffX * this._basisZ1X + anchorDiffY * this._basisZ1Y + anchorDiffZ * this._basisZ1Z;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxisX() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxisY() {
		let v = new oimo.common.Vec3();
		v.x = this._axisYX;
		v.y = this._axisYY;
		v.z = this._axisYZ;
		return v;
	}
	getAxisZ() {
		let v = new oimo.common.Vec3();
		v.x = this._basisZ2X;
		v.y = this._basisZ2Y;
		v.z = this._basisZ2Z;
		return v;
	}
	getTranslationalSpringDampers() {
		return this._translSds.slice(0);
	}
	getRotationalSpringDampers() {
		return this._translSds.slice(0);
	}
	getTranslationalLimitMotors() {
		return this._translLms.slice(0);
	}
	getRotationalLimitMotors() {
		return this._rotLms.slice(0);
	}
	getAngles() {
		return new oimo.common.Vec3(this._angleX,this._angleY,this._angleZ);
	}
	getTranslations() {
		return new oimo.common.Vec3(this.translationX,this.translationY,this.translationZ);
	}
}
oimo.dynamics.constraint.joint.GenericJointConfig = class oimo_dynamics_constraint_joint_GenericJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localBasis1 = new oimo.common.Mat3();
		this.localBasis2 = new oimo.common.Mat3();
		let _g = [];
		_g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0,0));
		_g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0,0));
		_g.push(new oimo.dynamics.constraint.joint.TranslationalLimitMotor().setLimits(0,0));
		this.translationalLimitMotors = _g;
		let _g1 = [];
		_g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0,0));
		_g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0,0));
		_g1.push(new oimo.dynamics.constraint.joint.RotationalLimitMotor().setLimits(0,0));
		this.rotationalLimitMotors = _g1;
		this.translationalSpringDampers = [new oimo.dynamics.constraint.joint.SpringDamper(),new oimo.dynamics.constraint.joint.SpringDamper(),new oimo.dynamics.constraint.joint.SpringDamper()];
		this.rotationalSpringDampers = [new oimo.dynamics.constraint.joint.SpringDamper(),new oimo.dynamics.constraint.joint.SpringDamper(),new oimo.dynamics.constraint.joint.SpringDamper()];
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldBasis1,worldBasis2) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let tf1 = rigidBody1._transform;
		let tf2 = rigidBody2._transform;
		let wb100;
		let wb101;
		let wb102;
		let wb110;
		let wb111;
		let wb112;
		let wb120;
		let wb121;
		let wb122;
		let wb200;
		let wb201;
		let wb202;
		let wb210;
		let wb211;
		let wb212;
		let wb220;
		let wb221;
		let wb222;
		let lb100;
		let lb101;
		let lb102;
		let lb110;
		let lb111;
		let lb112;
		let lb120;
		let lb121;
		let lb122;
		let lb200;
		let lb201;
		let lb202;
		let lb210;
		let lb211;
		let lb212;
		let lb220;
		let lb221;
		let lb222;
		wb100 = worldBasis1.e00;
		wb101 = worldBasis1.e01;
		wb102 = worldBasis1.e02;
		wb110 = worldBasis1.e10;
		wb111 = worldBasis1.e11;
		wb112 = worldBasis1.e12;
		wb120 = worldBasis1.e20;
		wb121 = worldBasis1.e21;
		wb122 = worldBasis1.e22;
		wb200 = worldBasis2.e00;
		wb201 = worldBasis2.e01;
		wb202 = worldBasis2.e02;
		wb210 = worldBasis2.e10;
		wb211 = worldBasis2.e11;
		wb212 = worldBasis2.e12;
		wb220 = worldBasis2.e20;
		wb221 = worldBasis2.e21;
		wb222 = worldBasis2.e22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = tf1._rotation00 * wb100 + tf1._rotation10 * wb110 + tf1._rotation20 * wb120;
		__tmp__01 = tf1._rotation00 * wb101 + tf1._rotation10 * wb111 + tf1._rotation20 * wb121;
		__tmp__02 = tf1._rotation00 * wb102 + tf1._rotation10 * wb112 + tf1._rotation20 * wb122;
		__tmp__10 = tf1._rotation01 * wb100 + tf1._rotation11 * wb110 + tf1._rotation21 * wb120;
		__tmp__11 = tf1._rotation01 * wb101 + tf1._rotation11 * wb111 + tf1._rotation21 * wb121;
		__tmp__12 = tf1._rotation01 * wb102 + tf1._rotation11 * wb112 + tf1._rotation21 * wb122;
		__tmp__20 = tf1._rotation02 * wb100 + tf1._rotation12 * wb110 + tf1._rotation22 * wb120;
		__tmp__21 = tf1._rotation02 * wb101 + tf1._rotation12 * wb111 + tf1._rotation22 * wb121;
		__tmp__22 = tf1._rotation02 * wb102 + tf1._rotation12 * wb112 + tf1._rotation22 * wb122;
		lb100 = __tmp__00;
		lb101 = __tmp__01;
		lb102 = __tmp__02;
		lb110 = __tmp__10;
		lb111 = __tmp__11;
		lb112 = __tmp__12;
		lb120 = __tmp__20;
		lb121 = __tmp__21;
		lb122 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = tf2._rotation00 * wb200 + tf2._rotation10 * wb210 + tf2._rotation20 * wb220;
		__tmp__011 = tf2._rotation00 * wb201 + tf2._rotation10 * wb211 + tf2._rotation20 * wb221;
		__tmp__021 = tf2._rotation00 * wb202 + tf2._rotation10 * wb212 + tf2._rotation20 * wb222;
		__tmp__101 = tf2._rotation01 * wb200 + tf2._rotation11 * wb210 + tf2._rotation21 * wb220;
		__tmp__111 = tf2._rotation01 * wb201 + tf2._rotation11 * wb211 + tf2._rotation21 * wb221;
		__tmp__121 = tf2._rotation01 * wb202 + tf2._rotation11 * wb212 + tf2._rotation21 * wb222;
		__tmp__201 = tf2._rotation02 * wb200 + tf2._rotation12 * wb210 + tf2._rotation22 * wb220;
		__tmp__211 = tf2._rotation02 * wb201 + tf2._rotation12 * wb211 + tf2._rotation22 * wb221;
		__tmp__221 = tf2._rotation02 * wb202 + tf2._rotation12 * wb212 + tf2._rotation22 * wb222;
		lb200 = __tmp__001;
		lb201 = __tmp__011;
		lb202 = __tmp__021;
		lb210 = __tmp__101;
		lb211 = __tmp__111;
		lb212 = __tmp__121;
		lb220 = __tmp__201;
		lb221 = __tmp__211;
		lb222 = __tmp__221;
		let m = this.localBasis1;
		m.e00 = lb100;
		m.e01 = lb101;
		m.e02 = lb102;
		m.e10 = lb110;
		m.e11 = lb111;
		m.e12 = lb112;
		m.e20 = lb120;
		m.e21 = lb121;
		m.e22 = lb122;
		let m1 = this.localBasis2;
		m1.e00 = lb200;
		m1.e01 = lb201;
		m1.e02 = lb202;
		m1.e10 = lb210;
		m1.e11 = lb211;
		m1.e12 = lb212;
		m1.e20 = lb220;
		m1.e21 = lb221;
		m1.e22 = lb222;
		return this;
	}
}
oimo.dynamics.constraint.joint.JointImpulse = class oimo_dynamics_constraint_joint_JointImpulse {
	constructor() {
		this.impulse = 0;
		this.impulseM = 0;
		this.impulseP = 0;
	}
}
oimo.dynamics.constraint.joint.JointLink = class oimo_dynamics_constraint_joint_JointLink {
	constructor(joint) {
		this._joint = joint;
	}
	getContact() {
		return this._joint;
	}
	getOther() {
		return this._other;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.constraint.joint.JointMacro = class oimo_dynamics_constraint_joint_JointMacro {
}
oimo.dynamics.constraint.joint.JointType = class oimo_dynamics_constraint_joint_JointType {
}
oimo.dynamics.constraint.joint.PrismaticJoint = class oimo_dynamics_constraint_joint_PrismaticJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,oimo.dynamics.constraint.joint.JointType.PRISMATIC);
		let v = config.localAxis1;
		this._localBasisX1X = v.x;
		this._localBasisX1Y = v.y;
		this._localBasisX1Z = v.z;
		let v1 = config.localAxis2;
		this._localBasisX2X = v1.x;
		this._localBasisX2Y = v1.y;
		this._localBasisX2Z = v1.z;
		this.buildLocalBasesFromX();
		this._basis = new oimo.dynamics.constraint.joint.BasisTracker(this);
		this.translation = 0;
		this.linearErrorY = 0;
		this.linearErrorZ = 0;
		this.angularErrorX = 0;
		this.angularErrorY = 0;
		this.angularErrorZ = 0;
		this._sd = config.springDamper.clone();
		this._lm = config.limitMotor.clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		let erp = this.getErp(timeStep,isPositionPart);
		let linRhsY = this.linearErrorY * erp;
		let linRhsZ = this.linearErrorZ * erp;
		let angRhsX = this.angularErrorX * erp;
		let angRhsY = this.angularErrorY * erp;
		let angRhsZ = this.angularErrorZ * erp;
		let j;
		if(this._sd.frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[0];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowLinear(row,this.translation,this._lm,1 / (this._b1._invMass + this._b2._invMass),this._sd,timeStep,isPositionPart);
			j = row.jacobian;
			j.lin1X = this._basis.xX;
			j.lin1Y = this._basis.xY;
			j.lin1Z = this._basis.xZ;
			j.lin2X = this._basis.xX;
			j.lin2Y = this._basis.xY;
			j.lin2Z = this._basis.xZ;
			j.ang1X = this._relativeAnchor1Y * this._basis.xZ - this._relativeAnchor1Z * this._basis.xY;
			j.ang1Y = this._relativeAnchor1Z * this._basis.xX - this._relativeAnchor1X * this._basis.xZ;
			j.ang1Z = this._relativeAnchor1X * this._basis.xY - this._relativeAnchor1Y * this._basis.xX;
			j.ang2X = this._relativeAnchor2Y * this._basis.xZ - this._relativeAnchor2Z * this._basis.xY;
			j.ang2Y = this._relativeAnchor2Z * this._basis.xX - this._relativeAnchor2X * this._basis.xZ;
			j.ang2Z = this._relativeAnchor2X * this._basis.xY - this._relativeAnchor2Y * this._basis.xX;
		}
		let impulse = this._impulses[1];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linRhsY;
		row.cfm = 0;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		j = row.jacobian;
		j.lin1X = this._basis.yX;
		j.lin1Y = this._basis.yY;
		j.lin1Z = this._basis.yZ;
		j.lin2X = this._basis.yX;
		j.lin2Y = this._basis.yY;
		j.lin2Z = this._basis.yZ;
		j.ang1X = this._relativeAnchor1Y * this._basis.yZ - this._relativeAnchor1Z * this._basis.yY;
		j.ang1Y = this._relativeAnchor1Z * this._basis.yX - this._relativeAnchor1X * this._basis.yZ;
		j.ang1Z = this._relativeAnchor1X * this._basis.yY - this._relativeAnchor1Y * this._basis.yX;
		j.ang2X = this._relativeAnchor2Y * this._basis.yZ - this._relativeAnchor2Z * this._basis.yY;
		j.ang2Y = this._relativeAnchor2Z * this._basis.yX - this._relativeAnchor2X * this._basis.yZ;
		j.ang2Z = this._relativeAnchor2X * this._basis.yY - this._relativeAnchor2Y * this._basis.yX;
		let impulse1 = this._impulses[2];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linRhsZ;
		row1.cfm = 0;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = this._basis.zX;
		j.lin1Y = this._basis.zY;
		j.lin1Z = this._basis.zZ;
		j.lin2X = this._basis.zX;
		j.lin2Y = this._basis.zY;
		j.lin2Z = this._basis.zZ;
		j.ang1X = this._relativeAnchor1Y * this._basis.zZ - this._relativeAnchor1Z * this._basis.zY;
		j.ang1Y = this._relativeAnchor1Z * this._basis.zX - this._relativeAnchor1X * this._basis.zZ;
		j.ang1Z = this._relativeAnchor1X * this._basis.zY - this._relativeAnchor1Y * this._basis.zX;
		j.ang2X = this._relativeAnchor2Y * this._basis.zZ - this._relativeAnchor2Z * this._basis.zY;
		j.ang2Y = this._relativeAnchor2Z * this._basis.zX - this._relativeAnchor2X * this._basis.zZ;
		j.ang2Z = this._relativeAnchor2X * this._basis.zY - this._relativeAnchor2Y * this._basis.zX;
		let impulse2 = this._impulses[3];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = angRhsX;
		row2.cfm = 0;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.ang1X = 1;
		j.ang1Y = 0;
		j.ang1Z = 0;
		j.ang2X = 1;
		j.ang2Y = 0;
		j.ang2Z = 0;
		let impulse3 = this._impulses[4];
		let row3 = info.rows[info.numRows++];
		let _this3 = row3.jacobian;
		_this3.lin1X = 0;
		_this3.lin1Y = 0;
		_this3.lin1Z = 0;
		_this3.lin2X = 0;
		_this3.lin2Y = 0;
		_this3.lin2Z = 0;
		_this3.ang1X = 0;
		_this3.ang1Y = 0;
		_this3.ang1Z = 0;
		_this3.ang2X = 0;
		_this3.ang2Y = 0;
		_this3.ang2Z = 0;
		row3.rhs = 0;
		row3.cfm = 0;
		row3.minImpulse = 0;
		row3.maxImpulse = 0;
		row3.motorSpeed = 0;
		row3.motorMaxImpulse = 0;
		row3.impulse = null;
		row3.impulse = impulse3;
		row3.rhs = angRhsY;
		row3.cfm = 0;
		row3.minImpulse = -1e65536;
		row3.maxImpulse = 1e65536;
		j = row3.jacobian;
		j.ang1X = 0;
		j.ang1Y = 1;
		j.ang1Z = 0;
		j.ang2X = 0;
		j.ang2Y = 1;
		j.ang2Z = 0;
		let impulse4 = this._impulses[5];
		let row4 = info.rows[info.numRows++];
		let _this4 = row4.jacobian;
		_this4.lin1X = 0;
		_this4.lin1Y = 0;
		_this4.lin1Z = 0;
		_this4.lin2X = 0;
		_this4.lin2Y = 0;
		_this4.lin2Z = 0;
		_this4.ang1X = 0;
		_this4.ang1Y = 0;
		_this4.ang1Z = 0;
		_this4.ang2X = 0;
		_this4.ang2Y = 0;
		_this4.ang2Z = 0;
		row4.rhs = 0;
		row4.cfm = 0;
		row4.minImpulse = 0;
		row4.maxImpulse = 0;
		row4.motorSpeed = 0;
		row4.motorMaxImpulse = 0;
		row4.impulse = null;
		row4.impulse = impulse4;
		row4.rhs = angRhsZ;
		row4.cfm = 0;
		row4.minImpulse = -1e65536;
		row4.maxImpulse = 1e65536;
		j = row4.jacobian;
		j.ang1X = 0;
		j.ang1Y = 0;
		j.ang1Z = 1;
		j.ang2X = 0;
		j.ang2Y = 0;
		j.ang2Z = 1;
	}
	_syncAnchors() {
		super._syncAnchors();
		let _this = this._basis;
		let invM1 = _this.joint._b1._invMass;
		let invM2 = _this.joint._b2._invMass;
		let qX;
		let qY;
		let qZ;
		let qW;
		let idQX;
		let idQY;
		let idQZ;
		let idQW;
		let slerpQX;
		let slerpQY;
		let slerpQZ;
		let slerpQW;
		let slerpM00;
		let slerpM01;
		let slerpM02;
		let slerpM10;
		let slerpM11;
		let slerpM12;
		let slerpM20;
		let slerpM21;
		let slerpM22;
		let newXX;
		let newXY;
		let newXZ;
		let newYX;
		let newYY;
		let newYZ;
		let newZX;
		let newZY;
		let newZZ;
		let prevXX;
		let prevXY;
		let prevXZ;
		let prevYX;
		let prevYY;
		let prevYZ;
		let d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = _this.joint._basisX1X;
			let y1 = _this.joint._basisX1Y;
			let z1 = _this.joint._basisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			qX = vX;
			qY = vY;
			qZ = vZ;
			qW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
			cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
			cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			qX = cX;
			qY = cY;
			qZ = cZ;
			qW = w;
		}
		idQX = 0;
		idQY = 0;
		idQZ = 0;
		idQW = 1;
		let q1X;
		let q1Y;
		let q1Z;
		let q1W;
		let q2X;
		let q2Y;
		let q2Z;
		let q2W;
		q1X = idQX;
		q1Y = idQY;
		q1Z = idQZ;
		q1W = idQW;
		q2X = qX;
		q2Y = qY;
		q2Z = qZ;
		q2W = qW;
		let d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;
		if(d1 < 0) {
			d1 = -d1;
			q2X = -q2X;
			q2Y = -q2Y;
			q2Z = -q2Z;
			q2W = -q2W;
		}
		if(d1 > 0.999999) {
			let dqX;
			let dqY;
			let dqZ;
			let dqW;
			dqX = q2X - q1X;
			dqY = q2Y - q1Y;
			dqZ = q2Z - q1Z;
			dqW = q2W - q1W;
			q2X = q1X + dqX * (invM1 / (invM1 + invM2));
			q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
			q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
			q2W = q1W + dqW * (invM1 / (invM1 + invM2));
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			slerpQX = q2X * l;
			slerpQY = q2Y * l;
			slerpQZ = q2Z * l;
			slerpQW = q2W * l;
		} else {
			let theta = invM1 / (invM1 + invM2) * Math.acos(d1);
			q2X += q1X * -d1;
			q2Y += q1Y * -d1;
			q2Z += q1Z * -d1;
			q2W += q1W * -d1;
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			q2X *= l;
			q2Y *= l;
			q2Z *= l;
			q2W *= l;
			let sin = Math.sin(theta);
			let cos = Math.cos(theta);
			q1X *= cos;
			q1Y *= cos;
			q1Z *= cos;
			q1W *= cos;
			slerpQX = q1X + q2X * sin;
			slerpQY = q1Y + q2Y * sin;
			slerpQZ = q1Z + q2Z * sin;
			slerpQW = q1W + q2W * sin;
		}
		let x = slerpQX;
		let y = slerpQY;
		let z = slerpQZ;
		let w = slerpQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		slerpM00 = 1 - yy - zz;
		slerpM01 = xy - wz;
		slerpM02 = xz + wy;
		slerpM10 = xy + wz;
		slerpM11 = 1 - xx - zz;
		slerpM12 = yz - wx;
		slerpM20 = xz - wy;
		slerpM21 = yz + wx;
		slerpM22 = 1 - xx - yy;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
		__tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
		__tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
		newXX = __tmp__X;
		newXY = __tmp__Y;
		newXZ = __tmp__Z;
		prevXX = _this.xX;
		prevXY = _this.xY;
		prevXZ = _this.xZ;
		prevYX = _this.yX;
		prevYY = _this.yY;
		prevYZ = _this.yZ;
		let d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;
		if(d2 < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = prevXX;
			let y1 = prevXY;
			let z1 = prevXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			slerpQX = vX;
			slerpQY = vY;
			slerpQZ = vZ;
			slerpQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = prevXY * newXZ - prevXZ * newXY;
			cY = prevXZ * newXX - prevXX * newXZ;
			cZ = prevXX * newXY - prevXY * newXX;
			let w = Math.sqrt((1 + d2) * 0.5);
			d2 = 0.5 / w;
			cX *= d2;
			cY *= d2;
			cZ *= d2;
			slerpQX = cX;
			slerpQY = cY;
			slerpQZ = cZ;
			slerpQW = w;
		}
		let x1 = slerpQX;
		let y1 = slerpQY;
		let z1 = slerpQZ;
		let w1 = slerpQW;
		let x21 = 2 * x1;
		let y21 = 2 * y1;
		let z21 = 2 * z1;
		let xx1 = x1 * x21;
		let yy1 = y1 * y21;
		let zz1 = z1 * z21;
		let xy1 = x1 * y21;
		let yz1 = y1 * z21;
		let xz1 = x1 * z21;
		let wx1 = w1 * x21;
		let wy1 = w1 * y21;
		let wz1 = w1 * z21;
		slerpM00 = 1 - yy1 - zz1;
		slerpM01 = xy1 - wz1;
		slerpM02 = xz1 + wy1;
		slerpM10 = xy1 + wz1;
		slerpM11 = 1 - xx1 - zz1;
		slerpM12 = yz1 - wx1;
		slerpM20 = xz1 - wy1;
		slerpM21 = yz1 + wx1;
		slerpM22 = 1 - xx1 - yy1;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
		__tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
		__tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
		newYX = __tmp__X1;
		newYY = __tmp__Y1;
		newYZ = __tmp__Z1;
		newZX = newXY * newYZ - newXZ * newYY;
		newZY = newXZ * newYX - newXX * newYZ;
		newZZ = newXX * newYY - newXY * newYX;
		if(newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
			let l = newZX * newZX + newZY * newZY + newZZ * newZZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			newZX *= l;
			newZY *= l;
			newZZ *= l;
		} else {
			let x1 = newXX;
			let y1 = newXY;
			let z1 = newXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					newZX = 0;
					newZY = z1 * d;
					newZZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					newZX = y1 * d;
					newZY = -x1 * d;
					newZZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				newZX = -z1 * d;
				newZY = 0;
				newZZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				newZX = y1 * d;
				newZY = -x1 * d;
				newZZ = 0;
			}
		}
		newYX = newZY * newXZ - newZZ * newXY;
		newYY = newZZ * newXX - newZX * newXZ;
		newYZ = newZX * newXY - newZY * newXX;
		_this.xX = newXX;
		_this.xY = newXY;
		_this.xZ = newXZ;
		_this.yX = newYX;
		_this.yY = newYY;
		_this.yZ = newYZ;
		_this.zX = newZX;
		_this.zY = newZY;
		_this.zZ = newZZ;
		let rot100;
		let rot101;
		let rot102;
		let rot110;
		let rot111;
		let rot112;
		let rot120;
		let rot121;
		let rot122;
		let rot200;
		let rot201;
		let rot202;
		let rot210;
		let rot211;
		let rot212;
		let rot220;
		let rot221;
		let rot222;
		rot100 = this._basisX1X;
		rot101 = this._basisY1X;
		rot102 = this._basisZ1X;
		rot110 = this._basisX1Y;
		rot111 = this._basisY1Y;
		rot112 = this._basisZ1Y;
		rot120 = this._basisX1Z;
		rot121 = this._basisY1Z;
		rot122 = this._basisZ1Z;
		rot200 = this._basisX2X;
		rot201 = this._basisY2X;
		rot202 = this._basisZ2X;
		rot210 = this._basisX2Y;
		rot211 = this._basisY2Y;
		rot212 = this._basisZ2Y;
		rot220 = this._basisX2Z;
		rot221 = this._basisY2Z;
		rot222 = this._basisZ2Z;
		let relRot00;
		let relRot01;
		let relRot02;
		let relRot10;
		let relRot11;
		let relRot12;
		let relRot20;
		let relRot21;
		let relRot22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot200 * rot100 + rot201 * rot101 + rot202 * rot102;
		__tmp__01 = rot200 * rot110 + rot201 * rot111 + rot202 * rot112;
		__tmp__02 = rot200 * rot120 + rot201 * rot121 + rot202 * rot122;
		__tmp__10 = rot210 * rot100 + rot211 * rot101 + rot212 * rot102;
		__tmp__11 = rot210 * rot110 + rot211 * rot111 + rot212 * rot112;
		__tmp__12 = rot210 * rot120 + rot211 * rot121 + rot212 * rot122;
		__tmp__20 = rot220 * rot100 + rot221 * rot101 + rot222 * rot102;
		__tmp__21 = rot220 * rot110 + rot221 * rot111 + rot222 * rot112;
		__tmp__22 = rot220 * rot120 + rot221 * rot121 + rot222 * rot122;
		relRot00 = __tmp__00;
		relRot01 = __tmp__01;
		relRot02 = __tmp__02;
		relRot10 = __tmp__10;
		relRot11 = __tmp__11;
		relRot12 = __tmp__12;
		relRot20 = __tmp__20;
		relRot21 = __tmp__21;
		relRot22 = __tmp__22;
		let relQX;
		let relQY;
		let relQZ;
		let relQW;
		let e00 = relRot00;
		let e11 = relRot11;
		let e22 = relRot22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			relQW = 0.5 * s;
			s = 0.5 / s;
			relQX = (relRot21 - relRot12) * s;
			relQY = (relRot02 - relRot20) * s;
			relQZ = (relRot10 - relRot01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				relQX = 0.5 * s;
				s = 0.5 / s;
				relQY = (relRot01 + relRot10) * s;
				relQZ = (relRot02 + relRot20) * s;
				relQW = (relRot21 - relRot12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				relQZ = 0.5 * s;
				s = 0.5 / s;
				relQX = (relRot02 + relRot20) * s;
				relQY = (relRot12 + relRot21) * s;
				relQW = (relRot10 - relRot01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			relQY = 0.5 * s;
			s = 0.5 / s;
			relQX = (relRot01 + relRot10) * s;
			relQZ = (relRot12 + relRot21) * s;
			relQW = (relRot02 - relRot20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			relQZ = 0.5 * s;
			s = 0.5 / s;
			relQX = (relRot02 + relRot20) * s;
			relQY = (relRot12 + relRot21) * s;
			relQW = (relRot10 - relRot01) * s;
		}
		let cosHalfTheta = relQW;
		let theta = (cosHalfTheta <= -1 ? 3.14159265358979 : cosHalfTheta >= 1 ? 0 : Math.acos(cosHalfTheta)) * 2;
		this.angularErrorX = relQX;
		this.angularErrorY = relQY;
		this.angularErrorZ = relQZ;
		let l = this.angularErrorX * this.angularErrorX + this.angularErrorY * this.angularErrorY + this.angularErrorZ * this.angularErrorZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		this.angularErrorX *= l;
		this.angularErrorY *= l;
		this.angularErrorZ *= l;
		this.angularErrorX *= theta;
		this.angularErrorY *= theta;
		this.angularErrorZ *= theta;
		let anchorDiffX;
		let anchorDiffY;
		let anchorDiffZ;
		anchorDiffX = this._anchor2X - this._anchor1X;
		anchorDiffY = this._anchor2Y - this._anchor1Y;
		anchorDiffZ = this._anchor2Z - this._anchor1Z;
		this.translation = anchorDiffX * this._basis.xX + anchorDiffY * this._basis.xY + anchorDiffZ * this._basis.xZ;
		this.linearErrorY = anchorDiffX * this._basis.yX + anchorDiffY * this._basis.yY + anchorDiffZ * this._basis.yZ;
		this.linearErrorZ = anchorDiffX * this._basis.zX + anchorDiffY * this._basis.zY + anchorDiffZ * this._basis.zZ;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX2X;
		v.y = this._basisX2Y;
		v.z = this._basisX2Z;
		return v;
	}
	getAxis1To(axis) {
		axis.x = this._basisX1X;
		axis.y = this._basisX1Y;
		axis.z = this._basisX1Z;
	}
	getAxis2To(axis) {
		axis.x = this._basisX2X;
		axis.y = this._basisX2Y;
		axis.z = this._basisX2Z;
	}
	getLocalAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX1X;
		v.y = this._localBasisX1Y;
		v.z = this._localBasisX1Z;
		return v;
	}
	getLocalAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX2X;
		v.y = this._localBasisX2Y;
		v.z = this._localBasisX2Z;
		return v;
	}
	getLocalAxis1To(axis) {
		axis.x = this._localBasisX1X;
		axis.y = this._localBasisX1Y;
		axis.z = this._localBasisX1Z;
	}
	getLocalAxis2To(axis) {
		axis.x = this._localBasisX2X;
		axis.y = this._localBasisX2Y;
		axis.z = this._localBasisX2Z;
	}
	getSpringDamper() {
		return this._sd;
	}
	getLimitMotor() {
		return this._lm;
	}
	getTranslation() {
		return this.translation;
	}
}
oimo.dynamics.constraint.joint.PrismaticJointConfig = class oimo_dynamics_constraint_joint_PrismaticJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localAxis1 = new oimo.common.Vec3(1,0,0);
		this.localAxis2 = new oimo.common.Vec3(1,0,0);
		this.limitMotor = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
		this.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldAxis) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let localVector = this.localAxis1;
		let vX;
		let vY;
		let vZ;
		vX = worldAxis.x;
		vY = worldAxis.y;
		vZ = worldAxis.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
		__tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
		__tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
		let localVector1 = this.localAxis2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldAxis.x;
		vY1 = worldAxis.y;
		vZ1 = worldAxis.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
		__tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
		__tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localVector1.x = vX1;
		localVector1.y = vY1;
		localVector1.z = vZ1;
		return this;
	}
}
oimo.dynamics.constraint.joint.RagdollJoint = class oimo_dynamics_constraint_joint_RagdollJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,oimo.dynamics.constraint.joint.JointType.RAGDOLL);
		let v = config.localTwistAxis1;
		this._localBasisX1X = v.x;
		this._localBasisX1Y = v.y;
		this._localBasisX1Z = v.z;
		let v1 = config.localSwingAxis1;
		this._localBasisY1X = v1.x;
		this._localBasisY1Y = v1.y;
		this._localBasisY1Z = v1.z;
		let v2 = config.localTwistAxis2;
		this._localBasisX2X = v2.x;
		this._localBasisX2Y = v2.y;
		this._localBasisX2Z = v2.z;
		this.buildLocalBasesFromXY1X2();
		this._twistSd = config.twistSpringDamper.clone();
		this._twistLm = config.twistLimitMotor.clone();
		this._swingSd = config.swingSpringDamper.clone();
		this._maxSwingAngle1 = config.maxSwingAngle1;
		this._maxSwingAngle2 = config.maxSwingAngle2;
		if(this._maxSwingAngle1 < oimo.common.Setting.minRagdollMaxSwingAngle) {
			this._maxSwingAngle1 = oimo.common.Setting.minRagdollMaxSwingAngle;
		}
		if(this._maxSwingAngle2 < oimo.common.Setting.minRagdollMaxSwingAngle) {
			this._maxSwingAngle2 = oimo.common.Setting.minRagdollMaxSwingAngle;
		}
		this.dummySwingLm = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
		this.dummySwingLm.lowerLimit = -1;
		this.dummySwingLm.upperLimit = 0;
		this._swingAngle = 0;
		this._twistAngle = 0;
		this.swingError = 0;
		this.swingAxisX = 0;
		this.swingAxisY = 0;
		this.swingAxisZ = 0;
		this.twistAxisX = 0;
		this.twistAxisY = 0;
		this.twistAxisZ = 0;
	}
	getInfo(info,timeStep,isPositionPart) {
		let erp = this.getErp(timeStep,isPositionPart);
		let linearRhsX;
		let linearRhsY;
		let linearRhsZ;
		linearRhsX = this.linearErrorX * erp;
		linearRhsY = this.linearErrorY * erp;
		linearRhsZ = this.linearErrorZ * erp;
		let crossR100;
		let crossR101;
		let crossR102;
		let crossR110;
		let crossR111;
		let crossR112;
		let crossR120;
		let crossR121;
		let crossR122;
		let crossR200;
		let crossR201;
		let crossR202;
		let crossR210;
		let crossR211;
		let crossR212;
		let crossR220;
		let crossR221;
		let crossR222;
		crossR100 = 0;
		crossR101 = -this._relativeAnchor1Z;
		crossR102 = this._relativeAnchor1Y;
		crossR110 = this._relativeAnchor1Z;
		crossR111 = 0;
		crossR112 = -this._relativeAnchor1X;
		crossR120 = -this._relativeAnchor1Y;
		crossR121 = this._relativeAnchor1X;
		crossR122 = 0;
		crossR200 = 0;
		crossR201 = -this._relativeAnchor2Z;
		crossR202 = this._relativeAnchor2Y;
		crossR210 = this._relativeAnchor2Z;
		crossR211 = 0;
		crossR212 = -this._relativeAnchor2X;
		crossR220 = -this._relativeAnchor2Y;
		crossR221 = this._relativeAnchor2X;
		crossR222 = 0;
		crossR100 = -crossR100;
		crossR101 = -crossR101;
		crossR102 = -crossR102;
		crossR110 = -crossR110;
		crossR111 = -crossR111;
		crossR112 = -crossR112;
		crossR120 = -crossR120;
		crossR121 = -crossR121;
		crossR122 = -crossR122;
		crossR200 = -crossR200;
		crossR201 = -crossR201;
		crossR202 = -crossR202;
		crossR210 = -crossR210;
		crossR211 = -crossR211;
		crossR212 = -crossR212;
		crossR220 = -crossR220;
		crossR221 = -crossR221;
		crossR222 = -crossR222;
		let swingMass = this.computeEffectiveInertiaMoment(this.swingAxisX,this.swingAxisY,this.swingAxisZ);
		let twistMass = this.computeEffectiveInertiaMoment(this._basisX2X,this._basisX2Y,this._basisX2Z);
		let impulse = this._impulses[0];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linearRhsX;
		row.cfm = 0;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		let j = row.jacobian;
		j.lin1X = 1;
		j.lin1Y = 0;
		j.lin1Z = 0;
		j.lin2X = 1;
		j.lin2Y = 0;
		j.lin2Z = 0;
		j.ang1X = crossR100;
		j.ang1Y = crossR101;
		j.ang1Z = crossR102;
		j.ang2X = crossR200;
		j.ang2Y = crossR201;
		j.ang2Z = crossR202;
		let impulse1 = this._impulses[1];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linearRhsY;
		row1.cfm = 0;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = 0;
		j.lin1Y = 1;
		j.lin1Z = 0;
		j.lin2X = 0;
		j.lin2Y = 1;
		j.lin2Z = 0;
		j.ang1X = crossR110;
		j.ang1Y = crossR111;
		j.ang1Z = crossR112;
		j.ang2X = crossR210;
		j.ang2Y = crossR211;
		j.ang2Z = crossR212;
		let impulse2 = this._impulses[2];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = linearRhsZ;
		row2.cfm = 0;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.lin1X = 0;
		j.lin1Y = 0;
		j.lin1Z = 1;
		j.lin2X = 0;
		j.lin2Y = 0;
		j.lin2Z = 1;
		j.ang1X = crossR120;
		j.ang1Y = crossR121;
		j.ang1Z = crossR122;
		j.ang2X = crossR220;
		j.ang2Y = crossR221;
		j.ang2Z = crossR222;
		if(this.swingError > 0 && (this._swingSd.frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[3];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this.swingError,this.dummySwingLm,swingMass,this._swingSd,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this.swingAxisX;
			j.ang1Y = this.swingAxisY;
			j.ang1Z = this.swingAxisZ;
			j.ang2X = this.swingAxisX;
			j.ang2Y = this.swingAxisY;
			j.ang2Z = this.swingAxisZ;
		}
		if(this._twistSd.frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[4];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._twistAngle,this._twistLm,twistMass,this._twistSd,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this.twistAxisX;
			j.ang1Y = this.twistAxisY;
			j.ang1Z = this.twistAxisZ;
			j.ang2X = this.twistAxisX;
			j.ang2Y = this.twistAxisY;
			j.ang2Z = this.twistAxisZ;
		}
	}
	_syncAnchors() {
		super._syncAnchors();
		let axis1X;
		let axis1Y;
		let axis1Z;
		let axis2X;
		let axis2Y;
		let axis2Z;
		axis1X = this._basisX1X;
		axis1Y = this._basisX1Y;
		axis1Z = this._basisX1Z;
		axis2X = this._basisX2X;
		axis2Y = this._basisX2Y;
		axis2Z = this._basisX2Z;
		let basis1Mat00;
		let basis1Mat01;
		let basis1Mat02;
		let basis1Mat10;
		let basis1Mat11;
		let basis1Mat12;
		let basis1Mat20;
		let basis1Mat21;
		let basis1Mat22;
		basis1Mat00 = this._basisX1X;
		basis1Mat01 = this._basisY1X;
		basis1Mat02 = this._basisZ1X;
		basis1Mat10 = this._basisX1Y;
		basis1Mat11 = this._basisY1Y;
		basis1Mat12 = this._basisZ1Y;
		basis1Mat20 = this._basisX1Z;
		basis1Mat21 = this._basisY1Z;
		basis1Mat22 = this._basisZ1Z;
		let swingQX;
		let swingQY;
		let swingQZ;
		let swingQW;
		let swingM00;
		let swingM01;
		let swingM02;
		let swingM10;
		let swingM11;
		let swingM12;
		let swingM20;
		let swingM21;
		let swingM22;
		let swingVX;
		let swingVY;
		let swingVZ;
		let d = axis1X * axis2X + axis1Y * axis2Y + axis1Z * axis2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = axis1X;
			let y1 = axis1Y;
			let z1 = axis1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			swingQX = vX;
			swingQY = vY;
			swingQZ = vZ;
			swingQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = axis1Y * axis2Z - axis1Z * axis2Y;
			cY = axis1Z * axis2X - axis1X * axis2Z;
			cZ = axis1X * axis2Y - axis1Y * axis2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			swingQX = cX;
			swingQY = cY;
			swingQZ = cZ;
			swingQW = w;
		}
		let x = swingQX;
		let y = swingQY;
		let z = swingQZ;
		let w = swingQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		swingM00 = 1 - yy - zz;
		swingM01 = xy - wz;
		swingM02 = xz + wy;
		swingM10 = xy + wz;
		swingM11 = 1 - xx - zz;
		swingM12 = yz - wx;
		swingM20 = xz - wy;
		swingM21 = yz + wx;
		swingM22 = 1 - xx - yy;
		this._swingAngle = (swingQW <= -1 ? 3.14159265358979 : swingQW >= 1 ? 0 : Math.acos(swingQW)) * 2;
		swingVX = swingQX;
		swingVY = swingQY;
		swingVZ = swingQZ;
		let basisY2In1X;
		let basisY2In1Y;
		let basisY2In1Z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = swingM00 * this._basisY2X + swingM10 * this._basisY2Y + swingM20 * this._basisY2Z;
		__tmp__Y = swingM01 * this._basisY2X + swingM11 * this._basisY2Y + swingM21 * this._basisY2Z;
		__tmp__Z = swingM02 * this._basisY2X + swingM12 * this._basisY2Y + swingM22 * this._basisY2Z;
		basisY2In1X = __tmp__X;
		basisY2In1Y = __tmp__Y;
		basisY2In1Z = __tmp__Z;
		this._twistAngle = Math.atan2(this._basisZ1X * basisY2In1X + this._basisZ1Y * basisY2In1Y + this._basisZ1Z * basisY2In1Z,this._basisY1X * basisY2In1X + this._basisY1Y * basisY2In1Y + this._basisY1Z * basisY2In1Z);
		this.twistAxisX = this._basisX1X + this._basisX2X;
		this.twistAxisY = this._basisX1Y + this._basisX2Y;
		this.twistAxisZ = this._basisX1Z + this._basisX2Z;
		let l = this.twistAxisX * this.twistAxisX + this.twistAxisY * this.twistAxisY + this.twistAxisZ * this.twistAxisZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		this.twistAxisX *= l;
		this.twistAxisY *= l;
		this.twistAxisZ *= l;
		let invLen = Math.sqrt(swingVX * swingVX + swingVY * swingVY + swingVZ * swingVZ);
		if(invLen > 0) {
			invLen = 1 / invLen;
		}
		swingVX *= invLen * this._swingAngle;
		swingVY *= invLen * this._swingAngle;
		swingVZ *= invLen * this._swingAngle;

		let __tmp__Y1;
		let __tmp__Z1;

		__tmp__Y1 = basis1Mat01 * swingVX + basis1Mat11 * swingVY + basis1Mat21 * swingVZ;
		__tmp__Z1 = basis1Mat02 * swingVX + basis1Mat12 * swingVY + basis1Mat22 * swingVZ;

		swingVY = __tmp__Y1;
		swingVZ = __tmp__Z1;
		let x1 = swingVY;
		let y1 = swingVZ;
		let a = this._maxSwingAngle1;
		let b = this._maxSwingAngle2;
		let invA2 = 1 / (a * a);
		let invB2 = 1 / (b * b);
		let w1 = x1 * x1 * invA2 + y1 * y1 * invB2;
		if(w1 == 0) {
			this.swingAxisX = 0;
			this.swingAxisY = 0;
			this.swingAxisZ = 0;
			this.swingError = 0;
		} else {
			let t = Math.sqrt(1 / w1);
			let x0 = x1 * t;
			let y0 = y1 * t;
			let nx = x0 * invA2;
			let ny = y0 * invB2;
			invLen = 1 / Math.sqrt(nx * nx + ny * ny);
			nx *= invLen;
			ny *= invLen;
			let depth = (x1 - x0) * nx + (y1 - y0) * ny;
			if(depth > 0) {
				this.swingError = depth;
				this.swingAxisX = 0;
				this.swingAxisY = nx;
				this.swingAxisZ = ny;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = basis1Mat00 * this.swingAxisX + basis1Mat01 * this.swingAxisY + basis1Mat02 * this.swingAxisZ;
				__tmp__Y = basis1Mat10 * this.swingAxisX + basis1Mat11 * this.swingAxisY + basis1Mat12 * this.swingAxisZ;
				__tmp__Z = basis1Mat20 * this.swingAxisX + basis1Mat21 * this.swingAxisY + basis1Mat22 * this.swingAxisZ;
				this.swingAxisX = __tmp__X;
				this.swingAxisY = __tmp__Y;
				this.swingAxisZ = __tmp__Z;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = swingM00 * this.swingAxisX + swingM01 * this.swingAxisY + swingM02 * this.swingAxisZ;
				__tmp__Y1 = swingM10 * this.swingAxisX + swingM11 * this.swingAxisY + swingM12 * this.swingAxisZ;
				__tmp__Z1 = swingM20 * this.swingAxisX + swingM21 * this.swingAxisY + swingM22 * this.swingAxisZ;
				this.swingAxisX = __tmp__X1;
				this.swingAxisY = __tmp__Y1;
				this.swingAxisZ = __tmp__Z1;
			} else {
				this.swingError = 0;
			}
		}
		this.linearErrorX = this._anchor2X - this._anchor1X;
		this.linearErrorY = this._anchor2Y - this._anchor1Y;
		this.linearErrorZ = this._anchor2Z - this._anchor1Z;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX2X;
		v.y = this._basisX2Y;
		v.z = this._basisX2Z;
		return v;
	}
	getAxis1To(axis) {
		axis.x = this._basisX1X;
		axis.y = this._basisX1Y;
		axis.z = this._basisX1Z;
	}
	getAxis2To(axis) {
		axis.x = this._basisX2X;
		axis.y = this._basisX2Y;
		axis.z = this._basisX2Z;
	}
	getLocalAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX1X;
		v.y = this._localBasisX1Y;
		v.z = this._localBasisX1Z;
		return v;
	}
	getLocalAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX2X;
		v.y = this._localBasisX2Y;
		v.z = this._localBasisX2Z;
		return v;
	}
	getLocalAxis1To(axis) {
		axis.x = this._localBasisX1X;
		axis.y = this._localBasisX1Y;
		axis.z = this._localBasisX1Z;
	}
	getLocalAxis2To(axis) {
		axis.x = this._localBasisX2X;
		axis.y = this._localBasisX2Y;
		axis.z = this._localBasisX2Z;
	}
	getTwistSpringDamper() {
		return this._twistSd;
	}
	getTwistLimitMotor() {
		return this._twistLm;
	}
	getSwingSpringDamper() {
		return this._swingSd;
	}
	getSwingAxis() {
		let v = new oimo.common.Vec3();
		v.x = this.swingAxisX;
		v.y = this.swingAxisY;
		v.z = this.swingAxisZ;
		return v;
	}
	getSwingAxisTo(axis) {
		axis.x = this.swingAxisX;
		axis.y = this.swingAxisY;
		axis.z = this.swingAxisZ;
	}
	getSwingAngle() {
		return this._swingAngle;
	}
	getTwistAngle() {
		return this._twistAngle;
	}
}
oimo.dynamics.constraint.joint.RagdollJointConfig = class oimo_dynamics_constraint_joint_RagdollJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localTwistAxis1 = new oimo.common.Vec3(1,0,0);
		this.localTwistAxis2 = new oimo.common.Vec3(1,0,0);
		this.localSwingAxis1 = new oimo.common.Vec3(0,1,0);
		this.twistSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
		this.swingSpringDamper = new oimo.dynamics.constraint.joint.SpringDamper();
		this.twistLimitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
		this.maxSwingAngle1 = 3.14159265358979;
		this.maxSwingAngle2 = 3.14159265358979;
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldTwistAxis,worldSwingAxis) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let localVector = this.localTwistAxis1;
		let vX;
		let vY;
		let vZ;
		vX = worldTwistAxis.x;
		vY = worldTwistAxis.y;
		vZ = worldTwistAxis.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
		__tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
		__tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
		let localVector1 = this.localTwistAxis2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldTwistAxis.x;
		vY1 = worldTwistAxis.y;
		vZ1 = worldTwistAxis.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
		__tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
		__tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localVector1.x = vX1;
		localVector1.y = vY1;
		localVector1.z = vZ1;
		let localVector2 = this.localSwingAxis1;
		let vX2;
		let vY2;
		let vZ2;
		vX2 = worldSwingAxis.x;
		vY2 = worldSwingAxis.y;
		vZ2 = worldSwingAxis.z;
		let __tmp__X2;
		let __tmp__Y2;
		let __tmp__Z2;
		__tmp__X2 = rigidBody1._transform._rotation00 * vX2 + rigidBody1._transform._rotation10 * vY2 + rigidBody1._transform._rotation20 * vZ2;
		__tmp__Y2 = rigidBody1._transform._rotation01 * vX2 + rigidBody1._transform._rotation11 * vY2 + rigidBody1._transform._rotation21 * vZ2;
		__tmp__Z2 = rigidBody1._transform._rotation02 * vX2 + rigidBody1._transform._rotation12 * vY2 + rigidBody1._transform._rotation22 * vZ2;
		vX2 = __tmp__X2;
		vY2 = __tmp__Y2;
		vZ2 = __tmp__Z2;
		localVector2.x = vX2;
		localVector2.y = vY2;
		localVector2.z = vZ2;
		return this;
	}
}
oimo.dynamics.constraint.joint.RevoluteJoint = class oimo_dynamics_constraint_joint_RevoluteJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,1);
		let v = config.localAxis1;
		this._localBasisX1X = v.x;
		this._localBasisX1Y = v.y;
		this._localBasisX1Z = v.z;
		let v1 = config.localAxis2;
		this._localBasisX2X = v1.x;
		this._localBasisX2Y = v1.y;
		this._localBasisX2Z = v1.z;
		this.buildLocalBasesFromX();
		this.angle = 0;
		this.angularErrorY = 0;
		this.angularErrorZ = 0;
		this._basis = new oimo.dynamics.constraint.joint.BasisTracker(this);
		this._sd = config.springDamper.clone();
		this._lm = config.limitMotor.clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		let erp = this.getErp(timeStep,isPositionPart);
		let linearRhsX;
		let linearRhsY;
		let linearRhsZ;
		linearRhsX = this.linearErrorX * erp;
		linearRhsY = this.linearErrorY * erp;
		linearRhsZ = this.linearErrorZ * erp;
		let angRhsY = this.angularErrorY * erp;
		let angRhsZ = this.angularErrorZ * erp;
		let crossR100;
		let crossR101;
		let crossR102;
		let crossR110;
		let crossR111;
		let crossR112;
		let crossR120;
		let crossR121;
		let crossR122;
		let crossR200;
		let crossR201;
		let crossR202;
		let crossR210;
		let crossR211;
		let crossR212;
		let crossR220;
		let crossR221;
		let crossR222;
		crossR100 = 0;
		crossR101 = -this._relativeAnchor1Z;
		crossR102 = this._relativeAnchor1Y;
		crossR110 = this._relativeAnchor1Z;
		crossR111 = 0;
		crossR112 = -this._relativeAnchor1X;
		crossR120 = -this._relativeAnchor1Y;
		crossR121 = this._relativeAnchor1X;
		crossR122 = 0;
		crossR200 = 0;
		crossR201 = -this._relativeAnchor2Z;
		crossR202 = this._relativeAnchor2Y;
		crossR210 = this._relativeAnchor2Z;
		crossR211 = 0;
		crossR212 = -this._relativeAnchor2X;
		crossR220 = -this._relativeAnchor2Y;
		crossR221 = this._relativeAnchor2X;
		crossR222 = 0;
		crossR100 = -crossR100;
		crossR101 = -crossR101;
		crossR102 = -crossR102;
		crossR110 = -crossR110;
		crossR111 = -crossR111;
		crossR112 = -crossR112;
		crossR120 = -crossR120;
		crossR121 = -crossR121;
		crossR122 = -crossR122;
		crossR200 = -crossR200;
		crossR201 = -crossR201;
		crossR202 = -crossR202;
		crossR210 = -crossR210;
		crossR211 = -crossR211;
		crossR212 = -crossR212;
		crossR220 = -crossR220;
		crossR221 = -crossR221;
		crossR222 = -crossR222;
		let motorMass = this.computeEffectiveInertiaMoment(this._basis.xX,this._basis.xY,this._basis.xZ);
		let impulse = this._impulses[0];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linearRhsX;
		row.cfm = 0;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		let j = row.jacobian;
		j.lin1X = 1;
		j.lin1Y = 0;
		j.lin1Z = 0;
		j.lin2X = 1;
		j.lin2Y = 0;
		j.lin2Z = 0;
		j.ang1X = crossR100;
		j.ang1Y = crossR101;
		j.ang1Z = crossR102;
		j.ang2X = crossR200;
		j.ang2Y = crossR201;
		j.ang2Z = crossR202;
		let impulse1 = this._impulses[1];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linearRhsY;
		row1.cfm = 0;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = 0;
		j.lin1Y = 1;
		j.lin1Z = 0;
		j.lin2X = 0;
		j.lin2Y = 1;
		j.lin2Z = 0;
		j.ang1X = crossR110;
		j.ang1Y = crossR111;
		j.ang1Z = crossR112;
		j.ang2X = crossR210;
		j.ang2Y = crossR211;
		j.ang2Z = crossR212;
		let impulse2 = this._impulses[2];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = linearRhsZ;
		row2.cfm = 0;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.lin1X = 0;
		j.lin1Y = 0;
		j.lin1Z = 1;
		j.lin2X = 0;
		j.lin2Y = 0;
		j.lin2Z = 1;
		j.ang1X = crossR120;
		j.ang1Y = crossR121;
		j.ang1Z = crossR122;
		j.ang2X = crossR220;
		j.ang2Y = crossR221;
		j.ang2Z = crossR222;
		if(this._sd.frequency <= 0 || !isPositionPart) {
			let impulse = this._impulses[3];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this.angle,this._lm,motorMass,this._sd,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._basis.xX;
			j.ang1Y = this._basis.xY;
			j.ang1Z = this._basis.xZ;
			j.ang2X = this._basis.xX;
			j.ang2Y = this._basis.xY;
			j.ang2Z = this._basis.xZ;
		}
		let impulse3 = this._impulses[4];
		let row3 = info.rows[info.numRows++];
		let _this3 = row3.jacobian;
		_this3.lin1X = 0;
		_this3.lin1Y = 0;
		_this3.lin1Z = 0;
		_this3.lin2X = 0;
		_this3.lin2Y = 0;
		_this3.lin2Z = 0;
		_this3.ang1X = 0;
		_this3.ang1Y = 0;
		_this3.ang1Z = 0;
		_this3.ang2X = 0;
		_this3.ang2Y = 0;
		_this3.ang2Z = 0;
		row3.rhs = 0;
		row3.cfm = 0;
		row3.minImpulse = 0;
		row3.maxImpulse = 0;
		row3.motorSpeed = 0;
		row3.motorMaxImpulse = 0;
		row3.impulse = null;
		row3.impulse = impulse3;
		row3.rhs = angRhsY;
		row3.cfm = 0;
		row3.minImpulse = -1e65536;
		row3.maxImpulse = 1e65536;
		j = row3.jacobian;
		j.ang1X = this._basis.yX;
		j.ang1Y = this._basis.yY;
		j.ang1Z = this._basis.yZ;
		j.ang2X = this._basis.yX;
		j.ang2Y = this._basis.yY;
		j.ang2Z = this._basis.yZ;
		let impulse4 = this._impulses[5];
		let row4 = info.rows[info.numRows++];
		let _this4 = row4.jacobian;
		_this4.lin1X = 0;
		_this4.lin1Y = 0;
		_this4.lin1Z = 0;
		_this4.lin2X = 0;
		_this4.lin2Y = 0;
		_this4.lin2Z = 0;
		_this4.ang1X = 0;
		_this4.ang1Y = 0;
		_this4.ang1Z = 0;
		_this4.ang2X = 0;
		_this4.ang2Y = 0;
		_this4.ang2Z = 0;
		row4.rhs = 0;
		row4.cfm = 0;
		row4.minImpulse = 0;
		row4.maxImpulse = 0;
		row4.motorSpeed = 0;
		row4.motorMaxImpulse = 0;
		row4.impulse = null;
		row4.impulse = impulse4;
		row4.rhs = angRhsZ;
		row4.cfm = 0;
		row4.minImpulse = -1e65536;
		row4.maxImpulse = 1e65536;
		j = row4.jacobian;
		j.ang1X = this._basis.zX;
		j.ang1Y = this._basis.zY;
		j.ang1Z = this._basis.zZ;
		j.ang2X = this._basis.zX;
		j.ang2Y = this._basis.zY;
		j.ang2Z = this._basis.zZ;
	}
	_syncAnchors() {
		super._syncAnchors();
		let _this = this._basis;
		let invM1 = _this.joint._b1._invMass;
		let invM2 = _this.joint._b2._invMass;
		let qX;
		let qY;
		let qZ;
		let qW;
		let idQX;
		let idQY;
		let idQZ;
		let idQW;
		let slerpQX;
		let slerpQY;
		let slerpQZ;
		let slerpQW;
		let slerpM00;
		let slerpM01;
		let slerpM02;
		let slerpM10;
		let slerpM11;
		let slerpM12;
		let slerpM20;
		let slerpM21;
		let slerpM22;
		let newXX;
		let newXY;
		let newXZ;
		let newYX;
		let newYY;
		let newYZ;
		let newZX;
		let newZY;
		let newZZ;
		let prevXX;
		let prevXY;
		let prevXZ;
		let prevYX;
		let prevYY;
		let prevYZ;
		let d = _this.joint._basisX1X * _this.joint._basisX2X + _this.joint._basisX1Y * _this.joint._basisX2Y + _this.joint._basisX1Z * _this.joint._basisX2Z;
		if(d < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = _this.joint._basisX1X;
			let y1 = _this.joint._basisX1Y;
			let z1 = _this.joint._basisX1Z;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			qX = vX;
			qY = vY;
			qZ = vZ;
			qW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = _this.joint._basisX1Y * _this.joint._basisX2Z - _this.joint._basisX1Z * _this.joint._basisX2Y;
			cY = _this.joint._basisX1Z * _this.joint._basisX2X - _this.joint._basisX1X * _this.joint._basisX2Z;
			cZ = _this.joint._basisX1X * _this.joint._basisX2Y - _this.joint._basisX1Y * _this.joint._basisX2X;
			let w = Math.sqrt((1 + d) * 0.5);
			d = 0.5 / w;
			cX *= d;
			cY *= d;
			cZ *= d;
			qX = cX;
			qY = cY;
			qZ = cZ;
			qW = w;
		}
		idQX = 0;
		idQY = 0;
		idQZ = 0;
		idQW = 1;
		let q1X;
		let q1Y;
		let q1Z;
		let q1W;
		let q2X;
		let q2Y;
		let q2Z;
		let q2W;
		q1X = idQX;
		q1Y = idQY;
		q1Z = idQZ;
		q1W = idQW;
		q2X = qX;
		q2Y = qY;
		q2Z = qZ;
		q2W = qW;
		let d1 = q1X * q2X + q1Y * q2Y + q1Z * q2Z + q1W * q2W;
		if(d1 < 0) {
			d1 = -d1;
			q2X = -q2X;
			q2Y = -q2Y;
			q2Z = -q2Z;
			q2W = -q2W;
		}
		if(d1 > 0.999999) {
			let dqX;
			let dqY;
			let dqZ;
			let dqW;
			dqX = q2X - q1X;
			dqY = q2Y - q1Y;
			dqZ = q2Z - q1Z;
			dqW = q2W - q1W;
			q2X = q1X + dqX * (invM1 / (invM1 + invM2));
			q2Y = q1Y + dqY * (invM1 / (invM1 + invM2));
			q2Z = q1Z + dqZ * (invM1 / (invM1 + invM2));
			q2W = q1W + dqW * (invM1 / (invM1 + invM2));
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			slerpQX = q2X * l;
			slerpQY = q2Y * l;
			slerpQZ = q2Z * l;
			slerpQW = q2W * l;
		} else {
			let theta = invM1 / (invM1 + invM2) * Math.acos(d1);
			q2X += q1X * -d1;
			q2Y += q1Y * -d1;
			q2Z += q1Z * -d1;
			q2W += q1W * -d1;
			let l = q2X * q2X + q2Y * q2Y + q2Z * q2Z + q2W * q2W;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			q2X *= l;
			q2Y *= l;
			q2Z *= l;
			q2W *= l;
			let sin = Math.sin(theta);
			let cos = Math.cos(theta);
			q1X *= cos;
			q1Y *= cos;
			q1Z *= cos;
			q1W *= cos;
			slerpQX = q1X + q2X * sin;
			slerpQY = q1Y + q2Y * sin;
			slerpQZ = q1Z + q2Z * sin;
			slerpQW = q1W + q2W * sin;
		}
		let x = slerpQX;
		let y = slerpQY;
		let z = slerpQZ;
		let w = slerpQW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		slerpM00 = 1 - yy - zz;
		slerpM01 = xy - wz;
		slerpM02 = xz + wy;
		slerpM10 = xy + wz;
		slerpM11 = 1 - xx - zz;
		slerpM12 = yz - wx;
		slerpM20 = xz - wy;
		slerpM21 = yz + wx;
		slerpM22 = 1 - xx - yy;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = slerpM00 * _this.joint._basisX1X + slerpM01 * _this.joint._basisX1Y + slerpM02 * _this.joint._basisX1Z;
		__tmp__Y = slerpM10 * _this.joint._basisX1X + slerpM11 * _this.joint._basisX1Y + slerpM12 * _this.joint._basisX1Z;
		__tmp__Z = slerpM20 * _this.joint._basisX1X + slerpM21 * _this.joint._basisX1Y + slerpM22 * _this.joint._basisX1Z;
		newXX = __tmp__X;
		newXY = __tmp__Y;
		newXZ = __tmp__Z;
		prevXX = _this.xX;
		prevXY = _this.xY;
		prevXZ = _this.xZ;
		prevYX = _this.yX;
		prevYY = _this.yY;
		prevYZ = _this.yZ;
		let d2 = prevXX * newXX + prevXY * newXY + prevXZ * newXZ;
		if(d2 < -0.999999999) {
			let vX;
			let vY;
			let vZ;
			let x1 = prevXX;
			let y1 = prevXY;
			let z1 = prevXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					vX = 0;
					vY = z1 * d;
					vZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					vX = y1 * d;
					vY = -x1 * d;
					vZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				vX = -z1 * d;
				vY = 0;
				vZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				vX = y1 * d;
				vY = -x1 * d;
				vZ = 0;
			}
			slerpQX = vX;
			slerpQY = vY;
			slerpQZ = vZ;
			slerpQW = 0;
		} else {
			let cX;
			let cY;
			let cZ;
			cX = prevXY * newXZ - prevXZ * newXY;
			cY = prevXZ * newXX - prevXX * newXZ;
			cZ = prevXX * newXY - prevXY * newXX;
			let w = Math.sqrt((1 + d2) * 0.5);
			d2 = 0.5 / w;
			cX *= d2;
			cY *= d2;
			cZ *= d2;
			slerpQX = cX;
			slerpQY = cY;
			slerpQZ = cZ;
			slerpQW = w;
		}
		let x1 = slerpQX;
		let y1 = slerpQY;
		let z1 = slerpQZ;
		let w1 = slerpQW;
		let x21 = 2 * x1;
		let y21 = 2 * y1;
		let z21 = 2 * z1;
		let xx1 = x1 * x21;
		let yy1 = y1 * y21;
		let zz1 = z1 * z21;
		let xy1 = x1 * y21;
		let yz1 = y1 * z21;
		let xz1 = x1 * z21;
		let wx1 = w1 * x21;
		let wy1 = w1 * y21;
		let wz1 = w1 * z21;
		slerpM00 = 1 - yy1 - zz1;
		slerpM01 = xy1 - wz1;
		slerpM02 = xz1 + wy1;
		slerpM10 = xy1 + wz1;
		slerpM11 = 1 - xx1 - zz1;
		slerpM12 = yz1 - wx1;
		slerpM20 = xz1 - wy1;
		slerpM21 = yz1 + wx1;
		slerpM22 = 1 - xx1 - yy1;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = slerpM00 * prevYX + slerpM01 * prevYY + slerpM02 * prevYZ;
		__tmp__Y1 = slerpM10 * prevYX + slerpM11 * prevYY + slerpM12 * prevYZ;
		__tmp__Z1 = slerpM20 * prevYX + slerpM21 * prevYY + slerpM22 * prevYZ;
		newYX = __tmp__X1;
		newYY = __tmp__Y1;
		newYZ = __tmp__Z1;
		newZX = newXY * newYZ - newXZ * newYY;
		newZY = newXZ * newYX - newXX * newYZ;
		newZZ = newXX * newYY - newXY * newYX;
		if(newZX * newZX + newZY * newZY + newZZ * newZZ > 1e-6) {
			let l = newZX * newZX + newZY * newZY + newZZ * newZZ;
			if(l > 0) {
				l = 1 / Math.sqrt(l);
			}
			newZX *= l;
			newZY *= l;
			newZZ *= l;
		} else {
			let x1 = newXX;
			let y1 = newXY;
			let z1 = newXZ;
			let x2 = x1 * x1;
			let y2 = y1 * y1;
			let z2 = z1 * z1;
			let d;
			if(x2 < y2) {
				if(x2 < z2) {
					d = 1 / Math.sqrt(y2 + z2);
					newZX = 0;
					newZY = z1 * d;
					newZZ = -y1 * d;
				} else {
					d = 1 / Math.sqrt(x2 + y2);
					newZX = y1 * d;
					newZY = -x1 * d;
					newZZ = 0;
				}
			} else if(y2 < z2) {
				d = 1 / Math.sqrt(z2 + x2);
				newZX = -z1 * d;
				newZY = 0;
				newZZ = x1 * d;
			} else {
				d = 1 / Math.sqrt(x2 + y2);
				newZX = y1 * d;
				newZY = -x1 * d;
				newZZ = 0;
			}
		}
		newYX = newZY * newXZ - newZZ * newXY;
		newYY = newZZ * newXX - newZX * newXZ;
		newYZ = newZX * newXY - newZY * newXX;
		_this.xX = newXX;
		_this.xY = newXY;
		_this.xZ = newXZ;
		_this.yX = newYX;
		_this.yY = newYY;
		_this.yZ = newYZ;
		_this.zX = newZX;
		_this.zY = newZY;
		_this.zZ = newZZ;
		let angErrorX;
		let angErrorY;
		let angErrorZ;
		angErrorX = this._basisX1Y * this._basisX2Z - this._basisX1Z * this._basisX2Y;
		angErrorY = this._basisX1Z * this._basisX2X - this._basisX1X * this._basisX2Z;
		angErrorZ = this._basisX1X * this._basisX2Y - this._basisX1Y * this._basisX2X;
		let cos = this._basisX1X * this._basisX2X + this._basisX1Y * this._basisX2Y + this._basisX1Z * this._basisX2Z;
		let theta = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
		let l = angErrorX * angErrorX + angErrorY * angErrorY + angErrorZ * angErrorZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		angErrorX *= l;
		angErrorY *= l;
		angErrorZ *= l;
		angErrorX *= theta;
		angErrorY *= theta;
		angErrorZ *= theta;
		this.angularErrorY = angErrorX * this._basis.yX + angErrorY * this._basis.yY + angErrorZ * this._basis.yZ;
		this.angularErrorZ = angErrorX * this._basis.zX + angErrorY * this._basis.zY + angErrorZ * this._basis.zZ;
		let perpCrossX;
		let perpCrossY;
		let perpCrossZ;
		perpCrossX = this._basisY1Y * this._basisY2Z - this._basisY1Z * this._basisY2Y;
		perpCrossY = this._basisY1Z * this._basisY2X - this._basisY1X * this._basisY2Z;
		perpCrossZ = this._basisY1X * this._basisY2Y - this._basisY1Y * this._basisY2X;
		cos = this._basisY1X * this._basisY2X + this._basisY1Y * this._basisY2Y + this._basisY1Z * this._basisY2Z;
		this.angle = cos <= -1 ? 3.14159265358979 : cos >= 1 ? 0 : Math.acos(cos);
		if(perpCrossX * this._basis.xX + perpCrossY * this._basis.xY + perpCrossZ * this._basis.xZ < 0) {
			this.angle = -this.angle;
		}
		this.linearErrorX = this._anchor2X - this._anchor1X;
		this.linearErrorY = this._anchor2Y - this._anchor1Y;
		this.linearErrorZ = this._anchor2Z - this._anchor1Z;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX2X;
		v.y = this._basisX2Y;
		v.z = this._basisX2Z;
		return v;
	}
	getAxis1To(axis) {
		axis.x = this._basisX1X;
		axis.y = this._basisX1Y;
		axis.z = this._basisX1Z;
	}
	getAxis2To(axis) {
		axis.x = this._basisX2X;
		axis.y = this._basisX2Y;
		axis.z = this._basisX2Z;
	}
	getLocalAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX1X;
		v.y = this._localBasisX1Y;
		v.z = this._localBasisX1Z;
		return v;
	}
	getLocalAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX2X;
		v.y = this._localBasisX2Y;
		v.z = this._localBasisX2Z;
		return v;
	}
	getLocalAxis1To(axis) {
		axis.x = this._localBasisX1X;
		axis.y = this._localBasisX1Y;
		axis.z = this._localBasisX1Z;
	}
	getLocalAxis2To(axis) {
		axis.x = this._localBasisX2X;
		axis.y = this._localBasisX2Y;
		axis.z = this._localBasisX2Z;
	}
	getSpringDamper() {
		return this._sd;
	}
	getLimitMotor() {
		return this._lm;
	}
	getAngle() {
		return this.angle;
	}
}
oimo.dynamics.constraint.joint.RevoluteJointConfig = class oimo_dynamics_constraint_joint_RevoluteJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localAxis1 = new oimo.common.Vec3(1,0,0);
		this.localAxis2 = new oimo.common.Vec3(1,0,0);
		this.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
		this.limitMotor = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldAxis) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let localVector = this.localAxis1;
		let vX;
		let vY;
		let vZ;
		vX = worldAxis.x;
		vY = worldAxis.y;
		vZ = worldAxis.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
		__tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
		__tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
		let localVector1 = this.localAxis2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldAxis.x;
		vY1 = worldAxis.y;
		vZ1 = worldAxis.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
		__tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
		__tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localVector1.x = vX1;
		localVector1.y = vY1;
		localVector1.z = vZ1;
		return this;
	}
}
oimo.dynamics.constraint.joint.RotationalLimitMotor = class oimo_dynamics_constraint_joint_RotationalLimitMotor {
	constructor() {
		this.lowerLimit = 1;
		this.upperLimit = 0;
		this.motorTorque = 0;
	}
	setLimits(lower,upper) {
		this.lowerLimit = lower;
		this.upperLimit = upper;
		return this;
	}
	setMotor(speed,torque) {
		this.motorSpeed = speed;
		this.motorTorque = torque;
		return this;
	}
	clone() {
		let lm = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
		lm.lowerLimit = this.lowerLimit;
		lm.upperLimit = this.upperLimit;
		lm.motorSpeed = this.motorSpeed;
		lm.motorTorque = this.motorTorque;
		return lm;
	}
}
oimo.dynamics.constraint.joint.SphericalJoint = class oimo_dynamics_constraint_joint_SphericalJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,0);
		this._sd = config.springDamper.clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		if(this._sd.frequency > 0 && isPositionPart) {
			return;
		}
		let errorX;
		let errorY;
		let errorZ;
		errorX = this._anchor2X - this._anchor1X;
		errorY = this._anchor2Y - this._anchor1Y;
		errorZ = this._anchor2Z - this._anchor1Z;
		let cfm;
		let erp;
		if(this._sd.frequency > 0) {
			let omega = 6.28318530717958 * this._sd.frequency;
			let zeta = this._sd.dampingRatio;
			if(zeta < oimo.common.Setting.minSpringDamperDampingRatio) {
				zeta = oimo.common.Setting.minSpringDamperDampingRatio;
			}
			let h = timeStep.dt;
			let c = 2 * zeta * omega;
			let k = omega * omega;
			if(this._sd.useSymplecticEuler) {
				cfm = 1 / (h * c);
				erp = k / c;
			} else {
				cfm = 1 / (h * (h * k + c));
				erp = k / (h * k + c);
			}
			cfm *= this._b1._invMass + this._b2._invMass;
		} else {
			cfm = 0;
			erp = this.getErp(timeStep,isPositionPart);
		}
		let linearRhsX;
		let linearRhsY;
		let linearRhsZ;
		linearRhsX = errorX * erp;
		linearRhsY = errorY * erp;
		linearRhsZ = errorZ * erp;
		let crossR100;
		let crossR101;
		let crossR102;
		let crossR110;
		let crossR111;
		let crossR112;
		let crossR120;
		let crossR121;
		let crossR122;
		let crossR200;
		let crossR201;
		let crossR202;
		let crossR210;
		let crossR211;
		let crossR212;
		let crossR220;
		let crossR221;
		let crossR222;
		crossR100 = 0;
		crossR101 = -this._relativeAnchor1Z;
		crossR102 = this._relativeAnchor1Y;
		crossR110 = this._relativeAnchor1Z;
		crossR111 = 0;
		crossR112 = -this._relativeAnchor1X;
		crossR120 = -this._relativeAnchor1Y;
		crossR121 = this._relativeAnchor1X;
		crossR122 = 0;
		crossR200 = 0;
		crossR201 = -this._relativeAnchor2Z;
		crossR202 = this._relativeAnchor2Y;
		crossR210 = this._relativeAnchor2Z;
		crossR211 = 0;
		crossR212 = -this._relativeAnchor2X;
		crossR220 = -this._relativeAnchor2Y;
		crossR221 = this._relativeAnchor2X;
		crossR222 = 0;
		crossR100 = -crossR100;
		crossR101 = -crossR101;
		crossR102 = -crossR102;
		crossR110 = -crossR110;
		crossR111 = -crossR111;
		crossR112 = -crossR112;
		crossR120 = -crossR120;
		crossR121 = -crossR121;
		crossR122 = -crossR122;
		crossR200 = -crossR200;
		crossR201 = -crossR201;
		crossR202 = -crossR202;
		crossR210 = -crossR210;
		crossR211 = -crossR211;
		crossR212 = -crossR212;
		crossR220 = -crossR220;
		crossR221 = -crossR221;
		crossR222 = -crossR222;
		let impulse = this._impulses[0];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linearRhsX;
		row.cfm = cfm;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		let j = row.jacobian;
		j.lin1X = 1;
		j.lin1Y = 0;
		j.lin1Z = 0;
		j.lin2X = 1;
		j.lin2Y = 0;
		j.lin2Z = 0;
		j.ang1X = crossR100;
		j.ang1Y = crossR101;
		j.ang1Z = crossR102;
		j.ang2X = crossR200;
		j.ang2Y = crossR201;
		j.ang2Z = crossR202;
		let impulse1 = this._impulses[1];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linearRhsY;
		row1.cfm = cfm;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = 0;
		j.lin1Y = 1;
		j.lin1Z = 0;
		j.lin2X = 0;
		j.lin2Y = 1;
		j.lin2Z = 0;
		j.ang1X = crossR110;
		j.ang1Y = crossR111;
		j.ang1Z = crossR112;
		j.ang2X = crossR210;
		j.ang2Y = crossR211;
		j.ang2Z = crossR212;
		let impulse2 = this._impulses[2];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = linearRhsZ;
		row2.cfm = cfm;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.lin1X = 0;
		j.lin1Y = 0;
		j.lin1Z = 1;
		j.lin2X = 0;
		j.lin2Y = 0;
		j.lin2Z = 1;
		j.ang1X = crossR120;
		j.ang1Y = crossR121;
		j.ang1Z = crossR122;
		j.ang2X = crossR220;
		j.ang2Y = crossR221;
		j.ang2Z = crossR222;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getSpringDamper() {
		return this._sd;
	}
}
oimo.dynamics.constraint.joint.SphericalJointConfig = class oimo_dynamics_constraint_joint_SphericalJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.springDamper = new oimo.dynamics.constraint.joint.SpringDamper();
	}
	init(rigidBody1,rigidBody2,worldAnchor) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		return this;
	}
}
oimo.dynamics.constraint.joint.SpringDamper = class oimo_dynamics_constraint_joint_SpringDamper {
	constructor() {
		this.frequency = 0;
		this.dampingRatio = 0;
		this.useSymplecticEuler = false;
	}
	setSpring(frequency,dampingRatio) {
		this.frequency = frequency;
		this.dampingRatio = dampingRatio;
		return this;
	}
	setSymplecticEuler(useSymplecticEuler) {
		this.useSymplecticEuler = useSymplecticEuler;
		return this;
	}
	clone() {
		let sd = new oimo.dynamics.constraint.joint.SpringDamper();
		sd.frequency = this.frequency;
		sd.dampingRatio = this.dampingRatio;
		sd.useSymplecticEuler = this.useSymplecticEuler;
		return sd;
	}
}
oimo.dynamics.constraint.joint.TranslationalLimitMotor = class oimo_dynamics_constraint_joint_TranslationalLimitMotor {
	constructor() {
		this.lowerLimit = 1;
		this.upperLimit = 0;
		this.motorForce = 0;
	}
	setLimits(lower,upper) {
		this.lowerLimit = lower;
		this.upperLimit = upper;
		return this;
	}
	setMotor(speed,force) {
		this.motorSpeed = speed;
		this.motorForce = force;
		return this;
	}
	clone() {
		let lm = new oimo.dynamics.constraint.joint.TranslationalLimitMotor();
		lm.lowerLimit = this.lowerLimit;
		lm.upperLimit = this.upperLimit;
		lm.motorSpeed = this.motorSpeed;
		lm.motorForce = this.motorForce;
		return lm;
	}
}
oimo.dynamics.constraint.joint.UniversalJoint = class oimo_dynamics_constraint_joint_UniversalJoint extends oimo.dynamics.constraint.joint.Joint {
	constructor(config) {
		super(config,oimo.dynamics.constraint.joint.JointType.UNIVERSAL);
		let v = config.localAxis1;
		this._localBasisX1X = v.x;
		this._localBasisX1Y = v.y;
		this._localBasisX1Z = v.z;
		let v1 = config.localAxis2;
		this._localBasisZ2X = v1.x;
		this._localBasisZ2Y = v1.y;
		this._localBasisZ2Z = v1.z;
		this.buildLocalBasesFromX1Z2();
		this._angleX = 0;
		this._angleY = 0;
		this._angleZ = 0;
		this.xSingular = false;
		this.ySingular = false;
		this.zSingular = false;
		this._sd1 = config.springDamper1.clone();
		this._sd2 = config.springDamper2.clone();
		this._lm1 = config.limitMotor1.clone();
		this._lm2 = config.limitMotor2.clone();
	}
	getInfo(info,timeStep,isPositionPart) {
		let erp = this.getErp(timeStep,isPositionPart);
		let linearRhsX;
		let linearRhsY;
		let linearRhsZ;
		linearRhsX = this.linearErrorX * erp;
		linearRhsY = this.linearErrorY * erp;
		linearRhsZ = this.linearErrorZ * erp;
		let angRhsY = this._angleY * erp;
		let crossR100;
		let crossR101;
		let crossR102;
		let crossR110;
		let crossR111;
		let crossR112;
		let crossR120;
		let crossR121;
		let crossR122;
		let crossR200;
		let crossR201;
		let crossR202;
		let crossR210;
		let crossR211;
		let crossR212;
		let crossR220;
		let crossR221;
		let crossR222;
		crossR100 = 0;
		crossR101 = -this._relativeAnchor1Z;
		crossR102 = this._relativeAnchor1Y;
		crossR110 = this._relativeAnchor1Z;
		crossR111 = 0;
		crossR112 = -this._relativeAnchor1X;
		crossR120 = -this._relativeAnchor1Y;
		crossR121 = this._relativeAnchor1X;
		crossR122 = 0;
		crossR200 = 0;
		crossR201 = -this._relativeAnchor2Z;
		crossR202 = this._relativeAnchor2Y;
		crossR210 = this._relativeAnchor2Z;
		crossR211 = 0;
		crossR212 = -this._relativeAnchor2X;
		crossR220 = -this._relativeAnchor2Y;
		crossR221 = this._relativeAnchor2X;
		crossR222 = 0;
		crossR100 = -crossR100;
		crossR101 = -crossR101;
		crossR102 = -crossR102;
		crossR110 = -crossR110;
		crossR111 = -crossR111;
		crossR112 = -crossR112;
		crossR120 = -crossR120;
		crossR121 = -crossR121;
		crossR122 = -crossR122;
		crossR200 = -crossR200;
		crossR201 = -crossR201;
		crossR202 = -crossR202;
		crossR210 = -crossR210;
		crossR211 = -crossR211;
		crossR212 = -crossR212;
		crossR220 = -crossR220;
		crossR221 = -crossR221;
		crossR222 = -crossR222;
		let motorMassX = this.computeEffectiveInertiaMoment(this._axisXX,this._axisXY,this._axisXZ);
		let motorMassZ = this.computeEffectiveInertiaMoment(this._axisZX,this._axisZY,this._axisZZ);
		let impulse = this._impulses[0];
		let row = info.rows[info.numRows++];
		let _this = row.jacobian;
		_this.lin1X = 0;
		_this.lin1Y = 0;
		_this.lin1Z = 0;
		_this.lin2X = 0;
		_this.lin2Y = 0;
		_this.lin2Z = 0;
		_this.ang1X = 0;
		_this.ang1Y = 0;
		_this.ang1Z = 0;
		_this.ang2X = 0;
		_this.ang2Y = 0;
		_this.ang2Z = 0;
		row.rhs = 0;
		row.cfm = 0;
		row.minImpulse = 0;
		row.maxImpulse = 0;
		row.motorSpeed = 0;
		row.motorMaxImpulse = 0;
		row.impulse = null;
		row.impulse = impulse;
		row.rhs = linearRhsX;
		row.cfm = 0;
		row.minImpulse = -1e65536;
		row.maxImpulse = 1e65536;
		let j = row.jacobian;
		j.lin1X = 1;
		j.lin1Y = 0;
		j.lin1Z = 0;
		j.lin2X = 1;
		j.lin2Y = 0;
		j.lin2Z = 0;
		j.ang1X = crossR100;
		j.ang1Y = crossR101;
		j.ang1Z = crossR102;
		j.ang2X = crossR200;
		j.ang2Y = crossR201;
		j.ang2Z = crossR202;
		let impulse1 = this._impulses[1];
		let row1 = info.rows[info.numRows++];
		let _this1 = row1.jacobian;
		_this1.lin1X = 0;
		_this1.lin1Y = 0;
		_this1.lin1Z = 0;
		_this1.lin2X = 0;
		_this1.lin2Y = 0;
		_this1.lin2Z = 0;
		_this1.ang1X = 0;
		_this1.ang1Y = 0;
		_this1.ang1Z = 0;
		_this1.ang2X = 0;
		_this1.ang2Y = 0;
		_this1.ang2Z = 0;
		row1.rhs = 0;
		row1.cfm = 0;
		row1.minImpulse = 0;
		row1.maxImpulse = 0;
		row1.motorSpeed = 0;
		row1.motorMaxImpulse = 0;
		row1.impulse = null;
		row1.impulse = impulse1;
		row1.rhs = linearRhsY;
		row1.cfm = 0;
		row1.minImpulse = -1e65536;
		row1.maxImpulse = 1e65536;
		j = row1.jacobian;
		j.lin1X = 0;
		j.lin1Y = 1;
		j.lin1Z = 0;
		j.lin2X = 0;
		j.lin2Y = 1;
		j.lin2Z = 0;
		j.ang1X = crossR110;
		j.ang1Y = crossR111;
		j.ang1Z = crossR112;
		j.ang2X = crossR210;
		j.ang2Y = crossR211;
		j.ang2Z = crossR212;
		let impulse2 = this._impulses[2];
		let row2 = info.rows[info.numRows++];
		let _this2 = row2.jacobian;
		_this2.lin1X = 0;
		_this2.lin1Y = 0;
		_this2.lin1Z = 0;
		_this2.lin2X = 0;
		_this2.lin2Y = 0;
		_this2.lin2Z = 0;
		_this2.ang1X = 0;
		_this2.ang1Y = 0;
		_this2.ang1Z = 0;
		_this2.ang2X = 0;
		_this2.ang2Y = 0;
		_this2.ang2Z = 0;
		row2.rhs = 0;
		row2.cfm = 0;
		row2.minImpulse = 0;
		row2.maxImpulse = 0;
		row2.motorSpeed = 0;
		row2.motorMaxImpulse = 0;
		row2.impulse = null;
		row2.impulse = impulse2;
		row2.rhs = linearRhsZ;
		row2.cfm = 0;
		row2.minImpulse = -1e65536;
		row2.maxImpulse = 1e65536;
		j = row2.jacobian;
		j.lin1X = 0;
		j.lin1Y = 0;
		j.lin1Z = 1;
		j.lin2X = 0;
		j.lin2Y = 0;
		j.lin2Z = 1;
		j.ang1X = crossR120;
		j.ang1Y = crossR121;
		j.ang1Z = crossR122;
		j.ang2X = crossR220;
		j.ang2Y = crossR221;
		j.ang2Z = crossR222;
		if(!this.xSingular && (this._sd1.frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[3];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._angleX,this._lm1,motorMassX,this._sd1,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._axisXX;
			j.ang1Y = this._axisXY;
			j.ang1Z = this._axisXZ;
			j.ang2X = this._axisXX;
			j.ang2Y = this._axisXY;
			j.ang2Z = this._axisXZ;
		}
		if(!this.ySingular) {
			let impulse = this._impulses[4];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			row.rhs = angRhsY;
			row.cfm = 0;
			row.minImpulse = -1e65536;
			row.maxImpulse = 1e65536;
			j = row.jacobian;
			j.ang1X = this._axisYX;
			j.ang1Y = this._axisYY;
			j.ang1Z = this._axisYZ;
			j.ang2X = this._axisYX;
			j.ang2Y = this._axisYY;
			j.ang2Z = this._axisYZ;
		}
		if(!this.zSingular && (this._sd2.frequency <= 0 || !isPositionPart)) {
			let impulse = this._impulses[5];
			let row = info.rows[info.numRows++];
			let _this = row.jacobian;
			_this.lin1X = 0;
			_this.lin1Y = 0;
			_this.lin1Z = 0;
			_this.lin2X = 0;
			_this.lin2Y = 0;
			_this.lin2Z = 0;
			_this.ang1X = 0;
			_this.ang1Y = 0;
			_this.ang1Z = 0;
			_this.ang2X = 0;
			_this.ang2Y = 0;
			_this.ang2Z = 0;
			row.rhs = 0;
			row.cfm = 0;
			row.minImpulse = 0;
			row.maxImpulse = 0;
			row.motorSpeed = 0;
			row.motorMaxImpulse = 0;
			row.impulse = null;
			row.impulse = impulse;
			this.setSolverInfoRowAngular(row,this._angleZ,this._lm2,motorMassZ,this._sd2,timeStep,isPositionPart);
			j = row.jacobian;
			j.ang1X = this._axisZX;
			j.ang1Y = this._axisZY;
			j.ang1Z = this._axisZZ;
			j.ang2X = this._axisZX;
			j.ang2Y = this._axisZY;
			j.ang2Z = this._axisZZ;
		}
	}
	_syncAnchors() {
		super._syncAnchors();
		let angleAxisXX;
		let angleAxisXY;
		let angleAxisXZ;
		let angleAxisYX;
		let angleAxisYY;
		let angleAxisYZ;
		let angleAxisZX;
		let angleAxisZY;
		let angleAxisZZ;
		angleAxisXX = this._basisX1X;
		angleAxisXY = this._basisX1Y;
		angleAxisXZ = this._basisX1Z;
		angleAxisZX = this._basisZ2X;
		angleAxisZY = this._basisZ2Y;
		angleAxisZZ = this._basisZ2Z;
		angleAxisYX = angleAxisZY * angleAxisXZ - angleAxisZZ * angleAxisXY;
		angleAxisYY = angleAxisZZ * angleAxisXX - angleAxisZX * angleAxisXZ;
		angleAxisYZ = angleAxisZX * angleAxisXY - angleAxisZY * angleAxisXX;
		this._axisXX = angleAxisYY * angleAxisZZ - angleAxisYZ * angleAxisZY;
		this._axisXY = angleAxisYZ * angleAxisZX - angleAxisYX * angleAxisZZ;
		this._axisXZ = angleAxisYX * angleAxisZY - angleAxisYY * angleAxisZX;
		this._axisYX = angleAxisYX;
		this._axisYY = angleAxisYY;
		this._axisYZ = angleAxisYZ;
		this._axisZX = angleAxisXY * angleAxisYZ - angleAxisXZ * angleAxisYY;
		this._axisZY = angleAxisXZ * angleAxisYX - angleAxisXX * angleAxisYZ;
		this._axisZZ = angleAxisXX * angleAxisYY - angleAxisXY * angleAxisYX;
		let l = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ;
		if(l > 0) {
			l = 1 / Math.sqrt(l);
		}
		this._axisXX *= l;
		this._axisXY *= l;
		this._axisXZ *= l;
		let l1 = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ;
		if(l1 > 0) {
			l1 = 1 / Math.sqrt(l1);
		}
		this._axisYX *= l1;
		this._axisYY *= l1;
		this._axisYZ *= l1;
		let l2 = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ;
		if(l2 > 0) {
			l2 = 1 / Math.sqrt(l2);
		}
		this._axisZX *= l2;
		this._axisZY *= l2;
		this._axisZZ *= l2;
		this.xSingular = this._axisXX * this._axisXX + this._axisXY * this._axisXY + this._axisXZ * this._axisXZ == 0;
		this.ySingular = this._axisYX * this._axisYX + this._axisYY * this._axisYY + this._axisYZ * this._axisYZ == 0;
		this.zSingular = this._axisZX * this._axisZX + this._axisZY * this._axisZY + this._axisZZ * this._axisZZ == 0;
		let rot100;
		let rot101;
		let rot102;
		let rot110;
		let rot111;
		let rot112;
		let rot120;
		let rot121;
		let rot122;
		let rot200;
		let rot201;
		let rot202;
		let rot210;
		let rot211;
		let rot212;
		let rot220;
		let rot221;
		let rot222;
		rot100 = this._basisX1X;
		rot101 = this._basisY1X;
		rot102 = this._basisZ1X;
		rot110 = this._basisX1Y;
		rot111 = this._basisY1Y;
		rot112 = this._basisZ1Y;
		rot120 = this._basisX1Z;
		rot121 = this._basisY1Z;
		rot122 = this._basisZ1Z;
		rot200 = this._basisX2X;
		rot201 = this._basisY2X;
		rot202 = this._basisZ2X;
		rot210 = this._basisX2Y;
		rot211 = this._basisY2Y;
		rot212 = this._basisZ2Y;
		rot220 = this._basisX2Z;
		rot221 = this._basisY2Z;
		rot222 = this._basisZ2Z;
		let relRot00;
		let relRot01;
		let relRot02;
		let relRot11;
		let relRot12;
		let relRot21;
		let relRot22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__11;
		let __tmp__12;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot100 * rot200 + rot110 * rot210 + rot120 * rot220;
		__tmp__01 = rot100 * rot201 + rot110 * rot211 + rot120 * rot221;
		__tmp__02 = rot100 * rot202 + rot110 * rot212 + rot120 * rot222;
		__tmp__11 = rot101 * rot201 + rot111 * rot211 + rot121 * rot221;
		__tmp__12 = rot101 * rot202 + rot111 * rot212 + rot121 * rot222;
		__tmp__21 = rot102 * rot201 + rot112 * rot211 + rot122 * rot221;
		__tmp__22 = rot102 * rot202 + rot112 * rot212 + rot122 * rot222;
		relRot00 = __tmp__00;
		relRot01 = __tmp__01;
		relRot02 = __tmp__02;
		relRot11 = __tmp__11;
		relRot12 = __tmp__12;
		relRot21 = __tmp__21;
		relRot22 = __tmp__22;
		let anglesX;
		let anglesY;
		let anglesZ;
		let sy = relRot02;
		if(sy <= -1) {
			let xSubZ = Math.atan2(relRot21,relRot11);
			anglesX = xSubZ * 0.5;
			anglesY = -1.570796326794895;
			anglesZ = -xSubZ * 0.5;
		} else if(sy >= 1) {
			let xAddZ = Math.atan2(relRot21,relRot11);
			anglesX = xAddZ * 0.5;
			anglesY = 1.570796326794895;
			anglesZ = xAddZ * 0.5;
		} else {
			anglesX = Math.atan2(-relRot12,relRot22);
			anglesY = Math.asin(sy);
			anglesZ = Math.atan2(-relRot01,relRot00);
		}
		this._angleX = anglesX;
		this._angleY = anglesY;
		this._angleZ = anglesZ;
		this.linearErrorX = this._anchor2X - this._anchor1X;
		this.linearErrorY = this._anchor2Y - this._anchor1Y;
		this.linearErrorZ = this._anchor2Z - this._anchor1Z;
	}
	_getVelocitySolverInfo(timeStep,info) {
		super._getVelocitySolverInfo(timeStep,info);
		this.getInfo(info,timeStep,false);
	}
	_getPositionSolverInfo(info) {
		super._getPositionSolverInfo(info);
		this.getInfo(info,null,true);
	}
	getAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._basisX1X;
		v.y = this._basisX1Y;
		v.z = this._basisX1Z;
		return v;
	}
	getAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._basisZ2X;
		v.y = this._basisZ2Y;
		v.z = this._basisZ2Z;
		return v;
	}
	getAxis1To(axis) {
		axis.x = this._basisX1X;
		axis.y = this._basisX1Y;
		axis.z = this._basisX1Z;
	}
	getAxis2To(axis) {
		axis.x = this._basisZ2X;
		axis.y = this._basisZ2Y;
		axis.z = this._basisZ2Z;
	}
	getLocalAxis1() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisX1X;
		v.y = this._localBasisX1Y;
		v.z = this._localBasisX1Z;
		return v;
	}
	getLocalAxis2() {
		let v = new oimo.common.Vec3();
		v.x = this._localBasisZ2X;
		v.y = this._localBasisZ2Y;
		v.z = this._localBasisZ2Z;
		return v;
	}
	getLocalAxis1To(axis) {
		axis.x = this._localBasisX1X;
		axis.y = this._localBasisX1Y;
		axis.z = this._localBasisX1Z;
	}
	getLocalAxis2To(axis) {
		axis.x = this._localBasisZ2X;
		axis.y = this._localBasisZ2Y;
		axis.z = this._localBasisZ2Z;
	}
	getSpringDamper1() {
		return this._sd1;
	}
	getSpringDamper2() {
		return this._sd2;
	}
	getLimitMotor1() {
		return this._lm1;
	}
	getLimitMotor2() {
		return this._lm2;
	}
	getAngle1() {
		return this._angleX;
	}
	getAngle2() {
		return this._angleZ;
	}
}
oimo.dynamics.constraint.joint.UniversalJointConfig = class oimo_dynamics_constraint_joint_UniversalJointConfig extends oimo.dynamics.constraint.joint.JointConfig {
	constructor() {
		super();
		this.localAxis1 = new oimo.common.Vec3(1,0,0);
		this.localAxis2 = new oimo.common.Vec3(1,0,0);
		this.springDamper1 = new oimo.dynamics.constraint.joint.SpringDamper();
		this.springDamper2 = new oimo.dynamics.constraint.joint.SpringDamper();
		this.limitMotor1 = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
		this.limitMotor2 = new oimo.dynamics.constraint.joint.RotationalLimitMotor();
	}
	init(rigidBody1,rigidBody2,worldAnchor,worldAxis1,worldAxis2) {
		this._init(rigidBody1,rigidBody2,worldAnchor);
		let localVector = this.localAxis1;
		let vX;
		let vY;
		let vZ;
		vX = worldAxis1.x;
		vY = worldAxis1.y;
		vZ = worldAxis1.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = rigidBody1._transform._rotation00 * vX + rigidBody1._transform._rotation10 * vY + rigidBody1._transform._rotation20 * vZ;
		__tmp__Y = rigidBody1._transform._rotation01 * vX + rigidBody1._transform._rotation11 * vY + rigidBody1._transform._rotation21 * vZ;
		__tmp__Z = rigidBody1._transform._rotation02 * vX + rigidBody1._transform._rotation12 * vY + rigidBody1._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
		let localVector1 = this.localAxis2;
		let vX1;
		let vY1;
		let vZ1;
		vX1 = worldAxis2.x;
		vY1 = worldAxis2.y;
		vZ1 = worldAxis2.z;
		let __tmp__X1;
		let __tmp__Y1;
		let __tmp__Z1;
		__tmp__X1 = rigidBody2._transform._rotation00 * vX1 + rigidBody2._transform._rotation10 * vY1 + rigidBody2._transform._rotation20 * vZ1;
		__tmp__Y1 = rigidBody2._transform._rotation01 * vX1 + rigidBody2._transform._rotation11 * vY1 + rigidBody2._transform._rotation21 * vZ1;
		__tmp__Z1 = rigidBody2._transform._rotation02 * vX1 + rigidBody2._transform._rotation12 * vY1 + rigidBody2._transform._rotation22 * vZ1;
		vX1 = __tmp__X1;
		vY1 = __tmp__Y1;
		vZ1 = __tmp__Z1;
		localVector1.x = vX1;
		localVector1.y = vY1;
		localVector1.z = vZ1;
		return this;
	}
}
if(!oimo.dynamics.constraint.solver) oimo.dynamics.constraint.solver = {};
oimo.dynamics.constraint.solver.ConstraintSolverType = class oimo_dynamics_constraint_solver_ConstraintSolverType {
}
if(!oimo.dynamics.constraint.solver.common) oimo.dynamics.constraint.solver.common = {};
oimo.dynamics.constraint.solver.common.ContactSolverMassDataRow = class oimo_dynamics_constraint_solver_common_ContactSolverMassDataRow {
	constructor() {
		this.invMLinN1X = 0;
		this.invMLinN1Y = 0;
		this.invMLinN1Z = 0;
		this.invMLinN2X = 0;
		this.invMLinN2Y = 0;
		this.invMLinN2Z = 0;
		this.invMAngN1X = 0;
		this.invMAngN1Y = 0;
		this.invMAngN1Z = 0;
		this.invMAngN2X = 0;
		this.invMAngN2Y = 0;
		this.invMAngN2Z = 0;
		this.invMLinT1X = 0;
		this.invMLinT1Y = 0;
		this.invMLinT1Z = 0;
		this.invMLinT2X = 0;
		this.invMLinT2Y = 0;
		this.invMLinT2Z = 0;
		this.invMAngT1X = 0;
		this.invMAngT1Y = 0;
		this.invMAngT1Z = 0;
		this.invMAngT2X = 0;
		this.invMAngT2Y = 0;
		this.invMAngT2Z = 0;
		this.invMLinB1X = 0;
		this.invMLinB1Y = 0;
		this.invMLinB1Z = 0;
		this.invMLinB2X = 0;
		this.invMLinB2Y = 0;
		this.invMLinB2Z = 0;
		this.invMAngB1X = 0;
		this.invMAngB1Y = 0;
		this.invMAngB1Z = 0;
		this.invMAngB2X = 0;
		this.invMAngB2Y = 0;
		this.invMAngB2Z = 0;
		this.massN = 0;
		this.massTB00 = 0;
		this.massTB01 = 0;
		this.massTB10 = 0;
		this.massTB11 = 0;
	}
}
oimo.dynamics.constraint.solver.common.JointSolverMassDataRow = class oimo_dynamics_constraint_solver_common_JointSolverMassDataRow {
	constructor() {
		this.invMLin1X = 0;
		this.invMLin1Y = 0;
		this.invMLin1Z = 0;
		this.invMLin2X = 0;
		this.invMLin2Y = 0;
		this.invMLin2Z = 0;
		this.invMAng1X = 0;
		this.invMAng1Y = 0;
		this.invMAng1Z = 0;
		this.invMAng2X = 0;
		this.invMAng2Y = 0;
		this.invMAng2Z = 0;
		this.mass = 0;
		this.massWithoutCfm = 0;
	}
}
if(!oimo.dynamics.constraint.solver.direct) oimo.dynamics.constraint.solver.direct = {};
oimo.dynamics.constraint.solver.direct.Boundary = class oimo_dynamics_constraint_solver_direct_Boundary {
	constructor(maxRows) {
		this.iBounded = new Array(maxRows);
		this.iUnbounded = new Array(maxRows);
		this.signs = new Array(maxRows);
		this.b = new Array(maxRows);
		this.numBounded = 0;
		this.numUnbounded = 0;
		this.matrixId = 0;
	}
	init(buildInfo) {
		this.numBounded = buildInfo.numBounded;
		let _g = 0;
		let _g1 = this.numBounded;
		while(_g < _g1) {
			let i = _g++;
			this.iBounded[i] = buildInfo.iBounded[i];
			this.signs[i] = buildInfo.signs[i];
		}
		this.numUnbounded = buildInfo.numUnbounded;
		this.matrixId = 0;
		let _g2 = 0;
		let _g3 = this.numUnbounded;
		while(_g2 < _g3) {
			let i = _g2++;
			let idx = buildInfo.iUnbounded[i];
			this.iUnbounded[i] = idx;
			this.matrixId |= 1 << idx;
		}
	}
	computeImpulses(info,mass,relVels,impulses,dImpulses,impulseFactor,noCheck) {
		let _g = 0;
		let _g1 = this.numUnbounded;
		while(_g < _g1) {
			let idx = this.iUnbounded[_g++];
			let row = info.rows[idx];
			this.b[idx] = row.rhs * impulseFactor - relVels[idx] - row.cfm * impulses[idx];
		}
		let invMassWithoutCfm = mass._invMassWithoutCfm;
		let _g2 = 0;
		let _g3 = this.numBounded;
		while(_g2 < _g3) {
			let i = _g2++;
			let idx = this.iBounded[i];
			let sign = this.signs[i];
			let row = info.rows[idx];
			let dImpulse = (sign < 0 ? row.minImpulse : sign > 0 ? row.maxImpulse : 0) - impulses[idx];
			dImpulses[idx] = dImpulse;
			if(dImpulse != 0) {
				let _g = 0;
				let _g1 = this.numUnbounded;
				while(_g < _g1) {
					let idx2 = this.iUnbounded[_g++];
					this.b[idx2] -= invMassWithoutCfm[idx][idx2] * dImpulse;
				}
			}
		}
		let indices = this.iUnbounded;
		let n = this.numUnbounded;
		let id = 0;
		let _g4 = 0;
		while(_g4 < n) id |= 1 << indices[_g4++];
		let massMatrix;
		if(mass._cacheComputed[id]) {
			massMatrix = mass._cachedSubmatrices[id];
		} else {
			mass.computeSubmatrix(id,indices,n);
			mass._cacheComputed[id] = true;
			massMatrix = mass._cachedSubmatrices[id];
		}
		let ok = true;
		let _g5 = 0;
		let _g6 = this.numUnbounded;
		while(_g5 < _g6) {
			let i = _g5++;
			let idx = this.iUnbounded[i];
			let row = info.rows[idx];
			let oldImpulse = impulses[idx];
			let impulse = oldImpulse;
			let _g = 0;
			let _g1 = this.numUnbounded;
			while(_g < _g1) {
				let j = _g++;
				impulse += this.b[this.iUnbounded[j]] * massMatrix[i][j];
			}
			if(impulse < row.minImpulse - oimo.common.Setting.directMlcpSolverEps || impulse > row.maxImpulse + oimo.common.Setting.directMlcpSolverEps) {
				ok = false;
				break;
			}
			dImpulses[idx] = impulse - oldImpulse;
		}
		if(noCheck) {
			return true;
		}
		if(!ok) {
			return false;
		}
		let _g7 = 0;
		let _g8 = this.numBounded;
		while(_g7 < _g8) {
			let i = _g7++;
			let idx = this.iBounded[i];
			let row = info.rows[idx];
			let sign = this.signs[i];
			let error = 0;
			let newImpulse = impulses[idx] + dImpulses[idx];
			let relVel = relVels[idx];
			let _g = 0;
			let _g1 = info.numRows;
			while(_g < _g1) {
				let j = _g++;
				relVel += invMassWithoutCfm[idx][j] * dImpulses[j];
			}
			error = row.rhs * impulseFactor - relVel - row.cfm * newImpulse;
			if(sign < 0 && error > oimo.common.Setting.directMlcpSolverEps || sign > 0 && error < -oimo.common.Setting.directMlcpSolverEps) {
				ok = false;
				break;
			}
		}
		return ok;
	}
}
oimo.dynamics.constraint.solver.direct.BoundaryBuildInfo = class oimo_dynamics_constraint_solver_direct_BoundaryBuildInfo {
	constructor(size) {
		this.size = size;
		this.numBounded = 0;
		this.iBounded = new Array(size);
		this.signs = new Array(size);
		this.numUnbounded = 0;
		this.iUnbounded = new Array(size);
	}
}
oimo.dynamics.constraint.solver.direct.BoundaryBuilder = class oimo_dynamics_constraint_solver_direct_BoundaryBuilder {
	constructor(maxRows) {
		this.maxRows = maxRows;
		this.numBoundaries = 0;
		this.boundaries = new Array(1 << maxRows);
		this.bbInfo = new oimo.dynamics.constraint.solver.direct.BoundaryBuildInfo(maxRows);
	}
	buildBoundariesRecursive(info,i) {
		if(i == info.numRows) {
			if(this.boundaries[this.numBoundaries] == null) {
				this.boundaries[this.numBoundaries] = new oimo.dynamics.constraint.solver.direct.Boundary(this.maxRows);
			}
			this.boundaries[this.numBoundaries++].init(this.bbInfo);
			return;
		}
		let row = info.rows[i];
		let lowerLimitEnabled = row.minImpulse > -1e65536;
		let upperLimitEnabled = row.maxImpulse < 1e65536;
		if(row.minImpulse == 0 && row.maxImpulse == 0) {
			let _this = this.bbInfo;
			_this.iBounded[_this.numBounded] = i;
			_this.signs[_this.numBounded] = 0;
			_this.numBounded++;
			this.buildBoundariesRecursive(info,i + 1);
			this.bbInfo.numBounded--;
			return;
		}
		let _this = this.bbInfo;
		_this.iUnbounded[_this.numUnbounded] = i;
		_this.numUnbounded++;
		this.buildBoundariesRecursive(info,i + 1);
		this.bbInfo.numUnbounded--;
		if(lowerLimitEnabled) {
			let _this = this.bbInfo;
			_this.iBounded[_this.numBounded] = i;
			_this.signs[_this.numBounded] = -1;
			_this.numBounded++;
			this.buildBoundariesRecursive(info,i + 1);
			this.bbInfo.numBounded--;
		}
		if(upperLimitEnabled) {
			let _this = this.bbInfo;
			_this.iBounded[_this.numBounded] = i;
			_this.signs[_this.numBounded] = 1;
			_this.numBounded++;
			this.buildBoundariesRecursive(info,i + 1);
			this.bbInfo.numBounded--;
		}
	}
	buildBoundaries(info) {
		this.numBoundaries = 0;
		let _this = this.bbInfo;
		_this.numBounded = 0;
		_this.numUnbounded = 0;
		this.buildBoundariesRecursive(info,0);
	}
}
oimo.dynamics.constraint.solver.direct.BoundarySelector = class oimo_dynamics_constraint_solver_direct_BoundarySelector {
	constructor(n) {
		this.n = n;
		this.indices = new Array(n);
		this.tmpIndices = new Array(n);
		let _g = 0;
		while(_g < n) {
			let i = _g++;
			this.indices[i] = i;
		}
	}
	getIndex(i) {
		return this.indices[i];
	}
	select(index) {
		let i = 0;
		while(this.indices[i] != index) ++i;
		while(i > 0) {
			let tmp = this.indices[i];
			this.indices[i] = this.indices[i - 1];
			this.indices[i - 1] = tmp;
			--i;
		}
	}
	setSize(size) {
		let numSmaller = 0;
		let numGreater = 0;
		let _g = 0;
		let _g1 = this.n;
		while(_g < _g1) {
			let idx = this.indices[_g++];
			if(idx < size) {
				this.tmpIndices[numSmaller] = idx;
				++numSmaller;
			} else {
				this.tmpIndices[size + numGreater] = idx;
				++numGreater;
			}
		}
		let tmp = this.indices;
		this.indices = this.tmpIndices;
		this.tmpIndices = tmp;
	}
}
oimo.dynamics.constraint.solver.direct.DirectJointConstraintSolver = class oimo_dynamics_constraint_solver_direct_DirectJointConstraintSolver extends oimo.dynamics.constraint.ConstraintSolver {
	constructor(joint) {
		super();
		this.joint = joint;
		this.info = new oimo.dynamics.constraint.info.joint.JointSolverInfo();
		let maxRows = oimo.common.Setting.maxJacobianRows;
		this.massMatrix = new oimo.dynamics.constraint.solver.direct.MassMatrix(maxRows);
		this.boundaryBuilder = new oimo.dynamics.constraint.solver.direct.BoundaryBuilder(maxRows);
		this.massData = new Array(maxRows);
		let _g = 0;
		let _g1 = this.massData.length;
		while(_g < _g1) this.massData[_g++] = new oimo.dynamics.constraint.solver.common.JointSolverMassDataRow();
		let numMaxBoundaries = this.boundaryBuilder.boundaries.length;
		this.velBoundarySelector = new oimo.dynamics.constraint.solver.direct.BoundarySelector(numMaxBoundaries);
		this.posBoundarySelector = new oimo.dynamics.constraint.solver.direct.BoundarySelector(numMaxBoundaries);
		this.relVels = new Array(maxRows);
		this.impulses = new Array(maxRows);
		this.dImpulses = new Array(maxRows);
		this.dTotalImpulses = new Array(maxRows);
		let _g2 = 0;
		while(_g2 < maxRows) {
			let i = _g2++;
			this.relVels[i] = 0;
			this.impulses[i] = 0;
			this.dImpulses[i] = 0;
			this.dTotalImpulses[i] = 0;
		}
	}
	preSolveVelocity(timeStep) {
		this.joint._syncAnchors();
		this.joint._getVelocitySolverInfo(timeStep,this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		this.massMatrix.computeInvMass(this.info,this.massData);
		let _this = this.boundaryBuilder;
		_this.numBoundaries = 0;
		let _this1 = _this.bbInfo;
		_this1.numBounded = 0;
		_this1.numUnbounded = 0;
		_this.buildBoundariesRecursive(this.info,0);
		let _this2 = this.velBoundarySelector;
		let size = this.boundaryBuilder.numBoundaries;
		let numSmaller = 0;
		let numGreater = 0;
		let _g = 0;
		let _g1 = _this2.n;
		while(_g < _g1) {
			let idx = _this2.indices[_g++];
			if(idx < size) {
				_this2.tmpIndices[numSmaller] = idx;
				++numSmaller;
			} else {
				_this2.tmpIndices[size + numGreater] = idx;
				++numGreater;
			}
		}
		let tmp = _this2.indices;
		_this2.indices = _this2.tmpIndices;
		_this2.tmpIndices = tmp;
	}
	warmStart(timeStep) {
		let factor = this.joint._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE ? oimo.common.Setting.jointWarmStartingFactorForBaungarte : oimo.common.Setting.jointWarmStartingFactor;
		factor *= timeStep.dtRatio;
		if(factor <= 0) {
			let _g = 0;
			let _g1 = this.info.numRows;
			while(_g < _g1) {
				let _this = this.info.rows[_g++].impulse;
				_this.impulse = 0;
				_this.impulseM = 0;
				_this.impulseP = 0;
			}
			return;
		}
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let imp = row.impulse;
			let impulse = imp.impulse * factor;
			if(impulse < row.minImpulse) {
				impulse = row.minImpulse;
			} else if(impulse > row.maxImpulse) {
				impulse = row.maxImpulse;
			}
			imp.impulse = impulse;
			if(row.motorMaxImpulse > 0) {
				let impulseM = imp.impulseM * factor;
				let max = row.motorMaxImpulse;
				if(impulseM < -max) {
					impulseM = -max;
				} else if(impulseM > max) {
					impulseM = max;
				}
				imp.impulseM = impulseM;
			} else {
				imp.impulseM = 0;
			}
			this.dImpulses[i] = imp.impulse + imp.impulseM;
		}
		let impulses = this.dImpulses;
		let linearSet = false;
		let angularSet = false;
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) {
			let i = _g2++;
			let j = this.info.rows[i].jacobian;
			let md = this.massData[i];
			let imp = impulses[i];
			if((j.flag & 1) != 0) {
				lv1X += md.invMLin1X * imp;
				lv1Y += md.invMLin1Y * imp;
				lv1Z += md.invMLin1Z * imp;
				lv2X += md.invMLin2X * -imp;
				lv2Y += md.invMLin2Y * -imp;
				lv2Z += md.invMLin2Z * -imp;
				linearSet = true;
			}
			if((j.flag & 2) != 0) {
				av1X += md.invMAng1X * imp;
				av1Y += md.invMAng1Y * imp;
				av1Z += md.invMAng1Z * imp;
				av2X += md.invMAng2X * -imp;
				av2Y += md.invMAng2Y * -imp;
				av2Z += md.invMAng2Z * -imp;
				angularSet = true;
			}
		}
		if(linearSet) {
			this._b1._velX = lv1X;
			this._b1._velY = lv1Y;
			this._b1._velZ = lv1Z;
			this._b2._velX = lv2X;
			this._b2._velY = lv2Y;
			this._b2._velZ = lv2Z;
		}
		if(angularSet) {
			this._b1._angVelX = av1X;
			this._b1._angVelY = av1Y;
			this._b1._angVelZ = av1Z;
			this._b2._angVelX = av2X;
			this._b2._angVelY = av2Y;
			this._b2._angVelZ = av2Z;
		}
	}
	solveVelocity() {
		let numRows = this.info.numRows;
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g = 0;
		while(_g < numRows) {
			let i = _g++;
			let row = this.info.rows[i];
			let j = row.jacobian;
			let relVel = 0;
			relVel += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			relVel -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			relVel += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			relVel -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			this.relVels[i] = relVel;
			this.impulses[i] = row.impulse.impulse;
			this.dTotalImpulses[i] = 0;
		}
		let invMass = this.massMatrix._invMassWithoutCfm;
		let _g1 = 0;
		while(_g1 < numRows) {
			let i = _g1++;
			let row = this.info.rows[i];
			let imp = row.impulse;
			if(row.motorMaxImpulse > 0) {
				let oldImpulseM = imp.impulseM;
				let impulseM = oldImpulseM + this.massData[i].massWithoutCfm * (-row.motorSpeed - this.relVels[i]);
				let maxImpulseM = row.motorMaxImpulse;
				if(impulseM < -maxImpulseM) {
					impulseM = -maxImpulseM;
				} else if(impulseM > maxImpulseM) {
					impulseM = maxImpulseM;
				}
				imp.impulseM = impulseM;
				let dImpulseM = impulseM - oldImpulseM;
				this.dTotalImpulses[i] = dImpulseM;
				let _g = 0;
				while(_g < numRows) {
					let j = _g++;
					this.relVels[j] += dImpulseM * invMass[i][j];
				}
			}
		}
		let solved = false;
		let _g2 = 0;
		let _g3 = this.boundaryBuilder.numBoundaries;
		while(_g2 < _g3) {
			let idx = this.velBoundarySelector.indices[_g2++];
			if(this.boundaryBuilder.boundaries[idx].computeImpulses(this.info,this.massMatrix,this.relVels,this.impulses,this.dImpulses,1,false)) {
				let _g = 0;
				while(_g < numRows) {
					let j = _g++;
					let dimp = this.dImpulses[j];
					this.info.rows[j].impulse.impulse += dimp;
					this.dTotalImpulses[j] += dimp;
				}
				let impulses = this.dTotalImpulses;
				let linearSet = false;
				let angularSet = false;
				let lv1X;
				let lv1Y;
				let lv1Z;
				let lv2X;
				let lv2Y;
				let lv2Z;
				let av1X;
				let av1Y;
				let av1Z;
				let av2X;
				let av2Y;
				let av2Z;
				lv1X = this._b1._velX;
				lv1Y = this._b1._velY;
				lv1Z = this._b1._velZ;
				lv2X = this._b2._velX;
				lv2Y = this._b2._velY;
				lv2Z = this._b2._velZ;
				av1X = this._b1._angVelX;
				av1Y = this._b1._angVelY;
				av1Z = this._b1._angVelZ;
				av2X = this._b2._angVelX;
				av2Y = this._b2._angVelY;
				av2Z = this._b2._angVelZ;
				let _g1 = 0;
				let _g2 = this.info.numRows;
				while(_g1 < _g2) {
					let i = _g1++;
					let j = this.info.rows[i].jacobian;
					let md = this.massData[i];
					let imp = impulses[i];
					if((j.flag & 1) != 0) {
						lv1X += md.invMLin1X * imp;
						lv1Y += md.invMLin1Y * imp;
						lv1Z += md.invMLin1Z * imp;
						lv2X += md.invMLin2X * -imp;
						lv2Y += md.invMLin2Y * -imp;
						lv2Z += md.invMLin2Z * -imp;
						linearSet = true;
					}
					if((j.flag & 2) != 0) {
						av1X += md.invMAng1X * imp;
						av1Y += md.invMAng1Y * imp;
						av1Z += md.invMAng1Z * imp;
						av2X += md.invMAng2X * -imp;
						av2Y += md.invMAng2Y * -imp;
						av2Z += md.invMAng2Z * -imp;
						angularSet = true;
					}
				}
				if(linearSet) {
					this._b1._velX = lv1X;
					this._b1._velY = lv1Y;
					this._b1._velZ = lv1Z;
					this._b2._velX = lv2X;
					this._b2._velY = lv2Y;
					this._b2._velZ = lv2Z;
				}
				if(angularSet) {
					this._b1._angVelX = av1X;
					this._b1._angVelY = av1Y;
					this._b1._angVelZ = av1Z;
					this._b2._angVelX = av2X;
					this._b2._angVelY = av2Y;
					this._b2._angVelZ = av2Z;
				}
				let _this = this.velBoundarySelector;
				let i = 0;
				while(_this.indices[i] != idx) ++i;
				while(i > 0) {
					let tmp = _this.indices[i];
					_this.indices[i] = _this.indices[i - 1];
					_this.indices[i - 1] = tmp;
					--i;
				}
				solved = true;
				break;
			}
		}
		if(!solved) {
			console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:335:","could not find solution. (velocity)");
			return;
		}
	}
	postSolveVelocity(timeStep) {
		let linX;
		let linY;
		let linZ;
		let angX;
		let angY;
		let angZ;
		linX = 0;
		linY = 0;
		linZ = 0;
		angX = 0;
		angY = 0;
		angZ = 0;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let row = this.info.rows[_g++];
			let imp = row.impulse;
			let j = row.jacobian;
			if((j.flag & 1) != 0) {
				linX += j.lin1X * imp.impulse;
				linY += j.lin1Y * imp.impulse;
				linZ += j.lin1Z * imp.impulse;
			} else if((j.flag & 2) != 0) {
				angX += j.ang1X * imp.impulse;
				angY += j.ang1Y * imp.impulse;
				angZ += j.ang1Z * imp.impulse;
			}
		}
		this.joint._appliedForceX = linX * timeStep.invDt;
		this.joint._appliedForceY = linY * timeStep.invDt;
		this.joint._appliedForceZ = linZ * timeStep.invDt;
		this.joint._appliedTorqueX = angX * timeStep.invDt;
		this.joint._appliedTorqueY = angY * timeStep.invDt;
		this.joint._appliedTorqueZ = angZ * timeStep.invDt;
	}
	preSolvePosition(timeStep) {
		this.joint._syncAnchors();
		this.joint._getPositionSolverInfo(this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		this.massMatrix.computeInvMass(this.info,this.massData);
		let _this = this.boundaryBuilder;
		_this.numBoundaries = 0;
		let _this1 = _this.bbInfo;
		_this1.numBounded = 0;
		_this1.numUnbounded = 0;
		_this.buildBoundariesRecursive(this.info,0);
		let _this2 = this.posBoundarySelector;
		let size = this.boundaryBuilder.numBoundaries;
		let numSmaller = 0;
		let numGreater = 0;
		let _g = 0;
		let _g1 = _this2.n;
		while(_g < _g1) {
			let idx = _this2.indices[_g++];
			if(idx < size) {
				_this2.tmpIndices[numSmaller] = idx;
				++numSmaller;
			} else {
				_this2.tmpIndices[size + numGreater] = idx;
				++numGreater;
			}
		}
		let tmp = _this2.indices;
		_this2.indices = _this2.tmpIndices;
		_this2.tmpIndices = tmp;
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) this.info.rows[_g2++].impulse.impulseP = 0;
	}
	solvePositionSplitImpulse() {
		let numRows = this.info.numRows;
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._pseudoVelX;
		lv1Y = this._b1._pseudoVelY;
		lv1Z = this._b1._pseudoVelZ;
		lv2X = this._b2._pseudoVelX;
		lv2Y = this._b2._pseudoVelY;
		lv2Z = this._b2._pseudoVelZ;
		av1X = this._b1._angPseudoVelX;
		av1Y = this._b1._angPseudoVelY;
		av1Z = this._b1._angPseudoVelZ;
		av2X = this._b2._angPseudoVelX;
		av2Y = this._b2._angPseudoVelY;
		av2Z = this._b2._angPseudoVelZ;
		let _g = 0;
		while(_g < numRows) {
			let i = _g++;
			let row = this.info.rows[i];
			let j = row.jacobian;
			let relVel = 0;
			relVel += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			relVel -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			relVel += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			relVel -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			this.relVels[i] = relVel;
			this.impulses[i] = row.impulse.impulseP;
		}
		let solved = false;
		let _g1 = 0;
		let _g2 = this.boundaryBuilder.numBoundaries;
		while(_g1 < _g2) {
			let idx = this.posBoundarySelector.indices[_g1++];
			if(this.boundaryBuilder.boundaries[idx].computeImpulses(this.info,this.massMatrix,this.relVels,this.impulses,this.dImpulses,oimo.common.Setting.positionSplitImpulseBaumgarte,false)) {
				let _g = 0;
				while(_g < numRows) {
					let j = _g++;
					this.info.rows[j].impulse.impulseP += this.dImpulses[j];
				}
				let impulses = this.dImpulses;
				let linearSet = false;
				let angularSet = false;
				let lv1X;
				let lv1Y;
				let lv1Z;
				let lv2X;
				let lv2Y;
				let lv2Z;
				let av1X;
				let av1Y;
				let av1Z;
				let av2X;
				let av2Y;
				let av2Z;
				lv1X = this._b1._pseudoVelX;
				lv1Y = this._b1._pseudoVelY;
				lv1Z = this._b1._pseudoVelZ;
				lv2X = this._b2._pseudoVelX;
				lv2Y = this._b2._pseudoVelY;
				lv2Z = this._b2._pseudoVelZ;
				av1X = this._b1._angPseudoVelX;
				av1Y = this._b1._angPseudoVelY;
				av1Z = this._b1._angPseudoVelZ;
				av2X = this._b2._angPseudoVelX;
				av2Y = this._b2._angPseudoVelY;
				av2Z = this._b2._angPseudoVelZ;
				let _g1 = 0;
				let _g2 = this.info.numRows;
				while(_g1 < _g2) {
					let i = _g1++;
					let j = this.info.rows[i].jacobian;
					let md = this.massData[i];
					let imp = impulses[i];
					if((j.flag & 1) != 0) {
						lv1X += md.invMLin1X * imp;
						lv1Y += md.invMLin1Y * imp;
						lv1Z += md.invMLin1Z * imp;
						lv2X += md.invMLin2X * -imp;
						lv2Y += md.invMLin2Y * -imp;
						lv2Z += md.invMLin2Z * -imp;
						linearSet = true;
					}
					if((j.flag & 2) != 0) {
						av1X += md.invMAng1X * imp;
						av1Y += md.invMAng1Y * imp;
						av1Z += md.invMAng1Z * imp;
						av2X += md.invMAng2X * -imp;
						av2Y += md.invMAng2Y * -imp;
						av2Z += md.invMAng2Z * -imp;
						angularSet = true;
					}
				}
				if(linearSet) {
					this._b1._pseudoVelX = lv1X;
					this._b1._pseudoVelY = lv1Y;
					this._b1._pseudoVelZ = lv1Z;
					this._b2._pseudoVelX = lv2X;
					this._b2._pseudoVelY = lv2Y;
					this._b2._pseudoVelZ = lv2Z;
				}
				if(angularSet) {
					this._b1._angPseudoVelX = av1X;
					this._b1._angPseudoVelY = av1Y;
					this._b1._angPseudoVelZ = av1Z;
					this._b2._angPseudoVelX = av2X;
					this._b2._angPseudoVelY = av2Y;
					this._b2._angPseudoVelZ = av2Z;
				}
				let _this = this.posBoundarySelector;
				let i = 0;
				while(_this.indices[i] != idx) ++i;
				while(i > 0) {
					let tmp = _this.indices[i];
					_this.indices[i] = _this.indices[i - 1];
					_this.indices[i - 1] = tmp;
					--i;
				}
				solved = true;
				break;
			}
		}
		if(!solved) {
			console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:450:","could not find solution. (split impulse)");
			return;
		}
	}
	solvePositionNgs(timeStep) {
		this.joint._syncAnchors();
		this.joint._getPositionSolverInfo(this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		this.massMatrix.computeInvMass(this.info,this.massData);
		let _this = this.boundaryBuilder;
		_this.numBoundaries = 0;
		let _this1 = _this.bbInfo;
		_this1.numBounded = 0;
		_this1.numUnbounded = 0;
		_this.buildBoundariesRecursive(this.info,0);
		let _this2 = this.posBoundarySelector;
		let size = this.boundaryBuilder.numBoundaries;
		let numSmaller = 0;
		let numGreater = 0;
		let _g = 0;
		let _g1 = _this2.n;
		while(_g < _g1) {
			let idx = _this2.indices[_g++];
			if(idx < size) {
				_this2.tmpIndices[numSmaller] = idx;
				++numSmaller;
			} else {
				_this2.tmpIndices[size + numGreater] = idx;
				++numGreater;
			}
		}
		let tmp = _this2.indices;
		_this2.indices = _this2.tmpIndices;
		_this2.tmpIndices = tmp;
		let numRows = this.info.numRows;
		let _g2 = 0;
		while(_g2 < numRows) {
			let i = _g2++;
			let imp = this.info.rows[i].impulse;
			this.relVels[i] = 0;
			this.impulses[i] = imp.impulseP;
		}
		let solved = false;
		let _g3 = 0;
		let _g4 = this.boundaryBuilder.numBoundaries;
		while(_g3 < _g4) {
			let idx = this.posBoundarySelector.indices[_g3++];
			if(this.boundaryBuilder.boundaries[idx].computeImpulses(this.info,this.massMatrix,this.relVels,this.impulses,this.dImpulses,oimo.common.Setting.positionNgsBaumgarte,false)) {
				let _g = 0;
				while(_g < numRows) {
					let j = _g++;
					this.info.rows[j].impulse.impulseP += this.dImpulses[j];
				}
				let impulses = this.dImpulses;
				let linearSet = false;
				let angularSet = false;
				let lv1X;
				let lv1Y;
				let lv1Z;
				let lv2X;
				let lv2Y;
				let lv2Z;
				let av1X;
				let av1Y;
				let av1Z;
				let av2X;
				let av2Y;
				let av2Z;
				lv1X = 0;
				lv1Y = 0;
				lv1Z = 0;
				lv2X = 0;
				lv2Y = 0;
				lv2Z = 0;
				av1X = 0;
				av1Y = 0;
				av1Z = 0;
				av2X = 0;
				av2Y = 0;
				av2Z = 0;
				let _g1 = 0;
				let _g2 = this.info.numRows;
				while(_g1 < _g2) {
					let i = _g1++;
					let j = this.info.rows[i].jacobian;
					let md = this.massData[i];
					let imp = impulses[i];
					if((j.flag & 1) != 0) {
						lv1X += md.invMLin1X * imp;
						lv1Y += md.invMLin1Y * imp;
						lv1Z += md.invMLin1Z * imp;
						lv2X += md.invMLin2X * -imp;
						lv2Y += md.invMLin2Y * -imp;
						lv2Z += md.invMLin2Z * -imp;
						linearSet = true;
					}
					if((j.flag & 2) != 0) {
						av1X += md.invMAng1X * imp;
						av1Y += md.invMAng1Y * imp;
						av1Z += md.invMAng1Z * imp;
						av2X += md.invMAng2X * -imp;
						av2Y += md.invMAng2Y * -imp;
						av2Z += md.invMAng2Z * -imp;
						angularSet = true;
					}
				}
				if(linearSet) {
					let _this = this._b1;
					_this._transform._positionX += lv1X;
					_this._transform._positionY += lv1Y;
					_this._transform._positionZ += lv1Z;
					let _this1 = this._b2;
					_this1._transform._positionX += lv2X;
					_this1._transform._positionY += lv2Y;
					_this1._transform._positionZ += lv2Z;
				}
				if(angularSet) {
					let _this = this._b1;
					let theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
					let halfTheta = theta * 0.5;
					let rotationToSinAxisFactor;
					let cosHalfTheta;
					if(halfTheta < 0.5) {
						let ht2 = halfTheta * halfTheta;
						rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
						cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
					} else {
						rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
						cosHalfTheta = Math.cos(halfTheta);
					}
					let sinAxisX;
					let sinAxisY;
					let sinAxisZ;
					sinAxisX = av1X * rotationToSinAxisFactor;
					sinAxisY = av1Y * rotationToSinAxisFactor;
					sinAxisZ = av1Z * rotationToSinAxisFactor;
					let dqX;
					let dqY;
					let dqZ;
					let dqW;
					dqX = sinAxisX;
					dqY = sinAxisY;
					dqZ = sinAxisZ;
					dqW = cosHalfTheta;
					let qX;
					let qY;
					let qZ;
					let qW;
					let e00 = _this._transform._rotation00;
					let e11 = _this._transform._rotation11;
					let e22 = _this._transform._rotation22;
					let t = e00 + e11 + e22;
					let s;
					if(t > 0) {
						s = Math.sqrt(t + 1);
						qW = 0.5 * s;
						s = 0.5 / s;
						qX = (_this._transform._rotation21 - _this._transform._rotation12) * s;
						qY = (_this._transform._rotation02 - _this._transform._rotation20) * s;
						qZ = (_this._transform._rotation10 - _this._transform._rotation01) * s;
					} else if(e00 > e11) {
						if(e00 > e22) {
							s = Math.sqrt(e00 - e11 - e22 + 1);
							qX = 0.5 * s;
							s = 0.5 / s;
							qY = (_this._transform._rotation01 + _this._transform._rotation10) * s;
							qZ = (_this._transform._rotation02 + _this._transform._rotation20) * s;
							qW = (_this._transform._rotation21 - _this._transform._rotation12) * s;
						} else {
							s = Math.sqrt(e22 - e00 - e11 + 1);
							qZ = 0.5 * s;
							s = 0.5 / s;
							qX = (_this._transform._rotation02 + _this._transform._rotation20) * s;
							qY = (_this._transform._rotation12 + _this._transform._rotation21) * s;
							qW = (_this._transform._rotation10 - _this._transform._rotation01) * s;
						}
					} else if(e11 > e22) {
						s = Math.sqrt(e11 - e22 - e00 + 1);
						qY = 0.5 * s;
						s = 0.5 / s;
						qX = (_this._transform._rotation01 + _this._transform._rotation10) * s;
						qZ = (_this._transform._rotation12 + _this._transform._rotation21) * s;
						qW = (_this._transform._rotation02 - _this._transform._rotation20) * s;
					} else {
						s = Math.sqrt(e22 - e00 - e11 + 1);
						qZ = 0.5 * s;
						s = 0.5 / s;
						qX = (_this._transform._rotation02 + _this._transform._rotation20) * s;
						qY = (_this._transform._rotation12 + _this._transform._rotation21) * s;
						qW = (_this._transform._rotation10 - _this._transform._rotation01) * s;
					}
					qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
					qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
					qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
					qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
					let l = qX * qX + qY * qY + qZ * qZ + qW * qW;
					if(l > 1e-32) {
						l = 1 / Math.sqrt(l);
					}
					qX *= l;
					qY *= l;
					qZ *= l;
					qW *= l;
					let x = qX;
					let y = qY;
					let z = qZ;
					let w = qW;
					let x2 = 2 * x;
					let y2 = 2 * y;
					let z2 = 2 * z;
					let xx = x * x2;
					let yy = y * y2;
					let zz = z * z2;
					let xy = x * y2;
					let yz = y * z2;
					let xz = x * z2;
					let wx = w * x2;
					let wy = w * y2;
					let wz = w * z2;
					_this._transform._rotation00 = 1 - yy - zz;
					_this._transform._rotation01 = xy - wz;
					_this._transform._rotation02 = xz + wy;
					_this._transform._rotation10 = xy + wz;
					_this._transform._rotation11 = 1 - xx - zz;
					_this._transform._rotation12 = yz - wx;
					_this._transform._rotation20 = xz - wy;
					_this._transform._rotation21 = yz + wx;
					_this._transform._rotation22 = 1 - xx - yy;
					let __tmp__00;
					let __tmp__01;
					let __tmp__02;
					let __tmp__10;
					let __tmp__11;
					let __tmp__12;
					let __tmp__20;
					let __tmp__21;
					let __tmp__22;
					__tmp__00 = _this._transform._rotation00 * _this._invLocalInertia00 + _this._transform._rotation01 * _this._invLocalInertia10 + _this._transform._rotation02 * _this._invLocalInertia20;
					__tmp__01 = _this._transform._rotation00 * _this._invLocalInertia01 + _this._transform._rotation01 * _this._invLocalInertia11 + _this._transform._rotation02 * _this._invLocalInertia21;
					__tmp__02 = _this._transform._rotation00 * _this._invLocalInertia02 + _this._transform._rotation01 * _this._invLocalInertia12 + _this._transform._rotation02 * _this._invLocalInertia22;
					__tmp__10 = _this._transform._rotation10 * _this._invLocalInertia00 + _this._transform._rotation11 * _this._invLocalInertia10 + _this._transform._rotation12 * _this._invLocalInertia20;
					__tmp__11 = _this._transform._rotation10 * _this._invLocalInertia01 + _this._transform._rotation11 * _this._invLocalInertia11 + _this._transform._rotation12 * _this._invLocalInertia21;
					__tmp__12 = _this._transform._rotation10 * _this._invLocalInertia02 + _this._transform._rotation11 * _this._invLocalInertia12 + _this._transform._rotation12 * _this._invLocalInertia22;
					__tmp__20 = _this._transform._rotation20 * _this._invLocalInertia00 + _this._transform._rotation21 * _this._invLocalInertia10 + _this._transform._rotation22 * _this._invLocalInertia20;
					__tmp__21 = _this._transform._rotation20 * _this._invLocalInertia01 + _this._transform._rotation21 * _this._invLocalInertia11 + _this._transform._rotation22 * _this._invLocalInertia21;
					__tmp__22 = _this._transform._rotation20 * _this._invLocalInertia02 + _this._transform._rotation21 * _this._invLocalInertia12 + _this._transform._rotation22 * _this._invLocalInertia22;
					_this._invInertia00 = __tmp__00;
					_this._invInertia01 = __tmp__01;
					_this._invInertia02 = __tmp__02;
					_this._invInertia10 = __tmp__10;
					_this._invInertia11 = __tmp__11;
					_this._invInertia12 = __tmp__12;
					_this._invInertia20 = __tmp__20;
					_this._invInertia21 = __tmp__21;
					_this._invInertia22 = __tmp__22;
					let __tmp__001;
					let __tmp__011;
					let __tmp__021;
					let __tmp__101;
					let __tmp__111;
					let __tmp__121;
					let __tmp__201;
					let __tmp__211;
					let __tmp__221;
					__tmp__001 = _this._invInertia00 * _this._transform._rotation00 + _this._invInertia01 * _this._transform._rotation01 + _this._invInertia02 * _this._transform._rotation02;
					__tmp__011 = _this._invInertia00 * _this._transform._rotation10 + _this._invInertia01 * _this._transform._rotation11 + _this._invInertia02 * _this._transform._rotation12;
					__tmp__021 = _this._invInertia00 * _this._transform._rotation20 + _this._invInertia01 * _this._transform._rotation21 + _this._invInertia02 * _this._transform._rotation22;
					__tmp__101 = _this._invInertia10 * _this._transform._rotation00 + _this._invInertia11 * _this._transform._rotation01 + _this._invInertia12 * _this._transform._rotation02;
					__tmp__111 = _this._invInertia10 * _this._transform._rotation10 + _this._invInertia11 * _this._transform._rotation11 + _this._invInertia12 * _this._transform._rotation12;
					__tmp__121 = _this._invInertia10 * _this._transform._rotation20 + _this._invInertia11 * _this._transform._rotation21 + _this._invInertia12 * _this._transform._rotation22;
					__tmp__201 = _this._invInertia20 * _this._transform._rotation00 + _this._invInertia21 * _this._transform._rotation01 + _this._invInertia22 * _this._transform._rotation02;
					__tmp__211 = _this._invInertia20 * _this._transform._rotation10 + _this._invInertia21 * _this._transform._rotation11 + _this._invInertia22 * _this._transform._rotation12;
					__tmp__221 = _this._invInertia20 * _this._transform._rotation20 + _this._invInertia21 * _this._transform._rotation21 + _this._invInertia22 * _this._transform._rotation22;
					_this._invInertia00 = __tmp__001;
					_this._invInertia01 = __tmp__011;
					_this._invInertia02 = __tmp__021;
					_this._invInertia10 = __tmp__101;
					_this._invInertia11 = __tmp__111;
					_this._invInertia12 = __tmp__121;
					_this._invInertia20 = __tmp__201;
					_this._invInertia21 = __tmp__211;
					_this._invInertia22 = __tmp__221;
					_this._invInertia00 *= _this._rotFactor.x;
					_this._invInertia01 *= _this._rotFactor.x;
					_this._invInertia02 *= _this._rotFactor.x;
					_this._invInertia10 *= _this._rotFactor.y;
					_this._invInertia11 *= _this._rotFactor.y;
					_this._invInertia12 *= _this._rotFactor.y;
					_this._invInertia20 *= _this._rotFactor.z;
					_this._invInertia21 *= _this._rotFactor.z;
					_this._invInertia22 *= _this._rotFactor.z;
					let _this1 = this._b2;
					let theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
					let halfTheta1 = theta1 * 0.5;
					let rotationToSinAxisFactor1;
					let cosHalfTheta1;
					if(halfTheta1 < 0.5) {
						let ht2 = halfTheta1 * halfTheta1;
						rotationToSinAxisFactor1 = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
						cosHalfTheta1 = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
					} else {
						rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
						cosHalfTheta1 = Math.cos(halfTheta1);
					}
					let sinAxisX1;
					let sinAxisY1;
					let sinAxisZ1;
					sinAxisX1 = av2X * rotationToSinAxisFactor1;
					sinAxisY1 = av2Y * rotationToSinAxisFactor1;
					sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
					let dqX1;
					let dqY1;
					let dqZ1;
					let dqW1;
					dqX1 = sinAxisX1;
					dqY1 = sinAxisY1;
					dqZ1 = sinAxisZ1;
					dqW1 = cosHalfTheta1;
					let qX1;
					let qY1;
					let qZ1;
					let qW1;
					let e001 = _this1._transform._rotation00;
					let e111 = _this1._transform._rotation11;
					let e221 = _this1._transform._rotation22;
					let t1 = e001 + e111 + e221;
					let s1;
					if(t1 > 0) {
						s1 = Math.sqrt(t1 + 1);
						qW1 = 0.5 * s1;
						s1 = 0.5 / s1;
						qX1 = (_this1._transform._rotation21 - _this1._transform._rotation12) * s1;
						qY1 = (_this1._transform._rotation02 - _this1._transform._rotation20) * s1;
						qZ1 = (_this1._transform._rotation10 - _this1._transform._rotation01) * s1;
					} else if(e001 > e111) {
						if(e001 > e221) {
							s1 = Math.sqrt(e001 - e111 - e221 + 1);
							qX1 = 0.5 * s1;
							s1 = 0.5 / s1;
							qY1 = (_this1._transform._rotation01 + _this1._transform._rotation10) * s1;
							qZ1 = (_this1._transform._rotation02 + _this1._transform._rotation20) * s1;
							qW1 = (_this1._transform._rotation21 - _this1._transform._rotation12) * s1;
						} else {
							s1 = Math.sqrt(e221 - e001 - e111 + 1);
							qZ1 = 0.5 * s1;
							s1 = 0.5 / s1;
							qX1 = (_this1._transform._rotation02 + _this1._transform._rotation20) * s1;
							qY1 = (_this1._transform._rotation12 + _this1._transform._rotation21) * s1;
							qW1 = (_this1._transform._rotation10 - _this1._transform._rotation01) * s1;
						}
					} else if(e111 > e221) {
						s1 = Math.sqrt(e111 - e221 - e001 + 1);
						qY1 = 0.5 * s1;
						s1 = 0.5 / s1;
						qX1 = (_this1._transform._rotation01 + _this1._transform._rotation10) * s1;
						qZ1 = (_this1._transform._rotation12 + _this1._transform._rotation21) * s1;
						qW1 = (_this1._transform._rotation02 - _this1._transform._rotation20) * s1;
					} else {
						s1 = Math.sqrt(e221 - e001 - e111 + 1);
						qZ1 = 0.5 * s1;
						s1 = 0.5 / s1;
						qX1 = (_this1._transform._rotation02 + _this1._transform._rotation20) * s1;
						qY1 = (_this1._transform._rotation12 + _this1._transform._rotation21) * s1;
						qW1 = (_this1._transform._rotation10 - _this1._transform._rotation01) * s1;
					}
					qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
					qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
					qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
					qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
					let l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;
					if(l1 > 1e-32) {
						l1 = 1 / Math.sqrt(l1);
					}
					qX1 *= l1;
					qY1 *= l1;
					qZ1 *= l1;
					qW1 *= l1;
					let x1 = qX1;
					let y1 = qY1;
					let z1 = qZ1;
					let w1 = qW1;
					let x21 = 2 * x1;
					let y21 = 2 * y1;
					let z21 = 2 * z1;
					let xx1 = x1 * x21;
					let yy1 = y1 * y21;
					let zz1 = z1 * z21;
					let xy1 = x1 * y21;
					let yz1 = y1 * z21;
					let xz1 = x1 * z21;
					let wx1 = w1 * x21;
					let wy1 = w1 * y21;
					let wz1 = w1 * z21;
					_this1._transform._rotation00 = 1 - yy1 - zz1;
					_this1._transform._rotation01 = xy1 - wz1;
					_this1._transform._rotation02 = xz1 + wy1;
					_this1._transform._rotation10 = xy1 + wz1;
					_this1._transform._rotation11 = 1 - xx1 - zz1;
					_this1._transform._rotation12 = yz1 - wx1;
					_this1._transform._rotation20 = xz1 - wy1;
					_this1._transform._rotation21 = yz1 + wx1;
					_this1._transform._rotation22 = 1 - xx1 - yy1;
					let __tmp__002;
					let __tmp__012;
					let __tmp__022;
					let __tmp__102;
					let __tmp__112;
					let __tmp__122;
					let __tmp__202;
					let __tmp__212;
					let __tmp__222;
					__tmp__002 = _this1._transform._rotation00 * _this1._invLocalInertia00 + _this1._transform._rotation01 * _this1._invLocalInertia10 + _this1._transform._rotation02 * _this1._invLocalInertia20;
					__tmp__012 = _this1._transform._rotation00 * _this1._invLocalInertia01 + _this1._transform._rotation01 * _this1._invLocalInertia11 + _this1._transform._rotation02 * _this1._invLocalInertia21;
					__tmp__022 = _this1._transform._rotation00 * _this1._invLocalInertia02 + _this1._transform._rotation01 * _this1._invLocalInertia12 + _this1._transform._rotation02 * _this1._invLocalInertia22;
					__tmp__102 = _this1._transform._rotation10 * _this1._invLocalInertia00 + _this1._transform._rotation11 * _this1._invLocalInertia10 + _this1._transform._rotation12 * _this1._invLocalInertia20;
					__tmp__112 = _this1._transform._rotation10 * _this1._invLocalInertia01 + _this1._transform._rotation11 * _this1._invLocalInertia11 + _this1._transform._rotation12 * _this1._invLocalInertia21;
					__tmp__122 = _this1._transform._rotation10 * _this1._invLocalInertia02 + _this1._transform._rotation11 * _this1._invLocalInertia12 + _this1._transform._rotation12 * _this1._invLocalInertia22;
					__tmp__202 = _this1._transform._rotation20 * _this1._invLocalInertia00 + _this1._transform._rotation21 * _this1._invLocalInertia10 + _this1._transform._rotation22 * _this1._invLocalInertia20;
					__tmp__212 = _this1._transform._rotation20 * _this1._invLocalInertia01 + _this1._transform._rotation21 * _this1._invLocalInertia11 + _this1._transform._rotation22 * _this1._invLocalInertia21;
					__tmp__222 = _this1._transform._rotation20 * _this1._invLocalInertia02 + _this1._transform._rotation21 * _this1._invLocalInertia12 + _this1._transform._rotation22 * _this1._invLocalInertia22;
					_this1._invInertia00 = __tmp__002;
					_this1._invInertia01 = __tmp__012;
					_this1._invInertia02 = __tmp__022;
					_this1._invInertia10 = __tmp__102;
					_this1._invInertia11 = __tmp__112;
					_this1._invInertia12 = __tmp__122;
					_this1._invInertia20 = __tmp__202;
					_this1._invInertia21 = __tmp__212;
					_this1._invInertia22 = __tmp__222;
					let __tmp__003;
					let __tmp__013;
					let __tmp__023;
					let __tmp__103;
					let __tmp__113;
					let __tmp__123;
					let __tmp__203;
					let __tmp__213;
					let __tmp__223;
					__tmp__003 = _this1._invInertia00 * _this1._transform._rotation00 + _this1._invInertia01 * _this1._transform._rotation01 + _this1._invInertia02 * _this1._transform._rotation02;
					__tmp__013 = _this1._invInertia00 * _this1._transform._rotation10 + _this1._invInertia01 * _this1._transform._rotation11 + _this1._invInertia02 * _this1._transform._rotation12;
					__tmp__023 = _this1._invInertia00 * _this1._transform._rotation20 + _this1._invInertia01 * _this1._transform._rotation21 + _this1._invInertia02 * _this1._transform._rotation22;
					__tmp__103 = _this1._invInertia10 * _this1._transform._rotation00 + _this1._invInertia11 * _this1._transform._rotation01 + _this1._invInertia12 * _this1._transform._rotation02;
					__tmp__113 = _this1._invInertia10 * _this1._transform._rotation10 + _this1._invInertia11 * _this1._transform._rotation11 + _this1._invInertia12 * _this1._transform._rotation12;
					__tmp__123 = _this1._invInertia10 * _this1._transform._rotation20 + _this1._invInertia11 * _this1._transform._rotation21 + _this1._invInertia12 * _this1._transform._rotation22;
					__tmp__203 = _this1._invInertia20 * _this1._transform._rotation00 + _this1._invInertia21 * _this1._transform._rotation01 + _this1._invInertia22 * _this1._transform._rotation02;
					__tmp__213 = _this1._invInertia20 * _this1._transform._rotation10 + _this1._invInertia21 * _this1._transform._rotation11 + _this1._invInertia22 * _this1._transform._rotation12;
					__tmp__223 = _this1._invInertia20 * _this1._transform._rotation20 + _this1._invInertia21 * _this1._transform._rotation21 + _this1._invInertia22 * _this1._transform._rotation22;
					_this1._invInertia00 = __tmp__003;
					_this1._invInertia01 = __tmp__013;
					_this1._invInertia02 = __tmp__023;
					_this1._invInertia10 = __tmp__103;
					_this1._invInertia11 = __tmp__113;
					_this1._invInertia12 = __tmp__123;
					_this1._invInertia20 = __tmp__203;
					_this1._invInertia21 = __tmp__213;
					_this1._invInertia22 = __tmp__223;
					_this1._invInertia00 *= _this1._rotFactor.x;
					_this1._invInertia01 *= _this1._rotFactor.x;
					_this1._invInertia02 *= _this1._rotFactor.x;
					_this1._invInertia10 *= _this1._rotFactor.y;
					_this1._invInertia11 *= _this1._rotFactor.y;
					_this1._invInertia12 *= _this1._rotFactor.y;
					_this1._invInertia20 *= _this1._rotFactor.z;
					_this1._invInertia21 *= _this1._rotFactor.z;
					_this1._invInertia22 *= _this1._rotFactor.z;
				}
				let _this = this.posBoundarySelector;
				let i = 0;
				while(_this.indices[i] != idx) ++i;
				while(i > 0) {
					let tmp = _this.indices[i];
					_this.indices[i] = _this.indices[i - 1];
					_this.indices[i - 1] = tmp;
					--i;
				}
				solved = true;
				break;
			}
		}
		if(!solved) {
			console.log("src/oimo/dynamics/constraint/solver/direct/DirectJointConstraintSolver.hx:502:","could not find solution. (NGS)");
			return;
		}
	}
	postSolve() {
		this.joint._syncAnchors();
		this.joint._checkDestruction();
	}
}
oimo.dynamics.constraint.solver.direct.MassMatrix = class oimo_dynamics_constraint_solver_direct_MassMatrix {
	constructor(size) {
		this._size = size;
		this.tmpMatrix = new Array(this._size);
		this._invMass = new Array(this._size);
		this._invMassWithoutCfm = new Array(this._size);
		let _g = 0;
		let _g1 = this._size;
		while(_g < _g1) {
			let i = _g++;
			this.tmpMatrix[i] = new Array(this._size);
			this._invMass[i] = new Array(this._size);
			this._invMassWithoutCfm[i] = new Array(this._size);
			let _g1 = 0;
			let _g2 = this._size;
			while(_g1 < _g2) {
				let j = _g1++;
				this.tmpMatrix[i][j] = 0;
				this._invMass[i][j] = 0;
				this._invMassWithoutCfm[i][j] = 0;
			}
		}
		this._maxSubmatrixId = 1 << this._size;
		this._cacheComputed = new Array(this._maxSubmatrixId);
		this._cachedSubmatrices = new Array(this._maxSubmatrixId);
		let _g2 = 0;
		let _g3 = this._maxSubmatrixId;
		while(_g2 < _g3) {
			let i = _g2++;
			let t;
			t = (i & 85) + (i >> 1 & 85);
			t = (t & 51) + (t >> 2 & 51);
			t = (t & 15) + (t >> 4 & 15);
			let matrixSize = t;
			let subMatrix = new Array(matrixSize);
			let _g = 0;
			while(_g < matrixSize) {
				let j = _g++;
				subMatrix[j] = new Array(matrixSize);
				let _g1 = 0;
				while(_g1 < matrixSize) subMatrix[j][_g1++] = 0;
			}
			this._cacheComputed[i] = false;
			this._cachedSubmatrices[i] = subMatrix;
		}
	}
	computeSubmatrix(id,indices,size) {
		let _g = 0;
		while(_g < size) {
			let i = _g++;
			let ii = indices[i];
			let _g1 = 0;
			while(_g1 < size) {
				let j = _g1++;
				this.tmpMatrix[i][j] = this._invMass[ii][indices[j]];
			}
		}
		let src = this.tmpMatrix;
		let dst = this._cachedSubmatrices[id];
		let srci;
		let dsti;
		let srcj;
		let dstj;
		let diag;
		switch(size) {
		case 4:
			srci = src[0];
			dsti = dst[0];
			diag = 1 / srci[0];
			dsti[0] = diag;
			srci[1] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srcj = src[1];
			dstj = dst[1];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srci = src[1];
			dsti = dst[1];
			diag = 1 / srci[1];
			dsti[1] = diag;
			dsti[0] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srci = src[2];
			dsti = dst[2];
			diag = 1 / srci[2];
			dsti[2] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			srci[3] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srci = src[3];
			dsti = dst[3];
			diag = 1 / srci[3];
			dsti[3] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[3];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			dsti = dst[1];
			dst[0][1] = dsti[0];
			dsti = dst[2];
			dst[0][2] = dsti[0];
			dst[1][2] = dsti[1];
			dsti = dst[3];
			dst[0][3] = dsti[0];
			dst[1][3] = dsti[1];
			dst[2][3] = dsti[2];
			break;
		case 5:
			srci = src[0];
			dsti = dst[0];
			diag = 1 / srci[0];
			dsti[0] = diag;
			srci[1] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srcj = src[1];
			dstj = dst[1];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srci = src[1];
			dsti = dst[1];
			diag = 1 / srci[1];
			dsti[1] = diag;
			dsti[0] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srci = src[2];
			dsti = dst[2];
			diag = 1 / srci[2];
			dsti[2] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srci = src[3];
			dsti = dst[3];
			diag = 1 / srci[3];
			dsti[3] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			srci[4] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			dstj[3] = -diag * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srci = src[4];
			dsti = dst[4];
			diag = 1 / srci[4];
			dsti[4] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			dsti[3] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[4];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			dstj[2] -= dsti[2] * srcj[4];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			dstj[2] -= dsti[2] * srcj[4];
			dstj[3] -= dsti[3] * srcj[4];
			dsti = dst[1];
			dst[0][1] = dsti[0];
			dsti = dst[2];
			dst[0][2] = dsti[0];
			dst[1][2] = dsti[1];
			dsti = dst[3];
			dst[0][3] = dsti[0];
			dst[1][3] = dsti[1];
			dst[2][3] = dsti[2];
			dsti = dst[4];
			dst[0][4] = dsti[0];
			dst[1][4] = dsti[1];
			dst[2][4] = dsti[2];
			dst[3][4] = dsti[3];
			break;
		case 6:
			srci = src[0];
			dsti = dst[0];
			diag = 1 / srci[0];
			dsti[0] = diag;
			srci[1] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srci[5] *= diag;
			srcj = src[1];
			dstj = dst[1];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj[5] -= srci[5] * srcj[0];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj[5] -= srci[5] * srcj[0];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj[5] -= srci[5] * srcj[0];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj[5] -= srci[5] * srcj[0];
			srcj = src[5];
			dstj = dst[5];
			dstj[0] = -diag * srcj[0];
			srcj[1] -= srci[1] * srcj[0];
			srcj[2] -= srci[2] * srcj[0];
			srcj[3] -= srci[3] * srcj[0];
			srcj[4] -= srci[4] * srcj[0];
			srcj[5] -= srci[5] * srcj[0];
			srci = src[1];
			dsti = dst[1];
			diag = 1 / srci[1];
			dsti[1] = diag;
			dsti[0] *= diag;
			srci[2] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srci[5] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj[5] -= srci[5] * srcj[1];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj[5] -= srci[5] * srcj[1];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj[5] -= srci[5] * srcj[1];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj[5] -= srci[5] * srcj[1];
			srcj = src[5];
			dstj = dst[5];
			dstj[0] -= dsti[0] * srcj[1];
			dstj[1] = -diag * srcj[1];
			srcj[2] -= srci[2] * srcj[1];
			srcj[3] -= srci[3] * srcj[1];
			srcj[4] -= srci[4] * srcj[1];
			srcj[5] -= srci[5] * srcj[1];
			srci = src[2];
			dsti = dst[2];
			diag = 1 / srci[2];
			dsti[2] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			srci[3] *= diag;
			srci[4] *= diag;
			srci[5] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj[5] -= srci[5] * srcj[2];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj[5] -= srci[5] * srcj[2];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj[5] -= srci[5] * srcj[2];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj[5] -= srci[5] * srcj[2];
			srcj = src[5];
			dstj = dst[5];
			dstj[0] -= dsti[0] * srcj[2];
			dstj[1] -= dsti[1] * srcj[2];
			dstj[2] = -diag * srcj[2];
			srcj[3] -= srci[3] * srcj[2];
			srcj[4] -= srci[4] * srcj[2];
			srcj[5] -= srci[5] * srcj[2];
			srci = src[3];
			dsti = dst[3];
			diag = 1 / srci[3];
			dsti[3] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			srci[4] *= diag;
			srci[5] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj[5] -= srci[5] * srcj[3];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj[5] -= srci[5] * srcj[3];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj[5] -= srci[5] * srcj[3];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			dstj[3] = -diag * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj[5] -= srci[5] * srcj[3];
			srcj = src[5];
			dstj = dst[5];
			dstj[0] -= dsti[0] * srcj[3];
			dstj[1] -= dsti[1] * srcj[3];
			dstj[2] -= dsti[2] * srcj[3];
			dstj[3] = -diag * srcj[3];
			srcj[4] -= srci[4] * srcj[3];
			srcj[5] -= srci[5] * srcj[3];
			srci = src[4];
			dsti = dst[4];
			diag = 1 / srci[4];
			dsti[4] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			dsti[3] *= diag;
			srci[5] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[4];
			srcj[5] -= srci[5] * srcj[4];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			srcj[5] -= srci[5] * srcj[4];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			dstj[2] -= dsti[2] * srcj[4];
			srcj[5] -= srci[5] * srcj[4];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			dstj[2] -= dsti[2] * srcj[4];
			dstj[3] -= dsti[3] * srcj[4];
			srcj[5] -= srci[5] * srcj[4];
			srcj = src[5];
			dstj = dst[5];
			dstj[0] -= dsti[0] * srcj[4];
			dstj[1] -= dsti[1] * srcj[4];
			dstj[2] -= dsti[2] * srcj[4];
			dstj[3] -= dsti[3] * srcj[4];
			dstj[4] = -diag * srcj[4];
			srcj[5] -= srci[5] * srcj[4];
			srci = src[5];
			dsti = dst[5];
			diag = 1 / srci[5];
			dsti[5] = diag;
			dsti[0] *= diag;
			dsti[1] *= diag;
			dsti[2] *= diag;
			dsti[3] *= diag;
			dsti[4] *= diag;
			srcj = src[0];
			dstj = dst[0];
			dstj[0] -= dsti[0] * srcj[5];
			srcj = src[1];
			dstj = dst[1];
			dstj[0] -= dsti[0] * srcj[5];
			dstj[1] -= dsti[1] * srcj[5];
			srcj = src[2];
			dstj = dst[2];
			dstj[0] -= dsti[0] * srcj[5];
			dstj[1] -= dsti[1] * srcj[5];
			dstj[2] -= dsti[2] * srcj[5];
			srcj = src[3];
			dstj = dst[3];
			dstj[0] -= dsti[0] * srcj[5];
			dstj[1] -= dsti[1] * srcj[5];
			dstj[2] -= dsti[2] * srcj[5];
			dstj[3] -= dsti[3] * srcj[5];
			srcj = src[4];
			dstj = dst[4];
			dstj[0] -= dsti[0] * srcj[5];
			dstj[1] -= dsti[1] * srcj[5];
			dstj[2] -= dsti[2] * srcj[5];
			dstj[3] -= dsti[3] * srcj[5];
			dstj[4] -= dsti[4] * srcj[5];
			dsti = dst[1];
			dst[0][1] = dsti[0];
			dsti = dst[2];
			dst[0][2] = dsti[0];
			dst[1][2] = dsti[1];
			dsti = dst[3];
			dst[0][3] = dsti[0];
			dst[1][3] = dsti[1];
			dst[2][3] = dsti[2];
			dsti = dst[4];
			dst[0][4] = dsti[0];
			dst[1][4] = dsti[1];
			dst[2][4] = dsti[2];
			dst[3][4] = dsti[3];
			dsti = dst[5];
			dst[0][5] = dsti[0];
			dst[1][5] = dsti[1];
			dst[2][5] = dsti[2];
			dst[3][5] = dsti[3];
			dst[4][5] = dsti[4];
			break;
		default:
			let _g1 = 0;
			while(_g1 < size) {
				let i = _g1++;
				srci = src[i];
				dsti = dst[i];
				let diag = 1 / srci[i];
				dsti[i] = diag;
				let _g = 0;
				while(_g < i) dsti[_g++] *= diag;
				let _g2 = i + 1;
				while(_g2 < size) srci[_g2++] *= diag;
				let _g3 = 0;
				while(_g3 < i) {
					let j = _g3++;
					srcj = src[j];
					dstj = dst[j];
					let _g = 0;
					let _g1 = j + 1;
					while(_g < _g1) {
						let k = _g++;
						dstj[k] -= dsti[k] * srcj[i];
					}
					let _g2 = i + 1;
					while(_g2 < size) {
						let k = _g2++;
						srcj[k] -= srci[k] * srcj[i];
					}
				}
				let _g4 = i + 1;
				while(_g4 < size) {
					let j = _g4++;
					srcj = src[j];
					dstj = dst[j];
					let _g = 0;
					while(_g < i) {
						let k = _g++;
						dstj[k] -= dsti[k] * srcj[i];
					}
					dstj[i] = -diag * srcj[i];
					let _g1 = i + 1;
					while(_g1 < size) {
						let k = _g1++;
						srcj[k] -= srci[k] * srcj[i];
					}
				}
			}
			let _g2 = 1;
			while(_g2 < size) {
				let i = _g2++;
				dsti = dst[i];
				let _g = 0;
				while(_g < i) {
					let j = _g++;
					dst[j][i] = dsti[j];
				}
			}
		}
	}
	computeInvMass(info,massData) {
		let invMass = this._invMass;
		let invMassWithoutCfm = this._invMassWithoutCfm;
		let numRows = info.numRows;
		let b1 = info.b1;
		let b2 = info.b2;
		let invM1 = b1._invMass;
		let invM2 = b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = b1._invInertia00;
		invI101 = b1._invInertia01;
		invI102 = b1._invInertia02;
		invI110 = b1._invInertia10;
		invI111 = b1._invInertia11;
		invI112 = b1._invInertia12;
		invI120 = b1._invInertia20;
		invI121 = b1._invInertia21;
		invI122 = b1._invInertia22;
		invI200 = b2._invInertia00;
		invI201 = b2._invInertia01;
		invI202 = b2._invInertia02;
		invI210 = b2._invInertia10;
		invI211 = b2._invInertia11;
		invI212 = b2._invInertia12;
		invI220 = b2._invInertia20;
		invI221 = b2._invInertia21;
		invI222 = b2._invInertia22;
		let _g = 0;
		while(_g < numRows) {
			let i = _g++;
			let j = info.rows[i].jacobian;
			let md = massData[i];
			j.updateSparsity();
			if((j.flag & 1) != 0) {
				md.invMLin1X = j.lin1X * invM1;
				md.invMLin1Y = j.lin1Y * invM1;
				md.invMLin1Z = j.lin1Z * invM1;
				md.invMLin2X = j.lin2X * invM2;
				md.invMLin2Y = j.lin2Y * invM2;
				md.invMLin2Z = j.lin2Z * invM2;
			} else {
				md.invMLin1X = 0;
				md.invMLin1Y = 0;
				md.invMLin1Z = 0;
				md.invMLin2X = 0;
				md.invMLin2Y = 0;
				md.invMLin2Z = 0;
			}
			if((j.flag & 2) != 0) {
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
				__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
				__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
				md.invMAng1X = __tmp__X;
				md.invMAng1Y = __tmp__Y;
				md.invMAng1Z = __tmp__Z;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
				__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
				__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
				md.invMAng2X = __tmp__X1;
				md.invMAng2Y = __tmp__Y1;
				md.invMAng2Z = __tmp__Z1;
			} else {
				md.invMAng1X = 0;
				md.invMAng1Y = 0;
				md.invMAng1Z = 0;
				md.invMAng2X = 0;
				md.invMAng2Y = 0;
				md.invMAng2Z = 0;
			}
		}
		let _g1 = 0;
		while(_g1 < numRows) {
			let i = _g1++;
			let j1 = info.rows[i].jacobian;
			let _g = i;
			while(_g < numRows) {
				let j = _g++;
				let md2 = massData[j];
				let val = j1.lin1X * md2.invMLin1X + j1.lin1Y * md2.invMLin1Y + j1.lin1Z * md2.invMLin1Z + (j1.ang1X * md2.invMAng1X + j1.ang1Y * md2.invMAng1Y + j1.ang1Z * md2.invMAng1Z) + (j1.lin2X * md2.invMLin2X + j1.lin2Y * md2.invMLin2Y + j1.lin2Z * md2.invMLin2Z) + (j1.ang2X * md2.invMAng2X + j1.ang2Y * md2.invMAng2Y + j1.ang2Z * md2.invMAng2Z);
				if(i == j) {
					invMass[i][j] = val + info.rows[i].cfm;
					invMassWithoutCfm[i][j] = val;
					md2.mass = val + info.rows[i].cfm;
					md2.massWithoutCfm = val;
					if(md2.mass != 0) {
						md2.mass = 1 / md2.mass;
					}
					if(md2.massWithoutCfm != 0) {
						md2.massWithoutCfm = 1 / md2.massWithoutCfm;
					}
				} else {
					invMass[i][j] = val;
					invMass[j][i] = val;
					invMassWithoutCfm[i][j] = val;
					invMassWithoutCfm[j][i] = val;
				}
			}
		}
		let _g2 = 0;
		let _g3 = this._maxSubmatrixId;
		while(_g2 < _g3) this._cacheComputed[_g2++] = false;
	}
}
if(!oimo.dynamics.constraint.solver.pgs) oimo.dynamics.constraint.solver.pgs = {};
oimo.dynamics.constraint.solver.pgs.PgsContactConstraintSolver = class oimo_dynamics_constraint_solver_pgs_PgsContactConstraintSolver extends oimo.dynamics.constraint.ConstraintSolver {
	constructor(constraint) {
		super();
		this.constraint = constraint;
		this.info = new oimo.dynamics.constraint.info.contact.ContactSolverInfo();
		this.massData = new Array(oimo.common.Setting.maxManifoldPoints);
		let _g = 0;
		let _g1 = this.massData.length;
		while(_g < _g1) this.massData[_g++] = new oimo.dynamics.constraint.solver.common.ContactSolverMassDataRow();
	}
	preSolveVelocity(timeStep) {
		this.constraint._getVelocitySolverInfo(timeStep,this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let j = row.jacobianN;
			md.invMLinN1X = j.lin1X * invM1;
			md.invMLinN1Y = j.lin1Y * invM1;
			md.invMLinN1Z = j.lin1Z * invM1;
			md.invMLinN2X = j.lin2X * invM2;
			md.invMLinN2Y = j.lin2Y * invM2;
			md.invMLinN2Z = j.lin2Z * invM2;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
			__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
			__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
			md.invMAngN1X = __tmp__X;
			md.invMAngN1Y = __tmp__Y;
			md.invMAngN1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
			__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
			__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
			md.invMAngN2X = __tmp__X1;
			md.invMAngN2Y = __tmp__Y1;
			md.invMAngN2Z = __tmp__Z1;
			md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);
			if(md.massN != 0) {
				md.massN = 1 / md.massN;
			}
			let jt = row.jacobianT;
			let jb = row.jacobianB;
			md.invMLinT1X = jt.lin1X * invM1;
			md.invMLinT1Y = jt.lin1Y * invM1;
			md.invMLinT1Z = jt.lin1Z * invM1;
			md.invMLinT2X = jt.lin2X * invM2;
			md.invMLinT2Y = jt.lin2Y * invM2;
			md.invMLinT2Z = jt.lin2Z * invM2;
			md.invMLinB1X = jb.lin1X * invM1;
			md.invMLinB1Y = jb.lin1Y * invM1;
			md.invMLinB1Z = jb.lin1Z * invM1;
			md.invMLinB2X = jb.lin2X * invM2;
			md.invMLinB2Y = jb.lin2Y * invM2;
			md.invMLinB2Z = jb.lin2Z * invM2;
			let __tmp__X2;
			let __tmp__Y2;
			let __tmp__Z2;
			__tmp__X2 = invI100 * jt.ang1X + invI101 * jt.ang1Y + invI102 * jt.ang1Z;
			__tmp__Y2 = invI110 * jt.ang1X + invI111 * jt.ang1Y + invI112 * jt.ang1Z;
			__tmp__Z2 = invI120 * jt.ang1X + invI121 * jt.ang1Y + invI122 * jt.ang1Z;
			md.invMAngT1X = __tmp__X2;
			md.invMAngT1Y = __tmp__Y2;
			md.invMAngT1Z = __tmp__Z2;
			let __tmp__X3;
			let __tmp__Y3;
			let __tmp__Z3;
			__tmp__X3 = invI200 * jt.ang2X + invI201 * jt.ang2Y + invI202 * jt.ang2Z;
			__tmp__Y3 = invI210 * jt.ang2X + invI211 * jt.ang2Y + invI212 * jt.ang2Z;
			__tmp__Z3 = invI220 * jt.ang2X + invI221 * jt.ang2Y + invI222 * jt.ang2Z;
			md.invMAngT2X = __tmp__X3;
			md.invMAngT2Y = __tmp__Y3;
			md.invMAngT2Z = __tmp__Z3;
			let __tmp__X4;
			let __tmp__Y4;
			let __tmp__Z4;
			__tmp__X4 = invI100 * jb.ang1X + invI101 * jb.ang1Y + invI102 * jb.ang1Z;
			__tmp__Y4 = invI110 * jb.ang1X + invI111 * jb.ang1Y + invI112 * jb.ang1Z;
			__tmp__Z4 = invI120 * jb.ang1X + invI121 * jb.ang1Y + invI122 * jb.ang1Z;
			md.invMAngB1X = __tmp__X4;
			md.invMAngB1Y = __tmp__Y4;
			md.invMAngB1Z = __tmp__Z4;
			let __tmp__X5;
			let __tmp__Y5;
			let __tmp__Z5;
			__tmp__X5 = invI200 * jb.ang2X + invI201 * jb.ang2Y + invI202 * jb.ang2Z;
			__tmp__Y5 = invI210 * jb.ang2X + invI211 * jb.ang2Y + invI212 * jb.ang2Z;
			__tmp__Z5 = invI220 * jb.ang2X + invI221 * jb.ang2Y + invI222 * jb.ang2Z;
			md.invMAngB2X = __tmp__X5;
			md.invMAngB2Y = __tmp__Y5;
			md.invMAngB2Z = __tmp__Z5;
			let invMassTB00 = invM1 + invM2 + (md.invMAngT1X * jt.ang1X + md.invMAngT1Y * jt.ang1Y + md.invMAngT1Z * jt.ang1Z) + (md.invMAngT2X * jt.ang2X + md.invMAngT2Y * jt.ang2Y + md.invMAngT2Z * jt.ang2Z);
			let invMassTB01 = md.invMAngT1X * jb.ang1X + md.invMAngT1Y * jb.ang1Y + md.invMAngT1Z * jb.ang1Z + (md.invMAngT2X * jb.ang2X + md.invMAngT2Y * jb.ang2Y + md.invMAngT2Z * jb.ang2Z);
			let invMassTB11 = invM1 + invM2 + (md.invMAngB1X * jb.ang1X + md.invMAngB1Y * jb.ang1Y + md.invMAngB1Z * jb.ang1Z) + (md.invMAngB2X * jb.ang2X + md.invMAngB2Y * jb.ang2Y + md.invMAngB2Z * jb.ang2Z);
			let invDet = invMassTB00 * invMassTB11 - invMassTB01 * invMassTB01;
			if(invDet != 0) {
				invDet = 1 / invDet;
			}
			md.massTB00 = invMassTB11 * invDet;
			md.massTB01 = -invMassTB01 * invDet;
			md.massTB10 = -invMassTB01 * invDet;
			md.massTB11 = invMassTB00 * invDet;
		}
	}
	warmStart(timeStep) {
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let imp = row.impulse;
			let md = this.massData[i];
			let jt = row.jacobianT;
			let jb = row.jacobianB;
			let impulseN = imp.impulseN;
			let impulseT = imp.impulseLX * jt.lin1X + imp.impulseLY * jt.lin1Y + imp.impulseLZ * jt.lin1Z;
			let impulseB = imp.impulseLX * jb.lin1X + imp.impulseLY * jb.lin1Y + imp.impulseLZ * jb.lin1Z;
			imp.impulseT = impulseT;
			imp.impulseB = impulseB;
			imp.impulseN *= timeStep.dtRatio;
			imp.impulseT *= timeStep.dtRatio;
			imp.impulseB *= timeStep.dtRatio;
			lv1X += md.invMLinN1X * impulseN;
			lv1Y += md.invMLinN1Y * impulseN;
			lv1Z += md.invMLinN1Z * impulseN;
			lv1X += md.invMLinT1X * impulseT;
			lv1Y += md.invMLinT1Y * impulseT;
			lv1Z += md.invMLinT1Z * impulseT;
			lv1X += md.invMLinB1X * impulseB;
			lv1Y += md.invMLinB1Y * impulseB;
			lv1Z += md.invMLinB1Z * impulseB;
			lv2X += md.invMLinN2X * -impulseN;
			lv2Y += md.invMLinN2Y * -impulseN;
			lv2Z += md.invMLinN2Z * -impulseN;
			lv2X += md.invMLinT2X * -impulseT;
			lv2Y += md.invMLinT2Y * -impulseT;
			lv2Z += md.invMLinT2Z * -impulseT;
			lv2X += md.invMLinB2X * -impulseB;
			lv2Y += md.invMLinB2Y * -impulseB;
			lv2Z += md.invMLinB2Z * -impulseB;
			av1X += md.invMAngN1X * impulseN;
			av1Y += md.invMAngN1Y * impulseN;
			av1Z += md.invMAngN1Z * impulseN;
			av1X += md.invMAngT1X * impulseT;
			av1Y += md.invMAngT1Y * impulseT;
			av1Z += md.invMAngT1Z * impulseT;
			av1X += md.invMAngB1X * impulseB;
			av1Y += md.invMAngB1Y * impulseB;
			av1Z += md.invMAngB1Z * impulseB;
			av2X += md.invMAngN2X * -impulseN;
			av2Y += md.invMAngN2Y * -impulseN;
			av2Z += md.invMAngN2Z * -impulseN;
			av2X += md.invMAngT2X * -impulseT;
			av2Y += md.invMAngT2Y * -impulseT;
			av2Z += md.invMAngT2Z * -impulseT;
			av2X += md.invMAngB2X * -impulseB;
			av2Y += md.invMAngB2Y * -impulseB;
			av2Z += md.invMAngB2Z * -impulseB;
		}
		this._b1._velX = lv1X;
		this._b1._velY = lv1Y;
		this._b1._velZ = lv1Z;
		this._b2._velX = lv2X;
		this._b2._velY = lv2Y;
		this._b2._velZ = lv2Z;
		this._b1._angVelX = av1X;
		this._b1._angVelY = av1Y;
		this._b1._angVelZ = av1Z;
		this._b2._angVelX = av2X;
		this._b2._angVelY = av2Y;
		this._b2._angVelZ = av2Z;
	}
	solveVelocity() {
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let rvt = 0;
			let j = row.jacobianT;
			rvt += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rvt -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rvt += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rvt -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let rvb = 0;
			j = row.jacobianB;
			rvb += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rvb -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rvb += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rvb -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseT = -(rvt * md.massTB00 + rvb * md.massTB01);
			let impulseB = -(rvt * md.massTB10 + rvb * md.massTB11);
			let oldImpulseT = imp.impulseT;
			let oldImpulseB = imp.impulseB;
			imp.impulseT += impulseT;
			imp.impulseB += impulseB;
			let maxImpulse = row.friction * imp.impulseN;
			if(maxImpulse == 0) {
				imp.impulseT = 0;
				imp.impulseB = 0;
			} else {
				let impulseLengthSq = imp.impulseT * imp.impulseT + imp.impulseB * imp.impulseB;
				if(impulseLengthSq > maxImpulse * maxImpulse) {
					let invL = maxImpulse / Math.sqrt(impulseLengthSq);
					imp.impulseT *= invL;
					imp.impulseB *= invL;
				}
			}
			impulseT = imp.impulseT - oldImpulseT;
			impulseB = imp.impulseB - oldImpulseB;
			lv1X += md.invMLinT1X * impulseT;
			lv1Y += md.invMLinT1Y * impulseT;
			lv1Z += md.invMLinT1Z * impulseT;
			lv1X += md.invMLinB1X * impulseB;
			lv1Y += md.invMLinB1Y * impulseB;
			lv1Z += md.invMLinB1Z * impulseB;
			lv2X += md.invMLinT2X * -impulseT;
			lv2Y += md.invMLinT2Y * -impulseT;
			lv2Z += md.invMLinT2Z * -impulseT;
			lv2X += md.invMLinB2X * -impulseB;
			lv2Y += md.invMLinB2Y * -impulseB;
			lv2Z += md.invMLinB2Z * -impulseB;
			av1X += md.invMAngT1X * impulseT;
			av1Y += md.invMAngT1Y * impulseT;
			av1Z += md.invMAngT1Z * impulseT;
			av1X += md.invMAngB1X * impulseB;
			av1Y += md.invMAngB1Y * impulseB;
			av1Z += md.invMAngB1Z * impulseB;
			av2X += md.invMAngT2X * -impulseT;
			av2Y += md.invMAngT2Y * -impulseT;
			av2Z += md.invMAngT2Z * -impulseT;
			av2X += md.invMAngB2X * -impulseB;
			av2Y += md.invMAngB2Y * -impulseB;
			av2Z += md.invMAngB2Z * -impulseB;
		}
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) {
			let i = _g2++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let rvn = 0;
			let j = row.jacobianN;
			rvn += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rvn -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rvn += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rvn -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseN = (row.rhs - rvn) * md.massN;
			let oldImpulseN = imp.impulseN;
			imp.impulseN += impulseN;
			if(imp.impulseN < 0) {
				imp.impulseN = 0;
			}
			impulseN = imp.impulseN - oldImpulseN;
			lv1X += md.invMLinN1X * impulseN;
			lv1Y += md.invMLinN1Y * impulseN;
			lv1Z += md.invMLinN1Z * impulseN;
			lv2X += md.invMLinN2X * -impulseN;
			lv2Y += md.invMLinN2Y * -impulseN;
			lv2Z += md.invMLinN2Z * -impulseN;
			av1X += md.invMAngN1X * impulseN;
			av1Y += md.invMAngN1Y * impulseN;
			av1Z += md.invMAngN1Z * impulseN;
			av2X += md.invMAngN2X * -impulseN;
			av2Y += md.invMAngN2Y * -impulseN;
			av2Z += md.invMAngN2Z * -impulseN;
		}
		this._b1._velX = lv1X;
		this._b1._velY = lv1Y;
		this._b1._velZ = lv1Z;
		this._b2._velX = lv2X;
		this._b2._velY = lv2Y;
		this._b2._velZ = lv2Z;
		this._b1._angVelX = av1X;
		this._b1._angVelY = av1Y;
		this._b1._angVelZ = av1Z;
		this._b2._angVelX = av2X;
		this._b2._angVelY = av2Y;
		this._b2._angVelZ = av2Z;
	}
	preSolvePosition(timeStep) {
		this.constraint._syncManifold();
		this.constraint._getPositionSolverInfo(this.info);
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let md = this.massData[i];
			let j = this.info.rows[i].jacobianN;
			md.invMLinN1X = j.lin1X * invM1;
			md.invMLinN1Y = j.lin1Y * invM1;
			md.invMLinN1Z = j.lin1Z * invM1;
			md.invMLinN2X = j.lin2X * invM2;
			md.invMLinN2Y = j.lin2Y * invM2;
			md.invMLinN2Z = j.lin2Z * invM2;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
			__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
			__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
			md.invMAngN1X = __tmp__X;
			md.invMAngN1Y = __tmp__Y;
			md.invMAngN1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
			__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
			__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
			md.invMAngN2X = __tmp__X1;
			md.invMAngN2Y = __tmp__Y1;
			md.invMAngN2Z = __tmp__Z1;
			md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);
			if(md.massN != 0) {
				md.massN = 1 / md.massN;
			}
		}
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) this.info.rows[_g2++].impulse.impulseP = 0;
	}
	solvePositionSplitImpulse() {
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._pseudoVelX;
		lv1Y = this._b1._pseudoVelY;
		lv1Z = this._b1._pseudoVelZ;
		lv2X = this._b2._pseudoVelX;
		lv2Y = this._b2._pseudoVelY;
		lv2Z = this._b2._pseudoVelZ;
		av1X = this._b1._angPseudoVelX;
		av1Y = this._b1._angPseudoVelY;
		av1Z = this._b1._angPseudoVelZ;
		av2X = this._b2._angPseudoVelX;
		av2Y = this._b2._angPseudoVelY;
		av2Z = this._b2._angPseudoVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobianN;
			let rvn = 0;
			rvn += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rvn -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rvn += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rvn -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseP = (row.rhs - rvn) * md.massN * oimo.common.Setting.positionSplitImpulseBaumgarte;
			let oldImpulseP = imp.impulseP;
			imp.impulseP += impulseP;
			if(imp.impulseP < 0) {
				imp.impulseP = 0;
			}
			impulseP = imp.impulseP - oldImpulseP;
			lv1X += md.invMLinN1X * impulseP;
			lv1Y += md.invMLinN1Y * impulseP;
			lv1Z += md.invMLinN1Z * impulseP;
			lv2X += md.invMLinN2X * -impulseP;
			lv2Y += md.invMLinN2Y * -impulseP;
			lv2Z += md.invMLinN2Z * -impulseP;
			av1X += md.invMAngN1X * impulseP;
			av1Y += md.invMAngN1Y * impulseP;
			av1Z += md.invMAngN1Z * impulseP;
			av2X += md.invMAngN2X * -impulseP;
			av2Y += md.invMAngN2Y * -impulseP;
			av2Z += md.invMAngN2Z * -impulseP;
		}
		this._b1._pseudoVelX = lv1X;
		this._b1._pseudoVelY = lv1Y;
		this._b1._pseudoVelZ = lv1Z;
		this._b2._pseudoVelX = lv2X;
		this._b2._pseudoVelY = lv2Y;
		this._b2._pseudoVelZ = lv2Z;
		this._b1._angPseudoVelX = av1X;
		this._b1._angPseudoVelY = av1Y;
		this._b1._angPseudoVelZ = av1Z;
		this._b2._angPseudoVelX = av2X;
		this._b2._angPseudoVelY = av2Y;
		this._b2._angPseudoVelZ = av2Z;
	}
	solvePositionNgs(timeStep) {
		this.constraint._syncManifold();
		this.constraint._getPositionSolverInfo(this.info);
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let md = this.massData[i];
			let j = this.info.rows[i].jacobianN;
			md.invMLinN1X = j.lin1X * invM1;
			md.invMLinN1Y = j.lin1Y * invM1;
			md.invMLinN1Z = j.lin1Z * invM1;
			md.invMLinN2X = j.lin2X * invM2;
			md.invMLinN2Y = j.lin2Y * invM2;
			md.invMLinN2Z = j.lin2Z * invM2;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
			__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
			__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
			md.invMAngN1X = __tmp__X;
			md.invMAngN1Y = __tmp__Y;
			md.invMAngN1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
			__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
			__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
			md.invMAngN2X = __tmp__X1;
			md.invMAngN2Y = __tmp__Y1;
			md.invMAngN2Z = __tmp__Z1;
			md.massN = invM1 + invM2 + (md.invMAngN1X * j.ang1X + md.invMAngN1Y * j.ang1Y + md.invMAngN1Z * j.ang1Z) + (md.invMAngN2X * j.ang2X + md.invMAngN2Y * j.ang2Y + md.invMAngN2Z * j.ang2Z);
			if(md.massN != 0) {
				md.massN = 1 / md.massN;
			}
		}
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = 0;
		lv1Y = 0;
		lv1Z = 0;
		lv2X = 0;
		lv2Y = 0;
		lv2Z = 0;
		av1X = 0;
		av1Y = 0;
		av1Z = 0;
		av2X = 0;
		av2Y = 0;
		av2Z = 0;
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) {
			let i = _g2++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobianN;
			let rvn = 0;
			rvn += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rvn -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rvn += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rvn -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseP = (row.rhs - rvn) * md.massN * oimo.common.Setting.positionNgsBaumgarte;
			let oldImpulseP = imp.impulseP;
			imp.impulseP += impulseP;
			if(imp.impulseP < 0) {
				imp.impulseP = 0;
			}
			impulseP = imp.impulseP - oldImpulseP;
			lv1X += md.invMLinN1X * impulseP;
			lv1Y += md.invMLinN1Y * impulseP;
			lv1Z += md.invMLinN1Z * impulseP;
			lv2X += md.invMLinN2X * -impulseP;
			lv2Y += md.invMLinN2Y * -impulseP;
			lv2Z += md.invMLinN2Z * -impulseP;
			av1X += md.invMAngN1X * impulseP;
			av1Y += md.invMAngN1Y * impulseP;
			av1Z += md.invMAngN1Z * impulseP;
			av2X += md.invMAngN2X * -impulseP;
			av2Y += md.invMAngN2Y * -impulseP;
			av2Z += md.invMAngN2Z * -impulseP;
		}
		let _this = this._b1;
		_this._transform._positionX += lv1X;
		_this._transform._positionY += lv1Y;
		_this._transform._positionZ += lv1Z;
		let _this1 = this._b2;
		_this1._transform._positionX += lv2X;
		_this1._transform._positionY += lv2Y;
		_this1._transform._positionZ += lv2Z;
		let _this2 = this._b1;
		let theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
		let halfTheta = theta * 0.5;
		let rotationToSinAxisFactor;
		let cosHalfTheta;
		if(halfTheta < 0.5) {
			let ht2 = halfTheta * halfTheta;
			rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
			cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
		} else {
			rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
			cosHalfTheta = Math.cos(halfTheta);
		}
		let sinAxisX;
		let sinAxisY;
		let sinAxisZ;
		sinAxisX = av1X * rotationToSinAxisFactor;
		sinAxisY = av1Y * rotationToSinAxisFactor;
		sinAxisZ = av1Z * rotationToSinAxisFactor;
		let dqX;
		let dqY;
		let dqZ;
		let dqW;
		dqX = sinAxisX;
		dqY = sinAxisY;
		dqZ = sinAxisZ;
		dqW = cosHalfTheta;
		let qX;
		let qY;
		let qZ;
		let qW;
		let e00 = _this2._transform._rotation00;
		let e11 = _this2._transform._rotation11;
		let e22 = _this2._transform._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			qW = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
			qY = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
			qZ = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				qX = 0.5 * s;
				s = 0.5 / s;
				qY = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
				qZ = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
				qW = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				qZ = 0.5 * s;
				s = 0.5 / s;
				qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
				qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
				qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			qY = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
			qZ = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
			qW = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			qZ = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
			qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
			qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
		}
		qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
		qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
		qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
		qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
		let l = qX * qX + qY * qY + qZ * qZ + qW * qW;
		if(l > 1e-32) {
			l = 1 / Math.sqrt(l);
		}
		qX *= l;
		qY *= l;
		qZ *= l;
		qW *= l;
		let x = qX;
		let y = qY;
		let z = qZ;
		let w = qW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		_this2._transform._rotation00 = 1 - yy - zz;
		_this2._transform._rotation01 = xy - wz;
		_this2._transform._rotation02 = xz + wy;
		_this2._transform._rotation10 = xy + wz;
		_this2._transform._rotation11 = 1 - xx - zz;
		_this2._transform._rotation12 = yz - wx;
		_this2._transform._rotation20 = xz - wy;
		_this2._transform._rotation21 = yz + wx;
		_this2._transform._rotation22 = 1 - xx - yy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = _this2._transform._rotation00 * _this2._invLocalInertia00 + _this2._transform._rotation01 * _this2._invLocalInertia10 + _this2._transform._rotation02 * _this2._invLocalInertia20;
		__tmp__01 = _this2._transform._rotation00 * _this2._invLocalInertia01 + _this2._transform._rotation01 * _this2._invLocalInertia11 + _this2._transform._rotation02 * _this2._invLocalInertia21;
		__tmp__02 = _this2._transform._rotation00 * _this2._invLocalInertia02 + _this2._transform._rotation01 * _this2._invLocalInertia12 + _this2._transform._rotation02 * _this2._invLocalInertia22;
		__tmp__10 = _this2._transform._rotation10 * _this2._invLocalInertia00 + _this2._transform._rotation11 * _this2._invLocalInertia10 + _this2._transform._rotation12 * _this2._invLocalInertia20;
		__tmp__11 = _this2._transform._rotation10 * _this2._invLocalInertia01 + _this2._transform._rotation11 * _this2._invLocalInertia11 + _this2._transform._rotation12 * _this2._invLocalInertia21;
		__tmp__12 = _this2._transform._rotation10 * _this2._invLocalInertia02 + _this2._transform._rotation11 * _this2._invLocalInertia12 + _this2._transform._rotation12 * _this2._invLocalInertia22;
		__tmp__20 = _this2._transform._rotation20 * _this2._invLocalInertia00 + _this2._transform._rotation21 * _this2._invLocalInertia10 + _this2._transform._rotation22 * _this2._invLocalInertia20;
		__tmp__21 = _this2._transform._rotation20 * _this2._invLocalInertia01 + _this2._transform._rotation21 * _this2._invLocalInertia11 + _this2._transform._rotation22 * _this2._invLocalInertia21;
		__tmp__22 = _this2._transform._rotation20 * _this2._invLocalInertia02 + _this2._transform._rotation21 * _this2._invLocalInertia12 + _this2._transform._rotation22 * _this2._invLocalInertia22;
		_this2._invInertia00 = __tmp__00;
		_this2._invInertia01 = __tmp__01;
		_this2._invInertia02 = __tmp__02;
		_this2._invInertia10 = __tmp__10;
		_this2._invInertia11 = __tmp__11;
		_this2._invInertia12 = __tmp__12;
		_this2._invInertia20 = __tmp__20;
		_this2._invInertia21 = __tmp__21;
		_this2._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = _this2._invInertia00 * _this2._transform._rotation00 + _this2._invInertia01 * _this2._transform._rotation01 + _this2._invInertia02 * _this2._transform._rotation02;
		__tmp__011 = _this2._invInertia00 * _this2._transform._rotation10 + _this2._invInertia01 * _this2._transform._rotation11 + _this2._invInertia02 * _this2._transform._rotation12;
		__tmp__021 = _this2._invInertia00 * _this2._transform._rotation20 + _this2._invInertia01 * _this2._transform._rotation21 + _this2._invInertia02 * _this2._transform._rotation22;
		__tmp__101 = _this2._invInertia10 * _this2._transform._rotation00 + _this2._invInertia11 * _this2._transform._rotation01 + _this2._invInertia12 * _this2._transform._rotation02;
		__tmp__111 = _this2._invInertia10 * _this2._transform._rotation10 + _this2._invInertia11 * _this2._transform._rotation11 + _this2._invInertia12 * _this2._transform._rotation12;
		__tmp__121 = _this2._invInertia10 * _this2._transform._rotation20 + _this2._invInertia11 * _this2._transform._rotation21 + _this2._invInertia12 * _this2._transform._rotation22;
		__tmp__201 = _this2._invInertia20 * _this2._transform._rotation00 + _this2._invInertia21 * _this2._transform._rotation01 + _this2._invInertia22 * _this2._transform._rotation02;
		__tmp__211 = _this2._invInertia20 * _this2._transform._rotation10 + _this2._invInertia21 * _this2._transform._rotation11 + _this2._invInertia22 * _this2._transform._rotation12;
		__tmp__221 = _this2._invInertia20 * _this2._transform._rotation20 + _this2._invInertia21 * _this2._transform._rotation21 + _this2._invInertia22 * _this2._transform._rotation22;
		_this2._invInertia00 = __tmp__001;
		_this2._invInertia01 = __tmp__011;
		_this2._invInertia02 = __tmp__021;
		_this2._invInertia10 = __tmp__101;
		_this2._invInertia11 = __tmp__111;
		_this2._invInertia12 = __tmp__121;
		_this2._invInertia20 = __tmp__201;
		_this2._invInertia21 = __tmp__211;
		_this2._invInertia22 = __tmp__221;
		_this2._invInertia00 *= _this2._rotFactor.x;
		_this2._invInertia01 *= _this2._rotFactor.x;
		_this2._invInertia02 *= _this2._rotFactor.x;
		_this2._invInertia10 *= _this2._rotFactor.y;
		_this2._invInertia11 *= _this2._rotFactor.y;
		_this2._invInertia12 *= _this2._rotFactor.y;
		_this2._invInertia20 *= _this2._rotFactor.z;
		_this2._invInertia21 *= _this2._rotFactor.z;
		_this2._invInertia22 *= _this2._rotFactor.z;
		let _this3 = this._b2;
		let theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
		let halfTheta1 = theta1 * 0.5;
		let rotationToSinAxisFactor1;
		let cosHalfTheta1;
		if(halfTheta1 < 0.5) {
			let ht2 = halfTheta1 * halfTheta1;
			rotationToSinAxisFactor1 = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
			cosHalfTheta1 = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
		} else {
			rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
			cosHalfTheta1 = Math.cos(halfTheta1);
		}
		let sinAxisX1;
		let sinAxisY1;
		let sinAxisZ1;
		sinAxisX1 = av2X * rotationToSinAxisFactor1;
		sinAxisY1 = av2Y * rotationToSinAxisFactor1;
		sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
		let dqX1;
		let dqY1;
		let dqZ1;
		let dqW1;
		dqX1 = sinAxisX1;
		dqY1 = sinAxisY1;
		dqZ1 = sinAxisZ1;
		dqW1 = cosHalfTheta1;
		let qX1;
		let qY1;
		let qZ1;
		let qW1;
		let e001 = _this3._transform._rotation00;
		let e111 = _this3._transform._rotation11;
		let e221 = _this3._transform._rotation22;
		let t1 = e001 + e111 + e221;
		let s1;
		if(t1 > 0) {
			s1 = Math.sqrt(t1 + 1);
			qW1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
			qY1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
			qZ1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
		} else if(e001 > e111) {
			if(e001 > e221) {
				s1 = Math.sqrt(e001 - e111 - e221 + 1);
				qX1 = 0.5 * s1;
				s1 = 0.5 / s1;
				qY1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
				qZ1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
				qW1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
			} else {
				s1 = Math.sqrt(e221 - e001 - e111 + 1);
				qZ1 = 0.5 * s1;
				s1 = 0.5 / s1;
				qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
				qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
				qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
			}
		} else if(e111 > e221) {
			s1 = Math.sqrt(e111 - e221 - e001 + 1);
			qY1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
			qZ1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
			qW1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
		} else {
			s1 = Math.sqrt(e221 - e001 - e111 + 1);
			qZ1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
			qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
			qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
		}
		qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
		qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
		qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
		qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
		let l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;
		if(l1 > 1e-32) {
			l1 = 1 / Math.sqrt(l1);
		}
		qX1 *= l1;
		qY1 *= l1;
		qZ1 *= l1;
		qW1 *= l1;
		let x1 = qX1;
		let y1 = qY1;
		let z1 = qZ1;
		let w1 = qW1;
		let x21 = 2 * x1;
		let y21 = 2 * y1;
		let z21 = 2 * z1;
		let xx1 = x1 * x21;
		let yy1 = y1 * y21;
		let zz1 = z1 * z21;
		let xy1 = x1 * y21;
		let yz1 = y1 * z21;
		let xz1 = x1 * z21;
		let wx1 = w1 * x21;
		let wy1 = w1 * y21;
		let wz1 = w1 * z21;
		_this3._transform._rotation00 = 1 - yy1 - zz1;
		_this3._transform._rotation01 = xy1 - wz1;
		_this3._transform._rotation02 = xz1 + wy1;
		_this3._transform._rotation10 = xy1 + wz1;
		_this3._transform._rotation11 = 1 - xx1 - zz1;
		_this3._transform._rotation12 = yz1 - wx1;
		_this3._transform._rotation20 = xz1 - wy1;
		_this3._transform._rotation21 = yz1 + wx1;
		_this3._transform._rotation22 = 1 - xx1 - yy1;
		let __tmp__002;
		let __tmp__012;
		let __tmp__022;
		let __tmp__102;
		let __tmp__112;
		let __tmp__122;
		let __tmp__202;
		let __tmp__212;
		let __tmp__222;
		__tmp__002 = _this3._transform._rotation00 * _this3._invLocalInertia00 + _this3._transform._rotation01 * _this3._invLocalInertia10 + _this3._transform._rotation02 * _this3._invLocalInertia20;
		__tmp__012 = _this3._transform._rotation00 * _this3._invLocalInertia01 + _this3._transform._rotation01 * _this3._invLocalInertia11 + _this3._transform._rotation02 * _this3._invLocalInertia21;
		__tmp__022 = _this3._transform._rotation00 * _this3._invLocalInertia02 + _this3._transform._rotation01 * _this3._invLocalInertia12 + _this3._transform._rotation02 * _this3._invLocalInertia22;
		__tmp__102 = _this3._transform._rotation10 * _this3._invLocalInertia00 + _this3._transform._rotation11 * _this3._invLocalInertia10 + _this3._transform._rotation12 * _this3._invLocalInertia20;
		__tmp__112 = _this3._transform._rotation10 * _this3._invLocalInertia01 + _this3._transform._rotation11 * _this3._invLocalInertia11 + _this3._transform._rotation12 * _this3._invLocalInertia21;
		__tmp__122 = _this3._transform._rotation10 * _this3._invLocalInertia02 + _this3._transform._rotation11 * _this3._invLocalInertia12 + _this3._transform._rotation12 * _this3._invLocalInertia22;
		__tmp__202 = _this3._transform._rotation20 * _this3._invLocalInertia00 + _this3._transform._rotation21 * _this3._invLocalInertia10 + _this3._transform._rotation22 * _this3._invLocalInertia20;
		__tmp__212 = _this3._transform._rotation20 * _this3._invLocalInertia01 + _this3._transform._rotation21 * _this3._invLocalInertia11 + _this3._transform._rotation22 * _this3._invLocalInertia21;
		__tmp__222 = _this3._transform._rotation20 * _this3._invLocalInertia02 + _this3._transform._rotation21 * _this3._invLocalInertia12 + _this3._transform._rotation22 * _this3._invLocalInertia22;
		_this3._invInertia00 = __tmp__002;
		_this3._invInertia01 = __tmp__012;
		_this3._invInertia02 = __tmp__022;
		_this3._invInertia10 = __tmp__102;
		_this3._invInertia11 = __tmp__112;
		_this3._invInertia12 = __tmp__122;
		_this3._invInertia20 = __tmp__202;
		_this3._invInertia21 = __tmp__212;
		_this3._invInertia22 = __tmp__222;
		let __tmp__003;
		let __tmp__013;
		let __tmp__023;
		let __tmp__103;
		let __tmp__113;
		let __tmp__123;
		let __tmp__203;
		let __tmp__213;
		let __tmp__223;
		__tmp__003 = _this3._invInertia00 * _this3._transform._rotation00 + _this3._invInertia01 * _this3._transform._rotation01 + _this3._invInertia02 * _this3._transform._rotation02;
		__tmp__013 = _this3._invInertia00 * _this3._transform._rotation10 + _this3._invInertia01 * _this3._transform._rotation11 + _this3._invInertia02 * _this3._transform._rotation12;
		__tmp__023 = _this3._invInertia00 * _this3._transform._rotation20 + _this3._invInertia01 * _this3._transform._rotation21 + _this3._invInertia02 * _this3._transform._rotation22;
		__tmp__103 = _this3._invInertia10 * _this3._transform._rotation00 + _this3._invInertia11 * _this3._transform._rotation01 + _this3._invInertia12 * _this3._transform._rotation02;
		__tmp__113 = _this3._invInertia10 * _this3._transform._rotation10 + _this3._invInertia11 * _this3._transform._rotation11 + _this3._invInertia12 * _this3._transform._rotation12;
		__tmp__123 = _this3._invInertia10 * _this3._transform._rotation20 + _this3._invInertia11 * _this3._transform._rotation21 + _this3._invInertia12 * _this3._transform._rotation22;
		__tmp__203 = _this3._invInertia20 * _this3._transform._rotation00 + _this3._invInertia21 * _this3._transform._rotation01 + _this3._invInertia22 * _this3._transform._rotation02;
		__tmp__213 = _this3._invInertia20 * _this3._transform._rotation10 + _this3._invInertia21 * _this3._transform._rotation11 + _this3._invInertia22 * _this3._transform._rotation12;
		__tmp__223 = _this3._invInertia20 * _this3._transform._rotation20 + _this3._invInertia21 * _this3._transform._rotation21 + _this3._invInertia22 * _this3._transform._rotation22;
		_this3._invInertia00 = __tmp__003;
		_this3._invInertia01 = __tmp__013;
		_this3._invInertia02 = __tmp__023;
		_this3._invInertia10 = __tmp__103;
		_this3._invInertia11 = __tmp__113;
		_this3._invInertia12 = __tmp__123;
		_this3._invInertia20 = __tmp__203;
		_this3._invInertia21 = __tmp__213;
		_this3._invInertia22 = __tmp__223;
		_this3._invInertia00 *= _this3._rotFactor.x;
		_this3._invInertia01 *= _this3._rotFactor.x;
		_this3._invInertia02 *= _this3._rotFactor.x;
		_this3._invInertia10 *= _this3._rotFactor.y;
		_this3._invInertia11 *= _this3._rotFactor.y;
		_this3._invInertia12 *= _this3._rotFactor.y;
		_this3._invInertia20 *= _this3._rotFactor.z;
		_this3._invInertia21 *= _this3._rotFactor.z;
		_this3._invInertia22 *= _this3._rotFactor.z;
	}
	postSolve() {
		let lin1X;
		let lin1Y;
		let lin1Z;
		let ang1X;
		let ang1Y;
		let ang1Z;
		let ang2X;
		let ang2Y;
		let ang2Z;
		lin1X = 0;
		lin1Y = 0;
		lin1Z = 0;
		ang1X = 0;
		ang1Y = 0;
		ang1Z = 0;
		ang2X = 0;
		ang2Y = 0;
		ang2Z = 0;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let row = this.info.rows[_g++];
			let imp = row.impulse;
			let jn = row.jacobianN;
			let jt = row.jacobianT;
			let jb = row.jacobianB;
			let impN = imp.impulseN;
			let impT = imp.impulseT;
			let impB = imp.impulseB;
			let impulseLX;
			let impulseLY;
			let impulseLZ;
			impulseLX = 0;
			impulseLY = 0;
			impulseLZ = 0;
			impulseLX += jt.lin1X * impT;
			impulseLY += jt.lin1Y * impT;
			impulseLZ += jt.lin1Z * impT;
			impulseLX += jb.lin1X * impB;
			impulseLY += jb.lin1Y * impB;
			impulseLZ += jb.lin1Z * impB;
			imp.impulseLX = impulseLX;
			imp.impulseLY = impulseLY;
			imp.impulseLZ = impulseLZ;
			lin1X += jn.lin1X * impN;
			lin1Y += jn.lin1Y * impN;
			lin1Z += jn.lin1Z * impN;
			ang1X += jn.ang1X * impN;
			ang1Y += jn.ang1Y * impN;
			ang1Z += jn.ang1Z * impN;
			ang2X += jn.ang2X * impN;
			ang2Y += jn.ang2Y * impN;
			ang2Z += jn.ang2Z * impN;
			lin1X += jt.lin1X * impT;
			lin1Y += jt.lin1Y * impT;
			lin1Z += jt.lin1Z * impT;
			ang1X += jt.ang1X * impT;
			ang1Y += jt.ang1Y * impT;
			ang1Z += jt.ang1Z * impT;
			ang2X += jt.ang2X * impT;
			ang2Y += jt.ang2Y * impT;
			ang2Z += jt.ang2Z * impT;
			lin1X += jb.lin1X * impB;
			lin1Y += jb.lin1Y * impB;
			lin1Z += jb.lin1Z * impB;
			ang1X += jb.ang1X * impB;
			ang1Y += jb.ang1Y * impB;
			ang1Z += jb.ang1Z * impB;
			ang2X += jb.ang2X * impB;
			ang2Y += jb.ang2Y * impB;
			ang2Z += jb.ang2Z * impB;
		}
		this._b1._linearContactImpulseX += lin1X;
		this._b1._linearContactImpulseY += lin1Y;
		this._b1._linearContactImpulseZ += lin1Z;
		this._b1._angularContactImpulseX += ang1X;
		this._b1._angularContactImpulseY += ang1Y;
		this._b1._angularContactImpulseZ += ang1Z;
		this._b2._linearContactImpulseX -= lin1X;
		this._b2._linearContactImpulseY -= lin1Y;
		this._b2._linearContactImpulseZ -= lin1Z;
		this._b2._angularContactImpulseX -= ang2X;
		this._b2._angularContactImpulseY -= ang2Y;
		this._b2._angularContactImpulseZ -= ang2Z;
		this.constraint._syncManifold();
	}
}
oimo.dynamics.constraint.solver.pgs.PgsJointConstraintSolver = class oimo_dynamics_constraint_solver_pgs_PgsJointConstraintSolver extends oimo.dynamics.constraint.ConstraintSolver {
	constructor(joint) {
		super();
		this.joint = joint;
		this.info = new oimo.dynamics.constraint.info.joint.JointSolverInfo();
		this.massData = new Array(oimo.common.Setting.maxJacobianRows);
		let _g = 0;
		let _g1 = this.massData.length;
		while(_g < _g1) this.massData[_g++] = new oimo.dynamics.constraint.solver.common.JointSolverMassDataRow();
	}
	preSolveVelocity(timeStep) {
		this.joint._syncAnchors();
		this.joint._getVelocitySolverInfo(timeStep,this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let j = row.jacobian;
			j.updateSparsity();
			if((j.flag & 1) != 0) {
				md.invMLin1X = j.lin1X * invM1;
				md.invMLin1Y = j.lin1Y * invM1;
				md.invMLin1Z = j.lin1Z * invM1;
				md.invMLin2X = j.lin2X * invM2;
				md.invMLin2Y = j.lin2Y * invM2;
				md.invMLin2Z = j.lin2Z * invM2;
			} else {
				md.invMLin1X = 0;
				md.invMLin1Y = 0;
				md.invMLin1Z = 0;
				md.invMLin2X = 0;
				md.invMLin2Y = 0;
				md.invMLin2Z = 0;
			}
			if((j.flag & 2) != 0) {
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
				__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
				__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
				md.invMAng1X = __tmp__X;
				md.invMAng1Y = __tmp__Y;
				md.invMAng1Z = __tmp__Z;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
				__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
				__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
				md.invMAng2X = __tmp__X1;
				md.invMAng2Y = __tmp__Y1;
				md.invMAng2Z = __tmp__Z1;
			} else {
				md.invMAng1X = 0;
				md.invMAng1Y = 0;
				md.invMAng1Z = 0;
				md.invMAng2X = 0;
				md.invMAng2Y = 0;
				md.invMAng2Z = 0;
			}
			md.massWithoutCfm = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);
			md.mass = md.massWithoutCfm + row.cfm;
			if(md.massWithoutCfm != 0) {
				md.massWithoutCfm = 1 / md.massWithoutCfm;
			}
			if(md.mass != 0) {
				md.mass = 1 / md.mass;
			}
		}
	}
	warmStart(timeStep) {
		let factor = this.joint._positionCorrectionAlgorithm == oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE ? oimo.common.Setting.jointWarmStartingFactorForBaungarte : oimo.common.Setting.jointWarmStartingFactor;
		factor *= timeStep.dtRatio;
		if(factor <= 0) {
			let _g = 0;
			let _g1 = this.info.numRows;
			while(_g < _g1) {
				let _this = this.info.rows[_g++].impulse;
				_this.impulse = 0;
				_this.impulseM = 0;
				_this.impulseP = 0;
			}
			return;
		}
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let md = this.massData[i];
			let imp = this.info.rows[i].impulse;
			imp.impulse *= factor;
			imp.impulseM *= factor;
			let impulse = imp.impulse + imp.impulseM;
			lv1X += md.invMLin1X * impulse;
			lv1Y += md.invMLin1Y * impulse;
			lv1Z += md.invMLin1Z * impulse;
			lv2X += md.invMLin2X * -impulse;
			lv2Y += md.invMLin2Y * -impulse;
			lv2Z += md.invMLin2Z * -impulse;
			av1X += md.invMAng1X * impulse;
			av1Y += md.invMAng1Y * impulse;
			av1Z += md.invMAng1Z * impulse;
			av2X += md.invMAng2X * -impulse;
			av2Y += md.invMAng2Y * -impulse;
			av2Z += md.invMAng2Z * -impulse;
		}
		this._b1._velX = lv1X;
		this._b1._velY = lv1Y;
		this._b1._velZ = lv1Z;
		this._b2._velX = lv2X;
		this._b2._velY = lv2Y;
		this._b2._velZ = lv2Z;
		this._b1._angVelX = av1X;
		this._b1._angVelY = av1Y;
		this._b1._angVelZ = av1Z;
		this._b2._angVelX = av2X;
		this._b2._angVelY = av2Y;
		this._b2._angVelZ = av2Z;
	}
	solveVelocity() {
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._velX;
		lv1Y = this._b1._velY;
		lv1Z = this._b1._velZ;
		lv2X = this._b2._velX;
		lv2Y = this._b2._velY;
		lv2Z = this._b2._velZ;
		av1X = this._b1._angVelX;
		av1Y = this._b1._angVelY;
		av1Z = this._b1._angVelZ;
		av2X = this._b2._angVelX;
		av2Y = this._b2._angVelY;
		av2Z = this._b2._angVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobian;
			if(row.motorMaxImpulse == 0) {
				continue;
			}
			let rv = 0;
			rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseM = (-row.motorSpeed - rv) * md.massWithoutCfm;
			let oldImpulseM = imp.impulseM;
			imp.impulseM += impulseM;
			if(imp.impulseM < -row.motorMaxImpulse) {
				imp.impulseM = -row.motorMaxImpulse;
			} else if(imp.impulseM > row.motorMaxImpulse) {
				imp.impulseM = row.motorMaxImpulse;
			}
			impulseM = imp.impulseM - oldImpulseM;
			if((j.flag & 1) != 0) {
				lv1X += md.invMLin1X * impulseM;
				lv1Y += md.invMLin1Y * impulseM;
				lv1Z += md.invMLin1Z * impulseM;
				lv2X += md.invMLin2X * -impulseM;
				lv2Y += md.invMLin2Y * -impulseM;
				lv2Z += md.invMLin2Z * -impulseM;
			}
			if((j.flag & 2) != 0) {
				av1X += md.invMAng1X * impulseM;
				av1Y += md.invMAng1Y * impulseM;
				av1Z += md.invMAng1Z * impulseM;
				av2X += md.invMAng2X * -impulseM;
				av2Y += md.invMAng2Y * -impulseM;
				av2Z += md.invMAng2Z * -impulseM;
			}
		}
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) {
			let i = _g2++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobian;
			let rv = 0;
			rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulse = (row.rhs - rv - imp.impulse * row.cfm) * md.mass;
			let oldImpulse = imp.impulse;
			imp.impulse += impulse;
			if(imp.impulse < row.minImpulse) {
				imp.impulse = row.minImpulse;
			} else if(imp.impulse > row.maxImpulse) {
				imp.impulse = row.maxImpulse;
			}
			impulse = imp.impulse - oldImpulse;
			if((j.flag & 1) != 0) {
				lv1X += md.invMLin1X * impulse;
				lv1Y += md.invMLin1Y * impulse;
				lv1Z += md.invMLin1Z * impulse;
				lv2X += md.invMLin2X * -impulse;
				lv2Y += md.invMLin2Y * -impulse;
				lv2Z += md.invMLin2Z * -impulse;
			}
			if((j.flag & 2) != 0) {
				av1X += md.invMAng1X * impulse;
				av1Y += md.invMAng1Y * impulse;
				av1Z += md.invMAng1Z * impulse;
				av2X += md.invMAng2X * -impulse;
				av2Y += md.invMAng2Y * -impulse;
				av2Z += md.invMAng2Z * -impulse;
			}
		}
		this._b1._velX = lv1X;
		this._b1._velY = lv1Y;
		this._b1._velZ = lv1Z;
		this._b2._velX = lv2X;
		this._b2._velY = lv2Y;
		this._b2._velZ = lv2Z;
		this._b1._angVelX = av1X;
		this._b1._angVelY = av1Y;
		this._b1._angVelZ = av1Z;
		this._b2._angVelX = av2X;
		this._b2._angVelY = av2Y;
		this._b2._angVelZ = av2Z;
	}
	postSolveVelocity(timeStep) {
		let linX;
		let linY;
		let linZ;
		let angX;
		let angY;
		let angZ;
		linX = 0;
		linY = 0;
		linZ = 0;
		angX = 0;
		angY = 0;
		angZ = 0;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let row = this.info.rows[_g++];
			let imp = row.impulse;
			let j = row.jacobian;
			if((j.flag & 1) != 0) {
				linX += j.lin1X * imp.impulse;
				linY += j.lin1Y * imp.impulse;
				linZ += j.lin1Z * imp.impulse;
			} else if((j.flag & 2) != 0) {
				angX += j.ang1X * imp.impulse;
				angY += j.ang1Y * imp.impulse;
				angZ += j.ang1Z * imp.impulse;
			}
		}
		this.joint._appliedForceX = linX * timeStep.invDt;
		this.joint._appliedForceY = linY * timeStep.invDt;
		this.joint._appliedForceZ = linZ * timeStep.invDt;
		this.joint._appliedTorqueX = angX * timeStep.invDt;
		this.joint._appliedTorqueY = angY * timeStep.invDt;
		this.joint._appliedTorqueZ = angZ * timeStep.invDt;
	}
	preSolvePosition(timeStep) {
		this.joint._syncAnchors();
		this.joint._getPositionSolverInfo(this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let md = this.massData[i];
			let j = this.info.rows[i].jacobian;
			md.invMLin1X = j.lin1X * invM1;
			md.invMLin1Y = j.lin1Y * invM1;
			md.invMLin1Z = j.lin1Z * invM1;
			md.invMLin2X = j.lin2X * invM2;
			md.invMLin2Y = j.lin2Y * invM2;
			md.invMLin2Z = j.lin2Z * invM2;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
			__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
			__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
			md.invMAng1X = __tmp__X;
			md.invMAng1Y = __tmp__Y;
			md.invMAng1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
			__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
			__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
			md.invMAng2X = __tmp__X1;
			md.invMAng2Y = __tmp__Y1;
			md.invMAng2Z = __tmp__Z1;
			md.mass = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);
			if(md.mass != 0) {
				md.mass = 1 / md.mass;
			}
		}
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) this.info.rows[_g2++].impulse.impulseP = 0;
	}
	solvePositionSplitImpulse() {
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = this._b1._pseudoVelX;
		lv1Y = this._b1._pseudoVelY;
		lv1Z = this._b1._pseudoVelZ;
		lv2X = this._b2._pseudoVelX;
		lv2Y = this._b2._pseudoVelY;
		lv2Z = this._b2._pseudoVelZ;
		av1X = this._b1._angPseudoVelX;
		av1Y = this._b1._angPseudoVelY;
		av1Z = this._b1._angPseudoVelZ;
		av2X = this._b2._angPseudoVelX;
		av2Y = this._b2._angPseudoVelY;
		av2Z = this._b2._angPseudoVelZ;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobian;
			let rv = 0;
			rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseP = (row.rhs * oimo.common.Setting.positionSplitImpulseBaumgarte - rv) * md.mass;
			let oldImpulseP = imp.impulseP;
			imp.impulseP += impulseP;
			if(imp.impulseP < row.minImpulse) {
				imp.impulseP = row.minImpulse;
			} else if(imp.impulseP > row.maxImpulse) {
				imp.impulseP = row.maxImpulse;
			}
			impulseP = imp.impulseP - oldImpulseP;
			lv1X += md.invMLin1X * impulseP;
			lv1Y += md.invMLin1Y * impulseP;
			lv1Z += md.invMLin1Z * impulseP;
			lv2X += md.invMLin2X * -impulseP;
			lv2Y += md.invMLin2Y * -impulseP;
			lv2Z += md.invMLin2Z * -impulseP;
			av1X += md.invMAng1X * impulseP;
			av1Y += md.invMAng1Y * impulseP;
			av1Z += md.invMAng1Z * impulseP;
			av2X += md.invMAng2X * -impulseP;
			av2Y += md.invMAng2Y * -impulseP;
			av2Z += md.invMAng2Z * -impulseP;
		}
		this._b1._pseudoVelX = lv1X;
		this._b1._pseudoVelY = lv1Y;
		this._b1._pseudoVelZ = lv1Z;
		this._b2._pseudoVelX = lv2X;
		this._b2._pseudoVelY = lv2Y;
		this._b2._pseudoVelZ = lv2Z;
		this._b1._angPseudoVelX = av1X;
		this._b1._angPseudoVelY = av1Y;
		this._b1._angPseudoVelZ = av1Z;
		this._b2._angPseudoVelX = av2X;
		this._b2._angPseudoVelY = av2Y;
		this._b2._angPseudoVelZ = av2Z;
	}
	solvePositionNgs(timeStep) {
		this.joint._syncAnchors();
		this.joint._getPositionSolverInfo(this.info);
		this._b1 = this.info.b1;
		this._b2 = this.info.b2;
		let invM1 = this._b1._invMass;
		let invM2 = this._b2._invMass;
		let invI100;
		let invI101;
		let invI102;
		let invI110;
		let invI111;
		let invI112;
		let invI120;
		let invI121;
		let invI122;
		let invI200;
		let invI201;
		let invI202;
		let invI210;
		let invI211;
		let invI212;
		let invI220;
		let invI221;
		let invI222;
		invI100 = this._b1._invInertia00;
		invI101 = this._b1._invInertia01;
		invI102 = this._b1._invInertia02;
		invI110 = this._b1._invInertia10;
		invI111 = this._b1._invInertia11;
		invI112 = this._b1._invInertia12;
		invI120 = this._b1._invInertia20;
		invI121 = this._b1._invInertia21;
		invI122 = this._b1._invInertia22;
		invI200 = this._b2._invInertia00;
		invI201 = this._b2._invInertia01;
		invI202 = this._b2._invInertia02;
		invI210 = this._b2._invInertia10;
		invI211 = this._b2._invInertia11;
		invI212 = this._b2._invInertia12;
		invI220 = this._b2._invInertia20;
		invI221 = this._b2._invInertia21;
		invI222 = this._b2._invInertia22;
		let _g = 0;
		let _g1 = this.info.numRows;
		while(_g < _g1) {
			let i = _g++;
			let md = this.massData[i];
			let j = this.info.rows[i].jacobian;
			md.invMLin1X = j.lin1X * invM1;
			md.invMLin1Y = j.lin1Y * invM1;
			md.invMLin1Z = j.lin1Z * invM1;
			md.invMLin2X = j.lin2X * invM2;
			md.invMLin2Y = j.lin2Y * invM2;
			md.invMLin2Z = j.lin2Z * invM2;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = invI100 * j.ang1X + invI101 * j.ang1Y + invI102 * j.ang1Z;
			__tmp__Y = invI110 * j.ang1X + invI111 * j.ang1Y + invI112 * j.ang1Z;
			__tmp__Z = invI120 * j.ang1X + invI121 * j.ang1Y + invI122 * j.ang1Z;
			md.invMAng1X = __tmp__X;
			md.invMAng1Y = __tmp__Y;
			md.invMAng1Z = __tmp__Z;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = invI200 * j.ang2X + invI201 * j.ang2Y + invI202 * j.ang2Z;
			__tmp__Y1 = invI210 * j.ang2X + invI211 * j.ang2Y + invI212 * j.ang2Z;
			__tmp__Z1 = invI220 * j.ang2X + invI221 * j.ang2Y + invI222 * j.ang2Z;
			md.invMAng2X = __tmp__X1;
			md.invMAng2Y = __tmp__Y1;
			md.invMAng2Z = __tmp__Z1;
			md.mass = md.invMLin1X * j.lin1X + md.invMLin1Y * j.lin1Y + md.invMLin1Z * j.lin1Z + (md.invMLin2X * j.lin2X + md.invMLin2Y * j.lin2Y + md.invMLin2Z * j.lin2Z) + (md.invMAng1X * j.ang1X + md.invMAng1Y * j.ang1Y + md.invMAng1Z * j.ang1Z) + (md.invMAng2X * j.ang2X + md.invMAng2Y * j.ang2Y + md.invMAng2Z * j.ang2Z);
			if(md.mass != 0) {
				md.mass = 1 / md.mass;
			}
		}
		let lv1X;
		let lv1Y;
		let lv1Z;
		let lv2X;
		let lv2Y;
		let lv2Z;
		let av1X;
		let av1Y;
		let av1Z;
		let av2X;
		let av2Y;
		let av2Z;
		lv1X = 0;
		lv1Y = 0;
		lv1Z = 0;
		lv2X = 0;
		lv2Y = 0;
		lv2Z = 0;
		av1X = 0;
		av1Y = 0;
		av1Z = 0;
		av2X = 0;
		av2Y = 0;
		av2Z = 0;
		let _g2 = 0;
		let _g3 = this.info.numRows;
		while(_g2 < _g3) {
			let i = _g2++;
			let row = this.info.rows[i];
			let md = this.massData[i];
			let imp = row.impulse;
			let j = row.jacobian;
			let rv = 0;
			rv += lv1X * j.lin1X + lv1Y * j.lin1Y + lv1Z * j.lin1Z;
			rv -= lv2X * j.lin2X + lv2Y * j.lin2Y + lv2Z * j.lin2Z;
			rv += av1X * j.ang1X + av1Y * j.ang1Y + av1Z * j.ang1Z;
			rv -= av2X * j.ang2X + av2Y * j.ang2Y + av2Z * j.ang2Z;
			let impulseP = (row.rhs * oimo.common.Setting.positionNgsBaumgarte - rv) * md.mass;
			let oldImpulseP = imp.impulseP;
			imp.impulseP += impulseP;
			if(imp.impulseP < row.minImpulse) {
				imp.impulseP = row.minImpulse;
			} else if(imp.impulseP > row.maxImpulse) {
				imp.impulseP = row.maxImpulse;
			}
			impulseP = imp.impulseP - oldImpulseP;
			lv1X += md.invMLin1X * impulseP;
			lv1Y += md.invMLin1Y * impulseP;
			lv1Z += md.invMLin1Z * impulseP;
			lv2X += md.invMLin2X * -impulseP;
			lv2Y += md.invMLin2Y * -impulseP;
			lv2Z += md.invMLin2Z * -impulseP;
			av1X += md.invMAng1X * impulseP;
			av1Y += md.invMAng1Y * impulseP;
			av1Z += md.invMAng1Z * impulseP;
			av2X += md.invMAng2X * -impulseP;
			av2Y += md.invMAng2Y * -impulseP;
			av2Z += md.invMAng2Z * -impulseP;
		}
		let _this = this._b1;
		_this._transform._positionX += lv1X;
		_this._transform._positionY += lv1Y;
		_this._transform._positionZ += lv1Z;
		let _this1 = this._b2;
		_this1._transform._positionX += lv2X;
		_this1._transform._positionY += lv2Y;
		_this1._transform._positionZ += lv2Z;
		let _this2 = this._b1;
		let theta = Math.sqrt(av1X * av1X + av1Y * av1Y + av1Z * av1Z);
		let halfTheta = theta * 0.5;
		let rotationToSinAxisFactor;
		let cosHalfTheta;
		if(halfTheta < 0.5) {
			let ht2 = halfTheta * halfTheta;
			rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
			cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
		} else {
			rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
			cosHalfTheta = Math.cos(halfTheta);
		}
		let sinAxisX;
		let sinAxisY;
		let sinAxisZ;
		sinAxisX = av1X * rotationToSinAxisFactor;
		sinAxisY = av1Y * rotationToSinAxisFactor;
		sinAxisZ = av1Z * rotationToSinAxisFactor;
		let dqX;
		let dqY;
		let dqZ;
		let dqW;
		dqX = sinAxisX;
		dqY = sinAxisY;
		dqZ = sinAxisZ;
		dqW = cosHalfTheta;
		let qX;
		let qY;
		let qZ;
		let qW;
		let e00 = _this2._transform._rotation00;
		let e11 = _this2._transform._rotation11;
		let e22 = _this2._transform._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			qW = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
			qY = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
			qZ = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				qX = 0.5 * s;
				s = 0.5 / s;
				qY = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
				qZ = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
				qW = (_this2._transform._rotation21 - _this2._transform._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				qZ = 0.5 * s;
				s = 0.5 / s;
				qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
				qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
				qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			qY = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation01 + _this2._transform._rotation10) * s;
			qZ = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
			qW = (_this2._transform._rotation02 - _this2._transform._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			qZ = 0.5 * s;
			s = 0.5 / s;
			qX = (_this2._transform._rotation02 + _this2._transform._rotation20) * s;
			qY = (_this2._transform._rotation12 + _this2._transform._rotation21) * s;
			qW = (_this2._transform._rotation10 - _this2._transform._rotation01) * s;
		}
		qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
		qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
		qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
		qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
		let l = qX * qX + qY * qY + qZ * qZ + qW * qW;
		if(l > 1e-32) {
			l = 1 / Math.sqrt(l);
		}
		qX *= l;
		qY *= l;
		qZ *= l;
		qW *= l;
		let x = qX;
		let y = qY;
		let z = qZ;
		let w = qW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		_this2._transform._rotation00 = 1 - yy - zz;
		_this2._transform._rotation01 = xy - wz;
		_this2._transform._rotation02 = xz + wy;
		_this2._transform._rotation10 = xy + wz;
		_this2._transform._rotation11 = 1 - xx - zz;
		_this2._transform._rotation12 = yz - wx;
		_this2._transform._rotation20 = xz - wy;
		_this2._transform._rotation21 = yz + wx;
		_this2._transform._rotation22 = 1 - xx - yy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = _this2._transform._rotation00 * _this2._invLocalInertia00 + _this2._transform._rotation01 * _this2._invLocalInertia10 + _this2._transform._rotation02 * _this2._invLocalInertia20;
		__tmp__01 = _this2._transform._rotation00 * _this2._invLocalInertia01 + _this2._transform._rotation01 * _this2._invLocalInertia11 + _this2._transform._rotation02 * _this2._invLocalInertia21;
		__tmp__02 = _this2._transform._rotation00 * _this2._invLocalInertia02 + _this2._transform._rotation01 * _this2._invLocalInertia12 + _this2._transform._rotation02 * _this2._invLocalInertia22;
		__tmp__10 = _this2._transform._rotation10 * _this2._invLocalInertia00 + _this2._transform._rotation11 * _this2._invLocalInertia10 + _this2._transform._rotation12 * _this2._invLocalInertia20;
		__tmp__11 = _this2._transform._rotation10 * _this2._invLocalInertia01 + _this2._transform._rotation11 * _this2._invLocalInertia11 + _this2._transform._rotation12 * _this2._invLocalInertia21;
		__tmp__12 = _this2._transform._rotation10 * _this2._invLocalInertia02 + _this2._transform._rotation11 * _this2._invLocalInertia12 + _this2._transform._rotation12 * _this2._invLocalInertia22;
		__tmp__20 = _this2._transform._rotation20 * _this2._invLocalInertia00 + _this2._transform._rotation21 * _this2._invLocalInertia10 + _this2._transform._rotation22 * _this2._invLocalInertia20;
		__tmp__21 = _this2._transform._rotation20 * _this2._invLocalInertia01 + _this2._transform._rotation21 * _this2._invLocalInertia11 + _this2._transform._rotation22 * _this2._invLocalInertia21;
		__tmp__22 = _this2._transform._rotation20 * _this2._invLocalInertia02 + _this2._transform._rotation21 * _this2._invLocalInertia12 + _this2._transform._rotation22 * _this2._invLocalInertia22;
		_this2._invInertia00 = __tmp__00;
		_this2._invInertia01 = __tmp__01;
		_this2._invInertia02 = __tmp__02;
		_this2._invInertia10 = __tmp__10;
		_this2._invInertia11 = __tmp__11;
		_this2._invInertia12 = __tmp__12;
		_this2._invInertia20 = __tmp__20;
		_this2._invInertia21 = __tmp__21;
		_this2._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = _this2._invInertia00 * _this2._transform._rotation00 + _this2._invInertia01 * _this2._transform._rotation01 + _this2._invInertia02 * _this2._transform._rotation02;
		__tmp__011 = _this2._invInertia00 * _this2._transform._rotation10 + _this2._invInertia01 * _this2._transform._rotation11 + _this2._invInertia02 * _this2._transform._rotation12;
		__tmp__021 = _this2._invInertia00 * _this2._transform._rotation20 + _this2._invInertia01 * _this2._transform._rotation21 + _this2._invInertia02 * _this2._transform._rotation22;
		__tmp__101 = _this2._invInertia10 * _this2._transform._rotation00 + _this2._invInertia11 * _this2._transform._rotation01 + _this2._invInertia12 * _this2._transform._rotation02;
		__tmp__111 = _this2._invInertia10 * _this2._transform._rotation10 + _this2._invInertia11 * _this2._transform._rotation11 + _this2._invInertia12 * _this2._transform._rotation12;
		__tmp__121 = _this2._invInertia10 * _this2._transform._rotation20 + _this2._invInertia11 * _this2._transform._rotation21 + _this2._invInertia12 * _this2._transform._rotation22;
		__tmp__201 = _this2._invInertia20 * _this2._transform._rotation00 + _this2._invInertia21 * _this2._transform._rotation01 + _this2._invInertia22 * _this2._transform._rotation02;
		__tmp__211 = _this2._invInertia20 * _this2._transform._rotation10 + _this2._invInertia21 * _this2._transform._rotation11 + _this2._invInertia22 * _this2._transform._rotation12;
		__tmp__221 = _this2._invInertia20 * _this2._transform._rotation20 + _this2._invInertia21 * _this2._transform._rotation21 + _this2._invInertia22 * _this2._transform._rotation22;
		_this2._invInertia00 = __tmp__001;
		_this2._invInertia01 = __tmp__011;
		_this2._invInertia02 = __tmp__021;
		_this2._invInertia10 = __tmp__101;
		_this2._invInertia11 = __tmp__111;
		_this2._invInertia12 = __tmp__121;
		_this2._invInertia20 = __tmp__201;
		_this2._invInertia21 = __tmp__211;
		_this2._invInertia22 = __tmp__221;
		_this2._invInertia00 *= _this2._rotFactor.x;
		_this2._invInertia01 *= _this2._rotFactor.x;
		_this2._invInertia02 *= _this2._rotFactor.x;
		_this2._invInertia10 *= _this2._rotFactor.y;
		_this2._invInertia11 *= _this2._rotFactor.y;
		_this2._invInertia12 *= _this2._rotFactor.y;
		_this2._invInertia20 *= _this2._rotFactor.z;
		_this2._invInertia21 *= _this2._rotFactor.z;
		_this2._invInertia22 *= _this2._rotFactor.z;
		let _this3 = this._b2;
		let theta1 = Math.sqrt(av2X * av2X + av2Y * av2Y + av2Z * av2Z);
		let halfTheta1 = theta1 * 0.5;
		let rotationToSinAxisFactor1;
		let cosHalfTheta1;
		if(halfTheta1 < 0.5) {
			let ht2 = halfTheta1 * halfTheta1;
			rotationToSinAxisFactor1 = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
			cosHalfTheta1 = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
		} else {
			rotationToSinAxisFactor1 = Math.sin(halfTheta1) / theta1;
			cosHalfTheta1 = Math.cos(halfTheta1);
		}
		let sinAxisX1;
		let sinAxisY1;
		let sinAxisZ1;
		sinAxisX1 = av2X * rotationToSinAxisFactor1;
		sinAxisY1 = av2Y * rotationToSinAxisFactor1;
		sinAxisZ1 = av2Z * rotationToSinAxisFactor1;
		let dqX1;
		let dqY1;
		let dqZ1;
		let dqW1;
		dqX1 = sinAxisX1;
		dqY1 = sinAxisY1;
		dqZ1 = sinAxisZ1;
		dqW1 = cosHalfTheta1;
		let qX1;
		let qY1;
		let qZ1;
		let qW1;
		let e001 = _this3._transform._rotation00;
		let e111 = _this3._transform._rotation11;
		let e221 = _this3._transform._rotation22;
		let t1 = e001 + e111 + e221;
		let s1;
		if(t1 > 0) {
			s1 = Math.sqrt(t1 + 1);
			qW1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
			qY1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
			qZ1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
		} else if(e001 > e111) {
			if(e001 > e221) {
				s1 = Math.sqrt(e001 - e111 - e221 + 1);
				qX1 = 0.5 * s1;
				s1 = 0.5 / s1;
				qY1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
				qZ1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
				qW1 = (_this3._transform._rotation21 - _this3._transform._rotation12) * s1;
			} else {
				s1 = Math.sqrt(e221 - e001 - e111 + 1);
				qZ1 = 0.5 * s1;
				s1 = 0.5 / s1;
				qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
				qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
				qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
			}
		} else if(e111 > e221) {
			s1 = Math.sqrt(e111 - e221 - e001 + 1);
			qY1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation01 + _this3._transform._rotation10) * s1;
			qZ1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
			qW1 = (_this3._transform._rotation02 - _this3._transform._rotation20) * s1;
		} else {
			s1 = Math.sqrt(e221 - e001 - e111 + 1);
			qZ1 = 0.5 * s1;
			s1 = 0.5 / s1;
			qX1 = (_this3._transform._rotation02 + _this3._transform._rotation20) * s1;
			qY1 = (_this3._transform._rotation12 + _this3._transform._rotation21) * s1;
			qW1 = (_this3._transform._rotation10 - _this3._transform._rotation01) * s1;
		}
		qX1 = dqW1 * qX1 + dqX1 * qW1 + dqY1 * qZ1 - dqZ1 * qY1;
		qY1 = dqW1 * qY1 - dqX1 * qZ1 + dqY1 * qW1 + dqZ1 * qX1;
		qZ1 = dqW1 * qZ1 + dqX1 * qY1 - dqY1 * qX1 + dqZ1 * qW1;
		qW1 = dqW1 * qW1 - dqX1 * qX1 - dqY1 * qY1 - dqZ1 * qZ1;
		let l1 = qX1 * qX1 + qY1 * qY1 + qZ1 * qZ1 + qW1 * qW1;
		if(l1 > 1e-32) {
			l1 = 1 / Math.sqrt(l1);
		}
		qX1 *= l1;
		qY1 *= l1;
		qZ1 *= l1;
		qW1 *= l1;
		let x1 = qX1;
		let y1 = qY1;
		let z1 = qZ1;
		let w1 = qW1;
		let x21 = 2 * x1;
		let y21 = 2 * y1;
		let z21 = 2 * z1;
		let xx1 = x1 * x21;
		let yy1 = y1 * y21;
		let zz1 = z1 * z21;
		let xy1 = x1 * y21;
		let yz1 = y1 * z21;
		let xz1 = x1 * z21;
		let wx1 = w1 * x21;
		let wy1 = w1 * y21;
		let wz1 = w1 * z21;
		_this3._transform._rotation00 = 1 - yy1 - zz1;
		_this3._transform._rotation01 = xy1 - wz1;
		_this3._transform._rotation02 = xz1 + wy1;
		_this3._transform._rotation10 = xy1 + wz1;
		_this3._transform._rotation11 = 1 - xx1 - zz1;
		_this3._transform._rotation12 = yz1 - wx1;
		_this3._transform._rotation20 = xz1 - wy1;
		_this3._transform._rotation21 = yz1 + wx1;
		_this3._transform._rotation22 = 1 - xx1 - yy1;
		let __tmp__002;
		let __tmp__012;
		let __tmp__022;
		let __tmp__102;
		let __tmp__112;
		let __tmp__122;
		let __tmp__202;
		let __tmp__212;
		let __tmp__222;
		__tmp__002 = _this3._transform._rotation00 * _this3._invLocalInertia00 + _this3._transform._rotation01 * _this3._invLocalInertia10 + _this3._transform._rotation02 * _this3._invLocalInertia20;
		__tmp__012 = _this3._transform._rotation00 * _this3._invLocalInertia01 + _this3._transform._rotation01 * _this3._invLocalInertia11 + _this3._transform._rotation02 * _this3._invLocalInertia21;
		__tmp__022 = _this3._transform._rotation00 * _this3._invLocalInertia02 + _this3._transform._rotation01 * _this3._invLocalInertia12 + _this3._transform._rotation02 * _this3._invLocalInertia22;
		__tmp__102 = _this3._transform._rotation10 * _this3._invLocalInertia00 + _this3._transform._rotation11 * _this3._invLocalInertia10 + _this3._transform._rotation12 * _this3._invLocalInertia20;
		__tmp__112 = _this3._transform._rotation10 * _this3._invLocalInertia01 + _this3._transform._rotation11 * _this3._invLocalInertia11 + _this3._transform._rotation12 * _this3._invLocalInertia21;
		__tmp__122 = _this3._transform._rotation10 * _this3._invLocalInertia02 + _this3._transform._rotation11 * _this3._invLocalInertia12 + _this3._transform._rotation12 * _this3._invLocalInertia22;
		__tmp__202 = _this3._transform._rotation20 * _this3._invLocalInertia00 + _this3._transform._rotation21 * _this3._invLocalInertia10 + _this3._transform._rotation22 * _this3._invLocalInertia20;
		__tmp__212 = _this3._transform._rotation20 * _this3._invLocalInertia01 + _this3._transform._rotation21 * _this3._invLocalInertia11 + _this3._transform._rotation22 * _this3._invLocalInertia21;
		__tmp__222 = _this3._transform._rotation20 * _this3._invLocalInertia02 + _this3._transform._rotation21 * _this3._invLocalInertia12 + _this3._transform._rotation22 * _this3._invLocalInertia22;
		_this3._invInertia00 = __tmp__002;
		_this3._invInertia01 = __tmp__012;
		_this3._invInertia02 = __tmp__022;
		_this3._invInertia10 = __tmp__102;
		_this3._invInertia11 = __tmp__112;
		_this3._invInertia12 = __tmp__122;
		_this3._invInertia20 = __tmp__202;
		_this3._invInertia21 = __tmp__212;
		_this3._invInertia22 = __tmp__222;
		let __tmp__003;
		let __tmp__013;
		let __tmp__023;
		let __tmp__103;
		let __tmp__113;
		let __tmp__123;
		let __tmp__203;
		let __tmp__213;
		let __tmp__223;
		__tmp__003 = _this3._invInertia00 * _this3._transform._rotation00 + _this3._invInertia01 * _this3._transform._rotation01 + _this3._invInertia02 * _this3._transform._rotation02;
		__tmp__013 = _this3._invInertia00 * _this3._transform._rotation10 + _this3._invInertia01 * _this3._transform._rotation11 + _this3._invInertia02 * _this3._transform._rotation12;
		__tmp__023 = _this3._invInertia00 * _this3._transform._rotation20 + _this3._invInertia01 * _this3._transform._rotation21 + _this3._invInertia02 * _this3._transform._rotation22;
		__tmp__103 = _this3._invInertia10 * _this3._transform._rotation00 + _this3._invInertia11 * _this3._transform._rotation01 + _this3._invInertia12 * _this3._transform._rotation02;
		__tmp__113 = _this3._invInertia10 * _this3._transform._rotation10 + _this3._invInertia11 * _this3._transform._rotation11 + _this3._invInertia12 * _this3._transform._rotation12;
		__tmp__123 = _this3._invInertia10 * _this3._transform._rotation20 + _this3._invInertia11 * _this3._transform._rotation21 + _this3._invInertia12 * _this3._transform._rotation22;
		__tmp__203 = _this3._invInertia20 * _this3._transform._rotation00 + _this3._invInertia21 * _this3._transform._rotation01 + _this3._invInertia22 * _this3._transform._rotation02;
		__tmp__213 = _this3._invInertia20 * _this3._transform._rotation10 + _this3._invInertia21 * _this3._transform._rotation11 + _this3._invInertia22 * _this3._transform._rotation12;
		__tmp__223 = _this3._invInertia20 * _this3._transform._rotation20 + _this3._invInertia21 * _this3._transform._rotation21 + _this3._invInertia22 * _this3._transform._rotation22;
		_this3._invInertia00 = __tmp__003;
		_this3._invInertia01 = __tmp__013;
		_this3._invInertia02 = __tmp__023;
		_this3._invInertia10 = __tmp__103;
		_this3._invInertia11 = __tmp__113;
		_this3._invInertia12 = __tmp__123;
		_this3._invInertia20 = __tmp__203;
		_this3._invInertia21 = __tmp__213;
		_this3._invInertia22 = __tmp__223;
		_this3._invInertia00 *= _this3._rotFactor.x;
		_this3._invInertia01 *= _this3._rotFactor.x;
		_this3._invInertia02 *= _this3._rotFactor.x;
		_this3._invInertia10 *= _this3._rotFactor.y;
		_this3._invInertia11 *= _this3._rotFactor.y;
		_this3._invInertia12 *= _this3._rotFactor.y;
		_this3._invInertia20 *= _this3._rotFactor.z;
		_this3._invInertia21 *= _this3._rotFactor.z;
		_this3._invInertia22 *= _this3._rotFactor.z;
	}
	postSolve() {
		this.joint._syncAnchors();
		this.joint._checkDestruction();
	}
}
if(!oimo.dynamics.rigidbody) oimo.dynamics.rigidbody = {};
oimo.dynamics.rigidbody.MassData = class oimo_dynamics_rigidbody_MassData {
	constructor() {
		this.mass = 0;
		this.localInertia = new oimo.common.Mat3();
	}
}
oimo.dynamics.rigidbody.RigidBody = class oimo_dynamics_rigidbody_RigidBody {
	constructor(config) {
		this._next = null;
		this._prev = null;
		this._shapeList = null;
		this._shapeListLast = null;
		this._numShapes = 0;
		this._contactLinkList = null;
		this._contactLinkListLast = null;
		this._numContactLinks = 0;
		this._jointLinkList = null;
		this._jointLinkListLast = null;
		this._numJointLinks = 0;
		let v = config.linearVelocity;
		this._velX = v.x;
		this._velY = v.y;
		this._velZ = v.z;
		let v1 = config.angularVelocity;
		this._angVelX = v1.x;
		this._angVelY = v1.y;
		this._angVelZ = v1.z;
		this._pseudoVelX = 0;
		this._pseudoVelY = 0;
		this._pseudoVelZ = 0;
		this._angPseudoVelX = 0;
		this._angPseudoVelY = 0;
		this._angPseudoVelZ = 0;
		this._ptransform = new oimo.common.Transform();
		this._transform = new oimo.common.Transform();
		let v2 = config.position;
		this._ptransform._positionX = v2.x;
		this._ptransform._positionY = v2.y;
		this._ptransform._positionZ = v2.z;
		let m = config.rotation;
		this._ptransform._rotation00 = m.e00;
		this._ptransform._rotation01 = m.e01;
		this._ptransform._rotation02 = m.e02;
		this._ptransform._rotation10 = m.e10;
		this._ptransform._rotation11 = m.e11;
		this._ptransform._rotation12 = m.e12;
		this._ptransform._rotation20 = m.e20;
		this._ptransform._rotation21 = m.e21;
		this._ptransform._rotation22 = m.e22;
		let dst = this._transform;
		let src = this._ptransform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		this._type = config.type;
		this._sleepTime = 0;
		this._sleeping = false;
		this._autoSleep = config.autoSleep;
		this._mass = 0;
		this._invMass = 0;
		this._localInertia00 = 0;
		this._localInertia01 = 0;
		this._localInertia02 = 0;
		this._localInertia10 = 0;
		this._localInertia11 = 0;
		this._localInertia12 = 0;
		this._localInertia20 = 0;
		this._localInertia21 = 0;
		this._localInertia22 = 0;
		this._invLocalInertia00 = 0;
		this._invLocalInertia01 = 0;
		this._invLocalInertia02 = 0;
		this._invLocalInertia10 = 0;
		this._invLocalInertia11 = 0;
		this._invLocalInertia12 = 0;
		this._invLocalInertia20 = 0;
		this._invLocalInertia21 = 0;
		this._invLocalInertia22 = 0;
		this._invLocalInertiaWithoutRotFactor00 = 0;
		this._invLocalInertiaWithoutRotFactor01 = 0;
		this._invLocalInertiaWithoutRotFactor02 = 0;
		this._invLocalInertiaWithoutRotFactor10 = 0;
		this._invLocalInertiaWithoutRotFactor11 = 0;
		this._invLocalInertiaWithoutRotFactor12 = 0;
		this._invLocalInertiaWithoutRotFactor20 = 0;
		this._invLocalInertiaWithoutRotFactor21 = 0;
		this._invLocalInertiaWithoutRotFactor22 = 0;
		this._invInertia00 = 0;
		this._invInertia01 = 0;
		this._invInertia02 = 0;
		this._invInertia10 = 0;
		this._invInertia11 = 0;
		this._invInertia12 = 0;
		this._invInertia20 = 0;
		this._invInertia21 = 0;
		this._invInertia22 = 0;
		this._linearDamping = config.linearDamping;
		this._angularDamping = config.angularDamping;
		this._forceX = 0;
		this._forceY = 0;
		this._forceZ = 0;
		this._torqueX = 0;
		this._torqueY = 0;
		this._torqueZ = 0;
		this._linearContactImpulseX = 0;
		this._linearContactImpulseY = 0;
		this._linearContactImpulseZ = 0;
		this._angularContactImpulseX = 0;
		this._angularContactImpulseY = 0;
		this._angularContactImpulseZ = 0;
		this._rotFactor = new oimo.common.Vec3(1,1,1);
		this._addedToIsland = false;
		this._gravityScale = 1;
		this._world = null;
	}
	_integrate(dt) {
		switch(this._type) {
		case 1:
			this._velX = 0;
			this._velY = 0;
			this._velZ = 0;
			this._angVelX = 0;
			this._angVelY = 0;
			this._angVelZ = 0;
			this._pseudoVelX = 0;
			this._pseudoVelY = 0;
			this._pseudoVelZ = 0;
			this._angPseudoVelX = 0;
			this._angPseudoVelY = 0;
			this._angPseudoVelZ = 0;
			break;
		case 0:case 2:
			let translationX;
			let translationY;
			let translationZ;
			let rotationX;
			let rotationY;
			let rotationZ;
			translationX = this._velX * dt;
			translationY = this._velY * dt;
			translationZ = this._velZ * dt;
			rotationX = this._angVelX * dt;
			rotationY = this._angVelY * dt;
			rotationZ = this._angVelZ * dt;
			let translationLengthSq = translationX * translationX + translationY * translationY + translationZ * translationZ;
			let rotationLengthSq = rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ;
			if(translationLengthSq == 0 && rotationLengthSq == 0) {
				return;
			}
			if(translationLengthSq > oimo.common.Setting.maxTranslationPerStep * oimo.common.Setting.maxTranslationPerStep) {
				let l = oimo.common.Setting.maxTranslationPerStep / Math.sqrt(translationLengthSq);
				this._velX *= l;
				this._velY *= l;
				this._velZ *= l;
				translationX *= l;
				translationY *= l;
				translationZ *= l;
			}
			if(rotationLengthSq > oimo.common.Setting.maxRotationPerStep * oimo.common.Setting.maxRotationPerStep) {
				let l = oimo.common.Setting.maxRotationPerStep / Math.sqrt(rotationLengthSq);
				this._angVelX *= l;
				this._angVelY *= l;
				this._angVelZ *= l;
				rotationX *= l;
				rotationY *= l;
				rotationZ *= l;
			}
			this._transform._positionX += translationX;
			this._transform._positionY += translationY;
			this._transform._positionZ += translationZ;
			let theta = Math.sqrt(rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ);
			let halfTheta = theta * 0.5;
			let rotationToSinAxisFactor;
			let cosHalfTheta;
			if(halfTheta < 0.5) {
				let ht2 = halfTheta * halfTheta;
				rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
				cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
			} else {
				rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
				cosHalfTheta = Math.cos(halfTheta);
			}
			let sinAxisX;
			let sinAxisY;
			let sinAxisZ;
			sinAxisX = rotationX * rotationToSinAxisFactor;
			sinAxisY = rotationY * rotationToSinAxisFactor;
			sinAxisZ = rotationZ * rotationToSinAxisFactor;
			let dqX;
			let dqY;
			let dqZ;
			let dqW;
			dqX = sinAxisX;
			dqY = sinAxisY;
			dqZ = sinAxisZ;
			dqW = cosHalfTheta;
			let qX;
			let qY;
			let qZ;
			let qW;
			let e00 = this._transform._rotation00;
			let e11 = this._transform._rotation11;
			let e22 = this._transform._rotation22;
			let t = e00 + e11 + e22;
			let s;
			if(t > 0) {
				s = Math.sqrt(t + 1);
				qW = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation21 - this._transform._rotation12) * s;
				qY = (this._transform._rotation02 - this._transform._rotation20) * s;
				qZ = (this._transform._rotation10 - this._transform._rotation01) * s;
			} else if(e00 > e11) {
				if(e00 > e22) {
					s = Math.sqrt(e00 - e11 - e22 + 1);
					qX = 0.5 * s;
					s = 0.5 / s;
					qY = (this._transform._rotation01 + this._transform._rotation10) * s;
					qZ = (this._transform._rotation02 + this._transform._rotation20) * s;
					qW = (this._transform._rotation21 - this._transform._rotation12) * s;
				} else {
					s = Math.sqrt(e22 - e00 - e11 + 1);
					qZ = 0.5 * s;
					s = 0.5 / s;
					qX = (this._transform._rotation02 + this._transform._rotation20) * s;
					qY = (this._transform._rotation12 + this._transform._rotation21) * s;
					qW = (this._transform._rotation10 - this._transform._rotation01) * s;
				}
			} else if(e11 > e22) {
				s = Math.sqrt(e11 - e22 - e00 + 1);
				qY = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation01 + this._transform._rotation10) * s;
				qZ = (this._transform._rotation12 + this._transform._rotation21) * s;
				qW = (this._transform._rotation02 - this._transform._rotation20) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				qZ = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation02 + this._transform._rotation20) * s;
				qY = (this._transform._rotation12 + this._transform._rotation21) * s;
				qW = (this._transform._rotation10 - this._transform._rotation01) * s;
			}
			qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
			qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
			qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
			qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
			let l = qX * qX + qY * qY + qZ * qZ + qW * qW;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			qX *= l;
			qY *= l;
			qZ *= l;
			qW *= l;
			let x = qX;
			let y = qY;
			let z = qZ;
			let w = qW;
			let x2 = 2 * x;
			let y2 = 2 * y;
			let z2 = 2 * z;
			let xx = x * x2;
			let yy = y * y2;
			let zz = z * z2;
			let xy = x * y2;
			let yz = y * z2;
			let xz = x * z2;
			let wx = w * x2;
			let wy = w * y2;
			let wz = w * z2;
			this._transform._rotation00 = 1 - yy - zz;
			this._transform._rotation01 = xy - wz;
			this._transform._rotation02 = xz + wy;
			this._transform._rotation10 = xy + wz;
			this._transform._rotation11 = 1 - xx - zz;
			this._transform._rotation12 = yz - wx;
			this._transform._rotation20 = xz - wy;
			this._transform._rotation21 = yz + wx;
			this._transform._rotation22 = 1 - xx - yy;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
			__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
			__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
			__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
			__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
			__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
			__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
			__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
			__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
			this._invInertia00 = __tmp__00;
			this._invInertia01 = __tmp__01;
			this._invInertia02 = __tmp__02;
			this._invInertia10 = __tmp__10;
			this._invInertia11 = __tmp__11;
			this._invInertia12 = __tmp__12;
			this._invInertia20 = __tmp__20;
			this._invInertia21 = __tmp__21;
			this._invInertia22 = __tmp__22;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
			__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
			__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
			__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
			__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
			__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
			__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
			__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
			__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
			this._invInertia00 = __tmp__001;
			this._invInertia01 = __tmp__011;
			this._invInertia02 = __tmp__021;
			this._invInertia10 = __tmp__101;
			this._invInertia11 = __tmp__111;
			this._invInertia12 = __tmp__121;
			this._invInertia20 = __tmp__201;
			this._invInertia21 = __tmp__211;
			this._invInertia22 = __tmp__221;
			this._invInertia00 *= this._rotFactor.x;
			this._invInertia01 *= this._rotFactor.x;
			this._invInertia02 *= this._rotFactor.x;
			this._invInertia10 *= this._rotFactor.y;
			this._invInertia11 *= this._rotFactor.y;
			this._invInertia12 *= this._rotFactor.y;
			this._invInertia20 *= this._rotFactor.z;
			this._invInertia21 *= this._rotFactor.z;
			this._invInertia22 *= this._rotFactor.z;
			break;
		}
	}
	_integratePseudoVelocity() {
		if(this._pseudoVelX * this._pseudoVelX + this._pseudoVelY * this._pseudoVelY + this._pseudoVelZ * this._pseudoVelZ == 0 && this._angPseudoVelX * this._angPseudoVelX + this._angPseudoVelY * this._angPseudoVelY + this._angPseudoVelZ * this._angPseudoVelZ == 0) {
			return;
		}
		switch(this._type) {
		case 1:
			this._pseudoVelX = 0;
			this._pseudoVelY = 0;
			this._pseudoVelZ = 0;
			this._angPseudoVelX = 0;
			this._angPseudoVelY = 0;
			this._angPseudoVelZ = 0;
			break;
		case 0:case 2:
			let translationX;
			let translationY;
			let translationZ;
			let rotationX;
			let rotationY;
			let rotationZ;
			translationX = this._pseudoVelX;
			translationY = this._pseudoVelY;
			translationZ = this._pseudoVelZ;
			rotationX = this._angPseudoVelX;
			rotationY = this._angPseudoVelY;
			rotationZ = this._angPseudoVelZ;
			this._pseudoVelX = 0;
			this._pseudoVelY = 0;
			this._pseudoVelZ = 0;
			this._angPseudoVelX = 0;
			this._angPseudoVelY = 0;
			this._angPseudoVelZ = 0;
			this._transform._positionX += translationX;
			this._transform._positionY += translationY;
			this._transform._positionZ += translationZ;
			let theta = Math.sqrt(rotationX * rotationX + rotationY * rotationY + rotationZ * rotationZ);
			let halfTheta = theta * 0.5;
			let rotationToSinAxisFactor;
			let cosHalfTheta;
			if(halfTheta < 0.5) {
				let ht2 = halfTheta * halfTheta;
				rotationToSinAxisFactor = 0.5 * (1 - ht2 * 0.16666666666666666 + ht2 * ht2 * 0.0083333333333333332);
				cosHalfTheta = 1 - ht2 * 0.5 + ht2 * ht2 * 0.041666666666666664;
			} else {
				rotationToSinAxisFactor = Math.sin(halfTheta) / theta;
				cosHalfTheta = Math.cos(halfTheta);
			}
			let sinAxisX;
			let sinAxisY;
			let sinAxisZ;
			sinAxisX = rotationX * rotationToSinAxisFactor;
			sinAxisY = rotationY * rotationToSinAxisFactor;
			sinAxisZ = rotationZ * rotationToSinAxisFactor;
			let dqX;
			let dqY;
			let dqZ;
			let dqW;
			dqX = sinAxisX;
			dqY = sinAxisY;
			dqZ = sinAxisZ;
			dqW = cosHalfTheta;
			let qX;
			let qY;
			let qZ;
			let qW;
			let e00 = this._transform._rotation00;
			let e11 = this._transform._rotation11;
			let e22 = this._transform._rotation22;
			let t = e00 + e11 + e22;
			let s;
			if(t > 0) {
				s = Math.sqrt(t + 1);
				qW = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation21 - this._transform._rotation12) * s;
				qY = (this._transform._rotation02 - this._transform._rotation20) * s;
				qZ = (this._transform._rotation10 - this._transform._rotation01) * s;
			} else if(e00 > e11) {
				if(e00 > e22) {
					s = Math.sqrt(e00 - e11 - e22 + 1);
					qX = 0.5 * s;
					s = 0.5 / s;
					qY = (this._transform._rotation01 + this._transform._rotation10) * s;
					qZ = (this._transform._rotation02 + this._transform._rotation20) * s;
					qW = (this._transform._rotation21 - this._transform._rotation12) * s;
				} else {
					s = Math.sqrt(e22 - e00 - e11 + 1);
					qZ = 0.5 * s;
					s = 0.5 / s;
					qX = (this._transform._rotation02 + this._transform._rotation20) * s;
					qY = (this._transform._rotation12 + this._transform._rotation21) * s;
					qW = (this._transform._rotation10 - this._transform._rotation01) * s;
				}
			} else if(e11 > e22) {
				s = Math.sqrt(e11 - e22 - e00 + 1);
				qY = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation01 + this._transform._rotation10) * s;
				qZ = (this._transform._rotation12 + this._transform._rotation21) * s;
				qW = (this._transform._rotation02 - this._transform._rotation20) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				qZ = 0.5 * s;
				s = 0.5 / s;
				qX = (this._transform._rotation02 + this._transform._rotation20) * s;
				qY = (this._transform._rotation12 + this._transform._rotation21) * s;
				qW = (this._transform._rotation10 - this._transform._rotation01) * s;
			}
			qX = dqW * qX + dqX * qW + dqY * qZ - dqZ * qY;
			qY = dqW * qY - dqX * qZ + dqY * qW + dqZ * qX;
			qZ = dqW * qZ + dqX * qY - dqY * qX + dqZ * qW;
			qW = dqW * qW - dqX * qX - dqY * qY - dqZ * qZ;
			let l = qX * qX + qY * qY + qZ * qZ + qW * qW;
			if(l > 1e-32) {
				l = 1 / Math.sqrt(l);
			}
			qX *= l;
			qY *= l;
			qZ *= l;
			qW *= l;
			let x = qX;
			let y = qY;
			let z = qZ;
			let w = qW;
			let x2 = 2 * x;
			let y2 = 2 * y;
			let z2 = 2 * z;
			let xx = x * x2;
			let yy = y * y2;
			let zz = z * z2;
			let xy = x * y2;
			let yz = y * z2;
			let xz = x * z2;
			let wx = w * x2;
			let wy = w * y2;
			let wz = w * z2;
			this._transform._rotation00 = 1 - yy - zz;
			this._transform._rotation01 = xy - wz;
			this._transform._rotation02 = xz + wy;
			this._transform._rotation10 = xy + wz;
			this._transform._rotation11 = 1 - xx - zz;
			this._transform._rotation12 = yz - wx;
			this._transform._rotation20 = xz - wy;
			this._transform._rotation21 = yz + wx;
			this._transform._rotation22 = 1 - xx - yy;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
			__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
			__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
			__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
			__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
			__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
			__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
			__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
			__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
			this._invInertia00 = __tmp__00;
			this._invInertia01 = __tmp__01;
			this._invInertia02 = __tmp__02;
			this._invInertia10 = __tmp__10;
			this._invInertia11 = __tmp__11;
			this._invInertia12 = __tmp__12;
			this._invInertia20 = __tmp__20;
			this._invInertia21 = __tmp__21;
			this._invInertia22 = __tmp__22;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
			__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
			__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
			__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
			__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
			__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
			__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
			__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
			__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
			this._invInertia00 = __tmp__001;
			this._invInertia01 = __tmp__011;
			this._invInertia02 = __tmp__021;
			this._invInertia10 = __tmp__101;
			this._invInertia11 = __tmp__111;
			this._invInertia12 = __tmp__121;
			this._invInertia20 = __tmp__201;
			this._invInertia21 = __tmp__211;
			this._invInertia22 = __tmp__221;
			this._invInertia00 *= this._rotFactor.x;
			this._invInertia01 *= this._rotFactor.x;
			this._invInertia02 *= this._rotFactor.x;
			this._invInertia10 *= this._rotFactor.y;
			this._invInertia11 *= this._rotFactor.y;
			this._invInertia12 *= this._rotFactor.y;
			this._invInertia20 *= this._rotFactor.z;
			this._invInertia21 *= this._rotFactor.z;
			this._invInertia22 *= this._rotFactor.z;
			break;
		}
	}
	updateMass() {
		let totalInertia00;
		let totalInertia01;
		let totalInertia02;
		let totalInertia10;
		let totalInertia11;
		let totalInertia12;
		let totalInertia20;
		let totalInertia21;
		let totalInertia22;
		totalInertia00 = 0;
		totalInertia01 = 0;
		totalInertia02 = 0;
		totalInertia10 = 0;
		totalInertia11 = 0;
		totalInertia12 = 0;
		totalInertia20 = 0;
		totalInertia21 = 0;
		totalInertia22 = 0;
		let totalMass = 0;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let g = s._geom;
			g._updateMass();
			let mass = s._density * g._volume;
			let inertia00;
			let inertia01;
			let inertia02;
			let inertia10;
			let inertia11;
			let inertia12;
			let inertia20;
			let inertia21;
			let inertia22;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = s._localTransform._rotation00 * g._inertiaCoeff00 + s._localTransform._rotation01 * g._inertiaCoeff10 + s._localTransform._rotation02 * g._inertiaCoeff20;
			__tmp__01 = s._localTransform._rotation00 * g._inertiaCoeff01 + s._localTransform._rotation01 * g._inertiaCoeff11 + s._localTransform._rotation02 * g._inertiaCoeff21;
			__tmp__02 = s._localTransform._rotation00 * g._inertiaCoeff02 + s._localTransform._rotation01 * g._inertiaCoeff12 + s._localTransform._rotation02 * g._inertiaCoeff22;
			__tmp__10 = s._localTransform._rotation10 * g._inertiaCoeff00 + s._localTransform._rotation11 * g._inertiaCoeff10 + s._localTransform._rotation12 * g._inertiaCoeff20;
			__tmp__11 = s._localTransform._rotation10 * g._inertiaCoeff01 + s._localTransform._rotation11 * g._inertiaCoeff11 + s._localTransform._rotation12 * g._inertiaCoeff21;
			__tmp__12 = s._localTransform._rotation10 * g._inertiaCoeff02 + s._localTransform._rotation11 * g._inertiaCoeff12 + s._localTransform._rotation12 * g._inertiaCoeff22;
			__tmp__20 = s._localTransform._rotation20 * g._inertiaCoeff00 + s._localTransform._rotation21 * g._inertiaCoeff10 + s._localTransform._rotation22 * g._inertiaCoeff20;
			__tmp__21 = s._localTransform._rotation20 * g._inertiaCoeff01 + s._localTransform._rotation21 * g._inertiaCoeff11 + s._localTransform._rotation22 * g._inertiaCoeff21;
			__tmp__22 = s._localTransform._rotation20 * g._inertiaCoeff02 + s._localTransform._rotation21 * g._inertiaCoeff12 + s._localTransform._rotation22 * g._inertiaCoeff22;
			inertia00 = __tmp__00;
			inertia01 = __tmp__01;
			inertia02 = __tmp__02;
			inertia10 = __tmp__10;
			inertia11 = __tmp__11;
			inertia12 = __tmp__12;
			inertia20 = __tmp__20;
			inertia21 = __tmp__21;
			inertia22 = __tmp__22;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = inertia00 * s._localTransform._rotation00 + inertia01 * s._localTransform._rotation01 + inertia02 * s._localTransform._rotation02;
			__tmp__011 = inertia00 * s._localTransform._rotation10 + inertia01 * s._localTransform._rotation11 + inertia02 * s._localTransform._rotation12;
			__tmp__021 = inertia00 * s._localTransform._rotation20 + inertia01 * s._localTransform._rotation21 + inertia02 * s._localTransform._rotation22;
			__tmp__101 = inertia10 * s._localTransform._rotation00 + inertia11 * s._localTransform._rotation01 + inertia12 * s._localTransform._rotation02;
			__tmp__111 = inertia10 * s._localTransform._rotation10 + inertia11 * s._localTransform._rotation11 + inertia12 * s._localTransform._rotation12;
			__tmp__121 = inertia10 * s._localTransform._rotation20 + inertia11 * s._localTransform._rotation21 + inertia12 * s._localTransform._rotation22;
			__tmp__201 = inertia20 * s._localTransform._rotation00 + inertia21 * s._localTransform._rotation01 + inertia22 * s._localTransform._rotation02;
			__tmp__211 = inertia20 * s._localTransform._rotation10 + inertia21 * s._localTransform._rotation11 + inertia22 * s._localTransform._rotation12;
			__tmp__221 = inertia20 * s._localTransform._rotation20 + inertia21 * s._localTransform._rotation21 + inertia22 * s._localTransform._rotation22;
			inertia00 = __tmp__001;
			inertia01 = __tmp__011;
			inertia02 = __tmp__021;
			inertia10 = __tmp__101;
			inertia11 = __tmp__111;
			inertia12 = __tmp__121;
			inertia20 = __tmp__201;
			inertia21 = __tmp__211;
			inertia22 = __tmp__221;
			inertia00 *= mass;
			inertia01 *= mass;
			inertia02 *= mass;
			inertia10 *= mass;
			inertia11 *= mass;
			inertia12 *= mass;
			inertia20 *= mass;
			inertia21 *= mass;
			inertia22 *= mass;
			let cogInertia00;
			let cogInertia01;
			let cogInertia02;
			let cogInertia10;
			let cogInertia11;
			let cogInertia12;
			let cogInertia20;
			let cogInertia21;
			let cogInertia22;
			let xx = s._localTransform._positionX * s._localTransform._positionX;
			let yy = s._localTransform._positionY * s._localTransform._positionY;
			let zz = s._localTransform._positionZ * s._localTransform._positionZ;
			let xy = -s._localTransform._positionX * s._localTransform._positionY;
			let yz = -s._localTransform._positionY * s._localTransform._positionZ;
			let zx = -s._localTransform._positionZ * s._localTransform._positionX;
			cogInertia00 = yy + zz;
			cogInertia01 = xy;
			cogInertia02 = zx;
			cogInertia10 = xy;
			cogInertia11 = xx + zz;
			cogInertia12 = yz;
			cogInertia20 = zx;
			cogInertia21 = yz;
			cogInertia22 = xx + yy;
			inertia00 += cogInertia00 * mass;
			inertia01 += cogInertia01 * mass;
			inertia02 += cogInertia02 * mass;
			inertia10 += cogInertia10 * mass;
			inertia11 += cogInertia11 * mass;
			inertia12 += cogInertia12 * mass;
			inertia20 += cogInertia20 * mass;
			inertia21 += cogInertia21 * mass;
			inertia22 += cogInertia22 * mass;
			totalMass += mass;
			totalInertia00 += inertia00;
			totalInertia01 += inertia01;
			totalInertia02 += inertia02;
			totalInertia10 += inertia10;
			totalInertia11 += inertia11;
			totalInertia12 += inertia12;
			totalInertia20 += inertia20;
			totalInertia21 += inertia21;
			totalInertia22 += inertia22;
			s = n;
		}
		this._mass = totalMass;
		this._localInertia00 = totalInertia00;
		this._localInertia01 = totalInertia01;
		this._localInertia02 = totalInertia02;
		this._localInertia10 = totalInertia10;
		this._localInertia11 = totalInertia11;
		this._localInertia12 = totalInertia12;
		this._localInertia20 = totalInertia20;
		this._localInertia21 = totalInertia21;
		this._localInertia22 = totalInertia22;
		if(this._mass > 0 && this._localInertia00 * (this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21) - this._localInertia01 * (this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20) + this._localInertia02 * (this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20) > 0 && this._type == 0) {
			this._invMass = 1 / this._mass;
			let d00 = this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21;
			let d01 = this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20;
			let d02 = this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20;
			let d = this._localInertia00 * d00 - this._localInertia01 * d01 + this._localInertia02 * d02;
			if(d < -1e-32 || d > 1e-32) {
				d = 1 / d;
			}
			this._invLocalInertia00 = d00 * d;
			this._invLocalInertia01 = -(this._localInertia01 * this._localInertia22 - this._localInertia02 * this._localInertia21) * d;
			this._invLocalInertia02 = (this._localInertia01 * this._localInertia12 - this._localInertia02 * this._localInertia11) * d;
			this._invLocalInertia10 = -d01 * d;
			this._invLocalInertia11 = (this._localInertia00 * this._localInertia22 - this._localInertia02 * this._localInertia20) * d;
			this._invLocalInertia12 = -(this._localInertia00 * this._localInertia12 - this._localInertia02 * this._localInertia10) * d;
			this._invLocalInertia20 = d02 * d;
			this._invLocalInertia21 = -(this._localInertia00 * this._localInertia21 - this._localInertia01 * this._localInertia20) * d;
			this._invLocalInertia22 = (this._localInertia00 * this._localInertia11 - this._localInertia01 * this._localInertia10) * d;
			this._invLocalInertiaWithoutRotFactor00 = this._invLocalInertia00;
			this._invLocalInertiaWithoutRotFactor01 = this._invLocalInertia01;
			this._invLocalInertiaWithoutRotFactor02 = this._invLocalInertia02;
			this._invLocalInertiaWithoutRotFactor10 = this._invLocalInertia10;
			this._invLocalInertiaWithoutRotFactor11 = this._invLocalInertia11;
			this._invLocalInertiaWithoutRotFactor12 = this._invLocalInertia12;
			this._invLocalInertiaWithoutRotFactor20 = this._invLocalInertia20;
			this._invLocalInertiaWithoutRotFactor21 = this._invLocalInertia21;
			this._invLocalInertiaWithoutRotFactor22 = this._invLocalInertia22;
			this._invLocalInertia00 = this._invLocalInertiaWithoutRotFactor00 * this._rotFactor.x;
			this._invLocalInertia01 = this._invLocalInertiaWithoutRotFactor01 * this._rotFactor.x;
			this._invLocalInertia02 = this._invLocalInertiaWithoutRotFactor02 * this._rotFactor.x;
			this._invLocalInertia10 = this._invLocalInertiaWithoutRotFactor10 * this._rotFactor.y;
			this._invLocalInertia11 = this._invLocalInertiaWithoutRotFactor11 * this._rotFactor.y;
			this._invLocalInertia12 = this._invLocalInertiaWithoutRotFactor12 * this._rotFactor.y;
			this._invLocalInertia20 = this._invLocalInertiaWithoutRotFactor20 * this._rotFactor.z;
			this._invLocalInertia21 = this._invLocalInertiaWithoutRotFactor21 * this._rotFactor.z;
			this._invLocalInertia22 = this._invLocalInertiaWithoutRotFactor22 * this._rotFactor.z;
		} else {
			this._invMass = 0;
			this._invLocalInertia00 = 0;
			this._invLocalInertia01 = 0;
			this._invLocalInertia02 = 0;
			this._invLocalInertia10 = 0;
			this._invLocalInertia11 = 0;
			this._invLocalInertia12 = 0;
			this._invLocalInertia20 = 0;
			this._invLocalInertia21 = 0;
			this._invLocalInertia22 = 0;
			this._invLocalInertiaWithoutRotFactor00 = 0;
			this._invLocalInertiaWithoutRotFactor01 = 0;
			this._invLocalInertiaWithoutRotFactor02 = 0;
			this._invLocalInertiaWithoutRotFactor10 = 0;
			this._invLocalInertiaWithoutRotFactor11 = 0;
			this._invLocalInertiaWithoutRotFactor12 = 0;
			this._invLocalInertiaWithoutRotFactor20 = 0;
			this._invLocalInertiaWithoutRotFactor21 = 0;
			this._invLocalInertiaWithoutRotFactor22 = 0;
			if(this._type == 0) {
				this._type = 1;
			}
		}
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getPosition() {
		let v = new oimo.common.Vec3();
		v.x = this._transform._positionX;
		v.y = this._transform._positionY;
		v.z = this._transform._positionZ;
		return v;
	}
	getPositionTo(position) {
		position.x = this._transform._positionX;
		position.y = this._transform._positionY;
		position.z = this._transform._positionZ;
	}
	setPosition(position) {
		this._transform._positionX = position.x;
		this._transform._positionY = position.y;
		this._transform._positionZ = position.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	translate(translation) {
		let diffX;
		let diffY;
		let diffZ;
		diffX = translation.x;
		diffY = translation.y;
		diffZ = translation.z;
		this._transform._positionX += diffX;
		this._transform._positionY += diffY;
		this._transform._positionZ += diffZ;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getRotation() {
		let m = new oimo.common.Mat3();
		m.e00 = this._transform._rotation00;
		m.e01 = this._transform._rotation01;
		m.e02 = this._transform._rotation02;
		m.e10 = this._transform._rotation10;
		m.e11 = this._transform._rotation11;
		m.e12 = this._transform._rotation12;
		m.e20 = this._transform._rotation20;
		m.e21 = this._transform._rotation21;
		m.e22 = this._transform._rotation22;
		return m;
	}
	getRotationTo(rotation) {
		rotation.e00 = this._transform._rotation00;
		rotation.e01 = this._transform._rotation01;
		rotation.e02 = this._transform._rotation02;
		rotation.e10 = this._transform._rotation10;
		rotation.e11 = this._transform._rotation11;
		rotation.e12 = this._transform._rotation12;
		rotation.e20 = this._transform._rotation20;
		rotation.e21 = this._transform._rotation21;
		rotation.e22 = this._transform._rotation22;
	}
	setRotation(rotation) {
		this._transform._rotation00 = rotation.e00;
		this._transform._rotation01 = rotation.e01;
		this._transform._rotation02 = rotation.e02;
		this._transform._rotation10 = rotation.e10;
		this._transform._rotation11 = rotation.e11;
		this._transform._rotation12 = rotation.e12;
		this._transform._rotation20 = rotation.e20;
		this._transform._rotation21 = rotation.e21;
		this._transform._rotation22 = rotation.e22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	setRotationXyz(eulerAngles) {
		let xyzX;
		let xyzY;
		let xyzZ;
		xyzX = eulerAngles.x;
		xyzY = eulerAngles.y;
		xyzZ = eulerAngles.z;
		let sx = Math.sin(xyzX);
		let sy = Math.sin(xyzY);
		let sz = Math.sin(xyzZ);
		let cx = Math.cos(xyzX);
		let cy = Math.cos(xyzY);
		let cz = Math.cos(xyzZ);
		this._transform._rotation00 = cy * cz;
		this._transform._rotation01 = -cy * sz;
		this._transform._rotation02 = sy;
		this._transform._rotation10 = cx * sz + cz * sx * sy;
		this._transform._rotation11 = cx * cz - sx * sy * sz;
		this._transform._rotation12 = -cy * sx;
		this._transform._rotation20 = sx * sz - cx * cz * sy;
		this._transform._rotation21 = cz * sx + cx * sy * sz;
		this._transform._rotation22 = cx * cy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	rotate(rotation) {
		let rot00;
		let rot01;
		let rot02;
		let rot10;
		let rot11;
		let rot12;
		let rot20;
		let rot21;
		let rot22;
		rot00 = rotation.e00;
		rot01 = rotation.e01;
		rot02 = rotation.e02;
		rot10 = rotation.e10;
		rot11 = rotation.e11;
		rot12 = rotation.e12;
		rot20 = rotation.e20;
		rot21 = rotation.e21;
		rot22 = rotation.e22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot00 * this._transform._rotation00 + rot01 * this._transform._rotation10 + rot02 * this._transform._rotation20;
		__tmp__01 = rot00 * this._transform._rotation01 + rot01 * this._transform._rotation11 + rot02 * this._transform._rotation21;
		__tmp__02 = rot00 * this._transform._rotation02 + rot01 * this._transform._rotation12 + rot02 * this._transform._rotation22;
		__tmp__10 = rot10 * this._transform._rotation00 + rot11 * this._transform._rotation10 + rot12 * this._transform._rotation20;
		__tmp__11 = rot10 * this._transform._rotation01 + rot11 * this._transform._rotation11 + rot12 * this._transform._rotation21;
		__tmp__12 = rot10 * this._transform._rotation02 + rot11 * this._transform._rotation12 + rot12 * this._transform._rotation22;
		__tmp__20 = rot20 * this._transform._rotation00 + rot21 * this._transform._rotation10 + rot22 * this._transform._rotation20;
		__tmp__21 = rot20 * this._transform._rotation01 + rot21 * this._transform._rotation11 + rot22 * this._transform._rotation21;
		__tmp__22 = rot20 * this._transform._rotation02 + rot21 * this._transform._rotation12 + rot22 * this._transform._rotation22;
		this._transform._rotation00 = __tmp__00;
		this._transform._rotation01 = __tmp__01;
		this._transform._rotation02 = __tmp__02;
		this._transform._rotation10 = __tmp__10;
		this._transform._rotation11 = __tmp__11;
		this._transform._rotation12 = __tmp__12;
		this._transform._rotation20 = __tmp__20;
		this._transform._rotation21 = __tmp__21;
		this._transform._rotation22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__011 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__021 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__101 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__111 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__121 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__201 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__211 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__221 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		let __tmp__002;
		let __tmp__012;
		let __tmp__022;
		let __tmp__102;
		let __tmp__112;
		let __tmp__122;
		let __tmp__202;
		let __tmp__212;
		let __tmp__222;
		__tmp__002 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__012 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__022 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__102 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__112 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__122 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__202 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__212 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__222 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__002;
		this._invInertia01 = __tmp__012;
		this._invInertia02 = __tmp__022;
		this._invInertia10 = __tmp__102;
		this._invInertia11 = __tmp__112;
		this._invInertia12 = __tmp__122;
		this._invInertia20 = __tmp__202;
		this._invInertia21 = __tmp__212;
		this._invInertia22 = __tmp__222;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	rotateXyz(eulerAngles) {
		let xyzX;
		let xyzY;
		let xyzZ;
		let rot00;
		let rot01;
		let rot02;
		let rot10;
		let rot11;
		let rot12;
		let rot20;
		let rot21;
		let rot22;
		xyzX = eulerAngles.x;
		xyzY = eulerAngles.y;
		xyzZ = eulerAngles.z;
		let sx = Math.sin(xyzX);
		let sy = Math.sin(xyzY);
		let sz = Math.sin(xyzZ);
		let cx = Math.cos(xyzX);
		let cy = Math.cos(xyzY);
		let cz = Math.cos(xyzZ);
		rot00 = cy * cz;
		rot01 = -cy * sz;
		rot02 = sy;
		rot10 = cx * sz + cz * sx * sy;
		rot11 = cx * cz - sx * sy * sz;
		rot12 = -cy * sx;
		rot20 = sx * sz - cx * cz * sy;
		rot21 = cz * sx + cx * sy * sz;
		rot22 = cx * cy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = rot00 * this._transform._rotation00 + rot01 * this._transform._rotation10 + rot02 * this._transform._rotation20;
		__tmp__01 = rot00 * this._transform._rotation01 + rot01 * this._transform._rotation11 + rot02 * this._transform._rotation21;
		__tmp__02 = rot00 * this._transform._rotation02 + rot01 * this._transform._rotation12 + rot02 * this._transform._rotation22;
		__tmp__10 = rot10 * this._transform._rotation00 + rot11 * this._transform._rotation10 + rot12 * this._transform._rotation20;
		__tmp__11 = rot10 * this._transform._rotation01 + rot11 * this._transform._rotation11 + rot12 * this._transform._rotation21;
		__tmp__12 = rot10 * this._transform._rotation02 + rot11 * this._transform._rotation12 + rot12 * this._transform._rotation22;
		__tmp__20 = rot20 * this._transform._rotation00 + rot21 * this._transform._rotation10 + rot22 * this._transform._rotation20;
		__tmp__21 = rot20 * this._transform._rotation01 + rot21 * this._transform._rotation11 + rot22 * this._transform._rotation21;
		__tmp__22 = rot20 * this._transform._rotation02 + rot21 * this._transform._rotation12 + rot22 * this._transform._rotation22;
		this._transform._rotation00 = __tmp__00;
		this._transform._rotation01 = __tmp__01;
		this._transform._rotation02 = __tmp__02;
		this._transform._rotation10 = __tmp__10;
		this._transform._rotation11 = __tmp__11;
		this._transform._rotation12 = __tmp__12;
		this._transform._rotation20 = __tmp__20;
		this._transform._rotation21 = __tmp__21;
		this._transform._rotation22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__011 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__021 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__101 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__111 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__121 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__201 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__211 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__221 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		let __tmp__002;
		let __tmp__012;
		let __tmp__022;
		let __tmp__102;
		let __tmp__112;
		let __tmp__122;
		let __tmp__202;
		let __tmp__212;
		let __tmp__222;
		__tmp__002 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__012 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__022 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__102 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__112 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__122 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__202 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__212 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__222 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__002;
		this._invInertia01 = __tmp__012;
		this._invInertia02 = __tmp__022;
		this._invInertia10 = __tmp__102;
		this._invInertia11 = __tmp__112;
		this._invInertia12 = __tmp__122;
		this._invInertia20 = __tmp__202;
		this._invInertia21 = __tmp__212;
		this._invInertia22 = __tmp__222;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getOrientation() {
		let q = new oimo.common.Quat();
		let iqX;
		let iqY;
		let iqZ;
		let iqW;
		let e00 = this._transform._rotation00;
		let e11 = this._transform._rotation11;
		let e22 = this._transform._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			iqW = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation21 - this._transform._rotation12) * s;
			iqY = (this._transform._rotation02 - this._transform._rotation20) * s;
			iqZ = (this._transform._rotation10 - this._transform._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				iqX = 0.5 * s;
				s = 0.5 / s;
				iqY = (this._transform._rotation01 + this._transform._rotation10) * s;
				iqZ = (this._transform._rotation02 + this._transform._rotation20) * s;
				iqW = (this._transform._rotation21 - this._transform._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				iqZ = 0.5 * s;
				s = 0.5 / s;
				iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
				iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
				iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			iqY = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation01 + this._transform._rotation10) * s;
			iqZ = (this._transform._rotation12 + this._transform._rotation21) * s;
			iqW = (this._transform._rotation02 - this._transform._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			iqZ = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
			iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
			iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
		}
		q.x = iqX;
		q.y = iqY;
		q.z = iqZ;
		q.w = iqW;
		return q;
	}
	getOrientationTo(orientation) {
		let iqX;
		let iqY;
		let iqZ;
		let iqW;
		let e00 = this._transform._rotation00;
		let e11 = this._transform._rotation11;
		let e22 = this._transform._rotation22;
		let t = e00 + e11 + e22;
		let s;
		if(t > 0) {
			s = Math.sqrt(t + 1);
			iqW = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation21 - this._transform._rotation12) * s;
			iqY = (this._transform._rotation02 - this._transform._rotation20) * s;
			iqZ = (this._transform._rotation10 - this._transform._rotation01) * s;
		} else if(e00 > e11) {
			if(e00 > e22) {
				s = Math.sqrt(e00 - e11 - e22 + 1);
				iqX = 0.5 * s;
				s = 0.5 / s;
				iqY = (this._transform._rotation01 + this._transform._rotation10) * s;
				iqZ = (this._transform._rotation02 + this._transform._rotation20) * s;
				iqW = (this._transform._rotation21 - this._transform._rotation12) * s;
			} else {
				s = Math.sqrt(e22 - e00 - e11 + 1);
				iqZ = 0.5 * s;
				s = 0.5 / s;
				iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
				iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
				iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
			}
		} else if(e11 > e22) {
			s = Math.sqrt(e11 - e22 - e00 + 1);
			iqY = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation01 + this._transform._rotation10) * s;
			iqZ = (this._transform._rotation12 + this._transform._rotation21) * s;
			iqW = (this._transform._rotation02 - this._transform._rotation20) * s;
		} else {
			s = Math.sqrt(e22 - e00 - e11 + 1);
			iqZ = 0.5 * s;
			s = 0.5 / s;
			iqX = (this._transform._rotation02 + this._transform._rotation20) * s;
			iqY = (this._transform._rotation12 + this._transform._rotation21) * s;
			iqW = (this._transform._rotation10 - this._transform._rotation01) * s;
		}
		orientation.x = iqX;
		orientation.y = iqY;
		orientation.z = iqZ;
		orientation.w = iqW;
	}
	setOrientation(quaternion) {
		let qX;
		let qY;
		let qZ;
		let qW;
		qX = quaternion.x;
		qY = quaternion.y;
		qZ = quaternion.z;
		qW = quaternion.w;
		let x = qX;
		let y = qY;
		let z = qZ;
		let w = qW;
		let x2 = 2 * x;
		let y2 = 2 * y;
		let z2 = 2 * z;
		let xx = x * x2;
		let yy = y * y2;
		let zz = z * z2;
		let xy = x * y2;
		let yz = y * z2;
		let xz = x * z2;
		let wx = w * x2;
		let wy = w * y2;
		let wz = w * z2;
		this._transform._rotation00 = 1 - yy - zz;
		this._transform._rotation01 = xy - wz;
		this._transform._rotation02 = xz + wy;
		this._transform._rotation10 = xy + wz;
		this._transform._rotation11 = 1 - xx - zz;
		this._transform._rotation12 = yz - wx;
		this._transform._rotation20 = xz - wy;
		this._transform._rotation21 = yz + wx;
		this._transform._rotation22 = 1 - xx - yy;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getTransform() {
		let _this = this._transform;
		let tf = new oimo.common.Transform();
		tf._positionX = _this._positionX;
		tf._positionY = _this._positionY;
		tf._positionZ = _this._positionZ;
		tf._rotation00 = _this._rotation00;
		tf._rotation01 = _this._rotation01;
		tf._rotation02 = _this._rotation02;
		tf._rotation10 = _this._rotation10;
		tf._rotation11 = _this._rotation11;
		tf._rotation12 = _this._rotation12;
		tf._rotation20 = _this._rotation20;
		tf._rotation21 = _this._rotation21;
		tf._rotation22 = _this._rotation22;
		return tf;
	}
	getTransformTo(transform) {
		let transform1 = this._transform;
		transform._positionX = transform1._positionX;
		transform._positionY = transform1._positionY;
		transform._positionZ = transform1._positionZ;
		transform._rotation00 = transform1._rotation00;
		transform._rotation01 = transform1._rotation01;
		transform._rotation02 = transform1._rotation02;
		transform._rotation10 = transform1._rotation10;
		transform._rotation11 = transform1._rotation11;
		transform._rotation12 = transform1._rotation12;
		transform._rotation20 = transform1._rotation20;
		transform._rotation21 = transform1._rotation21;
		transform._rotation22 = transform1._rotation22;
	}
	setTransform(transform) {
		this._transform._positionX = transform._positionX;
		this._transform._positionY = transform._positionY;
		this._transform._positionZ = transform._positionZ;
		this._transform._rotation00 = transform._rotation00;
		this._transform._rotation01 = transform._rotation01;
		this._transform._rotation02 = transform._rotation02;
		this._transform._rotation10 = transform._rotation10;
		this._transform._rotation11 = transform._rotation11;
		this._transform._rotation12 = transform._rotation12;
		this._transform._rotation20 = transform._rotation20;
		this._transform._rotation21 = transform._rotation21;
		this._transform._rotation22 = transform._rotation22;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		let dst = this._ptransform;
		let src = this._transform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getMass() {
		return this._mass;
	}
	getLocalInertia() {
		let m = new oimo.common.Mat3();
		m.e00 = this._localInertia00;
		m.e01 = this._localInertia01;
		m.e02 = this._localInertia02;
		m.e10 = this._localInertia10;
		m.e11 = this._localInertia11;
		m.e12 = this._localInertia12;
		m.e20 = this._localInertia20;
		m.e21 = this._localInertia21;
		m.e22 = this._localInertia22;
		return m;
	}
	getLocalInertiaTo(inertia) {
		inertia.e00 = this._localInertia00;
		inertia.e01 = this._localInertia01;
		inertia.e02 = this._localInertia02;
		inertia.e10 = this._localInertia10;
		inertia.e11 = this._localInertia11;
		inertia.e12 = this._localInertia12;
		inertia.e20 = this._localInertia20;
		inertia.e21 = this._localInertia21;
		inertia.e22 = this._localInertia22;
	}
	getMassData() {
		let md = new oimo.dynamics.rigidbody.MassData();
		md.mass = this._mass;
		let m = md.localInertia;
		m.e00 = this._localInertia00;
		m.e01 = this._localInertia01;
		m.e02 = this._localInertia02;
		m.e10 = this._localInertia10;
		m.e11 = this._localInertia11;
		m.e12 = this._localInertia12;
		m.e20 = this._localInertia20;
		m.e21 = this._localInertia21;
		m.e22 = this._localInertia22;
		return md;
	}
	getMassDataTo(massData) {
		massData.mass = this._mass;
		let m = massData.localInertia;
		m.e00 = this._localInertia00;
		m.e01 = this._localInertia01;
		m.e02 = this._localInertia02;
		m.e10 = this._localInertia10;
		m.e11 = this._localInertia11;
		m.e12 = this._localInertia12;
		m.e20 = this._localInertia20;
		m.e21 = this._localInertia21;
		m.e22 = this._localInertia22;
	}
	setMassData(massData) {
		this._mass = massData.mass;
		let m = massData.localInertia;
		this._localInertia00 = m.e00;
		this._localInertia01 = m.e01;
		this._localInertia02 = m.e02;
		this._localInertia10 = m.e10;
		this._localInertia11 = m.e11;
		this._localInertia12 = m.e12;
		this._localInertia20 = m.e20;
		this._localInertia21 = m.e21;
		this._localInertia22 = m.e22;
		if(this._mass > 0 && this._localInertia00 * (this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21) - this._localInertia01 * (this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20) + this._localInertia02 * (this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20) > 0 && this._type == 0) {
			this._invMass = 1 / this._mass;
			let d00 = this._localInertia11 * this._localInertia22 - this._localInertia12 * this._localInertia21;
			let d01 = this._localInertia10 * this._localInertia22 - this._localInertia12 * this._localInertia20;
			let d02 = this._localInertia10 * this._localInertia21 - this._localInertia11 * this._localInertia20;
			let d = this._localInertia00 * d00 - this._localInertia01 * d01 + this._localInertia02 * d02;
			if(d < -1e-32 || d > 1e-32) {
				d = 1 / d;
			}
			this._invLocalInertia00 = d00 * d;
			this._invLocalInertia01 = -(this._localInertia01 * this._localInertia22 - this._localInertia02 * this._localInertia21) * d;
			this._invLocalInertia02 = (this._localInertia01 * this._localInertia12 - this._localInertia02 * this._localInertia11) * d;
			this._invLocalInertia10 = -d01 * d;
			this._invLocalInertia11 = (this._localInertia00 * this._localInertia22 - this._localInertia02 * this._localInertia20) * d;
			this._invLocalInertia12 = -(this._localInertia00 * this._localInertia12 - this._localInertia02 * this._localInertia10) * d;
			this._invLocalInertia20 = d02 * d;
			this._invLocalInertia21 = -(this._localInertia00 * this._localInertia21 - this._localInertia01 * this._localInertia20) * d;
			this._invLocalInertia22 = (this._localInertia00 * this._localInertia11 - this._localInertia01 * this._localInertia10) * d;
			this._invLocalInertiaWithoutRotFactor00 = this._invLocalInertia00;
			this._invLocalInertiaWithoutRotFactor01 = this._invLocalInertia01;
			this._invLocalInertiaWithoutRotFactor02 = this._invLocalInertia02;
			this._invLocalInertiaWithoutRotFactor10 = this._invLocalInertia10;
			this._invLocalInertiaWithoutRotFactor11 = this._invLocalInertia11;
			this._invLocalInertiaWithoutRotFactor12 = this._invLocalInertia12;
			this._invLocalInertiaWithoutRotFactor20 = this._invLocalInertia20;
			this._invLocalInertiaWithoutRotFactor21 = this._invLocalInertia21;
			this._invLocalInertiaWithoutRotFactor22 = this._invLocalInertia22;
			this._invLocalInertia00 = this._invLocalInertiaWithoutRotFactor00 * this._rotFactor.x;
			this._invLocalInertia01 = this._invLocalInertiaWithoutRotFactor01 * this._rotFactor.x;
			this._invLocalInertia02 = this._invLocalInertiaWithoutRotFactor02 * this._rotFactor.x;
			this._invLocalInertia10 = this._invLocalInertiaWithoutRotFactor10 * this._rotFactor.y;
			this._invLocalInertia11 = this._invLocalInertiaWithoutRotFactor11 * this._rotFactor.y;
			this._invLocalInertia12 = this._invLocalInertiaWithoutRotFactor12 * this._rotFactor.y;
			this._invLocalInertia20 = this._invLocalInertiaWithoutRotFactor20 * this._rotFactor.z;
			this._invLocalInertia21 = this._invLocalInertiaWithoutRotFactor21 * this._rotFactor.z;
			this._invLocalInertia22 = this._invLocalInertiaWithoutRotFactor22 * this._rotFactor.z;
		} else {
			this._invMass = 0;
			this._invLocalInertia00 = 0;
			this._invLocalInertia01 = 0;
			this._invLocalInertia02 = 0;
			this._invLocalInertia10 = 0;
			this._invLocalInertia11 = 0;
			this._invLocalInertia12 = 0;
			this._invLocalInertia20 = 0;
			this._invLocalInertia21 = 0;
			this._invLocalInertia22 = 0;
			this._invLocalInertiaWithoutRotFactor00 = 0;
			this._invLocalInertiaWithoutRotFactor01 = 0;
			this._invLocalInertiaWithoutRotFactor02 = 0;
			this._invLocalInertiaWithoutRotFactor10 = 0;
			this._invLocalInertiaWithoutRotFactor11 = 0;
			this._invLocalInertiaWithoutRotFactor12 = 0;
			this._invLocalInertiaWithoutRotFactor20 = 0;
			this._invLocalInertiaWithoutRotFactor21 = 0;
			this._invLocalInertiaWithoutRotFactor22 = 0;
			if(this._type == 0) {
				this._type = 1;
			}
		}
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getRotationFactor() {
		let _this = this._rotFactor;
		return new oimo.common.Vec3(_this.x,_this.y,_this.z);
	}
	setRotationFactor(rotationFactor) {
		let _this = this._rotFactor;
		_this.x = rotationFactor.x;
		_this.y = rotationFactor.y;
		_this.z = rotationFactor.z;
		let __tmp__00;
		let __tmp__01;
		let __tmp__02;
		let __tmp__10;
		let __tmp__11;
		let __tmp__12;
		let __tmp__20;
		let __tmp__21;
		let __tmp__22;
		__tmp__00 = this._transform._rotation00 * this._invLocalInertia00 + this._transform._rotation01 * this._invLocalInertia10 + this._transform._rotation02 * this._invLocalInertia20;
		__tmp__01 = this._transform._rotation00 * this._invLocalInertia01 + this._transform._rotation01 * this._invLocalInertia11 + this._transform._rotation02 * this._invLocalInertia21;
		__tmp__02 = this._transform._rotation00 * this._invLocalInertia02 + this._transform._rotation01 * this._invLocalInertia12 + this._transform._rotation02 * this._invLocalInertia22;
		__tmp__10 = this._transform._rotation10 * this._invLocalInertia00 + this._transform._rotation11 * this._invLocalInertia10 + this._transform._rotation12 * this._invLocalInertia20;
		__tmp__11 = this._transform._rotation10 * this._invLocalInertia01 + this._transform._rotation11 * this._invLocalInertia11 + this._transform._rotation12 * this._invLocalInertia21;
		__tmp__12 = this._transform._rotation10 * this._invLocalInertia02 + this._transform._rotation11 * this._invLocalInertia12 + this._transform._rotation12 * this._invLocalInertia22;
		__tmp__20 = this._transform._rotation20 * this._invLocalInertia00 + this._transform._rotation21 * this._invLocalInertia10 + this._transform._rotation22 * this._invLocalInertia20;
		__tmp__21 = this._transform._rotation20 * this._invLocalInertia01 + this._transform._rotation21 * this._invLocalInertia11 + this._transform._rotation22 * this._invLocalInertia21;
		__tmp__22 = this._transform._rotation20 * this._invLocalInertia02 + this._transform._rotation21 * this._invLocalInertia12 + this._transform._rotation22 * this._invLocalInertia22;
		this._invInertia00 = __tmp__00;
		this._invInertia01 = __tmp__01;
		this._invInertia02 = __tmp__02;
		this._invInertia10 = __tmp__10;
		this._invInertia11 = __tmp__11;
		this._invInertia12 = __tmp__12;
		this._invInertia20 = __tmp__20;
		this._invInertia21 = __tmp__21;
		this._invInertia22 = __tmp__22;
		let __tmp__001;
		let __tmp__011;
		let __tmp__021;
		let __tmp__101;
		let __tmp__111;
		let __tmp__121;
		let __tmp__201;
		let __tmp__211;
		let __tmp__221;
		__tmp__001 = this._invInertia00 * this._transform._rotation00 + this._invInertia01 * this._transform._rotation01 + this._invInertia02 * this._transform._rotation02;
		__tmp__011 = this._invInertia00 * this._transform._rotation10 + this._invInertia01 * this._transform._rotation11 + this._invInertia02 * this._transform._rotation12;
		__tmp__021 = this._invInertia00 * this._transform._rotation20 + this._invInertia01 * this._transform._rotation21 + this._invInertia02 * this._transform._rotation22;
		__tmp__101 = this._invInertia10 * this._transform._rotation00 + this._invInertia11 * this._transform._rotation01 + this._invInertia12 * this._transform._rotation02;
		__tmp__111 = this._invInertia10 * this._transform._rotation10 + this._invInertia11 * this._transform._rotation11 + this._invInertia12 * this._transform._rotation12;
		__tmp__121 = this._invInertia10 * this._transform._rotation20 + this._invInertia11 * this._transform._rotation21 + this._invInertia12 * this._transform._rotation22;
		__tmp__201 = this._invInertia20 * this._transform._rotation00 + this._invInertia21 * this._transform._rotation01 + this._invInertia22 * this._transform._rotation02;
		__tmp__211 = this._invInertia20 * this._transform._rotation10 + this._invInertia21 * this._transform._rotation11 + this._invInertia22 * this._transform._rotation12;
		__tmp__221 = this._invInertia20 * this._transform._rotation20 + this._invInertia21 * this._transform._rotation21 + this._invInertia22 * this._transform._rotation22;
		this._invInertia00 = __tmp__001;
		this._invInertia01 = __tmp__011;
		this._invInertia02 = __tmp__021;
		this._invInertia10 = __tmp__101;
		this._invInertia11 = __tmp__111;
		this._invInertia12 = __tmp__121;
		this._invInertia20 = __tmp__201;
		this._invInertia21 = __tmp__211;
		this._invInertia22 = __tmp__221;
		this._invInertia00 *= this._rotFactor.x;
		this._invInertia01 *= this._rotFactor.x;
		this._invInertia02 *= this._rotFactor.x;
		this._invInertia10 *= this._rotFactor.y;
		this._invInertia11 *= this._rotFactor.y;
		this._invInertia12 *= this._rotFactor.y;
		this._invInertia20 *= this._rotFactor.z;
		this._invInertia21 *= this._rotFactor.z;
		this._invInertia22 *= this._rotFactor.z;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getLinearVelocity() {
		let v = new oimo.common.Vec3();
		v.x = this._velX;
		v.y = this._velY;
		v.z = this._velZ;
		return v;
	}
	getLinearVelocityTo(linearVelocity) {
		linearVelocity.x = this._velX;
		linearVelocity.y = this._velY;
		linearVelocity.z = this._velZ;
	}
	setLinearVelocity(linearVelocity) {
		if(this._type == 1) {
			this._velX = 0;
			this._velY = 0;
			this._velZ = 0;
		} else {
			this._velX = linearVelocity.x;
			this._velY = linearVelocity.y;
			this._velZ = linearVelocity.z;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getAngularVelocity() {
		let v = new oimo.common.Vec3();
		v.x = this._angVelX;
		v.y = this._angVelY;
		v.z = this._angVelZ;
		return v;
	}
	getAngularVelocityTo(angularVelocity) {
		angularVelocity.x = this._velX;
		angularVelocity.y = this._velY;
		angularVelocity.z = this._velZ;
	}
	setAngularVelocity(angularVelocity) {
		if(this._type == 1) {
			this._angVelX = 0;
			this._angVelY = 0;
			this._angVelZ = 0;
		} else {
			this._angVelX = angularVelocity.x;
			this._angVelY = angularVelocity.y;
			this._angVelZ = angularVelocity.z;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	addLinearVelocity(linearVelocityChange) {
		if(this._type != 1) {
			let dX;
			let dY;
			let dZ;
			dX = linearVelocityChange.x;
			dY = linearVelocityChange.y;
			dZ = linearVelocityChange.z;
			this._velX += dX;
			this._velY += dY;
			this._velZ += dZ;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	addAngularVelocity(angularVelocityChange) {
		if(this._type != 1) {
			let dX;
			let dY;
			let dZ;
			dX = angularVelocityChange.x;
			dY = angularVelocityChange.y;
			dZ = angularVelocityChange.z;
			this._angVelX += dX;
			this._angVelY += dY;
			this._angVelZ += dZ;
		}
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyImpulse(impulse,positionInWorld) {
		let impX;
		let impY;
		let impZ;
		impX = impulse.x;
		impY = impulse.y;
		impZ = impulse.z;
		this._velX += impX * this._invMass;
		this._velY += impY * this._invMass;
		this._velZ += impZ * this._invMass;
		let aimpX;
		let aimpY;
		let aimpZ;
		let posX;
		let posY;
		let posZ;
		posX = positionInWorld.x;
		posY = positionInWorld.y;
		posZ = positionInWorld.z;
		posX -= this._transform._positionX;
		posY -= this._transform._positionY;
		posZ -= this._transform._positionZ;
		aimpX = posY * impZ - posZ * impY;
		aimpY = posZ * impX - posX * impZ;
		aimpZ = posX * impY - posY * impX;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._invInertia00 * aimpX + this._invInertia01 * aimpY + this._invInertia02 * aimpZ;
		__tmp__Y = this._invInertia10 * aimpX + this._invInertia11 * aimpY + this._invInertia12 * aimpZ;
		__tmp__Z = this._invInertia20 * aimpX + this._invInertia21 * aimpY + this._invInertia22 * aimpZ;
		aimpX = __tmp__X;
		aimpY = __tmp__Y;
		aimpZ = __tmp__Z;
		this._angVelX += aimpX;
		this._angVelY += aimpY;
		this._angVelZ += aimpZ;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyLinearImpulse(impulse) {
		let impX;
		let impY;
		let impZ;
		impX = impulse.x;
		impY = impulse.y;
		impZ = impulse.z;
		this._velX += impX * this._invMass;
		this._velY += impY * this._invMass;
		this._velZ += impZ * this._invMass;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyAngularImpulse(impulse) {
		let impX;
		let impY;
		let impZ;
		impX = impulse.x;
		impY = impulse.y;
		impZ = impulse.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._invInertia00 * impX + this._invInertia01 * impY + this._invInertia02 * impZ;
		__tmp__Y = this._invInertia10 * impX + this._invInertia11 * impY + this._invInertia12 * impZ;
		__tmp__Z = this._invInertia20 * impX + this._invInertia21 * impY + this._invInertia22 * impZ;
		impX = __tmp__X;
		impY = __tmp__Y;
		impZ = __tmp__Z;
		this._angVelX += impX;
		this._angVelY += impY;
		this._angVelZ += impZ;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyForce(force,positionInWorld) {
		let iforceX;
		let iforceY;
		let iforceZ;
		iforceX = force.x;
		iforceY = force.y;
		iforceZ = force.z;
		this._forceX += iforceX;
		this._forceY += iforceY;
		this._forceZ += iforceZ;
		let itorqueX;
		let itorqueY;
		let itorqueZ;
		let posX;
		let posY;
		let posZ;
		posX = positionInWorld.x;
		posY = positionInWorld.y;
		posZ = positionInWorld.z;
		posX -= this._transform._positionX;
		posY -= this._transform._positionY;
		posZ -= this._transform._positionZ;
		itorqueX = posY * iforceZ - posZ * iforceY;
		itorqueY = posZ * iforceX - posX * iforceZ;
		itorqueZ = posX * iforceY - posY * iforceX;
		this._torqueX += itorqueX;
		this._torqueY += itorqueY;
		this._torqueZ += itorqueZ;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyForceToCenter(force) {
		let iforceX;
		let iforceY;
		let iforceZ;
		iforceX = force.x;
		iforceY = force.y;
		iforceZ = force.z;
		this._forceX += iforceX;
		this._forceY += iforceY;
		this._forceZ += iforceZ;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	applyTorque(torque) {
		let itorqueX;
		let itorqueY;
		let itorqueZ;
		itorqueX = torque.x;
		itorqueY = torque.y;
		itorqueZ = torque.z;
		this._torqueX += itorqueX;
		this._torqueY += itorqueY;
		this._torqueZ += itorqueZ;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getLinearContactImpulse() {
		let res = new oimo.common.Vec3();
		res.x = this._linearContactImpulseX;
		res.y = this._linearContactImpulseY;
		res.z = this._linearContactImpulseZ;
		return res;
	}
	getLinearContactImpulseTo(linearContactImpulse) {
		linearContactImpulse.x = this._linearContactImpulseX;
		linearContactImpulse.y = this._linearContactImpulseY;
		linearContactImpulse.z = this._linearContactImpulseZ;
	}
	getAngularContactImpulse() {
		let res = new oimo.common.Vec3();
		res.x = this._angularContactImpulseX;
		res.y = this._angularContactImpulseY;
		res.z = this._angularContactImpulseZ;
		return res;
	}
	getAngularContactImpulseTo(angularContactImpulse) {
		angularContactImpulse.x = this._angularContactImpulseX;
		angularContactImpulse.y = this._angularContactImpulseY;
		angularContactImpulse.z = this._angularContactImpulseZ;
	}
	getGravityScale() {
		return this._gravityScale;
	}
	setGravityScale(gravityScale) {
		this._gravityScale = gravityScale;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getLocalPoint(worldPoint) {
		let vX;
		let vY;
		let vZ;
		vX = worldPoint.x;
		vY = worldPoint.y;
		vZ = worldPoint.z;
		vX -= this._transform._positionX;
		vY -= this._transform._positionY;
		vZ -= this._transform._positionZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
		__tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
		__tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		let res = new oimo.common.Vec3();
		res.x = vX;
		res.y = vY;
		res.z = vZ;
		return res;
	}
	getLocalPointTo(worldPoint,localPoint) {
		let vX;
		let vY;
		let vZ;
		vX = worldPoint.x;
		vY = worldPoint.y;
		vZ = worldPoint.z;
		vX -= this._transform._positionX;
		vY -= this._transform._positionY;
		vZ -= this._transform._positionZ;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
		__tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
		__tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localPoint.x = vX;
		localPoint.y = vY;
		localPoint.z = vZ;
	}
	getLocalVector(worldVector) {
		let vX;
		let vY;
		let vZ;
		vX = worldVector.x;
		vY = worldVector.y;
		vZ = worldVector.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
		__tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
		__tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		let res = new oimo.common.Vec3();
		res.x = vX;
		res.y = vY;
		res.z = vZ;
		return res;
	}
	getLocalVectorTo(worldVector,localVector) {
		let vX;
		let vY;
		let vZ;
		vX = worldVector.x;
		vY = worldVector.y;
		vZ = worldVector.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation10 * vY + this._transform._rotation20 * vZ;
		__tmp__Y = this._transform._rotation01 * vX + this._transform._rotation11 * vY + this._transform._rotation21 * vZ;
		__tmp__Z = this._transform._rotation02 * vX + this._transform._rotation12 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		localVector.x = vX;
		localVector.y = vY;
		localVector.z = vZ;
	}
	getWorldPoint(localPoint) {
		let vX;
		let vY;
		let vZ;
		vX = localPoint.x;
		vY = localPoint.y;
		vZ = localPoint.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
		__tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
		__tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		vX += this._transform._positionX;
		vY += this._transform._positionY;
		vZ += this._transform._positionZ;
		let res = new oimo.common.Vec3();
		res.x = vX;
		res.y = vY;
		res.z = vZ;
		return res;
	}
	getWorldPointTo(localPoint,worldPoint) {
		let vX;
		let vY;
		let vZ;
		vX = localPoint.x;
		vY = localPoint.y;
		vZ = localPoint.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
		__tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
		__tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		vX += this._transform._positionX;
		vY += this._transform._positionY;
		vZ += this._transform._positionZ;
		worldPoint.x = vX;
		worldPoint.y = vY;
		worldPoint.z = vZ;
	}
	getWorldVector(localVector) {
		let vX;
		let vY;
		let vZ;
		vX = localVector.x;
		vY = localVector.y;
		vZ = localVector.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
		__tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
		__tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		let res = new oimo.common.Vec3();
		res.x = vX;
		res.y = vY;
		res.z = vZ;
		return res;
	}
	getWorldVectorTo(localVector,worldVector) {
		let vX;
		let vY;
		let vZ;
		vX = localVector.x;
		vY = localVector.y;
		vZ = localVector.z;
		let __tmp__X;
		let __tmp__Y;
		let __tmp__Z;
		__tmp__X = this._transform._rotation00 * vX + this._transform._rotation01 * vY + this._transform._rotation02 * vZ;
		__tmp__Y = this._transform._rotation10 * vX + this._transform._rotation11 * vY + this._transform._rotation12 * vZ;
		__tmp__Z = this._transform._rotation20 * vX + this._transform._rotation21 * vY + this._transform._rotation22 * vZ;
		vX = __tmp__X;
		vY = __tmp__Y;
		vZ = __tmp__Z;
		worldVector.x = vX;
		worldVector.y = vY;
		worldVector.z = vZ;
	}
	getNumShapes() {
		return this._numShapes;
	}
	getShapeList() {
		return this._shapeList;
	}
	getNumContectLinks() {
		return this._numContactLinks;
	}
	getContactLinkList() {
		return this._contactLinkList;
	}
	getNumJointLinks() {
		return this._numJointLinks;
	}
	getJointLinkList() {
		return this._jointLinkList;
	}
	addShape(shape) {
		if(this._shapeList == null) {
			this._shapeList = shape;
			this._shapeListLast = shape;
		} else {
			this._shapeListLast._next = shape;
			shape._prev = this._shapeListLast;
			this._shapeListLast = shape;
		}
		this._numShapes++;
		shape._rigidBody = this;
		if(this._world != null) {
			let _this = this._world;
			shape._proxy = _this._broadPhase.createProxy(shape,shape._aabb);
			shape._id = _this._shapeIdCount++;
			_this._numShapes++;
		}
		this.updateMass();
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
	}
	removeShape(shape) {
		let prev = shape._prev;
		let next = shape._next;
		if(prev != null) {
			prev._next = next;
		}
		if(next != null) {
			next._prev = prev;
		}
		if(shape == this._shapeList) {
			this._shapeList = this._shapeList._next;
		}
		if(shape == this._shapeListLast) {
			this._shapeListLast = this._shapeListLast._prev;
		}
		shape._next = null;
		shape._prev = null;
		this._numShapes--;
		shape._rigidBody = null;
		if(this._world != null) {
			let _this = this._world;
			_this._broadPhase.destroyProxy(shape._proxy);
			shape._proxy = null;
			shape._id = -1;
			let cl = shape._rigidBody._contactLinkList;
			while(cl != null) {
				let n = cl._next;
				let c = cl._contact;
				if(c._s1 == shape || c._s2 == shape) {
					let _this1 = cl._other;
					_this1._sleeping = false;
					_this1._sleepTime = 0;
					let _this2 = _this._contactManager;
					let prev = c._prev;
					let next = c._next;
					if(prev != null) {
						prev._next = next;
					}
					if(next != null) {
						next._prev = prev;
					}
					if(c == _this2._contactList) {
						_this2._contactList = _this2._contactList._next;
					}
					if(c == _this2._contactListLast) {
						_this2._contactListLast = _this2._contactListLast._prev;
					}
					c._next = null;
					c._prev = null;
					if(c._touching) {
						let cc1 = c._s1._contactCallback;
						let cc2 = c._s2._contactCallback;
						if(cc1 == cc2) {
							cc2 = null;
						}
						if(cc1 != null) {
							cc1.endContact(c);
						}
						if(cc2 != null) {
							cc2.endContact(c);
						}
					}
					let prev1 = c._link1._prev;
					let next1 = c._link1._next;
					if(prev1 != null) {
						prev1._next = next1;
					}
					if(next1 != null) {
						next1._prev = prev1;
					}
					if(c._link1 == c._b1._contactLinkList) {
						c._b1._contactLinkList = c._b1._contactLinkList._next;
					}
					if(c._link1 == c._b1._contactLinkListLast) {
						c._b1._contactLinkListLast = c._b1._contactLinkListLast._prev;
					}
					c._link1._next = null;
					c._link1._prev = null;
					let prev2 = c._link2._prev;
					let next2 = c._link2._next;
					if(prev2 != null) {
						prev2._next = next2;
					}
					if(next2 != null) {
						next2._prev = prev2;
					}
					if(c._link2 == c._b2._contactLinkList) {
						c._b2._contactLinkList = c._b2._contactLinkList._next;
					}
					if(c._link2 == c._b2._contactLinkListLast) {
						c._b2._contactLinkListLast = c._b2._contactLinkListLast._prev;
					}
					c._link2._next = null;
					c._link2._prev = null;
					c._b1._numContactLinks--;
					c._b2._numContactLinks--;
					c._link1._other = null;
					c._link2._other = null;
					c._link1._contact = null;
					c._link2._contact = null;
					c._s1 = null;
					c._s2 = null;
					c._b1 = null;
					c._b2 = null;
					c._touching = false;
					c._cachedDetectorData._clear();
					c._manifold._clear();
					c._detector = null;
					let _this3 = c._contactConstraint;
					_this3._s1 = null;
					_this3._s2 = null;
					_this3._b1 = null;
					_this3._b2 = null;
					_this3._tf1 = null;
					_this3._tf2 = null;
					c._next = _this2._contactPool;
					_this2._contactPool = c;
					_this2._numContacts--;
				}
				cl = n;
			}
			_this._numShapes--;
		}
		this.updateMass();
		let s = this._shapeList;
		while(s != null) {
			let n = s._next;
			let tf1 = this._ptransform;
			let tf2 = this._transform;
			let dst = s._ptransform;
			let src1 = s._localTransform;
			let __tmp__00;
			let __tmp__01;
			let __tmp__02;
			let __tmp__10;
			let __tmp__11;
			let __tmp__12;
			let __tmp__20;
			let __tmp__21;
			let __tmp__22;
			__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
			__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
			__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
			__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
			__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
			__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
			__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
			__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
			__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
			dst._rotation00 = __tmp__00;
			dst._rotation01 = __tmp__01;
			dst._rotation02 = __tmp__02;
			dst._rotation10 = __tmp__10;
			dst._rotation11 = __tmp__11;
			dst._rotation12 = __tmp__12;
			dst._rotation20 = __tmp__20;
			dst._rotation21 = __tmp__21;
			dst._rotation22 = __tmp__22;
			let __tmp__X;
			let __tmp__Y;
			let __tmp__Z;
			__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
			__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
			__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
			dst._positionX = __tmp__X;
			dst._positionY = __tmp__Y;
			dst._positionZ = __tmp__Z;
			dst._positionX += tf1._positionX;
			dst._positionY += tf1._positionY;
			dst._positionZ += tf1._positionZ;
			let dst1 = s._transform;
			let src11 = s._localTransform;
			let __tmp__001;
			let __tmp__011;
			let __tmp__021;
			let __tmp__101;
			let __tmp__111;
			let __tmp__121;
			let __tmp__201;
			let __tmp__211;
			let __tmp__221;
			__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
			__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
			__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
			__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
			__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
			__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
			__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
			__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
			__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
			dst1._rotation00 = __tmp__001;
			dst1._rotation01 = __tmp__011;
			dst1._rotation02 = __tmp__021;
			dst1._rotation10 = __tmp__101;
			dst1._rotation11 = __tmp__111;
			dst1._rotation12 = __tmp__121;
			dst1._rotation20 = __tmp__201;
			dst1._rotation21 = __tmp__211;
			dst1._rotation22 = __tmp__221;
			let __tmp__X1;
			let __tmp__Y1;
			let __tmp__Z1;
			__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
			__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
			__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
			dst1._positionX = __tmp__X1;
			dst1._positionY = __tmp__Y1;
			dst1._positionZ = __tmp__Z1;
			dst1._positionX += tf2._positionX;
			dst1._positionY += tf2._positionY;
			dst1._positionZ += tf2._positionZ;
			let minX;
			let minY;
			let minZ;
			let maxX;
			let maxY;
			let maxZ;
			s._geom._computeAabb(s._aabb,s._ptransform);
			minX = s._aabb._minX;
			minY = s._aabb._minY;
			minZ = s._aabb._minZ;
			maxX = s._aabb._maxX;
			maxY = s._aabb._maxY;
			maxZ = s._aabb._maxZ;
			s._geom._computeAabb(s._aabb,s._transform);
			s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
			s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
			s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
			s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
			s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
			s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
			if(s._proxy != null) {
				let dX;
				let dY;
				let dZ;
				dX = s._transform._positionX - s._ptransform._positionX;
				dY = s._transform._positionY - s._ptransform._positionY;
				dZ = s._transform._positionZ - s._ptransform._positionZ;
				let v = s.displacement;
				v.x = dX;
				v.y = dY;
				v.z = dZ;
				s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
			}
			s = n;
		}
	}
	getType() {
		return this._type;
	}
	setType(type) {
		this._type = type;
		this.updateMass();
	}
	wakeUp() {
		this._sleeping = false;
		this._sleepTime = 0;
	}
	sleep() {
		this._sleeping = true;
		this._sleepTime = 0;
	}
	isSleeping() {
		return this._sleeping;
	}
	getSleepTime() {
		return this._sleepTime;
	}
	setAutoSleep(autoSleepEnabled) {
		this._autoSleep = autoSleepEnabled;
		this._sleeping = false;
		this._sleepTime = 0;
	}
	getLinearDamping() {
		return this._linearDamping;
	}
	setLinearDamping(damping) {
		this._linearDamping = damping;
	}
	getAngularDamping() {
		return this._angularDamping;
	}
	setAngularDamping(damping) {
		this._angularDamping = damping;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.rigidbody.RigidBodyConfig = class oimo_dynamics_rigidbody_RigidBodyConfig {
	constructor() {
		this.position = new oimo.common.Vec3();
		this.rotation = new oimo.common.Mat3();
		this.linearVelocity = new oimo.common.Vec3();
		this.angularVelocity = new oimo.common.Vec3();
		this.type = 0;
		this.autoSleep = true;
		this.linearDamping = 0;
		this.angularDamping = 0;
	}
}
oimo.dynamics.rigidbody.RigidBodyType = class oimo_dynamics_rigidbody_RigidBodyType {
}
oimo.dynamics.rigidbody.Shape = class oimo_dynamics_rigidbody_Shape {
	constructor(config) {
		this._id = -1;
		this._localTransform = new oimo.common.Transform();
		this._ptransform = new oimo.common.Transform();
		this._transform = new oimo.common.Transform();
		let v = config.position;
		this._localTransform._positionX = v.x;
		this._localTransform._positionY = v.y;
		this._localTransform._positionZ = v.z;
		let m = config.rotation;
		this._localTransform._rotation00 = m.e00;
		this._localTransform._rotation01 = m.e01;
		this._localTransform._rotation02 = m.e02;
		this._localTransform._rotation10 = m.e10;
		this._localTransform._rotation11 = m.e11;
		this._localTransform._rotation12 = m.e12;
		this._localTransform._rotation20 = m.e20;
		this._localTransform._rotation21 = m.e21;
		this._localTransform._rotation22 = m.e22;
		let dst = this._ptransform;
		let src = this._localTransform;
		dst._positionX = src._positionX;
		dst._positionY = src._positionY;
		dst._positionZ = src._positionZ;
		dst._rotation00 = src._rotation00;
		dst._rotation01 = src._rotation01;
		dst._rotation02 = src._rotation02;
		dst._rotation10 = src._rotation10;
		dst._rotation11 = src._rotation11;
		dst._rotation12 = src._rotation12;
		dst._rotation20 = src._rotation20;
		dst._rotation21 = src._rotation21;
		dst._rotation22 = src._rotation22;
		let dst1 = this._transform;
		let src1 = this._localTransform;
		dst1._positionX = src1._positionX;
		dst1._positionY = src1._positionY;
		dst1._positionZ = src1._positionZ;
		dst1._rotation00 = src1._rotation00;
		dst1._rotation01 = src1._rotation01;
		dst1._rotation02 = src1._rotation02;
		dst1._rotation10 = src1._rotation10;
		dst1._rotation11 = src1._rotation11;
		dst1._rotation12 = src1._rotation12;
		dst1._rotation20 = src1._rotation20;
		dst1._rotation21 = src1._rotation21;
		dst1._rotation22 = src1._rotation22;
		this._restitution = config.restitution;
		this._friction = config.friction;
		this._density = config.density;
		this._geom = config.geometry;
		this._collisionGroup = config.collisionGroup;
		this._collisionMask = config.collisionMask;
		this._contactCallback = config.contactCallback;
		this._aabb = new oimo.collision.geometry.Aabb();
		this._proxy = null;
		this.displacement = new oimo.common.Vec3();
	}
	getFriction() {
		return this._friction;
	}
	setFriction(friction) {
		this._friction = friction;
	}
	getRestitution() {
		return this._restitution;
	}
	setRestitution(restitution) {
		this._restitution = restitution;
	}
	getLocalTransform() {
		let _this = this._localTransform;
		let tf = new oimo.common.Transform();
		tf._positionX = _this._positionX;
		tf._positionY = _this._positionY;
		tf._positionZ = _this._positionZ;
		tf._rotation00 = _this._rotation00;
		tf._rotation01 = _this._rotation01;
		tf._rotation02 = _this._rotation02;
		tf._rotation10 = _this._rotation10;
		tf._rotation11 = _this._rotation11;
		tf._rotation12 = _this._rotation12;
		tf._rotation20 = _this._rotation20;
		tf._rotation21 = _this._rotation21;
		tf._rotation22 = _this._rotation22;
		return tf;
	}
	getLocalTransformTo(transform) {
		let transform1 = this._localTransform;
		transform._positionX = transform1._positionX;
		transform._positionY = transform1._positionY;
		transform._positionZ = transform1._positionZ;
		transform._rotation00 = transform1._rotation00;
		transform._rotation01 = transform1._rotation01;
		transform._rotation02 = transform1._rotation02;
		transform._rotation10 = transform1._rotation10;
		transform._rotation11 = transform1._rotation11;
		transform._rotation12 = transform1._rotation12;
		transform._rotation20 = transform1._rotation20;
		transform._rotation21 = transform1._rotation21;
		transform._rotation22 = transform1._rotation22;
	}
	getTransform() {
		let _this = this._transform;
		let tf = new oimo.common.Transform();
		tf._positionX = _this._positionX;
		tf._positionY = _this._positionY;
		tf._positionZ = _this._positionZ;
		tf._rotation00 = _this._rotation00;
		tf._rotation01 = _this._rotation01;
		tf._rotation02 = _this._rotation02;
		tf._rotation10 = _this._rotation10;
		tf._rotation11 = _this._rotation11;
		tf._rotation12 = _this._rotation12;
		tf._rotation20 = _this._rotation20;
		tf._rotation21 = _this._rotation21;
		tf._rotation22 = _this._rotation22;
		return tf;
	}
	getTransformTo(transform) {
		let transform1 = this._transform;
		transform._positionX = transform1._positionX;
		transform._positionY = transform1._positionY;
		transform._positionZ = transform1._positionZ;
		transform._rotation00 = transform1._rotation00;
		transform._rotation01 = transform1._rotation01;
		transform._rotation02 = transform1._rotation02;
		transform._rotation10 = transform1._rotation10;
		transform._rotation11 = transform1._rotation11;
		transform._rotation12 = transform1._rotation12;
		transform._rotation20 = transform1._rotation20;
		transform._rotation21 = transform1._rotation21;
		transform._rotation22 = transform1._rotation22;
	}
	setLocalTransform(transform) {
		let _this = this._localTransform;
		_this._positionX = transform._positionX;
		_this._positionY = transform._positionY;
		_this._positionZ = transform._positionZ;
		_this._rotation00 = transform._rotation00;
		_this._rotation01 = transform._rotation01;
		_this._rotation02 = transform._rotation02;
		_this._rotation10 = transform._rotation10;
		_this._rotation11 = transform._rotation11;
		_this._rotation12 = transform._rotation12;
		_this._rotation20 = transform._rotation20;
		_this._rotation21 = transform._rotation21;
		_this._rotation22 = transform._rotation22;
		if(this._rigidBody != null) {
			let _this = this._rigidBody;
			_this.updateMass();
			let s = _this._shapeList;
			while(s != null) {
				let n = s._next;
				let tf1 = _this._ptransform;
				let tf2 = _this._transform;
				let dst = s._ptransform;
				let src1 = s._localTransform;
				let __tmp__00;
				let __tmp__01;
				let __tmp__02;
				let __tmp__10;
				let __tmp__11;
				let __tmp__12;
				let __tmp__20;
				let __tmp__21;
				let __tmp__22;
				__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
				__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
				__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
				__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
				__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
				__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
				__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
				__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
				__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
				dst._rotation00 = __tmp__00;
				dst._rotation01 = __tmp__01;
				dst._rotation02 = __tmp__02;
				dst._rotation10 = __tmp__10;
				dst._rotation11 = __tmp__11;
				dst._rotation12 = __tmp__12;
				dst._rotation20 = __tmp__20;
				dst._rotation21 = __tmp__21;
				dst._rotation22 = __tmp__22;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
				__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
				__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
				dst._positionX = __tmp__X;
				dst._positionY = __tmp__Y;
				dst._positionZ = __tmp__Z;
				dst._positionX += tf1._positionX;
				dst._positionY += tf1._positionY;
				dst._positionZ += tf1._positionZ;
				let dst1 = s._transform;
				let src11 = s._localTransform;
				let __tmp__001;
				let __tmp__011;
				let __tmp__021;
				let __tmp__101;
				let __tmp__111;
				let __tmp__121;
				let __tmp__201;
				let __tmp__211;
				let __tmp__221;
				__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
				__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
				__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
				__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
				__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
				__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
				__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
				__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
				__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
				dst1._rotation00 = __tmp__001;
				dst1._rotation01 = __tmp__011;
				dst1._rotation02 = __tmp__021;
				dst1._rotation10 = __tmp__101;
				dst1._rotation11 = __tmp__111;
				dst1._rotation12 = __tmp__121;
				dst1._rotation20 = __tmp__201;
				dst1._rotation21 = __tmp__211;
				dst1._rotation22 = __tmp__221;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
				__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
				__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
				dst1._positionX = __tmp__X1;
				dst1._positionY = __tmp__Y1;
				dst1._positionZ = __tmp__Z1;
				dst1._positionX += tf2._positionX;
				dst1._positionY += tf2._positionY;
				dst1._positionZ += tf2._positionZ;
				let minX;
				let minY;
				let minZ;
				let maxX;
				let maxY;
				let maxZ;
				s._geom._computeAabb(s._aabb,s._ptransform);
				minX = s._aabb._minX;
				minY = s._aabb._minY;
				minZ = s._aabb._minZ;
				maxX = s._aabb._maxX;
				maxY = s._aabb._maxY;
				maxZ = s._aabb._maxZ;
				s._geom._computeAabb(s._aabb,s._transform);
				s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
				s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
				s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
				s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
				s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
				s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
				if(s._proxy != null) {
					let dX;
					let dY;
					let dZ;
					dX = s._transform._positionX - s._ptransform._positionX;
					dY = s._transform._positionY - s._ptransform._positionY;
					dZ = s._transform._positionZ - s._ptransform._positionZ;
					let v = s.displacement;
					v.x = dX;
					v.y = dY;
					v.z = dZ;
					s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
				}
				s = n;
			}
		}
	}
	getDensity() {
		return this._density;
	}
	setDensity(density) {
		this._density = density;
		if(this._rigidBody != null) {
			let _this = this._rigidBody;
			_this.updateMass();
			let s = _this._shapeList;
			while(s != null) {
				let n = s._next;
				let tf1 = _this._ptransform;
				let tf2 = _this._transform;
				let dst = s._ptransform;
				let src1 = s._localTransform;
				let __tmp__00;
				let __tmp__01;
				let __tmp__02;
				let __tmp__10;
				let __tmp__11;
				let __tmp__12;
				let __tmp__20;
				let __tmp__21;
				let __tmp__22;
				__tmp__00 = tf1._rotation00 * src1._rotation00 + tf1._rotation01 * src1._rotation10 + tf1._rotation02 * src1._rotation20;
				__tmp__01 = tf1._rotation00 * src1._rotation01 + tf1._rotation01 * src1._rotation11 + tf1._rotation02 * src1._rotation21;
				__tmp__02 = tf1._rotation00 * src1._rotation02 + tf1._rotation01 * src1._rotation12 + tf1._rotation02 * src1._rotation22;
				__tmp__10 = tf1._rotation10 * src1._rotation00 + tf1._rotation11 * src1._rotation10 + tf1._rotation12 * src1._rotation20;
				__tmp__11 = tf1._rotation10 * src1._rotation01 + tf1._rotation11 * src1._rotation11 + tf1._rotation12 * src1._rotation21;
				__tmp__12 = tf1._rotation10 * src1._rotation02 + tf1._rotation11 * src1._rotation12 + tf1._rotation12 * src1._rotation22;
				__tmp__20 = tf1._rotation20 * src1._rotation00 + tf1._rotation21 * src1._rotation10 + tf1._rotation22 * src1._rotation20;
				__tmp__21 = tf1._rotation20 * src1._rotation01 + tf1._rotation21 * src1._rotation11 + tf1._rotation22 * src1._rotation21;
				__tmp__22 = tf1._rotation20 * src1._rotation02 + tf1._rotation21 * src1._rotation12 + tf1._rotation22 * src1._rotation22;
				dst._rotation00 = __tmp__00;
				dst._rotation01 = __tmp__01;
				dst._rotation02 = __tmp__02;
				dst._rotation10 = __tmp__10;
				dst._rotation11 = __tmp__11;
				dst._rotation12 = __tmp__12;
				dst._rotation20 = __tmp__20;
				dst._rotation21 = __tmp__21;
				dst._rotation22 = __tmp__22;
				let __tmp__X;
				let __tmp__Y;
				let __tmp__Z;
				__tmp__X = tf1._rotation00 * src1._positionX + tf1._rotation01 * src1._positionY + tf1._rotation02 * src1._positionZ;
				__tmp__Y = tf1._rotation10 * src1._positionX + tf1._rotation11 * src1._positionY + tf1._rotation12 * src1._positionZ;
				__tmp__Z = tf1._rotation20 * src1._positionX + tf1._rotation21 * src1._positionY + tf1._rotation22 * src1._positionZ;
				dst._positionX = __tmp__X;
				dst._positionY = __tmp__Y;
				dst._positionZ = __tmp__Z;
				dst._positionX += tf1._positionX;
				dst._positionY += tf1._positionY;
				dst._positionZ += tf1._positionZ;
				let dst1 = s._transform;
				let src11 = s._localTransform;
				let __tmp__001;
				let __tmp__011;
				let __tmp__021;
				let __tmp__101;
				let __tmp__111;
				let __tmp__121;
				let __tmp__201;
				let __tmp__211;
				let __tmp__221;
				__tmp__001 = tf2._rotation00 * src11._rotation00 + tf2._rotation01 * src11._rotation10 + tf2._rotation02 * src11._rotation20;
				__tmp__011 = tf2._rotation00 * src11._rotation01 + tf2._rotation01 * src11._rotation11 + tf2._rotation02 * src11._rotation21;
				__tmp__021 = tf2._rotation00 * src11._rotation02 + tf2._rotation01 * src11._rotation12 + tf2._rotation02 * src11._rotation22;
				__tmp__101 = tf2._rotation10 * src11._rotation00 + tf2._rotation11 * src11._rotation10 + tf2._rotation12 * src11._rotation20;
				__tmp__111 = tf2._rotation10 * src11._rotation01 + tf2._rotation11 * src11._rotation11 + tf2._rotation12 * src11._rotation21;
				__tmp__121 = tf2._rotation10 * src11._rotation02 + tf2._rotation11 * src11._rotation12 + tf2._rotation12 * src11._rotation22;
				__tmp__201 = tf2._rotation20 * src11._rotation00 + tf2._rotation21 * src11._rotation10 + tf2._rotation22 * src11._rotation20;
				__tmp__211 = tf2._rotation20 * src11._rotation01 + tf2._rotation21 * src11._rotation11 + tf2._rotation22 * src11._rotation21;
				__tmp__221 = tf2._rotation20 * src11._rotation02 + tf2._rotation21 * src11._rotation12 + tf2._rotation22 * src11._rotation22;
				dst1._rotation00 = __tmp__001;
				dst1._rotation01 = __tmp__011;
				dst1._rotation02 = __tmp__021;
				dst1._rotation10 = __tmp__101;
				dst1._rotation11 = __tmp__111;
				dst1._rotation12 = __tmp__121;
				dst1._rotation20 = __tmp__201;
				dst1._rotation21 = __tmp__211;
				dst1._rotation22 = __tmp__221;
				let __tmp__X1;
				let __tmp__Y1;
				let __tmp__Z1;
				__tmp__X1 = tf2._rotation00 * src11._positionX + tf2._rotation01 * src11._positionY + tf2._rotation02 * src11._positionZ;
				__tmp__Y1 = tf2._rotation10 * src11._positionX + tf2._rotation11 * src11._positionY + tf2._rotation12 * src11._positionZ;
				__tmp__Z1 = tf2._rotation20 * src11._positionX + tf2._rotation21 * src11._positionY + tf2._rotation22 * src11._positionZ;
				dst1._positionX = __tmp__X1;
				dst1._positionY = __tmp__Y1;
				dst1._positionZ = __tmp__Z1;
				dst1._positionX += tf2._positionX;
				dst1._positionY += tf2._positionY;
				dst1._positionZ += tf2._positionZ;
				let minX;
				let minY;
				let minZ;
				let maxX;
				let maxY;
				let maxZ;
				s._geom._computeAabb(s._aabb,s._ptransform);
				minX = s._aabb._minX;
				minY = s._aabb._minY;
				minZ = s._aabb._minZ;
				maxX = s._aabb._maxX;
				maxY = s._aabb._maxY;
				maxZ = s._aabb._maxZ;
				s._geom._computeAabb(s._aabb,s._transform);
				s._aabb._minX = minX < s._aabb._minX ? minX : s._aabb._minX;
				s._aabb._minY = minY < s._aabb._minY ? minY : s._aabb._minY;
				s._aabb._minZ = minZ < s._aabb._minZ ? minZ : s._aabb._minZ;
				s._aabb._maxX = maxX > s._aabb._maxX ? maxX : s._aabb._maxX;
				s._aabb._maxY = maxY > s._aabb._maxY ? maxY : s._aabb._maxY;
				s._aabb._maxZ = maxZ > s._aabb._maxZ ? maxZ : s._aabb._maxZ;
				if(s._proxy != null) {
					let dX;
					let dY;
					let dZ;
					dX = s._transform._positionX - s._ptransform._positionX;
					dY = s._transform._positionY - s._ptransform._positionY;
					dZ = s._transform._positionZ - s._ptransform._positionZ;
					let v = s.displacement;
					v.x = dX;
					v.y = dY;
					v.z = dZ;
					s._rigidBody._world._broadPhase.moveProxy(s._proxy,s._aabb,s.displacement);
				}
				s = n;
			}
		}
	}
	getAabb() {
		return this._aabb.clone();
	}
	getAabbTo(aabb) {
		aabb.copyFrom(this._aabb);
	}
	getGeometry() {
		return this._geom;
	}
	getRigidBody() {
		return this._rigidBody;
	}
	getCollisionGroup() {
		return this._collisionGroup;
	}
	setCollisionGroup(collisionGroup) {
		this._collisionGroup = collisionGroup;
	}
	getCollisionMask() {
		return this._collisionMask;
	}
	setCollisionMask(collisionMask) {
		this._collisionMask = collisionMask;
	}
	getContactCallback() {
		return this._contactCallback;
	}
	setContactCallback(callback) {
		this._contactCallback = callback;
	}
	getPrev() {
		return this._prev;
	}
	getNext() {
		return this._next;
	}
}
oimo.dynamics.rigidbody.ShapeConfig = class oimo_dynamics_rigidbody_ShapeConfig {
	constructor() {
		this.position = new oimo.common.Vec3();
		this.rotation = new oimo.common.Mat3();
		this.friction = oimo.common.Setting.defaultFriction;
		this.restitution = oimo.common.Setting.defaultRestitution;
		this.density = oimo.common.Setting.defaultDensity;
		this.collisionGroup = oimo.common.Setting.defaultCollisionGroup;
		this.collisionMask = oimo.common.Setting.defaultCollisionMask;
		this.geometry = null;
		this.contactCallback = null;
	}
}
if(!oimo.m) oimo.m = {};
oimo.m.M = class oimo_m_M {
}

oimo.collision.broadphase.BroadPhaseType._BRUTE_FORCE = 1;
oimo.collision.broadphase.BroadPhaseType._BVH = 2;
oimo.collision.broadphase.BroadPhaseType.BRUTE_FORCE = 1;
oimo.collision.broadphase.BroadPhaseType.BVH = 2;
oimo.collision.broadphase.bvh.BvhInsertionStrategy.SIMPLE = 0;
oimo.collision.broadphase.bvh.BvhInsertionStrategy.MINIMIZE_SURFACE_AREA = 1;
oimo.collision.geometry.GeometryType._SPHERE = 0;
oimo.collision.geometry.GeometryType._BOX = 1;
oimo.collision.geometry.GeometryType._CYLINDER = 2;
oimo.collision.geometry.GeometryType._CONE = 3;
oimo.collision.geometry.GeometryType._CAPSULE = 4;
oimo.collision.geometry.GeometryType._CONVEX_HULL = 5;
oimo.collision.geometry.GeometryType._CONVEX_MIN = 0;
oimo.collision.geometry.GeometryType._CONVEX_MAX = 5;
oimo.collision.geometry.GeometryType.SPHERE = 0;
oimo.collision.geometry.GeometryType.BOX = 1;
oimo.collision.geometry.GeometryType.CYLINDER = 2;
oimo.collision.geometry.GeometryType.CONE = 3;
oimo.collision.geometry.GeometryType.CAPSULE = 4;
oimo.collision.geometry.GeometryType.CONVEX_HULL = 5;
oimo.collision.narrowphase.detector.BoxBoxDetector.EDGE_BIAS_MULT = 1.0;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.OK = 0;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.INVALID_TRIANGLE = 1;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_ADJACENT_PAIR_INDEX = 2;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_ADJACENT_TRIANGLE = 3;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.EDGE_LOOP_BROKEN = 4;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.NO_OUTER_TRIANGLE = 5;
oimo.collision.narrowphase.detector.gjkepa.EpaPolyhedronState.TRIANGLE_INVISIBLE = 6;
oimo.collision.narrowphase.detector.gjkepa.EpaTriangle.count = 0;
oimo.common.Vec3.numCreations = 0;
oimo.common.Setting.defaultFriction = 0.2;
oimo.common.Setting.defaultRestitution = 0.2;
oimo.common.Setting.defaultDensity = 1;
oimo.common.Setting.defaultCollisionGroup = 1;
oimo.common.Setting.defaultCollisionMask = 1;
oimo.common.Setting.maxTranslationPerStep = 20;
oimo.common.Setting.maxRotationPerStep = 3.14159265358979;
oimo.common.Setting.bvhProxyPadding = 0.1;
oimo.common.Setting.bvhIncrementalCollisionThreshold = 0.45;
oimo.common.Setting.defaultGJKMargin = 0.05;
oimo.common.Setting.enableGJKCaching = true;
oimo.common.Setting.maxEPAVertices = 128;
oimo.common.Setting.maxEPAPolyhedronFaces = 128;
oimo.common.Setting.contactEnableBounceThreshold = 0.5;
oimo.common.Setting.velocityBaumgarte = 0.2;
oimo.common.Setting.positionSplitImpulseBaumgarte = 0.4;
oimo.common.Setting.positionNgsBaumgarte = 1.0;
oimo.common.Setting.contactUseAlternativePositionCorrectionAlgorithmDepthThreshold = 0.05;
oimo.common.Setting.defaultContactPositionCorrectionAlgorithm = 0;
oimo.common.Setting.alternativeContactPositionCorrectionAlgorithm = 1;
oimo.common.Setting.contactPersistenceThreshold = 0.05;
oimo.common.Setting.maxManifoldPoints = 4;
oimo.common.Setting.defaultJointConstraintSolverType = 0;
oimo.common.Setting.defaultJointPositionCorrectionAlgorithm = 0;
oimo.common.Setting.jointWarmStartingFactorForBaungarte = 0.8;
oimo.common.Setting.jointWarmStartingFactor = 0.95;
oimo.common.Setting.minSpringDamperDampingRatio = 1e-6;
oimo.common.Setting.minRagdollMaxSwingAngle = 1e-6;
oimo.common.Setting.maxJacobianRows = 6;
oimo.common.Setting.directMlcpSolverEps = 1e-9;
oimo.common.Setting.islandInitialRigidBodyArraySize = 128;
oimo.common.Setting.islandInitialConstraintArraySize = 128;
oimo.common.Setting.sleepingVelocityThreshold = 0.2;
oimo.common.Setting.sleepingAngularVelocityThreshold = 0.5;
oimo.common.Setting.sleepingTimeThreshold = 1.0;
oimo.common.Setting.disableSleeping = false;
oimo.common.Setting.linearSlop = 0.005;
oimo.common.Setting.angularSlop = 0.017453292519943278;
oimo.collision.narrowphase.detector.gjkepa.GjkEpa.instance = new oimo.collision.narrowphase.detector.gjkepa.GjkEpa();
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._SUCCEEDED = 0;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._GJK_FAILED_TO_MAKE_TETRAHEDRON = 1;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._GJK_DID_NOT_CONVERGE = 2;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_FAILED_TO_INIT = 257;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_FAILED_TO_ADD_VERTEX = 258;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState._EPA_DID_NOT_CONVERGE = 259;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.SUCCEEDED = 0;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.GJK_FAILED_TO_MAKE_TETRAHEDRON = 1;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.GJK_DID_NOT_CONVERGE = 2;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_INIT = 257;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_FAILED_TO_ADD_VERTEX = 258;
oimo.collision.narrowphase.detector.gjkepa.GjkEpaResultState.EPA_DID_NOT_CONVERGE = 259;
oimo.common.Mat3.numCreations = 0;
oimo.common.Mat4.numCreations = 0;
oimo.common.MathUtil.POSITIVE_INFINITY = 1e65536;
oimo.common.MathUtil.NEGATIVE_INFINITY = -1e65536;
oimo.common.MathUtil.PI = 3.14159265358979;
oimo.common.MathUtil.TWO_PI = 6.28318530717958;
oimo.common.MathUtil.HALF_PI = 1.570796326794895;
oimo.common.MathUtil.TO_RADIANS = 0.017453292519943278;
oimo.common.MathUtil.TO_DEGREES = 57.29577951308238;
oimo.common.Quat.numCreations = 0;
oimo.dynamics.common.DebugDraw.SPHERE_PHI_DIVISION = 8;
oimo.dynamics.common.DebugDraw.SPHERE_THETA_DIVISION = 4;
oimo.dynamics.common.DebugDraw.CIRCLE_THETA_DIVISION = 8;
oimo.dynamics.common.Performance.broadPhaseCollisionTime = 0;
oimo.dynamics.common.Performance.narrowPhaseCollisionTime = 0;
oimo.dynamics.common.Performance.dynamicsTime = 0;
oimo.dynamics.common.Performance.totalTime = 0;
oimo.dynamics.constraint.PositionCorrectionAlgorithm._BAUMGARTE = 0;
oimo.dynamics.constraint.PositionCorrectionAlgorithm._SPLIT_IMPULSE = 1;
oimo.dynamics.constraint.PositionCorrectionAlgorithm._NGS = 2;
oimo.dynamics.constraint.PositionCorrectionAlgorithm.BAUMGARTE = 0;
oimo.dynamics.constraint.PositionCorrectionAlgorithm.SPLIT_IMPULSE = 1;
oimo.dynamics.constraint.PositionCorrectionAlgorithm.NGS = 2;
oimo.dynamics.constraint.info.JacobianRow.BIT_LINEAR_SET = 1;
oimo.dynamics.constraint.info.JacobianRow.BIT_ANGULAR_SET = 2;
oimo.dynamics.constraint.joint.JointType._SPHERICAL = 0;
oimo.dynamics.constraint.joint.JointType._REVOLUTE = 1;
oimo.dynamics.constraint.joint.JointType._CYLINDRICAL = 2;
oimo.dynamics.constraint.joint.JointType._PRISMATIC = 3;
oimo.dynamics.constraint.joint.JointType._UNIVERSAL = 4;
oimo.dynamics.constraint.joint.JointType._RAGDOLL = 5;
oimo.dynamics.constraint.joint.JointType._GENERIC = 6;
oimo.dynamics.constraint.joint.JointType.SPHERICAL = 0;
oimo.dynamics.constraint.joint.JointType.REVOLUTE = 1;
oimo.dynamics.constraint.joint.JointType.CYLINDRICAL = 2;
oimo.dynamics.constraint.joint.JointType.PRISMATIC = 3;
oimo.dynamics.constraint.joint.JointType.UNIVERSAL = 4;
oimo.dynamics.constraint.joint.JointType.RAGDOLL = 5;
oimo.dynamics.constraint.joint.JointType.GENERIC = 6;
oimo.dynamics.constraint.solver.ConstraintSolverType._ITERATIVE = 0;
oimo.dynamics.constraint.solver.ConstraintSolverType._DIRECT = 1;
oimo.dynamics.constraint.solver.ConstraintSolverType.ITERATIVE = 0;
oimo.dynamics.constraint.solver.ConstraintSolverType.DIRECT = 1;
oimo.dynamics.rigidbody.RigidBodyType._DYNAMIC = 0;
oimo.dynamics.rigidbody.RigidBodyType._STATIC = 1;
oimo.dynamics.rigidbody.RigidBodyType._KINEMATIC = 2;
oimo.dynamics.rigidbody.RigidBodyType.DYNAMIC = 0;
oimo.dynamics.rigidbody.RigidBodyType.STATIC = 1;
oimo.dynamics.rigidbody.RigidBodyType.KINEMATIC = 2;
export {oimo};