Removed OimoPhysics example. (#25895)

examples/files.json

@@ -391,7 +391,6 @@
 		"physics_ammo_rope",
 		"physics_ammo_terrain",
 		"physics_ammo_volume",
-		"physics_oimo_instancing",
 		"physics_rapier_instancing"
 	],
 	"misc": [

examples/jsm/libs/OimoPhysics/OimoPhysics.js

@@ -1,37071 +0,0 @@
-// 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};

examples/jsm/libs/OimoPhysics/index.js

@@ -1,43 +0,0 @@
-import {oimo} from './OimoPhysics.js';
-
-// dynamics
-export const World = oimo.dynamics.World;
-export const RigidBodyType = oimo.dynamics.rigidbody.RigidBodyType;
-export const RigidBodyConfig = oimo.dynamics.rigidbody.RigidBodyConfig;
-export const ShapeConfig = oimo.dynamics.rigidbody.ShapeConfig;
-export const RigidBody = oimo.dynamics.rigidbody.RigidBody;
-export const Shape = oimo.dynamics.rigidbody.Shape;
-export const SphericalJoint = oimo.dynamics.constraint.joint.SphericalJoint;
-export const RevoluteJointConfig = oimo.dynamics.constraint.joint.RevoluteJointConfig;
-export const UniversalJointConfig = oimo.dynamics.constraint.joint.UniversalJointConfig;
-export const CylindricalJoint = oimo.dynamics.constraint.joint.CylindricalJoint;
-export const PrismaticJoint = oimo.dynamics.constraint.joint.PrismaticJoint;
-export const PrismaticJointConfig = oimo.dynamics.constraint.joint.PrismaticJointConfig;
-export const RevoluteJoint = oimo.dynamics.constraint.joint.RevoluteJoint;
-export const RagdollJoint = oimo.dynamics.constraint.joint.RagdollJoint;
-export const CylindricalJointConfig = oimo.dynamics.constraint.joint.CylindricalJointConfig;
-export const SphericalJointConfig = oimo.dynamics.constraint.joint.SphericalJointConfig;
-export const RagdollJointConfig = oimo.dynamics.constraint.joint.RagdollJointConfig;
-export const SpringDamper = oimo.dynamics.constraint.joint.SpringDamper;
-export const TranslationalLimitMotor = oimo.dynamics.constraint.joint.TranslationalLimitMotor;
-export const RotationalLimitMotor = oimo.dynamics.constraint.joint.RotationalLimitMotor;
-export const UniversalJoint = oimo.dynamics.constraint.joint.UniversalJoint;
-
-// common
-export const Vec3 = oimo.common.Vec3;
-export const Quat = oimo.common.Quat;
-export const Mat3 = oimo.common.Mat3;
-export const MathUtil = oimo.common.MathUtil;
-export const Transform = oimo.common.Transform;
-
-// collision
-export const OCapsuleGeometry = oimo.collision.geometry.CapsuleGeometry;
-export const OConvexHullGeometry = oimo.collision.geometry.ConvexHullGeometry;
-export const OBoxGeometry = oimo.collision.geometry.BoxGeometry;
-export const OSphereGeometry = oimo.collision.geometry.SphereGeometry;
-export const OCylinderGeometry = oimo.collision.geometry.CylinderGeometry;
-export const OConeGeometry = oimo.collision.geometry.ConeGeometry;
-export const OGeometry = oimo.collision.geometry.Geometry;
-
-// callback
-export const RayCastClosest = oimo.dynamics.callback.RayCastClosest;

examples/jsm/physics/OimoPhysics.js

@@ -1,232 +0,0 @@
-import * as OIMO from '../libs/OimoPhysics/index.js';
-
-async function OimoPhysics() {
-
-	const frameRate = 60;
-
-	const world = new OIMO.World( 2, new OIMO.Vec3( 0, - 9.8, 0 ) );
-
-	//
-
-	function getShape( geometry ) {
-
-		const parameters = geometry.parameters;
-
-		// TODO change type to is*
-
-		if ( geometry.type === 'BoxGeometry' ) {
-
-			const sx = parameters.width !== undefined ? parameters.width / 2 : 0.5;
-			const sy = parameters.height !== undefined ? parameters.height / 2 : 0.5;
-			const sz = parameters.depth !== undefined ? parameters.depth / 2 : 0.5;
-
-			return new OIMO.OBoxGeometry( new OIMO.Vec3( sx, sy, sz ) );
-
-		} else if ( geometry.type === 'SphereGeometry' || geometry.type === 'IcosahedronGeometry' ) {
-
-			const radius = parameters.radius !== undefined ? parameters.radius : 1;
-
-			return new OIMO.OSphereGeometry( radius );
-
-		}
-
-		return null;
-
-	}
-
-	const meshes = [];
-	const meshMap = new WeakMap();
-
-	function addMesh( mesh, mass = 0 ) {
-
-		const shape = getShape( mesh.geometry );
-
-		if ( shape !== null ) {
-
-			if ( mesh.isInstancedMesh ) {
-
-				handleInstancedMesh( mesh, mass, shape );
-
-			} else if ( mesh.isMesh ) {
-
-				handleMesh( mesh, mass, shape );
-
-			}
-
-		}
-
-	}
-
-	function handleMesh( mesh, mass, shape ) {
-
-		const shapeConfig = new OIMO.ShapeConfig();
-		shapeConfig.geometry = shape;
-
-		const bodyConfig = new OIMO.RigidBodyConfig();
-		bodyConfig.type = mass === 0 ? OIMO.RigidBodyType.STATIC : OIMO.RigidBodyType.DYNAMIC;
-		bodyConfig.position = new OIMO.Vec3( mesh.position.x, mesh.position.y, mesh.position.z );
-
-		const body = new OIMO.RigidBody( bodyConfig );
-		body.addShape( new OIMO.Shape( shapeConfig ) );
-		world.addRigidBody( body );
-
-		if ( mass > 0 ) {
-
-			meshes.push( mesh );
-			meshMap.set( mesh, body );
-
-		}
-
-	}
-
-	function handleInstancedMesh( mesh, mass, shape ) {
-
-		const array = mesh.instanceMatrix.array;
-
-		const bodies = [];
-
-		for ( let i = 0; i < mesh.count; i ++ ) {
-
-			const index = i * 16;
-
-			const shapeConfig = new OIMO.ShapeConfig();
-			shapeConfig.geometry = shape;
-
-			const bodyConfig = new OIMO.RigidBodyConfig();
-			bodyConfig.type = mass === 0 ? OIMO.RigidBodyType.STATIC : OIMO.RigidBodyType.DYNAMIC;
-			bodyConfig.position = new OIMO.Vec3( array[ index + 12 ], array[ index + 13 ], array[ index + 14 ] );
-
-			const body = new OIMO.RigidBody( bodyConfig );
-			body.addShape( new OIMO.Shape( shapeConfig ) );
-			world.addRigidBody( body );
-
-			bodies.push( body );
-
-		}
-
-		if ( mass > 0 ) {
-
-			meshes.push( mesh );
-			meshMap.set( mesh, bodies );
-
-		}
-
-	}
-
-	//
-
-	function setMeshPosition( mesh, position, index = 0 ) {
-
-		if ( mesh.isInstancedMesh ) {
-
-			const bodies = meshMap.get( mesh );
-			const body = bodies[ index ];
-
-			body.setPosition( new OIMO.Vec3( position.x, position.y, position.z ) );
-
-		} else if ( mesh.isMesh ) {
-
-			const body = meshMap.get( mesh );
-
-			body.setPosition( new OIMO.Vec3( position.x, position.y, position.z ) );
-
-		}
-
-	}
-
-	//
-
-	let lastTime = 0;
-
-	function step() {
-
-		const time = performance.now();
-
-		if ( lastTime > 0 ) {
-
-			// console.time( 'world.step' );
-			world.step( 1 / frameRate );
-			// console.timeEnd( 'world.step' );
-
-		}
-
-		lastTime = time;
-
-		//
-
-		for ( let i = 0, l = meshes.length; i < l; i ++ ) {
-
-			const mesh = meshes[ i ];
-
-			if ( mesh.isInstancedMesh ) {
-
-				const array = mesh.instanceMatrix.array;
-				const bodies = meshMap.get( mesh );
-
-				for ( let j = 0; j < bodies.length; j ++ ) {
-
-					const body = bodies[ j ];
-
-					compose( body.getPosition(), body.getOrientation(), array, j * 16 );
-
-				}
-
-				mesh.instanceMatrix.needsUpdate = true;
-				mesh.computeBoundingSphere();
-
-			} else if ( mesh.isMesh ) {
-
-				const body = meshMap.get( mesh );
-
-				mesh.position.copy( body.getPosition() );
-				mesh.quaternion.copy( body.getOrientation() );
-
-			}
-
-		}
-
-	}
-
-	// animate
-
-	setInterval( step, 1000 / frameRate );
-
-	return {
-		addMesh: addMesh,
-		setMeshPosition: setMeshPosition
-		// addCompoundMesh
-	};
-
-}
-
-function compose( position, quaternion, array, index ) {
-
-	const x = quaternion.x, y = quaternion.y, z = quaternion.z, w = quaternion.w;
-	const x2 = x + x, y2 = y + y, z2 = z + z;
-	const xx = x * x2, xy = x * y2, xz = x * z2;
-	const yy = y * y2, yz = y * z2, zz = z * z2;
-	const wx = w * x2, wy = w * y2, wz = w * z2;
-
-	array[ index + 0 ] = ( 1 - ( yy + zz ) );
-	array[ index + 1 ] = ( xy + wz );
-	array[ index + 2 ] = ( xz - wy );
-	array[ index + 3 ] = 0;
-
-	array[ index + 4 ] = ( xy - wz );
-	array[ index + 5 ] = ( 1 - ( xx + zz ) );
-	array[ index + 6 ] = ( yz + wx );
-	array[ index + 7 ] = 0;
-
-	array[ index + 8 ] = ( xz + wy );
-	array[ index + 9 ] = ( yz - wx );
-	array[ index + 10 ] = ( 1 - ( xx + yy ) );
-	array[ index + 11 ] = 0;
-
-	array[ index + 12 ] = position.x;
-	array[ index + 13 ] = position.y;
-	array[ index + 14 ] = position.z;
-	array[ index + 15 ] = 1;
-
-}
-
-export { OimoPhysics };

examples/physics_oimo_instancing.html

@@ -1,170 +0,0 @@
-<!DOCTYPE html>
-<html lang="en">
-	<head>
-		<title>three.js physics - OimoPhysics instancing</title>
-		<meta charset="utf-8">
-		<meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=no">
-		<link type="text/css" rel="stylesheet" href="main.css">
-	</head>
-	<body>
-
-		<div id="info">
-			<a href="https://threejs.org" target="_blank" rel="noopener">three.js</a> physics - OimoPhysics instancing
-		</div>
-
-
-		<!-- Import maps polyfill -->
-		<!-- Remove this when import maps will be widely supported -->
-		<script async src="https://unpkg.com/[email protected]/dist/es-module-shims.js"></script>
-
-		<script type="importmap">
-			{
-				"imports": {
-					"three": "../build/three.module.js",
-					"three/addons/": "./jsm/"
-				}
-			}
-		</script>
-
-		<script type="module">
-
-			import * as THREE from 'three';
-			import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
-			import { OimoPhysics } from 'three/addons/physics/OimoPhysics.js';
-			import Stats from 'three/addons/libs/stats.module.js';
-
-			THREE.ColorManagement.enabled = false; // TODO: Consider enabling color management.
-
-			let camera, scene, renderer, stats;
-			let physics, position;
-
-			let boxes, spheres;
-
-			init();
-
-			async function init() {
-
-				physics = await OimoPhysics();
-				position = new THREE.Vector3();
-
-				//
-
-				camera = new THREE.PerspectiveCamera( 50, window.innerWidth / window.innerHeight, 0.1, 100 );
-				camera.position.set( - 1, 1.5, 2 );
-				camera.lookAt( 0, 0.5, 0 );
-
-				scene = new THREE.Scene();
-				scene.background = new THREE.Color( 0x666666 );
-
-				const hemiLight = new THREE.HemisphereLight();
-				hemiLight.intensity = 0.35;
-				scene.add( hemiLight );
-
-				const dirLight = new THREE.DirectionalLight();
-				dirLight.position.set( 5, 5, 5 );
-				dirLight.castShadow = true;
-				dirLight.shadow.camera.zoom = 2;
-				scene.add( dirLight );
-
-				const floor = new THREE.Mesh(
-					new THREE.BoxGeometry( 10, 5, 10 ),
-					new THREE.ShadowMaterial( { color: 0x111111 } )
-				);
-				floor.position.y = - 2.5;
-				floor.receiveShadow = true;
-				scene.add( floor );
-				physics.addMesh( floor );
-
-				//
-
-				const material = new THREE.MeshLambertMaterial();
-
-				const matrix = new THREE.Matrix4();
-				const color = new THREE.Color();
-
-				// Boxes
-
-				const geometryBox = new THREE.BoxGeometry( 0.1, 0.1, 0.1 );
-				boxes = new THREE.InstancedMesh( geometryBox, material, 100 );
-				boxes.instanceMatrix.setUsage( THREE.DynamicDrawUsage ); // will be updated every frame
-				boxes.castShadow = true;
-				boxes.receiveShadow = true;
-				scene.add( boxes );
-
-				for ( let i = 0; i < boxes.count; i ++ ) {
-
-					matrix.setPosition( Math.random() - 0.5, Math.random() * 2, Math.random() - 0.5 );
-					boxes.setMatrixAt( i, matrix );
-					boxes.setColorAt( i, color.setHex( 0xffffff * Math.random() ) );
-
-				}
-
-				physics.addMesh( boxes, 1 );
-
-				// Spheres
-
-				const geometrySphere = new THREE.IcosahedronGeometry( 0.075, 3 );
-				spheres = new THREE.InstancedMesh( geometrySphere, material, 100 );
-				spheres.instanceMatrix.setUsage( THREE.DynamicDrawUsage ); // will be updated every frame
-				spheres.castShadow = true;
-				spheres.receiveShadow = true;
-				scene.add( spheres );
-
-				for ( let i = 0; i < spheres.count; i ++ ) {
-
-					matrix.setPosition( Math.random() - 0.5, Math.random() * 2, Math.random() - 0.5 );
-					spheres.setMatrixAt( i, matrix );
-					spheres.setColorAt( i, color.setHex( 0xffffff * Math.random() ) );
-
-				}
-
-				physics.addMesh( spheres, 1 );
-
-				//
-
-				renderer = new THREE.WebGLRenderer( { antialias: true } );
-				renderer.setPixelRatio( window.devicePixelRatio );
-				renderer.setSize( window.innerWidth, window.innerHeight );
-				renderer.shadowMap.enabled = true;
-				document.body.appendChild( renderer.domElement );
-
-				stats = new Stats();
-				document.body.appendChild( stats.dom );
-
-				//
-
-				const controls = new OrbitControls( camera, renderer.domElement );
-				controls.target.y = 0.5;
-				controls.update();
-
-				animate();
-
-			}
-
-			function animate() {
-
-				requestAnimationFrame( animate );
-
-				//
-
-				let index = Math.floor( Math.random() * boxes.count );
-
-				position.set( 0, Math.random() + 1, 0 );
-				physics.setMeshPosition( boxes, position, index );
-
-				//
-
-				index = Math.floor( Math.random() * spheres.count );
-
-				position.set( 0, Math.random() + 1, 0 );
-				physics.setMeshPosition( spheres, position, index );
-
-				renderer.render( scene, camera );
-
-				stats.update();
-
-			}
-
-		</script>
-	</body>
-</html>