SAT.js

(function(l){function z(c,a,b){for(var e=d.pop().copy(a.c).sub(c.c),h=a.d,k=h*h,g=c.q,f=g.length,l=d.pop(),n=d.pop(),t=0;t<f;t++){var r=t===f-1?0:t+1,p=0===t?f-1:t-1,u=0,q=null;l.copy(c.n[t]);n.copy(e).sub(g[t]);b&&n.k()>k&&(b.j=!1);var m=y(l,n);if(-1===m){l.copy(c.n[p]);r=d.pop().copy(e).sub(g[p]);m=y(l,r);if(1===m){m=n.o();if(m>h)return d.push(e),d.push(l),d.push(n),d.push(r),!1;b&&(b.e=!1,q=n.normalize(),u=h-m)}d.push(r)}else if(1===m){if(l.copy(c.n[r]),n.copy(e).sub(g[r]),m=y(l,n),-1===m){m=n.o();
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B(e,h,f);f[0]+=a;f[1]+=a;if(g[0]>f[1]||f[0]>g[1])return d.push(c),p.push(g),p.push(f),!0;k&&(b=0,g[0]<f[0]?(k.j=!1,g[1]<f[1]?(b=g[1]-f[0],k.e=!1):(b=g[1]-f[0],e=f[1]-g[0],b=b<e?b:-e)):(k.e=!1,g[1]>f[1]?(b=g[0]-f[1],k.j=!1):(b=g[1]-f[0],e=f[1]-g[0],b=b<e?b:-e)),e=Math.abs(b),e<k.g&&(k.g=e,k.i.copy(h),0>b&&k.i.reverse()));d.push(c);p.push(g);p.push(f);return!1}function B(c,a,b){for(var e=Number.MAX_VALUE,h=-Number.MAX_VALUE,d=c.length,g=0;g<d;g++){var f=c[g].f(a);f<e&&(e=f);f>h&&(h=f)}b[0]=e;b[1]=h}
function w(){this.b=this.m=this.a=this.l=null;this.overlapN=this.i=new a;this.overlapV=this.p=new a;this.clear()}function x(c,s,b){this.pos=this.c=c||new a;this.w=this.F=s||0;this.h=this.A=b||0}function q(c,s){this.pos=this.c=c||new a;this.points=this.q=s||[];this.recalc()}function a(c,a){this.x=this.x=c||0;this.y=this.y=a||0}l.Vector=a;l.V=a;a.prototype.copy=function(c){this.x=c.x;this.y=c.y;return this};a.prototype.copy=a.prototype.copy;a.prototype.t=function(){var c=this.x;this.x=this.y;this.y=
-c;return this};a.prototype.perp=a.prototype.t;a.prototype.reverse=function(){this.x=-this.x;this.y=-this.y;return this};a.prototype.reverse=a.prototype.reverse;a.prototype.normalize=function(){var c=this.o();0<c&&(this.x/=c,this.y/=c);return this};a.prototype.normalize=a.prototype.normalize;a.prototype.add=function(c){this.x+=c.x;this.y+=c.y;return this};a.prototype.add=a.prototype.add;a.prototype.sub=function(c){this.x-=c.x;this.y-=c.y;return this};a.prototype.sub=a.prototype.sub;a.prototype.scale=
function(c,a){this.x*=c;this.y*=a||c;return this};a.prototype.scale=a.prototype.scale;a.prototype.u=function(c){var a=this.f(c)/c.k();this.x=a*c.x;this.y=a*c.y;return this};a.prototype.project=a.prototype.u;a.prototype.v=function(c){var a=this.f(c);this.x=a*c.x;this.y=a*c.y;return this};a.prototype.projectN=a.prototype.v;a.prototype.B=function(c){var a=this.x,b=this.y;this.u(c).scale(2);this.x-=a;this.y-=b;return this};a.prototype.reflect=a.prototype.B;a.prototype.C=function(c){var a=this.x,b=this.y;
this.v(c).scale(2);this.x-=a;this.y-=b;return this};a.prototype.relectN=a.prototype.C;a.prototype.f=function(c){return this.x*c.x+this.y*c.y};a.prototype.dot=a.prototype.f;a.prototype.k=function(){return this.f(this)};a.prototype.len2=a.prototype.k;a.prototype.o=function(){return Math.sqrt(this.k())};a.prototype.len=a.prototype.o;l.Circle=function(c,s){this.pos=this.c=c||new a;this.r=this.d=s||0};l.Polygon=q;q.prototype.recalc=function(){var c=this.q,s=c.length;this.n=[];this.s=[];for(var b=0;b<s;b++){var e=
c[b],e=(new a).copy(b<s-1?c[b+1]:c[0]).sub(e),d=(new a).copy(e).t().normalize();this.n.push(e);this.s.push(d)}};q.prototype.recalc=q.prototype.recalc;l.Box=x;x.prototype.D=function(){var c=this.c,d=this.F,b=this.A;return new q(new a(c.x,c.y),[new a,new a(d,0),new a(d,b),new a(0,b)])};x.prototype.toPolygon=x.prototype.D;for(var d=[],v=0;10>v;v++)d.push(new a);for(var p=[],v=0;5>v;v++)p.push([]);l.Response=w;w.prototype.clear=function(){this.bInA=this.e=this.aInB=this.j=!0;this.overlap=this.g=Number.MAX_VALUE;
return this};w.prototype.clear=w.prototype.clear;l.testCircleCircle=function(c,a,b){var e=d.pop().copy(a.c).sub(c.c),h=c.d+a.d,k=e.k();if(k>h*h)return d.push(e),!1;b&&(k=Math.sqrt(k),b.l=c,b.m=a,b.g=h-k,b.i.copy(e.normalize()),b.p.copy(e).scale(b.g),b.j=c.d<=a.d&&k<=a.d-c.d,b.e=a.d<=c.d&&k<=c.d-a.d);d.push(e);return!0};l.testPolygonCircle=z;l.testCirclePolygon=function(a,d,b){if((a=z(d,a,b))&&b){d=b.l;var e=b.j;b.i.reverse();b.p.reverse();b.l=b.m;b.m=d;b.j=b.e;b.e=e}return a};l.testPolygonPolygon=
function(a,d,b){for(var e=a.q,h=e.length,k=d.q,g=k.length,f=0;f<h;f++)if(A(a.c,d.c,e,k,a.s[f],b))return!1;for(f=0;f<g;f++)if(A(a.c,d.c,e,k,d.s[f],b))return!1;b&&(b.l=a,b.m=d,b.p.copy(b.i).scale(b.g));return!0}})(window.SAT={});