/*
  * Copyright (c) 2006-2007 Erin Catto 
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked, and must not be
* misrepresented the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/

var b2PulleyJoint = Class.create();
Object.extend(b2PulleyJoint.prototype, b2Joint.prototype);
Object.extend(b2PulleyJoint.prototype, 
{
        GetAnchor1: function(){
                //return this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
                var tMat = this.m_body1.m_R;
                return new b2Vec2(        this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
                                                        this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
        },
        GetAnchor2: function(){
                //return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
                var tMat = this.m_body2.m_R;
                return new b2Vec2(        this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
                                                        this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
        },

        GetGroundPoint1: function(){
                //return this.m_ground->m_position + this.m_groundAnchor1;
                return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y);
        },
        GetGroundPoint2: function(){
                return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y);
        },

        GetReactionForce: function(invTimeStep){
                //b2Vec2 F(0.0f, 0.0f);
                return new b2Vec2();
        },
        GetReactionTorque: function(invTimeStep){
                return 0.0;
        },

        GetLength1: function(){
                var tMat;
                //b2Vec2 p = this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
                tMat = this.m_body1.m_R;
                var pX = this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y);
                var pY = this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y);
                //b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor1;
                //b2Vec2 d = p - s;
                var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor1.x);
                var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor1.y);
                return Math.sqrt(dX*dX + dY*dY);
        },
        GetLength2: function(){
                var tMat;
                //b2Vec2 p = this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
                tMat = this.m_body2.m_R;
                var pX = this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y);
                var pY = this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y);
                //b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor2;
                //b2Vec2 d = p - s;
                var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor2.x);
                var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor2.y);
                return Math.sqrt(dX*dX + dY*dY);
        },

        GetRatio: function(){
                return this.m_ratio;
        },

        //--------------- Internals Below -------------------

        initialize: function(def){
                // The constructor for b2Joint
                // initialize instance variables for references
                this.m_node1 = new b2JointNode();
                this.m_node2 = new b2JointNode();
                //
                this.m_type = def.type;
                this.m_prev = null;
                this.m_next = null;
                this.m_body1 = def.body1;
                this.m_body2 = def.body2;
                this.m_collideConnected = def.collideConnected;
                this.m_islandFlag = false;
                this.m_userData = def.userData;
                //

                // initialize instance variables for references
                this.m_groundAnchor1 = new b2Vec2();
                this.m_groundAnchor2 = new b2Vec2();
                this.m_localAnchor1 = new b2Vec2();
                this.m_localAnchor2 = new b2Vec2();
                this.m_u1 = new b2Vec2();
                this.m_u2 = new b2Vec2();
                //

                // parent
                //super(def);

                var tMat;
                var tX;
                var tY;

                this.m_ground = this.m_body1.m_world.m_groundBody;
                //this.m_groundAnchor1 = def.groundPoint1 - this.m_ground.m_position;
                this.m_groundAnchor1.x = def.groundPoint1.x - this.m_ground.m_position.x;
                this.m_groundAnchor1.y = def.groundPoint1.y - this.m_ground.m_position.y;
                //this.m_groundAnchor2 = def.groundPoint2 - this.m_ground.m_position;
                this.m_groundAnchor2.x = def.groundPoint2.x - this.m_ground.m_position.x;
                this.m_groundAnchor2.y = def.groundPoint2.y - this.m_ground.m_position.y;
                //this.m_localAnchor1 = b2MulT(this.m_body1.m_R, def.anchorPoint1 - this.m_body1.m_position);
                tMat = this.m_body1.m_R;
                tX = def.anchorPoint1.x - this.m_body1.m_position.x;
                tY = def.anchorPoint1.y - this.m_body1.m_position.y;
                this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
                this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
                //this.m_localAnchor2 = b2MulT(this.m_body2.m_R, def.anchorPoint2 - this.m_body2.m_position);
                tMat = this.m_body2.m_R;
                tX = def.anchorPoint2.x - this.m_body2.m_position.x;
                tY = def.anchorPoint2.y - this.m_body2.m_position.y;
                this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
                this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;

                this.m_ratio = def.ratio;

                //var d1 = def.groundPoint1 - def.anchorPoint1;
                tX = def.groundPoint1.x - def.anchorPoint1.x;
                tY = def.groundPoint1.y - def.anchorPoint1.y;
                var d1Len = Math.sqrt(tX*tX + tY*tY);
                //var d2 = def.groundPoint2 - def.anchorPoint2;
                tX = def.groundPoint2.x - def.anchorPoint2.x;
                tY = def.groundPoint2.y - def.anchorPoint2.y;
                var d2Len = Math.sqrt(tX*tX + tY*tY);

                var length1 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d1Len);
                var length2 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLe
  *
  * This software is provided 'as-is', without any express or implied
  * warranty.  In no event will the authors be held liable for any damages
  * arising from the use of this software.
  * Permission is granted to anyone to use this software for any purpose,
  * including commercial applications, and to alter it and redistribute it
  * freely, subject to the following restrictions:
  * 1. The origin of this software must not be misrepresented; you must not
  * claim that you wrote the original software. If you use this software
  * in a product, an acknowledgment in the product documentation would be
  * appreciated but is not required.
  * 2. Altered source versions must be plainly marked, and must not be
  * misrepresented the original software.
  * 3. This notice may not be removed or altered from any source distribution.
  */
  
  var b2PulleyJoint = Class.create();
  Object.extend(b2PulleyJoint.prototype, b2Joint.prototype);
  Object.extend(b2PulleyJoint.prototype, 
  {
          GetAnchor1: function(){
                  //return this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
                  var tMat = this.m_body1.m_R;
                  return new b2Vec2(        this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y),
                                                          this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y));
          },
          GetAnchor2: function(){
                  //return this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
                  var tMat = this.m_body2.m_R;
                  return new b2Vec2(        this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y),
                                                          this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y));
          },
  
          GetGroundPoint1: function(){
                  //return this.m_ground->m_position + this.m_groundAnchor1;
                  return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor1.x, this.m_ground.m_position.y + this.m_groundAnchor1.y);
          },
          GetGroundPoint2: function(){
                  return new b2Vec2(this.m_ground.m_position.x + this.m_groundAnchor2.x, this.m_ground.m_position.y + this.m_groundAnchor2.y);
          },
  
          GetReactionForce: function(invTimeStep){
                  //b2Vec2 F(0.0f, 0.0f);
                  return new b2Vec2();
          },
          GetReactionTorque: function(invTimeStep){
                  return 0.0;
          },
  
          GetLength1: function(){
                  var tMat;
                  //b2Vec2 p = this.m_body1->m_position + b2Mul(this.m_body1->m_R, this.m_localAnchor1);
                  tMat = this.m_body1.m_R;
                  var pX = this.m_body1.m_position.x + (tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y);
                  var pY = this.m_body1.m_position.y + (tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y);
                  //b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor1;
                  //b2Vec2 d = p - s;
                  var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor1.x);
                  var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor1.y);
                  return Math.sqrt(dX*dX + dY*dY);
          },
          GetLength2: function(){
                  var tMat;
                  //b2Vec2 p = this.m_body2->m_position + b2Mul(this.m_body2->m_R, this.m_localAnchor2);
                  tMat = this.m_body2.m_R;
                  var pX = this.m_body2.m_position.x + (tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y);
                  var pY = this.m_body2.m_position.y + (tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y);
                  //b2Vec2 s = this.m_ground->m_position + this.m_groundAnchor2;
                  //b2Vec2 d = p - s;
                  var dX = pX - (this.m_ground.m_position.x + this.m_groundAnchor2.x);
                  var dY = pY - (this.m_ground.m_position.y + this.m_groundAnchor2.y);
                  return Math.sqrt(dX*dX + dY*dY);
          },
  
          GetRatio: function(){
                  return this.m_ratio;
          },
  
          //--------------- Internals Below -------------------
  
          initialize: function(def){
                  // The constructor for b2Joint
                  // initialize instance variables for references
                  this.m_node1 = new b2JointNode();
                  this.m_node2 = new b2JointNode();
                  //
                  this.m_type = def.type;
                  this.m_prev = null;
                  this.m_next = null;
                  this.m_body1 = def.body1;
                  this.m_body2 = def.body2;
                  this.m_collideConnected = def.collideConnected;
                  this.m_islandFlag = false;
                  this.m_userData = def.userData;
                  //
  
                  // initialize instance variables for references
                  this.m_groundAnchor1 = new b2Vec2();
                  this.m_groundAnchor2 = new b2Vec2();
                  this.m_localAnchor1 = new b2Vec2();
                  this.m_localAnchor2 = new b2Vec2();
                  this.m_u1 = new b2Vec2();
                  this.m_u2 = new b2Vec2();
                  //
  
                  // parent
                  //super(def);
  
                  var tMat;
                  var tX;
                  var tY;
  
                  this.m_ground = this.m_body1.m_world.m_groundBody;
                  //this.m_groundAnchor1 = def.groundPoint1 - this.m_ground.m_position;
                  this.m_groundAnchor1.x = def.groundPoint1.x - this.m_ground.m_position.x;
                  this.m_groundAnchor1.y = def.groundPoint1.y - this.m_ground.m_position.y;
                  //this.m_groundAnchor2 = def.groundPoint2 - this.m_ground.m_position;
                  this.m_groundAnchor2.x = def.groundPoint2.x - this.m_ground.m_position.x;
                  this.m_groundAnchor2.y = def.groundPoint2.y - this.m_ground.m_position.y;
                  //this.m_localAnchor1 = b2MulT(this.m_body1.m_R, def.anchorPoint1 - this.m_body1.m_position);
                  tMat = this.m_body1.m_R;
                  tX = def.anchorPoint1.x - this.m_body1.m_position.x;
                  tY = def.anchorPoint1.y - this.m_body1.m_position.y;
                  this.m_localAnchor1.x = tX*tMat.col1.x + tY*tMat.col1.y;
                  this.m_localAnchor1.y = tX*tMat.col2.x + tY*tMat.col2.y;
                  //this.m_localAnchor2 = b2MulT(this.m_body2.m_R, def.anchorPoint2 - this.m_body2.m_position);
                  tMat = this.m_body2.m_R;
                  tX = def.anchorPoint2.x - this.m_body2.m_position.x;
                  tY = def.anchorPoint2.y - this.m_body2.m_position.y;
                  this.m_localAnchor2.x = tX*tMat.col1.x + tY*tMat.col1.y;
                  this.m_localAnchor2.y = tX*tMat.col2.x + tY*tMat.col2.y;
  
                  this.m_ratio = def.ratio;
  
                  //var d1 = def.groundPoint1 - def.anchorPoint1;
                  tX = def.groundPoint1.x - def.anchorPoint1.x;
                  tY = def.groundPoint1.y - def.anchorPoint1.y;
                  var d1Len = Math.sqrt(tX*tX + tY*tY);
                  //var d2 = def.groundPoint2 - def.anchorPoint2;
                  tX = def.groundPoint2.x - def.anchorPoint2.x;
                  tY = def.groundPoint2.y - def.anchorPoint2.y;
                  var d2Len = Math.sqrt(tX*tX + tY*tY);
  
                  var length1 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d1Len);
                  var length2 = b2Math.b2Max(0.5 * b2PulleyJoint.b2_minPulleyLength, d2Len);
  
                  this.m_constant = length1 + this.m_ratio * length2;
  
                  this.m_maxLength1 = b2Math.b2Clamp(def.maxLength1, length1, this.m_constant - this.m_ratio * b2PulleyJoint.b2_minPulleyLength);
                  this.m_maxLength2 = b2Math.b2Clamp(def.maxLength2, length2, (this.m_constant - b2PulleyJoint.b2_minPulleyLength) / this.m_ratio);
  
                  this.m_pulleyImpulse = 0.0;
                  this.m_limitImpulse1 = 0.0;
                  this.m_limitImpulse2 = 0.0;
  
          },
  
          PrepareVelocitySolver: function(){
                  var b1 = this.m_body1;
                  var b2 = this.m_body2;
  
                  var tMat;
  
                  //b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
                  tMat = b1.m_R;
                  var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
                  var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
                  //b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
                  tMat = b2.m_R;
                  var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
                  var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
  
                  //b2Vec2 p1 = b1->m_position + r1;
                  var p1X = b1.m_position.x + r1X;
                  var p1Y = b1.m_position.y + r1Y;
                  //b2Vec2 p2 = b2->m_position + r2;
                  var p2X = b2.m_position.x + r2X;
                  var p2Y = b2.m_position.y + r2Y;
  
                  //b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
                  var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
                  var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
                  //b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
                  var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
                  var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
  
                  // Get the pulley axes.
                  //this.m_u1 = p1 - s1;
                  this.m_u1.Set(p1X - s1X, p1Y - s1Y);
                  //this.m_u2 = p2 - s2;
                  this.m_u2.Set(p2X - s2X, p2Y - s2Y);
  
                  var length1 = this.m_u1.Length();
                  var length2 = this.m_u2.Length();
  
                  if (length1 > b2Settings.b2_linearSlop)
                  {
                          //this.m_u1 *= 1.0f / length1;
                          this.m_u1.Multiply(1.0 / length1);
                  }
                  else
                  {
                          this.m_u1.SetZero();
                  }
  
                  if (length2 > b2Settings.b2_linearSlop)
                  {
                          //this.m_u2 *= 1.0f / length2;
                          this.m_u2.Multiply(1.0 / length2);
                  }
                  else
                  {
                          this.m_u2.SetZero();
                  }
  
                  if (length1 < this.m_maxLength1)
                  {
                          this.m_limitState1 = b2Joint.e_inactiveLimit;
                          this.m_limitImpulse1 = 0.0;
                  }
                  else
                  {
                          this.m_limitState1 = b2Joint.e_atUpperLimit;
                          this.m_limitPositionImpulse1 = 0.0;
                  }
  
                  if (length2 < this.m_maxLength2)
                  {
                          this.m_limitState2 = b2Joint.e_inactiveLimit;
                          this.m_limitImpulse2 = 0.0;
                  }
                  else
                  {
                          this.m_limitState2 = b2Joint.e_atUpperLimit;
                          this.m_limitPositionImpulse2 = 0.0;
                  }
  
                  // Compute effective mass.
                  //var cr1u1 = b2Cross(r1, this.m_u1);
                  var cr1u1 = r1X * this.m_u1.y - r1Y * this.m_u1.x;
                  //var cr2u2 = b2Cross(r2, this.m_u2);
                  var cr2u2 = r2X * this.m_u2.y - r2Y * this.m_u2.x;
  
                  this.m_limitMass1 = b1.m_invMass + b1.m_invI * cr1u1 * cr1u1;
                  this.m_limitMass2 = b2.m_invMass + b2.m_invI * cr2u2 * cr2u2;
                  this.m_pulleyMass = this.m_limitMass1 + this.m_ratio * this.m_ratio * this.m_limitMass2;
                  //b2Settings.b2Assert(this.m_limitMass1 > Number.MIN_VALUE);
                  //b2Settings.b2Assert(this.m_limitMass2 > Number.MIN_VALUE);
                  //b2Settings.b2Assert(this.m_pulleyMass > Number.MIN_VALUE);
                  this.m_limitMass1 = 1.0 / this.m_limitMass1;
                  this.m_limitMass2 = 1.0 / this.m_limitMass2;
                  this.m_pulleyMass = 1.0 / this.m_pulleyMass;
  
                  // Warm starting.
                  //b2Vec2 P1 = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1;
                  var P1X = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.x;
                  var P1Y = (-this.m_pulleyImpulse - this.m_limitImpulse1) * this.m_u1.y;
                  //b2Vec2 P2 = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2;
                  var P2X = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.x;
                  var P2Y = (-this.m_ratio * this.m_pulleyImpulse - this.m_limitImpulse2) * this.m_u2.y;
                  //b1.m_linearVelocity += b1.m_invMass * P1;
                  b1.m_linearVelocity.x += b1.m_invMass * P1X;
                  b1.m_linearVelocity.y += b1.m_invMass * P1Y;
                  //b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
                  b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
                  //b2.m_linearVelocity += b2.m_invMass * P2;
                  b2.m_linearVelocity.x += b2.m_invMass * P2X;
                  b2.m_linearVelocity.y += b2.m_invMass * P2Y;
                  //b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
                  b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
          },
  
          SolveVelocityConstraints: function(step){
                  var b1 = this.m_body1;
                  var b2 = this.m_body2;
  
                  var tMat;
  
                  //var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
                  tMat = b1.m_R;
                  var r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
                  var r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
                  //var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
                  tMat = b2.m_R;
                  var r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
                  var r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
  
                  // temp vars
                  var v1X;
                  var v1Y;
                  var v2X;
                  var v2Y;
                  var P1X;
                  var P1Y;
                  var P2X;
                  var P2Y;
                  var Cdot;
                  var impulse;
                  var oldLimitImpulse;
  
                  //{
                          //b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
                          v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
                          v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
                          //b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
                          v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
                          v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
  
                          //Cdot = -b2Dot(this.m_u1, v1) - this.m_ratio * b2Dot(this.m_u2, v2);
                          Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y) - this.m_ratio * (this.m_u2.x * v2X + this.m_u2.y * v2Y);
                          impulse = -this.m_pulleyMass * Cdot;
                          this.m_pulleyImpulse += impulse;
  
                          //b2Vec2 P1 = -impulse * this.m_u1;
                          P1X = -impulse * this.m_u1.x;
                          P1Y = -impulse * this.m_u1.y;
                          //b2Vec2 P2 = -this.m_ratio * impulse * this.m_u2;
                          P2X = -this.m_ratio * impulse * this.m_u2.x;
                          P2Y = -this.m_ratio * impulse * this.m_u2.y;
                          //b1.m_linearVelocity += b1.m_invMass * P1;
                          b1.m_linearVelocity.x += b1.m_invMass * P1X;
                          b1.m_linearVelocity.y += b1.m_invMass * P1Y;
                          //b1.m_angularVelocity += b1.m_invI * b2Cross(r1, P1);
                          b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
                          //b2.m_linearVelocity += b2.m_invMass * P2;
                          b2.m_linearVelocity.x += b2.m_invMass * P2X;
                          b2.m_linearVelocity.y += b2.m_invMass * P2Y;
                          //b2.m_angularVelocity += b2.m_invI * b2Cross(r2, P2);
                          b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
                  //}
  
                  if (this.m_limitState1 == b2Joint.e_atUpperLimit)
                  {
                          //b2Vec2 v1 = b1->m_linearVelocity + b2Cross(b1->m_angularVelocity, r1);
                          v1X = b1.m_linearVelocity.x + (-b1.m_angularVelocity * r1Y);
                          v1Y = b1.m_linearVelocity.y + (b1.m_angularVelocity * r1X);
  
                          //float32 Cdot = -b2Dot(this.m_u1, v1);
                          Cdot = -(this.m_u1.x * v1X + this.m_u1.y * v1Y);
                          impulse = -this.m_limitMass1 * Cdot;
                          oldLimitImpulse = this.m_limitImpulse1;
                          this.m_limitImpulse1 = b2Math.b2Max(0.0, this.m_limitImpulse1 + impulse);
                          impulse = this.m_limitImpulse1 - oldLimitImpulse;
                          //b2Vec2 P1 = -impulse * this.m_u1;
                          P1X = -impulse * this.m_u1.x;
                          P1Y = -impulse * this.m_u1.y;
                          //b1.m_linearVelocity += b1->m_invMass * P1;
                          b1.m_linearVelocity.x += b1.m_invMass * P1X;
                          b1.m_linearVelocity.y += b1.m_invMass * P1Y;
                          //b1.m_angularVelocity += b1->m_invI * b2Cross(r1, P1);
                          b1.m_angularVelocity += b1.m_invI * (r1X * P1Y - r1Y * P1X);
                  }
  
                  if (this.m_limitState2 == b2Joint.e_atUpperLimit)
                  {
                          //b2Vec2 v2 = b2->m_linearVelocity + b2Cross(b2->m_angularVelocity, r2);
                          v2X = b2.m_linearVelocity.x + (-b2.m_angularVelocity * r2Y);
                          v2Y = b2.m_linearVelocity.y + (b2.m_angularVelocity * r2X);
  
                          //float32 Cdot = -b2Dot(this.m_u2, v2);
                          Cdot = -(this.m_u2.x * v2X + this.m_u2.y * v2Y);
                          impulse = -this.m_limitMass2 * Cdot;
                          oldLimitImpulse = this.m_limitImpulse2;
                          this.m_limitImpulse2 = b2Math.b2Max(0.0, this.m_limitImpulse2 + impulse);
                          impulse = this.m_limitImpulse2 - oldLimitImpulse;
                          //b2Vec2 P2 = -impulse * this.m_u2;
                          P2X = -impulse * this.m_u2.x;
                          P2Y = -impulse * this.m_u2.y;
                          //b2->m_linearVelocity += b2->m_invMass * P2;
                          b2.m_linearVelocity.x += b2.m_invMass * P2X;
                          b2.m_linearVelocity.y += b2.m_invMass * P2Y;
                          //b2->m_angularVelocity += b2->m_invI * b2Cross(r2, P2);
                          b2.m_angularVelocity += b2.m_invI * (r2X * P2Y - r2Y * P2X);
                  }
          },
  
          SolvePositionConstraints: function(){
                  var b1 = this.m_body1;
                  var b2 = this.m_body2;
  
                  var tMat;
  
                  //b2Vec2 s1 = this.m_ground->m_position + this.m_groundAnchor1;
                  var s1X = this.m_ground.m_position.x + this.m_groundAnchor1.x;
                  var s1Y = this.m_ground.m_position.y + this.m_groundAnchor1.y;
                  //b2Vec2 s2 = this.m_ground->m_position + this.m_groundAnchor2;
                  var s2X = this.m_ground.m_position.x + this.m_groundAnchor2.x;
                  var s2Y = this.m_ground.m_position.y + this.m_groundAnchor2.y;
  
                  // temp vars
                  var r1X;
                  var r1Y;
                  var r2X;
                  var r2Y;
                  var p1X;
                  var p1Y;
                  var p2X;
                  var p2Y;
                  var length1;
                  var length2;
                  var C;
                  var impulse;
                  var oldLimitPositionImpulse;
  
                  var linearError = 0.0;
  
                  {
                          //var r1 = b2Mul(b1.m_R, this.m_localAnchor1);
                          tMat = b1.m_R;
                          r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
                          r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
                          //var r2 = b2Mul(b2.m_R, this.m_localAnchor2);
                          tMat = b2.m_R;
                          r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
                          r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
  
                          //b2Vec2 p1 = b1->m_position + r1;
                          p1X = b1.m_position.x + r1X;
                          p1Y = b1.m_position.y + r1Y;
                          //b2Vec2 p2 = b2->m_position + r2;
                          p2X = b2.m_position.x + r2X;
                          p2Y = b2.m_position.y + r2Y;
  
                          // Get the pulley axes.
                          //this.m_u1 = p1 - s1;
                          this.m_u1.Set(p1X - s1X, p1Y - s1Y);
                          //this.m_u2 = p2 - s2;
                          this.m_u2.Set(p2X - s2X, p2Y - s2Y);
  
                          length1 = this.m_u1.Length();
                          length2 = this.m_u2.Length();
  
                          if (length1 > b2Settings.b2_linearSlop)
                          {
                                  //this.m_u1 *= 1.0f / length1;
                                  this.m_u1.Multiply( 1.0 / length1 );
                          }
                          else
                          {
                                  this.m_u1.SetZero();
                          }
  
                          if (length2 > b2Settings.b2_linearSlop)
                          {
                                  //this.m_u2 *= 1.0f / length2;
                                  this.m_u2.Multiply( 1.0 / length2 );
                          }
                          else
                          {
                                  this.m_u2.SetZero();
                          }
  
                          C = this.m_constant - length1 - this.m_ratio * length2;
                          linearError = b2Math.b2Max(linearError, Math.abs(C));
                          C = b2Math.b2Clamp(C, -b2Settings.b2_maxLinearCorrection, b2Settings.b2_maxLinearCorrection);
                          impulse = -this.m_pulleyMass * C;
  
                          p1X = -impulse * this.m_u1.x;
                          p1Y = -impulse * this.m_u1.y;
                          p2X = -this.m_ratio * impulse * this.m_u2.x;
                          p2Y = -this.m_ratio * impulse * this.m_u2.y;
  
                          b1.m_position.x += b1.m_invMass * p1X;
                          b1.m_position.y += b1.m_invMass * p1Y;
                          b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
                          b2.m_position.x += b2.m_invMass * p2X;
                          b2.m_position.y += b2.m_invMass * p2Y;
                          b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
  
                          b1.m_R.Set(b1.m_rotation);
                          b2.m_R.Set(b2.m_rotation);
                  }
  
                  if (this.m_limitState1 == b2Joint.e_atUpperLimit)
                  {
                          //b2Vec2 r1 = b2Mul(b1->m_R, this.m_localAnchor1);
                          tMat = b1.m_R;
                          r1X = tMat.col1.x * this.m_localAnchor1.x + tMat.col2.x * this.m_localAnchor1.y;
                          r1Y = tMat.col1.y * this.m_localAnchor1.x + tMat.col2.y * this.m_localAnchor1.y;
                          //b2Vec2 p1 = b1->m_position + r1;
                          p1X = b1.m_position.x + r1X;
                          p1Y = b1.m_position.y + r1Y;
  
                          //this.m_u1 = p1 - s1;
                          this.m_u1.Set(p1X - s1X, p1Y - s1Y);
  
                          length1 = this.m_u1.Length();
  
                          if (length1 > b2Settings.b2_linearSlop)
                          {
                                  //this.m_u1 *= 1.0 / length1;
                                  this.m_u1.x *= 1.0 / length1;
                                  this.m_u1.y *= 1.0 / length1;
                          }
                          else
                          {
                                  this.m_u1.SetZero();
                          }
  
                          C = this.m_maxLength1 - length1;
                          linearError = b2Math.b2Max(linearError, -C);
                          C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
                          impulse = -this.m_limitMass1 * C;
                          oldLimitPositionImpulse = this.m_limitPositionImpulse1;
                          this.m_limitPositionImpulse1 = b2Math.b2Max(0.0, this.m_limitPositionImpulse1 + impulse);
                          impulse = this.m_limitPositionImpulse1 - oldLimitPositionImpulse;
  
                          //P1 = -impulse * this.m_u1;
                          p1X = -impulse * this.m_u1.x;
                          p1Y = -impulse * this.m_u1.y;
  
                          b1.m_position.x += b1.m_invMass * p1X;
                          b1.m_position.y += b1.m_invMass * p1Y;
                          //b1.m_rotation += b1.m_invI * b2Cross(r1, P1);
                          b1.m_rotation += b1.m_invI * (r1X * p1Y - r1Y * p1X);
                          b1.m_R.Set(b1.m_rotation);
                  }
  
                  if (this.m_limitState2 == b2Joint.e_atUpperLimit)
                  {
                          //b2Vec2 r2 = b2Mul(b2->m_R, this.m_localAnchor2);
                          tMat = b2.m_R;
                          r2X = tMat.col1.x * this.m_localAnchor2.x + tMat.col2.x * this.m_localAnchor2.y;
                          r2Y = tMat.col1.y * this.m_localAnchor2.x + tMat.col2.y * this.m_localAnchor2.y;
                          //b2Vec2 p2 = b2->m_position + r2;
                          p2X = b2.m_position.x + r2X;
                          p2Y = b2.m_position.y + r2Y;
  
                          //this.m_u2 = p2 - s2;
                          this.m_u2.Set(p2X - s2X, p2Y - s2Y);
  
                          length2 = this.m_u2.Length();
  
                          if (length2 > b2Settings.b2_linearSlop)
                          {
                                  //this.m_u2 *= 1.0 / length2;
                                  this.m_u2.x *= 1.0 / length2;
                                  this.m_u2.y *= 1.0 / length2;
                          }
                          else
                          {
                                  this.m_u2.SetZero();
                          }
  
                          C = this.m_maxLength2 - length2;
                          linearError = b2Math.b2Max(linearError, -C);
                          C = b2Math.b2Clamp(C + b2Settings.b2_linearSlop, -b2Settings.b2_maxLinearCorrection, 0.0);
                          impulse = -this.m_limitMass2 * C;
                          oldLimitPositionImpulse = this.m_limitPositionImpulse2;
                          this.m_limitPositionImpulse2 = b2Math.b2Max(0.0, this.m_limitPositionImpulse2 + impulse);
                          impulse = this.m_limitPositionImpulse2 - oldLimitPositionImpulse;
  
                          //P2 = -impulse * this.m_u2;
                          p2X = -impulse * this.m_u2.x;
                          p2Y = -impulse * this.m_u2.y;
  
                          //b2.m_position += b2.m_invMass * P2;
                          b2.m_position.x += b2.m_invMass * p2X;
                          b2.m_position.y += b2.m_invMass * p2Y;
                          //b2.m_rotation += b2.m_invI * b2Cross(r2, P2);
                          b2.m_rotation += b2.m_invI * (r2X * p2Y - r2Y * p2X);
                          b2.m_R.Set(b2.m_rotation);
                  }
  
                  return linearError < b2Settings.b2_linearSlop;
          },
  
          m_ground: null,
          m_groundAnchor1: new b2Vec2(),
          m_groundAnchor2: new b2Vec2(),
          m_localAnchor1: new b2Vec2(),
          m_localAnchor2: new b2Vec2(),
  
          m_u1: new b2Vec2(),
          m_u2: new b2Vec2(),
  
          m_constant: null,
          m_ratio: null,
  
          m_maxLength1: null,
          m_maxLength2: null,
  
          // Effective masses
          m_pulleyMass: null,
          m_limitMass1: null,
          m_limitMass2: null,
  
          // Impulses for accumulation/warm starting.
          m_pulleyImpulse: null,
          m_limitImpulse1: null,
          m_limitImpulse2: null,
  
          // Position impulses for accumulation.
          m_limitPositionImpulse1: null,
          m_limitPositionImpulse2: null,
  
          m_limitState1: 0,
          m_limitState2: 0
  
          // static
  });
  
  b2PulleyJoint.b2_minPulleyLength = b2Settings.b2_lengthUnitsPerMeter;