diff --git a/build/p2.js b/build/p2.js
deleted file mode 100644
index d3fb16a1a1..0000000000
--- a/build/p2.js
+++ /dev/null
@@ -1,8768 +0,0 @@
-/**
- * The MIT License (MIT)
- * 
- * Copyright (c) 2013 p2.js authors
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-!function(e){"object"==typeof exports?module.exports=e():"function"==typeof define&&define.amd?define(e):"undefined"!=typeof window?window.p2=e():"undefined"!=typeof global?self.p2=e():"undefined"!=typeof self&&(self.p2=e())}(function(){var define,module,exports;return (function e(t,n,r){function s(o,u){if(!n[o]){if(!t[o]){var a=typeof require=="function"&&require;if(!u&&a)return a(o,!0);if(i)return i(o,!0);throw new Error("Cannot find module '"+o+"'")}var f=n[o]={exports:{}};t[o][0].call(f.exports,function(e){var n=t[o][1][e];return s(n?n:e)},f,f.exports,e,t,n,r)}return n[o].exports}var i=typeof require=="function"&&require;for(var o=0;o<r.length;o++)s(r[o]);return s})({1:[function(require,module,exports){
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
-
-/**
- * @class 2x2 Matrix
- * @name mat2
- */
-var mat2 = {};
-
-var mat2Identity = new Float32Array([
-    1, 0,
-    0, 1
-]);
-
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
-
-/**
- * Creates a new identity mat2
- *
- * @returns {mat2} a new 2x2 matrix
- */
-mat2.create = function() {
-    return new Float32Array(mat2Identity);
-};
-
-/**
- * Creates a new mat2 initialized with values from an existing matrix
- *
- * @param {mat2} a matrix to clone
- * @returns {mat2} a new 2x2 matrix
- */
-mat2.clone = function(a) {
-    var out = new Float32Array(4);
-    out[0] = a[0];
-    out[1] = a[1];
-    out[2] = a[2];
-    out[3] = a[3];
-    return out;
-};
-
-/**
- * Copy the values from one mat2 to another
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
-mat2.copy = function(out, a) {
-    out[0] = a[0];
-    out[1] = a[1];
-    out[2] = a[2];
-    out[3] = a[3];
-    return out;
-};
-
-/**
- * Set a mat2 to the identity matrix
- *
- * @param {mat2} out the receiving matrix
- * @returns {mat2} out
- */
-mat2.identity = function(out) {
-    out[0] = 1;
-    out[1] = 0;
-    out[2] = 0;
-    out[3] = 1;
-    return out;
-};
-
-/**
- * Transpose the values of a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
-mat2.transpose = function(out, a) {
-    // If we are transposing ourselves we can skip a few steps but have to cache some values
-    if (out === a) {
-        var a1 = a[1];
-        out[1] = a[2];
-        out[2] = a1;
-    } else {
-        out[0] = a[0];
-        out[1] = a[2];
-        out[2] = a[1];
-        out[3] = a[3];
-    }
-    
-    return out;
-};
-
-/**
- * Inverts a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
-mat2.invert = function(out, a) {
-    var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
-
-        // Calculate the determinant
-        det = a0 * a3 - a2 * a1;
-
-    if (!det) {
-        return null;
-    }
-    det = 1.0 / det;
-    
-    out[0] =  a3 * det;
-    out[1] = -a1 * det;
-    out[2] = -a2 * det;
-    out[3] =  a0 * det;
-
-    return out;
-};
-
-/**
- * Caclulates the adjugate of a mat2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the source matrix
- * @returns {mat2} out
- */
-mat2.adjoint = function(out, a) {
-    // Caching this value is nessecary if out == a
-    var a0 = a[0];
-    out[0] =  a[3];
-    out[1] = -a[1];
-    out[2] = -a[2];
-    out[3] =  a0;
-
-    return out;
-};
-
-/**
- * Calculates the determinant of a mat2
- *
- * @param {mat2} a the source matrix
- * @returns {Number} determinant of a
- */
-mat2.determinant = function (a) {
-    return a[0] * a[3] - a[2] * a[1];
-};
-
-/**
- * Multiplies two mat2's
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the first operand
- * @param {mat2} b the second operand
- * @returns {mat2} out
- */
-mat2.multiply = function (out, a, b) {
-    var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3];
-    var b0 = b[0], b1 = b[1], b2 = b[2], b3 = b[3];
-    out[0] = a0 * b0 + a1 * b2;
-    out[1] = a0 * b1 + a1 * b3;
-    out[2] = a2 * b0 + a3 * b2;
-    out[3] = a2 * b1 + a3 * b3;
-    return out;
-};
-
-/**
- * Alias for {@link mat2.multiply}
- * @function
- */
-mat2.mul = mat2.multiply;
-
-/**
- * Rotates a mat2 by the given angle
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the matrix to rotate
- * @param {mat2} rad the angle to rotate the matrix by
- * @returns {mat2} out
- */
-mat2.rotate = function (out, a, rad) {
-    var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
-        s = Math.sin(rad),
-        c = Math.cos(rad);
-    out[0] = a0 *  c + a1 * s;
-    out[1] = a0 * -s + a1 * c;
-    out[2] = a2 *  c + a3 * s;
-    out[3] = a2 * -s + a3 * c;
-    return out;
-};
-
-/**
- * Scales the mat2 by the dimensions in the given vec2
- *
- * @param {mat2} out the receiving matrix
- * @param {mat2} a the matrix to rotate
- * @param {mat2} v the vec2 to scale the matrix by
- * @returns {mat2} out
- **/
-mat2.scale = function(out, a, v) {
-    var a0 = a[0], a1 = a[1], a2 = a[2], a3 = a[3],
-        v0 = v[0], v1 = v[1];
-    out[0] = a0 * v0;
-    out[1] = a1 * v1;
-    out[2] = a2 * v0;
-    out[3] = a3 * v1;
-    return out;
-};
-
-/**
- * Returns a string representation of a mat2
- *
- * @param {mat2} mat matrix to represent as a string
- * @returns {String} string representation of the matrix
- */
-mat2.str = function (a) {
-    return 'mat2(' + a[0] + ', ' + a[1] + ', ' + a[2] + ', ' + a[3] + ')';
-};
-
-if(typeof(exports) !== 'undefined') {
-    exports.mat2 = mat2;
-}
-
-},{}],2:[function(require,module,exports){
-/* Copyright (c) 2012, Brandon Jones, Colin MacKenzie IV. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-  * Redistributions of source code must retain the above copyright notice, this
-    list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice,
-    this list of conditions and the following disclaimer in the documentation 
-    and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
-ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */
-
-/**
- * @class 2 Dimensional Vector
- * @name vec2
- */
-var vec2 = {};
-
-if(!GLMAT_EPSILON) {
-    var GLMAT_EPSILON = 0.000001;
-}
- 
-/**
- * Creates a new, empty vec2
- *
- * @returns {vec2} a new 2D vector
- */
-vec2.create = function() {
-    return new Float32Array(2);
-};
-
-/**
- * Creates a new vec2 initialized with values from an existing vector
- *
- * @param {vec2} a vector to clone
- * @returns {vec2} a new 2D vector
- */
-vec2.clone = function(a) {
-    var out = new Float32Array(2);
-    out[0] = a[0];
-    out[1] = a[1];
-    return out;
-};
-
-/**
- * Creates a new vec2 initialized with the given values
- *
- * @param {Number} x X component
- * @param {Number} y Y component
- * @returns {vec2} a new 2D vector
- */
-vec2.fromValues = function(x, y) {
-    var out = new Float32Array(2);
-    out[0] = x;
-    out[1] = y;
-    return out;
-};
-
-/**
- * Copy the values from one vec2 to another
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the source vector
- * @returns {vec2} out
- */
-vec2.copy = function(out, a) {
-    out[0] = a[0];
-    out[1] = a[1];
-    return out;
-};
-
-/**
- * Set the components of a vec2 to the given values
- *
- * @param {vec2} out the receiving vector
- * @param {Number} x X component
- * @param {Number} y Y component
- * @returns {vec2} out
- */
-vec2.set = function(out, x, y) {
-    out[0] = x;
-    out[1] = y;
-    return out;
-};
-
-/**
- * Adds two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.add = function(out, a, b) {
-    out[0] = a[0] + b[0];
-    out[1] = a[1] + b[1];
-    return out;
-};
-
-/**
- * Subtracts two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.subtract = function(out, a, b) {
-    out[0] = a[0] - b[0];
-    out[1] = a[1] - b[1];
-    return out;
-};
-
-/**
- * Alias for {@link vec2.subtract}
- * @function
- */
-vec2.sub = vec2.subtract;
-
-/**
- * Multiplies two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.multiply = function(out, a, b) {
-    out[0] = a[0] * b[0];
-    out[1] = a[1] * b[1];
-    return out;
-};
-
-/**
- * Alias for {@link vec2.multiply}
- * @function
- */
-vec2.mul = vec2.multiply;
-
-/**
- * Divides two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.divide = function(out, a, b) {
-    out[0] = a[0] / b[0];
-    out[1] = a[1] / b[1];
-    return out;
-};
-
-/**
- * Alias for {@link vec2.divide}
- * @function
- */
-vec2.div = vec2.divide;
-
-/**
- * Returns the minimum of two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.min = function(out, a, b) {
-    out[0] = Math.min(a[0], b[0]);
-    out[1] = Math.min(a[1], b[1]);
-    return out;
-};
-
-/**
- * Returns the maximum of two vec2's
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec2} out
- */
-vec2.max = function(out, a, b) {
-    out[0] = Math.max(a[0], b[0]);
-    out[1] = Math.max(a[1], b[1]);
-    return out;
-};
-
-/**
- * Scales a vec2 by a scalar number
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the vector to scale
- * @param {vec2} b amount to scale the vector by
- * @returns {vec2} out
- */
-vec2.scale = function(out, a, b) {
-    out[0] = a[0] * b;
-    out[1] = a[1] * b;
-    return out;
-};
-
-/**
- * Calculates the euclidian distance between two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} distance between a and b
- */
-vec2.distance = function(a, b) {
-    var x = b[0] - a[0],
-        y = b[1] - a[1];
-    return Math.sqrt(x*x + y*y);
-};
-
-/**
- * Alias for {@link vec2.distance}
- * @function
- */
-vec2.dist = vec2.distance;
-
-/**
- * Calculates the squared euclidian distance between two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} squared distance between a and b
- */
-vec2.squaredDistance = function(a, b) {
-    var x = b[0] - a[0],
-        y = b[1] - a[1];
-    return x*x + y*y;
-};
-
-/**
- * Alias for {@link vec2.squaredDistance}
- * @function
- */
-vec2.sqrDist = vec2.squaredDistance;
-
-/**
- * Caclulates the length of a vec2
- *
- * @param {vec2} a vector to calculate length of
- * @returns {Number} length of a
- */
-vec2.length = function (a) {
-    var x = a[0],
-        y = a[1];
-    return Math.sqrt(x*x + y*y);
-};
-
-/**
- * Alias for {@link vec2.length}
- * @function
- */
-vec2.len = vec2.length;
-
-/**
- * Caclulates the squared length of a vec2
- *
- * @param {vec2} a vector to calculate squared length of
- * @returns {Number} squared length of a
- */
-vec2.squaredLength = function (a) {
-    var x = a[0],
-        y = a[1];
-    return x*x + y*y;
-};
-
-/**
- * Alias for {@link vec2.squaredLength}
- * @function
- */
-vec2.sqrLen = vec2.squaredLength;
-
-/**
- * Negates the components of a vec2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a vector to negate
- * @returns {vec2} out
- */
-vec2.negate = function(out, a) {
-    out[0] = -a[0];
-    out[1] = -a[1];
-    return out;
-};
-
-/**
- * Normalize a vec2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a vector to normalize
- * @returns {vec2} out
- */
-vec2.normalize = function(out, a) {
-    var x = a[0],
-        y = a[1];
-    var len = x*x + y*y;
-    if (len > 0) {
-        //TODO: evaluate use of glm_invsqrt here?
-        len = 1 / Math.sqrt(len);
-        out[0] = a[0] * len;
-        out[1] = a[1] * len;
-    }
-    return out;
-};
-
-/**
- * Caclulates the dot product of two vec2's
- *
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {Number} dot product of a and b
- */
-vec2.dot = function (a, b) {
-    return a[0] * b[0] + a[1] * b[1];
-};
-
-/**
- * Computes the cross product of two vec2's
- * Note that the cross product must by definition produce a 3D vector
- *
- * @param {vec3} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @returns {vec3} out
- */
-vec2.cross = function(out, a, b) {
-    var z = a[0] * b[1] - a[1] * b[0];
-    out[0] = out[1] = 0;
-    out[2] = z;
-    return out;
-};
-
-/**
- * Performs a linear interpolation between two vec2's
- *
- * @param {vec3} out the receiving vector
- * @param {vec2} a the first operand
- * @param {vec2} b the second operand
- * @param {Number} t interpolation amount between the two inputs
- * @returns {vec2} out
- */
-vec2.lerp = function (out, a, b, t) {
-    var ax = a[0],
-        ay = a[1];
-    out[0] = ax + t * (b[0] - ax);
-    out[1] = ay + t * (b[1] - ay);
-    return out;
-};
-
-/**
- * Transforms the vec2 with a mat2
- *
- * @param {vec2} out the receiving vector
- * @param {vec2} a the vector to transform
- * @param {mat2} m matrix to transform with
- * @returns {vec2} out
- */
-vec2.transformMat2 = function(out, a, m) {
-    var x = a[0],
-        y = a[1];
-    out[0] = x * m[0] + y * m[1];
-    out[1] = x * m[2] + y * m[3];
-    return out;
-};
-
-/**
- * Perform some operation over an array of vec2s.
- *
- * @param {Array} a the array of vectors to iterate over
- * @param {Number} stride Number of elements between the start of each vec2. If 0 assumes tightly packed
- * @param {Number} offset Number of elements to skip at the beginning of the array
- * @param {Number} count Number of vec2s to iterate over. If 0 iterates over entire array
- * @param {Function} fn Function to call for each vector in the array
- * @param {Object} [arg] additional argument to pass to fn
- * @returns {Array} a
- * @function
- */
-vec2.forEach = (function() {
-    var vec = new Float32Array(2);
-
-    return function(a, stride, offset, count, fn, arg) {
-        var i, l;
-        if(!stride) {
-            stride = 2;
-        }
-
-        if(!offset) {
-            offset = 0;
-        }
-        
-        if(count) {
-            l = Math.min((count * stride) + offset, a.length);
-        } else {
-            l = a.length;
-        }
-
-        for(i = offset; i < l; i += stride) {
-            vec[0] = a[i]; vec[1] = a[i+1];
-            fn(vec, vec, arg);
-            a[i] = vec[0]; a[i+1] = vec[1];
-        }
-        
-        return a;
-    };
-})();
-
-/**
- * Returns a string representation of a vector
- *
- * @param {vec2} vec vector to represent as a string
- * @returns {String} string representation of the vector
- */
-vec2.str = function (a) {
-    return 'vec2(' + a[0] + ', ' + a[1] + ')';
-};
-
-if(typeof(exports) !== 'undefined') {
-    exports.vec2 = vec2;
-}
-
-},{}],3:[function(require,module,exports){
-var Scalar = require('./Scalar');
-
-module.exports = Line;
-
-/**
- * Container for line-related functions
- * @class Line
- */
-function Line(){};
-
-/**
- * Compute the intersection between two lines.
- * @static
- * @method lineInt
- * @param  {Array}  l1          Line vector 1
- * @param  {Array}  l2          Line vector 2
- * @param  {Number} precision   Precision to use when checking if the lines are parallel
- * @return {Array}              The intersection point.
- */
-Line.lineInt = function(l1,l2,precision){
-    precision = precision || 0;
-    var i = [0,0]; // point
-    var a1, b1, c1, a2, b2, c2, det; // scalars
-    a1 = l1[1][1] - l1[0][1];
-    b1 = l1[0][0] - l1[1][0];
-    c1 = a1 * l1[0][0] + b1 * l1[0][1];
-    a2 = l2[1][1] - l2[0][1];
-    b2 = l2[0][0] - l2[1][0];
-    c2 = a2 * l2[0][0] + b2 * l2[0][1];
-    det = a1 * b2 - a2*b1;
-    if (!Scalar.eq(det, 0, precision)) { // lines are not parallel
-        i[0] = (b2 * c1 - b1 * c2) / det;
-        i[1] = (a1 * c2 - a2 * c1) / det;
-    }
-    return i;
-};
-
-/**
- * Checks if two line segments intersects.
- * @method segmentsIntersect
- * @param {Array} p1 The start vertex of the first line segment.
- * @param {Array} p2 The end vertex of the first line segment.
- * @param {Array} q1 The start vertex of the second line segment.
- * @param {Array} q2 The end vertex of the second line segment.
- * @return {Boolean} True if the two line segments intersect
- */
-Line.segmentsIntersect = function(p1, p2, q1, q2){
-   var dx = p2[0] - p1[0];
-   var dy = p2[1] - p1[1];
-   var da = q2[0] - q1[0];
-   var db = q2[1] - q1[1];
-
-   // segments are parallel
-   if(da*dy - db*dx == 0)
-      return false;
-
-   var s = (dx * (q1[1] - p1[1]) + dy * (p1[0] - q1[0])) / (da * dy - db * dx)
-   var t = (da * (p1[1] - q1[1]) + db * (q1[0] - p1[0])) / (db * dx - da * dy)
-
-   return (s>=0 && s<=1 && t>=0 && t<=1);
-};
-
-
-},{"./Scalar":6}],4:[function(require,module,exports){
-module.exports = Point;
-
-/**
- * Point related functions
- * @class Point
- */
-function Point(){};
-
-/**
- * Get the area of a triangle spanned by the three given points. Note that the area will be negative if the points are not given in counter-clockwise order.
- * @static
- * @method area
- * @param  {Array} a
- * @param  {Array} b
- * @param  {Array} c
- * @return {Number}
- */
-Point.area = function(a,b,c){
-    return (((b[0] - a[0])*(c[1] - a[1]))-((c[0] - a[0])*(b[1] - a[1])));
-};
-
-Point.left = function(a,b,c){
-    return Point.area(a,b,c) > 0;
-};
-
-Point.leftOn = function(a,b,c) {
-    return Point.area(a, b, c) >= 0;
-};
-
-Point.right = function(a,b,c) {
-    return Point.area(a, b, c) < 0;
-};
-
-Point.rightOn = function(a,b,c) {
-    return Point.area(a, b, c) <= 0;
-};
-
-var tmpPoint1 = [],
-    tmpPoint2 = [];
-
-/**
- * Check if three points are collinear
- * @method collinear
- * @param  {Array} a
- * @param  {Array} b
- * @param  {Array} c
- * @param  {Number} [thresholdAngle=0] Threshold angle to use when comparing the vectors. The function will return true if the angle between the resulting vectors is less than this value. Use zero for max precision.
- * @return {Boolean}
- */
-Point.collinear = function(a,b,c,thresholdAngle) {
-    if(!thresholdAngle)
-        return Point.area(a, b, c) == 0;
-    else {
-        var ab = tmpPoint1,
-            bc = tmpPoint2;
-
-        ab[0] = b[0]-a[0];
-        ab[1] = b[1]-a[1];
-        bc[0] = c[0]-b[0];
-        bc[1] = c[1]-b[1];
-
-        var dot = ab[0]*bc[0] + ab[1]*bc[1],
-            magA = Math.sqrt(ab[0]*ab[0] + ab[1]*ab[1]),
-            magB = Math.sqrt(bc[0]*bc[0] + bc[1]*bc[1]),
-            angle = Math.acos(dot/(magA*magB));
-        return angle < thresholdAngle;
-    }
-};
-
-Point.sqdist = function(a,b){
-    var dx = b[0] - a[0];
-    var dy = b[1] - a[1];
-    return dx * dx + dy * dy;
-};
-
-},{}],5:[function(require,module,exports){
-var Line = require("./Line")
-,   Point = require("./Point")
-,   Scalar = require("./Scalar")
-
-module.exports = Polygon;
-
-/**
- * Polygon class.
- * @class Polygon
- * @constructor
- */
-function Polygon(){
-
-    /**
-     * Vertices that this polygon consists of. An array of array of numbers, example: [[0,0],[1,0],..]
-     * @property vertices
-     * @type {Array}
-     */
-    this.vertices = [];
-}
-
-/**
- * Get a vertex at position i. It does not matter if i is out of bounds, this function will just cycle.
- * @method at
- * @param  {Number} i
- * @return {Array}
- */
-Polygon.prototype.at = function(i){
-    var v = this.vertices,
-        s = v.length;
-    return v[i < 0 ? i % s + s : i % s];
-};
-
-/**
- * Get first vertex
- * @method first
- * @return {Array}
- */
-Polygon.prototype.first = function(){
-    return this.vertices[0];
-};
-
-/**
- * Get last vertex
- * @method last
- * @return {Array}
- */
-Polygon.prototype.last = function(){
-    return this.vertices[this.vertices.length-1];
-};
-
-/**
- * Clear the polygon data
- * @method clear
- * @return {Array}
- */
-Polygon.prototype.clear = function(){
-    this.vertices.length = 0;
-};
-
-/**
- * Append points "from" to "to"-1 from an other polygon "poly" onto this one.
- * @method append
- * @param {Polygon} poly The polygon to get points from.
- * @param {Number}  from The vertex index in "poly".
- * @param {Number}  to The end vertex index in "poly". Note that this vertex is NOT included when appending.
- * @return {Array}
- */
-Polygon.prototype.append = function(poly,from,to){
-    if(typeof(from) == "undefined") throw new Error("From is not given!");
-    if(typeof(to) == "undefined")   throw new Error("To is not given!");
-
-    if(to-1 < from)                 throw new Error("lol1");
-    if(to > poly.vertices.length)   throw new Error("lol2");
-    if(from < 0)                    throw new Error("lol3");
-
-    for(var i=from; i<to; i++){
-        this.vertices.push(poly.vertices[i]);
-    }
-};
-
-/**
- * Make sure that the polygon vertices are ordered counter-clockwise.
- * @method makeCCW
- */
-Polygon.prototype.makeCCW = function(){
-    var br = 0,
-        v = this.vertices;
-
-    // find bottom right point
-    for (var i = 1; i < this.vertices.length; ++i) {
-        if (v[i][1] < v[br][1] || (v[i][1] == v[br][1] && v[i][0] > v[br][0])) {
-            br = i;
-        }
-    }
-
-    // reverse poly if clockwise
-    if (!Point.left(this.at(br - 1), this.at(br), this.at(br + 1))) {
-        this.reverse();
-    }
-};
-
-/**
- * Reverse the vertices in the polygon
- * @method reverse
- */
-Polygon.prototype.reverse = function(){
-    var tmp = [];
-    for(var i=0, N=this.vertices.length; i!==N; i++){
-        tmp.push(this.vertices.pop());
-    }
-    this.vertices = tmp;
-};
-
-/**
- * Check if a point in the polygon is a reflex point
- * @method isReflex
- * @param  {Number}  i
- * @return {Boolean}
- */
-Polygon.prototype.isReflex = function(i){
-    return Point.right(this.at(i - 1), this.at(i), this.at(i + 1));
-};
-
-var tmpLine1=[],
-    tmpLine2=[];
-
-/**
- * Check if two vertices in the polygon can see each other
- * @method canSee
- * @param  {Number} a Vertex index 1
- * @param  {Number} b Vertex index 2
- * @return {Boolean}
- */
-Polygon.prototype.canSee = function(a,b) {
-    var p, dist, l1=tmpLine1, l2=tmpLine2;
-
-    if (Point.leftOn(this.at(a + 1), this.at(a), this.at(b)) && Point.rightOn(this.at(a - 1), this.at(a), this.at(b))) {
-        return false;
-    }
-    dist = Point.sqdist(this.at(a), this.at(b));
-    for (var i = 0; i !== this.vertices.length; ++i) { // for each edge
-        if ((i + 1) % this.vertices.length === a || i === a) // ignore incident edges
-            continue;
-        if (Point.leftOn(this.at(a), this.at(b), this.at(i + 1)) && Point.rightOn(this.at(a), this.at(b), this.at(i))) { // if diag intersects an edge
-            l1[0] = this.at(a);
-            l1[1] = this.at(b);
-            l2[0] = this.at(i);
-            l2[1] = this.at(i + 1);
-            p = Line.lineInt(l1,l2);
-            if (Point.sqdist(this.at(a), p) < dist) { // if edge is blocking visibility to b
-                return false;
-            }
-        }
-    }
-
-    return true;
-};
-
-/**
- * Copy the polygon from vertex i to vertex j.
- * @method copy
- * @param  {Number} i
- * @param  {Number} j
- * @param  {Polygon} [targetPoly]   Optional target polygon to save in.
- * @return {Polygon}                The resulting copy.
- */
-Polygon.prototype.copy = function(i,j,targetPoly){
-    var p = targetPoly || new Polygon();
-    p.clear();
-    if (i < j) {
-        // Insert all vertices from i to j
-        for(var k=i; k<=j; k++)
-            p.vertices.push(this.vertices[k]);
-
-    } else {
-
-        // Insert vertices 0 to j
-        for(var k=0; k<=j; k++)
-            p.vertices.push(this.vertices[k]);
-
-        // Insert vertices i to end
-        for(var k=i; k<this.vertices.length; k++)
-            p.vertices.push(this.vertices[k]);
-    }
-
-    return p;
-};
-
-/**
- * Decomposes the polygon into convex pieces. Returns a list of edges [[p1,p2],[p2,p3],...] that cuts the polygon.
- * Note that this algorithm has complexity O(N^4) and will be very slow for polygons with many vertices.
- * @method getCutEdges
- * @return {Array}
- */
-Polygon.prototype.getCutEdges = function() {
-    var min=[], tmp1=[], tmp2=[], tmpPoly = new Polygon();
-    var nDiags = Number.MAX_VALUE;
-
-    for (var i = 0; i < this.vertices.length; ++i) {
-        if (this.isReflex(i)) {
-            for (var j = 0; j < this.vertices.length; ++j) {
-                if (this.canSee(i, j)) {
-                    tmp1 = this.copy(i, j, tmpPoly).getCutEdges();
-                    tmp2 = this.copy(j, i, tmpPoly).getCutEdges();
-
-                    for(var k=0; k<tmp2.length; k++)
-                        tmp1.push(tmp2[k]);
-
-                    if (tmp1.length < nDiags) {
-                        min = tmp1;
-                        nDiags = tmp1.length;
-                        min.push([this.at(i), this.at(j)]);
-                    }
-                }
-            }
-        }
-    }
-
-    return min;
-};
-
-/**
- * Decomposes the polygon into one or more convex sub-Polygons.
- * @method decomp
- * @return {Array} An array or Polygon objects.
- */
-Polygon.prototype.decomp = function(){
-    var edges = this.getCutEdges();
-    if(edges.length > 0)
-        return this.slice(edges);
-    else
-        return [this];
-};
-
-/**
- * Slices the polygon given one or more cut edges. If given one, this function will return two polygons (false on failure). If many, an array of polygons.
- * @method slice
- * @param {Array} cutEdges A list of edges, as returned by .getCutEdges()
- * @return {Array}
- */
-Polygon.prototype.slice = function(cutEdges){
-    if(cutEdges.length == 0) return [this];
-    if(cutEdges instanceof Array && cutEdges.length && cutEdges[0] instanceof Array && cutEdges[0].length==2 && cutEdges[0][0] instanceof Array){
-
-        var polys = [this];
-
-        for(var i=0; i<cutEdges.length; i++){
-            var cutEdge = cutEdges[i];
-            // Cut all polys
-            for(var j=0; j<polys.length; j++){
-                var poly = polys[j];
-                var result = poly.slice(cutEdge);
-                if(result){
-                    // Found poly! Cut and quit
-                    polys.splice(j,1);
-                    polys.push(result[0],result[1]);
-                    break;
-                }
-            }
-        }
-
-        return polys;
-    } else {
-
-        // Was given one edge
-        var cutEdge = cutEdges;
-        var i = this.vertices.indexOf(cutEdge[0]);
-        var j = this.vertices.indexOf(cutEdge[1]);
-
-        if(i != -1 && j != -1){
-            return [this.copy(i,j),
-                    this.copy(j,i)];
-        } else {
-            return false;
-        }
-    }
-};
-
-/**
- * Checks that the line segments of this polygon do not intersect each other.
- * @method isSimple
- * @param  {Array} path An array of vertices e.g. [[0,0],[0,1],...]
- * @return {Boolean}
- * @todo Should it check all segments with all others?
- */
-Polygon.prototype.isSimple = function(){
-    var path = this.vertices;
-    // Check
-    for(var i=0; i<path.length-1; i++){
-        for(var j=0; j<i-1; j++){
-            if(Line.segmentsIntersect(path[i], path[i+1], path[j], path[j+1] )){
-                return false;
-            }
-        }
-    }
-
-    // Check the segment between the last and the first point to all others
-    for(var i=1; i<path.length-2; i++){
-        if(Line.segmentsIntersect(path[0], path[path.length-1], path[i], path[i+1] )){
-            return false;
-        }
-    }
-
-    return true;
-};
-
-function getIntersectionPoint(p1, p2, q1, q2, delta){
-    delta = delta || 0;
-   var a1 = p2[1] - p1[1];
-   var b1 = p1[0] - p2[0];
-   var c1 = (a1 * p1[0]) + (b1 * p1[1]);
-   var a2 = q2[1] - q1[1];
-   var b2 = q1[0] - q2[0];
-   var c2 = (a2 * q1[0]) + (b2 * q1[1]);
-   var det = (a1 * b2) - (a2 * b1);
-
-   if(!Scalar.eq(det,0,delta))
-      return [((b2 * c1) - (b1 * c2)) / det, ((a1 * c2) - (a2 * c1)) / det]
-   else
-      return [0,0]
-}
-
-/**
- * Quickly decompose the Polygon into convex sub-polygons.
- * @method quickDecomp
- * @param  {Array} result
- * @param  {Array} [reflexVertices]
- * @param  {Array} [steinerPoints]
- * @param  {Number} [delta]
- * @param  {Number} [maxlevel]
- * @param  {Number} [level]
- * @return {Array}
- */
-Polygon.prototype.quickDecomp = function(result,reflexVertices,steinerPoints,delta,maxlevel,level){
-    maxlevel = maxlevel || 100;
-    level = level || 0;
-    delta = delta || 25;
-    result = typeof(result)!="undefined" ? result : [];
-    reflexVertices = reflexVertices || [];
-    steinerPoints = steinerPoints || [];
-
-    var upperInt=[0,0], lowerInt=[0,0], p=[0,0]; // Points
-    var upperDist=0, lowerDist=0, d=0, closestDist=0; // scalars
-    var upperIndex=0, lowerIndex=0, closestIndex=0; // Integers
-    var lowerPoly=new Polygon(), upperPoly=new Polygon(); // polygons
-    var poly = this,
-        v = this.vertices;
-
-    if(v.length < 3) return result;
-
-    level++;
-    if(level > maxlevel){
-        console.warn("quickDecomp: max level ("+maxlevel+") reached.");
-        return result;
-    }
-
-    for (var i = 0; i < this.vertices.length; ++i) {
-        if (poly.isReflex(i)) {
-            reflexVertices.push(poly.vertices[i]);
-            upperDist = lowerDist = Number.MAX_VALUE;
-
-
-            for (var j = 0; j < this.vertices.length; ++j) {
-                if (Point.left(poly.at(i - 1), poly.at(i), poly.at(j))
-                        && Point.rightOn(poly.at(i - 1), poly.at(i), poly.at(j - 1))) { // if line intersects with an edge
-                    p = getIntersectionPoint(poly.at(i - 1), poly.at(i), poly.at(j), poly.at(j - 1)); // find the point of intersection
-                    if (Point.right(poly.at(i + 1), poly.at(i), p)) { // make sure it's inside the poly
-                        d = Point.sqdist(poly.vertices[i], p);
-                        if (d < lowerDist) { // keep only the closest intersection
-                            lowerDist = d;
-                            lowerInt = p;
-                            lowerIndex = j;
-                        }
-                    }
-                }
-                if (Point.left(poly.at(i + 1), poly.at(i), poly.at(j + 1))
-                        && Point.rightOn(poly.at(i + 1), poly.at(i), poly.at(j))) {
-                    p = getIntersectionPoint(poly.at(i + 1), poly.at(i), poly.at(j), poly.at(j + 1));
-                    if (Point.left(poly.at(i - 1), poly.at(i), p)) {
-                        d = Point.sqdist(poly.vertices[i], p);
-                        if (d < upperDist) {
-                            upperDist = d;
-                            upperInt = p;
-                            upperIndex = j;
-                        }
-                    }
-                }
-            }
-
-            // if there are no vertices to connect to, choose a point in the middle
-            if (lowerIndex == (upperIndex + 1) % this.vertices.length) {
-                //console.log("Case 1: Vertex("+i+"), lowerIndex("+lowerIndex+"), upperIndex("+upperIndex+"), poly.size("+this.vertices.length+")");
-                p[0] = (lowerInt[0] + upperInt[0]) / 2;
-                p[1] = (lowerInt[1] + upperInt[1]) / 2;
-                steinerPoints.push(p);
-
-                if (i < upperIndex) {
-                    //lowerPoly.insert(lowerPoly.end(), poly.begin() + i, poly.begin() + upperIndex + 1);
-                    lowerPoly.append(poly, i, upperIndex+1);
-                    lowerPoly.vertices.push(p);
-                    upperPoly.vertices.push(p);
-                    if (lowerIndex != 0){
-                        //upperPoly.insert(upperPoly.end(), poly.begin() + lowerIndex, poly.end());
-                        upperPoly.append(poly,lowerIndex,poly.vertices.length);
-                    }
-                    //upperPoly.insert(upperPoly.end(), poly.begin(), poly.begin() + i + 1);
-                    upperPoly.append(poly,0,i+1);
-                } else {
-                    if (i != 0){
-                        //lowerPoly.insert(lowerPoly.end(), poly.begin() + i, poly.end());
-                        lowerPoly.append(poly,i,poly.vertices.length);
-                    }
-                    //lowerPoly.insert(lowerPoly.end(), poly.begin(), poly.begin() + upperIndex + 1);
-                    lowerPoly.append(poly,0,upperIndex+1);
-                    lowerPoly.vertices.push(p);
-                    upperPoly.vertices.push(p);
-                    //upperPoly.insert(upperPoly.end(), poly.begin() + lowerIndex, poly.begin() + i + 1);
-                    upperPoly.append(poly,lowerIndex,i+1);
-                }
-            } else {
-                // connect to the closest point within the triangle
-                //console.log("Case 2: Vertex("+i+"), closestIndex("+closestIndex+"), poly.size("+this.vertices.length+")\n");
-
-                if (lowerIndex > upperIndex) {
-                    upperIndex += this.vertices.length;
-                }
-                closestDist = Number.MAX_VALUE;
-
-                if(upperIndex < lowerIndex){
-                    return result;
-                }
-
-                for (var j = lowerIndex; j <= upperIndex; ++j) {
-                    if (Point.leftOn(poly.at(i - 1), poly.at(i), poly.at(j))
-                            && Point.rightOn(poly.at(i + 1), poly.at(i), poly.at(j))) {
-                        d = Point.sqdist(poly.at(i), poly.at(j));
-                        if (d < closestDist) {
-                            closestDist = d;
-                            closestIndex = j % this.vertices.length;
-                        }
-                    }
-                }
-
-                if (i < closestIndex) {
-                    lowerPoly.append(poly,i,closestIndex+1);
-                    if (closestIndex != 0){
-                        upperPoly.append(poly,closestIndex,v.length);
-                    }
-                    upperPoly.append(poly,0,i+1);
-                } else {
-                    if (i != 0){
-                        lowerPoly.append(poly,i,v.length);
-                    }
-                    lowerPoly.append(poly,0,closestIndex+1);
-                    upperPoly.append(poly,closestIndex,i+1);
-                }
-            }
-
-            // solve smallest poly first
-            if (lowerPoly.vertices.length < upperPoly.vertices.length) {
-                lowerPoly.quickDecomp(result,reflexVertices,steinerPoints,delta,maxlevel,level);
-                upperPoly.quickDecomp(result,reflexVertices,steinerPoints,delta,maxlevel,level);
-            } else {
-                upperPoly.quickDecomp(result,reflexVertices,steinerPoints,delta,maxlevel,level);
-                lowerPoly.quickDecomp(result,reflexVertices,steinerPoints,delta,maxlevel,level);
-            }
-
-            return result;
-        }
-    }
-    result.push(this);
-
-    return result;
-};
-
-/**
- * Remove collinear points in the polygon.
- * @method removeCollinearPoints
- * @param  {Number} [precision] The threshold angle to use when determining whether two edges are collinear. Use zero for finest precision.
- * @return {Number}           The number of points removed
- */
-Polygon.prototype.removeCollinearPoints = function(precision){
-    var num = 0;
-    for(var i=this.vertices.length-1; this.vertices.length>3 && i>=0; --i){
-        if(Point.collinear(this.at(i-1),this.at(i),this.at(i+1),precision)){
-            // Remove the middle point
-            this.vertices.splice(i%this.vertices.length,1);
-            i--; // Jump one point forward. Otherwise we may get a chain removal
-            num++;
-        }
-    }
-    return num;
-};
-
-},{"./Line":3,"./Point":4,"./Scalar":6}],6:[function(require,module,exports){
-module.exports = Scalar;
-
-/**
- * Scalar functions
- * @class Scalar
- */
-function Scalar(){}
-
-/**
- * Check if two scalars are equal
- * @static
- * @method eq
- * @param  {Number} a
- * @param  {Number} b
- * @param  {Number} [precision]
- * @return {Boolean}
- */
-Scalar.eq = function(a,b,precision){
-    precision = precision || 0;
-    return Math.abs(a-b) < precision;
-};
-
-},{}],7:[function(require,module,exports){
-module.exports = {
-    Polygon : require("./Polygon"),
-    Point : require("./Point"),
-};
-
-},{"./Point":4,"./Polygon":5}],8:[function(require,module,exports){
-module.exports={
-    "name": "p2",
-    "version": "0.4.0",
-    "description": "A JavaScript 2D physics engine.",
-    "author": "Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",
-    "keywords": [
-        "p2.js",
-        "p2",
-        "physics",
-        "engine",
-        "2d"
-    ],
-    "main": "./src/p2.js",
-    "engines": {
-        "node": "*"
-    },
-    "repository": {
-        "type": "git",
-        "url": "https://github.com/schteppe/p2.js.git"
-    },
-    "bugs": {
-        "url": "https://github.com/schteppe/p2.js/issues"
-    },
-    "licenses" : [
-        {
-            "type" : "MIT"
-        }
-    ],
-    "devDependencies" : {
-        "jshint"    : "latest",
-        "nodeunit"  : "latest",
-        "grunt": "~0.4.0",
-        "grunt-contrib-jshint": "~0.1.1",
-        "grunt-contrib-nodeunit": "~0.1.2",
-        "grunt-contrib-concat": "~0.1.3",
-        "grunt-contrib-uglify": "*",
-        "grunt-browserify" : "*",
-        "browserify":"*"
-    },
-    "dependencies" : {
-        "underscore":"*",
-        "poly-decomp" : "git://github.com/schteppe/poly-decomp.js",
-        "gl-matrix":"2.0.0",
-        "jsonschema":"*"
-    }
-}
-
-},{}],9:[function(require,module,exports){
-var vec2 = require('../math/vec2')
-
-module.exports = Broadphase;
-
-/**
- * Base class for broadphase implementations.
- * @class Broadphase
- * @constructor
- */
-function Broadphase(){
-
-    /**
-     * The resulting overlapping pairs. Will be filled with results during .getCollisionPairs().
-     * @property result
-     * @type {Array}
-     */
-    this.result = [];
-};
-
-/**
- * Get all potential intersecting body pairs.
- * @method getCollisionPairs
- * @param  {World} world The world to search in.
- * @return {Array} An array of the bodies, ordered in pairs. Example: A result of [a,b,c,d] means that the potential pairs are: (a,b), (c,d).
- */
-Broadphase.prototype.getCollisionPairs = function(world){
-    throw new Error("getCollisionPairs must be implemented in a subclass!");
-};
-
-var dist = vec2.create();
-
-/**
- * Check whether the bounding radius of two bodies overlap.
- * @method  boundingRadiusCheck
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Boolean}
- */
-Broadphase.boundingRadiusCheck = function(bodyA, bodyB){
-    vec2.sub(dist, bodyA.position, bodyB.position);
-    var d2 = vec2.squaredLength(dist),
-        r = bodyA.boundingRadius + bodyB.boundingRadius;
-    return d2 <= r*r;
-};
-
-},{"../math/vec2":30}],10:[function(require,module,exports){
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = GridBroadphase;
-
-/**
- * Broadphase that uses axis-aligned bins.
- * @class GridBroadphase
- * @constructor
- * @extends Broadphase
- * @param {number} xmin Lower x bound of the grid
- * @param {number} xmax Upper x bound
- * @param {number} ymin Lower y bound
- * @param {number} ymax Upper y bound
- * @param {number} nx Number of bins along x axis
- * @param {number} ny Number of bins along y axis
- * @todo test
- */
-function GridBroadphase(xmin,xmax,ymin,ymax,nx,ny){
-    Broadphase.apply(this);
-
-    nx = nx || 10;
-    ny = ny || 10;
-
-    this.binsizeX = (xmax-xmin) / nx;
-    this.binsizeY = (ymax-ymin) / ny;
-    this.nx = nx;
-    this.ny = ny;
-    this.xmin = xmin;
-    this.ymin = ymin;
-    this.xmax = xmax;
-    this.ymax = ymax;
-};
-GridBroadphase.prototype = new Broadphase();
-
-/**
- * Get a bin index given a world coordinate
- * @method getBinIndex
- * @param  {Number} x
- * @param  {Number} y
- * @return {Number} Integer index
- */
-GridBroadphase.prototype.getBinIndex = function(x,y){
-    var nx = this.nx,
-        ny = this.ny,
-        xmin = this.xmin,
-        ymin = this.ymin,
-        xmax = this.xmax,
-        ymax = this.ymax;
-
-    var xi = Math.floor(nx * (x - xmin) / (xmax-xmin));
-    var yi = Math.floor(ny * (y - ymin) / (ymax-ymin));
-    return xi*ny + yi;
-}
-
-/**
- * Get collision pairs.
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-GridBroadphase.prototype.getCollisionPairs = function(world){
-    var result = [],
-        collidingBodies = world.bodies,
-        Ncolliding = Ncolliding=collidingBodies.length,
-        binsizeX = this.binsizeX,
-        binsizeY = this.binsizeY;
-
-    var bins=[], Nbins=nx*ny;
-    for(var i=0; i<Nbins; i++)
-        bins.push([]);
-
-    var xmult = nx / (xmax-xmin);
-    var ymult = ny / (ymax-ymin);
-
-    // Put all bodies into bins
-    for(var i=0; i!==Ncolliding; i++){
-        var bi = collidingBodies[i];
-        var si = bi.shape;
-        if (si === undefined) {
-            continue;
-        } else if(si instanceof Circle){
-            // Put in bin
-            // check if overlap with other bins
-            var x = bi.position[0];
-            var y = bi.position[1];
-            var r = si.radius;
-
-            var xi1 = Math.floor(xmult * (x-r - xmin));
-            var yi1 = Math.floor(ymult * (y-r - ymin));
-            var xi2 = Math.floor(xmult * (x+r - xmin));
-            var yi2 = Math.floor(ymult * (y+r - ymin));
-
-            for(var j=xi1; j<=xi2; j++){
-                for(var k=yi1; k<=yi2; k++){
-                    var xi = j;
-                    var yi = k;
-                    if(xi*(ny-1) + yi >= 0 && xi*(ny-1) + yi < Nbins)
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                }
-            }
-        } else if(si instanceof Plane){
-            // Put in all bins for now
-            if(bi.angle == 0){
-                var y = bi.position[1];
-                for(var j=0; j!==Nbins && ymin+binsizeY*(j-1)<y; j++){
-                    for(var k=0; k<nx; k++){
-                        var xi = k;
-                        var yi = Math.floor(ymult * (binsizeY*j - ymin));
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                    }
-                }
-            } else if(bi.angle == Math.PI*0.5){
-                var x = bi.position[0];
-                for(var j=0; j!==Nbins && xmin+binsizeX*(j-1)<x; j++){
-                    for(var k=0; k<ny; k++){
-                        var yi = k;
-                        var xi = Math.floor(xmult * (binsizeX*j - xmin));
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                    }
-                }
-            } else {
-                for(var j=0; j!==Nbins; j++)
-                    bins[j].push(bi);
-            }
-        } else {
-            throw new Error("Shape not supported in GridBroadphase!");
-        }
-    }
-
-    // Check each bin
-    for(var i=0; i!==Nbins; i++){
-        var bin = bins[i];
-
-        for(var j=0, NbodiesInBin=bin.length; j!==NbodiesInBin; j++){
-            var bi = bin[j];
-            var si = bi.shape;
-
-            for(var k=0; k!==j; k++){
-                var bj = bin[k];
-                var sj = bj.shape;
-
-                if(si instanceof Circle){
-                         if(sj instanceof Circle)   c=Broadphase.circleCircle  (bi,bj);
-                    else if(sj instanceof Particle) c=Broadphase.circleParticle(bi,bj);
-                    else if(sj instanceof Plane)    c=Broadphase.circlePlane   (bi,bj);
-                } else if(si instanceof Particle){
-                         if(sj instanceof Circle)   c=Broadphase.circleParticle(bj,bi);
-                } else if(si instanceof Plane){
-                         if(sj instanceof Circle)   c=Broadphase.circlePlane   (bj,bi);
-                }
-            }
-        }
-    }
-    return result;
-};
-
-},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39}],11:[function(require,module,exports){
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Shape = require('../shapes/Shape')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = NaiveBroadphase;
-
-/**
- * Naive broadphase implementation. Does N^2 tests.
- *
- * @class NaiveBroadphase
- * @constructor
- * @extends Broadphase
- */
-function NaiveBroadphase(){
-    Broadphase.apply(this);
-};
-NaiveBroadphase.prototype = new Broadphase();
-
-/**
- * Get the colliding pairs
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-NaiveBroadphase.prototype.getCollisionPairs = function(world){
-    var bodies = world.bodies,
-        result = this.result,
-        i, j, bi, bj;
-
-    result.length = 0;
-
-    for(i=0, Ncolliding=bodies.length; i!==Ncolliding; i++){
-        bi = bodies[i];
-
-        for(j=0; j<i; j++){
-            bj = bodies[j];
-
-            if(Broadphase.boundingRadiusCheck(bi,bj))
-                result.push(bi,bj);
-        }
-    }
-
-    return result;
-};
-
-},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Shape":41}],12:[function(require,module,exports){
-var vec2 = require('../math/vec2')
-,   sub = vec2.sub
-,   add = vec2.add
-,   dot = vec2.dot
-,   Utils = require('../utils/Utils')
-,   ContactEquation = require('../constraints/ContactEquation')
-,   FrictionEquation = require('../constraints/FrictionEquation')
-,   Circle = require('../shapes/Circle')
-,   Shape = require('../shapes/Shape')
-
-module.exports = Narrowphase;
-
-// Temp things
-var yAxis = vec2.fromValues(0,1);
-
-var tmp1 = vec2.fromValues(0,0)
-,   tmp2 = vec2.fromValues(0,0)
-,   tmp3 = vec2.fromValues(0,0)
-,   tmp4 = vec2.fromValues(0,0)
-,   tmp5 = vec2.fromValues(0,0)
-,   tmp6 = vec2.fromValues(0,0)
-,   tmp7 = vec2.fromValues(0,0)
-,   tmp8 = vec2.fromValues(0,0)
-,   tmp9 = vec2.fromValues(0,0)
-,   tmp10 = vec2.fromValues(0,0)
-,   tmp11 = vec2.fromValues(0,0)
-,   tmp12 = vec2.fromValues(0,0)
-,   tmp13 = vec2.fromValues(0,0)
-,   tmp14 = vec2.fromValues(0,0)
-,   tmp15 = vec2.fromValues(0,0)
-,   tmp16 = vec2.fromValues(0,0)
-,   tmp17 = vec2.fromValues(0,0)
-,   tmp18 = vec2.fromValues(0,0)
-
-/**
- * Narrowphase. Creates contacts and friction given shapes and transforms.
- * @class Narrowphase
- * @constructor
- */
-function Narrowphase(){
-
-    /**
-     * @property contactEquations
-     * @type {Array}
-     */
-    this.contactEquations = [];
-
-    /**
-     * @property frictionEquations
-     * @type {Array}
-     */
-    this.frictionEquations = [];
-
-    /**
-     * Whether to make friction equations in the upcoming contacts.
-     * @property enableFriction
-     * @type {Boolean}
-     */
-    this.enableFriction = true;
-
-    /**
-     * The friction slip force to use when creating friction equations.
-     * @property slipForce
-     * @type {Number}
-     */
-    this.slipForce = 10.0;
-
-    /**
-     * The friction value to use in the upcoming friction equations.
-     * @property frictionCoefficient
-     * @type {Number}
-     */
-    this.frictionCoefficient = 0.3;
-
-    this.reuseObjects = true;
-    this.reusableContactEquations = [];
-    this.reusableFrictionEquations = [];
-
-    /**
-     * The restitution value to use in the next contact equations.
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution = 0;
-
-    // Keep track of the colliding bodies last step
-    this.collidingBodiesLastStep = {};
-};
-
-/**
- * Check if the bodies were in contact since the last reset().
- * @method collidedLastStep
- * @param  {Body} bi
- * @param  {Body} bj
- * @return {Boolean}
- */
-Narrowphase.prototype.collidedLastStep = function(bi,bj){
-    var id1 = bi.id,
-        id2 = bj.id;
-    if(id1 > id2){
-        var tmp = id1;
-        id1 = id2;
-        id2 = tmp;
-    }
-    return !!this.collidingBodiesLastStep[id1 + " " + id2];
-};
-
-/**
- * Throws away the old equatons and gets ready to create new
- * @method reset
- */
-Narrowphase.prototype.reset = function(){
-
-    // Save the colliding bodies data
-    for(var key in this.collidingBodiesLastStep)
-        delete this.collidingBodiesLastStep[key];
-    for(var i=0; i!==this.contactEquations.length; i++){
-        var eq = this.contactEquations[i],
-            id1 = eq.bi.id,
-            id2 = eq.bj.id;
-        if(id1 > id2){
-            var tmp = id1;
-            id1 = id2;
-            id2 = tmp;
-        }
-        this.collidingBodiesLastStep[id1 + " " + id2] = true;
-    }
-
-    if(this.reuseObjects){
-        var ce = this.contactEquations,
-            fe = this.frictionEquations,
-            rfe = this.reusableFrictionEquations,
-            rce = this.reusableContactEquations;
-        Utils.appendArray(rce,ce);
-        Utils.appendArray(rfe,fe);
-    }
-
-    // Reset
-    this.contactEquations.length = this.frictionEquations.length = 0;
-};
-
-/**
- * Creates a ContactEquation, either by reusing an existing object or creating a new one.
- * @method createContactEquation
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {ContactEquation}
- */
-Narrowphase.prototype.createContactEquation = function(bodyA,bodyB,shapeA,shapeB){
-    var c = this.reusableContactEquations.length ? this.reusableContactEquations.pop() : new ContactEquation(bodyA,bodyB);
-    c.bi = bodyA;
-    c.bj = bodyB;
-    c.shapeA = shapeA;
-    c.shapeB = shapeB;
-    c.restitution = this.restitution;
-    c.firstImpact = !this.collidedLastStep(bodyA,bodyB);
-    return c;
-};
-
-/**
- * Creates a FrictionEquation, either by reusing an existing object or creating a new one.
- * @method createFrictionEquation
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {FrictionEquation}
- */
-Narrowphase.prototype.createFrictionEquation = function(bodyA,bodyB,shapeA,shapeB){
-    var c = this.reusableFrictionEquations.length ? this.reusableFrictionEquations.pop() : new FrictionEquation(bodyA,bodyB);
-    c.bi = bodyA;
-    c.bj = bodyB;
-    c.shapeA = shapeA;
-    c.shapeB = shapeB;
-    c.setSlipForce(this.slipForce);
-    c.frictionCoefficient = this.frictionCoefficient;
-    return c;
-};
-
-/**
- * Creates a FrictionEquation given the data in the ContactEquation. Uses same offset vectors ri and rj, but the tangent vector will be constructed from the collision normal.
- * @method createFrictionFromContact
- * @param  {ContactEquation} contactEquation
- * @return {FrictionEquation}
- */
-Narrowphase.prototype.createFrictionFromContact = function(c){
-    var eq = this.createFrictionEquation(c.bi,c.bj);
-    vec2.copy(eq.ri, c.ri);
-    vec2.copy(eq.rj, c.rj);
-    vec2.rotate(eq.t, c.ni, -Math.PI / 2);
-    eq.contactEquation = c;
-    return eq;
-}
-
-/**
- * Plane/line Narrowphase
- * @method planeLine
- * @param  {Body} bi
- * @param  {Plane} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Line} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.PLANE | Shape.LINE] =
-Narrowphase.prototype.planeLine = function(bi,si,xi,ai, bj,sj,xj,aj){
-    var lineShape = sj,
-        lineAngle = aj,
-        lineBody = bj,
-        lineOffset = xj,
-        planeOffset = xi,
-        planeAngle = ai,
-        planeBody = bi,
-        planeShape = si;
-
-    var worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldVertex01 = tmp3,
-        worldVertex11 = tmp4,
-        worldEdge = tmp5,
-        worldEdgeUnit = tmp6,
-        dist = tmp7,
-        worldNormal = tmp8,
-        worldTangent = tmp9;
-
-    // Get start and end points
-    vec2.set(worldVertex0, -lineShape.length/2, 0);
-    vec2.set(worldVertex1,  lineShape.length/2, 0);
-
-    // Not sure why we have to use worldVertex*1 here, but it won't work otherwise. Tired.
-    vec2.rotate(worldVertex01, worldVertex0, lineAngle);
-    vec2.rotate(worldVertex11, worldVertex1, lineAngle);
-
-    add(worldVertex01, worldVertex01, lineOffset);
-    add(worldVertex11, worldVertex11, lineOffset);
-
-    vec2.copy(worldVertex0,worldVertex01);
-    vec2.copy(worldVertex1,worldVertex11);
-
-    // Get vector along the line
-    sub(worldEdge, worldVertex1, worldVertex0);
-    vec2.normalize(worldEdgeUnit, worldEdge);
-
-    // Get tangent to the edge.
-    vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    // Check line ends
-    var verts = [worldVertex0, worldVertex1];
-    for(var i=0; i<verts.length; i++){
-        var v = verts[i];
-
-        sub(dist, v, planeOffset);
-
-        var d = dot(dist,worldNormal);
-
-        if(d < 0){
-
-            var c = this.createContactEquation(planeBody,lineBody,si,sj);
-
-            vec2.copy(c.ni, worldNormal);
-            vec2.normalize(c.ni,c.ni);
-
-            // distance vector along plane normal
-            vec2.scale(dist, worldNormal, d);
-
-            // Vector from plane center to contact
-            sub(c.ri, v, dist);
-            sub(c.ri, c.ri, planeBody.position);
-
-            // From line center to contact
-            sub(c.rj, v,    lineOffset);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            // TODO : only need one friction equation if both points touch
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-        }
-    }
-};
-
-Narrowphase.prototype[Shape.PARTICLE | Shape.CAPSULE] =
-Narrowphase.prototype.particleCapsule = function(bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    return this.circleLine(bi,si,xi,ai, bj,sj,xj,aj, justTest, sj.radius, 0);
-};
-
-/**
- * Circle/line Narrowphase
- * @method circleLine
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Line} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @param {Boolean} justTest If set to true, this function will return the result (intersection or not) without adding equations.
- * @param {Number} lineRadius Radius to add to the line. Can be used to test Capsules.
- * @param {Number} circleRadius If set, this value overrides the circle shape radius.
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.LINE] =
-Narrowphase.prototype.circleLine = function(bi,si,xi,ai, bj,sj,xj,aj, justTest, lineRadius, circleRadius){
-    var lineShape = sj,
-        lineAngle = aj,
-        lineBody = bj,
-        lineOffset = xj,
-        circleOffset = xi,
-        circleBody = bi,
-        circleShape = si,
-
-        lineRadius = lineRadius || 0,
-        circleRadius = typeof(circleRadius)!="undefined" ? circleRadius : circleShape.radius,
-
-        orthoDist = tmp1,
-        lineToCircleOrthoUnit = tmp2,
-        projectedPoint = tmp3,
-        centerDist = tmp4,
-        worldTangent = tmp5,
-        worldEdge = tmp6,
-        worldEdgeUnit = tmp7,
-        worldVertex0 = tmp8,
-        worldVertex1 = tmp9,
-        worldVertex01 = tmp10,
-        worldVertex11 = tmp11,
-        dist = tmp12,
-        lineToCircle = tmp13,
-        lineEndToLineRadius = tmp14;
-
-    // Get start and end points
-    vec2.set(worldVertex0, -lineShape.length/2, 0);
-    vec2.set(worldVertex1,  lineShape.length/2, 0);
-
-    // Not sure why we have to use worldVertex*1 here, but it won't work otherwise. Tired.
-    vec2.rotate(worldVertex01, worldVertex0, lineAngle);
-    vec2.rotate(worldVertex11, worldVertex1, lineAngle);
-
-    add(worldVertex01, worldVertex01, lineOffset);
-    add(worldVertex11, worldVertex11, lineOffset);
-
-    vec2.copy(worldVertex0,worldVertex01);
-    vec2.copy(worldVertex1,worldVertex11);
-
-    // Get vector along the line
-    sub(worldEdge, worldVertex1, worldVertex0);
-    vec2.normalize(worldEdgeUnit, worldEdge);
-
-    // Get tangent to the edge.
-    vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-    // Check distance from the plane spanned by the edge vs the circle
-    sub(dist, circleOffset, worldVertex0);
-    var d = dot(dist, worldTangent); // Distance from center of line to circle center
-    sub(centerDist, worldVertex0, lineOffset);
-
-    sub(lineToCircle, circleOffset, lineOffset);
-
-    if(Math.abs(d) < circleRadius+lineRadius){
-
-        // Now project the circle onto the edge
-        vec2.scale(orthoDist, worldTangent, d);
-        sub(projectedPoint, circleOffset, orthoDist);
-
-        // Add the missing line radius
-        vec2.scale(lineToCircleOrthoUnit, worldTangent, dot(worldTangent, lineToCircle));
-        vec2.normalize(lineToCircleOrthoUnit,lineToCircleOrthoUnit);
-        vec2.scale(lineToCircleOrthoUnit, lineToCircleOrthoUnit, lineRadius);
-        add(projectedPoint,projectedPoint,lineToCircleOrthoUnit);
-
-        // Check if the point is within the edge span
-        var pos =  dot(worldEdgeUnit, projectedPoint);
-        var pos0 = dot(worldEdgeUnit, worldVertex0);
-        var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-        if(pos > pos0 && pos < pos1){
-            // We got contact!
-
-            if(justTest) return true;
-
-            var c = this.createContactEquation(circleBody,lineBody,si,sj);
-
-            vec2.scale(c.ni, orthoDist, -1);
-            vec2.normalize(c.ni, c.ni);
-
-            vec2.scale( c.ri, c.ni,  circleRadius);
-            add(c.ri, c.ri, circleOffset);
-            sub(c.ri, c.ri, circleBody.position);
-
-            sub(c.rj, projectedPoint, lineOffset);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            return true;
-        }
-    }
-
-    // Add corner
-    var verts = [worldVertex0, worldVertex1];
-
-    for(var i=0; i<verts.length; i++){
-        var v = verts[i];
-
-        sub(dist, v, circleOffset);
-
-        if(vec2.squaredLength(dist) < (circleRadius+lineRadius)*(circleRadius+lineRadius)){
-
-            if(justTest) return true;
-
-            var c = this.createContactEquation(circleBody,lineBody,si,sj);
-
-            vec2.copy(c.ni, dist);
-            vec2.normalize(c.ni,c.ni);
-
-            // Vector from circle to contact point is the normal times the circle radius
-            vec2.scale(c.ri, c.ni, circleRadius);
-            add(c.ri, c.ri, circleOffset);
-            sub(c.ri, c.ri, circleBody.position);
-
-            sub(c.rj, v, lineOffset);
-            vec2.scale(lineEndToLineRadius, c.ni, -lineRadius);
-            add(c.rj, c.rj, lineEndToLineRadius);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            return true;
-        }
-    }
-
-    return false;
-};
-
-/**
- * Circle/capsule Narrowphase
- * @method circleCapsule
- * @param  {Body}   bi
- * @param  {Circle} si
- * @param  {Array}  xi
- * @param  {Number} ai
- * @param  {Body}   bj
- * @param  {Line}   sj
- * @param  {Array}  xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.CAPSULE] =
-Narrowphase.prototype.circleCapsule = function(bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    return this.circleLine(bi,si,xi,ai, bj,sj,xj,aj, justTest, sj.radius);
-};
-
-/**
- * Circle/convex Narrowphase
- * @method circleConvex
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.CONVEX] =
-Narrowphase.prototype.circleConvex = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest, circleRadius){
-    var convexShape = sj,
-        convexAngle = aj,
-        convexBody = bj,
-        convexOffset = xj,
-        circleOffset = xi,
-        circleBody = bi,
-        circleShape = si,
-        circleRadius = typeof(circleRadius)=="number" ? circleRadius : circleShape.radius;
-
-    var worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldEdge = tmp3,
-        worldEdgeUnit = tmp4,
-        worldTangent = tmp5,
-        centerDist = tmp6,
-        convexToCircle = tmp7,
-        orthoDist = tmp8,
-        projectedPoint = tmp9,
-        dist = tmp10,
-        worldVertex = tmp11,
-
-        closestEdge = -1,
-        closestEdgeDistance = null,
-        closestEdgeOrthoDist = tmp12,
-        closestEdgeProjectedPoint = tmp13,
-        candidate = tmp14,
-        candidateDist = tmp15,
-        minCandidate = tmp16,
-
-        found = false,
-        minCandidateDistance = Number.MAX_VALUE;
-
-    var numReported = 0;
-
-    // New algorithm:
-    // 1. Check so center of circle is not inside the polygon. If it is, this wont work...
-    // 2. For each edge
-    // 2. 1. Get point on circle that is closest to the edge (scale normal with -radius)
-    // 2. 2. Check if point is inside.
-
-    verts = convexShape.vertices;
-
-    // Check all edges first
-    for(var i=0; i!==verts.length; i++){
-        var v0 = verts[i],
-            v1 = verts[(i+1)%verts.length];
-
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-        sub(worldEdge, worldVertex1, worldVertex0);
-
-        vec2.normalize(worldEdgeUnit, worldEdge);
-
-        // Get tangent to the edge. Points out of the Convex
-        vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-        // Get point on circle, closest to the polygon
-        vec2.scale(candidate,worldTangent,-circleShape.radius);
-        add(candidate,candidate,circleOffset);
-
-        if(pointInConvex(candidate,convexShape,convexOffset,convexAngle)){
-
-            vec2.sub(candidateDist,worldVertex0,candidate);
-            var candidateDistance = Math.abs(vec2.dot(candidateDist,worldTangent));
-
-            /*
-            // Check distance from the plane spanned by the edge vs the circle
-            sub(dist, circleOffset, worldVertex0);
-            var d = dot(dist, worldTangent);
-            sub(centerDist, worldVertex0, convexOffset);
-
-            sub(convexToCircle, circleOffset, convexOffset);
-
-            if(d < circleRadius && dot(centerDist,convexToCircle) > 0){
-
-                // Now project the circle onto the edge
-                vec2.scale(orthoDist, worldTangent, d);
-                sub(projectedPoint, circleOffset, orthoDist);
-
-
-                // Check if the point is within the edge span
-                var pos =  dot(worldEdgeUnit, projectedPoint);
-                var pos0 = dot(worldEdgeUnit, worldVertex0);
-                var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-                if(pos > pos0 && pos < pos1){
-                    // We got contact!
-
-                    if(justTest) return true;
-
-                    if(closestEdgeDistance === null || d*d<closestEdgeDistance*closestEdgeDistance){
-                        closestEdgeDistance = d;
-                        closestEdge = i;
-                        vec2.copy(closestEdgeOrthoDist, orthoDist);
-                        vec2.copy(closestEdgeProjectedPoint, projectedPoint);
-                    }
-                }
-            }
-            */
-
-            if(candidateDistance < minCandidateDistance){
-                vec2.copy(minCandidate,candidate);
-                minCandidateDistance = candidateDistance;
-                vec2.scale(closestEdgeProjectedPoint,worldTangent,candidateDistance);
-                vec2.add(closestEdgeProjectedPoint,closestEdgeProjectedPoint,candidate);
-                found = true;
-            }
-        }
-    }
-
-    if(found){
-        var c = this.createContactEquation(circleBody,convexBody,si,sj);
-        vec2.sub(c.ni, minCandidate, circleOffset)
-        vec2.normalize(c.ni, c.ni);
-
-        vec2.scale(c.ri,  c.ni, circleRadius);
-        add(c.ri, c.ri, circleOffset);
-        sub(c.ri, c.ri, circleBody.position);
-
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-
-    /*
-    if(closestEdge != -1){
-        var c = this.createContactEquation(circleBody,convexBody);
-
-        vec2.scale(c.ni, closestEdgeOrthoDist, -1);
-        vec2.normalize(c.ni, c.ni);
-
-        vec2.scale(c.ri,  c.ni, circleRadius);
-        add(c.ri, c.ri, circleOffset);
-        sub(c.ri, c.ri, circleBody.position);
-
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-    */
-
-    // Check all vertices
-    if(circleRadius > 0){
-        for(var i=0; i<verts.length; i++){
-            var localVertex = verts[i];
-            vec2.rotate(worldVertex, localVertex, convexAngle);
-            add(worldVertex, worldVertex, convexOffset);
-
-            sub(dist, worldVertex, circleOffset);
-            if(vec2.squaredLength(dist) < circleRadius*circleRadius){
-
-                if(justTest) return true;
-
-                var c = this.createContactEquation(circleBody,convexBody,si,sj);
-
-                vec2.copy(c.ni, dist);
-                vec2.normalize(c.ni,c.ni);
-
-                // Vector from circle to contact point is the normal times the circle radius
-                vec2.scale(c.ri, c.ni, circleRadius);
-                add(c.ri, c.ri, circleOffset);
-                sub(c.ri, c.ri, circleBody.position);
-
-                sub(c.rj, worldVertex, convexOffset);
-                add(c.rj, c.rj, convexOffset);
-                sub(c.rj, c.rj, convexBody.position);
-
-                this.contactEquations.push(c);
-
-                if(this.enableFriction){
-                    this.frictionEquations.push(this.createFrictionFromContact(c));
-                }
-
-                return true;
-            }
-        }
-    }
-
-    return false;
-};
-
-// Check if a point is in a polygon
-var pic_worldVertex0 = vec2.create(),
-    pic_worldVertex1 = vec2.create(),
-    pic_r0 = vec2.create(),
-    pic_r1 = vec2.create();
-function pointInConvex(worldPoint,convexShape,convexOffset,convexAngle){
-    var worldVertex0 = pic_worldVertex0,
-        worldVertex1 = pic_worldVertex1,
-        r0 = pic_r0,
-        r1 = pic_r1,
-        point = worldPoint,
-        verts = convexShape.vertices,
-        lastCross = null;
-    for(var i=0; i!==verts.length+1; i++){
-        var v0 = verts[i%verts.length],
-            v1 = verts[(i+1)%verts.length];
-
-        // Transform vertices to world
-        // can we instead transform point to local of the convex???
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-
-        sub(r0, worldVertex0, point);
-        sub(r1, worldVertex1, point);
-        var cross = vec2.crossLength(r0,r1);
-
-        if(lastCross===null) lastCross = cross;
-
-        // If we got a different sign of the distance vector, the point is out of the polygon
-        if(cross*lastCross <= 0){
-            return false;
-        }
-        lastCross = cross;
-    }
-    return true;
-};
-
-/**
- * Particle/convex Narrowphase
- * @method particleConvex
- * @param  {Body} bi
- * @param  {Particle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @todo use pointInConvex and code more similar to circleConvex
- */
-Narrowphase.prototype[Shape.PARTICLE | Shape.CONVEX] =
-Narrowphase.prototype.particleConvex = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var convexShape = sj,
-        convexAngle = aj,
-        convexBody = bj,
-        convexOffset = xj,
-        particleOffset = xi,
-        particleBody = bi,
-        particleShape = si,
-        worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldEdge = tmp3,
-        worldEdgeUnit = tmp4,
-        worldTangent = tmp5,
-        centerDist = tmp6,
-        convexToparticle = tmp7,
-        orthoDist = tmp8,
-        projectedPoint = tmp9,
-        dist = tmp10,
-        worldVertex = tmp11,
-        closestEdge = -1,
-        closestEdgeDistance = null,
-        closestEdgeOrthoDist = tmp12,
-        closestEdgeProjectedPoint = tmp13,
-        r0 = tmp14, // vector from particle to vertex0
-        r1 = tmp15,
-        localPoint = tmp16,
-        candidateDist = tmp17,
-        minEdgeNormal = tmp18,
-        minCandidateDistance = Number.MAX_VALUE;
-
-    var numReported = 0,
-        found = false,
-        verts = convexShape.vertices;
-
-    // Check if the particle is in the polygon at all
-    if(!pointInConvex(particleOffset,convexShape,convexOffset,convexAngle))
-        return false;
-
-    // Check edges first
-    var lastCross = null;
-    for(var i=0; i!==verts.length+1; i++){
-        var v0 = verts[i%verts.length],
-            v1 = verts[(i+1)%verts.length];
-
-        // Transform vertices to world
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-
-        // Get world edge
-        sub(worldEdge, worldVertex1, worldVertex0);
-        vec2.normalize(worldEdgeUnit, worldEdge);
-
-        // Get tangent to the edge. Points out of the Convex
-        vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-        // Check distance from the infinite line (spanned by the edge) to the particle
-        sub(dist, particleOffset, worldVertex0);
-        var d = dot(dist, worldTangent);
-        sub(centerDist, worldVertex0, convexOffset);
-
-        sub(convexToparticle, particleOffset, convexOffset);
-
-
-        /*
-        if(d < 0 && dot(centerDist,convexToparticle) >= 0){
-
-            // Now project the particle onto the edge
-            vec2.scale(orthoDist, worldTangent, d);
-            sub(projectedPoint, particleOffset, orthoDist);
-
-            // Check if the point is within the edge span
-            var pos =  dot(worldEdgeUnit, projectedPoint);
-            var pos0 = dot(worldEdgeUnit, worldVertex0);
-            var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-            if(pos > pos0 && pos < pos1){
-                // We got contact!
-                if(justTest) return true;
-
-                if(closestEdgeDistance === null || d*d<closestEdgeDistance*closestEdgeDistance){
-                    closestEdgeDistance = d;
-                    closestEdge = i;
-                    vec2.copy(closestEdgeOrthoDist, orthoDist);
-                    vec2.copy(closestEdgeProjectedPoint, projectedPoint);
-                }
-            }
-        }
-        */
-
-        vec2.sub(candidateDist,worldVertex0,particleOffset);
-        var candidateDistance = Math.abs(vec2.dot(candidateDist,worldTangent));
-
-        if(candidateDistance < minCandidateDistance){
-            minCandidateDistance = candidateDistance;
-            vec2.scale(closestEdgeProjectedPoint,worldTangent,candidateDistance);
-            vec2.add(closestEdgeProjectedPoint,closestEdgeProjectedPoint,particleOffset);
-            vec2.copy(minEdgeNormal,worldTangent);
-            found = true;
-        }
-    }
-
-    if(found){
-        var c = this.createContactEquation(particleBody,convexBody,si,sj);
-
-        vec2.scale(c.ni, minEdgeNormal, -1);
-        vec2.normalize(c.ni, c.ni);
-
-        // Particle has no extent to the contact point
-        vec2.set(c.ri,  0, 0);
-        add(c.ri, c.ri, particleOffset);
-        sub(c.ri, c.ri, particleBody.position);
-
-        // From convex center to point
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-
-
-    return false;
-};
-
-/**
- * Circle/circle Narrowphase
- * @method circleCircle
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Circle} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE] =
-Narrowphase.prototype.circleCircle = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    var bodyA = bi,
-        shapeA = si,
-        offsetA = xi,
-        bodyB = bj,
-        shapeB = sj,
-        offsetB = xj,
-        dist = tmp1;
-
-    sub(dist,xi,xj);
-    var r = si.radius + sj.radius;
-    if(vec2.squaredLength(dist) > r*r){
-        return false;
-    }
-
-    if(justTest) return true;
-
-    var c = this.createContactEquation(bodyA,bodyB,si,sj);
-    sub(c.ni, offsetB, offsetA);
-    vec2.normalize(c.ni,c.ni);
-
-    vec2.scale( c.ri, c.ni,  shapeA.radius);
-    vec2.scale( c.rj, c.ni, -shapeB.radius);
-
-    add(c.ri, c.ri, offsetA);
-    sub(c.ri, c.ri, bodyA.position);
-
-    add(c.rj, c.rj, offsetB);
-    sub(c.rj, c.rj, bodyB.position);
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-    return true;
-};
-
-/**
- * Plane/Convex Narrowphase
- * @method planeConvex
- * @param  {Body} bi
- * @param  {Plane} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.PLANE | Shape.CONVEX] =
-Narrowphase.prototype.planeConvex = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    var convexBody = bj,
-        convexOffset = xj,
-        convexShape = sj,
-        convexAngle = aj,
-        planeBody = bi,
-        planeShape = si,
-        planeOffset = xi,
-        planeAngle = ai;
-
-    var worldVertex = tmp1,
-        worldNormal = tmp2,
-        dist = tmp3;
-
-    var numReported = 0;
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    for(var i=0; i<convexShape.vertices.length; i++){
-        var v = convexShape.vertices[i];
-        vec2.rotate(worldVertex, v, convexAngle);
-        add(worldVertex, worldVertex, convexOffset);
-
-        sub(dist, worldVertex, planeOffset);
-
-        if(dot(dist,worldNormal) < 0){
-
-            // Found vertex
-            numReported++;
-
-            var c = this.createContactEquation(planeBody,convexBody,planeShape,convexShape);
-
-            sub(dist, worldVertex, planeOffset);
-
-            vec2.copy(c.ni, worldNormal);
-
-            var d = dot(dist, c.ni);
-            vec2.scale(dist, c.ni, d);
-
-            // rj is from convex center to contact
-            sub(c.rj, worldVertex, convexBody.position);
-
-
-            // ri is from plane center to contact
-            sub( c.ri, worldVertex, dist);
-            sub( c.ri, c.ri, planeBody.position);
-
-            this.contactEquations.push(c);
-
-            // TODO: if we have 2 contacts, we do only need 1 friction equation
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            if(numReported >= 2)
-                break;
-        }
-    }
-    return numReported > 0;
-};
-
-/**
- * @method convexPlane
- * @deprecated Use .planeConvex() instead!
- */
-Narrowphase.prototype.convexPlane = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    console.warn("Narrowphase.prototype.convexPlane is deprecated. Use planeConvex instead!");
-    return this.planeConvex( bj,sj,xj,aj, bi,si,xi,ai );
-}
-
-/**
- * Narrowphase for particle vs plane
- * @method particlePlane
- * @param  {Body}       bi The particle body
- * @param  {Particle}   si Particle shape
- * @param  {Array}      xi World position for the particle
- * @param  {Number}     ai World angle for the particle
- * @param  {Body}       bj Plane body
- * @param  {Plane}      sj Plane shape
- * @param  {Array}      xj World position for the plane
- * @param  {Number}     aj World angle for the plane
- */
-Narrowphase.prototype[Shape.PARTICLE | Shape.PLANE] =
-Narrowphase.prototype.particlePlane = function( bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var particleBody = bi,
-        particleShape = si,
-        particleOffset = xi,
-        planeBody = bj,
-        planeShape = sj,
-        planeOffset = xj,
-        planeAngle = aj;
-
-    var dist = tmp1,
-        worldNormal = tmp2;
-
-    planeAngle = planeAngle || 0;
-
-    sub(dist, particleOffset, planeOffset);
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    var d = dot(dist, worldNormal);
-
-    if(d > 0) return false;
-    if(justTest) return true;
-
-    var c = this.createContactEquation(planeBody,particleBody,sj,si);
-
-    vec2.copy(c.ni, worldNormal);
-    vec2.scale( dist, c.ni, d );
-    // dist is now the distance vector in the normal direction
-
-    // ri is the particle position projected down onto the plane, from the plane center
-    sub( c.ri, particleOffset, dist);
-    sub( c.ri, c.ri, planeBody.position);
-
-    // rj is from the body center to the particle center
-    sub( c.rj, particleOffset, particleBody.position );
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-    return true;
-};
-
-/**
- * Circle/Particle Narrowphase
- * @method circleParticle
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Particle} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.PARTICLE] =
-Narrowphase.prototype.circleParticle = function(   bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var circleBody = bi,
-        circleShape = si,
-        circleOffset = xi,
-        particleBody = bj,
-        particleShape = sj,
-        particleOffset = xj,
-        dist = tmp1;
-
-    sub(dist, particleOffset, circleOffset);
-    if(vec2.squaredLength(dist) > circleShape.radius*circleShape.radius) return false;
-    if(justTest) return true;
-
-    var c = this.createContactEquation(circleBody,particleBody,si,sj);
-    vec2.copy(c.ni, dist);
-    vec2.normalize(c.ni,c.ni);
-
-    // Vector from circle to contact point is the normal times the circle radius
-    vec2.scale(c.ri, c.ni, circleShape.radius);
-    add(c.ri, c.ri, circleOffset);
-    sub(c.ri, c.ri, circleBody.position);
-
-    // Vector from particle center to contact point is zero
-    sub(c.rj, particleOffset, particleBody.position);
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-
-    return true;
-};
-
-var capsulePlane_tmpCircle = new Circle(1),
-    capsulePlane_tmp1 = vec2.create(),
-    capsulePlane_tmp2 = vec2.create(),
-    capsulePlane_tmp3 = vec2.create();
-
-Narrowphase.prototype[Shape.PLANE | Shape.CAPSULE] =
-Narrowphase.prototype.planeCapsule = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    var end1 = capsulePlane_tmp1,
-        end2 = capsulePlane_tmp2,
-        circle = capsulePlane_tmpCircle,
-        dst = capsulePlane_tmp3;
-
-    // Compute world end positions
-    vec2.set(end1, -sj.length/2, 0);
-    vec2.rotate(end1,end1,aj);
-    add(end1,end1,xj);
-
-    vec2.set(end2,  sj.length/2, 0);
-    vec2.rotate(end2,end2,aj);
-    add(end2,end2,xj);
-
-    circle.radius = sj.radius;
-
-    // Do Narrowphase as two circles
-    this.circlePlane(bj,circle,end1,0, bi,si,xi,ai);
-    this.circlePlane(bj,circle,end2,0, bi,si,xi,ai);
-};
-
-/**
- * @method capsulePlane
- * @deprecated Use .planeCapsule() instead!
- */
-Narrowphase.prototype.capsulePlane = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    console.warn("Narrowphase.prototype.capsulePlane() is deprecated. Use .planeCapsule() instead!");
-    return this.planeCapsule( bj,sj,xj,aj, bi,si,xi,ai );
-}
-
-/**
- * Creates ContactEquations and FrictionEquations for a collision.
- * @method circlePlane
- * @param  {Body}    bi     The first body that should be connected to the equations.
- * @param  {Circle}  si     The circle shape participating in the collision.
- * @param  {Array}   xi     Extra offset to take into account for the Shape, in addition to the one in circleBody.position. Will *not* be rotated by circleBody.angle (maybe it should, for sake of homogenity?). Set to null if none.
- * @param  {Body}    bj     The second body that should be connected to the equations.
- * @param  {Plane}   sj     The Plane shape that is participating
- * @param  {Array}   xj     Extra offset for the plane shape.
- * @param  {Number}  aj     Extra angle to apply to the plane
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.PLANE] =
-Narrowphase.prototype.circlePlane = function(   bi,si,xi,ai, bj,sj,xj,aj ){
-    var circleBody = bi,
-        circleShape = si,
-        circleOffset = xi, // Offset from body center, rotated!
-        planeBody = bj,
-        shapeB = sj,
-        planeOffset = xj,
-        planeAngle = aj;
-
-    planeAngle = planeAngle || 0;
-
-    // Vector from plane to circle
-    var planeToCircle = tmp1,
-        worldNormal = tmp2,
-        temp = tmp3;
-
-    sub(planeToCircle, circleOffset, planeOffset);
-
-    // World plane normal
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    // Normal direction distance
-    var d = dot(worldNormal, planeToCircle);
-
-    if(d > circleShape.radius) return false; // No overlap. Abort.
-
-    // Create contact
-    var contact = this.createContactEquation(planeBody,circleBody,sj,si);
-
-    // ni is the plane world normal
-    vec2.copy(contact.ni, worldNormal);
-
-    // rj is the vector from circle center to the contact point
-    vec2.scale(contact.rj, contact.ni, -circleShape.radius);
-    add(contact.rj, contact.rj, circleOffset);
-    sub(contact.rj, contact.rj, circleBody.position);
-
-    // ri is the distance from plane center to contact.
-    vec2.scale(temp, contact.ni, d);
-    sub(contact.ri, planeToCircle, temp ); // Subtract normal distance vector from the distance vector
-    add(contact.ri, contact.ri, planeOffset);
-    sub(contact.ri, contact.ri, planeBody.position);
-
-    this.contactEquations.push(contact);
-
-    if(this.enableFriction){
-        this.frictionEquations.push( this.createFrictionFromContact(contact) );
-    }
-
-    return true;
-};
-
-
-/**
- * Convex/convex Narrowphase.See <a href="http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/">this article</a> for more info.
- * @method convexConvex
- * @param  {Body} bi
- * @param  {Convex} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CONVEX] =
-Narrowphase.prototype.convexConvex = function(  bi,si,xi,ai, bj,sj,xj,aj ){
-    var sepAxis = tmp1,
-        worldPoint = tmp2,
-        worldPoint0 = tmp3,
-        worldPoint1 = tmp4,
-        worldEdge = tmp5,
-        projected = tmp6,
-        penetrationVec = tmp7,
-        dist = tmp8,
-        worldNormal = tmp9;
-
-    var found = Narrowphase.findSeparatingAxis(si,xi,ai,sj,xj,aj,sepAxis);
-    if(!found) return false;
-
-    // Make sure the separating axis is directed from shape i to shape j
-    sub(dist,xj,xi);
-    if(dot(sepAxis,dist) > 0){
-        vec2.scale(sepAxis,sepAxis,-1);
-    }
-
-    // Find edges with normals closest to the separating axis
-    var closestEdge1 = Narrowphase.getClosestEdge(si,ai,sepAxis,true), // Flipped axis
-        closestEdge2 = Narrowphase.getClosestEdge(sj,aj,sepAxis);
-
-    if(closestEdge1==-1 || closestEdge2==-1) return false;
-
-    // Loop over the shapes
-    for(var k=0; k<2; k++){
-
-        var closestEdgeA = closestEdge1,
-            closestEdgeB = closestEdge2,
-            shapeA =  si, shapeB =  sj,
-            offsetA = xi, offsetB = xj,
-            angleA = ai, angleB = aj,
-            bodyA = bi, bodyB = bj;
-
-        if(k==0){
-            // Swap!
-            var tmp;
-            tmp = closestEdgeA; closestEdgeA = closestEdgeB;    closestEdgeB = tmp;
-            tmp = shapeA;       shapeA = shapeB;                shapeB = tmp;
-            tmp = offsetA;      offsetA = offsetB;              offsetB = tmp;
-            tmp = angleA;       angleA = angleB;                angleB = tmp;
-            tmp = bodyA;        bodyA = bodyB;                  bodyB = tmp;
-        }
-
-        // Loop over 2 points in convex B
-        for(var j=closestEdgeB; j<closestEdgeB+2; j++){
-
-            // Get world point
-            var v = shapeB.vertices[(j+shapeB.vertices.length)%shapeB.vertices.length];
-            vec2.rotate(worldPoint, v, angleB);
-            add(worldPoint, worldPoint, offsetB);
-
-            var insideNumEdges = 0;
-
-            // Loop over the 3 closest edges in convex A
-            for(var i=closestEdgeA-1; i<closestEdgeA+2; i++){
-
-                var v0 = shapeA.vertices[(i  +shapeA.vertices.length)%shapeA.vertices.length],
-                    v1 = shapeA.vertices[(i+1+shapeA.vertices.length)%shapeA.vertices.length];
-
-                // Construct the edge
-                vec2.rotate(worldPoint0, v0, angleA);
-                vec2.rotate(worldPoint1, v1, angleA);
-                add(worldPoint0, worldPoint0, offsetA);
-                add(worldPoint1, worldPoint1, offsetA);
-
-                sub(worldEdge, worldPoint1, worldPoint0);
-
-                vec2.rotate(worldNormal, worldEdge, -Math.PI/2); // Normal points out of convex 1
-                vec2.normalize(worldNormal,worldNormal);
-
-                sub(dist, worldPoint, worldPoint0);
-
-                var d = dot(worldNormal,dist);
-
-                if(d < 0){
-                    insideNumEdges++;
-                }
-            }
-
-            if(insideNumEdges == 3){
-
-                // worldPoint was on the "inside" side of each of the 3 checked edges.
-                // Project it to the center edge and use the projection direction as normal
-
-                // Create contact
-                var c = this.createContactEquation(bodyA,bodyB,si,sj);
-
-                // Get center edge from body A
-                var v0 = shapeA.vertices[(closestEdgeA)   % shapeA.vertices.length],
-                    v1 = shapeA.vertices[(closestEdgeA+1) % shapeA.vertices.length];
-
-                // Construct the edge
-                vec2.rotate(worldPoint0, v0, angleA);
-                vec2.rotate(worldPoint1, v1, angleA);
-                add(worldPoint0, worldPoint0, offsetA);
-                add(worldPoint1, worldPoint1, offsetA);
-
-                sub(worldEdge, worldPoint1, worldPoint0);
-
-                vec2.rotate(c.ni, worldEdge, -Math.PI/2); // Normal points out of convex A
-                vec2.normalize(c.ni,c.ni);
-
-                sub(dist, worldPoint, worldPoint0); // From edge point to the penetrating point
-                var d = dot(c.ni,dist);             // Penetration
-                vec2.scale(penetrationVec, c.ni, d);     // Vector penetration
-
-
-                sub(c.ri, worldPoint, offsetA);
-                sub(c.ri, c.ri, penetrationVec);
-                add(c.ri, c.ri, offsetA);
-                sub(c.ri, c.ri, bodyA.position);
-
-                sub(c.rj, worldPoint, offsetB);
-                add(c.rj, c.rj, offsetB);
-                sub(c.rj, c.rj, bodyB.position);
-
-                this.contactEquations.push(c);
-
-                // Todo reduce to 1 friction equation if we have 2 contact points
-                if(this.enableFriction)
-                    this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-        }
-    }
-};
-
-// .projectConvex is called by other functions, need local tmp vectors
-var pcoa_tmp1 = vec2.fromValues(0,0);
-
-/**
- * Project a Convex onto a world-oriented axis
- * @method projectConvexOntoAxis
- * @static
- * @param  {Convex} convexShape
- * @param  {Array} convexOffset
- * @param  {Number} convexAngle
- * @param  {Array} worldAxis
- * @param  {Array} result
- */
-Narrowphase.projectConvexOntoAxis = function(convexShape, convexOffset, convexAngle, worldAxis, result){
-    var max=null,
-        min=null,
-        v,
-        value,
-        localAxis = pcoa_tmp1;
-
-    // Convert the axis to local coords of the body
-    vec2.rotate(localAxis, worldAxis, -convexAngle);
-
-    // Get projected position of all vertices
-    for(var i=0; i<convexShape.vertices.length; i++){
-        v = convexShape.vertices[i];
-        value = dot(v,localAxis);
-        if(max === null || value > max) max = value;
-        if(min === null || value < min) min = value;
-    }
-
-    if(min > max){
-        var t = min;
-        min = max;
-        max = t;
-    }
-
-    // Project the position of the body onto the axis - need to add this to the result
-    var offset = dot(convexOffset, worldAxis);
-
-    vec2.set( result, min + offset, max + offset);
-};
-
-// .findSeparatingAxis is called by other functions, need local tmp vectors
-var fsa_tmp1 = vec2.fromValues(0,0)
-,   fsa_tmp2 = vec2.fromValues(0,0)
-,   fsa_tmp3 = vec2.fromValues(0,0)
-,   fsa_tmp4 = vec2.fromValues(0,0)
-,   fsa_tmp5 = vec2.fromValues(0,0)
-,   fsa_tmp6 = vec2.fromValues(0,0)
-
-/**
- * Find a separating axis between the shapes, that maximizes the separating distance between them.
- * @method findSeparatingAxis
- * @static
- * @param  {Convex}     c1
- * @param  {Array}      offset1
- * @param  {Number}     angle1
- * @param  {Convex}     c2
- * @param  {Array}      offset2
- * @param  {Number}     angle2
- * @param  {Array}      sepAxis     The resulting axis
- * @return {Boolean}                Whether the axis could be found.
- */
-Narrowphase.findSeparatingAxis = function(c1,offset1,angle1,c2,offset2,angle2,sepAxis){
-    var maxDist = null,
-        overlap = false,
-        found = false,
-        edge = fsa_tmp1,
-        worldPoint0 = fsa_tmp2,
-        worldPoint1 = fsa_tmp3,
-        normal = fsa_tmp4,
-        span1 = fsa_tmp5,
-        span2 = fsa_tmp6;
-
-    for(var j=0; j!==2; j++){
-        var c = c1,
-            angle = angle1;
-        if(j===1){
-            c = c2;
-            angle = angle2;
-        }
-
-        for(var i=0; i!==c.vertices.length; i++){
-            // Get the world edge
-            vec2.rotate(worldPoint0, c.vertices[i], angle);
-            vec2.rotate(worldPoint1, c.vertices[(i+1)%c.vertices.length], angle);
-
-            sub(edge, worldPoint1, worldPoint0);
-
-            // Get normal - just rotate 90 degrees since vertices are given in CCW
-            vec2.rotate(normal, edge, -Math.PI / 2);
-            vec2.normalize(normal,normal);
-
-            // Project hulls onto that normal
-            Narrowphase.projectConvexOntoAxis(c1,offset1,angle1,normal,span1);
-            Narrowphase.projectConvexOntoAxis(c2,offset2,angle2,normal,span2);
-
-            // Order by span position
-            var a=span1,
-                b=span2,
-                swapped = false;
-            if(span1[0] > span2[0]){
-                b=span1;
-                a=span2;
-                swapped = true;
-            }
-
-            // Get separating distance
-            var dist = b[0] - a[1];
-            overlap = dist < 0;
-
-            if(maxDist===null || dist > maxDist){
-                vec2.copy(sepAxis, normal);
-                maxDist = dist;
-                found = overlap;
-            }
-        }
-    }
-
-    return found;
-};
-
-// .getClosestEdge is called by other functions, need local tmp vectors
-var gce_tmp1 = vec2.fromValues(0,0)
-,   gce_tmp2 = vec2.fromValues(0,0)
-,   gce_tmp3 = vec2.fromValues(0,0)
-
-/**
- * Get the edge that has a normal closest to an axis.
- * @method getClosestEdge
- * @static
- * @param  {Convex}     c
- * @param  {Number}     angle
- * @param  {Array}      axis
- * @param  {Boolean}    flip
- * @return {Number}             Index of the edge that is closest. This index and the next spans the resulting edge. Returns -1 if failed.
- */
-Narrowphase.getClosestEdge = function(c,angle,axis,flip){
-    var localAxis = gce_tmp1,
-        edge = gce_tmp2,
-        normal = gce_tmp3;
-
-    // Convert the axis to local coords of the body
-    vec2.rotate(localAxis, axis, -angle);
-    if(flip){
-        vec2.scale(localAxis,localAxis,-1);
-    }
-
-    var closestEdge = -1,
-        N = c.vertices.length,
-        halfPi = Math.PI / 2;
-    for(var i=0; i!==N; i++){
-        // Get the edge
-        sub(edge, c.vertices[(i+1)%N], c.vertices[i%N]);
-
-        // Get normal - just rotate 90 degrees since vertices are given in CCW
-        vec2.rotate(normal, edge, -halfPi);
-        vec2.normalize(normal,normal);
-
-        var d = dot(normal,localAxis);
-        if(closestEdge == -1 || d > maxDot){
-            closestEdge = i % N;
-            maxDot = d;
-        }
-    }
-
-    return closestEdge;
-};
-
-
-},{"../constraints/ContactEquation":16,"../constraints/FrictionEquation":19,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Shape":41,"../utils/Utils":46}],13:[function(require,module,exports){
-var Plane = require("../shapes/Plane");
-var Broadphase = require("../collision/Broadphase");
-
-module.exports = {
-    QuadTree : QuadTree,
-    Node : Node,
-    BoundsNode : BoundsNode,
-};
-
-/**
- * QuadTree data structure. See https://github.com/mikechambers/ExamplesByMesh/tree/master/JavaScript/QuadTree
- * @class QuadTree
- * @constructor
- * @param {Object} An object representing the bounds of the top level of the QuadTree. The object
- * should contain the following properties : x, y, width, height
- * @param {Boolean} pointQuad Whether the QuadTree will contain points (true), or items with bounds
- * (width / height)(false). Default value is false.
- * @param {Number} maxDepth The maximum number of levels that the quadtree will create. Default is 4.
- * @param {Number} maxChildren The maximum number of children that a node can contain before it is split into sub-nodes.
- */
-function QuadTree(bounds, pointQuad, maxDepth, maxChildren){
-    var node;
-    if(pointQuad){
-        node = new Node(bounds, 0, maxDepth, maxChildren);
-    } else {
-        node = new BoundsNode(bounds, 0, maxDepth, maxChildren);
-    }
-
-    /**
-     * The root node of the QuadTree which covers the entire area being segmented.
-     * @property root
-     * @type Node
-     */
-    this.root = node;
-}
-
-/**
- * Inserts an item into the QuadTree.
- * @method insert
- * @param {Object|Array} item The item or Array of items to be inserted into the QuadTree. The item should expose x, y
- * properties that represents its position in 2D space.
- */
-QuadTree.prototype.insert = function(item){
-    if(item instanceof Array){
-        var len = item.length;
-        for(var i = 0; i < len; i++){
-            this.root.insert(item[i]);
-        }
-    } else {
-        this.root.insert(item);
-    }
-}
-
-/**
- * Clears all nodes and children from the QuadTree
- * @method clear
- */
-QuadTree.prototype.clear = function(){
-    this.root.clear();
-}
-
-/**
- * Retrieves all items / points in the same node as the specified item / point. If the specified item
- * overlaps the bounds of a node, then all children in both nodes will be returned.
- * @method retrieve
- * @param {Object} item An object representing a 2D coordinate point (with x, y properties), or a shape
- * with dimensions (x, y, width, height) properties.
- */
-QuadTree.prototype.retrieve = function(item){
-    //get a copy of the array of items
-    var out = this.root.retrieve(item).slice(0);
-    return out;
-}
-
-QuadTree.prototype.getCollisionPairs = function(world){
-
-    var result = [];
-
-    // Add all bodies
-    this.insert(world.bodies);
-
-    /*
-    console.log("bodies",world.bodies.length);
-    console.log("maxDepth",this.root.maxDepth,"maxChildren",this.root.maxChildren);
-    */
-
-    for(var i=0; i!==world.bodies.length; i++){
-        var b = world.bodies[i],
-            items = this.retrieve(b);
-
-        //console.log("items",items.length);
-
-        // Check results
-        for(var j=0, len=items.length; j!==len; j++){
-            var item = items[j];
-
-            if(b === item) continue; // Do not add self
-
-            // Check if they were already added
-            var found = false;
-            for(var k=0, numAdded=result.length; k<numAdded; k+=2){
-                var r1 = result[k],
-                    r2 = result[k+1];
-                if( (r1==item && r2==b) || (r2==item && r1==b) ){
-                    found = true;
-                    break;
-                }
-            }
-            if(!found && Broadphase.boundingRadiusCheck(b,item)){
-                result.push(b,item);
-            }
-        }
-    }
-
-    //console.log("results",result.length);
-
-    // Clear until next
-    this.clear();
-
-    return result;
-};
-
-function Node(bounds, depth, maxDepth, maxChildren){
-    this.bounds = bounds;
-    this.children = [];
-    this.nodes = [];
-
-    if(maxChildren){
-        this.maxChildren = maxChildren;
-    }
-
-    if(maxDepth){
-        this.maxDepth = maxDepth;
-    }
-
-    if(depth){
-        this.depth = depth;
-    }
-}
-
-//subnodes
-Node.prototype.classConstructor = Node;
-
-//children contained directly in the node
-Node.prototype.children = null;
-
-//read only
-Node.prototype.depth = 0;
-
-Node.prototype.maxChildren = 4;
-Node.prototype.maxDepth = 4;
-
-Node.TOP_LEFT = 0;
-Node.TOP_RIGHT = 1;
-Node.BOTTOM_LEFT = 2;
-Node.BOTTOM_RIGHT = 3;
-
-Node.prototype.insert = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        this.nodes[index].insert(item);
-        return;
-    }
-
-    this.children.push(item);
-
-    var len = this.children.length;
-    if(!(this.depth >= this.maxDepth) && len > this.maxChildren) {
-        this.subdivide();
-
-        for(var i = 0; i < len; i++){
-            this.insert(this.children[i]);
-        }
-
-        this.children.length = 0;
-    }
-}
-
-Node.prototype.retrieve = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        return this.nodes[index].retrieve(item);
-    }
-
-    return this.children;
-}
-
-Node.prototype.findIndex = function(item){
-    var b = this.bounds;
-    var left = (item.position[0]-item.boundingRadius > b.x + b.width  / 2) ? false : true;
-    var top =  (item.position[1]-item.boundingRadius > b.y + b.height / 2) ? false : true;
-
-    if(item instanceof Plane){
-        left = top = false; // Will overlap the left/top boundary since it is infinite
-    }
-
-    //top left
-    var index = Node.TOP_LEFT;
-    if(left){
-        if(!top){
-            index = Node.BOTTOM_LEFT;
-        }
-    } else {
-        if(top){
-            index = Node.TOP_RIGHT;
-        } else {
-            index = Node.BOTTOM_RIGHT;
-        }
-    }
-
-    return index;
-}
-
-
-Node.prototype.subdivide = function(){
-    var depth = this.depth + 1;
-
-    var bx = this.bounds.x;
-    var by = this.bounds.y;
-
-    //floor the values
-    var b_w_h = (this.bounds.width / 2);
-    var b_h_h = (this.bounds.height / 2);
-    var bx_b_w_h = bx + b_w_h;
-    var by_b_h_h = by + b_h_h;
-
-    //top left
-    this.nodes[Node.TOP_LEFT] = new this.classConstructor({
-        x:bx,
-        y:by,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-    //top right
-    this.nodes[Node.TOP_RIGHT] = new this.classConstructor({
-        x:bx_b_w_h,
-        y:by,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-    //bottom left
-    this.nodes[Node.BOTTOM_LEFT] = new this.classConstructor({
-        x:bx,
-        y:by_b_h_h,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-
-    //bottom right
-    this.nodes[Node.BOTTOM_RIGHT] = new this.classConstructor({
-        x:bx_b_w_h,
-        y:by_b_h_h,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-}
-
-Node.prototype.clear = function(){
-    this.children.length = 0;
-
-    var len = this.nodes.length;
-    for(var i = 0; i < len; i++){
-        this.nodes[i].clear();
-    }
-
-    this.nodes.length = 0;
-}
-
-
-// BoundsQuadTree
-
-function BoundsNode(bounds, depth, maxChildren, maxDepth){
-    Node.call(this, bounds, depth, maxChildren, maxDepth);
-    this.stuckChildren = [];
-}
-
-BoundsNode.prototype = new Node();
-BoundsNode.prototype.classConstructor = BoundsNode;
-BoundsNode.prototype.stuckChildren = null;
-
-//we use this to collect and conctenate items being retrieved. This way
-//we dont have to continuously create new Array instances.
-//Note, when returned from QuadTree.retrieve, we then copy the array
-BoundsNode.prototype.out = [];
-
-BoundsNode.prototype.insert = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        var node = this.nodes[index];
-
-        /*
-        console.log("radius:",item.boundingRadius);
-        console.log("item x:",item.position[0] - item.boundingRadius,"x range:",node.bounds.x,node.bounds.x+node.bounds.width);
-        console.log("item y:",item.position[1] - item.boundingRadius,"y range:",node.bounds.y,node.bounds.y+node.bounds.height);
-        */
-
-        //todo: make _bounds bounds
-        if( !(item instanceof Plane) && // Plane is infinite.. Make it a "stuck" child
-            item.position[0] - item.boundingRadius >= node.bounds.x &&
-            item.position[0] + item.boundingRadius <= node.bounds.x + node.bounds.width &&
-            item.position[1] - item.boundingRadius >= node.bounds.y &&
-            item.position[1] + item.boundingRadius <= node.bounds.y + node.bounds.height){
-            this.nodes[index].insert(item);
-        } else {
-            this.stuckChildren.push(item);
-        }
-
-        return;
-    }
-
-    this.children.push(item);
-
-    var len = this.children.length;
-
-    if(this.depth < this.maxDepth && len > this.maxChildren){
-        this.subdivide();
-
-        for(var i=0; i<len; i++){
-            this.insert(this.children[i]);
-        }
-
-        this.children.length = 0;
-    }
-}
-
-BoundsNode.prototype.getChildren = function(){
-    return this.children.concat(this.stuckChildren);
-}
-
-BoundsNode.prototype.retrieve = function(item){
-    var out = this.out;
-    out.length = 0;
-
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        out.push.apply(out, this.nodes[index].retrieve(item));
-    }
-
-    out.push.apply(out, this.stuckChildren);
-    out.push.apply(out, this.children);
-
-    return out;
-}
-
-BoundsNode.prototype.clear = function(){
-
-    this.stuckChildren.length = 0;
-
-    //array
-    this.children.length = 0;
-
-    var len = this.nodes.length;
-
-    if(!len){
-        return;
-    }
-
-    for(var i = 0; i < len; i++){
-        this.nodes[i].clear();
-    }
-
-    //array
-    this.nodes.length = 0;
-
-    //we could call the super clear function but for now, im just going to inline it
-    //call the hidden super.clear, and make sure its called with this = this instance
-    //Object.getPrototypeOf(BoundsNode.prototype).clear.call(this);
-}
-
-
-},{"../collision/Broadphase":9,"../shapes/Plane":39}],14:[function(require,module,exports){
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Shape = require('../shapes/Shape')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = SAP1DBroadphase;
-
-/**
- * Sweep and prune broadphase along one axis.
- *
- * @class SAP1DBroadphase
- * @constructor
- * @extends Broadphase
- * @param {World} world
- */
-function SAP1DBroadphase(world){
-    Broadphase.apply(this);
-
-    /**
-     * List of bodies currently in the broadphase.
-     * @property axisList
-     * @type {Array}
-     */
-    this.axisList = world.bodies.slice(0);
-
-    /**
-     * The world to search in.
-     * @property world
-     * @type {World}
-     */
-    this.world = world;
-
-    /**
-     * Axis to sort the bodies along. Set to 0 for x axis, and 1 for y axis. For best performance, choose an axis that the bodies are spread out more on.
-     * @property axisIndex
-     * @type {Number}
-     */
-    this.axisIndex = 0;
-
-    // Add listeners to update the list of bodies.
-    var axisList = this.axisList;
-    world.on("addBody",function(e){
-        axisList.push(e.body);
-    }).on("removeBody",function(e){
-        var idx = axisList.indexOf(e.body);
-        if(idx !== -1)
-            axisList.splice(idx,1);
-    });
-};
-SAP1DBroadphase.prototype = new Broadphase();
-
-/**
- * Function for sorting bodies along the X axis. To be passed to array.sort()
- * @method sortAxisListX
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Number}
- */
-SAP1DBroadphase.sortAxisListX = function(bodyA,bodyB){
-    return (bodyA.position[0]-bodyA.boundingRadius) - (bodyB.position[0]-bodyB.boundingRadius);
-};
-
-/**
- * Function for sorting bodies along the Y axis. To be passed to array.sort()
- * @method sortAxisListY
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Number}
- */
-SAP1DBroadphase.sortAxisListY = function(bodyA,bodyB){
-    return (bodyA.position[1]-bodyA.boundingRadius) - (bodyB.position[1]-bodyB.boundingRadius);
-};
-
-/**
- * Get the colliding pairs
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-SAP1DBroadphase.prototype.getCollisionPairs = function(world){
-    var bodies = this.axisList,
-        result = this.result,
-        axisIndex = this.axisIndex,
-        i,j;
-
-    result.length = 0;
-
-    // Sort the list
-    bodies.sort(axisIndex === 0 ? SAP1DBroadphase.sortAxisListX : SAP1DBroadphase.sortAxisListY );
-
-    // Look through the list
-    for(i=0, N=bodies.length; i!==N; i++){
-        var bi = bodies[i];
-
-        for(j=i+1; j<N; j++){
-            var bj = bodies[j];
-
-            if(!SAP1DBroadphase.checkBounds(bi,bj,axisIndex))
-                break;
-
-            // If we got overlap, add pair
-            if(Broadphase.boundingRadiusCheck(bi,bj))
-                result.push(bi,bj);
-        }
-    }
-
-    return result;
-};
-
-/**
- * Check if the bounds of two bodies overlap, along the given SAP axis.
- * @static
- * @method checkBounds
- * @param  {Body} bi
- * @param  {Body} bj
- * @param  {Number} axisIndex
- * @return {Boolean}
- */
-SAP1DBroadphase.checkBounds = function(bi,bj,axisIndex){
-    var biPos = bi.position[axisIndex],
-        ri = bi.boundingRadius,
-        bjPos = bj.position[axisIndex],
-        rj = bj.boundingRadius,
-        boundA1 = biPos-ri,
-        boundA2 = biPos+ri,
-        boundB1 = bjPos-rj,
-        boundB2 = bjPos+rj;
-
-    return boundB1 < boundA2;
-};
-
-},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Shape":41}],15:[function(require,module,exports){
-module.exports = Constraint;
-
-/**
- * Base constraint class.
- *
- * @class Constraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- */
-function Constraint(bodyA,bodyB){
-
-    /**
-     * Equations to be solved in this constraint
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * First body participating in the constraint.
-     * @property bodyA
-     * @type {Body}
-     */
-    this.bodyA = bodyA;
-
-    /**
-     * Second body participating in the constraint.
-     * @property bodyB
-     * @type {Body}
-     */
-    this.bodyB = bodyB;
-};
-
-/**
- * To be implemented by subclasses. Should update the internal constraint parameters.
- * @method update
- */
-/*Constraint.prototype.update = function(){
-    throw new Error("method update() not implmemented in this Constraint subclass!");
-};*/
-
-},{}],16:[function(require,module,exports){
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2'),
-    mat2 = require('../math/mat2');
-
-module.exports = ContactEquation;
-
-/**
- * Non-penetration constraint equation. Tries to make the ri and rj vectors the same point.
- *
- * @class ContactEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- */
-function ContactEquation(bi,bj){
-    Equation.call(this,bi,bj,0,Number.MAX_VALUE);
-
-    /**
-     * Vector from body i center of mass to the contact point.
-     * @property ri
-     * @type {Array}
-     */
-    this.ri = vec2.create();
-    this.penetrationVec = vec2.create();
-
-    /**
-     * Vector from body j center of mass to the contact point.
-     * @property rj
-     * @type {Array}
-     */
-    this.rj = vec2.create();
-
-    /**
-     * The normal vector, pointing out of body i
-     * @property ni
-     * @type {Array}
-     */
-    this.ni = vec2.create();
-
-    /**
-     * The restitution to use. 0=no bounciness, 1=max bounciness.
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution = 0;
-
-    /**
-     * Set to true if this is the first impact between the bodies (not persistant contact).
-     * @property firstImpact
-     * @type {Boolean}
-     */
-    this.firstImpact = false;
-
-    /**
-     * The shape in body i that triggered this contact.
-     * @property shapeA
-     * @type {Shape}
-     */
-    this.shapeA = null;
-
-    /**
-     * The shape in body j that triggered this contact.
-     * @property shapeB
-     * @type {Shape}
-     */
-    this.shapeB = null;
-};
-ContactEquation.prototype = new Equation();
-ContactEquation.prototype.constructor = ContactEquation;
-ContactEquation.prototype.computeB = function(a,b,h){
-    var bi = this.bi,
-        bj = this.bj,
-        ri = this.ri,
-        rj = this.rj,
-        xi = bi.position,
-        xj = bj.position;
-
-    var penetrationVec = this.penetrationVec,
-        n = this.ni,
-        G = this.G;
-
-    // Caluclate cross products
-    var rixn = vec2.crossLength(ri,n),
-        rjxn = vec2.crossLength(rj,n);
-
-    // G = [-n -rixn n rjxn]
-    G[0] = -n[0];
-    G[1] = -n[1];
-    G[2] = -rixn;
-    G[3] = n[0];
-    G[4] = n[1];
-    G[5] = rjxn;
-
-    // Calculate q = xj+rj -(xi+ri) i.e. the penetration vector
-    vec2.add(penetrationVec,xj,rj);
-    vec2.sub(penetrationVec,penetrationVec,xi);
-    vec2.sub(penetrationVec,penetrationVec,ri);
-
-    // Compute iteration
-    var GW, Gq;
-    if(this.firstImpact && this.restitution !== 0){
-        Gq = 0;
-        GW = (1/b)*(1+this.restitution) * this.computeGW();
-    } else {
-        GW = this.computeGW();
-        Gq = vec2.dot(n,penetrationVec);
-    }
-
-    var GiMf = this.computeGiMf();
-    var B = - Gq * a - GW * b - h*GiMf;
-
-    return B;
-};
-
-},{"../math/mat2":28,"../math/vec2":30,"./Equation":18}],17:[function(require,module,exports){
-var Constraint = require('./Constraint')
-,   Equation = require('./Equation')
-,   vec2 = require('../math/vec2')
-
-module.exports = DistanceConstraint;
-
-/**
- * Constraint that tries to keep the distance between two bodies constant.
- *
- * @class DistanceConstraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {number} dist The distance to keep between the bodies.
- * @param {number} maxForce
- * @extends {Constraint}
- */
-function DistanceConstraint(bodyA,bodyB,distance,maxForce){
-    Constraint.call(this,bodyA,bodyB);
-
-    /**
-     * The distance to keep.
-     * @property distance
-     * @type {Number}
-     */
-    this.distance = distance;
-
-    if(typeof(maxForce)==="undefined" )
-        maxForce = Number.MAX_VALUE;
-
-    var normal = new Equation(bodyA,bodyB,-maxForce,maxForce); // Just in the normal direction
-    this.equations = [ normal ];
-
-    var r = vec2.create();
-    normal.computeGq = function(){
-        vec2.sub(r, bodyB.position, bodyA.position);
-        return vec2.length(r)-distance;
-    };
-
-    // Make the contact constraint bilateral
-    this.setMaxForce(maxForce);
-}
-DistanceConstraint.prototype = new Constraint();
-
-/**
- * Update the constraint equations. Should be done if any of the bodies changed position, before solving.
- * @method update
- */
-var n = vec2.create();
-DistanceConstraint.prototype.update = function(){
-    var normal = this.equations[0],
-        bodyA = this.bodyA,
-        bodyB = this.bodyB,
-        distance = this.distance,
-        G = normal.G;
-
-    vec2.sub(n, bodyB.position, bodyA.position);
-    vec2.normalize(n,n);
-    G[0] = -n[0];
-    G[1] = -n[1];
-    G[3] =  n[0];
-    G[4] =  n[1];
-};
-
-/**
- * Set the max force to be used
- * @method setMaxForce
- * @param {Number} f
- */
-DistanceConstraint.prototype.setMaxForce = function(f){
-    var normal = this.equations[0];
-    normal.minForce = -f;
-    normal.maxForce =  f;
-};
-
-/**
- * Get the max force
- * @method getMaxForce
- * @return {Number}
- */
-DistanceConstraint.prototype.getMaxForce = function(f){
-    var normal = this.equations[0];
-    return normal.maxForce;
-};
-
-},{"../math/vec2":30,"./Constraint":15,"./Equation":18}],18:[function(require,module,exports){
-module.exports = Equation;
-
-var vec2 = require('../math/vec2'),
-    mat2 = require('../math/mat2'),
-    Utils = require('../utils/Utils');
-
-/**
- * Base class for constraint equations.
- * @class Equation
- * @constructor
- * @param {Body} bi First body participating in the equation
- * @param {Body} bj Second body participating in the equation
- * @param {number} minForce Minimum force to apply. Default: -1e6
- * @param {number} maxForce Maximum force to apply. Default: 1e6
- */
-function Equation(bi,bj,minForce,maxForce){
-
-    /**
-     * Minimum force to apply when solving
-     * @property minForce
-     * @type {Number}
-     */
-    this.minForce = typeof(minForce)=="undefined" ? -1e6 : minForce;
-
-    /**
-     * Max force to apply when solving
-     * @property maxForce
-     * @type {Number}
-     */
-    this.maxForce = typeof(maxForce)=="undefined" ? 1e6 : maxForce;
-
-    /**
-     * First body participating in the constraint
-     * @property bi
-     * @type {Body}
-     */
-    this.bi = bi;
-
-    /**
-     * Second body participating in the constraint
-     * @property bj
-     * @type {Body}
-     */
-    this.bj = bj;
-
-    /**
-     * The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness = 1e6;
-
-    /**
-     * The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation = 4;
-
-    /**
-     * The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).
-     * @property G
-     * @type {Array}
-     */
-    this.G = new Utils.ARRAY_TYPE(6);
-
-    // Constraint frames for body i and j
-    /*
-    this.xi = vec2.create();
-    this.xj = vec2.create();
-    this.ai = 0;
-    this.aj = 0;
-    */
-    this.offset = 0;
-
-    this.a = 0;
-    this.b = 0;
-    this.eps = 0;
-    this.h = 0;
-    this.updateSpookParams(1/60);
-
-    /**
-     * The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.
-     * @property multiplier
-     * @type {Number}
-     */
-    this.multiplier = 0;
-};
-Equation.prototype.constructor = Equation;
-
-/**
- * Update SPOOK parameters .a, .b and .eps according to the given time step. See equations 9, 10 and 11 in the <a href="http://www8.cs.umu.se/kurser/5DV058/VT09/lectures/spooknotes.pdf">SPOOK notes</a>.
- * @method updateSpookParams
- * @param  {number} timeStep
- */
-Equation.prototype.updateSpookParams = function(timeStep){
-    var k = this.stiffness,
-        d = this.relaxation,
-        h = timeStep;
-    this.a = 4.0 / (h * (1 + 4 * d));
-    this.b = (4.0 * d) / (1 + 4 * d);
-    this.eps = 4.0 / (h * h * k * (1 + 4 * d));
-    this.h = timeStep;
-};
-
-function Gmult(G,vi,wi,vj,wj){
-    return  G[0] * vi[0] +
-            G[1] * vi[1] +
-            G[2] * wi +
-            G[3] * vj[0] +
-            G[4] * vj[1] +
-            G[5] * wj;
-}
-
-/**
- * Computes the RHS of the SPOOK equation
- * @method computeB
- * @return {Number}
- */
-Equation.prototype.computeB = function(a,b,h){
-    var GW = this.computeGW();
-    var Gq = this.computeGq();
-    var GiMf = this.computeGiMf();
-    return - Gq * a - GW * b - GiMf*h;
-};
-
-/**
- * Computes G*q, where q are the generalized body coordinates
- * @method computeGq
- * @return {Number}
- */
-var qi = vec2.create(),
-    qj = vec2.create();
-Equation.prototype.computeGq = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        xi = bi.position,
-        xj = bj.position,
-        ai = bi.angle,
-        aj = bj.angle;
-
-    // Transform to the given body frames
-    /*
-    vec2.rotate(qi,this.xi,ai);
-    vec2.rotate(qj,this.xj,aj);
-    vec2.add(qi,qi,xi);
-    vec2.add(qj,qj,xj);
-    */
-
-    return Gmult(G, qi, ai, qj, aj) + this.offset;
-};
-
-var tmp_i = vec2.create(),
-    tmp_j = vec2.create();
-Equation.prototype.transformedGmult = function(G,vi,wi,vj,wj){
-    // Transform velocity to the given body frames
-    // v_p = v + w x r
-    /*
-    vec2.rotate(tmp_i,this.xi,Math.PI / 2 + this.bi.angle); // Get r, and rotate 90 degrees. We get the "x r" part
-    vec2.rotate(tmp_j,this.xj,Math.PI / 2 + this.bj.angle);
-    vec2.scale(tmp_i,tmp_i,wi); // Temp vectors are now (w x r)
-    vec2.scale(tmp_j,tmp_j,wj);
-    vec2.add(tmp_i,tmp_i,vi);
-    vec2.add(tmp_j,tmp_j,vj);
-    */
-
-    // Note: angular velocity is same
-    return Gmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*W, where W are the body velocities
- * @method computeGW
- * @return {Number}
- */
-Equation.prototype.computeGW = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        vi = bi.velocity,
-        vj = bj.velocity,
-        wi = bi.angularVelocity,
-        wj = bj.angularVelocity;
-    return this.transformedGmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*Wlambda, where W are the body velocities
- * @method computeGWlambda
- * @return {Number}
- */
-Equation.prototype.computeGWlambda = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        vi = bi.vlambda,
-        vj = bj.vlambda,
-        wi = bi.wlambda,
-        wj = bj.wlambda;
-    return this.transformedGmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*inv(M)*f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.
- * @method computeGiMf
- * @return {Number}
- */
-var iMfi = vec2.create(),
-    iMfj = vec2.create();
-Equation.prototype.computeGiMf = function(){
-    var bi = this.bi,
-        bj = this.bj,
-        fi = bi.force,
-        ti = bi.angularForce,
-        fj = bj.force,
-        tj = bj.angularForce,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        invIi = bi.invInertia,
-        invIj = bj.invInertia,
-        G = this.G;
-
-    vec2.scale(iMfi, fi,invMassi);
-    vec2.scale(iMfj, fj,invMassj);
-
-    return this.transformedGmult(G,iMfi,ti*invIi,iMfj,tj*invIj);
-};
-
-/**
- * Computes G*inv(M)*G'
- * @method computeGiMGt
- * @return {Number}
- */
-Equation.prototype.computeGiMGt = function(){
-    var bi = this.bi,
-        bj = this.bj,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        invIi = bi.invInertia,
-        invIj = bj.invInertia,
-        G = this.G;
-
-    return  G[0] * G[0] * invMassi +
-            G[1] * G[1] * invMassi +
-            G[2] * G[2] *    invIi +
-            G[3] * G[3] * invMassj +
-            G[4] * G[4] * invMassj +
-            G[5] * G[5] *    invIj;
-};
-
-var addToWlambda_temp = vec2.create(),
-    addToWlambda_Gi = vec2.create(),
-    addToWlambda_Gj = vec2.create(),
-    addToWlambda_ri = vec2.create(),
-    addToWlambda_rj = vec2.create();
-var tmpMat1 = mat2.create(),
-    tmpMat2 = mat2.create();
-
-/**
- * Add constraint velocity to the bodies.
- * @method addToWlambda
- * @param {Number} deltalambda
- */
-Equation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi,
-        bj = this.bj,
-        temp = addToWlambda_temp,
-        imMat1 = tmpMat1,
-        imMat2 = tmpMat2,
-        Gi = addToWlambda_Gi,
-        Gj = addToWlambda_Gj,
-        ri = addToWlambda_ri,
-        rj = addToWlambda_rj,
-        G = this.G;
-
-    Gi[0] = G[0];
-    Gi[1] = G[1];
-    Gj[0] = G[3];
-    Gj[1] = G[4];
-
-    mat2.identity(imMat1);
-    mat2.identity(imMat2);
-    imMat1[0] = imMat1[3] = bi.invMass;
-    imMat2[0] = imMat2[3] = bj.invMass;
-
-    /*
-    vec2.rotate(ri,this.xi,bi.angle);
-    vec2.rotate(rj,this.xj,bj.angle);
-    */
-
-    // Add to linear velocity
-    vec2.scale(temp,vec2.transformMat2(temp,Gi,imMat1),deltalambda);
-    vec2.add( bi.vlambda, bi.vlambda, temp);
-    // This impulse is in the offset frame
-    // Also add contribution to angular
-    //bi.wlambda -= vec2.crossLength(temp,ri);
-
-    vec2.scale(temp,vec2.transformMat2(temp,Gj,imMat2),deltalambda);
-    vec2.add( bj.vlambda, bj.vlambda, temp);
-    //bj.wlambda -= vec2.crossLength(temp,rj);
-
-    // Add to angular velocity
-    bi.wlambda += bi.invInertia * G[2] * deltalambda;
-    bj.wlambda += bj.invInertia * G[5] * deltalambda;
-};
-
-/**
- * Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
- * @method computeC
- * @param  {Number} eps
- * @return {Number}
- */
-Equation.prototype.computeC = function(eps){
-    return this.computeGiMGt() + eps;
-};
-
-},{"../math/mat2":28,"../math/vec2":30,"../utils/Utils":46}],19:[function(require,module,exports){
-var mat2 = require('../math/mat2')
-,   vec2 = require('../math/vec2')
-,   Equation = require('./Equation')
-,   Utils = require('../utils/Utils')
-
-module.exports = FrictionEquation;
-
-/**
- * Constrains the slipping in a contact along a tangent
- *
- * @class FrictionEquation
- * @constructor
- * @param {Body} bi
- * @param {Body} bj
- * @param {Number} slipForce
- * @extends {Equation}
- */
-function FrictionEquation(bi,bj,slipForce){
-    Equation.call(this,bi,bj,-slipForce,slipForce);
-
-    /**
-     * Relative vector from center of body i to the contact point, in world coords.
-     * @property ri
-     * @type {Float32Array}
-     */
-    this.ri = vec2.create();
-
-    /**
-     * Relative vector from center of body j to the contact point, in world coords.
-     * @property rj
-     * @type {Float32Array}
-     */
-    this.rj = vec2.create();
-
-    /**
-     * Tangent vector that the friction force will act along, in world coords.
-     * @property t
-     * @type {Float32Array}
-     */
-    this.t = vec2.create();
-
-    /**
-     * A ContactEquation connected to this friction. The contact equation can be used to rescale the max force for the friction.
-     * @property contactEquation
-     * @type {ContactEquation}
-     */
-    this.contactEquation = null;
-
-    /**
-     * The shape in body i that triggered this friction.
-     * @property shapeA
-     * @type {Shape}
-     */
-    this.shapeA = null;
-
-    /**
-     * The shape in body j that triggered this friction.
-     * @property shapeB
-     * @type {Shape}
-     */
-    this.shapeB = null;
-
-    /**
-     * The friction coefficient to use.
-     * @property frictionCoefficient
-     * @type {Number}
-     */
-    this.frictionCoefficient = 0.3;
-};
-FrictionEquation.prototype = new Equation();
-FrictionEquation.prototype.constructor = FrictionEquation;
-
-/**
- * Set the slipping condition for the constraint. The friction force cannot be
- * larger than this value.
- * @method setSlipForce
- * @param  {Number} slipForce
- * @deprecated Use .frictionCoefficient instead
- */
-FrictionEquation.prototype.setSlipForce = function(slipForce){
-    this.maxForce = slipForce;
-    this.minForce = -slipForce;
-};
-
-FrictionEquation.prototype.computeB = function(a,b,h){
-    var bi = this.bi,
-        bj = this.bj,
-        ri = this.ri,
-        rj = this.rj,
-        t = this.t,
-        G = this.G;
-
-    // G = [-t -rixt t rjxt]
-    // And remember, this is a pure velocity constraint, g is always zero!
-    G[0] = -t[0];
-    G[1] = -t[1];
-    G[2] = -vec2.crossLength(ri,t);
-    G[3] = t[0];
-    G[4] = t[1];
-    G[5] = vec2.crossLength(rj,t);
-
-    var GW = this.computeGW();
-    var GiMf = this.computeGiMf();
-
-    var B = /* - g * a  */ - GW * b - h*GiMf;
-
-    return B;
-};
-
-},{"../math/mat2":28,"../math/vec2":30,"../utils/Utils":46,"./Equation":18}],20:[function(require,module,exports){
-var Constraint = require('./Constraint')
-,   vec2 = require('../math/vec2')
-,   Equation = require('./Equation')
-
-module.exports = LockConstraint;
-
-/**
- * Locks the relative position between two bodies.
- *
- * @class LockConstraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {Object} [options]
- * @param {Array}  [options.localOffsetB] The offset of bodyB in bodyA's frame.
- * @param {number} [options.localAngleB]  The angle of bodyB in bodyA's frame.
- * @param {number} [options.maxForce]
- * @extends {Constraint}
- */
-function LockConstraint(bodyA,bodyB,options){
-    Constraint.call(this,bodyA,bodyB);
-    var maxForce = ( typeof(options.maxForce)=="undefined" ? Number.MAX_VALUE : options.maxForce );
-    var localOffsetB = options.localOffsetB || vec2.fromValues(0,0);
-    localOffsetB = vec2.fromValues(localOffsetB[0],localOffsetB[1]);
-
-    var localAngleB = options.localAngleB || 0;
-
-    // Use 3 equations:
-    // gx =   (xj - xi - l) * xhat = 0
-    // gy =   (xj - xi - l) * yhat = 0
-    // gr =   (xi - xj + r) * that = 0
-    //
-    // ...where:
-    //   l is the localOffsetB vector rotated to world in bodyA frame
-    //   r is the same vector but reversed and rotated from bodyB frame
-    //   xhat, yhat are world axis vectors
-    //   that is the tangent of r
-    //
-    // For the first two constraints, we get
-    // G*W = (vj - vi - ldot  ) * xhat
-    //     = (vj - vi - wi x l) * xhat
-    //
-    // Since (wi x l) * xhat = (l x xhat) * wi, we get
-    // G*W = [ -1   0   (-l x xhat)  1   0   0] * [vi wi vj wj]
-    //
-    // The last constraint gives
-    // GW = (vi - vj + wj x r) * that
-    //    = [  that   0  -that  (r x t) ]
-
-    var x =     new Equation(bodyA,bodyB,-maxForce,maxForce),
-        y =     new Equation(bodyA,bodyB,-maxForce,maxForce),
-        rot =   new Equation(bodyA,bodyB,-maxForce,maxForce);
-
-    var l = vec2.create(),
-        g = vec2.create();
-    x.computeGq = function(){
-        vec2.rotate(l,localOffsetB,bodyA.angle);
-        vec2.sub(g,bodyB.position,bodyA.position);
-        vec2.sub(g,g,l);
-        return g[0];
-    }
-    y.computeGq = function(){
-        vec2.rotate(l,localOffsetB,bodyA.angle);
-        vec2.sub(g,bodyB.position,bodyA.position);
-        vec2.sub(g,g,l);
-        return g[1];
-    };
-    var r = vec2.create(),
-        t = vec2.create();
-    rot.computeGq = function(){
-        vec2.rotate(r,localOffsetB,bodyB.angle - localAngleB);
-        vec2.scale(r,r,-1);
-        vec2.sub(g,bodyA.position,bodyB.position);
-        vec2.add(g,g,r);
-        vec2.rotate(t,r,-Math.PI/2);
-        vec2.normalize(t,t);
-        return vec2.dot(g,t);
-    };
-
-    this.localOffsetB = localOffsetB;
-    this.localAngleB =  localAngleB;
-    this.maxForce = maxForce;
-
-    var eqs = this.equations = [ x, y, rot ];
-}
-LockConstraint.prototype = new Constraint();
-
-var l = vec2.create();
-var r = vec2.create();
-var t = vec2.create();
-var xAxis = vec2.fromValues(1,0);
-var yAxis = vec2.fromValues(0,1);
-LockConstraint.prototype.update = function(){
-    var x =   this.equations[0],
-        y =   this.equations[1],
-        rot = this.equations[2],
-        bodyA = this.bodyA,
-        bodyB = this.bodyB;
-
-    vec2.rotate(l,this.localOffsetB,bodyA.angle);
-    vec2.rotate(r,this.localOffsetB,bodyB.angle - this.localAngleB);
-    vec2.scale(r,r,-1);
-
-    vec2.rotate(t,r,Math.PI/2);
-    vec2.normalize(t,t);
-
-    x.G[0] = -1;
-    x.G[1] =  0;
-    x.G[2] = -vec2.crossLength(l,xAxis);
-    x.G[3] =  1;
-
-    y.G[0] =  0;
-    y.G[1] = -1;
-    y.G[2] = -vec2.crossLength(l,yAxis);
-    y.G[4] =  1;
-
-    rot.G[0] =  -t[0];
-    rot.G[1] =  -t[1];
-    rot.G[3] =  t[0];
-    rot.G[4] =  t[1];
-    rot.G[5] =  vec2.crossLength(r,t);
-};
-
-},{"../math/vec2":30,"./Constraint":15,"./Equation":18}],21:[function(require,module,exports){
-var Constraint = require('./Constraint')
-,   ContactEquation = require('./ContactEquation')
-,   Equation = require('./Equation')
-,   vec2 = require('../math/vec2')
-,   RotationalLockEquation = require('./RotationalLockEquation')
-
-module.exports = PrismaticConstraint;
-
-/**
- * Constraint that only allows bodies to move along a line, relative to each other. See <a href="http://www.iforce2d.net/b2dtut/joints-prismatic">this tutorial</a>.
- *
- * @class PrismaticConstraint
- * @constructor
- * @extends {Constraint}
- * @author schteppe
- * @param {Body}    bodyA
- * @param {Body}    bodyB
- * @param {Object}  options
- * @param {Number}  options.maxForce        Max force to be applied by the constraint
- * @param {Array}   options.localAnchorA    Body A's anchor point, defined in its own local frame.
- * @param {Array}   options.localAnchorB    Body B's anchor point, defined in its own local frame.
- * @param {Array}   options.localAxisA      An axis, defined in body A frame, that body B's anchor point may slide along.
- */
-function PrismaticConstraint(bodyA,bodyB,options){
-    options = options || {};
-    Constraint.call(this,bodyA,bodyB);
-
-    // Get anchors
-    var localAnchorA = vec2.fromValues(0,0),
-        localAxisA = vec2.fromValues(1,0),
-        localAnchorB = vec2.fromValues(0,0);
-    if(options.localAnchorA) vec2.copy(localAnchorA, options.localAnchorA);
-    if(options.localAxisA)   vec2.copy(localAxisA,   options.localAxisA);
-    if(options.localAnchorB) vec2.copy(localAnchorB, options.localAnchorB);
-
-    /**
-     * @property localAnchorA
-     * @type {Array}
-     */
-    this.localAnchorA = localAnchorA;
-
-    /**
-     * @property localAnchorB
-     * @type {Array}
-     */
-    this.localAnchorB = localAnchorB;
-
-    /**
-     * @property localAxisA
-     * @type {Array}
-     */
-    this.localAxisA = localAxisA;
-
-    /*
-
-    The constraint violation for the common axis point is
-
-        g = ( xj + rj - xi - ri ) * t   :=  gg*t
-
-    where r are body-local anchor points, and t is a tangent to the constraint axis defined in body i frame.
-
-        gdot =  ( vj + wj x rj - vi - wi x ri ) * t + ( xj + rj - xi - ri ) * ( wi x t )
-
-    Note the use of the chain rule. Now we identify the jacobian
-
-        G*W = [ -t      -ri x t + t x gg     t    rj x t ] * [vi wi vj wj]
-
-    The rotational part is just a rotation lock.
-
-     */
-
-    var maxForce = this.maxForce = typeof(options.maxForce)==="undefined" ? options.maxForce : Number.MAX_VALUE;
-
-    // Translational part
-    var trans = new Equation(bodyA,bodyB,-maxForce,maxForce);
-    var ri = new vec2.create(),
-        rj = new vec2.create(),
-        gg = new vec2.create(),
-        t =  new vec2.create();
-    trans.computeGq = function(){
-        // g = ( xj + rj - xi - ri ) * t
-        return vec2.dot(gg,t);
-    };
-    trans.update = function(){
-        var G = this.G,
-            xi = bodyA.position,
-            xj = bodyB.position;
-        vec2.rotate(ri,localAnchorA,bodyA.angle);
-        vec2.rotate(rj,localAnchorB,bodyB.angle);
-        vec2.add(gg,xj,rj);
-        vec2.sub(gg,gg,xi);
-        vec2.sub(gg,gg,ri);
-        vec2.rotate(t,localAxisA,bodyA.angle+Math.PI/2);
-
-        G[0] = -t[0];
-        G[1] = -t[1];
-        G[2] = -vec2.crossLength(ri,t) + vec2.crossLength(t,gg);
-        G[3] = t[0];
-        G[4] = t[1];
-        G[5] = vec2.crossLength(rj,t);
-    }
-    var rot = new RotationalLockEquation(bodyA,bodyB,-maxForce,maxForce);
-
-    this.equations.push(trans,rot);
-}
-
-PrismaticConstraint.prototype = new Constraint();
-
-/**
- * Update the constraint equations. Should be done if any of the bodies changed position, before solving.
- * @method update
- */
-PrismaticConstraint.prototype.update = function(){
-    var eqs = this.equations,
-        trans = eqs[0];
-    trans.update();
-};
-
-},{"../math/vec2":30,"./Constraint":15,"./ContactEquation":16,"./Equation":18,"./RotationalLockEquation":23}],22:[function(require,module,exports){
-var Constraint = require('./Constraint')
-,   Equation = require('./Equation')
-,   RotationalVelocityEquation = require('./RotationalVelocityEquation')
-,   RotationalLockEquation = require('./RotationalLockEquation')
-,   vec2 = require('../math/vec2')
-
-module.exports = RevoluteConstraint;
-
-var worldPivotA = vec2.create(),
-    worldPivotB = vec2.create(),
-    xAxis = vec2.fromValues(1,0),
-    yAxis = vec2.fromValues(0,1),
-    g = vec2.create();
-
-/**
- * Connects two bodies at given offset points, letting them rotate relative to each other around this point.
- * @class RevoluteConstraint
- * @constructor
- * @author schteppe
- * @param {Body}            bodyA
- * @param {Float32Array}    pivotA The point relative to the center of mass of bodyA which bodyA is constrained to.
- * @param {Body}            bodyB Body that will be constrained in a similar way to the same point as bodyA. We will therefore get sort of a link between bodyA and bodyB. If not specified, bodyA will be constrained to a static point.
- * @param {Float32Array}    pivotB See pivotA.
- * @param {Number}          maxForce The maximum force that should be applied to constrain the bodies.
- * @extends {Constraint}
- * @todo Ability to specify world points
- */
-function RevoluteConstraint(bodyA, pivotA, bodyB, pivotB, maxForce){
-    Constraint.call(this,bodyA,bodyB);
-
-    maxForce = typeof(maxForce)!="undefined" ? maxForce : Number.MAX_VALUE;
-
-    this.pivotA = pivotA;
-    this.pivotB = pivotB;
-
-    // Equations to be fed to the solver
-    var eqs = this.equations = [
-        new Equation(bodyA,bodyB,-maxForce,maxForce),
-        new Equation(bodyA,bodyB,-maxForce,maxForce),
-    ];
-
-    var x =  eqs[0];
-    var y = eqs[1];
-
-    x.computeGq = function(){
-        vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-        vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-        vec2.add(g, bodyB.position, worldPivotB);
-        vec2.sub(g, g, bodyA.position);
-        vec2.sub(g, g, worldPivotA);
-        return vec2.dot(g,xAxis);
-    };
-
-    y.computeGq = function(){
-        vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-        vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-        vec2.add(g, bodyB.position, worldPivotB);
-        vec2.sub(g, g, bodyA.position);
-        vec2.sub(g, g, worldPivotA);
-        return vec2.dot(g,yAxis);
-    };
-
-    y.minForce = x.minForce = -maxForce;
-    y.maxForce = x.maxForce =  maxForce;
-
-    this.motorEquation = new RotationalVelocityEquation(bodyA,bodyB);
-    this.motorEnabled = false;
-
-    // Angle limits
-    this.lowerLimitEnabled = false;
-    this.upperLimitEnabled = false;
-    this.lowerLimit = 0;
-    this.upperLimit = 0;
-    this.upperLimitEquation = new RotationalLockEquation(bodyA,bodyB);
-    this.lowerLimitEquation = new RotationalLockEquation(bodyA,bodyB);
-    this.upperLimitEquation.minForce = 0;
-    this.lowerLimitEquation.maxForce = 0;
-}
-RevoluteConstraint.prototype = new Constraint();
-
-RevoluteConstraint.prototype.update = function(){
-    var bodyA =  this.bodyA,
-        bodyB =  this.bodyB,
-        pivotA = this.pivotA,
-        pivotB = this.pivotB,
-        eqs =    this.equations,
-        normal = eqs[0],
-        tangent= eqs[1],
-        x = eqs[0],
-        y = eqs[1],
-        upperLimit = this.upperLimit,
-        lowerLimit = this.lowerLimit,
-        upperLimitEquation = this.upperLimitEquation,
-        lowerLimitEquation = this.lowerLimitEquation;
-
-    var relAngle = this.angle = bodyB.angle - bodyA.angle;
-
-    if(this.upperLimitEnabled && relAngle > upperLimit){
-        upperLimitEquation.angle = upperLimit;
-        if(eqs.indexOf(upperLimitEquation)==-1)
-            eqs.push(upperLimitEquation);
-    } else {
-        var idx = eqs.indexOf(upperLimitEquation);
-        if(idx != -1) eqs.splice(idx,1);
-    }
-
-    if(this.lowerLimitEnabled && relAngle < lowerLimit){
-        lowerLimitEquation.angle = lowerLimit;
-        if(eqs.indexOf(lowerLimitEquation)==-1)
-            eqs.push(lowerLimitEquation);
-    } else {
-        var idx = eqs.indexOf(lowerLimitEquation);
-        if(idx != -1) eqs.splice(idx,1);
-    }
-
-    /*
-
-    The constraint violation is
-
-        g = xj + rj - xi - ri
-
-    ...where xi and xj are the body positions and ri and rj world-oriented offset vectors. Differentiate:
-
-        gdot = vj + wj x rj - vi - wi x ri
-
-    We split this into x and y directions. (let x and y be unit vectors along the respective axes)
-
-        gdot * x = ( vj + wj x rj - vi - wi x ri ) * x
-                 = ( vj*x + (wj x rj)*x -vi*x -(wi x ri)*x
-                 = ( vj*x + (rj x x)*wj -vi*x -(ri x x)*wi
-                 = [ -x   -(ri x x)   x   (rj x x)] * [vi wi vj wj]
-                 = G*W
-
-    ...and similar for y. We have then identified the jacobian entries for x and y directions:
-
-        Gx = [ x   (rj x x)   -x   -(ri x x)]
-        Gy = [ y   (rj x y)   -y   -(ri x y)]
-
-     */
-
-    vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-    vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-
-    x.G[0] = -1;
-    x.G[1] =  0;
-    x.G[2] = -vec2.crossLength(worldPivotA,xAxis);
-    x.G[3] =  1;
-    x.G[4] =  0;
-    x.G[5] =  vec2.crossLength(worldPivotB,xAxis);
-
-    y.G[0] =  0;
-    y.G[1] = -1;
-    y.G[2] = -vec2.crossLength(worldPivotA,yAxis);
-    y.G[3] =  0;
-    y.G[4] =  1;
-    y.G[5] =  vec2.crossLength(worldPivotB,yAxis);
-};
-
-/**
- * Enable the rotational motor
- * @method enableMotor
- */
-RevoluteConstraint.prototype.enableMotor = function(){
-    if(this.motorEnabled) return;
-    this.equations.push(this.motorEquation);
-    this.motorEnabled = true;
-};
-
-/**
- * Disable the rotational motor
- * @method disableMotor
- */
-RevoluteConstraint.prototype.disableMotor = function(){
-    if(!this.motorEnabled) return;
-    var i = this.equations.indexOf(this.motorEquation);
-    this.equations.splice(i,1);
-    this.motorEnabled = false;
-};
-
-/**
- * Check if the motor is enabled.
- * @method motorIsEnabled
- * @return {Boolean}
- */
-RevoluteConstraint.prototype.motorIsEnabled = function(){
-    return !!this.motorEnabled;
-};
-
-/**
- * Set the speed of the rotational constraint motor
- * @method setMotorSpeed
- * @param  {Number} speed
- */
-RevoluteConstraint.prototype.setMotorSpeed = function(speed){
-    if(!this.motorEnabled) return;
-    var i = this.equations.indexOf(this.motorEquation);
-    this.equations[i].relativeVelocity = speed;
-};
-
-/**
- * Get the speed of the rotational constraint motor
- * @method getMotorSpeed
- * @return  {Number} The current speed, or false if the motor is not enabled.
- */
-RevoluteConstraint.prototype.getMotorSpeed = function(){
-    if(!this.motorEnabled) return false;
-    return this.motorEquation.relativeVelocity;
-};
-
-},{"../math/vec2":30,"./Constraint":15,"./Equation":18,"./RotationalLockEquation":23,"./RotationalVelocityEquation":24}],23:[function(require,module,exports){
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2');
-
-module.exports = RotationalLockEquation;
-
-/**
- * Locks the relative angle between two bodies. The constraint tries to keep the dot product between two vectors, local in each body, to zero. The local angle in body i is a parameter.
- *
- * @class RotationalLockEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- * @param {Object} options
- * @param {Number} options.angle Angle to add to the local vector in body i.
- */
-function RotationalLockEquation(bi,bj,options){
-    options = options || {};
-    Equation.call(this,bi,bj,-Number.MAX_VALUE,Number.MAX_VALUE);
-    this.angle = options.angle || 0;
-
-    var G = this.G;
-    G[2] =  1;
-    G[5] = -1;
-};
-RotationalLockEquation.prototype = new Equation();
-RotationalLockEquation.prototype.constructor = RotationalLockEquation;
-
-var worldVectorA = vec2.create(),
-    worldVectorB = vec2.create(),
-    xAxis = vec2.fromValues(1,0),
-    yAxis = vec2.fromValues(0,1);
-RotationalLockEquation.prototype.computeGq = function(){
-    vec2.rotate(worldVectorA,xAxis,this.bi.angle+this.angle);
-    vec2.rotate(worldVectorB,yAxis,this.bj.angle);
-    return vec2.dot(worldVectorA,worldVectorB);
-};
-
-},{"../math/vec2":30,"./Equation":18}],24:[function(require,module,exports){
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2');
-
-module.exports = RotationalVelocityEquation;
-
-/**
- * Syncs rotational velocity of two bodies, or sets a relative velocity (motor).
- *
- * @class RotationalVelocityEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- */
-function RotationalVelocityEquation(bi,bj){
-    Equation.call(this,bi,bj,-Number.MAX_VALUE,Number.MAX_VALUE);
-    this.relativeVelocity = 1;
-    this.ratio = 1;
-};
-RotationalVelocityEquation.prototype = new Equation();
-RotationalVelocityEquation.prototype.constructor = RotationalVelocityEquation;
-RotationalVelocityEquation.prototype.computeB = function(a,b,h){
-    var G = this.G;
-    G[2] = -1;
-    G[5] = this.ratio;
-
-    var GiMf = this.computeGiMf();
-    var GW = this.computeGW() + this.relativeVelocity;
-    var B = - GW * b - h*GiMf;
-
-    return B;
-};
-
-},{"../math/vec2":30,"./Equation":18}],25:[function(require,module,exports){
-/**
- * Base class for objects that dispatches events.
- * @class EventEmitter
- * @constructor
- */
-var EventEmitter = function () {}
-
-module.exports = EventEmitter;
-
-EventEmitter.prototype = {
-    constructor: EventEmitter,
-
-    /**
-     * Add an event listener
-     * @method on
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    on: function ( type, listener ) {
-        if ( this._listeners === undefined ) this._listeners = {};
-        var listeners = this._listeners;
-        if ( listeners[ type ] === undefined ) {
-            listeners[ type ] = [];
-        }
-        if ( listeners[ type ].indexOf( listener ) === - 1 ) {
-            listeners[ type ].push( listener );
-        }
-        return this;
-    },
-
-    /**
-     * Check if an event listener is added
-     * @method has
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {Boolean}
-     */
-    has: function ( type, listener ) {
-        if ( this._listeners === undefined ) return false;
-        var listeners = this._listeners;
-        if ( listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== - 1 ) {
-            return true;
-        }
-        return false;
-    },
-
-    /**
-     * Remove an event listener
-     * @method off
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    off: function ( type, listener ) {
-        if ( this._listeners === undefined ) return;
-        var listeners = this._listeners;
-        var index = listeners[ type ].indexOf( listener );
-        if ( index !== - 1 ) {
-            listeners[ type ].splice( index, 1 );
-        }
-        return this;
-    },
-
-    /**
-     * Emit an event.
-     * @method emit
-     * @param  {Object} event
-     * @param  {String} event.type
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    emit: function ( event ) {
-        if ( this._listeners === undefined ) return;
-        var listeners = this._listeners;
-        var listenerArray = listeners[ event.type ];
-        if ( listenerArray !== undefined ) {
-            event.target = this;
-            for ( var i = 0, l = listenerArray.length; i < l; i ++ ) {
-                listenerArray[ i ].call( this, event );
-            }
-        }
-        return this;
-    }
-};
-
-},{}],26:[function(require,module,exports){
-module.exports = ContactMaterial;
-
-var idCounter = 0;
-
-/**
- * Defines a physics material.
- * @class ContactMaterial
- * @constructor
- * @param {Material} materialA
- * @param {Material} materialB
- * @param {Object}   [options]
- * @param {Number}   options.friction
- * @param {Number}   options.restitution
- * @author schteppe
- */
-function ContactMaterial(materialA, materialB, options){
-    options = options || {};
-
-    /**
-     * The contact material identifier
-     * @property id
-     * @type {Number}
-     */
-    this.id = idCounter++;
-
-    /**
-     * First material participating in the contact material
-     * @property materialA
-     * @type {Material}
-     */
-    this.materialA = materialA;
-
-    /**
-     * Second material participating in the contact material
-     * @property materialB
-     * @type {Material}
-     */
-    this.materialB = materialB;
-
-    /**
-     * Friction to use in the contact of these two materials
-     * @property friction
-     * @type {Number}
-     */
-    this.friction    =  typeof(options.friction)    !== "undefined" ?   Number(options.friction)    : 0.3;
-
-    /**
-     * Restitution to use in the contact of these two materials
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution =  typeof(options.restitution) !== "undefined" ?   Number(options.restitution) : 0.0;
-
-    /**
-     * Stiffness of the resulting ContactEquation that this ContactMaterial generate
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness =            typeof(options.stiffness)           !== "undefined" ?   Number(options.stiffness)   : 1e7;
-
-    /**
-     * Relaxation of the resulting ContactEquation that this ContactMaterial generate
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation =           typeof(options.relaxation)          !== "undefined" ?   Number(options.relaxation)  : 3;
-
-    /**
-     * Stiffness of the resulting FrictionEquation that this ContactMaterial generate
-     * @property frictionStiffness
-     * @type {Number}
-     */
-    this.frictionStiffness =    typeof(options.frictionStiffness)   !== "undefined" ?   Number(options.frictionStiffness)   : 1e7;
-
-    /**
-     * Relaxation of the resulting FrictionEquation that this ContactMaterial generate
-     * @property frictionRelaxation
-     * @type {Number}
-     */
-    this.frictionRelaxation =   typeof(options.frictionRelaxation)  !== "undefined" ?   Number(options.frictionRelaxation)  : 3;
-};
-
-},{}],27:[function(require,module,exports){
-module.exports = Material;
-
-var idCounter = 0;
-
-/**
- * Defines a physics material.
- * @class Material
- * @constructor
- * @param string name
- * @author schteppe
- */
-function Material(){
-    /**
-     * The material identifier
-     * @property id
-     * @type {Number}
-     */
-    this.id = idCounter++;
-};
-
-},{}],28:[function(require,module,exports){
-/**
- * The mat2 object from glMatrix, extended with the functions documented here. See http://glmatrix.net for full doc.
- * @class mat2
- */
-
-// Only import mat2 from gl-matrix and skip the rest
-var mat2 = require('../../node_modules/gl-matrix/src/gl-matrix/mat2').mat2;
-
-// Export everything
-module.exports = mat2;
-
-},{"../../node_modules/gl-matrix/src/gl-matrix/mat2":1}],29:[function(require,module,exports){
-
-    /*
-        PolyK library
-        url: http://polyk.ivank.net
-        Released under MIT licence.
-
-        Copyright (c) 2012 Ivan Kuckir
-
-        Permission is hereby granted, free of charge, to any person
-        obtaining a copy of this software and associated documentation
-        files (the "Software"), to deal in the Software without
-        restriction, including without limitation the rights to use,
-        copy, modify, merge, publish, distribute, sublicense, and/or sell
-        copies of the Software, and to permit persons to whom the
-        Software is furnished to do so, subject to the following
-        conditions:
-
-        The above copyright notice and this permission notice shall be
-        included in all copies or substantial portions of the Software.
-
-        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-        EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-        OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-        NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-        HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-        WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-        FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-        OTHER DEALINGS IN THE SOFTWARE.
-    */
-
-    var PolyK = {};
-
-    /*
-        Is Polygon self-intersecting?
-
-        O(n^2)
-    */
-    /*
-    PolyK.IsSimple = function(p)
-    {
-        var n = p.length>>1;
-        if(n<4) return true;
-        var a1 = new PolyK._P(), a2 = new PolyK._P();
-        var b1 = new PolyK._P(), b2 = new PolyK._P();
-        var c = new PolyK._P();
-
-        for(var i=0; i<n; i++)
-        {
-            a1.x = p[2*i  ];
-            a1.y = p[2*i+1];
-            if(i==n-1)  { a2.x = p[0    ];  a2.y = p[1    ]; }
-            else        { a2.x = p[2*i+2];  a2.y = p[2*i+3]; }
-
-            for(var j=0; j<n; j++)
-            {
-                if(Math.abs(i-j) < 2) continue;
-                if(j==n-1 && i==0) continue;
-                if(i==n-1 && j==0) continue;
-
-                b1.x = p[2*j  ];
-                b1.y = p[2*j+1];
-                if(j==n-1)  { b2.x = p[0    ];  b2.y = p[1    ]; }
-                else        { b2.x = p[2*j+2];  b2.y = p[2*j+3]; }
-
-                if(PolyK._GetLineIntersection(a1,a2,b1,b2,c) != null) return false;
-            }
-        }
-        return true;
-    }
-
-    PolyK.IsConvex = function(p)
-    {
-        if(p.length<6) return true;
-        var l = p.length - 4;
-        for(var i=0; i<l; i+=2)
-            if(!PolyK._convex(p[i], p[i+1], p[i+2], p[i+3], p[i+4], p[i+5])) return false;
-        if(!PolyK._convex(p[l  ], p[l+1], p[l+2], p[l+3], p[0], p[1])) return false;
-        if(!PolyK._convex(p[l+2], p[l+3], p[0  ], p[1  ], p[2], p[3])) return false;
-        return true;
-    }
-    */
-    PolyK.GetArea = function(p)
-    {
-        if(p.length <6) return 0;
-        var l = p.length - 2;
-        var sum = 0;
-        for(var i=0; i<l; i+=2)
-            sum += (p[i+2]-p[i]) * (p[i+1]+p[i+3]);
-        sum += (p[0]-p[l]) * (p[l+1]+p[1]);
-        return - sum * 0.5;
-    }
-    /*
-    PolyK.GetAABB = function(p)
-    {
-        var minx = Infinity;
-        var miny = Infinity;
-        var maxx = -minx;
-        var maxy = -miny;
-        for(var i=0; i<p.length; i+=2)
-        {
-            minx = Math.min(minx, p[i  ]);
-            maxx = Math.max(maxx, p[i  ]);
-            miny = Math.min(miny, p[i+1]);
-            maxy = Math.max(maxy, p[i+1]);
-        }
-        return {x:minx, y:miny, width:maxx-minx, height:maxy-miny};
-    }
-    */
-
-    PolyK.Triangulate = function(p)
-    {
-        var n = p.length>>1;
-        if(n<3) return [];
-        var tgs = [];
-        var avl = [];
-        for(var i=0; i<n; i++) avl.push(i);
-
-        var i = 0;
-        var al = n;
-        while(al > 3)
-        {
-            var i0 = avl[(i+0)%al];
-            var i1 = avl[(i+1)%al];
-            var i2 = avl[(i+2)%al];
-
-            var ax = p[2*i0],  ay = p[2*i0+1];
-            var bx = p[2*i1],  by = p[2*i1+1];
-            var cx = p[2*i2],  cy = p[2*i2+1];
-
-            var earFound = false;
-            if(PolyK._convex(ax, ay, bx, by, cx, cy))
-            {
-                earFound = true;
-                for(var j=0; j<al; j++)
-                {
-                    var vi = avl[j];
-                    if(vi==i0 || vi==i1 || vi==i2) continue;
-                    if(PolyK._PointInTriangle(p[2*vi], p[2*vi+1], ax, ay, bx, by, cx, cy)) {earFound = false; break;}
-                }
-            }
-            if(earFound)
-            {
-                tgs.push(i0, i1, i2);
-                avl.splice((i+1)%al, 1);
-                al--;
-                i= 0;
-            }
-            else if(i++ > 3*al) break;      // no convex angles :(
-        }
-        tgs.push(avl[0], avl[1], avl[2]);
-        return tgs;
-    }
-    /*
-    PolyK.ContainsPoint = function(p, px, py)
-    {
-        var n = p.length>>1;
-        var ax, ay, bx = p[2*n-2]-px, by = p[2*n-1]-py;
-        var depth = 0;
-        for(var i=0; i<n; i++)
-        {
-            ax = bx;  ay = by;
-            bx = p[2*i  ] - px;
-            by = p[2*i+1] - py;
-            if(ay< 0 && by< 0) continue;    // both "up" or both "donw"
-            if(ay>=0 && by>=0) continue;    // both "up" or both "donw"
-            if(ax< 0 && bx< 0) continue;
-
-            var lx = ax + (bx-ax)*(-ay)/(by-ay);
-            if(lx>0) depth++;
-        }
-        return (depth & 1) == 1;
-    }
-
-    PolyK.Slice = function(p, ax, ay, bx, by)
-    {
-        if(PolyK.ContainsPoint(p, ax, ay) || PolyK.ContainsPoint(p, bx, by)) return [p.slice(0)];
-
-        var a = new PolyK._P(ax, ay);
-        var b = new PolyK._P(bx, by);
-        var iscs = [];  // intersections
-        var ps = [];    // points
-        for(var i=0; i<p.length; i+=2) ps.push(new PolyK._P(p[i], p[i+1]));
-
-        for(var i=0; i<ps.length; i++)
-        {
-            var isc = new PolyK._P(0,0);
-            isc = PolyK._GetLineIntersection(a, b, ps[i], ps[(i+1)%ps.length], isc);
-
-            if(isc)
-            {
-                isc.flag = true;
-                iscs.push(isc);
-                ps.splice(i+1,0,isc);
-                i++;
-            }
-        }
-        if(iscs.length == 0) return [p.slice(0)];
-        var comp = function(u,v) {return PolyK._P.dist(a,u) - PolyK._P.dist(a,v); }
-        iscs.sort(comp);
-
-        var pgs = [];
-        var dir = 0;
-        while(iscs.length > 0)
-        {
-            var n = ps.length;
-            var i0 = iscs[0];
-            var i1 = iscs[1];
-            var ind0 = ps.indexOf(i0);
-            var ind1 = ps.indexOf(i1);
-            var solved = false;
-
-            if(PolyK._firstWithFlag(ps, ind0) == ind1) solved = true;
-            else
-            {
-                i0 = iscs[1];
-                i1 = iscs[0];
-                ind0 = ps.indexOf(i0);
-                ind1 = ps.indexOf(i1);
-                if(PolyK._firstWithFlag(ps, ind0) == ind1) solved = true;
-            }
-            if(solved)
-            {
-                dir--;
-                var pgn = PolyK._getPoints(ps, ind0, ind1);
-                pgs.push(pgn);
-                ps = PolyK._getPoints(ps, ind1, ind0);
-                i0.flag = i1.flag = false;
-                iscs.splice(0,2);
-                if(iscs.length == 0) pgs.push(ps);
-            }
-            else { dir++; iscs.reverse(); }
-            if(dir>1) break;
-        }
-        var result = [];
-        for(var i=0; i<pgs.length; i++)
-        {
-            var pg = pgs[i];
-            var npg = [];
-            for(var j=0; j<pg.length; j++) npg.push(pg[j].x, pg[j].y);
-            result.push(npg);
-        }
-        return result;
-    }
-
-    PolyK.Raycast = function(p, x, y, dx, dy, isc)
-    {
-        var l = p.length - 2;
-        var tp = PolyK._tp;
-        var a1 = tp[0], a2 = tp[1],
-        b1 = tp[2], b2 = tp[3], c = tp[4];
-        a1.x = x; a1.y = y;
-        a2.x = x+dx; a2.y = y+dy;
-
-        if(isc==null) isc = {dist:0, edge:0, norm:{x:0, y:0}, refl:{x:0, y:0}};
-        isc.dist = Infinity;
-
-        for(var i=0; i<l; i+=2)
-        {
-            b1.x = p[i  ];  b1.y = p[i+1];
-            b2.x = p[i+2];  b2.y = p[i+3];
-            var nisc = PolyK._RayLineIntersection(a1, a2, b1, b2, c);
-            if(nisc) PolyK._updateISC(dx, dy, a1, b1, b2, c, i/2, isc);
-        }
-        b1.x = b2.x;  b1.y = b2.y;
-        b2.x = p[0];  b2.y = p[1];
-        var nisc = PolyK._RayLineIntersection(a1, a2, b1, b2, c);
-        if(nisc) PolyK._updateISC(dx, dy, a1, b1, b2, c, p.length/2, isc);
-
-        return (isc.dist != Infinity) ? isc : null;
-    }
-
-    PolyK.ClosestEdge = function(p, x, y, isc)
-    {
-        var l = p.length - 2;
-        var tp = PolyK._tp;
-        var a1 = tp[0],
-        b1 = tp[2], b2 = tp[3], c = tp[4];
-        a1.x = x; a1.y = y;
-
-        if(isc==null) isc = {dist:0, edge:0, point:{x:0, y:0}, norm:{x:0, y:0}};
-        isc.dist = Infinity;
-
-        for(var i=0; i<l; i+=2)
-        {
-            b1.x = p[i  ];  b1.y = p[i+1];
-            b2.x = p[i+2];  b2.y = p[i+3];
-            PolyK._pointLineDist(a1, b1, b2, i>>1, isc);
-        }
-        b1.x = b2.x;  b1.y = b2.y;
-        b2.x = p[0];  b2.y = p[1];
-        PolyK._pointLineDist(a1, b1, b2, l>>1, isc);
-
-        var idst = 1/isc.dist;
-        isc.norm.x = (x-isc.point.x)*idst;
-        isc.norm.y = (y-isc.point.y)*idst;
-        return isc;
-    }
-
-    PolyK._pointLineDist = function(p, a, b, edge, isc)
-    {
-        var x = p.x, y = p.y, x1 = a.x, y1 = a.y, x2 = b.x, y2 = b.y;
-
-        var A = x - x1;
-        var B = y - y1;
-        var C = x2 - x1;
-        var D = y2 - y1;
-
-        var dot = A * C + B * D;
-        var len_sq = C * C + D * D;
-        var param = dot / len_sq;
-
-        var xx, yy;
-
-        if (param < 0 || (x1 == x2 && y1 == y2)) {
-            xx = x1;
-            yy = y1;
-        }
-        else if (param > 1) {
-            xx = x2;
-            yy = y2;
-        }
-        else {
-            xx = x1 + param * C;
-            yy = y1 + param * D;
-        }
-
-        var dx = x - xx;
-        var dy = y - yy;
-        var dst = Math.sqrt(dx * dx + dy * dy);
-        if(dst<isc.dist)
-        {
-            isc.dist = dst;
-            isc.edge = edge;
-            isc.point.x = xx;
-            isc.point.y = yy;
-        }
-    }
-
-    PolyK._updateISC = function(dx, dy, a1, b1, b2, c, edge, isc)
-    {
-        var nrl = PolyK._P.dist(a1, c);
-        if(nrl<isc.dist)
-        {
-            var ibl = 1/PolyK._P.dist(b1, b2);
-            var nx = -(b2.y-b1.y)*ibl;
-            var ny =  (b2.x-b1.x)*ibl;
-            var ddot = 2*(dx*nx+dy*ny);
-            isc.dist = nrl;
-            isc.norm.x = nx;
-            isc.norm.y = ny;
-            isc.refl.x = -ddot*nx+dx;
-            isc.refl.y = -ddot*ny+dy;
-            isc.edge = edge;
-        }
-    }
-
-    PolyK._getPoints = function(ps, ind0, ind1)
-    {
-        var n = ps.length;
-        var nps = [];
-        if(ind1<ind0) ind1 += n;
-        for(var i=ind0; i<= ind1; i++) nps.push(ps[i%n]);
-        return nps;
-    }
-
-    PolyK._firstWithFlag = function(ps, ind)
-    {
-        var n = ps.length;
-        while(true)
-        {
-            ind = (ind+1)%n;
-            if(ps[ind].flag) return ind;
-        }
-    }
-    */
-    PolyK._PointInTriangle = function(px, py, ax, ay, bx, by, cx, cy)
-    {
-        var v0x = cx-ax;
-        var v0y = cy-ay;
-        var v1x = bx-ax;
-        var v1y = by-ay;
-        var v2x = px-ax;
-        var v2y = py-ay;
-
-        var dot00 = v0x*v0x+v0y*v0y;
-        var dot01 = v0x*v1x+v0y*v1y;
-        var dot02 = v0x*v2x+v0y*v2y;
-        var dot11 = v1x*v1x+v1y*v1y;
-        var dot12 = v1x*v2x+v1y*v2y;
-
-        var invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
-        var u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-        var v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-
-        // Check if point is in triangle
-        return (u >= 0) && (v >= 0) && (u + v < 1);
-    }
-    /*
-    PolyK._RayLineIntersection = function(a1, a2, b1, b2, c)
-    {
-        var dax = (a1.x-a2.x), dbx = (b1.x-b2.x);
-        var day = (a1.y-a2.y), dby = (b1.y-b2.y);
-
-        var Den = dax*dby - day*dbx;
-        if (Den == 0) return null;  // parallel
-
-        var A = (a1.x * a2.y - a1.y * a2.x);
-        var B = (b1.x * b2.y - b1.y * b2.x);
-
-        var I = c;
-        var iDen = 1/Den;
-        I.x = ( A*dbx - dax*B ) * iDen;
-        I.y = ( A*dby - day*B ) * iDen;
-
-        if(!PolyK._InRect(I, b1, b2)) return null;
-        if((day>0 && I.y>a1.y) || (day<0 && I.y<a1.y)) return null;
-        if((dax>0 && I.x>a1.x) || (dax<0 && I.x<a1.x)) return null;
-        return I;
-    }
-
-    PolyK._GetLineIntersection = function(a1, a2, b1, b2, c)
-    {
-        var dax = (a1.x-a2.x), dbx = (b1.x-b2.x);
-        var day = (a1.y-a2.y), dby = (b1.y-b2.y);
-
-        var Den = dax*dby - day*dbx;
-        if (Den == 0) return null;  // parallel
-
-        var A = (a1.x * a2.y - a1.y * a2.x);
-        var B = (b1.x * b2.y - b1.y * b2.x);
-
-        var I = c;
-        I.x = ( A*dbx - dax*B ) / Den;
-        I.y = ( A*dby - day*B ) / Den;
-
-        if(PolyK._InRect(I, a1, a2) && PolyK._InRect(I, b1, b2)) return I;
-        return null;
-    }
-
-    PolyK._InRect = function(a, b, c)
-    {
-        if  (b.x == c.x) return (a.y>=Math.min(b.y, c.y) && a.y<=Math.max(b.y, c.y));
-        if  (b.y == c.y) return (a.x>=Math.min(b.x, c.x) && a.x<=Math.max(b.x, c.x));
-
-        if(a.x >= Math.min(b.x, c.x) && a.x <= Math.max(b.x, c.x)
-        && a.y >= Math.min(b.y, c.y) && a.y <= Math.max(b.y, c.y))
-        return true;
-        return false;
-    }
-    */
-    PolyK._convex = function(ax, ay, bx, by, cx, cy)
-    {
-        return (ay-by)*(cx-bx) + (bx-ax)*(cy-by) >= 0;
-    }
-    /*
-    PolyK._P = function(x,y)
-    {
-        this.x = x;
-        this.y = y;
-        this.flag = false;
-    }
-    PolyK._P.prototype.toString = function()
-    {
-        return "Point ["+this.x+", "+this.y+"]";
-    }
-    PolyK._P.dist = function(a,b)
-    {
-        var dx = b.x-a.x;
-        var dy = b.y-a.y;
-        return Math.sqrt(dx*dx + dy*dy);
-    }
-
-    PolyK._tp = [];
-    for(var i=0; i<10; i++) PolyK._tp.push(new PolyK._P(0,0));
-        */
-
-module.exports = PolyK;
-
-},{}],30:[function(require,module,exports){
-/**
- * The vec2 object from glMatrix, extended with the functions documented here. See http://glmatrix.net for full doc.
- * @class vec2
- */
-
-// Only import vec2 from gl-matrix and skip the rest
-var vec2 = require('../../node_modules/gl-matrix/src/gl-matrix/vec2').vec2;
-
-// Now add some extensions
-
-/**
- * Get the vector x component
- * @method getX
- * @static
- * @param  {Float32Array} a
- * @return {Number}
- */
-vec2.getX = function(a){
-    return a[0];
-};
-
-/**
- * Get the vector y component
- * @method getY
- * @static
- * @param  {Float32Array} a
- * @return {Number}
- */
-vec2.getY = function(a){
-    return a[1];
-};
-
-/**
- * Make a cross product and only return the z component
- * @method crossLength
- * @static
- * @param  {Float32Array} a
- * @param  {Float32Array} b
- * @return {Number}
- */
-vec2.crossLength = function(a,b){
-    return a[0] * b[1] - a[1] * b[0];
-};
-
-/**
- * Cross product between a vector and the Z component of a vector
- * @method crossVZ
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} vec
- * @param  {Number} zcomp
- * @return {Number}
- */
-vec2.crossVZ = function(out, vec, zcomp){
-    vec2.rotate(out,vec,-Math.PI/2);// Rotate according to the right hand rule
-    vec2.scale(out,out,zcomp);      // Scale with z
-    return out;
-};
-
-/**
- * Cross product between a vector and the Z component of a vector
- * @method crossZV
- * @static
- * @param  {Float32Array} out
- * @param  {Number} zcomp
- * @param  {Float32Array} vec
- * @return {Number}
- */
-vec2.crossZV = function(out, zcomp, vec){
-    vec2.rotate(out,vec,Math.PI/2); // Rotate according to the right hand rule
-    vec2.scale(out,out,zcomp);      // Scale with z
-    return out;
-};
-
-/**
- * Rotate a vector by an angle
- * @method rotate
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} a
- * @param  {Number} angle
- */
-vec2.rotate = function(out,a,angle){
-    var c = Math.cos(angle),
-        s = Math.sin(angle),
-        x = a[0],
-        y = a[1];
-    out[0] = c*x -s*y;
-    out[1] = s*x +c*y;
-};
-
-vec2.toLocalFrame = function(out, worldPoint, framePosition, frameAngle){
-    vec2.copy(out, worldPoint);
-    vec2.sub(out, out, framePosition);
-    vec2.rotate(out, out, -frameAngle);
-};
-
-vec2.toGlobalFrame = function(out, localPoint, framePosition, frameAngle){
-    vec2.copy(out, localPoint);
-    vec2.rotate(out, out, frameAngle);
-    vec2.add(out, out, framePosition);
-};
-
-/**
- * Compute centroid of a triangle spanned by vectors a,b,c. See http://easycalculation.com/analytical/learn-centroid.php
- * @method centroid
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} a
- * @param  {Float32Array} b
- * @param  {Float32Array} c
- * @return  {Float32Array} The out object
- */
-vec2.centroid = function(out, a, b, c){
-    vec2.add(out, a, b);
-    vec2.add(out, out, c);
-    vec2.scale(out, out, 1/3);
-    return out;
-};
-
-// Export everything
-module.exports = vec2;
-
-},{"../../node_modules/gl-matrix/src/gl-matrix/vec2":2}],31:[function(require,module,exports){
-var vec2 = require('../math/vec2')
-,   decomp = require('poly-decomp')
-,   Convex = require('../shapes/Convex')
-
-module.exports = Body;
-
-var zero = vec2.fromValues(0,0);
-
-/**
- * A rigid body. Has got a center of mass, position, velocity and a number of
- * shapes that are used for collisions.
- *
- * @class Body
- * @constructor
- * @param {Object}              [options]
- * @param {Number}              [options.mass=0]    A number >= 0. If zero, the .motionState will be set to Body.STATIC.
- * @param {Float32Array|Array}  [options.position]
- * @param {Float32Array|Array}  [options.velocity]
- * @param {Number}              [options.angle=0]
- * @param {Number}              [options.angularVelocity=0]
- * @param {Float32Array|Array}  [options.force]
- * @param {Number}              [options.angularForce=0]
- * @param {Number}              [options.fixedRotation=false]
- *
- * @todo Should not take mass as argument to Body, but as density to each Shape
- */
-function Body(options){
-    options = options || {};
-
-    /**
-     * The body identifyer
-     * @property id
-     * @type {Number}
-     */
-    this.id = ++Body._idCounter;
-
-    /**
-     * The shapes of the body. The local transform of the shape in .shapes[i] is
-     * defined by .shapeOffsets[i] and .shapeAngles[i].
-     *
-     * @property shapes
-     * @type {Array}
-     */
-    this.shapes = [];
-
-    /**
-     * The local shape offsets, relative to the body center of mass. This is an
-     * array of Float32Array.
-     * @property shapeOffsets
-     * @type {Array}
-     */
-    this.shapeOffsets = [];
-
-    /**
-     * The body-local shape angle transforms. This is an array of numbers (angles).
-     * @property shapeAngles
-     * @type {Array}
-     */
-    this.shapeAngles = [];
-
-    /**
-     * The mass of the body.
-     * @property mass
-     * @type {number}
-     */
-    this.mass = options.mass || 0;
-
-    /**
-     * The inverse mass of the body.
-     * @property invMass
-     * @type {number}
-     */
-    this.invMass = 0;
-
-    /**
-     * The inertia of the body around the Z axis.
-     * @property inertia
-     * @type {number}
-     */
-    this.inertia = 0;
-
-    /**
-     * The inverse inertia of the body.
-     * @property invInertia
-     * @type {number}
-     */
-    this.invInertia = 0;
-
-    /**
-     * Set to true if you want to fix the rotation of the body.
-     * @property fixedRotation
-     * @type {Boolean}
-     */
-    this.fixedRotation = !!options.fixedRotation || false;
-
-    this.updateMassProperties();
-
-    /**
-     * The position of the body
-     * @property position
-     * @type {Float32Array}
-     */
-    this.position = vec2.fromValues(0,0);
-    if(options.position) vec2.copy(this.position, options.position);
-
-    /**
-     * The velocity of the body
-     * @property velocity
-     * @type {Float32Array}
-     */
-    this.velocity = vec2.fromValues(0,0);
-    if(options.velocity) vec2.copy(this.velocity, options.velocity);
-
-    /**
-     * Constraint velocity that was added to the body during the last step.
-     * @property vlambda
-     * @type {Float32Array}
-     */
-    this.vlambda = vec2.fromValues(0,0);
-
-    /**
-     * Angular constraint velocity that was added to the body during last step.
-     * @property wlambda
-     * @type {Float32Array}
-     */
-    this.wlambda = 0;
-
-    /**
-     * The angle of the body
-     * @property angle
-     * @type {number}
-     */
-    this.angle = options.angle || 0;
-
-    /**
-     * The angular velocity of the body
-     * @property angularVelocity
-     * @type {number}
-     */
-    this.angularVelocity = options.angularVelocity || 0;
-
-    /**
-     * The force acting on the body
-     * @property force
-     * @type {Float32Array}
-     */
-    this.force = vec2.create();
-    if(options.force) vec2.copy(this.force, options.force);
-
-    /**
-     * The angular force acting on the body
-     * @property angularForce
-     * @type {number}
-     */
-    this.angularForce = options.angularForce || 0;
-
-    /**
-     * The linear damping acting on the body in the velocity direction
-     * @property damping
-     * @type {Number}
-     */
-    this.damping = typeof(options.damping)=="number" ? options.damping : 0.1;
-
-    /**
-     * The angular force acting on the body
-     * @property angularDamping
-     * @type {Number}
-     */
-    this.angularDamping = typeof(options.angularDamping)=="number" ? options.angularDamping : 0.1;
-
-    /**
-     * The type of motion this body has. Should be one of: Body.STATIC (the body
-     * does not move), Body.DYNAMIC (body can move and respond to collisions)
-     * and Body.KINEMATIC (only moves according to its .velocity).
-     *
-     * @property motionState
-     * @type {number}
-     *
-     * @example
-     *     // This body will move and interact with other bodies
-     *     var dynamicBody = new Body();
-     *     dynamicBody.motionState = Body.DYNAMIC;
-     *
-     * @example
-     *     // This body will not move at all
-     *     var staticBody = new Body();
-     *     staticBody.motionState = Body.STATIC;
-     *
-     * @example
-     *     // This body will only move if you change its velocity
-     *     var kinematicBody = new Body();
-     *     kinematicBody.motionState = Body.KINEMATIC;
-     */
-    this.motionState = this.mass == 0 ? Body.STATIC : Body.DYNAMIC;
-
-    /**
-     * Bounding circle radius
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-
-    this.concavePath = null;
-
-    this.lastDampingScale = 1;
-    this.lastAngularDampingScale = 1;
-    this.lastDampingTimeStep = -1;
-};
-
-Body._idCounter = 0;
-
-/**
- * Update the bounding radius of the body. Should be done if any of the shapes
- * are changed.
- * @method updateBoundingRadius
- */
-Body.prototype.updateBoundingRadius = function(){
-    var shapes = this.shapes,
-        shapeOffsets = this.shapeOffsets,
-        N = shapes.length,
-        radius = 0;
-
-    for(var i=0; i!==N; i++){
-        var shape = shapes[i],
-            offset = vec2.length(shapeOffsets[i] || zero),
-            r = shape.boundingRadius;
-        if(offset + r > radius)
-            radius = offset + r;
-    }
-
-    this.boundingRadius = radius;
-};
-
-/**
- * Add a shape to the body. You can pass a local transform when adding a shape,
- * so that the shape gets an offset and angle relative to the body center of mass.
- * Will automatically update the mass properties and bounding radius.
- *
- * @method addShape
- * @param  {Shape}              shape
- * @param  {Float32Array|Array} [offset] Local body offset of the shape.
- * @param  {Number}             [angle]  Local body angle.
- *
- * @example
- *     var body = new Body(),
- *         shape = new Circle();
- *
- *     // Add the shape to the body, positioned in the center
- *     body.addShape(shape);
- *
- *     // Add another shape to the body, positioned 1 unit length from the body center of mass along the local x-axis.
- *     body.addShape(shape,[1,0]);
- *
- *     // Add another shape to the body, positioned 1 unit length from the body center of mass along the local y-axis, and rotated 90 degrees CCW.
- *     body.addShape(shape,[0,1],Math.PI/2);
- */
-Body.prototype.addShape = function(shape,offset,angle){
-    angle = angle || 0.0;
-
-    // Copy the offset vector
-    if(offset){
-        offset = vec2.fromValues(offset[0],offset[1]);
-    } else {
-        offset = vec2.fromValues(0,0);
-    }
-
-    this.shapes      .push(shape);
-    this.shapeOffsets.push(offset);
-    this.shapeAngles .push(angle);
-    this.updateMassProperties();
-    this.updateBoundingRadius();
-};
-
-/**
- * Remove a shape
- * @method removeShape
- * @param  {Shape}  shape
- * @return {Boolean}       True if the shape was found and removed, else false.
- */
-Body.prototype.removeShape = function(shape){
-    var idx = this.shapes.indexOf(shape);
-
-    if(idx != -1){
-        this.shapes.splice(idx,1);
-        this.shapeOffsets.splice(idx,1);
-        this.shapeAngles.splice(idx,1);
-        return true;
-    } else
-        return false;
-};
-
-/**
- * Updates .inertia, .invMass, .invInertia for this Body. Should be called when
- * changing the structure or mass of the Body.
- *
- * @method updateMassProperties
- *
- * @example
- *     body.mass += 1;
- *     body.updateMassProperties();
- */
-Body.prototype.updateMassProperties = function(){
-    var shapes = this.shapes,
-        N = shapes.length,
-        m = this.mass / N,
-        I = 0;
-
-    if(!this.fixedRotation){
-        for(var i=0; i<N; i++){
-            var shape = shapes[i],
-                r2 = vec2.squaredLength(this.shapeOffsets[i] || zero),
-                Icm = shape.computeMomentOfInertia(m);
-            I += Icm + m*r2;
-        }
-    }
-
-    this.inertia = I;
-
-    // Inverse mass properties are easy
-    this.invMass = this.mass > 0 ? 1/this.mass : 0;
-    this.invInertia = I>0 ? 1/I : 0;
-};
-
-var Body_applyForce_r = vec2.create();
-
-/**
- * Apply force to a world point. This could for example be a point on the RigidBody surface. Applying force this way will add to Body.force and Body.angularForce.
- * @method applyForce
- * @param {Float32Array} force The force to add.
- * @param {Float32Array} worldPoint A world point to apply the force on.
- */
-Body.prototype.applyForce = function(force,worldPoint){
-    // Compute point position relative to the body center
-    var r = Body_applyForce_r;
-    vec2.sub(r,worldPoint,this.position);
-
-    // Add linear force
-    vec2.add(this.force,this.force,force);
-
-    // Compute produced rotational force
-    var rotForce = vec2.crossLength(r,force);
-
-    // Add rotational force
-    this.angularForce += rotForce;
-};
-
-/**
- * Transform a world point to local body frame.
- * @method toLocalFrame
- * @param  {Float32Array|Array} out          The vector to store the result in
- * @param  {Float32Array|Array} worldPoint   The input world vector
- */
-Body.prototype.toLocalFrame = function(out, worldPoint){
-    vec2.toLocalFrame(out, worldPoint, this.position, this.angle);
-};
-
-/**
- * Transform a local point to world frame.
- * @method toWorldFrame
- * @param  {Array} out          The vector to store the result in
- * @param  {Array} localPoint   The input local vector
- */
-Body.prototype.toWorldFrame = function(out, localPoint){
-    vec2.toGlobalFrame(out, localPoint, this.position, this.angle);
-};
-
-/**
- * Reads a polygon shape path, and assembles convex shapes from that and puts them at proper offset points.
- * @method fromPolygon
- * @param {Array} path An array of 2d vectors, e.g. [[0,0],[0,1],...] that resembles a concave or convex polygon. The shape must be simple and without holes.
- * @param {Object} [options]
- * @param {Boolean} [options.optimalDecomp=false]   Set to true if you need optimal decomposition. Warning: very slow for polygons with more than 10 vertices.
- * @param {Boolean} [options.skipSimpleCheck=false] Set to true if you already know that the path is not intersecting itself.
- * @param {Boolean|Number} [options.removeCollinearPoints=false] Set to a number (angle threshold value) to remove collinear points, or false to keep all points.
- * @return {Boolean} True on success, else false.
- */
-Body.prototype.fromPolygon = function(path,options){
-    options = options || {};
-
-    // Remove all shapes
-    for(var i=this.shapes.length; i>=0; --i)
-        this.removeShape(this.shapes[i]);
-
-    var p = new decomp.Polygon();
-    p.vertices = path;
-
-    // Make it counter-clockwise
-    p.makeCCW();
-
-    if(typeof(options.removeCollinearPoints)=="number"){
-        p.removeCollinearPoints(options.removeCollinearPoints);
-    }
-
-    // Check if any line segment intersects the path itself
-    if(typeof(options.skipSimpleCheck) == "undefined"){
-        if(!p.isSimple()) return false;
-    }
-
-    // Save this path for later
-    this.concavePath = p.vertices.slice(0);
-    for(var i=0; i<this.concavePath.length; i++){
-        var v = [0,0];
-        vec2.copy(v,this.concavePath[i]);
-        this.concavePath[i] = v;
-    }
-
-    // Slow or fast decomp?
-    var convexes;
-    if(options.optimalDecomp)   convexes = p.decomp();
-    else                        convexes = p.quickDecomp();
-
-    var cm = vec2.create();
-
-    // Add convexes
-    for(var i=0; i!==convexes.length; i++){
-        // Create convex
-        var c = new Convex(convexes[i].vertices);
-
-        // Move all vertices so its center of mass is in the local center of the convex
-        for(var j=0; j!==c.vertices.length; j++){
-            var v = c.vertices[j];
-            vec2.sub(v,v,c.centerOfMass);
-        }
-
-        vec2.scale(cm,c.centerOfMass,1);
-        c.updateTriangles();
-        c.updateCenterOfMass();
-        c.updateBoundingRadius();
-
-        // Add the shape
-        this.addShape(c,cm);
-    }
-
-    this.adjustCenterOfMass();
-
-    return true;
-};
-
-var adjustCenterOfMass_tmp1 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp2 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp3 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp4 = vec2.fromValues(0,0);
-
-/**
- * Moves the shape offsets so their center of mass becomes the body center of mass.
- * @method adjustCenterOfMass
- */
-Body.prototype.adjustCenterOfMass = function(){
-    var zero =              adjustCenterOfMass_tmp1,
-        offset_times_area = adjustCenterOfMass_tmp2,
-        sum =               adjustCenterOfMass_tmp3,
-        cm =                adjustCenterOfMass_tmp4,
-        totalArea =         0;
-    vec2.set(sum,0,0);
-    vec2.set(zero,0,0);
-
-    for(var i=0; i!==this.shapes.length; i++){
-        var s = this.shapes[i],
-            offset = this.shapeOffsets[i] || zero;
-        vec2.scale(offset_times_area,offset,s.area);
-        vec2.add(sum,sum,offset_times_area);
-        totalArea += s.area;
-    }
-
-    vec2.scale(cm,sum,1/totalArea);
-
-    // Now move all shapes
-    for(var i=0; i!==this.shapes.length; i++){
-        var s = this.shapes[i],
-            offset = this.shapeOffsets[i];
-
-        // Offset may be undefined. Fix that.
-        if(!offset){
-            offset = this.shapeOffsets[i] = vec2.create();
-        }
-
-        vec2.sub(offset,offset,cm);
-    }
-
-    // Move the body position too
-    vec2.add(this.position,this.position,cm);
-
-    // And concave path
-    for(var i=0; this.concavePath && i<this.concavePath.length; i++){
-        vec2.sub(this.concavePath[i], this.concavePath[i], cm);
-    }
-
-    this.updateMassProperties();
-    this.updateBoundingRadius();
-};
-
-/**
- * Sets the force on the body to zero.
- * @method setZeroForce
- */
-Body.prototype.setZeroForce = function(){
-    vec2.set(this.force,0.0,0.0);
-    this.angularForce = 0.0;
-};
-
-Body.prototype.resetConstraintVelocity = function(){
-    var b = this,
-        vlambda = b.vlambda;
-    vec2.set(vlambda,0,0);
-    b.wlambda = 0;
-};
-
-Body.prototype.addConstraintVelocity = function(){
-    var b = this,
-        v = b.velocity;
-    vec2.add( v, v, b.vlambda);
-    b.angularVelocity += b.wlambda;
-};
-
-/**
- * Apply damping, see <a href="http://code.google.com/p/bullet/issues/detail?id=74">this</a> for details.
- * @method applyDamping
- * @param  {number} dt Current time step
- */
-Body.prototype.applyDamping = function(dt){
-    if(this.motionState & Body.DYNAMIC){ // Only for dynamic bodies
-
-        // Since Math.pow generates garbage we check if we can reuse the scaling coefficient from last step
-        if(dt != this.lastDampingTimeStep){
-            this.lastDampingScale =         Math.pow(1.0 - this.damping,dt);
-            this.lastAngularDampingScale =  Math.pow(1.0 - this.angularDamping,dt);
-            this.lastDampingTimeStep = dt;
-        }
-
-        var v = this.velocity;
-        vec2.scale(v,v,this.lastDampingScale);
-        this.angularVelocity *= this.lastAngularDampingScale;
-    }
-};
-
-/**
- * Dynamic body.
- * @property DYNAMIC
- * @type {Number}
- * @static
- */
-Body.DYNAMIC = 1;
-
-/**
- * Static body.
- * @property STATIC
- * @type {Number}
- * @static
- */
-Body.STATIC = 2;
-
-/**
- * Kinematic body.
- * @property KINEMATIC
- * @type {Number}
- * @static
- */
-Body.KINEMATIC = 4;
-
-},{"../math/vec2":30,"../shapes/Convex":36,"poly-decomp":7}],32:[function(require,module,exports){
-var vec2 = require('../math/vec2');
-
-module.exports = Spring;
-
-/**
- * A spring, connecting two bodies.
- *
- * @class Spring
- * @constructor
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {Object} [options]
- * @param {number} options.restLength   A number > 0. Default: 1
- * @param {number} options.stiffness    A number >= 0. Default: 100
- * @param {number} options.damping      A number >= 0. Default: 1
- * @param {Array}  options.worldAnchorA Where to hook the spring to body A, in world coordinates.
- * @param {Array}  options.worldAnchorB
- * @param {Array}  options.localAnchorA Where to hook the spring to body A, in local body coordinates.
- * @param {Array}  options.localAnchorB
- */
-function Spring(bodyA,bodyB,options){
-    options = options || {};
-
-    /**
-     * Rest length of the spring.
-     * @property restLength
-     * @type {number}
-     */
-    this.restLength = typeof(options.restLength)=="number" ? options.restLength : 1;
-
-    /**
-     * Stiffness of the spring.
-     * @property stiffness
-     * @type {number}
-     */
-    this.stiffness = options.stiffness || 100;
-
-    /**
-     * Damping of the spring.
-     * @property damping
-     * @type {number}
-     */
-    this.damping = options.damping || 1;
-
-    /**
-     * First connected body.
-     * @property bodyA
-     * @type {Body}
-     */
-    this.bodyA = bodyA;
-
-    /**
-     * Second connected body.
-     * @property bodyB
-     * @type {Body}
-     */
-    this.bodyB = bodyB;
-
-    /**
-     * Anchor for bodyA in local bodyA coordinates.
-     * @property localAnchorA
-     * @type {Array}
-     */
-    this.localAnchorA = vec2.fromValues(0,0);
-
-    /**
-     * Anchor for bodyB in local bodyB coordinates.
-     * @property localAnchorB
-     * @type {Array}
-     */
-    this.localAnchorB = vec2.fromValues(0,0);
-
-    if(options.localAnchorA) vec2.copy(this.localAnchorA, options.localAnchorA);
-    if(options.localAnchorB) vec2.copy(this.localAnchorB, options.localAnchorB);
-    if(options.worldAnchorA) this.setWorldAnchorA(options.worldAnchorA);
-    if(options.worldAnchorB) this.setWorldAnchorB(options.worldAnchorB);
-};
-
-/**
- * Set the anchor point on body A, using world coordinates.
- * @method setWorldAnchorA
- * @param {Array} worldAnchorA
- */
-Spring.prototype.setWorldAnchorA = function(worldAnchorA){
-    this.bodyA.toLocalFrame(this.localAnchorA, worldAnchorA);
-};
-
-/**
- * Set the anchor point on body B, using world coordinates.
- * @method setWorldAnchorB
- * @param {Array} worldAnchorB
- */
-Spring.prototype.setWorldAnchorB = function(worldAnchorB){
-    this.bodyB.toLocalFrame(this.localAnchorB, worldAnchorB);
-};
-
-/**
- * Get the anchor point on body A, in world coordinates.
- * @method getWorldAnchorA
- * @param {Array} result The vector to store the result in.
- */
-Spring.prototype.getWorldAnchorA = function(result){
-    this.bodyA.toWorldFrame(result, this.localAnchorA);
-};
-
-/**
- * Get the anchor point on body B, in world coordinates.
- * @method getWorldAnchorB
- * @param {Array} result The vector to store the result in.
- */
-Spring.prototype.getWorldAnchorB = function(result){
-    this.bodyB.toWorldFrame(result, this.localAnchorB);
-};
-
-var applyForce_r =              vec2.create(),
-    applyForce_r_unit =         vec2.create(),
-    applyForce_u =              vec2.create(),
-    applyForce_f =              vec2.create(),
-    applyForce_worldAnchorA =   vec2.create(),
-    applyForce_worldAnchorB =   vec2.create(),
-    applyForce_ri =             vec2.create(),
-    applyForce_rj =             vec2.create(),
-    applyForce_tmp =            vec2.create();
-
-/**
- * Apply the spring force to the connected bodies.
- * @method applyForce
- */
-Spring.prototype.applyForce = function(){
-    var k = this.stiffness,
-        d = this.damping,
-        l = this.restLength,
-        bodyA = this.bodyA,
-        bodyB = this.bodyB,
-        r = applyForce_r,
-        r_unit = applyForce_r_unit,
-        u = applyForce_u,
-        f = applyForce_f,
-        tmp = applyForce_tmp;
-
-    var worldAnchorA = applyForce_worldAnchorA,
-        worldAnchorB = applyForce_worldAnchorB,
-        ri = applyForce_ri,
-        rj = applyForce_rj;
-
-    // Get world anchors
-    this.getWorldAnchorA(worldAnchorA);
-    this.getWorldAnchorB(worldAnchorB);
-
-    // Get offset points
-    vec2.sub(ri, worldAnchorA, bodyA.position);
-    vec2.sub(rj, worldAnchorB, bodyB.position);
-
-    // Compute distance vector between world anchor points
-    vec2.sub(r, worldAnchorB, worldAnchorA);
-    var rlen = vec2.len(r);
-    vec2.normalize(r_unit,r);
-
-    //console.log(rlen)
-    //console.log("A",vec2.str(worldAnchorA),"B",vec2.str(worldAnchorB))
-
-    // Compute relative velocity of the anchor points, u
-    vec2.sub(u, bodyB.velocity, bodyA.velocity);
-    vec2.crossZV(tmp, bodyB.angularVelocity, rj);
-    vec2.add(u, u, tmp);
-    vec2.crossZV(tmp, bodyA.angularVelocity, ri);
-    vec2.sub(u, u, tmp);
-
-    // F = - k * ( x - L ) - D * ( u )
-    vec2.scale(f, r_unit, -k*(rlen-l) - d*vec2.dot(u,r_unit));
-
-    // Add forces to bodies
-    vec2.sub( bodyA.force, bodyA.force, f);
-    vec2.add( bodyB.force, bodyB.force, f);
-
-    // Angular force
-    var ri_x_f = vec2.crossLength(ri, f);
-    var rj_x_f = vec2.crossLength(rj, f);
-    bodyA.angularForce -= ri_x_f;
-    bodyB.angularForce += rj_x_f;
-};
-
-},{"../math/vec2":30}],33:[function(require,module,exports){
-// Export p2 classes
-module.exports = {
-    Body :                          require('./objects/Body'),
-    Broadphase :                    require('./collision/Broadphase'),
-    Capsule :                       require('./shapes/Capsule'),
-    Circle :                        require('./shapes/Circle'),
-    Constraint :                    require('./constraints/Constraint'),
-    ContactEquation :               require('./constraints/ContactEquation'),
-    ContactMaterial :               require('./material/ContactMaterial'),
-    Convex :                        require('./shapes/Convex'),
-    DistanceConstraint :            require('./constraints/DistanceConstraint'),
-    Equation :                      require('./constraints/Equation'),
-    EventEmitter :                  require('./events/EventEmitter'),
-    FrictionEquation :              require('./constraints/FrictionEquation'),
-    GridBroadphase :                require('./collision/GridBroadphase'),
-    GSSolver :                      require('./solver/GSSolver'),
-    Island :                        require('./solver/IslandSolver'),
-    IslandSolver :                  require('./solver/IslandSolver'),
-    Line :                          require('./shapes/Line'),
-    LockConstraint :                require('./constraints/LockConstraint'),
-    Material :                      require('./material/Material'),
-    NaiveBroadphase :               require('./collision/NaiveBroadphase'),
-    Particle :                      require('./shapes/Particle'),
-    Plane :                         require('./shapes/Plane'),
-    RevoluteConstraint :            require('./constraints/RevoluteConstraint'),
-    PrismaticConstraint :           require('./constraints/PrismaticConstraint'),
-    Rectangle :                     require('./shapes/Rectangle'),
-    RotationalVelocityEquation :    require('./constraints/RotationalVelocityEquation'),
-    SAP1DBroadphase :               require('./collision/SAP1DBroadphase'),
-    Shape :                         require('./shapes/Shape'),
-    Solver :                        require('./solver/Solver'),
-    Spring :                        require('./objects/Spring'),
-    Utils :                         require('./utils/Utils'),
-    World :                         require('./world/World'),
-    QuadTree :                      require('./collision/QuadTree').QuadTree,
-    vec2 :                          require('./math/vec2'),
-    version :                       require('../package.json').version,
-};
-
-},{"../package.json":8,"./collision/Broadphase":9,"./collision/GridBroadphase":10,"./collision/NaiveBroadphase":11,"./collision/QuadTree":13,"./collision/SAP1DBroadphase":14,"./constraints/Constraint":15,"./constraints/ContactEquation":16,"./constraints/DistanceConstraint":17,"./constraints/Equation":18,"./constraints/FrictionEquation":19,"./constraints/LockConstraint":20,"./constraints/PrismaticConstraint":21,"./constraints/RevoluteConstraint":22,"./constraints/RotationalVelocityEquation":24,"./events/EventEmitter":25,"./material/ContactMaterial":26,"./material/Material":27,"./math/vec2":30,"./objects/Body":31,"./objects/Spring":32,"./shapes/Capsule":34,"./shapes/Circle":35,"./shapes/Convex":36,"./shapes/Line":37,"./shapes/Particle":38,"./shapes/Plane":39,"./shapes/Rectangle":40,"./shapes/Shape":41,"./solver/GSSolver":42,"./solver/IslandSolver":44,"./solver/Solver":45,"./utils/Utils":46,"./world/World":47}],34:[function(require,module,exports){
-var Shape = require('./Shape')
-,   vec2 = require('../math/vec2')
-
-module.exports = Capsule;
-
-/**
- * Capsule shape class.
- * @class Capsule
- * @constructor
- * @extends {Shape}
- * @param {Number} length The distance between the end points
- * @param {Number} radius Radius of the capsule
- */
-function Capsule(length,radius){
-    this.length = length || 1;
-    this.radius = radius || 1;
-
-    Shape.call(this,Shape.CAPSULE);
-};
-Capsule.prototype = new Shape();
-
-/**
- * Compute the mass moment of inertia of the Capsule.
- * @method conputeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- * @todo
- */
-Capsule.prototype.computeMomentOfInertia = function(mass){
-    // Approximate with rectangle
-    var r = this.radius,
-        w = this.length + r, // 2*r is too much, 0 is too little
-        h = r*2;
-    return mass * (h*h + w*w) / 12;
-};
-
-Capsule.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.radius + this.length/2;
-};
-
-},{"../math/vec2":30,"./Shape":41}],35:[function(require,module,exports){
-var Shape = require('./Shape');
-
-module.exports = Circle;
-
-/**
- * Circle shape class.
- * @class Circle
- * @extends {Shape}
- * @constructor
- * @param {number} radius The radius of this circle
- */
-function Circle(radius){
-
-    /**
-     * The radius of the circle.
-     * @property radius
-     * @type {number}
-     */
-    this.radius = radius || 1;
-
-    Shape.call(this,Shape.CIRCLE);
-};
-Circle.prototype = new Shape();
-Circle.prototype.computeMomentOfInertia = function(mass){
-    var r = this.radius;
-    return mass * r * r / 2;
-};
-
-Circle.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.radius;
-};
-
-},{"./Shape":41}],36:[function(require,module,exports){
-var Shape = require('./Shape')
-,   vec2 = require('../math/vec2')
-,   polyk = require('../math/polyk')
-,   decomp = require('poly-decomp')
-
-module.exports = Convex;
-
-/**
- * Convex shape class.
- * @class Convex
- * @constructor
- * @extends {Shape}
- * @param {Array} vertices An array of Float32Array vertices that span this shape. Vertices are given in counter-clockwise (CCW) direction.
- */
-function Convex(vertices){
-
-    /**
-     * Vertices defined in the local frame.
-     * @property vertices
-     * @type {Array}
-     */
-    this.vertices = vertices || [];
-
-    // Copy the verts
-    for(var i=0; i<this.vertices.length; i++){
-        var v = vec2.fromValues();
-        vec2.copy(v,this.vertices[i]);
-        this.vertices[i] = v;
-    }
-
-    /**
-     * The center of mass of the Convex
-     * @property centerOfMass
-     * @type {Float32Array}
-     */
-    this.centerOfMass = vec2.fromValues(0,0);
-
-    /**
-     * Triangulated version of this convex. The structure is Array of 3-Arrays, and each subarray contains 3 integers, referencing the vertices.
-     * @property triangles
-     * @type {Array}
-     */
-    this.triangles = [];
-
-    if(this.vertices.length){
-        this.updateTriangles();
-        this.updateCenterOfMass();
-    }
-
-    /**
-     * The bounding radius of the convex
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-    this.updateBoundingRadius();
-
-    Shape.call(this,Shape.CONVEX);
-};
-Convex.prototype = new Shape();
-
-/**
- * Update the .triangles property
- * @method updateTriangles
- */
-Convex.prototype.updateTriangles = function(){
-
-    this.triangles.length = 0;
-
-    // Rewrite on polyk notation, array of numbers
-    var polykVerts = [];
-    for(var i=0; i<this.vertices.length; i++){
-        var v = this.vertices[i];
-        polykVerts.push(v[0],v[1]);
-    }
-
-    // Triangulate
-    var triangles = polyk.Triangulate(polykVerts);
-
-    // Loop over all triangles, add their inertia contributions to I
-    for(var i=0; i<triangles.length; i+=3){
-        var id1 = triangles[i],
-            id2 = triangles[i+1],
-            id3 = triangles[i+2];
-
-        // Add to triangles
-        this.triangles.push([id1,id2,id3]);
-    }
-};
-
-var updateCenterOfMass_centroid = vec2.create(),
-    updateCenterOfMass_centroid_times_mass = vec2.create(),
-    updateCenterOfMass_a = vec2.create(),
-    updateCenterOfMass_b = vec2.create(),
-    updateCenterOfMass_c = vec2.create(),
-    updateCenterOfMass_ac = vec2.create(),
-    updateCenterOfMass_ca = vec2.create(),
-    updateCenterOfMass_cb = vec2.create(),
-    updateCenterOfMass_n = vec2.create();
-
-/**
- * Update the .centerOfMass property.
- * @method updateCenterOfMass
- */
-Convex.prototype.updateCenterOfMass = function(){
-    var triangles = this.triangles,
-        verts = this.vertices,
-        cm = this.centerOfMass,
-        centroid = updateCenterOfMass_centroid,
-        n = updateCenterOfMass_n,
-        a = updateCenterOfMass_a,
-        b = updateCenterOfMass_b,
-        c = updateCenterOfMass_c,
-        ac = updateCenterOfMass_ac,
-        ca = updateCenterOfMass_ca,
-        cb = updateCenterOfMass_cb,
-        centroid_times_mass = updateCenterOfMass_centroid_times_mass;
-
-    vec2.set(cm,0,0);
-    var totalArea = 0;
-
-    for(var i=0; i!==triangles.length; i++){
-        var t = triangles[i],
-            a = verts[t[0]],
-            b = verts[t[1]],
-            c = verts[t[2]];
-
-        vec2.centroid(centroid,a,b,c);
-
-        // Get mass for the triangle (density=1 in this case)
-        // http://math.stackexchange.com/questions/80198/area-of-triangle-via-vectors
-        var m = decomp.Point.area(a,b,c)
-        totalArea += m;
-
-        // Add to center of mass
-        vec2.scale(centroid_times_mass, centroid, m);
-        vec2.add(cm, cm, centroid_times_mass);
-    }
-
-    vec2.scale(cm,cm,1/totalArea);
-};
-
-/**
- * Compute the mass moment of inertia of the Convex.
- * @method conputeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- * @todo  should use .triangles
- */
-Convex.prototype.computeMomentOfInertia = function(mass){
-
-    // In short: Triangulate the Convex, compute centroid and inertia of
-    // each sub-triangle. Add up to total using parallel axis theorem.
-
-    var I = 0;
-
-    // Rewrite on polyk notation, array of numbers
-    var polykVerts = [];
-    for(var i=0; i<this.vertices.length; i++){
-        var v = this.vertices[i];
-        polykVerts.push(v[0],v[1]);
-    }
-
-    // Triangulate
-    var triangles = polyk.Triangulate(polykVerts);
-
-    // Get total convex area and density
-    var area = polyk.GetArea(polykVerts);
-    this.updateArea();
-    var density = mass / this.area;
-
-    // Temp vectors
-    var a = vec2.create(),
-        b = vec2.create(),
-        c = vec2.create(),
-        centroid = vec2.create(),
-        n = vec2.create(),
-        ac = vec2.create(),
-        ca = vec2.create(),
-        cb = vec2.create(),
-        centroid_times_mass = vec2.create();
-
-    // Loop over all triangles, add their inertia contributions to I
-    for(var i=0; i<triangles.length; i+=3){
-        var id1 = triangles[i],
-            id2 = triangles[i+1],
-            id3 = triangles[i+2];
-
-        // a,b,c are triangle corners
-        vec2.set(a, polykVerts[2*id1], polykVerts[2*id1+1]);
-        vec2.set(b, polykVerts[2*id2], polykVerts[2*id2+1]);
-        vec2.set(c, polykVerts[2*id3], polykVerts[2*id3+1]);
-
-        vec2.centroid(centroid, a, b, c);
-
-        vec2.sub(ca, c, a);
-        vec2.sub(cb, c, b);
-
-        var area_triangle = decomp.Point.area(a,b,c)
-        var base = vec2.length(ca);
-        var height = 2*area_triangle / base; // a=b*h/2 => h=2*a/b
-
-        // Get mass for the triangle
-        var m = area_triangle * density;
-
-        // Get inertia for this triangle: http://answers.yahoo.com/question/index?qid=20080721030038AA3oE1m
-        var I_triangle = m*(base * (Math.pow(height,3))) / 36;
-
-        // Add to total inertia using parallel axis theorem
-        var r2 = vec2.squaredLength(centroid);
-        I += I_triangle + m*r2;
-    }
-
-    return I;
-};
-
-/**
- * Updates the .boundingRadius property
- * @method updateBoundingRadius
- */
-Convex.prototype.updateBoundingRadius = function(){
-    var verts = this.vertices,
-        r2 = 0;
-
-    for(var i=0; i!==verts.length; i++){
-        var l2 = vec2.squaredLength(verts[i]);
-        if(l2 > r2) r2 = l2;
-    }
-
-    this.boundingRadius = Math.sqrt(r2);
-};
-
-/**
- * Update the .area
- * @method updateArea
- */
-Convex.prototype.updateArea = function(){
-    this.updateTriangles();
-    this.area = 0;
-
-    var triangles = this.triangles,
-        verts = this.vertices;
-    for(var i=0; i!==triangles.length; i++){
-        var t = triangles[i],
-            a = verts[t[0]],
-            b = verts[t[1]],
-            c = verts[t[2]];
-
-        // Get mass for the triangle (density=1 in this case)
-        // http://math.stackexchange.com/questions/80198/area-of-triangle-via-vectors
-        var m = decomp.Point.area(a,b,c)
-        this.area += m;
-    }
-};
-
-
-},{"../math/polyk":29,"../math/vec2":30,"./Shape":41,"poly-decomp":7}],37:[function(require,module,exports){
-var Shape = require('./Shape');
-
-module.exports = Line;
-
-/**
- * Line shape class. The line shape is along the x direction, and stretches from [-length/2, 0] to [length/2,0].
- * @class Line
- * @param {Number} length The total length of the line
- * @extends {Shape}
- * @constructor
- */
-function Line(length){
-
-    /**
-     * Length of this line
-     * @property length
-     * @type {Number}
-     */
-    this.length = length;
-
-    Shape.call(this,Shape.LINE);
-};
-Line.prototype = new Shape();
-Line.prototype.computeMomentOfInertia = function(mass){
-    return mass * Math.pow(this.length,2) / 12;
-};
-
-Line.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.length/2;
-};
-
-
-},{"./Shape":41}],38:[function(require,module,exports){
-var Shape = require('./Shape');
-
-module.exports = Particle;
-
-/**
- * Particle shape class.
- * @class Particle
- * @constructor
- * @extends {Shape}
- */
-function Particle(){
-    Shape.call(this,Shape.PARTICLE);
-};
-Particle.prototype = new Shape();
-Particle.prototype.computeMomentOfInertia = function(mass){
-    return 0; // Can't rotate a particle
-};
-
-Particle.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = 0;
-};
-
-
-},{"./Shape":41}],39:[function(require,module,exports){
-var Shape = require('./Shape');
-
-module.exports = Plane;
-
-/**
- * Plane shape class. The plane is facing in the Y direction.
- * @class Plane
- * @extends {Shape}
- * @constructor
- */
-function Plane(){
-    Shape.call(this,Shape.PLANE);
-};
-Plane.prototype = new Shape();
-
-/**
- * Compute moment of inertia
- * @method computeMomentOfInertia
- */
-Plane.prototype.computeMomentOfInertia = function(mass){
-    return 0; // Plane is infinite. The inertia should therefore be infinty but by convention we set 0 here
-};
-
-/**
- * Update the bounding radius
- * @method updateBoundingRadius
- */
-Plane.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = Number.MAX_VALUE;
-};
-
-
-},{"./Shape":41}],40:[function(require,module,exports){
-var vec2 = require('../math/vec2')
-,   Shape = require('./Shape')
-,   Convex = require('./Convex')
-
-module.exports = Rectangle;
-
-/**
- * Rectangle shape class.
- * @class Rectangle
- * @constructor
- * @param {Number} w Width
- * @param {Number} h Height
- * @extends {Convex}
- */
-function Rectangle(w,h){
-    var verts = [   vec2.fromValues(-w/2, -h/2),
-                    vec2.fromValues( w/2, -h/2),
-                    vec2.fromValues( w/2,  h/2),
-                    vec2.fromValues(-w/2,  h/2)];
-
-    /**
-     * Total width of the rectangle
-     * @property width
-     * @type {Number}
-     */
-    this.width = w;
-
-    /**
-     * Total height of the rectangle
-     * @property height
-     * @type {Number}
-     */
-    this.height = h;
-
-    Convex.call(this,verts);
-};
-Rectangle.prototype = new Convex();
-
-/**
- * Compute moment of inertia
- * @method computeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- */
-Rectangle.prototype.computeMomentOfInertia = function(mass){
-    var w = this.width,
-        h = this.height;
-    return mass * (h*h + w*w) / 12;
-};
-
-/**
- * Update the bounding radius
- * @method updateBoundingRadius
- */
-Rectangle.prototype.updateBoundingRadius = function(){
-    var w = this.width,
-        h = this.height;
-    this.boundingRadius = Math.sqrt(w*w + h*h) / 2;
-};
-
-
-},{"../math/vec2":30,"./Convex":36,"./Shape":41}],41:[function(require,module,exports){
-module.exports = Shape;
-
-/**
- * Base class for shapes.
- * @class Shape
- * @constructor
- */
-function Shape(type){
-    this.type = type;
-
-    /**
-     * Bounding circle radius of this shape
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-
-    /**
-     * Collision group that this shape belongs to (bit mask). See <a href="http://www.aurelienribon.com/blog/2011/07/box2d-tutorial-collision-filtering/">this tutorial</a>.
-     * @property collisionGroup
-     * @type {Number}
-     * @example
-     *     // Setup bits for each available group
-     *     var PLAYER = Math.pow(2,0),
-     *         ENEMY =  Math.pow(2,1),
-     *         GROUND = Math.pow(2,2)
-     *
-     *     // Put shapes into their groups
-     *     player1Shape.collisionGroup = PLAYER;
-     *     player2Shape.collisionGroup = PLAYER;
-     *     enemyShape  .collisionGroup = ENEMY;
-     *     groundShape .collisionGroup = GROUND;
-     *
-     *     // Assign groups that each shape collide with.
-     *     // Note that the players can collide with ground and enemies, but not with other players.
-     *     player1Shape.collisionMask = ENEMY | GROUND;
-     *     player2Shape.collisionMask = ENEMY | GROUND;
-     *     enemyShape  .collisionMask = PLAYER | GROUND;
-     *     groundShape .collisionMask = PLAYER | ENEMY;
-     *
-     * @example
-     *     // How collision check is done
-     *     if(shapeA.collisionGroup & shapeB.collisionMask)!=0 && (shapeB.collisionGroup & shapeA.collisionMask)!=0){
-     *         // The shapes will collide
-     *     }
-     */
-    this.collisionGroup = 1;
-
-    /**
-     * Collision mask of this shape. See .collisionGroup.
-     * @property collisionMask
-     * @type {Number}
-     */
-    this.collisionMask =  1;
-    if(type) this.updateBoundingRadius();
-
-    /**
-     * Material to use in collisions for this Shape. If this is set to null, the world will use default material properties instead.
-     * @property material
-     * @type {Material}
-     */
-    this.material = null;
-
-    /**
-     * Area of this shape.
-     * @property area
-     * @type {Number}
-     */
-    this.area = 0;
-
-    this.updateArea();
-};
-
-Shape.CIRCLE =      1;
-Shape.PARTICLE =    2;
-Shape.PLANE =       4;
-Shape.CONVEX =      8;
-Shape.LINE =        16;
-Shape.RECTANGLE =   32;
-Shape.CAPSULE =     64;
-
-/**
- * Should return the moment of inertia around the Z axis of the body given the total mass. See <a href="http://en.wikipedia.org/wiki/List_of_moments_of_inertia">Wikipedia's list of moments of inertia</a>.
- * @method computeMomentOfInertia
- * @param  {Number} mass
- * @return {Number} If the inertia is infinity or if the object simply isn't possible to rotate, return 0.
- */
-Shape.prototype.computeMomentOfInertia = function(mass){
-    throw new Error("Shape.computeMomentOfInertia is not implemented in this Shape...");
-};
-
-/**
- * Returns the bounding circle radius of this shape.
- * @method updateBoundingRadius
- * @return {Number}
- */
-Shape.prototype.updateBoundingRadius = function(){
-    throw new Error("Shape.updateBoundingRadius is not implemented in this Shape...");
-};
-
-/**
- * Update the .area property of the shape.
- * @method updateArea
- */
-Shape.prototype.updateArea = function(){
-    // To be implemented in all subclasses
-};
-
-/**
- * Compute the world axis-aligned bounding box (AABB) of this shape.
- * @method computeAABB
- * @param  {AABB}   out      The resulting AABB.
- * @param  {Array}  position
- * @param  {Number} angle
- */
-Shape.prototype.computeAABB = function(out, position, angle){
-    // To be implemented in each subclass
-};
-
-},{}],42:[function(require,module,exports){
-var vec2 = require('../math/vec2')
-,   Solver = require('./Solver')
-,   Utils = require('../utils/Utils')
-,   FrictionEquation = require('../constraints/FrictionEquation')
-
-module.exports = GSSolver;
-
-/**
- * Iterative Gauss-Seidel constraint equation solver.
- *
- * @class GSSolver
- * @constructor
- * @extends Solver
- * @param {Object} [options]
- * @param {Number} options.iterations
- * @param {Number} options.timeStep
- * @param {Number} options.stiffness
- * @param {Number} options.relaxation
- * @param {Number} options.tolerance
- */
-function GSSolver(options){
-    Solver.call(this,options);
-    options = options || {};
-
-    /**
-     * The number of iterations to do when solving. More gives better results, but is more expensive.
-     * @property iterations
-     * @type {Number}
-     */
-    this.iterations = options.iterations || 10;
-
-    /**
-     * The error tolerance. If the total error is below this limit, the solver will stop. Set to zero for as good solution as possible.
-     * @property tolerance
-     * @type {Number}
-     */
-    this.tolerance = options.tolerance || 0;
-
-    this.debug = options.debug || false;
-    this.arrayStep = 30;
-    this.lambda = new Utils.ARRAY_TYPE(this.arrayStep);
-    this.Bs =     new Utils.ARRAY_TYPE(this.arrayStep);
-    this.invCs =  new Utils.ARRAY_TYPE(this.arrayStep);
-
-    /**
-     * Whether to use .stiffness and .relaxation parameters from the Solver instead of each Equation individually.
-     * @type {Boolean}
-     * @property useGlobalEquationParameters
-     */
-    this.useGlobalEquationParameters = true;
-
-    /**
-     * Global equation stiffness. Larger number gives harder contacts, etc, but may also be more expensive to compute, or it will make your simulation explode.
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness = 1e6;
-
-    /**
-     * Global equation relaxation. This is the number of timesteps required for a constraint to be resolved. Larger number will give softer contacts. Set to around 3 or 4 for good enough results.
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation = 4;
-
-    /**
-     * Set to true to set all right hand side terms to zero when solving. Can be handy for a few applications.
-     * @property useZeroRHS
-     * @type {Boolean}
-     */
-    this.useZeroRHS = false;
-
-    /**
-     * Number of friction iterations to skip. If .skipFrictionIterations=2, then no FrictionEquations will be iterated until the third iteration.
-     * @property skipFrictionIterations
-     * @type {Number}
-     */
-    this.skipFrictionIterations = 2;
-};
-GSSolver.prototype = new Solver();
-
-/**
- * Solve the system of equations
- * @method solve
- * @param  {Number}  dt       Time step
- * @param  {World}   world    World to solve
- */
-GSSolver.prototype.solve = function(dt,world){
-
-    this.sortEquations();
-
-    var iter = 0,
-        maxIter = this.iterations,
-        skipFrictionIter = this.skipFrictionIterations,
-        tolSquared = this.tolerance*this.tolerance,
-        equations = this.equations,
-        Neq = equations.length,
-        bodies = world.bodies,
-        Nbodies = world.bodies.length,
-        h = dt,
-        d = this.relaxation,
-        k = this.stiffness,
-        eps = 4.0 / (h * h * k * (1 + 4 * d)),
-        a = 4.0 / (h * (1 + 4 * d)),
-        b = (4.0 * d) / (1 + 4 * d),
-        useGlobalParams = this.useGlobalEquationParameters,
-        add = vec2.add,
-        set = vec2.set,
-        useZeroRHS = this.useZeroRHS;
-
-    // Things that does not change during iteration can be computed once
-    if(this.lambda.length < Neq){
-        this.lambda = new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-        this.Bs =     new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-        this.invCs =  new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-    }
-    var invCs = this.invCs,
-        Bs = this.Bs,
-        lambda = this.lambda;
-    for(var i=0; i!==Neq; i++){
-        var c = equations[i];
-        lambda[i] = 0.0;
-
-        var _a = a,
-            _b = b,
-            _eps = eps;
-        if(!useGlobalParams){
-            if(h !== c.h) c.updateSpookParams(h);
-            _a = c.a;
-            _b = c.b;
-            _eps = c.eps;
-        }
-        Bs[i] = c.computeB(_a,_b,h);
-        invCs[i] = 1.0 / c.computeC(_eps);
-    }
-
-    var q, B, c, invC, deltalambda, deltalambdaTot, GWlambda, lambdaj;
-
-    if(Neq !== 0){
-        var i,j, minForce, maxForce, lambdaj_plus_deltalambda;
-
-        // Reset vlambda
-        for(i=0; i!==Nbodies; i++){
-            bodies[i].resetConstraintVelocity();
-        }
-
-        // Iterate over equations
-        for(iter=0; iter!==maxIter; iter++){
-
-            // Accumulate the total error for each iteration.
-            deltalambdaTot = 0.0;
-
-            for(j=0; j!==Neq; j++){
-                c = equations[j];
-
-                if(c instanceof FrictionEquation && iter < skipFrictionIter)
-                    continue;
-
-                var _eps = useGlobalParams ? eps : c.eps;
-
-                var deltalambda = GSSolver.iterateEquation(j,c,_eps,Bs,invCs,lambda,useZeroRHS,dt);
-                if(tolSquared !== 0) deltalambdaTot += Math.abs(deltalambda);
-            }
-
-            // If the total error is small enough - stop iterate
-            if(tolSquared !== 0 && deltalambdaTot*deltalambdaTot <= tolSquared) break;
-        }
-
-        // Add result to velocity
-        for(i=0; i!==Nbodies; i++){
-            bodies[i].addConstraintVelocity();
-        }
-    }
-    errorTot = deltalambdaTot;
-};
-
-GSSolver.iterateEquation = function(j,eq,eps,Bs,invCs,lambda,useZeroRHS,dt){
-    // Compute iteration
-    var B = Bs[j],
-        invC = invCs[j],
-        lambdaj = lambda[j],
-        GWlambda = eq.computeGWlambda(eps);
-
-    if(eq instanceof FrictionEquation){
-        // Rescale the max friction force according to the normal force
-        eq.maxForce =  eq.contactEquation.multiplier * eq.frictionCoefficient * dt;
-        eq.minForce = -eq.contactEquation.multiplier * eq.frictionCoefficient * dt;
-    }
-
-    var maxForce = eq.maxForce,
-        minForce = eq.minForce;
-
-    if(useZeroRHS) B = 0;
-
-    var deltalambda = invC * ( B - GWlambda - eps * lambdaj );
-
-    // Clamp if we are not within the min/max interval
-    var lambdaj_plus_deltalambda = lambdaj + deltalambda;
-    if(lambdaj_plus_deltalambda < minForce){
-        deltalambda = minForce - lambdaj;
-    } else if(lambdaj_plus_deltalambda > maxForce){
-        deltalambda = maxForce - lambdaj;
-    }
-    lambda[j] += deltalambda;
-    eq.multiplier = lambda[j] / dt;
-    eq.addToWlambda(deltalambda);
-
-    return deltalambda;
-};
-
-},{"../constraints/FrictionEquation":19,"../math/vec2":30,"../utils/Utils":46,"./Solver":45}],43:[function(require,module,exports){
-module.exports = Island;
-
-/**
- * An island of bodies connected with equations.
- * @class Island
- * @constructor
- */
-function Island(){
-
-    /**
-     * Current equations in this island.
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * Current bodies in this island.
-     * @property bodies
-     * @type {Array}
-     */
-    this.bodies = [];
-}
-
-/**
- * Clean this island from bodies and equations.
- * @method reset
- */
-Island.prototype.reset = function(){
-    this.equations.length = this.bodies.length = 0;
-}
-
-
-/**
- * Get all unique bodies in this island.
- * @method getBodies
- * @return {Array} An array of Body
- */
-Island.prototype.getBodies = function(){
-    var bodies = [],
-        bodyIds = [],
-        eqs = this.equations;
-    for(var i=0; i!==eqs.length; i++){
-        var eq = eqs[i];
-        if(bodyIds.indexOf(eq.bi.id)===-1){
-            bodies.push(eq.bi);
-            bodyIds.push(eq.bi.id);
-        }
-        if(bodyIds.indexOf(eq.bj.id)===-1){
-            bodies.push(eq.bj);
-            bodyIds.push(eq.bj.id);
-        }
-    }
-    return bodies;
-};
-
-/**
- * Solves all constraints in the group of islands.
- * @method solve
- * @param  {Number} dt
- * @param  {Solver} solver
- */
-Island.prototype.solve = function(dt,solver){
-    var bodies = [];
-
-    solver.removeAllEquations();
-
-    // Add equations to solver
-    var numEquations = this.equations.length;
-    for(var j=0; j!==numEquations; j++){
-        solver.addEquation(this.equations[j]);
-    }
-    var islandBodies = this.getBodies();
-    var numBodies = islandBodies.length;
-    for(var j=0; j!==numBodies; j++){
-        bodies.push(islandBodies[j]);
-    }
-
-    // Solve
-    solver.solve(dt,{bodies:bodies});
-};
-
-},{}],44:[function(require,module,exports){
-var Solver = require('./Solver')
-,   vec2 = require('../math/vec2')
-,   Island = require('../solver/Island')
-,   Body = require('../objects/Body')
-,   STATIC = Body.STATIC
-
-module.exports = IslandSolver;
-
-/**
- * Splits the system of bodies and equations into independent islands
- *
- * @class IslandSolver
- * @constructor
- * @param {Solver} subsolver
- * @param {Object} options
- * @extends Solver
- */
-function IslandSolver(subsolver,options){
-    Solver.call(this,options);
-    var that = this;
-
-    /**
-     * The solver used in the workers.
-     * @property subsolver
-     * @type {Solver}
-     */
-    this.subsolver = subsolver;
-
-    /**
-     * Number of islands. Read only.
-     * @property numIslands
-     * @type {number}
-     */
-    this.numIslands = 0;
-
-    // Pooling of node objects saves some GC load
-    this._nodePool = [];
-
-    /**
-     * Fires before an island is solved.
-     * @event beforeSolveIsland
-     * @param {Island} island
-     */
-    this.beforeSolveIslandEvent = {
-        type : "beforeSolveIsland",
-        island : null,
-    };
-};
-IslandSolver.prototype = new Solver();
-
-function getUnvisitedNode(nodes){
-    var Nnodes = nodes.length;
-    for(var i=0; i!==Nnodes; i++){
-        var node = nodes[i];
-        if(!node.visited && !(node.body.motionState & STATIC)){ // correct?
-            return node;
-        }
-    }
-    return false;
-}
-
-function bfs(root,visitFunc){
-    var queue = [];
-    queue.push(root);
-    root.visited = true;
-    visitFunc(root);
-    while(queue.length) {
-        var node = queue.pop();
-        // Loop over unvisited child nodes
-        var child;
-        while((child = getUnvisitedNode(node.children))) {
-            child.visited = true;
-            visitFunc(child);
-            queue.push(child);
-        }
-    }
-}
-
-/**
- * Solves the full system.
- * @method solve
- * @param  {Number} dt
- * @param  {World} world
- */
-IslandSolver.prototype.solve = function(dt,world){
-    var nodes = [],
-        bodies=world.bodies,
-        equations=this.equations,
-        Neq=equations.length,
-        Nbodies=bodies.length,
-        subsolver=this.subsolver,
-        workers = this._workers,
-        workerData = this._workerData,
-        workerIslandGroups = this._workerIslandGroups;
-
-    // Create needed nodes, reuse if possible
-    for(var i=0; i!==Nbodies; i++){
-        if(this._nodePool.length)
-            nodes.push( this._nodePool.pop() );
-        else {
-            nodes.push({
-                body:bodies[i],
-                children:[],
-                eqs:[],
-                visited:false
-            });
-        }
-    }
-
-    // Reset node values
-    for(var i=0; i!==Nbodies; i++){
-        var node = nodes[i];
-        node.body = bodies[i];
-        node.children.length = 0;
-        node.eqs.length = 0;
-        node.visited = false;
-    }
-
-    // Add connectivity data. Each equation connects 2 bodies.
-    for(var k=0; k!==Neq; k++){
-        var eq=equations[k],
-            i=bodies.indexOf(eq.bi),
-            j=bodies.indexOf(eq.bj),
-            ni=nodes[i],
-            nj=nodes[j];
-        ni.children.push(nj);
-        ni.eqs.push(eq);
-        nj.children.push(ni);
-        nj.eqs.push(eq);
-    }
-
-    // The BFS search algorithm needs a traversal function. What we do is gather all bodies and equations connected.
-    var child, n=0, eqs=[], bds=[];
-    function visitFunc(node){
-        bds.push(node.body);
-        var Neqs = node.eqs.length;
-        for(var i=0; i!==Neqs; i++){
-            var eq = node.eqs[i];
-            if(eqs.indexOf(eq) === -1){
-                eqs.push(eq);
-            }
-        }
-    }
-
-    // Get islands
-    var islands = [];
-    while((child = getUnvisitedNode(nodes))){
-        var island = new Island(); // @todo Should be reused from somewhere
-        eqs.length = 0;
-        bds.length = 0;
-        bfs(child,visitFunc); // run search algo to gather an island of bodies
-
-        // Add equations to island
-        var Neqs = eqs.length;
-        for(var i=0; i!==Neqs; i++){
-            var eq = eqs[i];
-            island.equations.push(eq);
-        }
-
-        n++;
-        islands.push(island);
-    }
-
-    this.numIslands = n;
-
-    // Solve islands
-    var e = this.beforeSolveIslandEvent;
-    for(var i=0; i<islands.length; i++){
-        var island = islands[i];
-        e.island = island;
-        this.emit(e);
-        island.solve(dt,this.subsolver);
-    }
-};
-
-},{"../math/vec2":30,"../objects/Body":31,"../solver/Island":43,"./Solver":45}],45:[function(require,module,exports){
-var Utils = require('../utils/Utils')
-,   EventEmitter = require('../events/EventEmitter')
-
-module.exports = Solver;
-
-/**
- * Base class for constraint solvers.
- * @class Solver
- * @constructor
- * @extends {EventEmitter}
- */
-function Solver(options){
-    options = options || {};
-
-    EventEmitter.call(this);
-
-    /**
-     * Current equations in the solver.
-     *
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * Function that is used to sort all equations before each solve.
-     * @property equationSortFunction
-     * @type {function|boolean}
-     */
-    this.equationSortFunction = options.equationSortFunction || false;
-};
-Solver.prototype = new EventEmitter();
-
-/**
- * Method to be implemented in each subclass
- * @method solve
- * @param  {Number} dt
- * @param  {World} world
- */
-Solver.prototype.solve = function(dt,world){
-    throw new Error("Solver.solve should be implemented by subclasses!");
-};
-
-/**
- * Sort all equations using the .equationSortFunction. Should be called by subclasses before solving.
- * @method sortEquations
- */
-Solver.prototype.sortEquations = function(){
-    if(this.equationSortFunction)
-        this.equations.sort(this.equationSortFunction);
-};
-
-/**
- * Add an equation to be solved.
- *
- * @method addEquation
- * @param {Equation} eq
- */
-Solver.prototype.addEquation = function(eq){
-    this.equations.push(eq);
-};
-
-/**
- * Add equations. Same as .addEquation, but this time the argument is an array of Equations
- *
- * @method addEquations
- * @param {Array} eqs
- */
-Solver.prototype.addEquations = function(eqs){
-    Utils.appendArray(this.equations,eqs);
-};
-
-/**
- * Remove an equation.
- *
- * @method removeEquation
- * @param {Equation} eq
- */
-Solver.prototype.removeEquation = function(eq){
-    var i = this.equations.indexOf(eq);
-    if(i!=-1)
-        this.equations.splice(i,1);
-};
-
-/**
- * Remove all currently added equations.
- *
- * @method removeAllEquations
- */
-Solver.prototype.removeAllEquations = function(){
-    this.equations.length=0;
-};
-
-
-},{"../events/EventEmitter":25,"../utils/Utils":46}],46:[function(require,module,exports){
-module.exports = Utils;
-
-/**
- * Misc utility functions
- * @class Utils
- * @constructor
- */
-function Utils(){};
-
-/**
- * Append the values in array b to the array a. See <a href="http://stackoverflow.com/questions/1374126/how-to-append-an-array-to-an-existing-javascript-array/1374131#1374131">this</a> for an explanation.
- * @method appendArray
- * @static
- * @param  {Array} a
- * @param  {Array} b
- */
-Utils.appendArray = function(a,b){
-    if (b.length < 150000) {
-        a.push.apply(a, b)
-    } else {
-        for (var i = 0, len = b.length; i !== len; ++i) {
-            a.push(b[i]);
-        }
-    }
-};
-
-/**
- * The array type to use for internal numeric computations.
- * @type {Array}
- * @static
- * @property ARRAY_TYPE
- */
-Utils.ARRAY_TYPE = Float32Array || Array;
-
-},{}],47:[function(require,module,exports){
-var  GSSolver = require('../solver/GSSolver')
-,    NaiveBroadphase = require('../collision/NaiveBroadphase')
-,    vec2 = require('../math/vec2')
-,    Circle = require('../shapes/Circle')
-,    Rectangle = require('../shapes/Rectangle')
-,    Convex = require('../shapes/Convex')
-,    Line = require('../shapes/Line')
-,    Plane = require('../shapes/Plane')
-,    Capsule = require('../shapes/Capsule')
-,    Particle = require('../shapes/Particle')
-,    EventEmitter = require('../events/EventEmitter')
-,    Body = require('../objects/Body')
-,    Spring = require('../objects/Spring')
-,    Material = require('../material/Material')
-,    ContactMaterial = require('../material/ContactMaterial')
-,    DistanceConstraint = require('../constraints/DistanceConstraint')
-,    LockConstraint = require('../constraints/LockConstraint')
-,    RevoluteConstraint = require('../constraints/RevoluteConstraint')
-,    PrismaticConstraint = require('../constraints/PrismaticConstraint')
-,    pkg = require('../../package.json')
-,    Broadphase = require('../collision/Broadphase')
-,    Narrowphase = require('../collision/Narrowphase')
-
-module.exports = World;
-
-var currentVersion = pkg.version.split(".").slice(0,2).join("."); // "X.Y"
-
-function now(){
-    if(typeof(performance)!="undefined"){
-        if(performance.now)
-            return performance.now();
-        else if(performance.webkitNow)
-            return performance.webkitNow();
-    } else
-        return new Date().getTime();
-}
-
-/**
- * The dynamics world, where all bodies and constraints lives.
- *
- * @class World
- * @constructor
- * @param {Object}          [options]
- * @param {Solver}          options.solver Defaults to GSSolver.
- * @param {Float32Array}    options.gravity Defaults to [0,-9.78]
- * @param {Broadphase}      options.broadphase Defaults to NaiveBroadphase
- * @extends {EventEmitter}
- */
-function World(options){
-    EventEmitter.apply(this);
-
-    options = options || {};
-
-    /**
-     * All springs in the world.
-     *
-     * @property springs
-     * @type {Array}
-     */
-    this.springs = [];
-
-    /**
-     * All bodies in the world.
-     *
-     * @property bodies
-     * @type {Array}
-     */
-    this.bodies = [];
-
-    /**
-     * The solver used to satisfy constraints and contacts.
-     *
-     * @property solver
-     * @type {Solver}
-     */
-    this.solver = options.solver || new GSSolver();
-
-    /**
-     * The narrowphase to use to generate contacts.
-     *
-     * @property narrowphase
-     * @type {Narrowphase}
-     */
-    this.narrowphase = new Narrowphase();
-
-    /**
-     * Gravity in the world. This is applied on all bodies in the beginning of each step().
-     *
-     * @property
-     * @type {Float32Array}
-     */
-    this.gravity = options.gravity || vec2.fromValues(0, -9.78);
-
-    /**
-     * Whether to do timing measurements during the step() or not.
-     *
-     * @property doPofiling
-     * @type {Boolean}
-     */
-    this.doProfiling = options.doProfiling || false;
-
-    /**
-     * How many millisecconds the last step() took. This is updated each step if .doProfiling is set to true.
-     *
-     * @property lastStepTime
-     * @type {Number}
-     */
-    this.lastStepTime = 0.0;
-
-    /**
-     * The broadphase algorithm to use.
-     *
-     * @property broadphase
-     * @type {Broadphase}
-     */
-    this.broadphase = options.broadphase || new NaiveBroadphase();
-
-    /**
-     * User-added constraints.
-     *
-     * @property constraints
-     * @type {Array}
-     */
-    this.constraints = [];
-
-    /**
-     * Friction between colliding bodies. This value is used if no matching ContactMaterial is found for the body pair.
-     * @property defaultFriction
-     * @type {Number}
-     */
-    this.defaultFriction = 0.3;
-
-    /**
-     * For keeping track of what time step size we used last step
-     * @property lastTimeStep
-     * @type {Number}
-     */
-    this.lastTimeStep = 1/60;
-
-    /**
-     * Enable to automatically apply spring forces each step.
-     * @property applySpringForces
-     * @type {Boolean}
-     */
-    this.applySpringForces = true;
-
-    /**
-     * Enable to automatically apply body damping each step.
-     * @property applyDamping
-     * @type {Boolean}
-     */
-    this.applyDamping = true;
-
-    /**
-     * Enable/disable constraint solving in each step.
-     * @property solveConstraints
-     * @type {Boolean}
-     */
-    this.solveConstraints = true;
-
-    /**
-     * The ContactMaterials added to the World.
-     * @property contactMaterials
-     * @type {Array}
-     */
-    this.contactMaterials = [];
-
-    /**
-     * World time.
-     * @property time
-     * @type {Number}
-     */
-    this.time = 0.0;
-
-    /**
-     * Set to true if you want to the world to emit the "impact" event. Turning this off could improve performance.
-     * @property emitImpactEvent
-     * @type {Boolean}
-     */
-    this.emitImpactEvent = true;
-
-    // Id counters
-    this._constraintIdCounter = 0;
-    this._bodyIdCounter = 0;
-
-    /**
-     * Fired after the step().
-     * @event postStep
-     */
-    this.postStepEvent = {
-        type : "postStep",
-    };
-
-    /**
-     * @event addBody
-     * @param {Body} body
-     */
-    this.addBodyEvent = {
-        type : "addBody",
-        body : null
-    };
-
-    /**
-     * @event removeBody
-     * @param {Body} body
-     */
-    this.removeBodyEvent = {
-        type : "removeBody",
-        body : null
-    };
-
-    /**
-     * Fired when a spring is added to the world.
-     * @event addSpring
-     * @param {Spring} spring
-     */
-    this.addSpringEvent = {
-        type : "addSpring",
-        spring : null,
-    };
-
-    /**
-     * Fired when a first contact is created between two bodies. This event is fired after the step has been done.
-     * @event impact
-     * @param {Body} bodyA
-     * @param {Body} bodyB
-     */
-    this.impactEvent = {
-        type: "impact",
-        bodyA : null,
-        bodyB : null,
-    };
-};
-World.prototype = new Object(EventEmitter.prototype);
-
-/**
- * Add a constraint to the simulation.
- *
- * @method addConstraint
- * @param {Constraint} c
- */
-World.prototype.addConstraint = function(c){
-    this.constraints.push(c);
-};
-
-/**
- * Add a ContactMaterial to the simulation.
- * @method addContactMaterial
- * @param {ContactMaterial} contactMaterial
- */
-World.prototype.addContactMaterial = function(contactMaterial){
-    this.contactMaterials.push(contactMaterial);
-};
-
-/**
- * Removes a contact material
- *
- * @method removeContactMaterial
- * @param {ContactMaterial} cm
- */
-World.prototype.removeContactMaterial = function(cm){
-    var idx = this.contactMaterials.indexOf(cm);
-    if(idx!==-1)
-        this.contactMaterials.splice(idx,1);
-};
-
-/**
- * Get a contact material given two materials
- * @method getContactMaterial
- * @param {Material} materialA
- * @param {Material} materialB
- * @return {ContactMaterial} The matching ContactMaterial, or false on fail.
- * @todo Use faster hash map to lookup from material id's
- */
-World.prototype.getContactMaterial = function(materialA,materialB){
-    var cmats = this.contactMaterials;
-    for(var i=0, N=cmats.length; i!==N; i++){
-        var cm = cmats[i];
-        if( (cm.materialA === materialA) && (cm.materialB === materialB) ||
-            (cm.materialA === materialB) && (cm.materialB === materialA) )
-            return cm;
-    }
-    return false;
-};
-
-/**
- * Removes a constraint
- *
- * @method removeConstraint
- * @param {Constraint} c
- */
-World.prototype.removeConstraint = function(c){
-    var idx = this.constraints.indexOf(c);
-    if(idx!==-1){
-        this.constraints.splice(idx,1);
-    }
-};
-
-var step_r = vec2.create(),
-    step_runit = vec2.create(),
-    step_u = vec2.create(),
-    step_f = vec2.create(),
-    step_fhMinv = vec2.create(),
-    step_velodt = vec2.create(),
-    step_mg = vec2.create(),
-    xiw = vec2.fromValues(0,0),
-    xjw = vec2.fromValues(0,0),
-    zero = vec2.fromValues(0,0);
-
-/**
- * Step the physics world forward in time.
- *
- * @method step
- * @param {Number} dt The time step size to use.
- *
- * @example
- *     var world = new World();
- *     world.step(0.01);
- */
-World.prototype.step = function(dt){
-    var that = this,
-        doProfiling = this.doProfiling,
-        Nsprings = this.springs.length,
-        springs = this.springs,
-        bodies = this.bodies,
-        g = this.gravity,
-        solver = this.solver,
-        Nbodies = this.bodies.length,
-        broadphase = this.broadphase,
-        np = this.narrowphase,
-        constraints = this.constraints,
-        t0, t1,
-        fhMinv = step_fhMinv,
-        velodt = step_velodt,
-        mg = step_mg,
-        scale = vec2.scale,
-        add = vec2.add,
-        rotate = vec2.rotate;
-
-    this.lastTimeStep = dt;
-
-    if(doProfiling){
-        t0 = now();
-    }
-
-    // Todo: remove. This is actually not needed any more
-    var glen = vec2.length(g);
-
-    // add gravity to bodies
-    if(glen !== 0){
-        for(var i=0; i!==Nbodies; i++){
-            var b = bodies[i],
-                fi = b.force;
-            vec2.scale(mg,g,b.mass);
-            add(fi,fi,mg);
-        }
-    }
-
-    // Add spring forces
-    if(this.applySpringForces){
-        for(var i=0; i!==Nsprings; i++){
-            var s = springs[i];
-            s.applyForce();
-        }
-    }
-
-    if(this.applyDamping){
-        for(var i=0; i!==Nbodies; i++){
-            var b = bodies[i];
-            b.applyDamping(dt);
-        }
-    }
-
-    // Broadphase
-    var result = broadphase.getCollisionPairs(this);
-
-    // Narrowphase
-    np.reset();
-    for(var i=0, Nresults=result.length; i!==Nresults; i+=2){
-        var bi = result[i],
-            bj = result[i+1];
-
-        // Loop over all shapes of body i
-        for(var k=0; k!==bi.shapes.length; k++){
-            var si = bi.shapes[k],
-                xi = bi.shapeOffsets[k] || zero,
-                ai = bi.shapeAngles[k] || 0;
-
-            // All shapes of body j
-            for(var l=0; l!==bj.shapes.length; l++){
-                var sj = bj.shapes[l],
-                    xj = bj.shapeOffsets[l] || zero,
-                    aj = bj.shapeAngles[l] || 0;
-
-                var mu = this.defaultFriction,
-                    restitution = 0.0;
-
-                if(si.material && sj.material){
-                    var cm = this.getContactMaterial(si.material,sj.material);
-                    if(cm){
-                        mu = cm.friction;
-                        restitution = cm.restitution;
-                    }
-                }
-
-                World.runNarrowphase(np,bi,si,xi,ai,bj,sj,xj,aj,mu,glen,restitution);
-            }
-        }
-    }
-
-    // Add contact equations to solver
-    solver.addEquations(np.contactEquations);
-    solver.addEquations(np.frictionEquations);
-
-    // Add user-defined constraint equations
-    var Nconstraints = constraints.length;
-    for(i=0; i!==Nconstraints; i++){
-        var c = constraints[i];
-        c.update();
-        solver.addEquations(c.equations);
-    }
-
-    if(this.solveConstraints)
-        solver.solve(dt,this);
-
-    solver.removeAllEquations();
-
-    // Step forward
-    for(var i=0; i!==Nbodies; i++){
-        var body = bodies[i];
-
-        if(body.mass>0){
-            World.integrateBody(body,dt);
-        }
-    }
-
-    // Reset force
-    for(var i=0; i!==Nbodies; i++){
-        bodies[i].setZeroForce();
-    }
-
-    if(doProfiling){
-        t1 = now();
-        that.lastStepTime = t1-t0;
-    }
-
-    // Emit impact event
-    if(this.emitImpactEvent){
-        var ev = this.impactEvent;
-        for(var i=0; i!==np.contactEquations.length; i++){
-            var eq = np.contactEquations[i];
-            if(eq.firstImpact){
-                ev.bodyA = eq.bi;
-                ev.bodyB = eq.bj;
-                this.emit(ev);
-            }
-        }
-    }
-
-    // Increment time
-    this.time += dt;
-
-    this.emit(this.postStepEvent);
-};
-
-var ib_fhMinv = vec2.create();
-var ib_velodt = vec2.create();
-
-/**
- * Move a body forward in time.
- * @static
- * @method integrateBody
- * @param  {Body} body
- * @param  {Number} dt
- */
-World.integrateBody = function(body,dt){
-    var minv = body.invMass,
-        f = body.force,
-        pos = body.position,
-        velo = body.velocity;
-
-    // Angular step
-    if(!body.fixedRotation){
-        body.angularVelocity += body.angularForce * body.invInertia * dt;
-        body.angle += body.angularVelocity * dt;
-    }
-
-    // Linear step
-    vec2.scale(ib_fhMinv,f,dt*minv);
-    vec2.add(velo,ib_fhMinv,velo);
-    vec2.scale(ib_velodt,velo,dt);
-    vec2.add(pos,pos,ib_velodt);
-};
-
-/**
- * Runs narrowphase for the shape pair i and j.
- * @static
- * @method runNarrowphase
- * @param  {Narrowphase} np
- * @param  {Body} bi
- * @param  {Shape} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Shape} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @param  {Number} mu
- * @param  {Number} glen
- */
-World.runNarrowphase = function(np,bi,si,xi,ai,bj,sj,xj,aj,mu,glen,restitution){
-
-    if(!((si.collisionGroup & sj.collisionMask) !== 0 && (sj.collisionGroup & si.collisionMask) !== 0))
-        return;
-
-    var reducedMass = bi.invMass + bj.invMass;
-    if(reducedMass > 0)
-        reducedMass = 1/reducedMass;
-
-    var mug = mu * glen * reducedMass,
-        doFriction = mu > 0;
-
-    // Get world position and angle of each shape
-    vec2.rotate(xiw, xi, bi.angle);
-    vec2.rotate(xjw, xj, bj.angle);
-    vec2.add(xiw, xiw, bi.position);
-    vec2.add(xjw, xjw, bj.position);
-    var aiw = ai + bi.angle;
-    var ajw = aj + bj.angle;
-
-    // Run narrowphase
-    np.enableFriction = mu > 0;
-    np.slipForce = mug;
-    np.frictionCoefficient = mu;
-    np.restitution = restitution;
-
-    var resolver = np[si.type | sj.type];
-    if (resolver) {
-        if (si.type < sj.type) {
-            resolver.call(np, bi,si,xiw,aiw, bj,sj,xjw,ajw);
-        } else {
-            resolver.call(np, bj,sj,xjw,ajw, bi,si,xiw,aiw);
-        }
-    }
-};
-
-/**
- * Add a spring to the simulation
- *
- * @method addSpring
- * @param {Spring} s
- */
-World.prototype.addSpring = function(s){
-    this.springs.push(s);
-    this.addSpringEvent.spring = s;
-    this.emit(this.addSpringEvent);
-};
-
-/**
- * Remove a spring
- *
- * @method removeSpring
- * @param {Spring} s
- */
-World.prototype.removeSpring = function(s){
-    var idx = this.springs.indexOf(s);
-    if(idx===-1)
-        this.springs.splice(idx,1);
-};
-
-/**
- * Add a body to the simulation
- *
- * @method addBody
- * @param {Body} body
- *
- * @example
- *     var world = new World(),
- *         body = new Body();
- *     world.addBody(body);
- *
- */
-World.prototype.addBody = function(body){
-    this.bodies.push(body);
-    this.addBodyEvent.body = body;
-    this.emit(this.addBodyEvent);
-};
-
-/**
- * Remove a body from the simulation
- *
- * @method removeBody
- * @param {Body} body
- */
-World.prototype.removeBody = function(body){
-    var idx = this.bodies.indexOf(body);
-    if(idx!==-1){
-        this.bodies.splice(idx,1);
-        this.removeBodyEvent.body = body;
-        body.resetConstraintVelocity();
-        this.emit(this.removeBodyEvent);
-    }
-};
-
-/**
- * Get a body by its id.
- * @method getBodyById
- * @return {Body|Boolean} The body, or false if it was not found.
- */
-World.prototype.getBodyById = function(id){
-    var bodies = this.bodies;
-    for(var i=0; i<bodies.length; i++){
-        var b = bodies[i];
-        if(b.id === id)
-            return b;
-    }
-    return false;
-};
-
-/**
- * Convert the world to a JSON-serializable Object.
- *
- * @method toJSON
- * @return {Object}
- */
-World.prototype.toJSON = function(){
-    var json = {
-        p2 : currentVersion,
-        bodies : [],
-        springs : [],
-        solver : {},
-        gravity : v2a(this.gravity),
-        broadphase : {},
-        constraints : [],
-        contactMaterials : [],
-    };
-
-    // Serialize springs
-    for(var i=0; i!==this.springs.length; i++){
-        var s = this.springs[i];
-        json.springs.push({
-            bodyA : this.bodies.indexOf(s.bodyA),
-            bodyB : this.bodies.indexOf(s.bodyB),
-            stiffness : s.stiffness,
-            damping : s.damping,
-            restLength : s.restLength,
-            localAnchorA : v2a(s.localAnchorA),
-            localAnchorB : v2a(s.localAnchorB),
-        });
-    }
-
-    // Serialize constraints
-    for(var i=0; i<this.constraints.length; i++){
-        var c = this.constraints[i];
-        var jc = {
-            bodyA : this.bodies.indexOf(c.bodyA),
-            bodyB : this.bodies.indexOf(c.bodyB),
-        }
-        if(c instanceof DistanceConstraint){
-            jc.type = "DistanceConstraint";
-            jc.distance = c.distance;
-            jc.maxForce = c.getMaxForce();
-        } else if(c instanceof RevoluteConstraint){
-            jc.type = "RevoluteConstraint";
-            jc.pivotA = v2a(c.pivotA);
-            jc.pivotB = v2a(c.pivotB);
-            jc.maxForce = c.maxForce;
-            jc.motorSpeed = c.getMotorSpeed(); // False if motor is disabled, otherwise number.
-            jc.lowerLimit = c.lowerLimit;
-            jc.lowerLimitEnabled = c.lowerLimitEnabled;
-            jc.upperLimit = c.upperLimit;
-            jc.upperLimitEnabled = c.upperLimitEnabled;
-        } else if(c instanceof PrismaticConstraint){
-            jc.type = "PrismaticConstraint";
-            jc.localAxisA = v2a(c.localAxisA);
-            jc.localAnchorA = v2a(c.localAnchorA);
-            jc.localAnchorB = v2a(c.localAnchorB);
-            jc.maxForce = c.maxForce;
-        } else if(c instanceof LockConstraint){
-            jc.type = "LockConstraint";
-            jc.localOffsetB = v2a(c.localOffsetB);
-            jc.localAngleB = c.localAngleB;
-            jc.maxForce = c.maxForce;
-        } else {
-            console.error("Constraint not supported yet!");
-            continue;
-        }
-
-        json.constraints.push(jc);
-    }
-
-    // Serialize bodies
-    for(var i=0; i!==this.bodies.length; i++){
-        var b = this.bodies[i],
-            ss = b.shapes,
-            jsonShapes = [];
-
-        for(var j=0; j<ss.length; j++){
-            var s = ss[j],
-                jsonShape;
-
-            // Check type
-            if(s instanceof Circle){
-                jsonShape = {
-                    type : "Circle",
-                    radius : s.radius,
-                };
-            } else if(s instanceof Plane){
-                jsonShape = { type : "Plane", };
-            } else if(s instanceof Particle){
-                jsonShape = { type : "Particle", };
-            } else if(s instanceof Line){
-                jsonShape = {   type : "Line",
-                                length : s.length };
-            } else if(s instanceof Rectangle){
-                jsonShape = {   type : "Rectangle",
-                                width : s.width,
-                                height : s.height };
-            } else if(s instanceof Convex){
-                var verts = [];
-                for(var k=0; k<s.vertices.length; k++)
-                    verts.push(v2a(s.vertices[k]));
-                jsonShape = {   type : "Convex",
-                                verts : verts };
-            } else if(s instanceof Capsule){
-                jsonShape = {   type : "Capsule",
-                                length : s.length,
-                                radius : s.radius };
-            } else {
-                throw new Error("Shape type not supported yet!");
-            }
-
-            jsonShape.offset = v2a(b.shapeOffsets[j]);
-            jsonShape.angle = b.shapeAngles[j];
-            jsonShape.collisionGroup = s.collisionGroup;
-            jsonShape.collisionMask = s.collisionMask;
-            jsonShape.material = s.material && {
-                id : s.material.id,
-            };
-
-            jsonShapes.push(jsonShape);
-        }
-
-        json.bodies.push({
-            id : b.id,
-            mass : b.mass,
-            angle : b.angle,
-            position : v2a(b.position),
-            velocity : v2a(b.velocity),
-            angularVelocity : b.angularVelocity,
-            force : v2a(b.force),
-            shapes : jsonShapes,
-            concavePath : b.concavePath,
-        });
-    }
-
-    // Serialize contactmaterials
-    for(var i=0; i<this.contactMaterials.length; i++){
-        var cm = this.contactMaterials[i];
-        json.contactMaterials.push({
-            id : cm.id,
-            materialA :             cm.materialA.id, // Note: Reference by id!
-            materialB :             cm.materialB.id,
-            friction :              cm.friction,
-            restitution :           cm.restitution,
-            stiffness :             cm.stiffness,
-            relaxation :            cm.relaxation,
-            frictionStiffness :     cm.frictionStiffness,
-            frictionRelaxation :    cm.frictionRelaxation,
-        });
-    }
-
-    return json;
-
-    function v2a(v){
-        if(!v) return v;
-        return [v[0],v[1]];
-    }
-};
-
-/**
- * Upgrades a JSON object to current version
- * @method upgradeJSON
- * @param  {Object} json
- * @return {Object|Boolean} New json object, or false on failure.
- */
-World.upgradeJSON = function(json){
-    if(!json || !json.p2)
-        return false;
-
-    // Clone the json object
-    json = JSON.parse(JSON.stringify(json));
-
-    // Check version
-    switch(json.p2){
-
-        case currentVersion:
-            // We are at latest json version
-            return json;
-
-        case "0.3":
-            // Changes:
-            // - Started caring about versioning
-
-            // - Added LockConstraint type
-            // Can't do much about that now though. Ignore.
-
-            // Changed PrismaticConstraint arguments...
-            for(var i=0; i<json.constraints.length; i++){
-                var jc = json.constraints[i];
-                if(jc.type=="PrismaticConstraint"){
-
-                    // ...from these...
-                    delete jc.localAxisA;
-                    delete jc.localAxisB;
-
-                    // ...to these. We cant make up anything good here, just do something
-                    jc.localAxisA = [1,0];
-                    jc.localAnchorA = [0,0];
-                    jc.localAnchorB = [0,0];
-                }
-            }
-
-            // Upgrade version number
-            json.p2 = "0.4";
-            break;
-    }
-
-    return World.upgradeJSON(json);
-};
-
-/**
- * Load a scene from a serialized state in JSON format.
- *
- * @method fromJSON
- * @param  {Object} json
- * @return {Boolean} True on success, else false.
- */
-World.prototype.fromJSON = function(json){
-    this.clear();
-    json = World.upgradeJSON(json);
-
-    // Upgrade failed.
-    if(!json) return false;
-
-    if(!json.p2)
-        return false;
-
-    // Set gravity
-    vec2.copy(this.gravity, json.gravity);
-
-    var bodies = this.bodies;
-
-    // Load bodies
-    var id2material = {};
-    for(var i=0; i!==json.bodies.length; i++){
-        var jb = json.bodies[i],
-            jss = jb.shapes;
-
-        var b = new Body({
-            mass :              jb.mass,
-            position :          jb.position,
-            angle :             jb.angle,
-            velocity :          jb.velocity,
-            angularVelocity :   jb.angularVelocity,
-            force :             jb.force,
-        });
-        b.id = jb.id;
-
-        for(var j=0; j<jss.length; j++){
-            var shape, js=jss[j];
-
-            switch(js.type){
-                case "Circle":      shape = new Circle(js.radius);              break;
-                case "Plane":       shape = new Plane();                        break;
-                case "Particle":    shape = new Particle();                     break;
-                case "Line":        shape = new Line(js.length);                break;
-                case "Rectangle":   shape = new Rectangle(js.width,js.height);  break;
-                case "Convex":      shape = new Convex(js.verts);               break;
-                case "Capsule":     shape = new Capsule(js.length, js.radius);  break;
-                default:
-                    throw new Error("Shape type not supported: "+js.type);
-                    break;
-            }
-            shape.collisionMask = js.collisionMask;
-            shape.collisionGroup = js.collisionGroup;
-            shape.material = js.material;
-            if(shape.material){
-                shape.material = new Material();
-                shape.material.id = js.material.id;
-                id2material[shape.material.id+""] = shape.material;
-            }
-            b.addShape(shape,js.offset,js.angle);
-        }
-
-        if(jb.concavePath)
-            b.concavePath = jb.concavePath;
-
-        this.addBody(b);
-    }
-
-    // Load springs
-    for(var i=0; i<json.springs.length; i++){
-        var js = json.springs[i];
-        var s = new Spring(bodies[js.bodyA], bodies[js.bodyB], {
-            stiffness : js.stiffness,
-            damping : js.damping,
-            restLength : js.restLength,
-            localAnchorA : js.localAnchorA,
-            localAnchorB : js.localAnchorB,
-        });
-        this.addSpring(s);
-    }
-
-    // Load contact materials
-    for(var i=0; i<json.contactMaterials.length; i++){
-        var jm = json.contactMaterials[i];
-        var cm = new ContactMaterial(id2material[jm.materialA+""], id2material[jm.materialB+""], {
-            friction :              jm.friction,
-            restitution :           jm.restitution,
-            stiffness :             jm.stiffness,
-            relaxation :            jm.relaxation,
-            frictionStiffness :     jm.frictionStiffness,
-            frictionRelaxation :    jm.frictionRelaxation,
-        });
-        cm.id = jm.id;
-        this.addContactMaterial(cm);
-    }
-
-    // Load constraints
-    for(var i=0; i<json.constraints.length; i++){
-        var jc = json.constraints[i],
-            c;
-        switch(jc.type){
-            case "DistanceConstraint":
-                c = new DistanceConstraint(bodies[jc.bodyA], bodies[jc.bodyB], jc.distance, jc.maxForce);
-                break;
-            case "RevoluteConstraint":
-                c = new RevoluteConstraint(bodies[jc.bodyA], jc.pivotA, bodies[jc.bodyB], jc.pivotB, jc.maxForce);
-                if(jc.motorSpeed){
-                    c.enableMotor();
-                    c.setMotorSpeed(jc.motorSpeed);
-                }
-                c.lowerLimit = jc.lowerLimit || 0;
-                c.upperLimit = jc.upperLimit || 0;
-                c.lowerLimitEnabled = jc.lowerLimitEnabled || false;
-                c.upperLimitEnabled = jc.upperLimitEnabled || false;
-                break;
-            case "PrismaticConstraint":
-                c = new PrismaticConstraint(bodies[jc.bodyA], bodies[jc.bodyB], {
-                    maxForce : jc.maxForce,
-                    localAxisA : jc.localAxisA,
-                    localAnchorA : jc.localAnchorA,
-                    localAnchorB : jc.localAnchorB,
-                });
-                break;
-            case "LockConstraint":
-                c = new LockConstraint(bodies[jc.bodyA], bodies[jc.bodyB], {
-                    maxForce :     jc.maxForce,
-                    localOffsetB : jc.localOffsetB,
-                    localAngleB :  jc.localAngleB,
-                });
-                break;
-            default:
-                throw new Error("Constraint type not recognized: "+jc.type);
-        }
-        this.addConstraint(c);
-    }
-
-    return true;
-};
-
-/**
- * Resets the World, removes all bodies, constraints and springs.
- *
- * @method clear
- */
-World.prototype.clear = function(){
-
-    this.time = 0;
-
-    // Remove all solver equations
-    if(this.solver && this.solver.equations.length)
-        this.solver.removeAllEquations();
-
-    // Remove all constraints
-    var cs = this.constraints;
-    for(var i=cs.length-1; i>=0; i--){
-        this.removeConstraint(cs[i]);
-    }
-
-    // Remove all bodies
-    var bodies = this.bodies;
-    for(var i=bodies.length-1; i>=0; i--){
-        this.removeBody(bodies[i]);
-    }
-
-    // Remove all springs
-    var springs = this.springs;
-    for(var i=springs.length-1; i>=0; i--){
-        this.removeSpring(springs[i]);
-    }
-
-    // Remove all contact materials
-    var cms = this.contactMaterials;
-    for(var i=cms.length-1; i>=0; i--){
-        this.removeContactMaterial(cms[i]);
-    }
-};
-
-/**
- * Get a copy of this World instance
- * @method clone
- * @return {World}
- */
-World.prototype.clone = function(){
-    var world = new World();
-    world.fromJSON(this.toJSON());
-    return world;
-};
-
-var hitTest_tmp1 = vec2.create(),
-    hitTest_zero = vec2.fromValues(0,0),
-    hitTest_tmp2 = vec2.fromValues(0,0);
-
-/**
- * Test if a world point overlaps bodies
- * @method hitTest
- * @param  {Array}  worldPoint  Point to use for intersection tests
- * @param  {Array}  bodies      A list of objects to check for intersection
- * @param  {Number} precision   Used for matching against particles and lines. Adds some margin to these infinitesimal objects.
- * @return {Array}              Array of bodies that overlap the point
- */
-World.prototype.hitTest = function(worldPoint,bodies,precision){
-    precision = precision || 0;
-
-    // Create a dummy particle body with a particle shape to test against the bodies
-    var pb = new Body({ position:worldPoint }),
-        ps = new Particle(),
-        px = worldPoint,
-        pa = 0,
-        x = hitTest_tmp1,
-        zero = hitTest_zero,
-        tmp = hitTest_tmp2;
-    pb.addShape(ps);
-
-    var n = this.narrowphase,
-        result = [];
-
-    // Check bodies
-    for(var i=0, N=bodies.length; i!==N; i++){
-        var b = bodies[i];
-        for(var j=0, NS=b.shapes.length; j!==NS; j++){
-            var s = b.shapes[j],
-                offset = b.shapeOffsets[j] || zero,
-                angle = b.shapeAngles[j] || 0.0;
-
-            // Get shape world position + angle
-            vec2.rotate(x, offset, b.angle);
-            vec2.add(x, x, b.position);
-            var a = angle + b.angle;
-
-            if( (s instanceof Circle    && n.circleParticle  (b,s,x,a,     pb,ps,px,pa, true)) ||
-                (s instanceof Convex    && n.particleConvex  (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Plane     && n.particlePlane   (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Capsule   && n.particleCapsule (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Particle  && vec2.squaredLength(vec2.sub(tmp,x,worldPoint)) < precision*precision)
-                ){
-                result.push(b);
-            }
-        }
-    }
-
-    return result;
-};
-
-},{"../../package.json":8,"../collision/Broadphase":9,"../collision/NaiveBroadphase":11,"../collision/Narrowphase":12,"../constraints/DistanceConstraint":17,"../constraints/LockConstraint":20,"../constraints/PrismaticConstraint":21,"../constraints/RevoluteConstraint":22,"../events/EventEmitter":25,"../material/ContactMaterial":26,"../material/Material":27,"../math/vec2":30,"../objects/Body":31,"../objects/Spring":32,"../shapes/Capsule":34,"../shapes/Circle":35,"../shapes/Convex":36,"../shapes/Line":37,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Rectangle":40,"../solver/GSSolver":42}]},{},[33])
-(33)
-});
-;
\ No newline at end of file
diff --git a/build/p2.min.js b/build/p2.min.js
deleted file mode 100644
index 7283c707b3..0000000000
--- a/build/p2.min.js
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
- * The MIT License (MIT)
- * 
- * Copyright (c) 2013 p2.js authors
- * 
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- * 
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- * 
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-!function(a){"object"==typeof exports?module.exports=a():"function"==typeof define&&define.amd?define(a):"undefined"!=typeof window?window.p2=a():"undefined"!=typeof global?self.p2=a():"undefined"!=typeof self&&(self.p2=a())}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b,c){var d={},e=new Float32Array([1,0,0,1]);if(!f)var f=1e-6;d.create=function(){return new Float32Array(e)},d.clone=function(a){var b=new Float32Array(4);return b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3],b},d.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a[2]=b[2],a[3]=b[3],a},d.identity=function(a){return a[0]=1,a[1]=0,a[2]=0,a[3]=1,a},d.transpose=function(a,b){if(a===b){var c=b[1];a[1]=b[2],a[2]=c}else a[0]=b[0],a[1]=b[2],a[2]=b[1],a[3]=b[3];return a},d.invert=function(a,b){var c=b[0],d=b[1],e=b[2],f=b[3],g=c*f-e*d;return g?(g=1/g,a[0]=f*g,a[1]=-d*g,a[2]=-e*g,a[3]=c*g,a):null},d.adjoint=function(a,b){var c=b[0];return a[0]=b[3],a[1]=-b[1],a[2]=-b[2],a[3]=c,a},d.determinant=function(a){return a[0]*a[3]-a[2]*a[1]},d.multiply=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=c[0],i=c[1],j=c[2],k=c[3];return a[0]=d*h+e*j,a[1]=d*i+e*k,a[2]=f*h+g*j,a[3]=f*i+g*k,a},d.mul=d.multiply,d.rotate=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=Math.sin(c),i=Math.cos(c);return a[0]=d*i+e*h,a[1]=d*-h+e*i,a[2]=f*i+g*h,a[3]=f*-h+g*i,a},d.scale=function(a,b,c){var d=b[0],e=b[1],f=b[2],g=b[3],h=c[0],i=c[1];return a[0]=d*h,a[1]=e*i,a[2]=f*h,a[3]=g*i,a},d.str=function(a){return"mat2("+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+")"},"undefined"!=typeof c&&(c.mat2=d)},{}],2:[function(a,b,c){var d={};if(!e)var e=1e-6;d.create=function(){return new Float32Array(2)},d.clone=function(a){var b=new Float32Array(2);return b[0]=a[0],b[1]=a[1],b},d.fromValues=function(a,b){var c=new Float32Array(2);return c[0]=a,c[1]=b,c},d.copy=function(a,b){return a[0]=b[0],a[1]=b[1],a},d.set=function(a,b,c){return a[0]=b,a[1]=c,a},d.add=function(a,b,c){return a[0]=b[0]+c[0],a[1]=b[1]+c[1],a},d.subtract=function(a,b,c){return a[0]=b[0]-c[0],a[1]=b[1]-c[1],a},d.sub=d.subtract,d.multiply=function(a,b,c){return a[0]=b[0]*c[0],a[1]=b[1]*c[1],a},d.mul=d.multiply,d.divide=function(a,b,c){return a[0]=b[0]/c[0],a[1]=b[1]/c[1],a},d.div=d.divide,d.min=function(a,b,c){return a[0]=Math.min(b[0],c[0]),a[1]=Math.min(b[1],c[1]),a},d.max=function(a,b,c){return a[0]=Math.max(b[0],c[0]),a[1]=Math.max(b[1],c[1]),a},d.scale=function(a,b,c){return a[0]=b[0]*c,a[1]=b[1]*c,a},d.distance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return Math.sqrt(c*c+d*d)},d.dist=d.distance,d.squaredDistance=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d},d.sqrDist=d.squaredDistance,d.length=function(a){var b=a[0],c=a[1];return Math.sqrt(b*b+c*c)},d.len=d.length,d.squaredLength=function(a){var b=a[0],c=a[1];return b*b+c*c},d.sqrLen=d.squaredLength,d.negate=function(a,b){return a[0]=-b[0],a[1]=-b[1],a},d.normalize=function(a,b){var c=b[0],d=b[1],e=c*c+d*d;return e>0&&(e=1/Math.sqrt(e),a[0]=b[0]*e,a[1]=b[1]*e),a},d.dot=function(a,b){return a[0]*b[0]+a[1]*b[1]},d.cross=function(a,b,c){var d=b[0]*c[1]-b[1]*c[0];return a[0]=a[1]=0,a[2]=d,a},d.lerp=function(a,b,c,d){var e=b[0],f=b[1];return a[0]=e+d*(c[0]-e),a[1]=f+d*(c[1]-f),a},d.transformMat2=function(a,b,c){var d=b[0],e=b[1];return a[0]=d*c[0]+e*c[1],a[1]=d*c[2]+e*c[3],a},d.forEach=function(){var a=new Float32Array(2);return function(b,c,d,e,f,g){var h,i;for(c||(c=2),d||(d=0),i=e?Math.min(e*c+d,b.length):b.length,h=d;i>h;h+=c)a[0]=b[h],a[1]=b[h+1],f(a,a,g),b[h]=a[0],b[h+1]=a[1];return b}}(),d.str=function(a){return"vec2("+a[0]+", "+a[1]+")"},"undefined"!=typeof c&&(c.vec2=d)},{}],3:[function(a,b){function c(){}var d=a("./Scalar");b.exports=c,c.lineInt=function(a,b,c){c=c||0;var e,f,g,h,i,j,k,l=[0,0];return e=a[1][1]-a[0][1],f=a[0][0]-a[1][0],g=e*a[0][0]+f*a[0][1],h=b[1][1]-b[0][1],i=b[0][0]-b[1][0],j=h*b[0][0]+i*b[0][1],k=e*i-h*f,d.eq(k,0,c)||(l[0]=(i*g-f*j)/k,l[1]=(e*j-h*g)/k),l},c.segmentsIntersect=function(a,b,c,d){var e=b[0]-a[0],f=b[1]-a[1],g=d[0]-c[0],h=d[1]-c[1];if(g*f-h*e==0)return!1;var i=(e*(c[1]-a[1])+f*(a[0]-c[0]))/(g*f-h*e),j=(g*(a[1]-c[1])+h*(c[0]-a[0]))/(h*e-g*f);return i>=0&&1>=i&&j>=0&&1>=j}},{"./Scalar":6}],4:[function(a,b){function c(){}b.exports=c,c.area=function(a,b,c){return(b[0]-a[0])*(c[1]-a[1])-(c[0]-a[0])*(b[1]-a[1])},c.left=function(a,b,d){return c.area(a,b,d)>0},c.leftOn=function(a,b,d){return c.area(a,b,d)>=0},c.right=function(a,b,d){return c.area(a,b,d)<0},c.rightOn=function(a,b,d){return c.area(a,b,d)<=0};var d=[],e=[];c.collinear=function(a,b,f,g){if(g){var h=d,i=e;h[0]=b[0]-a[0],h[1]=b[1]-a[1],i[0]=f[0]-b[0],i[1]=f[1]-b[1];var j=h[0]*i[0]+h[1]*i[1],k=Math.sqrt(h[0]*h[0]+h[1]*h[1]),l=Math.sqrt(i[0]*i[0]+i[1]*i[1]),m=Math.acos(j/(k*l));return g>m}return 0==c.area(a,b,f)},c.sqdist=function(a,b){var c=b[0]-a[0],d=b[1]-a[1];return c*c+d*d}},{}],5:[function(a,b){function c(){this.vertices=[]}function d(a,b,c,d,e){e=e||0;var f=b[1]-a[1],h=a[0]-b[0],i=f*a[0]+h*a[1],j=d[1]-c[1],k=c[0]-d[0],l=j*c[0]+k*c[1],m=f*k-j*h;return g.eq(m,0,e)?[0,0]:[(k*i-h*l)/m,(f*l-j*i)/m]}var e=a("./Line"),f=a("./Point"),g=a("./Scalar");b.exports=c,c.prototype.at=function(a){var b=this.vertices,c=b.length;return b[0>a?a%c+c:a%c]},c.prototype.first=function(){return this.vertices[0]},c.prototype.last=function(){return this.vertices[this.vertices.length-1]},c.prototype.clear=function(){this.vertices.length=0},c.prototype.append=function(a,b,c){if("undefined"==typeof b)throw new Error("From is not given!");if("undefined"==typeof c)throw new Error("To is not given!");if(b>c-1)throw new Error("lol1");if(c>a.vertices.length)throw new Error("lol2");if(0>b)throw new Error("lol3");for(var d=b;c>d;d++)this.vertices.push(a.vertices[d])},c.prototype.makeCCW=function(){for(var a=0,b=this.vertices,c=1;c<this.vertices.length;++c)(b[c][1]<b[a][1]||b[c][1]==b[a][1]&&b[c][0]>b[a][0])&&(a=c);f.left(this.at(a-1),this.at(a),this.at(a+1))||this.reverse()},c.prototype.reverse=function(){for(var a=[],b=0,c=this.vertices.length;b!==c;b++)a.push(this.vertices.pop());this.vertices=a},c.prototype.isReflex=function(a){return f.right(this.at(a-1),this.at(a),this.at(a+1))};var h=[],i=[];c.prototype.canSee=function(a,b){var c,d,g=h,j=i;if(f.leftOn(this.at(a+1),this.at(a),this.at(b))&&f.rightOn(this.at(a-1),this.at(a),this.at(b)))return!1;d=f.sqdist(this.at(a),this.at(b));for(var k=0;k!==this.vertices.length;++k)if((k+1)%this.vertices.length!==a&&k!==a&&f.leftOn(this.at(a),this.at(b),this.at(k+1))&&f.rightOn(this.at(a),this.at(b),this.at(k))&&(g[0]=this.at(a),g[1]=this.at(b),j[0]=this.at(k),j[1]=this.at(k+1),c=e.lineInt(g,j),f.sqdist(this.at(a),c)<d))return!1;return!0},c.prototype.copy=function(a,b,d){var e=d||new c;if(e.clear(),b>a)for(var f=a;b>=f;f++)e.vertices.push(this.vertices[f]);else{for(var f=0;b>=f;f++)e.vertices.push(this.vertices[f]);for(var f=a;f<this.vertices.length;f++)e.vertices.push(this.vertices[f])}return e},c.prototype.getCutEdges=function(){for(var a=[],b=[],d=[],e=new c,f=Number.MAX_VALUE,g=0;g<this.vertices.length;++g)if(this.isReflex(g))for(var h=0;h<this.vertices.length;++h)if(this.canSee(g,h)){b=this.copy(g,h,e).getCutEdges(),d=this.copy(h,g,e).getCutEdges();for(var i=0;i<d.length;i++)b.push(d[i]);b.length<f&&(a=b,f=b.length,a.push([this.at(g),this.at(h)]))}return a},c.prototype.decomp=function(){var a=this.getCutEdges();return a.length>0?this.slice(a):[this]},c.prototype.slice=function(a){if(0==a.length)return[this];if(a instanceof Array&&a.length&&a[0]instanceof Array&&2==a[0].length&&a[0][0]instanceof Array){for(var b=[this],c=0;c<a.length;c++)for(var d=a[c],e=0;e<b.length;e++){var f=b[e],g=f.slice(d);if(g){b.splice(e,1),b.push(g[0],g[1]);break}}return b}var d=a,c=this.vertices.indexOf(d[0]),e=this.vertices.indexOf(d[1]);return-1!=c&&-1!=e?[this.copy(c,e),this.copy(e,c)]:!1},c.prototype.isSimple=function(){for(var a=this.vertices,b=0;b<a.length-1;b++)for(var c=0;b-1>c;c++)if(e.segmentsIntersect(a[b],a[b+1],a[c],a[c+1]))return!1;for(var b=1;b<a.length-2;b++)if(e.segmentsIntersect(a[0],a[a.length-1],a[b],a[b+1]))return!1;return!0},c.prototype.quickDecomp=function(a,b,e,g,h,i){h=h||100,i=i||0,g=g||25,a="undefined"!=typeof a?a:[],b=b||[],e=e||[];var j=[0,0],k=[0,0],l=[0,0],m=0,n=0,o=0,p=0,q=0,r=0,s=0,t=new c,u=new c,v=this,w=this.vertices;if(w.length<3)return a;if(i++,i>h)return console.warn("quickDecomp: max level ("+h+") reached."),a;for(var x=0;x<this.vertices.length;++x)if(v.isReflex(x)){b.push(v.vertices[x]),m=n=Number.MAX_VALUE;for(var y=0;y<this.vertices.length;++y)f.left(v.at(x-1),v.at(x),v.at(y))&&f.rightOn(v.at(x-1),v.at(x),v.at(y-1))&&(l=d(v.at(x-1),v.at(x),v.at(y),v.at(y-1)),f.right(v.at(x+1),v.at(x),l)&&(o=f.sqdist(v.vertices[x],l),n>o&&(n=o,k=l,r=y))),f.left(v.at(x+1),v.at(x),v.at(y+1))&&f.rightOn(v.at(x+1),v.at(x),v.at(y))&&(l=d(v.at(x+1),v.at(x),v.at(y),v.at(y+1)),f.left(v.at(x-1),v.at(x),l)&&(o=f.sqdist(v.vertices[x],l),m>o&&(m=o,j=l,q=y)));if(r==(q+1)%this.vertices.length)l[0]=(k[0]+j[0])/2,l[1]=(k[1]+j[1])/2,e.push(l),q>x?(t.append(v,x,q+1),t.vertices.push(l),u.vertices.push(l),0!=r&&u.append(v,r,v.vertices.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,v.vertices.length),t.append(v,0,q+1),t.vertices.push(l),u.vertices.push(l),u.append(v,r,x+1));else{if(r>q&&(q+=this.vertices.length),p=Number.MAX_VALUE,r>q)return a;for(var y=r;q>=y;++y)f.leftOn(v.at(x-1),v.at(x),v.at(y))&&f.rightOn(v.at(x+1),v.at(x),v.at(y))&&(o=f.sqdist(v.at(x),v.at(y)),p>o&&(p=o,s=y%this.vertices.length));s>x?(t.append(v,x,s+1),0!=s&&u.append(v,s,w.length),u.append(v,0,x+1)):(0!=x&&t.append(v,x,w.length),t.append(v,0,s+1),u.append(v,s,x+1))}return t.vertices.length<u.vertices.length?(t.quickDecomp(a,b,e,g,h,i),u.quickDecomp(a,b,e,g,h,i)):(u.quickDecomp(a,b,e,g,h,i),t.quickDecomp(a,b,e,g,h,i)),a}return a.push(this),a},c.prototype.removeCollinearPoints=function(a){for(var b=0,c=this.vertices.length-1;this.vertices.length>3&&c>=0;--c)f.collinear(this.at(c-1),this.at(c),this.at(c+1),a)&&(this.vertices.splice(c%this.vertices.length,1),c--,b++);return b}},{"./Line":3,"./Point":4,"./Scalar":6}],6:[function(a,b){function c(){}b.exports=c,c.eq=function(a,b,c){return c=c||0,Math.abs(a-b)<c}},{}],7:[function(a,b){b.exports={Polygon:a("./Polygon"),Point:a("./Point")}},{"./Point":4,"./Polygon":5}],8:[function(a,b){b.exports={name:"p2",version:"0.4.0",description:"A JavaScript 2D physics engine.",author:"Stefan Hedman <schteppe@gmail.com> (http://steffe.se)",keywords:["p2.js","p2","physics","engine","2d"],main:"./src/p2.js",engines:{node:"*"},repository:{type:"git",url:"https://github.com/schteppe/p2.js.git"},bugs:{url:"https://github.com/schteppe/p2.js/issues"},licenses:[{type:"MIT"}],devDependencies:{jshint:"latest",nodeunit:"latest",grunt:"~0.4.0","grunt-contrib-jshint":"~0.1.1","grunt-contrib-nodeunit":"~0.1.2","grunt-contrib-concat":"~0.1.3","grunt-contrib-uglify":"*","grunt-browserify":"*",browserify:"*"},dependencies:{underscore:"*","poly-decomp":"git://github.com/schteppe/poly-decomp.js","gl-matrix":"2.0.0",jsonschema:"*"}}},{}],9:[function(a,b){function c(){this.result=[]}var d=a("../math/vec2");b.exports=c,c.prototype.getCollisionPairs=function(){throw new Error("getCollisionPairs must be implemented in a subclass!")};var e=d.create();c.boundingRadiusCheck=function(a,b){d.sub(e,a.position,b.position);var c=d.squaredLength(e),f=a.boundingRadius+b.boundingRadius;return f*f>=c}},{"../math/vec2":30}],10:[function(a,b){function d(a,b,c,d,e,f){h.apply(this),e=e||10,f=f||10,this.binsizeX=(b-a)/e,this.binsizeY=(d-c)/f,this.nx=e,this.ny=f,this.xmin=a,this.ymin=c,this.xmax=b,this.ymax=d}{var e=a("../shapes/Circle"),f=a("../shapes/Plane"),g=a("../shapes/Particle"),h=a("../collision/Broadphase");a("../math/vec2")}b.exports=d,d.prototype=new h,d.prototype.getBinIndex=function(a,b){var c=this.nx,d=this.ny,e=this.xmin,f=this.ymin,g=this.xmax,h=this.ymax,i=Math.floor(c*(a-e)/(g-e)),j=Math.floor(d*(b-f)/(h-f));return i*d+j},d.prototype.getCollisionPairs=function(a){for(var b=[],d=a.bodies,i=i=d.length,j=this.binsizeX,k=this.binsizeY,l=[],m=nx*ny,n=0;m>n;n++)l.push([]);for(var o=nx/(xmax-xmin),p=ny/(ymax-ymin),n=0;n!==i;n++){var q=d[n],r=q.shape;if(void 0!==r)if(r instanceof e)for(var s=q.position[0],t=q.position[1],u=r.radius,v=Math.floor(o*(s-u-xmin)),w=Math.floor(p*(t-u-ymin)),x=Math.floor(o*(s+u-xmin)),y=Math.floor(p*(t+u-ymin)),z=v;x>=z;z++)for(var A=w;y>=A;A++){var B=z,C=A;B*(ny-1)+C>=0&&m>B*(ny-1)+C&&l[B*(ny-1)+C].push(q)}else{if(!(r instanceof f))throw new Error("Shape not supported in GridBroadphase!");if(0==q.angle)for(var t=q.position[1],z=0;z!==m&&t>ymin+k*(z-1);z++)for(var A=0;nx>A;A++){var B=A,C=Math.floor(p*(k*z-ymin));l[B*(ny-1)+C].push(q)}else if(q.angle==.5*Math.PI)for(var s=q.position[0],z=0;z!==m&&s>xmin+j*(z-1);z++)for(var A=0;ny>A;A++){var C=A,B=Math.floor(o*(j*z-xmin));l[B*(ny-1)+C].push(q)}else for(var z=0;z!==m;z++)l[z].push(q)}}for(var n=0;n!==m;n++)for(var D=l[n],z=0,E=D.length;z!==E;z++)for(var q=D[z],r=q.shape,A=0;A!==z;A++){var F=D[A],G=F.shape;r instanceof e?G instanceof e?c=h.circleCircle(q,F):G instanceof g?c=h.circleParticle(q,F):G instanceof f&&(c=h.circlePlane(q,F)):r instanceof g?G instanceof e&&(c=h.circleParticle(F,q)):r instanceof f&&G instanceof e&&(c=h.circlePlane(F,q))}return b}},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39}],11:[function(a,b){function c(){d.apply(this)}{var d=(a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2")}b.exports=c,c.prototype=new d,c.prototype.getCollisionPairs=function(a){var b,c,e,f,g=a.bodies,h=this.result;for(h.length=0,b=0,Ncolliding=g.length;b!==Ncolliding;b++)for(e=g[b],c=0;b>c;c++)f=g[c],d.boundingRadiusCheck(e,f)&&h.push(e,f);return h}},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Shape":41}],12:[function(a,b){function c(){this.contactEquations=[],this.frictionEquations=[],this.enableFriction=!0,this.slipForce=10,this.frictionCoefficient=.3,this.reuseObjects=!0,this.reusableContactEquations=[],this.reusableFrictionEquations=[],this.restitution=0,this.collidingBodiesLastStep={}}function d(a,b,c,d){for(var h=G,i=H,j=I,k=J,l=a,m=b.vertices,n=null,o=0;o!==m.length+1;o++){var p=m[o%m.length],q=m[(o+1)%m.length];e.rotate(h,p,d),e.rotate(i,q,d),g(h,h,c),g(i,i,c),f(j,h,l),f(k,i,l);var r=e.crossLength(j,k);if(null===n&&(n=r),0>=r*n)return!1;n=r}return!0}var e=a("../math/vec2"),f=e.sub,g=e.add,h=e.dot,i=a("../utils/Utils"),j=a("../constraints/ContactEquation"),k=a("../constraints/FrictionEquation"),l=a("../shapes/Circle"),m=a("../shapes/Shape");b.exports=c;var n=e.fromValues(0,1),o=e.fromValues(0,0),p=e.fromValues(0,0),q=e.fromValues(0,0),r=e.fromValues(0,0),s=e.fromValues(0,0),t=e.fromValues(0,0),u=e.fromValues(0,0),v=e.fromValues(0,0),w=e.fromValues(0,0),x=e.fromValues(0,0),y=e.fromValues(0,0),z=e.fromValues(0,0),A=e.fromValues(0,0),B=e.fromValues(0,0),C=e.fromValues(0,0),D=e.fromValues(0,0),E=e.fromValues(0,0),F=e.fromValues(0,0);c.prototype.collidedLastStep=function(a,b){var c=a.id,d=b.id;if(c>d){var e=c;c=d,d=e}return!!this.collidingBodiesLastStep[c+" "+d]},c.prototype.reset=function(){for(var a in this.collidingBodiesLastStep)delete this.collidingBodiesLastStep[a];for(var b=0;b!==this.contactEquations.length;b++){var c=this.contactEquations[b],d=c.bi.id,e=c.bj.id;if(d>e){var f=d;d=e,e=f}this.collidingBodiesLastStep[d+" "+e]=!0}if(this.reuseObjects){var g=this.contactEquations,h=this.frictionEquations,j=this.reusableFrictionEquations,k=this.reusableContactEquations;i.appendArray(k,g),i.appendArray(j,h)}this.contactEquations.length=this.frictionEquations.length=0},c.prototype.createContactEquation=function(a,b,c,d){var e=this.reusableContactEquations.length?this.reusableContactEquations.pop():new j(a,b);return e.bi=a,e.bj=b,e.shapeA=c,e.shapeB=d,e.restitution=this.restitution,e.firstImpact=!this.collidedLastStep(a,b),e},c.prototype.createFrictionEquation=function(a,b,c,d){var e=this.reusableFrictionEquations.length?this.reusableFrictionEquations.pop():new k(a,b);return e.bi=a,e.bj=b,e.shapeA=c,e.shapeB=d,e.setSlipForce(this.slipForce),e.frictionCoefficient=this.frictionCoefficient,e},c.prototype.createFrictionFromContact=function(a){var b=this.createFrictionEquation(a.bi,a.bj);return e.copy(b.ri,a.ri),e.copy(b.rj,a.rj),e.rotate(b.t,a.ni,-Math.PI/2),b.contactEquation=a,b},c.prototype[m.PLANE|m.LINE]=c.prototype.planeLine=function(a,b,c,d,i,j,k,l){var m=j,x=l,y=i,z=k,A=c,B=d,C=a,D=o,E=p,F=q,G=r,H=s,I=t,J=u,K=v,L=w;e.set(D,-m.length/2,0),e.set(E,m.length/2,0),e.rotate(F,D,x),e.rotate(G,E,x),g(F,F,z),g(G,G,z),e.copy(D,F),e.copy(E,G),f(H,E,D),e.normalize(I,H),e.rotate(L,I,-Math.PI/2),e.rotate(K,n,B);for(var M=[D,E],N=0;N<M.length;N++){var O=M[N];f(J,O,A);var P=h(J,K);if(0>P){var Q=this.createContactEquation(C,y,b,j);e.copy(Q.ni,K),e.normalize(Q.ni,Q.ni),e.scale(J,K,P),f(Q.ri,O,J),f(Q.ri,Q.ri,C.position),f(Q.rj,O,z),g(Q.rj,Q.rj,z),f(Q.rj,Q.rj,y.position),this.contactEquations.push(Q),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Q))}}},c.prototype[m.PARTICLE|m.CAPSULE]=c.prototype.particleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius,0)},c.prototype[m.CIRCLE|m.LINE]=c.prototype.circleLine=function(a,b,c,d,i,j,k,l,m,n,C){var D=j,E=l,F=i,G=k,H=c,I=a,J=b,n=n||0,C="undefined"!=typeof C?C:J.radius,K=o,L=p,M=q,N=r,O=s,P=t,Q=u,R=v,S=w,T=x,U=y,V=z,W=A,X=B;e.set(R,-D.length/2,0),e.set(S,D.length/2,0),e.rotate(T,R,E),e.rotate(U,S,E),g(T,T,G),g(U,U,G),e.copy(R,T),e.copy(S,U),f(P,S,R),e.normalize(Q,P),e.rotate(O,Q,-Math.PI/2),f(V,H,R);var Y=h(V,O);if(f(N,R,G),f(W,H,G),Math.abs(Y)<C+n){e.scale(K,O,Y),f(M,H,K),e.scale(L,O,h(O,W)),e.normalize(L,L),e.scale(L,L,n),g(M,M,L);var Z=h(Q,M),$=h(Q,R),_=h(Q,S);if(Z>$&&_>Z){if(m)return!0;var ab=this.createContactEquation(I,F,b,j);return e.scale(ab.ni,K,-1),e.normalize(ab.ni,ab.ni),e.scale(ab.ri,ab.ni,C),g(ab.ri,ab.ri,H),f(ab.ri,ab.ri,I.position),f(ab.rj,M,G),g(ab.rj,ab.rj,G),f(ab.rj,ab.rj,F.position),this.contactEquations.push(ab),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(ab)),!0}}for(var bb=[R,S],cb=0;cb<bb.length;cb++){var db=bb[cb];if(f(V,db,H),e.squaredLength(V)<(C+n)*(C+n)){if(m)return!0;var ab=this.createContactEquation(I,F,b,j);return e.copy(ab.ni,V),e.normalize(ab.ni,ab.ni),e.scale(ab.ri,ab.ni,C),g(ab.ri,ab.ri,H),f(ab.ri,ab.ri,I.position),f(ab.rj,db,G),e.scale(X,ab.ni,-n),g(ab.rj,ab.rj,X),g(ab.rj,ab.rj,G),f(ab.rj,ab.rj,F.position),this.contactEquations.push(ab),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(ab)),!0}}return!1},c.prototype[m.CIRCLE|m.CAPSULE]=c.prototype.circleCapsule=function(a,b,c,d,e,f,g,h,i){return this.circleLine(a,b,c,d,e,f,g,h,i,f.radius)},c.prototype[m.CIRCLE|m.CONVEX]=c.prototype.circleConvex=function(a,b,c,h,i,j,k,l,m,n){var t=j,u=l,v=i,w=k,z=c,E=a,F=b,n="number"==typeof n?n:F.radius,G=o,H=p,I=q,J=r,K=s,L=x,M=y,N=A,O=B,P=C,Q=D,R=!1,S=Number.MAX_VALUE;verts=t.vertices;for(var T=0;T!==verts.length;T++){var U=verts[T],V=verts[(T+1)%verts.length];if(e.rotate(G,U,u),e.rotate(H,V,u),g(G,G,w),g(H,H,w),f(I,H,G),e.normalize(J,I),e.rotate(K,J,-Math.PI/2),e.scale(O,K,-F.radius),g(O,O,z),d(O,t,w,u)){e.sub(P,G,O);var W=Math.abs(e.dot(P,K));S>W&&(e.copy(Q,O),S=W,e.scale(N,K,W),e.add(N,N,O),R=!0)}}if(R){var X=this.createContactEquation(E,v,b,j);return e.sub(X.ni,Q,z),e.normalize(X.ni,X.ni),e.scale(X.ri,X.ni,n),g(X.ri,X.ri,z),f(X.ri,X.ri,E.position),f(X.rj,N,w),g(X.rj,X.rj,w),f(X.rj,X.rj,v.position),this.contactEquations.push(X),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(X)),!0}if(n>0)for(var T=0;T<verts.length;T++){var Y=verts[T];if(e.rotate(M,Y,u),g(M,M,w),f(L,M,z),e.squaredLength(L)<n*n){if(m)return!0;var X=this.createContactEquation(E,v,b,j);return e.copy(X.ni,L),e.normalize(X.ni,X.ni),e.scale(X.ri,X.ni,n),g(X.ri,X.ri,z),f(X.ri,X.ri,E.position),f(X.rj,M,w),g(X.rj,X.rj,w),f(X.rj,X.rj,v.position),this.contactEquations.push(X),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(X)),!0}}return!1};var G=e.create(),H=e.create(),I=e.create(),J=e.create();c.prototype[m.PARTICLE|m.CONVEX]=c.prototype.particleConvex=function(a,b,c,i,j,k,l,m){var n=k,v=m,w=j,y=l,z=c,B=a,C=o,D=p,G=q,H=r,I=s,J=t,K=u,L=x,M=A,N=E,O=F,P=Number.MAX_VALUE,Q=!1,R=n.vertices;if(!d(z,n,y,v))return!1;for(var S=0;S!==R.length+1;S++){var T=R[S%R.length],U=R[(S+1)%R.length];e.rotate(C,T,v),e.rotate(D,U,v),g(C,C,y),g(D,D,y),f(G,D,C),e.normalize(H,G),e.rotate(I,H,-Math.PI/2),f(L,z,C);{h(L,I)}f(J,C,y),f(K,z,y),e.sub(N,C,z);var V=Math.abs(e.dot(N,I));P>V&&(P=V,e.scale(M,I,V),e.add(M,M,z),e.copy(O,I),Q=!0)}if(Q){var W=this.createContactEquation(B,w,b,k);return e.scale(W.ni,O,-1),e.normalize(W.ni,W.ni),e.set(W.ri,0,0),g(W.ri,W.ri,z),f(W.ri,W.ri,B.position),f(W.rj,M,y),g(W.rj,W.rj,y),f(W.rj,W.rj,w.position),this.contactEquations.push(W),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(W)),!0}return!1},c.prototype[m.CIRCLE]=c.prototype.circleCircle=function(a,b,c,d,h,i,j,k,l){var m=a,n=b,p=c,q=h,r=i,s=j,t=o;f(t,c,j);var u=b.radius+i.radius;if(e.squaredLength(t)>u*u)return!1;if(l)return!0;var v=this.createContactEquation(m,q,b,i);return f(v.ni,s,p),e.normalize(v.ni,v.ni),e.scale(v.ri,v.ni,n.radius),e.scale(v.rj,v.ni,-r.radius),g(v.ri,v.ri,p),f(v.ri,v.ri,m.position),g(v.rj,v.rj,s),f(v.rj,v.rj,q.position),this.contactEquations.push(v),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(v)),!0},c.prototype[m.PLANE|m.CONVEX]=c.prototype.planeConvex=function(a,b,c,d,i,j,k,l){var m=i,r=k,s=j,t=l,u=a,v=b,w=c,x=d,y=o,z=p,A=q,B=0;e.rotate(z,n,x);for(var C=0;C<s.vertices.length;C++){var D=s.vertices[C];if(e.rotate(y,D,t),g(y,y,r),f(A,y,w),h(A,z)<0){B++;var E=this.createContactEquation(u,m,v,s);f(A,y,w),e.copy(E.ni,z);var F=h(A,E.ni);if(e.scale(A,E.ni,F),f(E.rj,y,m.position),f(E.ri,y,A),f(E.ri,E.ri,u.position),this.contactEquations.push(E),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(E)),B>=2)break}}return B>0},c.prototype.convexPlane=function(a,b,c,d,e,f,g,h){return console.warn("Narrowphase.prototype.convexPlane is deprecated. Use planeConvex instead!"),this.planeConvex(e,f,g,h,a,b,c,d)},c.prototype[m.PARTICLE|m.PLANE]=c.prototype.particlePlane=function(a,b,c,d,g,i,j,k,l){var m=a,q=c,r=g,s=j,t=k,u=o,v=p;t=t||0,f(u,q,s),e.rotate(v,n,t);var w=h(u,v);if(w>0)return!1;if(l)return!0;var x=this.createContactEquation(r,m,i,b);return e.copy(x.ni,v),e.scale(u,x.ni,w),f(x.ri,q,u),f(x.ri,x.ri,r.position),f(x.rj,q,m.position),this.contactEquations.push(x),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(x)),!0},c.prototype[m.CIRCLE|m.PARTICLE]=c.prototype.circleParticle=function(a,b,c,d,h,i,j,k,l){var m=a,n=b,p=c,q=h,r=j,s=o;if(f(s,r,p),e.squaredLength(s)>n.radius*n.radius)return!1;if(l)return!0;var t=this.createContactEquation(m,q,b,i);return e.copy(t.ni,s),e.normalize(t.ni,t.ni),e.scale(t.ri,t.ni,n.radius),g(t.ri,t.ri,p),f(t.ri,t.ri,m.position),f(t.rj,r,q.position),this.contactEquations.push(t),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(t)),!0};{var K=new l(1),L=e.create(),M=e.create();e.create()}c.prototype[m.PLANE|m.CAPSULE]=c.prototype.planeCapsule=function(a,b,c,d,f,h,i,j){var k=L,l=M,m=K;e.set(k,-h.length/2,0),e.rotate(k,k,j),g(k,k,i),e.set(l,h.length/2,0),e.rotate(l,l,j),g(l,l,i),m.radius=h.radius,this.circlePlane(f,m,k,0,a,b,c,d),this.circlePlane(f,m,l,0,a,b,c,d)},c.prototype.capsulePlane=function(a,b,c,d,e,f,g,h){return console.warn("Narrowphase.prototype.capsulePlane() is deprecated. Use .planeCapsule() instead!"),this.planeCapsule(e,f,g,h,a,b,c,d)},c.prototype[m.CIRCLE|m.PLANE]=c.prototype.circlePlane=function(a,b,c,d,i,j,k,l){var m=a,r=b,s=c,t=i,u=k,v=l;v=v||0;var w=o,x=p,y=q;f(w,s,u),e.rotate(x,n,v);var z=h(x,w);if(z>r.radius)return!1;var A=this.createContactEquation(t,m,j,b);return e.copy(A.ni,x),e.scale(A.rj,A.ni,-r.radius),g(A.rj,A.rj,s),f(A.rj,A.rj,m.position),e.scale(y,A.ni,z),f(A.ri,w,y),g(A.ri,A.ri,u),f(A.ri,A.ri,t.position),this.contactEquations.push(A),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(A)),!0},c.prototype[m.CONVEX]=c.prototype.convexConvex=function(a,b,d,i,j,k,l,m){var n=o,t=p,x=q,y=r,z=s,A=u,B=v,C=w,D=c.findSeparatingAxis(b,d,i,k,l,m,n);if(!D)return!1;f(B,l,d),h(n,B)>0&&e.scale(n,n,-1);var E=c.getClosestEdge(b,i,n,!0),F=c.getClosestEdge(k,m,n);if(-1==E||-1==F)return!1;for(var G=0;2>G;G++){var H=E,I=F,J=b,K=k,L=d,M=l,N=i,O=m,P=a,Q=j;if(0==G){var R;R=H,H=I,I=R,R=J,J=K,K=R,R=L,L=M,M=R,R=N,N=O,O=R,R=P,P=Q,Q=R}for(var S=I;I+2>S;S++){var T=K.vertices[(S+K.vertices.length)%K.vertices.length];e.rotate(t,T,O),g(t,t,M);for(var U=0,V=H-1;H+2>V;V++){var W=J.vertices[(V+J.vertices.length)%J.vertices.length],X=J.vertices[(V+1+J.vertices.length)%J.vertices.length];e.rotate(x,W,N),e.rotate(y,X,N),g(x,x,L),g(y,y,L),f(z,y,x),e.rotate(C,z,-Math.PI/2),e.normalize(C,C),f(B,t,x);var Y=h(C,B);0>Y&&U++}if(3==U){var Z=this.createContactEquation(P,Q,b,k),W=J.vertices[H%J.vertices.length],X=J.vertices[(H+1)%J.vertices.length];e.rotate(x,W,N),e.rotate(y,X,N),g(x,x,L),g(y,y,L),f(z,y,x),e.rotate(Z.ni,z,-Math.PI/2),e.normalize(Z.ni,Z.ni),f(B,t,x);var Y=h(Z.ni,B);e.scale(A,Z.ni,Y),f(Z.ri,t,L),f(Z.ri,Z.ri,A),g(Z.ri,Z.ri,L),f(Z.ri,Z.ri,P.position),f(Z.rj,t,M),g(Z.rj,Z.rj,M),f(Z.rj,Z.rj,Q.position),this.contactEquations.push(Z),this.enableFriction&&this.frictionEquations.push(this.createFrictionFromContact(Z))}}}};var N=e.fromValues(0,0);c.projectConvexOntoAxis=function(a,b,c,d,f){var g,i,j=null,k=null,l=N;e.rotate(l,d,-c);for(var m=0;m<a.vertices.length;m++)g=a.vertices[m],i=h(g,l),(null===j||i>j)&&(j=i),(null===k||k>i)&&(k=i);if(k>j){var n=k;k=j,j=n}var o=h(b,d);e.set(f,k+o,j+o)};var O=e.fromValues(0,0),P=e.fromValues(0,0),Q=e.fromValues(0,0),R=e.fromValues(0,0),S=e.fromValues(0,0),T=e.fromValues(0,0);c.findSeparatingAxis=function(a,b,d,g,h,i,j){for(var k=null,l=!1,m=!1,n=O,o=P,p=Q,q=R,r=S,s=T,t=0;2!==t;t++){var u=a,v=d;1===t&&(u=g,v=i);for(var w=0;w!==u.vertices.length;w++){e.rotate(o,u.vertices[w],v),e.rotate(p,u.vertices[(w+1)%u.vertices.length],v),f(n,p,o),e.rotate(q,n,-Math.PI/2),e.normalize(q,q),c.projectConvexOntoAxis(a,b,d,q,r),c.projectConvexOntoAxis(g,h,i,q,s);var x=r,y=s,z=!1;r[0]>s[0]&&(y=r,x=s,z=!0);var A=y[0]-x[1];l=0>A,(null===k||A>k)&&(e.copy(j,q),k=A,m=l)}}return m};var U=e.fromValues(0,0),V=e.fromValues(0,0),W=e.fromValues(0,0);c.getClosestEdge=function(a,b,c,d){var g=U,i=V,j=W;e.rotate(g,c,-b),d&&e.scale(g,g,-1);for(var k=-1,l=a.vertices.length,m=Math.PI/2,n=0;n!==l;n++){f(i,a.vertices[(n+1)%l],a.vertices[n%l]),e.rotate(j,i,-m),e.normalize(j,j);var o=h(j,g);(-1==k||o>maxDot)&&(k=n%l,maxDot=o)}return k}},{"../constraints/ContactEquation":16,"../constraints/FrictionEquation":19,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Shape":41,"../utils/Utils":46}],13:[function(a,b){function c(a,b,c,f){var g;g=b?new d(a,0,c,f):new e(a,0,c,f),this.root=g}function d(a,b,c,d){this.bounds=a,this.children=[],this.nodes=[],d&&(this.maxChildren=d),c&&(this.maxDepth=c),b&&(this.depth=b)}function e(a,b,c,e){d.call(this,a,b,c,e),this.stuckChildren=[]}var f=a("../shapes/Plane"),g=a("../collision/Broadphase");b.exports={QuadTree:c,Node:d,BoundsNode:e},c.prototype.insert=function(a){if(a instanceof Array)for(var b=a.length,c=0;b>c;c++)this.root.insert(a[c]);else this.root.insert(a)},c.prototype.clear=function(){this.root.clear()},c.prototype.retrieve=function(a){var b=this.root.retrieve(a).slice(0);return b},c.prototype.getCollisionPairs=function(a){var b=[];this.insert(a.bodies);for(var c=0;c!==a.bodies.length;c++)for(var d=a.bodies[c],e=this.retrieve(d),f=0,h=e.length;f!==h;f++){var i=e[f];if(d!==i){for(var j=!1,k=0,l=b.length;l>k;k+=2){var m=b[k],n=b[k+1];if(m==i&&n==d||n==i&&m==d){j=!0;break}}!j&&g.boundingRadiusCheck(d,i)&&b.push(d,i)}}return this.clear(),b},d.prototype.classConstructor=d,d.prototype.children=null,d.prototype.depth=0,d.prototype.maxChildren=4,d.prototype.maxDepth=4,d.TOP_LEFT=0,d.TOP_RIGHT=1,d.BOTTOM_LEFT=2,d.BOTTOM_RIGHT=3,d.prototype.insert=function(a){if(this.nodes.length){var b=this.findIndex(a);return this.nodes[b].insert(a),void 0}this.children.push(a);var c=this.children.length;if(!(this.depth>=this.maxDepth)&&c>this.maxChildren){this.subdivide();for(var d=0;c>d;d++)this.insert(this.children[d]);this.children.length=0}},d.prototype.retrieve=function(a){if(this.nodes.length){var b=this.findIndex(a);return this.nodes[b].retrieve(a)}return this.children},d.prototype.findIndex=function(a){var b=this.bounds,c=a.position[0]-a.boundingRadius>b.x+b.width/2?!1:!0,e=a.position[1]-a.boundingRadius>b.y+b.height/2?!1:!0;a instanceof f&&(c=e=!1);var g=d.TOP_LEFT;return c?e||(g=d.BOTTOM_LEFT):g=e?d.TOP_RIGHT:d.BOTTOM_RIGHT,g},d.prototype.subdivide=function(){var a=this.depth+1,b=this.bounds.x,c=this.bounds.y,e=this.bounds.width/2,f=this.bounds.height/2,g=b+e,h=c+f;this.nodes[d.TOP_LEFT]=new this.classConstructor({x:b,y:c,width:e,height:f},a),this.nodes[d.TOP_RIGHT]=new this.classConstructor({x:g,y:c,width:e,height:f},a),this.nodes[d.BOTTOM_LEFT]=new this.classConstructor({x:b,y:h,width:e,height:f},a),this.nodes[d.BOTTOM_RIGHT]=new this.classConstructor({x:g,y:h,width:e,height:f},a)},d.prototype.clear=function(){this.children.length=0;for(var a=this.nodes.length,b=0;a>b;b++)this.nodes[b].clear();this.nodes.length=0},e.prototype=new d,e.prototype.classConstructor=e,e.prototype.stuckChildren=null,e.prototype.out=[],e.prototype.insert=function(a){if(this.nodes.length){var b=this.findIndex(a),c=this.nodes[b];return!(a instanceof f)&&a.position[0]-a.boundingRadius>=c.bounds.x&&a.position[0]+a.boundingRadius<=c.bounds.x+c.bounds.width&&a.position[1]-a.boundingRadius>=c.bounds.y&&a.position[1]+a.boundingRadius<=c.bounds.y+c.bounds.height?this.nodes[b].insert(a):this.stuckChildren.push(a),void 0}this.children.push(a);var d=this.children.length;if(this.depth<this.maxDepth&&d>this.maxChildren){this.subdivide();for(var e=0;d>e;e++)this.insert(this.children[e]);this.children.length=0}},e.prototype.getChildren=function(){return this.children.concat(this.stuckChildren)},e.prototype.retrieve=function(a){var b=this.out;if(b.length=0,this.nodes.length){var c=this.findIndex(a);b.push.apply(b,this.nodes[c].retrieve(a))}return b.push.apply(b,this.stuckChildren),b.push.apply(b,this.children),b},e.prototype.clear=function(){this.stuckChildren.length=0,this.children.length=0;var a=this.nodes.length;if(a){for(var b=0;a>b;b++)this.nodes[b].clear();this.nodes.length=0}}},{"../collision/Broadphase":9,"../shapes/Plane":39}],14:[function(a,b){function c(a){d.apply(this),this.axisList=a.bodies.slice(0),this.world=a,this.axisIndex=0;var b=this.axisList;a.on("addBody",function(a){b.push(a.body)}).on("removeBody",function(a){var c=b.indexOf(a.body);-1!==c&&b.splice(c,1)})}{var d=(a("../shapes/Circle"),a("../shapes/Plane"),a("../shapes/Shape"),a("../shapes/Particle"),a("../collision/Broadphase"));a("../math/vec2")}b.exports=c,c.prototype=new d,c.sortAxisListX=function(a,b){return a.position[0]-a.boundingRadius-(b.position[0]-b.boundingRadius)},c.sortAxisListY=function(a,b){return a.position[1]-a.boundingRadius-(b.position[1]-b.boundingRadius)},c.prototype.getCollisionPairs=function(){var a,b,e=this.axisList,f=this.result,g=this.axisIndex;for(f.length=0,e.sort(0===g?c.sortAxisListX:c.sortAxisListY),a=0,N=e.length;a!==N;a++){var h=e[a];for(b=a+1;N>b;b++){var i=e[b];if(!c.checkBounds(h,i,g))break;d.boundingRadiusCheck(h,i)&&f.push(h,i)}}return f},c.checkBounds=function(a,b,c){var d=a.position[c],e=a.boundingRadius,f=b.position[c],g=b.boundingRadius,h=d+e,i=f-g;
-return h>i}},{"../collision/Broadphase":9,"../math/vec2":30,"../shapes/Circle":35,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Shape":41}],15:[function(a,b){function c(a,b){this.equations=[],this.bodyA=a,this.bodyB=b}b.exports=c},{}],16:[function(a,b){function c(a,b){d.call(this,a,b,0,Number.MAX_VALUE),this.ri=e.create(),this.penetrationVec=e.create(),this.rj=e.create(),this.ni=e.create(),this.restitution=0,this.firstImpact=!1,this.shapeA=null,this.shapeB=null}{var d=a("./Equation"),e=a("../math/vec2");a("../math/mat2")}b.exports=c,c.prototype=new d,c.prototype.constructor=c,c.prototype.computeB=function(a,b,c){var d=this.bi,f=this.bj,g=this.ri,h=this.rj,i=d.position,j=f.position,k=this.penetrationVec,l=this.ni,m=this.G,n=e.crossLength(g,l),o=e.crossLength(h,l);m[0]=-l[0],m[1]=-l[1],m[2]=-n,m[3]=l[0],m[4]=l[1],m[5]=o,e.add(k,j,h),e.sub(k,k,i),e.sub(k,k,g);var p,q;this.firstImpact&&0!==this.restitution?(q=0,p=1/b*(1+this.restitution)*this.computeGW()):(p=this.computeGW(),q=e.dot(l,k));var r=this.computeGiMf(),s=-q*a-p*b-c*r;return s}},{"../math/mat2":28,"../math/vec2":30,"./Equation":18}],17:[function(a,b){function c(a,b,c,g){d.call(this,a,b),this.distance=c,"undefined"==typeof g&&(g=Number.MAX_VALUE);var h=new e(a,b,-g,g);this.equations=[h];var i=f.create();h.computeGq=function(){return f.sub(i,b.position,a.position),f.length(i)-c},this.setMaxForce(g)}var d=a("./Constraint"),e=a("./Equation"),f=a("../math/vec2");b.exports=c,c.prototype=new d;var g=f.create();c.prototype.update=function(){var a=this.equations[0],b=this.bodyA,c=this.bodyB,d=(this.distance,a.G);f.sub(g,c.position,b.position),f.normalize(g,g),d[0]=-g[0],d[1]=-g[1],d[3]=g[0],d[4]=g[1]},c.prototype.setMaxForce=function(a){var b=this.equations[0];b.minForce=-a,b.maxForce=a},c.prototype.getMaxForce=function(){var a=this.equations[0];return a.maxForce}},{"../math/vec2":30,"./Constraint":15,"./Equation":18}],18:[function(a,b){function c(a,b,c,d){this.minForce="undefined"==typeof c?-1e6:c,this.maxForce="undefined"==typeof d?1e6:d,this.bi=a,this.bj=b,this.stiffness=1e6,this.relaxation=4,this.G=new g.ARRAY_TYPE(6),this.offset=0,this.a=0,this.b=0,this.eps=0,this.h=0,this.updateSpookParams(1/60),this.multiplier=0}function d(a,b,c,d,e){return a[0]*b[0]+a[1]*b[1]+a[2]*c+a[3]*d[0]+a[4]*d[1]+a[5]*e}b.exports=c;var e=a("../math/vec2"),f=a("../math/mat2"),g=a("../utils/Utils");c.prototype.constructor=c,c.prototype.updateSpookParams=function(a){var b=this.stiffness,c=this.relaxation,d=a;this.a=4/(d*(1+4*c)),this.b=4*c/(1+4*c),this.eps=4/(d*d*b*(1+4*c)),this.h=a},c.prototype.computeB=function(a,b,c){var d=this.computeGW(),e=this.computeGq(),f=this.computeGiMf();return-e*a-d*b-f*c};var h=e.create(),i=e.create();c.prototype.computeGq=function(){var a=this.G,b=this.bi,c=this.bj,e=(b.position,c.position,b.angle),f=c.angle;return d(a,h,e,i,f)+this.offset};e.create(),e.create();c.prototype.transformedGmult=function(a,b,c,e,f){return d(a,b,c,e,f)},c.prototype.computeGW=function(){var a=this.G,b=this.bi,c=this.bj,d=b.velocity,e=c.velocity,f=b.angularVelocity,g=c.angularVelocity;return this.transformedGmult(a,d,f,e,g)},c.prototype.computeGWlambda=function(){var a=this.G,b=this.bi,c=this.bj,d=b.vlambda,e=c.vlambda,f=b.wlambda,g=c.wlambda;return this.transformedGmult(a,d,f,e,g)};var j=e.create(),k=e.create();c.prototype.computeGiMf=function(){var a=this.bi,b=this.bj,c=a.force,d=a.angularForce,f=b.force,g=b.angularForce,h=a.invMass,i=b.invMass,l=a.invInertia,m=b.invInertia,n=this.G;return e.scale(j,c,h),e.scale(k,f,i),this.transformedGmult(n,j,d*l,k,g*m)},c.prototype.computeGiMGt=function(){var a=this.bi,b=this.bj,c=a.invMass,d=b.invMass,e=a.invInertia,f=b.invInertia,g=this.G;return g[0]*g[0]*c+g[1]*g[1]*c+g[2]*g[2]*e+g[3]*g[3]*d+g[4]*g[4]*d+g[5]*g[5]*f};var l=e.create(),m=e.create(),n=e.create(),o=(e.create(),e.create(),f.create()),p=f.create();c.prototype.addToWlambda=function(a){var b=this.bi,c=this.bj,d=l,g=o,h=p,i=m,j=n,k=this.G;i[0]=k[0],i[1]=k[1],j[0]=k[3],j[1]=k[4],f.identity(g),f.identity(h),g[0]=g[3]=b.invMass,h[0]=h[3]=c.invMass,e.scale(d,e.transformMat2(d,i,g),a),e.add(b.vlambda,b.vlambda,d),e.scale(d,e.transformMat2(d,j,h),a),e.add(c.vlambda,c.vlambda,d),b.wlambda+=b.invInertia*k[2]*a,c.wlambda+=c.invInertia*k[5]*a},c.prototype.computeC=function(a){return this.computeGiMGt()+a}},{"../math/mat2":28,"../math/vec2":30,"../utils/Utils":46}],19:[function(a,b){function c(a,b,c){e.call(this,a,b,-c,c),this.ri=d.create(),this.rj=d.create(),this.t=d.create(),this.contactEquation=null,this.shapeA=null,this.shapeB=null,this.frictionCoefficient=.3}{var d=(a("../math/mat2"),a("../math/vec2")),e=a("./Equation");a("../utils/Utils")}b.exports=c,c.prototype=new e,c.prototype.constructor=c,c.prototype.setSlipForce=function(a){this.maxForce=a,this.minForce=-a},c.prototype.computeB=function(a,b,c){var e=(this.bi,this.bj,this.ri),f=this.rj,g=this.t,h=this.G;h[0]=-g[0],h[1]=-g[1],h[2]=-d.crossLength(e,g),h[3]=g[0],h[4]=g[1],h[5]=d.crossLength(f,g);var i=this.computeGW(),j=this.computeGiMf(),k=-i*b-c*j;return k}},{"../math/mat2":28,"../math/vec2":30,"../utils/Utils":46,"./Equation":18}],20:[function(a,b){function c(a,b,c){d.call(this,a,b);var g="undefined"==typeof c.maxForce?Number.MAX_VALUE:c.maxForce,h=c.localOffsetB||e.fromValues(0,0);h=e.fromValues(h[0],h[1]);var i=c.localAngleB||0,j=new f(a,b,-g,g),k=new f(a,b,-g,g),l=new f(a,b,-g,g),m=e.create(),n=e.create();j.computeGq=function(){return e.rotate(m,h,a.angle),e.sub(n,b.position,a.position),e.sub(n,n,m),n[0]},k.computeGq=function(){return e.rotate(m,h,a.angle),e.sub(n,b.position,a.position),e.sub(n,n,m),n[1]};var o=e.create(),p=e.create();l.computeGq=function(){return e.rotate(o,h,b.angle-i),e.scale(o,o,-1),e.sub(n,a.position,b.position),e.add(n,n,o),e.rotate(p,o,-Math.PI/2),e.normalize(p,p),e.dot(n,p)},this.localOffsetB=h,this.localAngleB=i,this.maxForce=g;this.equations=[j,k,l]}var d=a("./Constraint"),e=a("../math/vec2"),f=a("./Equation");b.exports=c,c.prototype=new d;var g=e.create(),h=e.create(),i=e.create(),j=e.fromValues(1,0),k=e.fromValues(0,1);c.prototype.update=function(){var a=this.equations[0],b=this.equations[1],c=this.equations[2],d=this.bodyA,f=this.bodyB;e.rotate(g,this.localOffsetB,d.angle),e.rotate(h,this.localOffsetB,f.angle-this.localAngleB),e.scale(h,h,-1),e.rotate(i,h,Math.PI/2),e.normalize(i,i),a.G[0]=-1,a.G[1]=0,a.G[2]=-e.crossLength(g,j),a.G[3]=1,b.G[0]=0,b.G[1]=-1,b.G[2]=-e.crossLength(g,k),b.G[4]=1,c.G[0]=-i[0],c.G[1]=-i[1],c.G[3]=i[0],c.G[4]=i[1],c.G[5]=e.crossLength(h,i)}},{"../math/vec2":30,"./Constraint":15,"./Equation":18}],21:[function(a,b){function c(a,b,c){c=c||{},d.call(this,a,b);var h=f.fromValues(0,0),i=f.fromValues(1,0),j=f.fromValues(0,0);c.localAnchorA&&f.copy(h,c.localAnchorA),c.localAxisA&&f.copy(i,c.localAxisA),c.localAnchorB&&f.copy(j,c.localAnchorB),this.localAnchorA=h,this.localAnchorB=j,this.localAxisA=i;var k=this.maxForce="undefined"==typeof c.maxForce?c.maxForce:Number.MAX_VALUE,l=new e(a,b,-k,k),m=new f.create,n=new f.create,o=new f.create,p=new f.create;l.computeGq=function(){return f.dot(o,p)},l.update=function(){var c=this.G,d=a.position,e=b.position;f.rotate(m,h,a.angle),f.rotate(n,j,b.angle),f.add(o,e,n),f.sub(o,o,d),f.sub(o,o,m),f.rotate(p,i,a.angle+Math.PI/2),c[0]=-p[0],c[1]=-p[1],c[2]=-f.crossLength(m,p)+f.crossLength(p,o),c[3]=p[0],c[4]=p[1],c[5]=f.crossLength(n,p)};var q=new g(a,b,-k,k);this.equations.push(l,q)}var d=a("./Constraint"),e=(a("./ContactEquation"),a("./Equation")),f=a("../math/vec2"),g=a("./RotationalLockEquation");b.exports=c,c.prototype=new d,c.prototype.update=function(){var a=this.equations,b=a[0];b.update()}},{"../math/vec2":30,"./Constraint":15,"./ContactEquation":16,"./Equation":18,"./RotationalLockEquation":23}],22:[function(a,b){function c(a,b,c,n,o){d.call(this,a,c),o="undefined"!=typeof o?o:Number.MAX_VALUE,this.pivotA=b,this.pivotB=n;var p=this.equations=[new e(a,c,-o,o),new e(a,c,-o,o)],q=p[0],r=p[1];q.computeGq=function(){return h.rotate(i,b,a.angle),h.rotate(j,n,c.angle),h.add(m,c.position,j),h.sub(m,m,a.position),h.sub(m,m,i),h.dot(m,k)},r.computeGq=function(){return h.rotate(i,b,a.angle),h.rotate(j,n,c.angle),h.add(m,c.position,j),h.sub(m,m,a.position),h.sub(m,m,i),h.dot(m,l)},r.minForce=q.minForce=-o,r.maxForce=q.maxForce=o,this.motorEquation=new f(a,c),this.motorEnabled=!1,this.lowerLimitEnabled=!1,this.upperLimitEnabled=!1,this.lowerLimit=0,this.upperLimit=0,this.upperLimitEquation=new g(a,c),this.lowerLimitEquation=new g(a,c),this.upperLimitEquation.minForce=0,this.lowerLimitEquation.maxForce=0}var d=a("./Constraint"),e=a("./Equation"),f=a("./RotationalVelocityEquation"),g=a("./RotationalLockEquation"),h=a("../math/vec2");b.exports=c;var i=h.create(),j=h.create(),k=h.fromValues(1,0),l=h.fromValues(0,1),m=h.create();c.prototype=new d,c.prototype.update=function(){var a=this.bodyA,b=this.bodyB,c=this.pivotA,d=this.pivotB,e=this.equations,f=(e[0],e[1],e[0]),g=e[1],m=this.upperLimit,n=this.lowerLimit,o=this.upperLimitEquation,p=this.lowerLimitEquation,q=this.angle=b.angle-a.angle;if(this.upperLimitEnabled&&q>m)o.angle=m,-1==e.indexOf(o)&&e.push(o);else{var r=e.indexOf(o);-1!=r&&e.splice(r,1)}if(this.lowerLimitEnabled&&n>q)p.angle=n,-1==e.indexOf(p)&&e.push(p);else{var r=e.indexOf(p);-1!=r&&e.splice(r,1)}h.rotate(i,c,a.angle),h.rotate(j,d,b.angle),f.G[0]=-1,f.G[1]=0,f.G[2]=-h.crossLength(i,k),f.G[3]=1,f.G[4]=0,f.G[5]=h.crossLength(j,k),g.G[0]=0,g.G[1]=-1,g.G[2]=-h.crossLength(i,l),g.G[3]=0,g.G[4]=1,g.G[5]=h.crossLength(j,l)},c.prototype.enableMotor=function(){this.motorEnabled||(this.equations.push(this.motorEquation),this.motorEnabled=!0)},c.prototype.disableMotor=function(){if(this.motorEnabled){var a=this.equations.indexOf(this.motorEquation);this.equations.splice(a,1),this.motorEnabled=!1}},c.prototype.motorIsEnabled=function(){return!!this.motorEnabled},c.prototype.setMotorSpeed=function(a){if(this.motorEnabled){var b=this.equations.indexOf(this.motorEquation);this.equations[b].relativeVelocity=a}},c.prototype.getMotorSpeed=function(){return this.motorEnabled?this.motorEquation.relativeVelocity:!1}},{"../math/vec2":30,"./Constraint":15,"./Equation":18,"./RotationalLockEquation":23,"./RotationalVelocityEquation":24}],23:[function(a,b){function c(a,b,c){c=c||{},d.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.angle=c.angle||0;var e=this.G;e[2]=1,e[5]=-1}var d=a("./Equation"),e=a("../math/vec2");b.exports=c,c.prototype=new d,c.prototype.constructor=c;var f=e.create(),g=e.create(),h=e.fromValues(1,0),i=e.fromValues(0,1);c.prototype.computeGq=function(){return e.rotate(f,h,this.bi.angle+this.angle),e.rotate(g,i,this.bj.angle),e.dot(f,g)}},{"../math/vec2":30,"./Equation":18}],24:[function(a,b){function c(a,b){d.call(this,a,b,-Number.MAX_VALUE,Number.MAX_VALUE),this.relativeVelocity=1,this.ratio=1}{var d=a("./Equation");a("../math/vec2")}b.exports=c,c.prototype=new d,c.prototype.constructor=c,c.prototype.computeB=function(a,b,c){var d=this.G;d[2]=-1,d[5]=this.ratio;var e=this.computeGiMf(),f=this.computeGW()+this.relativeVelocity,g=-f*b-c*e;return g}},{"../math/vec2":30,"./Equation":18}],25:[function(a,b){var c=function(){};b.exports=c,c.prototype={constructor:c,on:function(a,b){void 0===this._listeners&&(this._listeners={});var c=this._listeners;return void 0===c[a]&&(c[a]=[]),-1===c[a].indexOf(b)&&c[a].push(b),this},has:function(a,b){if(void 0===this._listeners)return!1;var c=this._listeners;return void 0!==c[a]&&-1!==c[a].indexOf(b)?!0:!1},off:function(a,b){if(void 0!==this._listeners){var c=this._listeners,d=c[a].indexOf(b);return-1!==d&&c[a].splice(d,1),this}},emit:function(a){if(void 0!==this._listeners){var b=this._listeners,c=b[a.type];if(void 0!==c){a.target=this;for(var d=0,e=c.length;e>d;d++)c[d].call(this,a)}return this}}}},{}],26:[function(a,b){function c(a,b,c){c=c||{},this.id=d++,this.materialA=a,this.materialB=b,this.friction="undefined"!=typeof c.friction?Number(c.friction):.3,this.restitution="undefined"!=typeof c.restitution?Number(c.restitution):0,this.stiffness="undefined"!=typeof c.stiffness?Number(c.stiffness):1e7,this.relaxation="undefined"!=typeof c.relaxation?Number(c.relaxation):3,this.frictionStiffness="undefined"!=typeof c.frictionStiffness?Number(c.frictionStiffness):1e7,this.frictionRelaxation="undefined"!=typeof c.frictionRelaxation?Number(c.frictionRelaxation):3}b.exports=c;var d=0},{}],27:[function(a,b){function c(){this.id=d++}b.exports=c;var d=0},{}],28:[function(a,b){var c=a("../../node_modules/gl-matrix/src/gl-matrix/mat2").mat2;b.exports=c},{"../../node_modules/gl-matrix/src/gl-matrix/mat2":1}],29:[function(a,b){var c={};c.GetArea=function(a){if(a.length<6)return 0;for(var b=a.length-2,c=0,d=0;b>d;d+=2)c+=(a[d+2]-a[d])*(a[d+1]+a[d+3]);return c+=(a[0]-a[b])*(a[b+1]+a[1]),.5*-c},c.Triangulate=function(a){var b=a.length>>1;if(3>b)return[];for(var d=[],e=[],f=0;b>f;f++)e.push(f);for(var f=0,g=b;g>3;){var h=e[(f+0)%g],i=e[(f+1)%g],j=e[(f+2)%g],k=a[2*h],l=a[2*h+1],m=a[2*i],n=a[2*i+1],o=a[2*j],p=a[2*j+1],q=!1;if(c._convex(k,l,m,n,o,p)){q=!0;for(var r=0;g>r;r++){var s=e[r];if(s!=h&&s!=i&&s!=j&&c._PointInTriangle(a[2*s],a[2*s+1],k,l,m,n,o,p)){q=!1;break}}}if(q)d.push(h,i,j),e.splice((f+1)%g,1),g--,f=0;else if(f++>3*g)break}return d.push(e[0],e[1],e[2]),d},c._PointInTriangle=function(a,b,c,d,e,f,g,h){var i=g-c,j=h-d,k=e-c,l=f-d,m=a-c,n=b-d,o=i*i+j*j,p=i*k+j*l,q=i*m+j*n,r=k*k+l*l,s=k*m+l*n,t=1/(o*r-p*p),u=(r*q-p*s)*t,v=(o*s-p*q)*t;return u>=0&&v>=0&&1>u+v},c._convex=function(a,b,c,d,e,f){return(b-d)*(e-c)+(c-a)*(f-d)>=0},b.exports=c},{}],30:[function(a,b){var c=a("../../node_modules/gl-matrix/src/gl-matrix/vec2").vec2;c.getX=function(a){return a[0]},c.getY=function(a){return a[1]},c.crossLength=function(a,b){return a[0]*b[1]-a[1]*b[0]},c.crossVZ=function(a,b,d){return c.rotate(a,b,-Math.PI/2),c.scale(a,a,d),a},c.crossZV=function(a,b,d){return c.rotate(a,d,Math.PI/2),c.scale(a,a,b),a},c.rotate=function(a,b,c){var d=Math.cos(c),e=Math.sin(c),f=b[0],g=b[1];a[0]=d*f-e*g,a[1]=e*f+d*g},c.toLocalFrame=function(a,b,d,e){c.copy(a,b),c.sub(a,a,d),c.rotate(a,a,-e)},c.toGlobalFrame=function(a,b,d,e){c.copy(a,b),c.rotate(a,a,e),c.add(a,a,d)},c.centroid=function(a,b,d,e){return c.add(a,b,d),c.add(a,a,e),c.scale(a,a,1/3),a},b.exports=c},{"../../node_modules/gl-matrix/src/gl-matrix/vec2":2}],31:[function(a,b){function c(a){a=a||{},this.id=++c._idCounter,this.shapes=[],this.shapeOffsets=[],this.shapeAngles=[],this.mass=a.mass||0,this.invMass=0,this.inertia=0,this.invInertia=0,this.fixedRotation=!!a.fixedRotation||!1,this.updateMassProperties(),this.position=d.fromValues(0,0),a.position&&d.copy(this.position,a.position),this.velocity=d.fromValues(0,0),a.velocity&&d.copy(this.velocity,a.velocity),this.vlambda=d.fromValues(0,0),this.wlambda=0,this.angle=a.angle||0,this.angularVelocity=a.angularVelocity||0,this.force=d.create(),a.force&&d.copy(this.force,a.force),this.angularForce=a.angularForce||0,this.damping="number"==typeof a.damping?a.damping:.1,this.angularDamping="number"==typeof a.angularDamping?a.angularDamping:.1,this.motionState=0==this.mass?c.STATIC:c.DYNAMIC,this.boundingRadius=0,this.concavePath=null,this.lastDampingScale=1,this.lastAngularDampingScale=1,this.lastDampingTimeStep=-1}var d=a("../math/vec2"),e=a("poly-decomp"),f=a("../shapes/Convex");b.exports=c;var g=d.fromValues(0,0);c._idCounter=0,c.prototype.updateBoundingRadius=function(){for(var a=this.shapes,b=this.shapeOffsets,c=a.length,e=0,f=0;f!==c;f++){var h=a[f],i=d.length(b[f]||g),j=h.boundingRadius;i+j>e&&(e=i+j)}this.boundingRadius=e},c.prototype.addShape=function(a,b,c){c=c||0,b=b?d.fromValues(b[0],b[1]):d.fromValues(0,0),this.shapes.push(a),this.shapeOffsets.push(b),this.shapeAngles.push(c),this.updateMassProperties(),this.updateBoundingRadius()},c.prototype.removeShape=function(a){var b=this.shapes.indexOf(a);return-1!=b?(this.shapes.splice(b,1),this.shapeOffsets.splice(b,1),this.shapeAngles.splice(b,1),!0):!1},c.prototype.updateMassProperties=function(){var a=this.shapes,b=a.length,c=this.mass/b,e=0;if(!this.fixedRotation)for(var f=0;b>f;f++){var h=a[f],i=d.squaredLength(this.shapeOffsets[f]||g),j=h.computeMomentOfInertia(c);e+=j+c*i}this.inertia=e,this.invMass=this.mass>0?1/this.mass:0,this.invInertia=e>0?1/e:0};var h=d.create();c.prototype.applyForce=function(a,b){var c=h;d.sub(c,b,this.position),d.add(this.force,this.force,a);var e=d.crossLength(c,a);this.angularForce+=e},c.prototype.toLocalFrame=function(a,b){d.toLocalFrame(a,b,this.position,this.angle)},c.prototype.toWorldFrame=function(a,b){d.toGlobalFrame(a,b,this.position,this.angle)},c.prototype.fromPolygon=function(a,b){b=b||{};for(var c=this.shapes.length;c>=0;--c)this.removeShape(this.shapes[c]);var g=new e.Polygon;if(g.vertices=a,g.makeCCW(),"number"==typeof b.removeCollinearPoints&&g.removeCollinearPoints(b.removeCollinearPoints),"undefined"==typeof b.skipSimpleCheck&&!g.isSimple())return!1;this.concavePath=g.vertices.slice(0);for(var c=0;c<this.concavePath.length;c++){var h=[0,0];d.copy(h,this.concavePath[c]),this.concavePath[c]=h}var i;i=b.optimalDecomp?g.decomp():g.quickDecomp();for(var j=d.create(),c=0;c!==i.length;c++){for(var k=new f(i[c].vertices),l=0;l!==k.vertices.length;l++){var h=k.vertices[l];d.sub(h,h,k.centerOfMass)}d.scale(j,k.centerOfMass,1),k.updateTriangles(),k.updateCenterOfMass(),k.updateBoundingRadius(),this.addShape(k,j)}return this.adjustCenterOfMass(),!0};var i=d.fromValues(0,0),j=d.fromValues(0,0),k=d.fromValues(0,0),l=d.fromValues(0,0);c.prototype.adjustCenterOfMass=function(){var a=i,b=j,c=k,e=l,f=0;d.set(c,0,0),d.set(a,0,0);for(var g=0;g!==this.shapes.length;g++){var h=this.shapes[g],m=this.shapeOffsets[g]||a;d.scale(b,m,h.area),d.add(c,c,b),f+=h.area}d.scale(e,c,1/f);for(var g=0;g!==this.shapes.length;g++){var h=this.shapes[g],m=this.shapeOffsets[g];m||(m=this.shapeOffsets[g]=d.create()),d.sub(m,m,e)}d.add(this.position,this.position,e);for(var g=0;this.concavePath&&g<this.concavePath.length;g++)d.sub(this.concavePath[g],this.concavePath[g],e);this.updateMassProperties(),this.updateBoundingRadius()},c.prototype.setZeroForce=function(){d.set(this.force,0,0),this.angularForce=0},c.prototype.resetConstraintVelocity=function(){var a=this,b=a.vlambda;d.set(b,0,0),a.wlambda=0},c.prototype.addConstraintVelocity=function(){var a=this,b=a.velocity;d.add(b,b,a.vlambda),a.angularVelocity+=a.wlambda},c.prototype.applyDamping=function(a){if(this.motionState&c.DYNAMIC){a!=this.lastDampingTimeStep&&(this.lastDampingScale=Math.pow(1-this.damping,a),this.lastAngularDampingScale=Math.pow(1-this.angularDamping,a),this.lastDampingTimeStep=a);var b=this.velocity;d.scale(b,b,this.lastDampingScale),this.angularVelocity*=this.lastAngularDampingScale}},c.DYNAMIC=1,c.STATIC=2,c.KINEMATIC=4},{"../math/vec2":30,"../shapes/Convex":36,"poly-decomp":7}],32:[function(a,b){function c(a,b,c){c=c||{},this.restLength="number"==typeof c.restLength?c.restLength:1,this.stiffness=c.stiffness||100,this.damping=c.damping||1,this.bodyA=a,this.bodyB=b,this.localAnchorA=d.fromValues(0,0),this.localAnchorB=d.fromValues(0,0),c.localAnchorA&&d.copy(this.localAnchorA,c.localAnchorA),c.localAnchorB&&d.copy(this.localAnchorB,c.localAnchorB),c.worldAnchorA&&this.setWorldAnchorA(c.worldAnchorA),c.worldAnchorB&&this.setWorldAnchorB(c.worldAnchorB)}var d=a("../math/vec2");b.exports=c,c.prototype.setWorldAnchorA=function(a){this.bodyA.toLocalFrame(this.localAnchorA,a)},c.prototype.setWorldAnchorB=function(a){this.bodyB.toLocalFrame(this.localAnchorB,a)},c.prototype.getWorldAnchorA=function(a){this.bodyA.toWorldFrame(a,this.localAnchorA)},c.prototype.getWorldAnchorB=function(a){this.bodyB.toWorldFrame(a,this.localAnchorB)};var e=d.create(),f=d.create(),g=d.create(),h=d.create(),i=d.create(),j=d.create(),k=d.create(),l=d.create(),m=d.create();c.prototype.applyForce=function(){var a=this.stiffness,b=this.damping,c=this.restLength,n=this.bodyA,o=this.bodyB,p=e,q=f,r=g,s=h,t=m,u=i,v=j,w=k,x=l;this.getWorldAnchorA(u),this.getWorldAnchorB(v),d.sub(w,u,n.position),d.sub(x,v,o.position),d.sub(p,v,u);var y=d.len(p);d.normalize(q,p),d.sub(r,o.velocity,n.velocity),d.crossZV(t,o.angularVelocity,x),d.add(r,r,t),d.crossZV(t,n.angularVelocity,w),d.sub(r,r,t),d.scale(s,q,-a*(y-c)-b*d.dot(r,q)),d.sub(n.force,n.force,s),d.add(o.force,o.force,s);var z=d.crossLength(w,s),A=d.crossLength(x,s);n.angularForce-=z,o.angularForce+=A}},{"../math/vec2":30}],33:[function(a,b){b.exports={Body:a("./objects/Body"),Broadphase:a("./collision/Broadphase"),Capsule:a("./shapes/Capsule"),Circle:a("./shapes/Circle"),Constraint:a("./constraints/Constraint"),ContactEquation:a("./constraints/ContactEquation"),ContactMaterial:a("./material/ContactMaterial"),Convex:a("./shapes/Convex"),DistanceConstraint:a("./constraints/DistanceConstraint"),Equation:a("./constraints/Equation"),EventEmitter:a("./events/EventEmitter"),FrictionEquation:a("./constraints/FrictionEquation"),GridBroadphase:a("./collision/GridBroadphase"),GSSolver:a("./solver/GSSolver"),Island:a("./solver/IslandSolver"),IslandSolver:a("./solver/IslandSolver"),Line:a("./shapes/Line"),LockConstraint:a("./constraints/LockConstraint"),Material:a("./material/Material"),NaiveBroadphase:a("./collision/NaiveBroadphase"),Particle:a("./shapes/Particle"),Plane:a("./shapes/Plane"),RevoluteConstraint:a("./constraints/RevoluteConstraint"),PrismaticConstraint:a("./constraints/PrismaticConstraint"),Rectangle:a("./shapes/Rectangle"),RotationalVelocityEquation:a("./constraints/RotationalVelocityEquation"),SAP1DBroadphase:a("./collision/SAP1DBroadphase"),Shape:a("./shapes/Shape"),Solver:a("./solver/Solver"),Spring:a("./objects/Spring"),Utils:a("./utils/Utils"),World:a("./world/World"),QuadTree:a("./collision/QuadTree").QuadTree,vec2:a("./math/vec2"),version:a("../package.json").version}},{"../package.json":8,"./collision/Broadphase":9,"./collision/GridBroadphase":10,"./collision/NaiveBroadphase":11,"./collision/QuadTree":13,"./collision/SAP1DBroadphase":14,"./constraints/Constraint":15,"./constraints/ContactEquation":16,"./constraints/DistanceConstraint":17,"./constraints/Equation":18,"./constraints/FrictionEquation":19,"./constraints/LockConstraint":20,"./constraints/PrismaticConstraint":21,"./constraints/RevoluteConstraint":22,"./constraints/RotationalVelocityEquation":24,"./events/EventEmitter":25,"./material/ContactMaterial":26,"./material/Material":27,"./math/vec2":30,"./objects/Body":31,"./objects/Spring":32,"./shapes/Capsule":34,"./shapes/Circle":35,"./shapes/Convex":36,"./shapes/Line":37,"./shapes/Particle":38,"./shapes/Plane":39,"./shapes/Rectangle":40,"./shapes/Shape":41,"./solver/GSSolver":42,"./solver/IslandSolver":44,"./solver/Solver":45,"./utils/Utils":46,"./world/World":47}],34:[function(a,b){function c(a,b){this.length=a||1,this.radius=b||1,d.call(this,d.CAPSULE)}{var d=a("./Shape");a("../math/vec2")}b.exports=c,c.prototype=new d,c.prototype.computeMomentOfInertia=function(a){var b=this.radius,c=this.length+b,d=2*b;return a*(d*d+c*c)/12},c.prototype.updateBoundingRadius=function(){this.boundingRadius=this.radius+this.length/2}},{"../math/vec2":30,"./Shape":41}],35:[function(a,b){function c(a){this.radius=a||1,d.call(this,d.CIRCLE)}var d=a("./Shape");b.exports=c,c.prototype=new d,c.prototype.computeMomentOfInertia=function(a){var b=this.radius;return a*b*b/2},c.prototype.updateBoundingRadius=function(){this.boundingRadius=this.radius}},{"./Shape":41}],36:[function(a,b){function c(a){this.vertices=a||[];for(var b=0;b<this.vertices.length;b++){var c=e.fromValues();e.copy(c,this.vertices[b]),this.vertices[b]=c}this.centerOfMass=e.fromValues(0,0),this.triangles=[],this.vertices.length&&(this.updateTriangles(),this.updateCenterOfMass()),this.boundingRadius=0,this.updateBoundingRadius(),d.call(this,d.CONVEX)}var d=a("./Shape"),e=a("../math/vec2"),f=a("../math/polyk"),g=a("poly-decomp");b.exports=c,c.prototype=new d,c.prototype.updateTriangles=function(){this.triangles.length=0;for(var a=[],b=0;b<this.vertices.length;b++){var c=this.vertices[b];a.push(c[0],c[1])}for(var d=f.Triangulate(a),b=0;b<d.length;b+=3){var e=d[b],g=d[b+1],h=d[b+2];this.triangles.push([e,g,h])}};{var h=e.create(),i=e.create(),j=e.create(),k=e.create(),l=e.create();e.create(),e.create(),e.create(),e.create()}c.prototype.updateCenterOfMass=function(){var a=this.triangles,b=this.vertices,c=this.centerOfMass,d=h,f=j,m=k,n=l,o=i;e.set(c,0,0);for(var p=0,q=0;q!==a.length;q++){var r=a[q],f=b[r[0]],m=b[r[1]],n=b[r[2]];e.centroid(d,f,m,n);var s=g.Point.area(f,m,n);p+=s,e.scale(o,d,s),e.add(c,c,o)}e.scale(c,c,1/p)},c.prototype.computeMomentOfInertia=function(a){for(var b=0,c=[],d=0;d<this.vertices.length;d++){var h=this.vertices[d];c.push(h[0],h[1])}{var i=f.Triangulate(c);f.GetArea(c)}this.updateArea();for(var j=a/this.area,k=e.create(),l=e.create(),m=e.create(),n=e.create(),o=(e.create(),e.create(),e.create()),p=e.create(),d=(e.create(),0);d<i.length;d+=3){var q=i[d],r=i[d+1],s=i[d+2];e.set(k,c[2*q],c[2*q+1]),e.set(l,c[2*r],c[2*r+1]),e.set(m,c[2*s],c[2*s+1]),e.centroid(n,k,l,m),e.sub(o,m,k),e.sub(p,m,l);var t=g.Point.area(k,l,m),u=e.length(o),v=2*t/u,w=t*j,x=w*u*Math.pow(v,3)/36,y=e.squaredLength(n);b+=x+w*y}return b},c.prototype.updateBoundingRadius=function(){for(var a=this.vertices,b=0,c=0;c!==a.length;c++){var d=e.squaredLength(a[c]);d>b&&(b=d)}this.boundingRadius=Math.sqrt(b)},c.prototype.updateArea=function(){this.updateTriangles(),this.area=0;for(var a=this.triangles,b=this.vertices,c=0;c!==a.length;c++){var d=a[c],e=b[d[0]],f=b[d[1]],h=b[d[2]],i=g.Point.area(e,f,h);this.area+=i}}},{"../math/polyk":29,"../math/vec2":30,"./Shape":41,"poly-decomp":7}],37:[function(a,b){function c(a){this.length=a,d.call(this,d.LINE)}var d=a("./Shape");b.exports=c,c.prototype=new d,c.prototype.computeMomentOfInertia=function(a){return a*Math.pow(this.length,2)/12},c.prototype.updateBoundingRadius=function(){this.boundingRadius=this.length/2}},{"./Shape":41}],38:[function(a,b){function c(){d.call(this,d.PARTICLE)}var d=a("./Shape");b.exports=c,c.prototype=new d,c.prototype.computeMomentOfInertia=function(){return 0},c.prototype.updateBoundingRadius=function(){this.boundingRadius=0}},{"./Shape":41}],39:[function(a,b){function c(){d.call(this,d.PLANE)}var d=a("./Shape");b.exports=c,c.prototype=new d,c.prototype.computeMomentOfInertia=function(){return 0},c.prototype.updateBoundingRadius=function(){this.boundingRadius=Number.MAX_VALUE}},{"./Shape":41}],40:[function(a,b){function c(a,b){var c=[d.fromValues(-a/2,-b/2),d.fromValues(a/2,-b/2),d.fromValues(a/2,b/2),d.fromValues(-a/2,b/2)];this.width=a,this.height=b,e.call(this,c)}var d=a("../math/vec2"),e=(a("./Shape"),a("./Convex"));b.exports=c,c.prototype=new e,c.prototype.computeMomentOfInertia=function(a){var b=this.width,c=this.height;return a*(c*c+b*b)/12},c.prototype.updateBoundingRadius=function(){var a=this.width,b=this.height;this.boundingRadius=Math.sqrt(a*a+b*b)/2}},{"../math/vec2":30,"./Convex":36,"./Shape":41}],41:[function(a,b){function c(a){this.type=a,this.boundingRadius=0,this.collisionGroup=1,this.collisionMask=1,a&&this.updateBoundingRadius(),this.material=null,this.area=0,this.updateArea()}b.exports=c,c.CIRCLE=1,c.PARTICLE=2,c.PLANE=4,c.CONVEX=8,c.LINE=16,c.RECTANGLE=32,c.CAPSULE=64,c.prototype.computeMomentOfInertia=function(){throw new Error("Shape.computeMomentOfInertia is not implemented in this Shape...")},c.prototype.updateBoundingRadius=function(){throw new Error("Shape.updateBoundingRadius is not implemented in this Shape...")},c.prototype.updateArea=function(){},c.prototype.computeAABB=function(){}},{}],42:[function(a,b){function c(a){e.call(this,a),a=a||{},this.iterations=a.iterations||10,this.tolerance=a.tolerance||0,this.debug=a.debug||!1,this.arrayStep=30,this.lambda=new f.ARRAY_TYPE(this.arrayStep),this.Bs=new f.ARRAY_TYPE(this.arrayStep),this.invCs=new f.ARRAY_TYPE(this.arrayStep),this.useGlobalEquationParameters=!0,this.stiffness=1e6,this.relaxation=4,this.useZeroRHS=!1,this.skipFrictionIterations=2}var d=a("../math/vec2"),e=a("./Solver"),f=a("../utils/Utils"),g=a("../constraints/FrictionEquation");b.exports=c,c.prototype=new e,c.prototype.solve=function(a,b){this.sortEquations();var e=0,h=this.iterations,i=this.skipFrictionIterations,j=this.tolerance*this.tolerance,k=this.equations,l=k.length,m=b.bodies,n=b.bodies.length,o=a,p=this.relaxation,q=this.stiffness,r=4/(o*o*q*(1+4*p)),s=4/(o*(1+4*p)),t=4*p/(1+4*p),u=this.useGlobalEquationParameters,v=(d.add,d.set,this.useZeroRHS);this.lambda.length<l&&(this.lambda=new f.ARRAY_TYPE(l+this.arrayStep),this.Bs=new f.ARRAY_TYPE(l+this.arrayStep),this.invCs=new f.ARRAY_TYPE(l+this.arrayStep));for(var w=this.invCs,x=this.Bs,y=this.lambda,z=0;z!==l;z++){var A=k[z];y[z]=0;var B=s,C=t,D=r;u||(o!==A.h&&A.updateSpookParams(o),B=A.a,C=A.b,D=A.eps),x[z]=A.computeB(B,C,o),w[z]=1/A.computeC(D)}var A,E,F;if(0!==l){var z,G;for(z=0;z!==n;z++)m[z].resetConstraintVelocity();for(e=0;e!==h;e++){for(F=0,G=0;G!==l;G++)if(A=k[G],!(A instanceof g&&i>e)){var D=u?r:A.eps,E=c.iterateEquation(G,A,D,x,w,y,v,a);0!==j&&(F+=Math.abs(E))}if(0!==j&&j>=F*F)break}for(z=0;z!==n;z++)m[z].addConstraintVelocity()}errorTot=F},c.iterateEquation=function(a,b,c,d,e,f,h,i){var j=d[a],k=e[a],l=f[a],m=b.computeGWlambda(c);b instanceof g&&(b.maxForce=b.contactEquation.multiplier*b.frictionCoefficient*i,b.minForce=-b.contactEquation.multiplier*b.frictionCoefficient*i);var n=b.maxForce,o=b.minForce;h&&(j=0);var p=k*(j-m-c*l),q=l+p;return o>q?p=o-l:q>n&&(p=n-l),f[a]+=p,b.multiplier=f[a]/i,b.addToWlambda(p),p}},{"../constraints/FrictionEquation":19,"../math/vec2":30,"../utils/Utils":46,"./Solver":45}],43:[function(a,b){function c(){this.equations=[],this.bodies=[]}b.exports=c,c.prototype.reset=function(){this.equations.length=this.bodies.length=0},c.prototype.getBodies=function(){for(var a=[],b=[],c=this.equations,d=0;d!==c.length;d++){var e=c[d];-1===b.indexOf(e.bi.id)&&(a.push(e.bi),b.push(e.bi.id)),-1===b.indexOf(e.bj.id)&&(a.push(e.bj),b.push(e.bj.id))}return a},c.prototype.solve=function(a,b){var c=[];b.removeAllEquations();for(var d=this.equations.length,e=0;e!==d;e++)b.addEquation(this.equations[e]);for(var f=this.getBodies(),g=f.length,e=0;e!==g;e++)c.push(f[e]);b.solve(a,{bodies:c})}},{}],44:[function(a,b){function c(a,b){f.call(this,b);this.subsolver=a,this.numIslands=0,this._nodePool=[],this.beforeSolveIslandEvent={type:"beforeSolveIsland",island:null}}function d(a){for(var b=a.length,c=0;c!==b;c++){var d=a[c];if(!(d.visited||d.body.motionState&i))return d}return!1}function e(a,b){var c=[];for(c.push(a),a.visited=!0,b(a);c.length;)for(var e,f=c.pop();e=d(f.children);)e.visited=!0,b(e),c.push(e)}var f=a("./Solver"),g=(a("../math/vec2"),a("../solver/Island")),h=a("../objects/Body"),i=h.STATIC;b.exports=c,c.prototype=new f,c.prototype.solve=function(a,b){function c(a){v.push(a.body);for(var b=a.eqs.length,c=0;c!==b;c++){var d=a.eqs[c];-1===u.indexOf(d)&&u.push(d)}}for(var f=[],h=b.bodies,i=this.equations,j=i.length,k=h.length,l=(this.subsolver,this._workers,this._workerData,this._workerIslandGroups,0);l!==k;l++)this._nodePool.length?f.push(this._nodePool.pop()):f.push({body:h[l],children:[],eqs:[],visited:!1});for(var l=0;l!==k;l++){var m=f[l];m.body=h[l],m.children.length=0,m.eqs.length=0,m.visited=!1}for(var n=0;n!==j;n++){var o=i[n],l=h.indexOf(o.bi),p=h.indexOf(o.bj),q=f[l],r=f[p];q.children.push(r),q.eqs.push(o),r.children.push(q),r.eqs.push(o)}for(var s,t=0,u=[],v=[],w=[];s=d(f);){var x=new g;u.length=0,v.length=0,e(s,c);for(var y=u.length,l=0;l!==y;l++){var o=u[l];x.equations.push(o)}t++,w.push(x)}this.numIslands=t;for(var z=this.beforeSolveIslandEvent,l=0;l<w.length;l++){var x=w[l];z.island=x,this.emit(z),x.solve(a,this.subsolver)}}},{"../math/vec2":30,"../objects/Body":31,"../solver/Island":43,"./Solver":45}],45:[function(a,b){function c(a){a=a||{},e.call(this),this.equations=[],this.equationSortFunction=a.equationSortFunction||!1}var d=a("../utils/Utils"),e=a("../events/EventEmitter");b.exports=c,c.prototype=new e,c.prototype.solve=function(){throw new Error("Solver.solve should be implemented by subclasses!")},c.prototype.sortEquations=function(){this.equationSortFunction&&this.equations.sort(this.equationSortFunction)
-},c.prototype.addEquation=function(a){this.equations.push(a)},c.prototype.addEquations=function(a){d.appendArray(this.equations,a)},c.prototype.removeEquation=function(a){var b=this.equations.indexOf(a);-1!=b&&this.equations.splice(b,1)},c.prototype.removeAllEquations=function(){this.equations.length=0}},{"../events/EventEmitter":25,"../utils/Utils":46}],46:[function(a,b){function c(){}b.exports=c,c.appendArray=function(a,b){if(b.length<15e4)a.push.apply(a,b);else for(var c=0,d=b.length;c!==d;++c)a.push(b[c])},c.ARRAY_TYPE=Float32Array||Array},{}],47:[function(a,b){function c(){return"undefined"==typeof performance?(new Date).getTime():performance.now?performance.now():performance.webkitNow?performance.webkitNow():void 0}function d(a){o.apply(this),a=a||{},this.springs=[],this.bodies=[],this.solver=a.solver||new e,this.narrowphase=new y,this.gravity=a.gravity||g.fromValues(0,-9.78),this.doProfiling=a.doProfiling||!1,this.lastStepTime=0,this.broadphase=a.broadphase||new f,this.constraints=[],this.defaultFriction=.3,this.lastTimeStep=1/60,this.applySpringForces=!0,this.applyDamping=!0,this.solveConstraints=!0,this.contactMaterials=[],this.time=0,this.emitImpactEvent=!0,this._constraintIdCounter=0,this._bodyIdCounter=0,this.postStepEvent={type:"postStep"},this.addBodyEvent={type:"addBody",body:null},this.removeBodyEvent={type:"removeBody",body:null},this.addSpringEvent={type:"addSpring",spring:null},this.impactEvent={type:"impact",bodyA:null,bodyB:null}}var e=a("../solver/GSSolver"),f=a("../collision/NaiveBroadphase"),g=a("../math/vec2"),h=a("../shapes/Circle"),i=a("../shapes/Rectangle"),j=a("../shapes/Convex"),k=a("../shapes/Line"),l=a("../shapes/Plane"),m=a("../shapes/Capsule"),n=a("../shapes/Particle"),o=a("../events/EventEmitter"),p=a("../objects/Body"),q=a("../objects/Spring"),r=a("../material/Material"),s=a("../material/ContactMaterial"),t=a("../constraints/DistanceConstraint"),u=a("../constraints/LockConstraint"),v=a("../constraints/RevoluteConstraint"),w=a("../constraints/PrismaticConstraint"),x=a("../../package.json"),y=(a("../collision/Broadphase"),a("../collision/Narrowphase"));b.exports=d;var z=x.version.split(".").slice(0,2).join(".");d.prototype=new Object(o.prototype),d.prototype.addConstraint=function(a){this.constraints.push(a)},d.prototype.addContactMaterial=function(a){this.contactMaterials.push(a)},d.prototype.removeContactMaterial=function(a){var b=this.contactMaterials.indexOf(a);-1!==b&&this.contactMaterials.splice(b,1)},d.prototype.getContactMaterial=function(a,b){for(var c=this.contactMaterials,d=0,e=c.length;d!==e;d++){var f=c[d];if(f.materialA===a&&f.materialB===b||f.materialA===b&&f.materialB===a)return f}return!1},d.prototype.removeConstraint=function(a){var b=this.constraints.indexOf(a);-1!==b&&this.constraints.splice(b,1)};var A=(g.create(),g.create(),g.create(),g.create(),g.create(),g.create(),g.create()),B=g.fromValues(0,0),C=g.fromValues(0,0),D=g.fromValues(0,0);d.prototype.step=function(a){{var b,e,f=this,h=this.doProfiling,i=this.springs.length,j=this.springs,k=this.bodies,l=this.gravity,m=this.solver,n=this.bodies.length,o=this.broadphase,p=this.narrowphase,q=this.constraints,r=A,s=(g.scale,g.add);g.rotate}this.lastTimeStep=a,h&&(b=c());var t=g.length(l);if(0!==t)for(var u=0;u!==n;u++){var v=k[u],w=v.force;g.scale(r,l,v.mass),s(w,w,r)}if(this.applySpringForces)for(var u=0;u!==i;u++){var x=j[u];x.applyForce()}if(this.applyDamping)for(var u=0;u!==n;u++){var v=k[u];v.applyDamping(a)}var y=o.getCollisionPairs(this);p.reset();for(var u=0,z=y.length;u!==z;u+=2)for(var B=y[u],C=y[u+1],E=0;E!==B.shapes.length;E++)for(var F=B.shapes[E],G=B.shapeOffsets[E]||D,H=B.shapeAngles[E]||0,I=0;I!==C.shapes.length;I++){var J=C.shapes[I],K=C.shapeOffsets[I]||D,L=C.shapeAngles[I]||0,M=this.defaultFriction,N=0;if(F.material&&J.material){var O=this.getContactMaterial(F.material,J.material);O&&(M=O.friction,N=O.restitution)}d.runNarrowphase(p,B,F,G,H,C,J,K,L,M,t,N)}m.addEquations(p.contactEquations),m.addEquations(p.frictionEquations);var P=q.length;for(u=0;u!==P;u++){var Q=q[u];Q.update(),m.addEquations(Q.equations)}this.solveConstraints&&m.solve(a,this),m.removeAllEquations();for(var u=0;u!==n;u++){var R=k[u];R.mass>0&&d.integrateBody(R,a)}for(var u=0;u!==n;u++)k[u].setZeroForce();if(h&&(e=c(),f.lastStepTime=e-b),this.emitImpactEvent)for(var S=this.impactEvent,u=0;u!==p.contactEquations.length;u++){var T=p.contactEquations[u];T.firstImpact&&(S.bodyA=T.bi,S.bodyB=T.bj,this.emit(S))}this.time+=a,this.emit(this.postStepEvent)};var E=g.create(),F=g.create();d.integrateBody=function(a,b){var c=a.invMass,d=a.force,e=a.position,f=a.velocity;a.fixedRotation||(a.angularVelocity+=a.angularForce*a.invInertia*b,a.angle+=a.angularVelocity*b),g.scale(E,d,b*c),g.add(f,E,f),g.scale(F,f,b),g.add(e,e,F)},d.runNarrowphase=function(a,b,c,d,e,f,h,i,j,k,l,m){if(0!==(c.collisionGroup&h.collisionMask)&&0!==(h.collisionGroup&c.collisionMask)){var n=b.invMass+f.invMass;n>0&&(n=1/n);var o=k*l*n;g.rotate(B,d,b.angle),g.rotate(C,i,f.angle),g.add(B,B,b.position),g.add(C,C,f.position);var p=e+b.angle,q=j+f.angle;a.enableFriction=k>0,a.slipForce=o,a.frictionCoefficient=k,a.restitution=m;var r=a[c.type|h.type];r&&(c.type<h.type?r.call(a,b,c,B,p,f,h,C,q):r.call(a,f,h,C,q,b,c,B,p))}},d.prototype.addSpring=function(a){this.springs.push(a),this.addSpringEvent.spring=a,this.emit(this.addSpringEvent)},d.prototype.removeSpring=function(a){var b=this.springs.indexOf(a);-1===b&&this.springs.splice(b,1)},d.prototype.addBody=function(a){this.bodies.push(a),this.addBodyEvent.body=a,this.emit(this.addBodyEvent)},d.prototype.removeBody=function(a){var b=this.bodies.indexOf(a);-1!==b&&(this.bodies.splice(b,1),this.removeBodyEvent.body=a,a.resetConstraintVelocity(),this.emit(this.removeBodyEvent))},d.prototype.getBodyById=function(a){for(var b=this.bodies,c=0;c<b.length;c++){var d=b[c];if(d.id===a)return d}return!1},d.prototype.toJSON=function(){function a(a){return a?[a[0],a[1]]:a}for(var b={p2:z,bodies:[],springs:[],solver:{},gravity:a(this.gravity),broadphase:{},constraints:[],contactMaterials:[]},c=0;c!==this.springs.length;c++){var d=this.springs[c];b.springs.push({bodyA:this.bodies.indexOf(d.bodyA),bodyB:this.bodies.indexOf(d.bodyB),stiffness:d.stiffness,damping:d.damping,restLength:d.restLength,localAnchorA:a(d.localAnchorA),localAnchorB:a(d.localAnchorB)})}for(var c=0;c<this.constraints.length;c++){var e=this.constraints[c],f={bodyA:this.bodies.indexOf(e.bodyA),bodyB:this.bodies.indexOf(e.bodyB)};if(e instanceof t)f.type="DistanceConstraint",f.distance=e.distance,f.maxForce=e.getMaxForce();else if(e instanceof v)f.type="RevoluteConstraint",f.pivotA=a(e.pivotA),f.pivotB=a(e.pivotB),f.maxForce=e.maxForce,f.motorSpeed=e.getMotorSpeed(),f.lowerLimit=e.lowerLimit,f.lowerLimitEnabled=e.lowerLimitEnabled,f.upperLimit=e.upperLimit,f.upperLimitEnabled=e.upperLimitEnabled;else if(e instanceof w)f.type="PrismaticConstraint",f.localAxisA=a(e.localAxisA),f.localAnchorA=a(e.localAnchorA),f.localAnchorB=a(e.localAnchorB),f.maxForce=e.maxForce;else{if(!(e instanceof u)){console.error("Constraint not supported yet!");continue}f.type="LockConstraint",f.localOffsetB=a(e.localOffsetB),f.localAngleB=e.localAngleB,f.maxForce=e.maxForce}b.constraints.push(f)}for(var c=0;c!==this.bodies.length;c++){for(var g=this.bodies[c],o=g.shapes,p=[],q=0;q<o.length;q++){var r,d=o[q];if(d instanceof h)r={type:"Circle",radius:d.radius};else if(d instanceof l)r={type:"Plane"};else if(d instanceof n)r={type:"Particle"};else if(d instanceof k)r={type:"Line",length:d.length};else if(d instanceof i)r={type:"Rectangle",width:d.width,height:d.height};else if(d instanceof j){for(var s=[],x=0;x<d.vertices.length;x++)s.push(a(d.vertices[x]));r={type:"Convex",verts:s}}else{if(!(d instanceof m))throw new Error("Shape type not supported yet!");r={type:"Capsule",length:d.length,radius:d.radius}}r.offset=a(g.shapeOffsets[q]),r.angle=g.shapeAngles[q],r.collisionGroup=d.collisionGroup,r.collisionMask=d.collisionMask,r.material=d.material&&{id:d.material.id},p.push(r)}b.bodies.push({id:g.id,mass:g.mass,angle:g.angle,position:a(g.position),velocity:a(g.velocity),angularVelocity:g.angularVelocity,force:a(g.force),shapes:p,concavePath:g.concavePath})}for(var c=0;c<this.contactMaterials.length;c++){var y=this.contactMaterials[c];b.contactMaterials.push({id:y.id,materialA:y.materialA.id,materialB:y.materialB.id,friction:y.friction,restitution:y.restitution,stiffness:y.stiffness,relaxation:y.relaxation,frictionStiffness:y.frictionStiffness,frictionRelaxation:y.frictionRelaxation})}return b},d.upgradeJSON=function(a){if(!a||!a.p2)return!1;switch(a=JSON.parse(JSON.stringify(a)),a.p2){case z:return a;case"0.3":for(var b=0;b<a.constraints.length;b++){var c=a.constraints[b];"PrismaticConstraint"==c.type&&(delete c.localAxisA,delete c.localAxisB,c.localAxisA=[1,0],c.localAnchorA=[0,0],c.localAnchorB=[0,0])}a.p2="0.4"}return d.upgradeJSON(a)},d.prototype.fromJSON=function(a){if(this.clear(),a=d.upgradeJSON(a),!a)return!1;if(!a.p2)return!1;g.copy(this.gravity,a.gravity);for(var b=this.bodies,c={},e=0;e!==a.bodies.length;e++){var f=a.bodies[e],o=f.shapes,x=new p({mass:f.mass,position:f.position,angle:f.angle,velocity:f.velocity,angularVelocity:f.angularVelocity,force:f.force});x.id=f.id;for(var y=0;y<o.length;y++){var z,A=o[y];switch(A.type){case"Circle":z=new h(A.radius);break;case"Plane":z=new l;break;case"Particle":z=new n;break;case"Line":z=new k(A.length);break;case"Rectangle":z=new i(A.width,A.height);break;case"Convex":z=new j(A.verts);break;case"Capsule":z=new m(A.length,A.radius);break;default:throw new Error("Shape type not supported: "+A.type)}z.collisionMask=A.collisionMask,z.collisionGroup=A.collisionGroup,z.material=A.material,z.material&&(z.material=new r,z.material.id=A.material.id,c[z.material.id+""]=z.material),x.addShape(z,A.offset,A.angle)}f.concavePath&&(x.concavePath=f.concavePath),this.addBody(x)}for(var e=0;e<a.springs.length;e++){var A=a.springs[e],B=new q(b[A.bodyA],b[A.bodyB],{stiffness:A.stiffness,damping:A.damping,restLength:A.restLength,localAnchorA:A.localAnchorA,localAnchorB:A.localAnchorB});this.addSpring(B)}for(var e=0;e<a.contactMaterials.length;e++){var C=a.contactMaterials[e],D=new s(c[C.materialA+""],c[C.materialB+""],{friction:C.friction,restitution:C.restitution,stiffness:C.stiffness,relaxation:C.relaxation,frictionStiffness:C.frictionStiffness,frictionRelaxation:C.frictionRelaxation});D.id=C.id,this.addContactMaterial(D)}for(var e=0;e<a.constraints.length;e++){var E,F=a.constraints[e];switch(F.type){case"DistanceConstraint":E=new t(b[F.bodyA],b[F.bodyB],F.distance,F.maxForce);break;case"RevoluteConstraint":E=new v(b[F.bodyA],F.pivotA,b[F.bodyB],F.pivotB,F.maxForce),F.motorSpeed&&(E.enableMotor(),E.setMotorSpeed(F.motorSpeed)),E.lowerLimit=F.lowerLimit||0,E.upperLimit=F.upperLimit||0,E.lowerLimitEnabled=F.lowerLimitEnabled||!1,E.upperLimitEnabled=F.upperLimitEnabled||!1;break;case"PrismaticConstraint":E=new w(b[F.bodyA],b[F.bodyB],{maxForce:F.maxForce,localAxisA:F.localAxisA,localAnchorA:F.localAnchorA,localAnchorB:F.localAnchorB});break;case"LockConstraint":E=new u(b[F.bodyA],b[F.bodyB],{maxForce:F.maxForce,localOffsetB:F.localOffsetB,localAngleB:F.localAngleB});break;default:throw new Error("Constraint type not recognized: "+F.type)}this.addConstraint(E)}return!0},d.prototype.clear=function(){this.time=0,this.solver&&this.solver.equations.length&&this.solver.removeAllEquations();for(var a=this.constraints,b=a.length-1;b>=0;b--)this.removeConstraint(a[b]);for(var c=this.bodies,b=c.length-1;b>=0;b--)this.removeBody(c[b]);for(var d=this.springs,b=d.length-1;b>=0;b--)this.removeSpring(d[b]);for(var e=this.contactMaterials,b=e.length-1;b>=0;b--)this.removeContactMaterial(e[b])},d.prototype.clone=function(){var a=new d;return a.fromJSON(this.toJSON()),a};var G=g.create(),H=g.fromValues(0,0),I=g.fromValues(0,0);d.prototype.hitTest=function(a,b,c){c=c||0;var d=new p({position:a}),e=new n,f=a,i=0,k=G,o=H,q=I;d.addShape(e);for(var r=this.narrowphase,s=[],t=0,u=b.length;t!==u;t++)for(var v=b[t],w=0,x=v.shapes.length;w!==x;w++){var y=v.shapes[w],z=v.shapeOffsets[w]||o,A=v.shapeAngles[w]||0;g.rotate(k,z,v.angle),g.add(k,k,v.position);var B=A+v.angle;(y instanceof h&&r.circleParticle(v,y,k,B,d,e,f,i,!0)||y instanceof j&&r.particleConvex(d,e,f,i,v,y,k,B,!0)||y instanceof l&&r.particlePlane(d,e,f,i,v,y,k,B,!0)||y instanceof m&&r.particleCapsule(d,e,f,i,v,y,k,B,!0)||y instanceof n&&g.squaredLength(g.sub(q,k,a))<c*c)&&s.push(v)}return s}},{"../../package.json":8,"../collision/Broadphase":9,"../collision/NaiveBroadphase":11,"../collision/Narrowphase":12,"../constraints/DistanceConstraint":17,"../constraints/LockConstraint":20,"../constraints/PrismaticConstraint":21,"../constraints/RevoluteConstraint":22,"../events/EventEmitter":25,"../material/ContactMaterial":26,"../material/Material":27,"../math/vec2":30,"../objects/Body":31,"../objects/Spring":32,"../shapes/Capsule":34,"../shapes/Circle":35,"../shapes/Convex":36,"../shapes/Line":37,"../shapes/Particle":38,"../shapes/Plane":39,"../shapes/Rectangle":40,"../solver/GSSolver":42}]},{},[33])(33)});
\ No newline at end of file
diff --git a/examples/wip/jitter.js b/examples/wip/jitter.js
index 4a8b9f3d87..1c85ecca89 100644
--- a/examples/wip/jitter.js
+++ b/examples/wip/jitter.js
@@ -36,6 +36,12 @@ function test8() {
         game.step();
     });
 
+    $('#start').click(function(){
+        console.log('---- START DEBUGGING -------------------------------');
+        game.enableStep();
+        sprite2.debug = true;
+    });
+
 	game.physics.gravity.y = 200;
 
 	sprite = game.add.sprite(300, 300, 'atari');
@@ -48,7 +54,7 @@ function test8() {
 	sprite2.name = 'gameboy';
 	sprite2.body.collideWorldBounds = true;
 	sprite2.body.bounce.setTo(0.8, 0.8);
-	// sprite2.body.minVelocity.setTo(30, 30);
+	sprite2.body.minVelocity.setTo(10, 10);
 	// sprite.debug = true;
 
 	// game.enableStep();
diff --git a/src/physics/advanced/collision/Broadphase.js b/src/physics/advanced/collision/Broadphase.js
deleted file mode 100644
index 2628e45bfe..0000000000
--- a/src/physics/advanced/collision/Broadphase.js
+++ /dev/null
@@ -1,44 +0,0 @@
-var vec2 = require('../math/vec2')
-
-module.exports = Broadphase;
-
-/**
- * Base class for broadphase implementations.
- * @class Broadphase
- * @constructor
- */
-function Broadphase(){
-
-    /**
-     * The resulting overlapping pairs. Will be filled with results during .getCollisionPairs().
-     * @property result
-     * @type {Array}
-     */
-    this.result = [];
-};
-
-/**
- * Get all potential intersecting body pairs.
- * @method getCollisionPairs
- * @param  {World} world The world to search in.
- * @return {Array} An array of the bodies, ordered in pairs. Example: A result of [a,b,c,d] means that the potential pairs are: (a,b), (c,d).
- */
-Broadphase.prototype.getCollisionPairs = function(world){
-    throw new Error("getCollisionPairs must be implemented in a subclass!");
-};
-
-var dist = vec2.create();
-
-/**
- * Check whether the bounding radius of two bodies overlap.
- * @method  boundingRadiusCheck
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Boolean}
- */
-Broadphase.boundingRadiusCheck = function(bodyA, bodyB){
-    vec2.sub(dist, bodyA.position, bodyB.position);
-    var d2 = vec2.squaredLength(dist),
-        r = bodyA.boundingRadius + bodyB.boundingRadius;
-    return d2 <= r*r;
-};
diff --git a/src/physics/advanced/collision/GridBroadphase.js b/src/physics/advanced/collision/GridBroadphase.js
deleted file mode 100644
index d0a7172bda..0000000000
--- a/src/physics/advanced/collision/GridBroadphase.js
+++ /dev/null
@@ -1,159 +0,0 @@
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = GridBroadphase;
-
-/**
- * Broadphase that uses axis-aligned bins.
- * @class GridBroadphase
- * @constructor
- * @extends Broadphase
- * @param {number} xmin Lower x bound of the grid
- * @param {number} xmax Upper x bound
- * @param {number} ymin Lower y bound
- * @param {number} ymax Upper y bound
- * @param {number} nx Number of bins along x axis
- * @param {number} ny Number of bins along y axis
- * @todo test
- */
-function GridBroadphase(xmin,xmax,ymin,ymax,nx,ny){
-    Broadphase.apply(this);
-
-    nx = nx || 10;
-    ny = ny || 10;
-
-    this.binsizeX = (xmax-xmin) / nx;
-    this.binsizeY = (ymax-ymin) / ny;
-    this.nx = nx;
-    this.ny = ny;
-    this.xmin = xmin;
-    this.ymin = ymin;
-    this.xmax = xmax;
-    this.ymax = ymax;
-};
-GridBroadphase.prototype = new Broadphase();
-
-/**
- * Get a bin index given a world coordinate
- * @method getBinIndex
- * @param  {Number} x
- * @param  {Number} y
- * @return {Number} Integer index
- */
-GridBroadphase.prototype.getBinIndex = function(x,y){
-    var nx = this.nx,
-        ny = this.ny,
-        xmin = this.xmin,
-        ymin = this.ymin,
-        xmax = this.xmax,
-        ymax = this.ymax;
-
-    var xi = Math.floor(nx * (x - xmin) / (xmax-xmin));
-    var yi = Math.floor(ny * (y - ymin) / (ymax-ymin));
-    return xi*ny + yi;
-}
-
-/**
- * Get collision pairs.
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-GridBroadphase.prototype.getCollisionPairs = function(world){
-    var result = [],
-        collidingBodies = world.bodies,
-        Ncolliding = Ncolliding=collidingBodies.length,
-        binsizeX = this.binsizeX,
-        binsizeY = this.binsizeY;
-
-    var bins=[], Nbins=nx*ny;
-    for(var i=0; i<Nbins; i++)
-        bins.push([]);
-
-    var xmult = nx / (xmax-xmin);
-    var ymult = ny / (ymax-ymin);
-
-    // Put all bodies into bins
-    for(var i=0; i!==Ncolliding; i++){
-        var bi = collidingBodies[i];
-        var si = bi.shape;
-        if (si === undefined) {
-            continue;
-        } else if(si instanceof Circle){
-            // Put in bin
-            // check if overlap with other bins
-            var x = bi.position[0];
-            var y = bi.position[1];
-            var r = si.radius;
-
-            var xi1 = Math.floor(xmult * (x-r - xmin));
-            var yi1 = Math.floor(ymult * (y-r - ymin));
-            var xi2 = Math.floor(xmult * (x+r - xmin));
-            var yi2 = Math.floor(ymult * (y+r - ymin));
-
-            for(var j=xi1; j<=xi2; j++){
-                for(var k=yi1; k<=yi2; k++){
-                    var xi = j;
-                    var yi = k;
-                    if(xi*(ny-1) + yi >= 0 && xi*(ny-1) + yi < Nbins)
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                }
-            }
-        } else if(si instanceof Plane){
-            // Put in all bins for now
-            if(bi.angle == 0){
-                var y = bi.position[1];
-                for(var j=0; j!==Nbins && ymin+binsizeY*(j-1)<y; j++){
-                    for(var k=0; k<nx; k++){
-                        var xi = k;
-                        var yi = Math.floor(ymult * (binsizeY*j - ymin));
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                    }
-                }
-            } else if(bi.angle == Math.PI*0.5){
-                var x = bi.position[0];
-                for(var j=0; j!==Nbins && xmin+binsizeX*(j-1)<x; j++){
-                    for(var k=0; k<ny; k++){
-                        var yi = k;
-                        var xi = Math.floor(xmult * (binsizeX*j - xmin));
-                        bins[ xi*(ny-1) + yi ].push(bi);
-                    }
-                }
-            } else {
-                for(var j=0; j!==Nbins; j++)
-                    bins[j].push(bi);
-            }
-        } else {
-            throw new Error("Shape not supported in GridBroadphase!");
-        }
-    }
-
-    // Check each bin
-    for(var i=0; i!==Nbins; i++){
-        var bin = bins[i];
-
-        for(var j=0, NbodiesInBin=bin.length; j!==NbodiesInBin; j++){
-            var bi = bin[j];
-            var si = bi.shape;
-
-            for(var k=0; k!==j; k++){
-                var bj = bin[k];
-                var sj = bj.shape;
-
-                if(si instanceof Circle){
-                         if(sj instanceof Circle)   c=Broadphase.circleCircle  (bi,bj);
-                    else if(sj instanceof Particle) c=Broadphase.circleParticle(bi,bj);
-                    else if(sj instanceof Plane)    c=Broadphase.circlePlane   (bi,bj);
-                } else if(si instanceof Particle){
-                         if(sj instanceof Circle)   c=Broadphase.circleParticle(bj,bi);
-                } else if(si instanceof Plane){
-                         if(sj instanceof Circle)   c=Broadphase.circlePlane   (bj,bi);
-                }
-            }
-        }
-    }
-    return result;
-};
diff --git a/src/physics/advanced/collision/NaiveBroadphase.js b/src/physics/advanced/collision/NaiveBroadphase.js
deleted file mode 100644
index c02e225a94..0000000000
--- a/src/physics/advanced/collision/NaiveBroadphase.js
+++ /dev/null
@@ -1,47 +0,0 @@
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Shape = require('../shapes/Shape')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = NaiveBroadphase;
-
-/**
- * Naive broadphase implementation. Does N^2 tests.
- *
- * @class NaiveBroadphase
- * @constructor
- * @extends Broadphase
- */
-function NaiveBroadphase(){
-    Broadphase.apply(this);
-};
-NaiveBroadphase.prototype = new Broadphase();
-
-/**
- * Get the colliding pairs
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-NaiveBroadphase.prototype.getCollisionPairs = function(world){
-    var bodies = world.bodies,
-        result = this.result,
-        i, j, bi, bj;
-
-    result.length = 0;
-
-    for(i=0, Ncolliding=bodies.length; i!==Ncolliding; i++){
-        bi = bodies[i];
-
-        for(j=0; j<i; j++){
-            bj = bodies[j];
-
-            if(Broadphase.boundingRadiusCheck(bi,bj))
-                result.push(bi,bj);
-        }
-    }
-
-    return result;
-};
diff --git a/src/physics/advanced/collision/Narrowphase.js b/src/physics/advanced/collision/Narrowphase.js
deleted file mode 100644
index b06286af4c..0000000000
--- a/src/physics/advanced/collision/Narrowphase.js
+++ /dev/null
@@ -1,1511 +0,0 @@
-var vec2 = require('../math/vec2')
-,   sub = vec2.sub
-,   add = vec2.add
-,   dot = vec2.dot
-,   Utils = require('../utils/Utils')
-,   ContactEquation = require('../constraints/ContactEquation')
-,   FrictionEquation = require('../constraints/FrictionEquation')
-,   Circle = require('../shapes/Circle')
-,   Shape = require('../shapes/Shape')
-
-module.exports = Narrowphase;
-
-// Temp things
-var yAxis = vec2.fromValues(0,1);
-
-var tmp1 = vec2.fromValues(0,0)
-,   tmp2 = vec2.fromValues(0,0)
-,   tmp3 = vec2.fromValues(0,0)
-,   tmp4 = vec2.fromValues(0,0)
-,   tmp5 = vec2.fromValues(0,0)
-,   tmp6 = vec2.fromValues(0,0)
-,   tmp7 = vec2.fromValues(0,0)
-,   tmp8 = vec2.fromValues(0,0)
-,   tmp9 = vec2.fromValues(0,0)
-,   tmp10 = vec2.fromValues(0,0)
-,   tmp11 = vec2.fromValues(0,0)
-,   tmp12 = vec2.fromValues(0,0)
-,   tmp13 = vec2.fromValues(0,0)
-,   tmp14 = vec2.fromValues(0,0)
-,   tmp15 = vec2.fromValues(0,0)
-,   tmp16 = vec2.fromValues(0,0)
-,   tmp17 = vec2.fromValues(0,0)
-,   tmp18 = vec2.fromValues(0,0)
-
-/**
- * Narrowphase. Creates contacts and friction given shapes and transforms.
- * @class Narrowphase
- * @constructor
- */
-function Narrowphase(){
-
-    /**
-     * @property contactEquations
-     * @type {Array}
-     */
-    this.contactEquations = [];
-
-    /**
-     * @property frictionEquations
-     * @type {Array}
-     */
-    this.frictionEquations = [];
-
-    /**
-     * Whether to make friction equations in the upcoming contacts.
-     * @property enableFriction
-     * @type {Boolean}
-     */
-    this.enableFriction = true;
-
-    /**
-     * The friction slip force to use when creating friction equations.
-     * @property slipForce
-     * @type {Number}
-     */
-    this.slipForce = 10.0;
-
-    /**
-     * The friction value to use in the upcoming friction equations.
-     * @property frictionCoefficient
-     * @type {Number}
-     */
-    this.frictionCoefficient = 0.3;
-
-    this.reuseObjects = true;
-    this.reusableContactEquations = [];
-    this.reusableFrictionEquations = [];
-
-    /**
-     * The restitution value to use in the next contact equations.
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution = 0;
-
-    // Keep track of the colliding bodies last step
-    this.collidingBodiesLastStep = {};
-};
-
-/**
- * Check if the bodies were in contact since the last reset().
- * @method collidedLastStep
- * @param  {Body} bi
- * @param  {Body} bj
- * @return {Boolean}
- */
-Narrowphase.prototype.collidedLastStep = function(bi,bj){
-    var id1 = bi.id,
-        id2 = bj.id;
-    if(id1 > id2){
-        var tmp = id1;
-        id1 = id2;
-        id2 = tmp;
-    }
-    return !!this.collidingBodiesLastStep[id1 + " " + id2];
-};
-
-/**
- * Throws away the old equatons and gets ready to create new
- * @method reset
- */
-Narrowphase.prototype.reset = function(){
-
-    // Save the colliding bodies data
-    for(var key in this.collidingBodiesLastStep)
-        delete this.collidingBodiesLastStep[key];
-    for(var i=0; i!==this.contactEquations.length; i++){
-        var eq = this.contactEquations[i],
-            id1 = eq.bi.id,
-            id2 = eq.bj.id;
-        if(id1 > id2){
-            var tmp = id1;
-            id1 = id2;
-            id2 = tmp;
-        }
-        this.collidingBodiesLastStep[id1 + " " + id2] = true;
-    }
-
-    if(this.reuseObjects){
-        var ce = this.contactEquations,
-            fe = this.frictionEquations,
-            rfe = this.reusableFrictionEquations,
-            rce = this.reusableContactEquations;
-        Utils.appendArray(rce,ce);
-        Utils.appendArray(rfe,fe);
-    }
-
-    // Reset
-    this.contactEquations.length = this.frictionEquations.length = 0;
-};
-
-/**
- * Creates a ContactEquation, either by reusing an existing object or creating a new one.
- * @method createContactEquation
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {ContactEquation}
- */
-Narrowphase.prototype.createContactEquation = function(bodyA,bodyB,shapeA,shapeB){
-    var c = this.reusableContactEquations.length ? this.reusableContactEquations.pop() : new ContactEquation(bodyA,bodyB);
-    c.bi = bodyA;
-    c.bj = bodyB;
-    c.shapeA = shapeA;
-    c.shapeB = shapeB;
-    c.restitution = this.restitution;
-    c.firstImpact = !this.collidedLastStep(bodyA,bodyB);
-    return c;
-};
-
-/**
- * Creates a FrictionEquation, either by reusing an existing object or creating a new one.
- * @method createFrictionEquation
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {FrictionEquation}
- */
-Narrowphase.prototype.createFrictionEquation = function(bodyA,bodyB,shapeA,shapeB){
-    var c = this.reusableFrictionEquations.length ? this.reusableFrictionEquations.pop() : new FrictionEquation(bodyA,bodyB);
-    c.bi = bodyA;
-    c.bj = bodyB;
-    c.shapeA = shapeA;
-    c.shapeB = shapeB;
-    c.setSlipForce(this.slipForce);
-    c.frictionCoefficient = this.frictionCoefficient;
-    return c;
-};
-
-/**
- * Creates a FrictionEquation given the data in the ContactEquation. Uses same offset vectors ri and rj, but the tangent vector will be constructed from the collision normal.
- * @method createFrictionFromContact
- * @param  {ContactEquation} contactEquation
- * @return {FrictionEquation}
- */
-Narrowphase.prototype.createFrictionFromContact = function(c){
-    var eq = this.createFrictionEquation(c.bi,c.bj);
-    vec2.copy(eq.ri, c.ri);
-    vec2.copy(eq.rj, c.rj);
-    vec2.rotate(eq.t, c.ni, -Math.PI / 2);
-    eq.contactEquation = c;
-    return eq;
-}
-
-/**
- * Plane/line Narrowphase
- * @method planeLine
- * @param  {Body} bi
- * @param  {Plane} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Line} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.PLANE | Shape.LINE] =
-Narrowphase.prototype.planeLine = function(bi,si,xi,ai, bj,sj,xj,aj){
-    var lineShape = sj,
-        lineAngle = aj,
-        lineBody = bj,
-        lineOffset = xj,
-        planeOffset = xi,
-        planeAngle = ai,
-        planeBody = bi,
-        planeShape = si;
-
-    var worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldVertex01 = tmp3,
-        worldVertex11 = tmp4,
-        worldEdge = tmp5,
-        worldEdgeUnit = tmp6,
-        dist = tmp7,
-        worldNormal = tmp8,
-        worldTangent = tmp9;
-
-    // Get start and end points
-    vec2.set(worldVertex0, -lineShape.length/2, 0);
-    vec2.set(worldVertex1,  lineShape.length/2, 0);
-
-    // Not sure why we have to use worldVertex*1 here, but it won't work otherwise. Tired.
-    vec2.rotate(worldVertex01, worldVertex0, lineAngle);
-    vec2.rotate(worldVertex11, worldVertex1, lineAngle);
-
-    add(worldVertex01, worldVertex01, lineOffset);
-    add(worldVertex11, worldVertex11, lineOffset);
-
-    vec2.copy(worldVertex0,worldVertex01);
-    vec2.copy(worldVertex1,worldVertex11);
-
-    // Get vector along the line
-    sub(worldEdge, worldVertex1, worldVertex0);
-    vec2.normalize(worldEdgeUnit, worldEdge);
-
-    // Get tangent to the edge.
-    vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    // Check line ends
-    var verts = [worldVertex0, worldVertex1];
-    for(var i=0; i<verts.length; i++){
-        var v = verts[i];
-
-        sub(dist, v, planeOffset);
-
-        var d = dot(dist,worldNormal);
-
-        if(d < 0){
-
-            var c = this.createContactEquation(planeBody,lineBody,si,sj);
-
-            vec2.copy(c.ni, worldNormal);
-            vec2.normalize(c.ni,c.ni);
-
-            // distance vector along plane normal
-            vec2.scale(dist, worldNormal, d);
-
-            // Vector from plane center to contact
-            sub(c.ri, v, dist);
-            sub(c.ri, c.ri, planeBody.position);
-
-            // From line center to contact
-            sub(c.rj, v,    lineOffset);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            // TODO : only need one friction equation if both points touch
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-        }
-    }
-};
-
-Narrowphase.prototype[Shape.PARTICLE | Shape.CAPSULE] =
-Narrowphase.prototype.particleCapsule = function(bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    return this.circleLine(bi,si,xi,ai, bj,sj,xj,aj, justTest, sj.radius, 0);
-};
-
-/**
- * Circle/line Narrowphase
- * @method circleLine
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Line} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @param {Boolean} justTest If set to true, this function will return the result (intersection or not) without adding equations.
- * @param {Number} lineRadius Radius to add to the line. Can be used to test Capsules.
- * @param {Number} circleRadius If set, this value overrides the circle shape radius.
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.LINE] =
-Narrowphase.prototype.circleLine = function(bi,si,xi,ai, bj,sj,xj,aj, justTest, lineRadius, circleRadius){
-    var lineShape = sj,
-        lineAngle = aj,
-        lineBody = bj,
-        lineOffset = xj,
-        circleOffset = xi,
-        circleBody = bi,
-        circleShape = si,
-
-        lineRadius = lineRadius || 0,
-        circleRadius = typeof(circleRadius)!="undefined" ? circleRadius : circleShape.radius,
-
-        orthoDist = tmp1,
-        lineToCircleOrthoUnit = tmp2,
-        projectedPoint = tmp3,
-        centerDist = tmp4,
-        worldTangent = tmp5,
-        worldEdge = tmp6,
-        worldEdgeUnit = tmp7,
-        worldVertex0 = tmp8,
-        worldVertex1 = tmp9,
-        worldVertex01 = tmp10,
-        worldVertex11 = tmp11,
-        dist = tmp12,
-        lineToCircle = tmp13,
-        lineEndToLineRadius = tmp14;
-
-    // Get start and end points
-    vec2.set(worldVertex0, -lineShape.length/2, 0);
-    vec2.set(worldVertex1,  lineShape.length/2, 0);
-
-    // Not sure why we have to use worldVertex*1 here, but it won't work otherwise. Tired.
-    vec2.rotate(worldVertex01, worldVertex0, lineAngle);
-    vec2.rotate(worldVertex11, worldVertex1, lineAngle);
-
-    add(worldVertex01, worldVertex01, lineOffset);
-    add(worldVertex11, worldVertex11, lineOffset);
-
-    vec2.copy(worldVertex0,worldVertex01);
-    vec2.copy(worldVertex1,worldVertex11);
-
-    // Get vector along the line
-    sub(worldEdge, worldVertex1, worldVertex0);
-    vec2.normalize(worldEdgeUnit, worldEdge);
-
-    // Get tangent to the edge.
-    vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-    // Check distance from the plane spanned by the edge vs the circle
-    sub(dist, circleOffset, worldVertex0);
-    var d = dot(dist, worldTangent); // Distance from center of line to circle center
-    sub(centerDist, worldVertex0, lineOffset);
-
-    sub(lineToCircle, circleOffset, lineOffset);
-
-    if(Math.abs(d) < circleRadius+lineRadius){
-
-        // Now project the circle onto the edge
-        vec2.scale(orthoDist, worldTangent, d);
-        sub(projectedPoint, circleOffset, orthoDist);
-
-        // Add the missing line radius
-        vec2.scale(lineToCircleOrthoUnit, worldTangent, dot(worldTangent, lineToCircle));
-        vec2.normalize(lineToCircleOrthoUnit,lineToCircleOrthoUnit);
-        vec2.scale(lineToCircleOrthoUnit, lineToCircleOrthoUnit, lineRadius);
-        add(projectedPoint,projectedPoint,lineToCircleOrthoUnit);
-
-        // Check if the point is within the edge span
-        var pos =  dot(worldEdgeUnit, projectedPoint);
-        var pos0 = dot(worldEdgeUnit, worldVertex0);
-        var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-        if(pos > pos0 && pos < pos1){
-            // We got contact!
-
-            if(justTest) return true;
-
-            var c = this.createContactEquation(circleBody,lineBody,si,sj);
-
-            vec2.scale(c.ni, orthoDist, -1);
-            vec2.normalize(c.ni, c.ni);
-
-            vec2.scale( c.ri, c.ni,  circleRadius);
-            add(c.ri, c.ri, circleOffset);
-            sub(c.ri, c.ri, circleBody.position);
-
-            sub(c.rj, projectedPoint, lineOffset);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            return true;
-        }
-    }
-
-    // Add corner
-    var verts = [worldVertex0, worldVertex1];
-
-    for(var i=0; i<verts.length; i++){
-        var v = verts[i];
-
-        sub(dist, v, circleOffset);
-
-        if(vec2.squaredLength(dist) < (circleRadius+lineRadius)*(circleRadius+lineRadius)){
-
-            if(justTest) return true;
-
-            var c = this.createContactEquation(circleBody,lineBody,si,sj);
-
-            vec2.copy(c.ni, dist);
-            vec2.normalize(c.ni,c.ni);
-
-            // Vector from circle to contact point is the normal times the circle radius
-            vec2.scale(c.ri, c.ni, circleRadius);
-            add(c.ri, c.ri, circleOffset);
-            sub(c.ri, c.ri, circleBody.position);
-
-            sub(c.rj, v, lineOffset);
-            vec2.scale(lineEndToLineRadius, c.ni, -lineRadius);
-            add(c.rj, c.rj, lineEndToLineRadius);
-            add(c.rj, c.rj, lineOffset);
-            sub(c.rj, c.rj, lineBody.position);
-
-            this.contactEquations.push(c);
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            return true;
-        }
-    }
-
-    return false;
-};
-
-/**
- * Circle/capsule Narrowphase
- * @method circleCapsule
- * @param  {Body}   bi
- * @param  {Circle} si
- * @param  {Array}  xi
- * @param  {Number} ai
- * @param  {Body}   bj
- * @param  {Line}   sj
- * @param  {Array}  xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.CAPSULE] =
-Narrowphase.prototype.circleCapsule = function(bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    return this.circleLine(bi,si,xi,ai, bj,sj,xj,aj, justTest, sj.radius);
-};
-
-/**
- * Circle/convex Narrowphase
- * @method circleConvex
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.CONVEX] =
-Narrowphase.prototype.circleConvex = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest, circleRadius){
-    var convexShape = sj,
-        convexAngle = aj,
-        convexBody = bj,
-        convexOffset = xj,
-        circleOffset = xi,
-        circleBody = bi,
-        circleShape = si,
-        circleRadius = typeof(circleRadius)=="number" ? circleRadius : circleShape.radius;
-
-    var worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldEdge = tmp3,
-        worldEdgeUnit = tmp4,
-        worldTangent = tmp5,
-        centerDist = tmp6,
-        convexToCircle = tmp7,
-        orthoDist = tmp8,
-        projectedPoint = tmp9,
-        dist = tmp10,
-        worldVertex = tmp11,
-
-        closestEdge = -1,
-        closestEdgeDistance = null,
-        closestEdgeOrthoDist = tmp12,
-        closestEdgeProjectedPoint = tmp13,
-        candidate = tmp14,
-        candidateDist = tmp15,
-        minCandidate = tmp16,
-
-        found = false,
-        minCandidateDistance = Number.MAX_VALUE;
-
-    var numReported = 0;
-
-    // New algorithm:
-    // 1. Check so center of circle is not inside the polygon. If it is, this wont work...
-    // 2. For each edge
-    // 2. 1. Get point on circle that is closest to the edge (scale normal with -radius)
-    // 2. 2. Check if point is inside.
-
-    verts = convexShape.vertices;
-
-    // Check all edges first
-    for(var i=0; i!==verts.length; i++){
-        var v0 = verts[i],
-            v1 = verts[(i+1)%verts.length];
-
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-        sub(worldEdge, worldVertex1, worldVertex0);
-
-        vec2.normalize(worldEdgeUnit, worldEdge);
-
-        // Get tangent to the edge. Points out of the Convex
-        vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-        // Get point on circle, closest to the polygon
-        vec2.scale(candidate,worldTangent,-circleShape.radius);
-        add(candidate,candidate,circleOffset);
-
-        if(pointInConvex(candidate,convexShape,convexOffset,convexAngle)){
-
-            vec2.sub(candidateDist,worldVertex0,candidate);
-            var candidateDistance = Math.abs(vec2.dot(candidateDist,worldTangent));
-
-            /*
-            // Check distance from the plane spanned by the edge vs the circle
-            sub(dist, circleOffset, worldVertex0);
-            var d = dot(dist, worldTangent);
-            sub(centerDist, worldVertex0, convexOffset);
-
-            sub(convexToCircle, circleOffset, convexOffset);
-
-            if(d < circleRadius && dot(centerDist,convexToCircle) > 0){
-
-                // Now project the circle onto the edge
-                vec2.scale(orthoDist, worldTangent, d);
-                sub(projectedPoint, circleOffset, orthoDist);
-
-
-                // Check if the point is within the edge span
-                var pos =  dot(worldEdgeUnit, projectedPoint);
-                var pos0 = dot(worldEdgeUnit, worldVertex0);
-                var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-                if(pos > pos0 && pos < pos1){
-                    // We got contact!
-
-                    if(justTest) return true;
-
-                    if(closestEdgeDistance === null || d*d<closestEdgeDistance*closestEdgeDistance){
-                        closestEdgeDistance = d;
-                        closestEdge = i;
-                        vec2.copy(closestEdgeOrthoDist, orthoDist);
-                        vec2.copy(closestEdgeProjectedPoint, projectedPoint);
-                    }
-                }
-            }
-            */
-
-            if(candidateDistance < minCandidateDistance){
-                vec2.copy(minCandidate,candidate);
-                minCandidateDistance = candidateDistance;
-                vec2.scale(closestEdgeProjectedPoint,worldTangent,candidateDistance);
-                vec2.add(closestEdgeProjectedPoint,closestEdgeProjectedPoint,candidate);
-                found = true;
-            }
-        }
-    }
-
-    if(found){
-        var c = this.createContactEquation(circleBody,convexBody,si,sj);
-        vec2.sub(c.ni, minCandidate, circleOffset)
-        vec2.normalize(c.ni, c.ni);
-
-        vec2.scale(c.ri,  c.ni, circleRadius);
-        add(c.ri, c.ri, circleOffset);
-        sub(c.ri, c.ri, circleBody.position);
-
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-
-    /*
-    if(closestEdge != -1){
-        var c = this.createContactEquation(circleBody,convexBody);
-
-        vec2.scale(c.ni, closestEdgeOrthoDist, -1);
-        vec2.normalize(c.ni, c.ni);
-
-        vec2.scale(c.ri,  c.ni, circleRadius);
-        add(c.ri, c.ri, circleOffset);
-        sub(c.ri, c.ri, circleBody.position);
-
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-    */
-
-    // Check all vertices
-    if(circleRadius > 0){
-        for(var i=0; i<verts.length; i++){
-            var localVertex = verts[i];
-            vec2.rotate(worldVertex, localVertex, convexAngle);
-            add(worldVertex, worldVertex, convexOffset);
-
-            sub(dist, worldVertex, circleOffset);
-            if(vec2.squaredLength(dist) < circleRadius*circleRadius){
-
-                if(justTest) return true;
-
-                var c = this.createContactEquation(circleBody,convexBody,si,sj);
-
-                vec2.copy(c.ni, dist);
-                vec2.normalize(c.ni,c.ni);
-
-                // Vector from circle to contact point is the normal times the circle radius
-                vec2.scale(c.ri, c.ni, circleRadius);
-                add(c.ri, c.ri, circleOffset);
-                sub(c.ri, c.ri, circleBody.position);
-
-                sub(c.rj, worldVertex, convexOffset);
-                add(c.rj, c.rj, convexOffset);
-                sub(c.rj, c.rj, convexBody.position);
-
-                this.contactEquations.push(c);
-
-                if(this.enableFriction){
-                    this.frictionEquations.push(this.createFrictionFromContact(c));
-                }
-
-                return true;
-            }
-        }
-    }
-
-    return false;
-};
-
-// Check if a point is in a polygon
-var pic_worldVertex0 = vec2.create(),
-    pic_worldVertex1 = vec2.create(),
-    pic_r0 = vec2.create(),
-    pic_r1 = vec2.create();
-function pointInConvex(worldPoint,convexShape,convexOffset,convexAngle){
-    var worldVertex0 = pic_worldVertex0,
-        worldVertex1 = pic_worldVertex1,
-        r0 = pic_r0,
-        r1 = pic_r1,
-        point = worldPoint,
-        verts = convexShape.vertices,
-        lastCross = null;
-    for(var i=0; i!==verts.length+1; i++){
-        var v0 = verts[i%verts.length],
-            v1 = verts[(i+1)%verts.length];
-
-        // Transform vertices to world
-        // can we instead transform point to local of the convex???
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-
-        sub(r0, worldVertex0, point);
-        sub(r1, worldVertex1, point);
-        var cross = vec2.crossLength(r0,r1);
-
-        if(lastCross===null) lastCross = cross;
-
-        // If we got a different sign of the distance vector, the point is out of the polygon
-        if(cross*lastCross <= 0){
-            return false;
-        }
-        lastCross = cross;
-    }
-    return true;
-};
-
-/**
- * Particle/convex Narrowphase
- * @method particleConvex
- * @param  {Body} bi
- * @param  {Particle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @todo use pointInConvex and code more similar to circleConvex
- */
-Narrowphase.prototype[Shape.PARTICLE | Shape.CONVEX] =
-Narrowphase.prototype.particleConvex = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var convexShape = sj,
-        convexAngle = aj,
-        convexBody = bj,
-        convexOffset = xj,
-        particleOffset = xi,
-        particleBody = bi,
-        particleShape = si,
-        worldVertex0 = tmp1,
-        worldVertex1 = tmp2,
-        worldEdge = tmp3,
-        worldEdgeUnit = tmp4,
-        worldTangent = tmp5,
-        centerDist = tmp6,
-        convexToparticle = tmp7,
-        orthoDist = tmp8,
-        projectedPoint = tmp9,
-        dist = tmp10,
-        worldVertex = tmp11,
-        closestEdge = -1,
-        closestEdgeDistance = null,
-        closestEdgeOrthoDist = tmp12,
-        closestEdgeProjectedPoint = tmp13,
-        r0 = tmp14, // vector from particle to vertex0
-        r1 = tmp15,
-        localPoint = tmp16,
-        candidateDist = tmp17,
-        minEdgeNormal = tmp18,
-        minCandidateDistance = Number.MAX_VALUE;
-
-    var numReported = 0,
-        found = false,
-        verts = convexShape.vertices;
-
-    // Check if the particle is in the polygon at all
-    if(!pointInConvex(particleOffset,convexShape,convexOffset,convexAngle))
-        return false;
-
-    // Check edges first
-    var lastCross = null;
-    for(var i=0; i!==verts.length+1; i++){
-        var v0 = verts[i%verts.length],
-            v1 = verts[(i+1)%verts.length];
-
-        // Transform vertices to world
-        vec2.rotate(worldVertex0, v0, convexAngle);
-        vec2.rotate(worldVertex1, v1, convexAngle);
-        add(worldVertex0, worldVertex0, convexOffset);
-        add(worldVertex1, worldVertex1, convexOffset);
-
-        // Get world edge
-        sub(worldEdge, worldVertex1, worldVertex0);
-        vec2.normalize(worldEdgeUnit, worldEdge);
-
-        // Get tangent to the edge. Points out of the Convex
-        vec2.rotate(worldTangent, worldEdgeUnit, -Math.PI/2);
-
-        // Check distance from the infinite line (spanned by the edge) to the particle
-        sub(dist, particleOffset, worldVertex0);
-        var d = dot(dist, worldTangent);
-        sub(centerDist, worldVertex0, convexOffset);
-
-        sub(convexToparticle, particleOffset, convexOffset);
-
-
-        /*
-        if(d < 0 && dot(centerDist,convexToparticle) >= 0){
-
-            // Now project the particle onto the edge
-            vec2.scale(orthoDist, worldTangent, d);
-            sub(projectedPoint, particleOffset, orthoDist);
-
-            // Check if the point is within the edge span
-            var pos =  dot(worldEdgeUnit, projectedPoint);
-            var pos0 = dot(worldEdgeUnit, worldVertex0);
-            var pos1 = dot(worldEdgeUnit, worldVertex1);
-
-            if(pos > pos0 && pos < pos1){
-                // We got contact!
-                if(justTest) return true;
-
-                if(closestEdgeDistance === null || d*d<closestEdgeDistance*closestEdgeDistance){
-                    closestEdgeDistance = d;
-                    closestEdge = i;
-                    vec2.copy(closestEdgeOrthoDist, orthoDist);
-                    vec2.copy(closestEdgeProjectedPoint, projectedPoint);
-                }
-            }
-        }
-        */
-
-        vec2.sub(candidateDist,worldVertex0,particleOffset);
-        var candidateDistance = Math.abs(vec2.dot(candidateDist,worldTangent));
-
-        if(candidateDistance < minCandidateDistance){
-            minCandidateDistance = candidateDistance;
-            vec2.scale(closestEdgeProjectedPoint,worldTangent,candidateDistance);
-            vec2.add(closestEdgeProjectedPoint,closestEdgeProjectedPoint,particleOffset);
-            vec2.copy(minEdgeNormal,worldTangent);
-            found = true;
-        }
-    }
-
-    if(found){
-        var c = this.createContactEquation(particleBody,convexBody,si,sj);
-
-        vec2.scale(c.ni, minEdgeNormal, -1);
-        vec2.normalize(c.ni, c.ni);
-
-        // Particle has no extent to the contact point
-        vec2.set(c.ri,  0, 0);
-        add(c.ri, c.ri, particleOffset);
-        sub(c.ri, c.ri, particleBody.position);
-
-        // From convex center to point
-        sub(c.rj, closestEdgeProjectedPoint, convexOffset);
-        add(c.rj, c.rj, convexOffset);
-        sub(c.rj, c.rj, convexBody.position);
-
-        this.contactEquations.push(c);
-
-        if(this.enableFriction)
-            this.frictionEquations.push( this.createFrictionFromContact(c) );
-
-        return true;
-    }
-
-
-    return false;
-};
-
-/**
- * Circle/circle Narrowphase
- * @method circleCircle
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Circle} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE] =
-Narrowphase.prototype.circleCircle = function(  bi,si,xi,ai, bj,sj,xj,aj, justTest){
-    var bodyA = bi,
-        shapeA = si,
-        offsetA = xi,
-        bodyB = bj,
-        shapeB = sj,
-        offsetB = xj,
-        dist = tmp1;
-
-    sub(dist,xi,xj);
-    var r = si.radius + sj.radius;
-    if(vec2.squaredLength(dist) > r*r){
-        return false;
-    }
-
-    if(justTest) return true;
-
-    var c = this.createContactEquation(bodyA,bodyB,si,sj);
-    sub(c.ni, offsetB, offsetA);
-    vec2.normalize(c.ni,c.ni);
-
-    vec2.scale( c.ri, c.ni,  shapeA.radius);
-    vec2.scale( c.rj, c.ni, -shapeB.radius);
-
-    add(c.ri, c.ri, offsetA);
-    sub(c.ri, c.ri, bodyA.position);
-
-    add(c.rj, c.rj, offsetB);
-    sub(c.rj, c.rj, bodyB.position);
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-    return true;
-};
-
-/**
- * Plane/Convex Narrowphase
- * @method planeConvex
- * @param  {Body} bi
- * @param  {Plane} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.PLANE | Shape.CONVEX] =
-Narrowphase.prototype.planeConvex = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    var convexBody = bj,
-        convexOffset = xj,
-        convexShape = sj,
-        convexAngle = aj,
-        planeBody = bi,
-        planeShape = si,
-        planeOffset = xi,
-        planeAngle = ai;
-
-    var worldVertex = tmp1,
-        worldNormal = tmp2,
-        dist = tmp3;
-
-    var numReported = 0;
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    for(var i=0; i<convexShape.vertices.length; i++){
-        var v = convexShape.vertices[i];
-        vec2.rotate(worldVertex, v, convexAngle);
-        add(worldVertex, worldVertex, convexOffset);
-
-        sub(dist, worldVertex, planeOffset);
-
-        if(dot(dist,worldNormal) < 0){
-
-            // Found vertex
-            numReported++;
-
-            var c = this.createContactEquation(planeBody,convexBody,planeShape,convexShape);
-
-            sub(dist, worldVertex, planeOffset);
-
-            vec2.copy(c.ni, worldNormal);
-
-            var d = dot(dist, c.ni);
-            vec2.scale(dist, c.ni, d);
-
-            // rj is from convex center to contact
-            sub(c.rj, worldVertex, convexBody.position);
-
-
-            // ri is from plane center to contact
-            sub( c.ri, worldVertex, dist);
-            sub( c.ri, c.ri, planeBody.position);
-
-            this.contactEquations.push(c);
-
-            // TODO: if we have 2 contacts, we do only need 1 friction equation
-
-            if(this.enableFriction){
-                this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-
-            if(numReported >= 2)
-                break;
-        }
-    }
-    return numReported > 0;
-};
-
-/**
- * @method convexPlane
- * @deprecated Use .planeConvex() instead!
- */
-Narrowphase.prototype.convexPlane = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    console.warn("Narrowphase.prototype.convexPlane is deprecated. Use planeConvex instead!");
-    return this.planeConvex( bj,sj,xj,aj, bi,si,xi,ai );
-}
-
-/**
- * Narrowphase for particle vs plane
- * @method particlePlane
- * @param  {Body}       bi The particle body
- * @param  {Particle}   si Particle shape
- * @param  {Array}      xi World position for the particle
- * @param  {Number}     ai World angle for the particle
- * @param  {Body}       bj Plane body
- * @param  {Plane}      sj Plane shape
- * @param  {Array}      xj World position for the plane
- * @param  {Number}     aj World angle for the plane
- */
-Narrowphase.prototype[Shape.PARTICLE | Shape.PLANE] =
-Narrowphase.prototype.particlePlane = function( bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var particleBody = bi,
-        particleShape = si,
-        particleOffset = xi,
-        planeBody = bj,
-        planeShape = sj,
-        planeOffset = xj,
-        planeAngle = aj;
-
-    var dist = tmp1,
-        worldNormal = tmp2;
-
-    planeAngle = planeAngle || 0;
-
-    sub(dist, particleOffset, planeOffset);
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    var d = dot(dist, worldNormal);
-
-    if(d > 0) return false;
-    if(justTest) return true;
-
-    var c = this.createContactEquation(planeBody,particleBody,sj,si);
-
-    vec2.copy(c.ni, worldNormal);
-    vec2.scale( dist, c.ni, d );
-    // dist is now the distance vector in the normal direction
-
-    // ri is the particle position projected down onto the plane, from the plane center
-    sub( c.ri, particleOffset, dist);
-    sub( c.ri, c.ri, planeBody.position);
-
-    // rj is from the body center to the particle center
-    sub( c.rj, particleOffset, particleBody.position );
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-    return true;
-};
-
-/**
- * Circle/Particle Narrowphase
- * @method circleParticle
- * @param  {Body} bi
- * @param  {Circle} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Particle} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.PARTICLE] =
-Narrowphase.prototype.circleParticle = function(   bi,si,xi,ai, bj,sj,xj,aj, justTest ){
-    var circleBody = bi,
-        circleShape = si,
-        circleOffset = xi,
-        particleBody = bj,
-        particleShape = sj,
-        particleOffset = xj,
-        dist = tmp1;
-
-    sub(dist, particleOffset, circleOffset);
-    if(vec2.squaredLength(dist) > circleShape.radius*circleShape.radius) return false;
-    if(justTest) return true;
-
-    var c = this.createContactEquation(circleBody,particleBody,si,sj);
-    vec2.copy(c.ni, dist);
-    vec2.normalize(c.ni,c.ni);
-
-    // Vector from circle to contact point is the normal times the circle radius
-    vec2.scale(c.ri, c.ni, circleShape.radius);
-    add(c.ri, c.ri, circleOffset);
-    sub(c.ri, c.ri, circleBody.position);
-
-    // Vector from particle center to contact point is zero
-    sub(c.rj, particleOffset, particleBody.position);
-
-    this.contactEquations.push(c);
-
-    if(this.enableFriction){
-        this.frictionEquations.push(this.createFrictionFromContact(c));
-    }
-
-    return true;
-};
-
-var capsulePlane_tmpCircle = new Circle(1),
-    capsulePlane_tmp1 = vec2.create(),
-    capsulePlane_tmp2 = vec2.create(),
-    capsulePlane_tmp3 = vec2.create();
-
-Narrowphase.prototype[Shape.PLANE | Shape.CAPSULE] =
-Narrowphase.prototype.planeCapsule = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    var end1 = capsulePlane_tmp1,
-        end2 = capsulePlane_tmp2,
-        circle = capsulePlane_tmpCircle,
-        dst = capsulePlane_tmp3;
-
-    // Compute world end positions
-    vec2.set(end1, -sj.length/2, 0);
-    vec2.rotate(end1,end1,aj);
-    add(end1,end1,xj);
-
-    vec2.set(end2,  sj.length/2, 0);
-    vec2.rotate(end2,end2,aj);
-    add(end2,end2,xj);
-
-    circle.radius = sj.radius;
-
-    // Do Narrowphase as two circles
-    this.circlePlane(bj,circle,end1,0, bi,si,xi,ai);
-    this.circlePlane(bj,circle,end2,0, bi,si,xi,ai);
-};
-
-/**
- * @method capsulePlane
- * @deprecated Use .planeCapsule() instead!
- */
-Narrowphase.prototype.capsulePlane = function( bi,si,xi,ai, bj,sj,xj,aj ){
-    console.warn("Narrowphase.prototype.capsulePlane() is deprecated. Use .planeCapsule() instead!");
-    return this.planeCapsule( bj,sj,xj,aj, bi,si,xi,ai );
-}
-
-/**
- * Creates ContactEquations and FrictionEquations for a collision.
- * @method circlePlane
- * @param  {Body}    bi     The first body that should be connected to the equations.
- * @param  {Circle}  si     The circle shape participating in the collision.
- * @param  {Array}   xi     Extra offset to take into account for the Shape, in addition to the one in circleBody.position. Will *not* be rotated by circleBody.angle (maybe it should, for sake of homogenity?). Set to null if none.
- * @param  {Body}    bj     The second body that should be connected to the equations.
- * @param  {Plane}   sj     The Plane shape that is participating
- * @param  {Array}   xj     Extra offset for the plane shape.
- * @param  {Number}  aj     Extra angle to apply to the plane
- */
-Narrowphase.prototype[Shape.CIRCLE | Shape.PLANE] =
-Narrowphase.prototype.circlePlane = function(   bi,si,xi,ai, bj,sj,xj,aj ){
-    var circleBody = bi,
-        circleShape = si,
-        circleOffset = xi, // Offset from body center, rotated!
-        planeBody = bj,
-        shapeB = sj,
-        planeOffset = xj,
-        planeAngle = aj;
-
-    planeAngle = planeAngle || 0;
-
-    // Vector from plane to circle
-    var planeToCircle = tmp1,
-        worldNormal = tmp2,
-        temp = tmp3;
-
-    sub(planeToCircle, circleOffset, planeOffset);
-
-    // World plane normal
-    vec2.rotate(worldNormal, yAxis, planeAngle);
-
-    // Normal direction distance
-    var d = dot(worldNormal, planeToCircle);
-
-    if(d > circleShape.radius) return false; // No overlap. Abort.
-
-    // Create contact
-    var contact = this.createContactEquation(planeBody,circleBody,sj,si);
-
-    // ni is the plane world normal
-    vec2.copy(contact.ni, worldNormal);
-
-    // rj is the vector from circle center to the contact point
-    vec2.scale(contact.rj, contact.ni, -circleShape.radius);
-    add(contact.rj, contact.rj, circleOffset);
-    sub(contact.rj, contact.rj, circleBody.position);
-
-    // ri is the distance from plane center to contact.
-    vec2.scale(temp, contact.ni, d);
-    sub(contact.ri, planeToCircle, temp ); // Subtract normal distance vector from the distance vector
-    add(contact.ri, contact.ri, planeOffset);
-    sub(contact.ri, contact.ri, planeBody.position);
-
-    this.contactEquations.push(contact);
-
-    if(this.enableFriction){
-        this.frictionEquations.push( this.createFrictionFromContact(contact) );
-    }
-
-    return true;
-};
-
-
-/**
- * Convex/convex Narrowphase.See <a href="http://www.altdevblogaday.com/2011/05/13/contact-generation-between-3d-convex-meshes/">this article</a> for more info.
- * @method convexConvex
- * @param  {Body} bi
- * @param  {Convex} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Convex} sj
- * @param  {Array} xj
- * @param  {Number} aj
- */
-Narrowphase.prototype[Shape.CONVEX] =
-Narrowphase.prototype.convexConvex = function(  bi,si,xi,ai, bj,sj,xj,aj ){
-    var sepAxis = tmp1,
-        worldPoint = tmp2,
-        worldPoint0 = tmp3,
-        worldPoint1 = tmp4,
-        worldEdge = tmp5,
-        projected = tmp6,
-        penetrationVec = tmp7,
-        dist = tmp8,
-        worldNormal = tmp9;
-
-    var found = Narrowphase.findSeparatingAxis(si,xi,ai,sj,xj,aj,sepAxis);
-    if(!found) return false;
-
-    // Make sure the separating axis is directed from shape i to shape j
-    sub(dist,xj,xi);
-    if(dot(sepAxis,dist) > 0){
-        vec2.scale(sepAxis,sepAxis,-1);
-    }
-
-    // Find edges with normals closest to the separating axis
-    var closestEdge1 = Narrowphase.getClosestEdge(si,ai,sepAxis,true), // Flipped axis
-        closestEdge2 = Narrowphase.getClosestEdge(sj,aj,sepAxis);
-
-    if(closestEdge1==-1 || closestEdge2==-1) return false;
-
-    // Loop over the shapes
-    for(var k=0; k<2; k++){
-
-        var closestEdgeA = closestEdge1,
-            closestEdgeB = closestEdge2,
-            shapeA =  si, shapeB =  sj,
-            offsetA = xi, offsetB = xj,
-            angleA = ai, angleB = aj,
-            bodyA = bi, bodyB = bj;
-
-        if(k==0){
-            // Swap!
-            var tmp;
-            tmp = closestEdgeA; closestEdgeA = closestEdgeB;    closestEdgeB = tmp;
-            tmp = shapeA;       shapeA = shapeB;                shapeB = tmp;
-            tmp = offsetA;      offsetA = offsetB;              offsetB = tmp;
-            tmp = angleA;       angleA = angleB;                angleB = tmp;
-            tmp = bodyA;        bodyA = bodyB;                  bodyB = tmp;
-        }
-
-        // Loop over 2 points in convex B
-        for(var j=closestEdgeB; j<closestEdgeB+2; j++){
-
-            // Get world point
-            var v = shapeB.vertices[(j+shapeB.vertices.length)%shapeB.vertices.length];
-            vec2.rotate(worldPoint, v, angleB);
-            add(worldPoint, worldPoint, offsetB);
-
-            var insideNumEdges = 0;
-
-            // Loop over the 3 closest edges in convex A
-            for(var i=closestEdgeA-1; i<closestEdgeA+2; i++){
-
-                var v0 = shapeA.vertices[(i  +shapeA.vertices.length)%shapeA.vertices.length],
-                    v1 = shapeA.vertices[(i+1+shapeA.vertices.length)%shapeA.vertices.length];
-
-                // Construct the edge
-                vec2.rotate(worldPoint0, v0, angleA);
-                vec2.rotate(worldPoint1, v1, angleA);
-                add(worldPoint0, worldPoint0, offsetA);
-                add(worldPoint1, worldPoint1, offsetA);
-
-                sub(worldEdge, worldPoint1, worldPoint0);
-
-                vec2.rotate(worldNormal, worldEdge, -Math.PI/2); // Normal points out of convex 1
-                vec2.normalize(worldNormal,worldNormal);
-
-                sub(dist, worldPoint, worldPoint0);
-
-                var d = dot(worldNormal,dist);
-
-                if(d < 0){
-                    insideNumEdges++;
-                }
-            }
-
-            if(insideNumEdges == 3){
-
-                // worldPoint was on the "inside" side of each of the 3 checked edges.
-                // Project it to the center edge and use the projection direction as normal
-
-                // Create contact
-                var c = this.createContactEquation(bodyA,bodyB,si,sj);
-
-                // Get center edge from body A
-                var v0 = shapeA.vertices[(closestEdgeA)   % shapeA.vertices.length],
-                    v1 = shapeA.vertices[(closestEdgeA+1) % shapeA.vertices.length];
-
-                // Construct the edge
-                vec2.rotate(worldPoint0, v0, angleA);
-                vec2.rotate(worldPoint1, v1, angleA);
-                add(worldPoint0, worldPoint0, offsetA);
-                add(worldPoint1, worldPoint1, offsetA);
-
-                sub(worldEdge, worldPoint1, worldPoint0);
-
-                vec2.rotate(c.ni, worldEdge, -Math.PI/2); // Normal points out of convex A
-                vec2.normalize(c.ni,c.ni);
-
-                sub(dist, worldPoint, worldPoint0); // From edge point to the penetrating point
-                var d = dot(c.ni,dist);             // Penetration
-                vec2.scale(penetrationVec, c.ni, d);     // Vector penetration
-
-
-                sub(c.ri, worldPoint, offsetA);
-                sub(c.ri, c.ri, penetrationVec);
-                add(c.ri, c.ri, offsetA);
-                sub(c.ri, c.ri, bodyA.position);
-
-                sub(c.rj, worldPoint, offsetB);
-                add(c.rj, c.rj, offsetB);
-                sub(c.rj, c.rj, bodyB.position);
-
-                this.contactEquations.push(c);
-
-                // Todo reduce to 1 friction equation if we have 2 contact points
-                if(this.enableFriction)
-                    this.frictionEquations.push(this.createFrictionFromContact(c));
-            }
-        }
-    }
-};
-
-// .projectConvex is called by other functions, need local tmp vectors
-var pcoa_tmp1 = vec2.fromValues(0,0);
-
-/**
- * Project a Convex onto a world-oriented axis
- * @method projectConvexOntoAxis
- * @static
- * @param  {Convex} convexShape
- * @param  {Array} convexOffset
- * @param  {Number} convexAngle
- * @param  {Array} worldAxis
- * @param  {Array} result
- */
-Narrowphase.projectConvexOntoAxis = function(convexShape, convexOffset, convexAngle, worldAxis, result){
-    var max=null,
-        min=null,
-        v,
-        value,
-        localAxis = pcoa_tmp1;
-
-    // Convert the axis to local coords of the body
-    vec2.rotate(localAxis, worldAxis, -convexAngle);
-
-    // Get projected position of all vertices
-    for(var i=0; i<convexShape.vertices.length; i++){
-        v = convexShape.vertices[i];
-        value = dot(v,localAxis);
-        if(max === null || value > max) max = value;
-        if(min === null || value < min) min = value;
-    }
-
-    if(min > max){
-        var t = min;
-        min = max;
-        max = t;
-    }
-
-    // Project the position of the body onto the axis - need to add this to the result
-    var offset = dot(convexOffset, worldAxis);
-
-    vec2.set( result, min + offset, max + offset);
-};
-
-// .findSeparatingAxis is called by other functions, need local tmp vectors
-var fsa_tmp1 = vec2.fromValues(0,0)
-,   fsa_tmp2 = vec2.fromValues(0,0)
-,   fsa_tmp3 = vec2.fromValues(0,0)
-,   fsa_tmp4 = vec2.fromValues(0,0)
-,   fsa_tmp5 = vec2.fromValues(0,0)
-,   fsa_tmp6 = vec2.fromValues(0,0)
-
-/**
- * Find a separating axis between the shapes, that maximizes the separating distance between them.
- * @method findSeparatingAxis
- * @static
- * @param  {Convex}     c1
- * @param  {Array}      offset1
- * @param  {Number}     angle1
- * @param  {Convex}     c2
- * @param  {Array}      offset2
- * @param  {Number}     angle2
- * @param  {Array}      sepAxis     The resulting axis
- * @return {Boolean}                Whether the axis could be found.
- */
-Narrowphase.findSeparatingAxis = function(c1,offset1,angle1,c2,offset2,angle2,sepAxis){
-    var maxDist = null,
-        overlap = false,
-        found = false,
-        edge = fsa_tmp1,
-        worldPoint0 = fsa_tmp2,
-        worldPoint1 = fsa_tmp3,
-        normal = fsa_tmp4,
-        span1 = fsa_tmp5,
-        span2 = fsa_tmp6;
-
-    for(var j=0; j!==2; j++){
-        var c = c1,
-            angle = angle1;
-        if(j===1){
-            c = c2;
-            angle = angle2;
-        }
-
-        for(var i=0; i!==c.vertices.length; i++){
-            // Get the world edge
-            vec2.rotate(worldPoint0, c.vertices[i], angle);
-            vec2.rotate(worldPoint1, c.vertices[(i+1)%c.vertices.length], angle);
-
-            sub(edge, worldPoint1, worldPoint0);
-
-            // Get normal - just rotate 90 degrees since vertices are given in CCW
-            vec2.rotate(normal, edge, -Math.PI / 2);
-            vec2.normalize(normal,normal);
-
-            // Project hulls onto that normal
-            Narrowphase.projectConvexOntoAxis(c1,offset1,angle1,normal,span1);
-            Narrowphase.projectConvexOntoAxis(c2,offset2,angle2,normal,span2);
-
-            // Order by span position
-            var a=span1,
-                b=span2,
-                swapped = false;
-            if(span1[0] > span2[0]){
-                b=span1;
-                a=span2;
-                swapped = true;
-            }
-
-            // Get separating distance
-            var dist = b[0] - a[1];
-            overlap = dist < 0;
-
-            if(maxDist===null || dist > maxDist){
-                vec2.copy(sepAxis, normal);
-                maxDist = dist;
-                found = overlap;
-            }
-        }
-    }
-
-    return found;
-};
-
-// .getClosestEdge is called by other functions, need local tmp vectors
-var gce_tmp1 = vec2.fromValues(0,0)
-,   gce_tmp2 = vec2.fromValues(0,0)
-,   gce_tmp3 = vec2.fromValues(0,0)
-
-/**
- * Get the edge that has a normal closest to an axis.
- * @method getClosestEdge
- * @static
- * @param  {Convex}     c
- * @param  {Number}     angle
- * @param  {Array}      axis
- * @param  {Boolean}    flip
- * @return {Number}             Index of the edge that is closest. This index and the next spans the resulting edge. Returns -1 if failed.
- */
-Narrowphase.getClosestEdge = function(c,angle,axis,flip){
-    var localAxis = gce_tmp1,
-        edge = gce_tmp2,
-        normal = gce_tmp3;
-
-    // Convert the axis to local coords of the body
-    vec2.rotate(localAxis, axis, -angle);
-    if(flip){
-        vec2.scale(localAxis,localAxis,-1);
-    }
-
-    var closestEdge = -1,
-        N = c.vertices.length,
-        halfPi = Math.PI / 2;
-    for(var i=0; i!==N; i++){
-        // Get the edge
-        sub(edge, c.vertices[(i+1)%N], c.vertices[i%N]);
-
-        // Get normal - just rotate 90 degrees since vertices are given in CCW
-        vec2.rotate(normal, edge, -halfPi);
-        vec2.normalize(normal,normal);
-
-        var d = dot(normal,localAxis);
-        if(closestEdge == -1 || d > maxDot){
-            closestEdge = i % N;
-            maxDot = d;
-        }
-    }
-
-    return closestEdge;
-};
-
diff --git a/src/physics/advanced/collision/QuadTree.js b/src/physics/advanced/collision/QuadTree.js
deleted file mode 100644
index b0a48a7330..0000000000
--- a/src/physics/advanced/collision/QuadTree.js
+++ /dev/null
@@ -1,376 +0,0 @@
-var Plane = require("../shapes/Plane");
-var Broadphase = require("../collision/Broadphase");
-
-module.exports = {
-    QuadTree : QuadTree,
-    Node : Node,
-    BoundsNode : BoundsNode,
-};
-
-/**
- * QuadTree data structure. See https://github.com/mikechambers/ExamplesByMesh/tree/master/JavaScript/QuadTree
- * @class QuadTree
- * @constructor
- * @param {Object} An object representing the bounds of the top level of the QuadTree. The object
- * should contain the following properties : x, y, width, height
- * @param {Boolean} pointQuad Whether the QuadTree will contain points (true), or items with bounds
- * (width / height)(false). Default value is false.
- * @param {Number} maxDepth The maximum number of levels that the quadtree will create. Default is 4.
- * @param {Number} maxChildren The maximum number of children that a node can contain before it is split into sub-nodes.
- */
-function QuadTree(bounds, pointQuad, maxDepth, maxChildren){
-    var node;
-    if(pointQuad){
-        node = new Node(bounds, 0, maxDepth, maxChildren);
-    } else {
-        node = new BoundsNode(bounds, 0, maxDepth, maxChildren);
-    }
-
-    /**
-     * The root node of the QuadTree which covers the entire area being segmented.
-     * @property root
-     * @type Node
-     */
-    this.root = node;
-}
-
-/**
- * Inserts an item into the QuadTree.
- * @method insert
- * @param {Object|Array} item The item or Array of items to be inserted into the QuadTree. The item should expose x, y
- * properties that represents its position in 2D space.
- */
-QuadTree.prototype.insert = function(item){
-    if(item instanceof Array){
-        var len = item.length;
-        for(var i = 0; i < len; i++){
-            this.root.insert(item[i]);
-        }
-    } else {
-        this.root.insert(item);
-    }
-}
-
-/**
- * Clears all nodes and children from the QuadTree
- * @method clear
- */
-QuadTree.prototype.clear = function(){
-    this.root.clear();
-}
-
-/**
- * Retrieves all items / points in the same node as the specified item / point. If the specified item
- * overlaps the bounds of a node, then all children in both nodes will be returned.
- * @method retrieve
- * @param {Object} item An object representing a 2D coordinate point (with x, y properties), or a shape
- * with dimensions (x, y, width, height) properties.
- */
-QuadTree.prototype.retrieve = function(item){
-    //get a copy of the array of items
-    var out = this.root.retrieve(item).slice(0);
-    return out;
-}
-
-QuadTree.prototype.getCollisionPairs = function(world){
-
-    var result = [];
-
-    // Add all bodies
-    this.insert(world.bodies);
-
-    /*
-    console.log("bodies",world.bodies.length);
-    console.log("maxDepth",this.root.maxDepth,"maxChildren",this.root.maxChildren);
-    */
-
-    for(var i=0; i!==world.bodies.length; i++){
-        var b = world.bodies[i],
-            items = this.retrieve(b);
-
-        //console.log("items",items.length);
-
-        // Check results
-        for(var j=0, len=items.length; j!==len; j++){
-            var item = items[j];
-
-            if(b === item) continue; // Do not add self
-
-            // Check if they were already added
-            var found = false;
-            for(var k=0, numAdded=result.length; k<numAdded; k+=2){
-                var r1 = result[k],
-                    r2 = result[k+1];
-                if( (r1==item && r2==b) || (r2==item && r1==b) ){
-                    found = true;
-                    break;
-                }
-            }
-            if(!found && Broadphase.boundingRadiusCheck(b,item)){
-                result.push(b,item);
-            }
-        }
-    }
-
-    //console.log("results",result.length);
-
-    // Clear until next
-    this.clear();
-
-    return result;
-};
-
-function Node(bounds, depth, maxDepth, maxChildren){
-    this.bounds = bounds;
-    this.children = [];
-    this.nodes = [];
-
-    if(maxChildren){
-        this.maxChildren = maxChildren;
-    }
-
-    if(maxDepth){
-        this.maxDepth = maxDepth;
-    }
-
-    if(depth){
-        this.depth = depth;
-    }
-}
-
-//subnodes
-Node.prototype.classConstructor = Node;
-
-//children contained directly in the node
-Node.prototype.children = null;
-
-//read only
-Node.prototype.depth = 0;
-
-Node.prototype.maxChildren = 4;
-Node.prototype.maxDepth = 4;
-
-Node.TOP_LEFT = 0;
-Node.TOP_RIGHT = 1;
-Node.BOTTOM_LEFT = 2;
-Node.BOTTOM_RIGHT = 3;
-
-Node.prototype.insert = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        this.nodes[index].insert(item);
-        return;
-    }
-
-    this.children.push(item);
-
-    var len = this.children.length;
-    if(!(this.depth >= this.maxDepth) && len > this.maxChildren) {
-        this.subdivide();
-
-        for(var i = 0; i < len; i++){
-            this.insert(this.children[i]);
-        }
-
-        this.children.length = 0;
-    }
-}
-
-Node.prototype.retrieve = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        return this.nodes[index].retrieve(item);
-    }
-
-    return this.children;
-}
-
-Node.prototype.findIndex = function(item){
-    var b = this.bounds;
-    var left = (item.position[0]-item.boundingRadius > b.x + b.width  / 2) ? false : true;
-    var top =  (item.position[1]-item.boundingRadius > b.y + b.height / 2) ? false : true;
-
-    if(item instanceof Plane){
-        left = top = false; // Will overlap the left/top boundary since it is infinite
-    }
-
-    //top left
-    var index = Node.TOP_LEFT;
-    if(left){
-        if(!top){
-            index = Node.BOTTOM_LEFT;
-        }
-    } else {
-        if(top){
-            index = Node.TOP_RIGHT;
-        } else {
-            index = Node.BOTTOM_RIGHT;
-        }
-    }
-
-    return index;
-}
-
-
-Node.prototype.subdivide = function(){
-    var depth = this.depth + 1;
-
-    var bx = this.bounds.x;
-    var by = this.bounds.y;
-
-    //floor the values
-    var b_w_h = (this.bounds.width / 2);
-    var b_h_h = (this.bounds.height / 2);
-    var bx_b_w_h = bx + b_w_h;
-    var by_b_h_h = by + b_h_h;
-
-    //top left
-    this.nodes[Node.TOP_LEFT] = new this.classConstructor({
-        x:bx,
-        y:by,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-    //top right
-    this.nodes[Node.TOP_RIGHT] = new this.classConstructor({
-        x:bx_b_w_h,
-        y:by,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-    //bottom left
-    this.nodes[Node.BOTTOM_LEFT] = new this.classConstructor({
-        x:bx,
-        y:by_b_h_h,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-
-
-    //bottom right
-    this.nodes[Node.BOTTOM_RIGHT] = new this.classConstructor({
-        x:bx_b_w_h,
-        y:by_b_h_h,
-        width:b_w_h,
-        height:b_h_h
-    },
-    depth);
-}
-
-Node.prototype.clear = function(){
-    this.children.length = 0;
-
-    var len = this.nodes.length;
-    for(var i = 0; i < len; i++){
-        this.nodes[i].clear();
-    }
-
-    this.nodes.length = 0;
-}
-
-
-// BoundsQuadTree
-
-function BoundsNode(bounds, depth, maxChildren, maxDepth){
-    Node.call(this, bounds, depth, maxChildren, maxDepth);
-    this.stuckChildren = [];
-}
-
-BoundsNode.prototype = new Node();
-BoundsNode.prototype.classConstructor = BoundsNode;
-BoundsNode.prototype.stuckChildren = null;
-
-//we use this to collect and conctenate items being retrieved. This way
-//we dont have to continuously create new Array instances.
-//Note, when returned from QuadTree.retrieve, we then copy the array
-BoundsNode.prototype.out = [];
-
-BoundsNode.prototype.insert = function(item){
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        var node = this.nodes[index];
-
-        /*
-        console.log("radius:",item.boundingRadius);
-        console.log("item x:",item.position[0] - item.boundingRadius,"x range:",node.bounds.x,node.bounds.x+node.bounds.width);
-        console.log("item y:",item.position[1] - item.boundingRadius,"y range:",node.bounds.y,node.bounds.y+node.bounds.height);
-        */
-
-        //todo: make _bounds bounds
-        if( !(item instanceof Plane) && // Plane is infinite.. Make it a "stuck" child
-            item.position[0] - item.boundingRadius >= node.bounds.x &&
-            item.position[0] + item.boundingRadius <= node.bounds.x + node.bounds.width &&
-            item.position[1] - item.boundingRadius >= node.bounds.y &&
-            item.position[1] + item.boundingRadius <= node.bounds.y + node.bounds.height){
-            this.nodes[index].insert(item);
-        } else {
-            this.stuckChildren.push(item);
-        }
-
-        return;
-    }
-
-    this.children.push(item);
-
-    var len = this.children.length;
-
-    if(this.depth < this.maxDepth && len > this.maxChildren){
-        this.subdivide();
-
-        for(var i=0; i<len; i++){
-            this.insert(this.children[i]);
-        }
-
-        this.children.length = 0;
-    }
-}
-
-BoundsNode.prototype.getChildren = function(){
-    return this.children.concat(this.stuckChildren);
-}
-
-BoundsNode.prototype.retrieve = function(item){
-    var out = this.out;
-    out.length = 0;
-
-    if(this.nodes.length){
-        var index = this.findIndex(item);
-        out.push.apply(out, this.nodes[index].retrieve(item));
-    }
-
-    out.push.apply(out, this.stuckChildren);
-    out.push.apply(out, this.children);
-
-    return out;
-}
-
-BoundsNode.prototype.clear = function(){
-
-    this.stuckChildren.length = 0;
-
-    //array
-    this.children.length = 0;
-
-    var len = this.nodes.length;
-
-    if(!len){
-        return;
-    }
-
-    for(var i = 0; i < len; i++){
-        this.nodes[i].clear();
-    }
-
-    //array
-    this.nodes.length = 0;
-
-    //we could call the super clear function but for now, im just going to inline it
-    //call the hidden super.clear, and make sure its called with this = this instance
-    //Object.getPrototypeOf(BoundsNode.prototype).clear.call(this);
-}
-
diff --git a/src/physics/advanced/collision/SAP1DBroadphase.js b/src/physics/advanced/collision/SAP1DBroadphase.js
deleted file mode 100644
index f0aaf4d2f0..0000000000
--- a/src/physics/advanced/collision/SAP1DBroadphase.js
+++ /dev/null
@@ -1,132 +0,0 @@
-var Circle = require('../shapes/Circle')
-,   Plane = require('../shapes/Plane')
-,   Shape = require('../shapes/Shape')
-,   Particle = require('../shapes/Particle')
-,   Broadphase = require('../collision/Broadphase')
-,   vec2 = require('../math/vec2')
-
-module.exports = SAP1DBroadphase;
-
-/**
- * Sweep and prune broadphase along one axis.
- *
- * @class SAP1DBroadphase
- * @constructor
- * @extends Broadphase
- * @param {World} world
- */
-function SAP1DBroadphase(world){
-    Broadphase.apply(this);
-
-    /**
-     * List of bodies currently in the broadphase.
-     * @property axisList
-     * @type {Array}
-     */
-    this.axisList = world.bodies.slice(0);
-
-    /**
-     * The world to search in.
-     * @property world
-     * @type {World}
-     */
-    this.world = world;
-
-    /**
-     * Axis to sort the bodies along. Set to 0 for x axis, and 1 for y axis. For best performance, choose an axis that the bodies are spread out more on.
-     * @property axisIndex
-     * @type {Number}
-     */
-    this.axisIndex = 0;
-
-    // Add listeners to update the list of bodies.
-    var axisList = this.axisList;
-    world.on("addBody",function(e){
-        axisList.push(e.body);
-    }).on("removeBody",function(e){
-        var idx = axisList.indexOf(e.body);
-        if(idx !== -1)
-            axisList.splice(idx,1);
-    });
-};
-SAP1DBroadphase.prototype = new Broadphase();
-
-/**
- * Function for sorting bodies along the X axis. To be passed to array.sort()
- * @method sortAxisListX
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Number}
- */
-SAP1DBroadphase.sortAxisListX = function(bodyA,bodyB){
-    return (bodyA.position[0]-bodyA.boundingRadius) - (bodyB.position[0]-bodyB.boundingRadius);
-};
-
-/**
- * Function for sorting bodies along the Y axis. To be passed to array.sort()
- * @method sortAxisListY
- * @param  {Body} bodyA
- * @param  {Body} bodyB
- * @return {Number}
- */
-SAP1DBroadphase.sortAxisListY = function(bodyA,bodyB){
-    return (bodyA.position[1]-bodyA.boundingRadius) - (bodyB.position[1]-bodyB.boundingRadius);
-};
-
-/**
- * Get the colliding pairs
- * @method getCollisionPairs
- * @param  {World} world
- * @return {Array}
- */
-SAP1DBroadphase.prototype.getCollisionPairs = function(world){
-    var bodies = this.axisList,
-        result = this.result,
-        axisIndex = this.axisIndex,
-        i,j;
-
-    result.length = 0;
-
-    // Sort the list
-    bodies.sort(axisIndex === 0 ? SAP1DBroadphase.sortAxisListX : SAP1DBroadphase.sortAxisListY );
-
-    // Look through the list
-    for(i=0, N=bodies.length; i!==N; i++){
-        var bi = bodies[i];
-
-        for(j=i+1; j<N; j++){
-            var bj = bodies[j];
-
-            if(!SAP1DBroadphase.checkBounds(bi,bj,axisIndex))
-                break;
-
-            // If we got overlap, add pair
-            if(Broadphase.boundingRadiusCheck(bi,bj))
-                result.push(bi,bj);
-        }
-    }
-
-    return result;
-};
-
-/**
- * Check if the bounds of two bodies overlap, along the given SAP axis.
- * @static
- * @method checkBounds
- * @param  {Body} bi
- * @param  {Body} bj
- * @param  {Number} axisIndex
- * @return {Boolean}
- */
-SAP1DBroadphase.checkBounds = function(bi,bj,axisIndex){
-    var biPos = bi.position[axisIndex],
-        ri = bi.boundingRadius,
-        bjPos = bj.position[axisIndex],
-        rj = bj.boundingRadius,
-        boundA1 = biPos-ri,
-        boundA2 = biPos+ri,
-        boundB1 = bjPos-rj,
-        boundB2 = bjPos+rj;
-
-    return boundB1 < boundA2;
-};
diff --git a/src/physics/advanced/constraints/Constraint.js b/src/physics/advanced/constraints/Constraint.js
deleted file mode 100644
index df838cb1c0..0000000000
--- a/src/physics/advanced/constraints/Constraint.js
+++ /dev/null
@@ -1,42 +0,0 @@
-module.exports = Constraint;
-
-/**
- * Base constraint class.
- *
- * @class Constraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- */
-function Constraint(bodyA,bodyB){
-
-    /**
-     * Equations to be solved in this constraint
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * First body participating in the constraint.
-     * @property bodyA
-     * @type {Body}
-     */
-    this.bodyA = bodyA;
-
-    /**
-     * Second body participating in the constraint.
-     * @property bodyB
-     * @type {Body}
-     */
-    this.bodyB = bodyB;
-};
-
-/**
- * To be implemented by subclasses. Should update the internal constraint parameters.
- * @method update
- */
-/*Constraint.prototype.update = function(){
-    throw new Error("method update() not implmemented in this Constraint subclass!");
-};*/
diff --git a/src/physics/advanced/constraints/ContactEquation.js b/src/physics/advanced/constraints/ContactEquation.js
deleted file mode 100644
index 490c8cae5c..0000000000
--- a/src/physics/advanced/constraints/ContactEquation.js
+++ /dev/null
@@ -1,114 +0,0 @@
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2'),
-    mat2 = require('../math/mat2');
-
-module.exports = ContactEquation;
-
-/**
- * Non-penetration constraint equation. Tries to make the ri and rj vectors the same point.
- *
- * @class ContactEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- */
-function ContactEquation(bi,bj){
-    Equation.call(this,bi,bj,0,Number.MAX_VALUE);
-
-    /**
-     * Vector from body i center of mass to the contact point.
-     * @property ri
-     * @type {Array}
-     */
-    this.ri = vec2.create();
-    this.penetrationVec = vec2.create();
-
-    /**
-     * Vector from body j center of mass to the contact point.
-     * @property rj
-     * @type {Array}
-     */
-    this.rj = vec2.create();
-
-    /**
-     * The normal vector, pointing out of body i
-     * @property ni
-     * @type {Array}
-     */
-    this.ni = vec2.create();
-
-    /**
-     * The restitution to use. 0=no bounciness, 1=max bounciness.
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution = 0;
-
-    /**
-     * Set to true if this is the first impact between the bodies (not persistant contact).
-     * @property firstImpact
-     * @type {Boolean}
-     */
-    this.firstImpact = false;
-
-    /**
-     * The shape in body i that triggered this contact.
-     * @property shapeA
-     * @type {Shape}
-     */
-    this.shapeA = null;
-
-    /**
-     * The shape in body j that triggered this contact.
-     * @property shapeB
-     * @type {Shape}
-     */
-    this.shapeB = null;
-};
-ContactEquation.prototype = new Equation();
-ContactEquation.prototype.constructor = ContactEquation;
-ContactEquation.prototype.computeB = function(a,b,h){
-    var bi = this.bi,
-        bj = this.bj,
-        ri = this.ri,
-        rj = this.rj,
-        xi = bi.position,
-        xj = bj.position;
-
-    var penetrationVec = this.penetrationVec,
-        n = this.ni,
-        G = this.G;
-
-    // Caluclate cross products
-    var rixn = vec2.crossLength(ri,n),
-        rjxn = vec2.crossLength(rj,n);
-
-    // G = [-n -rixn n rjxn]
-    G[0] = -n[0];
-    G[1] = -n[1];
-    G[2] = -rixn;
-    G[3] = n[0];
-    G[4] = n[1];
-    G[5] = rjxn;
-
-    // Calculate q = xj+rj -(xi+ri) i.e. the penetration vector
-    vec2.add(penetrationVec,xj,rj);
-    vec2.sub(penetrationVec,penetrationVec,xi);
-    vec2.sub(penetrationVec,penetrationVec,ri);
-
-    // Compute iteration
-    var GW, Gq;
-    if(this.firstImpact && this.restitution !== 0){
-        Gq = 0;
-        GW = (1/b)*(1+this.restitution) * this.computeGW();
-    } else {
-        GW = this.computeGW();
-        Gq = vec2.dot(n,penetrationVec);
-    }
-
-    var GiMf = this.computeGiMf();
-    var B = - Gq * a - GW * b - h*GiMf;
-
-    return B;
-};
diff --git a/src/physics/advanced/constraints/DistanceConstraint.js b/src/physics/advanced/constraints/DistanceConstraint.js
deleted file mode 100644
index 4594a918ae..0000000000
--- a/src/physics/advanced/constraints/DistanceConstraint.js
+++ /dev/null
@@ -1,85 +0,0 @@
-var Constraint = require('./Constraint')
-,   Equation = require('./Equation')
-,   vec2 = require('../math/vec2')
-
-module.exports = DistanceConstraint;
-
-/**
- * Constraint that tries to keep the distance between two bodies constant.
- *
- * @class DistanceConstraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {number} dist The distance to keep between the bodies.
- * @param {number} maxForce
- * @extends {Constraint}
- */
-function DistanceConstraint(bodyA,bodyB,distance,maxForce){
-    Constraint.call(this,bodyA,bodyB);
-
-    /**
-     * The distance to keep.
-     * @property distance
-     * @type {Number}
-     */
-    this.distance = distance;
-
-    if(typeof(maxForce)==="undefined" )
-        maxForce = Number.MAX_VALUE;
-
-    var normal = new Equation(bodyA,bodyB,-maxForce,maxForce); // Just in the normal direction
-    this.equations = [ normal ];
-
-    var r = vec2.create();
-    normal.computeGq = function(){
-        vec2.sub(r, bodyB.position, bodyA.position);
-        return vec2.length(r)-distance;
-    };
-
-    // Make the contact constraint bilateral
-    this.setMaxForce(maxForce);
-}
-DistanceConstraint.prototype = new Constraint();
-
-/**
- * Update the constraint equations. Should be done if any of the bodies changed position, before solving.
- * @method update
- */
-var n = vec2.create();
-DistanceConstraint.prototype.update = function(){
-    var normal = this.equations[0],
-        bodyA = this.bodyA,
-        bodyB = this.bodyB,
-        distance = this.distance,
-        G = normal.G;
-
-    vec2.sub(n, bodyB.position, bodyA.position);
-    vec2.normalize(n,n);
-    G[0] = -n[0];
-    G[1] = -n[1];
-    G[3] =  n[0];
-    G[4] =  n[1];
-};
-
-/**
- * Set the max force to be used
- * @method setMaxForce
- * @param {Number} f
- */
-DistanceConstraint.prototype.setMaxForce = function(f){
-    var normal = this.equations[0];
-    normal.minForce = -f;
-    normal.maxForce =  f;
-};
-
-/**
- * Get the max force
- * @method getMaxForce
- * @return {Number}
- */
-DistanceConstraint.prototype.getMaxForce = function(f){
-    var normal = this.equations[0];
-    return normal.maxForce;
-};
diff --git a/src/physics/advanced/constraints/Equation.js b/src/physics/advanced/constraints/Equation.js
deleted file mode 100644
index 64527232d1..0000000000
--- a/src/physics/advanced/constraints/Equation.js
+++ /dev/null
@@ -1,316 +0,0 @@
-module.exports = Equation;
-
-var vec2 = require('../math/vec2'),
-    mat2 = require('../math/mat2'),
-    Utils = require('../utils/Utils');
-
-/**
- * Base class for constraint equations.
- * @class Equation
- * @constructor
- * @param {Body} bi First body participating in the equation
- * @param {Body} bj Second body participating in the equation
- * @param {number} minForce Minimum force to apply. Default: -1e6
- * @param {number} maxForce Maximum force to apply. Default: 1e6
- */
-function Equation(bi,bj,minForce,maxForce){
-
-    /**
-     * Minimum force to apply when solving
-     * @property minForce
-     * @type {Number}
-     */
-    this.minForce = typeof(minForce)=="undefined" ? -1e6 : minForce;
-
-    /**
-     * Max force to apply when solving
-     * @property maxForce
-     * @type {Number}
-     */
-    this.maxForce = typeof(maxForce)=="undefined" ? 1e6 : maxForce;
-
-    /**
-     * First body participating in the constraint
-     * @property bi
-     * @type {Body}
-     */
-    this.bi = bi;
-
-    /**
-     * Second body participating in the constraint
-     * @property bj
-     * @type {Body}
-     */
-    this.bj = bj;
-
-    /**
-     * The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness = 1e6;
-
-    /**
-     * The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation = 4;
-
-    /**
-     * The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).
-     * @property G
-     * @type {Array}
-     */
-    this.G = new Utils.ARRAY_TYPE(6);
-
-    // Constraint frames for body i and j
-    /*
-    this.xi = vec2.create();
-    this.xj = vec2.create();
-    this.ai = 0;
-    this.aj = 0;
-    */
-    this.offset = 0;
-
-    this.a = 0;
-    this.b = 0;
-    this.eps = 0;
-    this.h = 0;
-    this.updateSpookParams(1/60);
-
-    /**
-     * The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.
-     * @property multiplier
-     * @type {Number}
-     */
-    this.multiplier = 0;
-};
-Equation.prototype.constructor = Equation;
-
-/**
- * Update SPOOK parameters .a, .b and .eps according to the given time step. See equations 9, 10 and 11 in the <a href="http://www8.cs.umu.se/kurser/5DV058/VT09/lectures/spooknotes.pdf">SPOOK notes</a>.
- * @method updateSpookParams
- * @param  {number} timeStep
- */
-Equation.prototype.updateSpookParams = function(timeStep){
-    var k = this.stiffness,
-        d = this.relaxation,
-        h = timeStep;
-    this.a = 4.0 / (h * (1 + 4 * d));
-    this.b = (4.0 * d) / (1 + 4 * d);
-    this.eps = 4.0 / (h * h * k * (1 + 4 * d));
-    this.h = timeStep;
-};
-
-function Gmult(G,vi,wi,vj,wj){
-    return  G[0] * vi[0] +
-            G[1] * vi[1] +
-            G[2] * wi +
-            G[3] * vj[0] +
-            G[4] * vj[1] +
-            G[5] * wj;
-}
-
-/**
- * Computes the RHS of the SPOOK equation
- * @method computeB
- * @return {Number}
- */
-Equation.prototype.computeB = function(a,b,h){
-    var GW = this.computeGW();
-    var Gq = this.computeGq();
-    var GiMf = this.computeGiMf();
-    return - Gq * a - GW * b - GiMf*h;
-};
-
-/**
- * Computes G*q, where q are the generalized body coordinates
- * @method computeGq
- * @return {Number}
- */
-var qi = vec2.create(),
-    qj = vec2.create();
-Equation.prototype.computeGq = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        xi = bi.position,
-        xj = bj.position,
-        ai = bi.angle,
-        aj = bj.angle;
-
-    // Transform to the given body frames
-    /*
-    vec2.rotate(qi,this.xi,ai);
-    vec2.rotate(qj,this.xj,aj);
-    vec2.add(qi,qi,xi);
-    vec2.add(qj,qj,xj);
-    */
-
-    return Gmult(G, qi, ai, qj, aj) + this.offset;
-};
-
-var tmp_i = vec2.create(),
-    tmp_j = vec2.create();
-Equation.prototype.transformedGmult = function(G,vi,wi,vj,wj){
-    // Transform velocity to the given body frames
-    // v_p = v + w x r
-    /*
-    vec2.rotate(tmp_i,this.xi,Math.PI / 2 + this.bi.angle); // Get r, and rotate 90 degrees. We get the "x r" part
-    vec2.rotate(tmp_j,this.xj,Math.PI / 2 + this.bj.angle);
-    vec2.scale(tmp_i,tmp_i,wi); // Temp vectors are now (w x r)
-    vec2.scale(tmp_j,tmp_j,wj);
-    vec2.add(tmp_i,tmp_i,vi);
-    vec2.add(tmp_j,tmp_j,vj);
-    */
-
-    // Note: angular velocity is same
-    return Gmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*W, where W are the body velocities
- * @method computeGW
- * @return {Number}
- */
-Equation.prototype.computeGW = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        vi = bi.velocity,
-        vj = bj.velocity,
-        wi = bi.angularVelocity,
-        wj = bj.angularVelocity;
-    return this.transformedGmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*Wlambda, where W are the body velocities
- * @method computeGWlambda
- * @return {Number}
- */
-Equation.prototype.computeGWlambda = function(){
-    var G = this.G,
-        bi = this.bi,
-        bj = this.bj,
-        vi = bi.vlambda,
-        vj = bj.vlambda,
-        wi = bi.wlambda,
-        wj = bj.wlambda;
-    return this.transformedGmult(G,vi,wi,vj,wj);
-};
-
-/**
- * Computes G*inv(M)*f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.
- * @method computeGiMf
- * @return {Number}
- */
-var iMfi = vec2.create(),
-    iMfj = vec2.create();
-Equation.prototype.computeGiMf = function(){
-    var bi = this.bi,
-        bj = this.bj,
-        fi = bi.force,
-        ti = bi.angularForce,
-        fj = bj.force,
-        tj = bj.angularForce,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        invIi = bi.invInertia,
-        invIj = bj.invInertia,
-        G = this.G;
-
-    vec2.scale(iMfi, fi,invMassi);
-    vec2.scale(iMfj, fj,invMassj);
-
-    return this.transformedGmult(G,iMfi,ti*invIi,iMfj,tj*invIj);
-};
-
-/**
- * Computes G*inv(M)*G'
- * @method computeGiMGt
- * @return {Number}
- */
-Equation.prototype.computeGiMGt = function(){
-    var bi = this.bi,
-        bj = this.bj,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        invIi = bi.invInertia,
-        invIj = bj.invInertia,
-        G = this.G;
-
-    return  G[0] * G[0] * invMassi +
-            G[1] * G[1] * invMassi +
-            G[2] * G[2] *    invIi +
-            G[3] * G[3] * invMassj +
-            G[4] * G[4] * invMassj +
-            G[5] * G[5] *    invIj;
-};
-
-var addToWlambda_temp = vec2.create(),
-    addToWlambda_Gi = vec2.create(),
-    addToWlambda_Gj = vec2.create(),
-    addToWlambda_ri = vec2.create(),
-    addToWlambda_rj = vec2.create();
-var tmpMat1 = mat2.create(),
-    tmpMat2 = mat2.create();
-
-/**
- * Add constraint velocity to the bodies.
- * @method addToWlambda
- * @param {Number} deltalambda
- */
-Equation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi,
-        bj = this.bj,
-        temp = addToWlambda_temp,
-        imMat1 = tmpMat1,
-        imMat2 = tmpMat2,
-        Gi = addToWlambda_Gi,
-        Gj = addToWlambda_Gj,
-        ri = addToWlambda_ri,
-        rj = addToWlambda_rj,
-        G = this.G;
-
-    Gi[0] = G[0];
-    Gi[1] = G[1];
-    Gj[0] = G[3];
-    Gj[1] = G[4];
-
-    mat2.identity(imMat1);
-    mat2.identity(imMat2);
-    imMat1[0] = imMat1[3] = bi.invMass;
-    imMat2[0] = imMat2[3] = bj.invMass;
-
-    /*
-    vec2.rotate(ri,this.xi,bi.angle);
-    vec2.rotate(rj,this.xj,bj.angle);
-    */
-
-    // Add to linear velocity
-    vec2.scale(temp,vec2.transformMat2(temp,Gi,imMat1),deltalambda);
-    vec2.add( bi.vlambda, bi.vlambda, temp);
-    // This impulse is in the offset frame
-    // Also add contribution to angular
-    //bi.wlambda -= vec2.crossLength(temp,ri);
-
-    vec2.scale(temp,vec2.transformMat2(temp,Gj,imMat2),deltalambda);
-    vec2.add( bj.vlambda, bj.vlambda, temp);
-    //bj.wlambda -= vec2.crossLength(temp,rj);
-
-    // Add to angular velocity
-    bi.wlambda += bi.invInertia * G[2] * deltalambda;
-    bj.wlambda += bj.invInertia * G[5] * deltalambda;
-};
-
-/**
- * Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
- * @method computeC
- * @param  {Number} eps
- * @return {Number}
- */
-Equation.prototype.computeC = function(eps){
-    return this.computeGiMGt() + eps;
-};
diff --git a/src/physics/advanced/constraints/FrictionEquation.js b/src/physics/advanced/constraints/FrictionEquation.js
deleted file mode 100644
index 8dea79704c..0000000000
--- a/src/physics/advanced/constraints/FrictionEquation.js
+++ /dev/null
@@ -1,108 +0,0 @@
-var mat2 = require('../math/mat2')
-,   vec2 = require('../math/vec2')
-,   Equation = require('./Equation')
-,   Utils = require('../utils/Utils')
-
-module.exports = FrictionEquation;
-
-/**
- * Constrains the slipping in a contact along a tangent
- *
- * @class FrictionEquation
- * @constructor
- * @param {Body} bi
- * @param {Body} bj
- * @param {Number} slipForce
- * @extends {Equation}
- */
-function FrictionEquation(bi,bj,slipForce){
-    Equation.call(this,bi,bj,-slipForce,slipForce);
-
-    /**
-     * Relative vector from center of body i to the contact point, in world coords.
-     * @property ri
-     * @type {Float32Array}
-     */
-    this.ri = vec2.create();
-
-    /**
-     * Relative vector from center of body j to the contact point, in world coords.
-     * @property rj
-     * @type {Float32Array}
-     */
-    this.rj = vec2.create();
-
-    /**
-     * Tangent vector that the friction force will act along, in world coords.
-     * @property t
-     * @type {Float32Array}
-     */
-    this.t = vec2.create();
-
-    /**
-     * A ContactEquation connected to this friction. The contact equation can be used to rescale the max force for the friction.
-     * @property contactEquation
-     * @type {ContactEquation}
-     */
-    this.contactEquation = null;
-
-    /**
-     * The shape in body i that triggered this friction.
-     * @property shapeA
-     * @type {Shape}
-     */
-    this.shapeA = null;
-
-    /**
-     * The shape in body j that triggered this friction.
-     * @property shapeB
-     * @type {Shape}
-     */
-    this.shapeB = null;
-
-    /**
-     * The friction coefficient to use.
-     * @property frictionCoefficient
-     * @type {Number}
-     */
-    this.frictionCoefficient = 0.3;
-};
-FrictionEquation.prototype = new Equation();
-FrictionEquation.prototype.constructor = FrictionEquation;
-
-/**
- * Set the slipping condition for the constraint. The friction force cannot be
- * larger than this value.
- * @method setSlipForce
- * @param  {Number} slipForce
- * @deprecated Use .frictionCoefficient instead
- */
-FrictionEquation.prototype.setSlipForce = function(slipForce){
-    this.maxForce = slipForce;
-    this.minForce = -slipForce;
-};
-
-FrictionEquation.prototype.computeB = function(a,b,h){
-    var bi = this.bi,
-        bj = this.bj,
-        ri = this.ri,
-        rj = this.rj,
-        t = this.t,
-        G = this.G;
-
-    // G = [-t -rixt t rjxt]
-    // And remember, this is a pure velocity constraint, g is always zero!
-    G[0] = -t[0];
-    G[1] = -t[1];
-    G[2] = -vec2.crossLength(ri,t);
-    G[3] = t[0];
-    G[4] = t[1];
-    G[5] = vec2.crossLength(rj,t);
-
-    var GW = this.computeGW();
-    var GiMf = this.computeGiMf();
-
-    var B = /* - g * a  */ - GW * b - h*GiMf;
-
-    return B;
-};
diff --git a/src/physics/advanced/constraints/LockConstraint.js b/src/physics/advanced/constraints/LockConstraint.js
deleted file mode 100644
index 8c7539a905..0000000000
--- a/src/physics/advanced/constraints/LockConstraint.js
+++ /dev/null
@@ -1,123 +0,0 @@
-var Constraint = require('./Constraint')
-,   vec2 = require('../math/vec2')
-,   Equation = require('./Equation')
-
-module.exports = LockConstraint;
-
-/**
- * Locks the relative position between two bodies.
- *
- * @class LockConstraint
- * @constructor
- * @author schteppe
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {Object} [options]
- * @param {Array}  [options.localOffsetB] The offset of bodyB in bodyA's frame.
- * @param {number} [options.localAngleB]  The angle of bodyB in bodyA's frame.
- * @param {number} [options.maxForce]
- * @extends {Constraint}
- */
-function LockConstraint(bodyA,bodyB,options){
-    Constraint.call(this,bodyA,bodyB);
-    var maxForce = ( typeof(options.maxForce)=="undefined" ? Number.MAX_VALUE : options.maxForce );
-    var localOffsetB = options.localOffsetB || vec2.fromValues(0,0);
-    localOffsetB = vec2.fromValues(localOffsetB[0],localOffsetB[1]);
-
-    var localAngleB = options.localAngleB || 0;
-
-    // Use 3 equations:
-    // gx =   (xj - xi - l) * xhat = 0
-    // gy =   (xj - xi - l) * yhat = 0
-    // gr =   (xi - xj + r) * that = 0
-    //
-    // ...where:
-    //   l is the localOffsetB vector rotated to world in bodyA frame
-    //   r is the same vector but reversed and rotated from bodyB frame
-    //   xhat, yhat are world axis vectors
-    //   that is the tangent of r
-    //
-    // For the first two constraints, we get
-    // G*W = (vj - vi - ldot  ) * xhat
-    //     = (vj - vi - wi x l) * xhat
-    //
-    // Since (wi x l) * xhat = (l x xhat) * wi, we get
-    // G*W = [ -1   0   (-l x xhat)  1   0   0] * [vi wi vj wj]
-    //
-    // The last constraint gives
-    // GW = (vi - vj + wj x r) * that
-    //    = [  that   0  -that  (r x t) ]
-
-    var x =     new Equation(bodyA,bodyB,-maxForce,maxForce),
-        y =     new Equation(bodyA,bodyB,-maxForce,maxForce),
-        rot =   new Equation(bodyA,bodyB,-maxForce,maxForce);
-
-    var l = vec2.create(),
-        g = vec2.create();
-    x.computeGq = function(){
-        vec2.rotate(l,localOffsetB,bodyA.angle);
-        vec2.sub(g,bodyB.position,bodyA.position);
-        vec2.sub(g,g,l);
-        return g[0];
-    }
-    y.computeGq = function(){
-        vec2.rotate(l,localOffsetB,bodyA.angle);
-        vec2.sub(g,bodyB.position,bodyA.position);
-        vec2.sub(g,g,l);
-        return g[1];
-    };
-    var r = vec2.create(),
-        t = vec2.create();
-    rot.computeGq = function(){
-        vec2.rotate(r,localOffsetB,bodyB.angle - localAngleB);
-        vec2.scale(r,r,-1);
-        vec2.sub(g,bodyA.position,bodyB.position);
-        vec2.add(g,g,r);
-        vec2.rotate(t,r,-Math.PI/2);
-        vec2.normalize(t,t);
-        return vec2.dot(g,t);
-    };
-
-    this.localOffsetB = localOffsetB;
-    this.localAngleB =  localAngleB;
-    this.maxForce = maxForce;
-
-    var eqs = this.equations = [ x, y, rot ];
-}
-LockConstraint.prototype = new Constraint();
-
-var l = vec2.create();
-var r = vec2.create();
-var t = vec2.create();
-var xAxis = vec2.fromValues(1,0);
-var yAxis = vec2.fromValues(0,1);
-LockConstraint.prototype.update = function(){
-    var x =   this.equations[0],
-        y =   this.equations[1],
-        rot = this.equations[2],
-        bodyA = this.bodyA,
-        bodyB = this.bodyB;
-
-    vec2.rotate(l,this.localOffsetB,bodyA.angle);
-    vec2.rotate(r,this.localOffsetB,bodyB.angle - this.localAngleB);
-    vec2.scale(r,r,-1);
-
-    vec2.rotate(t,r,Math.PI/2);
-    vec2.normalize(t,t);
-
-    x.G[0] = -1;
-    x.G[1] =  0;
-    x.G[2] = -vec2.crossLength(l,xAxis);
-    x.G[3] =  1;
-
-    y.G[0] =  0;
-    y.G[1] = -1;
-    y.G[2] = -vec2.crossLength(l,yAxis);
-    y.G[4] =  1;
-
-    rot.G[0] =  -t[0];
-    rot.G[1] =  -t[1];
-    rot.G[3] =  t[0];
-    rot.G[4] =  t[1];
-    rot.G[5] =  vec2.crossLength(r,t);
-};
diff --git a/src/physics/advanced/constraints/PrismaticConstraint.js b/src/physics/advanced/constraints/PrismaticConstraint.js
deleted file mode 100644
index 43cec8a73c..0000000000
--- a/src/physics/advanced/constraints/PrismaticConstraint.js
+++ /dev/null
@@ -1,117 +0,0 @@
-var Constraint = require('./Constraint')
-,   ContactEquation = require('./ContactEquation')
-,   Equation = require('./Equation')
-,   vec2 = require('../math/vec2')
-,   RotationalLockEquation = require('./RotationalLockEquation')
-
-module.exports = PrismaticConstraint;
-
-/**
- * Constraint that only allows bodies to move along a line, relative to each other. See <a href="http://www.iforce2d.net/b2dtut/joints-prismatic">this tutorial</a>.
- *
- * @class PrismaticConstraint
- * @constructor
- * @extends {Constraint}
- * @author schteppe
- * @param {Body}    bodyA
- * @param {Body}    bodyB
- * @param {Object}  options
- * @param {Number}  options.maxForce        Max force to be applied by the constraint
- * @param {Array}   options.localAnchorA    Body A's anchor point, defined in its own local frame.
- * @param {Array}   options.localAnchorB    Body B's anchor point, defined in its own local frame.
- * @param {Array}   options.localAxisA      An axis, defined in body A frame, that body B's anchor point may slide along.
- */
-function PrismaticConstraint(bodyA,bodyB,options){
-    options = options || {};
-    Constraint.call(this,bodyA,bodyB);
-
-    // Get anchors
-    var localAnchorA = vec2.fromValues(0,0),
-        localAxisA = vec2.fromValues(1,0),
-        localAnchorB = vec2.fromValues(0,0);
-    if(options.localAnchorA) vec2.copy(localAnchorA, options.localAnchorA);
-    if(options.localAxisA)   vec2.copy(localAxisA,   options.localAxisA);
-    if(options.localAnchorB) vec2.copy(localAnchorB, options.localAnchorB);
-
-    /**
-     * @property localAnchorA
-     * @type {Array}
-     */
-    this.localAnchorA = localAnchorA;
-
-    /**
-     * @property localAnchorB
-     * @type {Array}
-     */
-    this.localAnchorB = localAnchorB;
-
-    /**
-     * @property localAxisA
-     * @type {Array}
-     */
-    this.localAxisA = localAxisA;
-
-    /*
-
-    The constraint violation for the common axis point is
-
-        g = ( xj + rj - xi - ri ) * t   :=  gg*t
-
-    where r are body-local anchor points, and t is a tangent to the constraint axis defined in body i frame.
-
-        gdot =  ( vj + wj x rj - vi - wi x ri ) * t + ( xj + rj - xi - ri ) * ( wi x t )
-
-    Note the use of the chain rule. Now we identify the jacobian
-
-        G*W = [ -t      -ri x t + t x gg     t    rj x t ] * [vi wi vj wj]
-
-    The rotational part is just a rotation lock.
-
-     */
-
-    var maxForce = this.maxForce = typeof(options.maxForce)==="undefined" ? options.maxForce : Number.MAX_VALUE;
-
-    // Translational part
-    var trans = new Equation(bodyA,bodyB,-maxForce,maxForce);
-    var ri = new vec2.create(),
-        rj = new vec2.create(),
-        gg = new vec2.create(),
-        t =  new vec2.create();
-    trans.computeGq = function(){
-        // g = ( xj + rj - xi - ri ) * t
-        return vec2.dot(gg,t);
-    };
-    trans.update = function(){
-        var G = this.G,
-            xi = bodyA.position,
-            xj = bodyB.position;
-        vec2.rotate(ri,localAnchorA,bodyA.angle);
-        vec2.rotate(rj,localAnchorB,bodyB.angle);
-        vec2.add(gg,xj,rj);
-        vec2.sub(gg,gg,xi);
-        vec2.sub(gg,gg,ri);
-        vec2.rotate(t,localAxisA,bodyA.angle+Math.PI/2);
-
-        G[0] = -t[0];
-        G[1] = -t[1];
-        G[2] = -vec2.crossLength(ri,t) + vec2.crossLength(t,gg);
-        G[3] = t[0];
-        G[4] = t[1];
-        G[5] = vec2.crossLength(rj,t);
-    }
-    var rot = new RotationalLockEquation(bodyA,bodyB,-maxForce,maxForce);
-
-    this.equations.push(trans,rot);
-}
-
-PrismaticConstraint.prototype = new Constraint();
-
-/**
- * Update the constraint equations. Should be done if any of the bodies changed position, before solving.
- * @method update
- */
-PrismaticConstraint.prototype.update = function(){
-    var eqs = this.equations,
-        trans = eqs[0];
-    trans.update();
-};
diff --git a/src/physics/advanced/constraints/RevoluteConstraint.js b/src/physics/advanced/constraints/RevoluteConstraint.js
deleted file mode 100644
index 14abbab8fc..0000000000
--- a/src/physics/advanced/constraints/RevoluteConstraint.js
+++ /dev/null
@@ -1,208 +0,0 @@
-var Constraint = require('./Constraint')
-,   Equation = require('./Equation')
-,   RotationalVelocityEquation = require('./RotationalVelocityEquation')
-,   RotationalLockEquation = require('./RotationalLockEquation')
-,   vec2 = require('../math/vec2')
-
-module.exports = RevoluteConstraint;
-
-var worldPivotA = vec2.create(),
-    worldPivotB = vec2.create(),
-    xAxis = vec2.fromValues(1,0),
-    yAxis = vec2.fromValues(0,1),
-    g = vec2.create();
-
-/**
- * Connects two bodies at given offset points, letting them rotate relative to each other around this point.
- * @class RevoluteConstraint
- * @constructor
- * @author schteppe
- * @param {Body}            bodyA
- * @param {Float32Array}    pivotA The point relative to the center of mass of bodyA which bodyA is constrained to.
- * @param {Body}            bodyB Body that will be constrained in a similar way to the same point as bodyA. We will therefore get sort of a link between bodyA and bodyB. If not specified, bodyA will be constrained to a static point.
- * @param {Float32Array}    pivotB See pivotA.
- * @param {Number}          maxForce The maximum force that should be applied to constrain the bodies.
- * @extends {Constraint}
- * @todo Ability to specify world points
- */
-function RevoluteConstraint(bodyA, pivotA, bodyB, pivotB, maxForce){
-    Constraint.call(this,bodyA,bodyB);
-
-    maxForce = typeof(maxForce)!="undefined" ? maxForce : Number.MAX_VALUE;
-
-    this.pivotA = pivotA;
-    this.pivotB = pivotB;
-
-    // Equations to be fed to the solver
-    var eqs = this.equations = [
-        new Equation(bodyA,bodyB,-maxForce,maxForce),
-        new Equation(bodyA,bodyB,-maxForce,maxForce),
-    ];
-
-    var x =  eqs[0];
-    var y = eqs[1];
-
-    x.computeGq = function(){
-        vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-        vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-        vec2.add(g, bodyB.position, worldPivotB);
-        vec2.sub(g, g, bodyA.position);
-        vec2.sub(g, g, worldPivotA);
-        return vec2.dot(g,xAxis);
-    };
-
-    y.computeGq = function(){
-        vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-        vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-        vec2.add(g, bodyB.position, worldPivotB);
-        vec2.sub(g, g, bodyA.position);
-        vec2.sub(g, g, worldPivotA);
-        return vec2.dot(g,yAxis);
-    };
-
-    y.minForce = x.minForce = -maxForce;
-    y.maxForce = x.maxForce =  maxForce;
-
-    this.motorEquation = new RotationalVelocityEquation(bodyA,bodyB);
-    this.motorEnabled = false;
-
-    // Angle limits
-    this.lowerLimitEnabled = false;
-    this.upperLimitEnabled = false;
-    this.lowerLimit = 0;
-    this.upperLimit = 0;
-    this.upperLimitEquation = new RotationalLockEquation(bodyA,bodyB);
-    this.lowerLimitEquation = new RotationalLockEquation(bodyA,bodyB);
-    this.upperLimitEquation.minForce = 0;
-    this.lowerLimitEquation.maxForce = 0;
-}
-RevoluteConstraint.prototype = new Constraint();
-
-RevoluteConstraint.prototype.update = function(){
-    var bodyA =  this.bodyA,
-        bodyB =  this.bodyB,
-        pivotA = this.pivotA,
-        pivotB = this.pivotB,
-        eqs =    this.equations,
-        normal = eqs[0],
-        tangent= eqs[1],
-        x = eqs[0],
-        y = eqs[1],
-        upperLimit = this.upperLimit,
-        lowerLimit = this.lowerLimit,
-        upperLimitEquation = this.upperLimitEquation,
-        lowerLimitEquation = this.lowerLimitEquation;
-
-    var relAngle = this.angle = bodyB.angle - bodyA.angle;
-
-    if(this.upperLimitEnabled && relAngle > upperLimit){
-        upperLimitEquation.angle = upperLimit;
-        if(eqs.indexOf(upperLimitEquation)==-1)
-            eqs.push(upperLimitEquation);
-    } else {
-        var idx = eqs.indexOf(upperLimitEquation);
-        if(idx != -1) eqs.splice(idx,1);
-    }
-
-    if(this.lowerLimitEnabled && relAngle < lowerLimit){
-        lowerLimitEquation.angle = lowerLimit;
-        if(eqs.indexOf(lowerLimitEquation)==-1)
-            eqs.push(lowerLimitEquation);
-    } else {
-        var idx = eqs.indexOf(lowerLimitEquation);
-        if(idx != -1) eqs.splice(idx,1);
-    }
-
-    /*
-
-    The constraint violation is
-
-        g = xj + rj - xi - ri
-
-    ...where xi and xj are the body positions and ri and rj world-oriented offset vectors. Differentiate:
-
-        gdot = vj + wj x rj - vi - wi x ri
-
-    We split this into x and y directions. (let x and y be unit vectors along the respective axes)
-
-        gdot * x = ( vj + wj x rj - vi - wi x ri ) * x
-                 = ( vj*x + (wj x rj)*x -vi*x -(wi x ri)*x
-                 = ( vj*x + (rj x x)*wj -vi*x -(ri x x)*wi
-                 = [ -x   -(ri x x)   x   (rj x x)] * [vi wi vj wj]
-                 = G*W
-
-    ...and similar for y. We have then identified the jacobian entries for x and y directions:
-
-        Gx = [ x   (rj x x)   -x   -(ri x x)]
-        Gy = [ y   (rj x y)   -y   -(ri x y)]
-
-     */
-
-    vec2.rotate(worldPivotA, pivotA, bodyA.angle);
-    vec2.rotate(worldPivotB, pivotB, bodyB.angle);
-
-    x.G[0] = -1;
-    x.G[1] =  0;
-    x.G[2] = -vec2.crossLength(worldPivotA,xAxis);
-    x.G[3] =  1;
-    x.G[4] =  0;
-    x.G[5] =  vec2.crossLength(worldPivotB,xAxis);
-
-    y.G[0] =  0;
-    y.G[1] = -1;
-    y.G[2] = -vec2.crossLength(worldPivotA,yAxis);
-    y.G[3] =  0;
-    y.G[4] =  1;
-    y.G[5] =  vec2.crossLength(worldPivotB,yAxis);
-};
-
-/**
- * Enable the rotational motor
- * @method enableMotor
- */
-RevoluteConstraint.prototype.enableMotor = function(){
-    if(this.motorEnabled) return;
-    this.equations.push(this.motorEquation);
-    this.motorEnabled = true;
-};
-
-/**
- * Disable the rotational motor
- * @method disableMotor
- */
-RevoluteConstraint.prototype.disableMotor = function(){
-    if(!this.motorEnabled) return;
-    var i = this.equations.indexOf(this.motorEquation);
-    this.equations.splice(i,1);
-    this.motorEnabled = false;
-};
-
-/**
- * Check if the motor is enabled.
- * @method motorIsEnabled
- * @return {Boolean}
- */
-RevoluteConstraint.prototype.motorIsEnabled = function(){
-    return !!this.motorEnabled;
-};
-
-/**
- * Set the speed of the rotational constraint motor
- * @method setMotorSpeed
- * @param  {Number} speed
- */
-RevoluteConstraint.prototype.setMotorSpeed = function(speed){
-    if(!this.motorEnabled) return;
-    var i = this.equations.indexOf(this.motorEquation);
-    this.equations[i].relativeVelocity = speed;
-};
-
-/**
- * Get the speed of the rotational constraint motor
- * @method getMotorSpeed
- * @return  {Number} The current speed, or false if the motor is not enabled.
- */
-RevoluteConstraint.prototype.getMotorSpeed = function(){
-    if(!this.motorEnabled) return false;
-    return this.motorEquation.relativeVelocity;
-};
diff --git a/src/physics/advanced/constraints/RotationalLockEquation.js b/src/physics/advanced/constraints/RotationalLockEquation.js
deleted file mode 100644
index bcbd66a1fb..0000000000
--- a/src/physics/advanced/constraints/RotationalLockEquation.js
+++ /dev/null
@@ -1,37 +0,0 @@
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2');
-
-module.exports = RotationalLockEquation;
-
-/**
- * Locks the relative angle between two bodies. The constraint tries to keep the dot product between two vectors, local in each body, to zero. The local angle in body i is a parameter.
- *
- * @class RotationalLockEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- * @param {Object} options
- * @param {Number} options.angle Angle to add to the local vector in body i.
- */
-function RotationalLockEquation(bi,bj,options){
-    options = options || {};
-    Equation.call(this,bi,bj,-Number.MAX_VALUE,Number.MAX_VALUE);
-    this.angle = options.angle || 0;
-
-    var G = this.G;
-    G[2] =  1;
-    G[5] = -1;
-};
-RotationalLockEquation.prototype = new Equation();
-RotationalLockEquation.prototype.constructor = RotationalLockEquation;
-
-var worldVectorA = vec2.create(),
-    worldVectorB = vec2.create(),
-    xAxis = vec2.fromValues(1,0),
-    yAxis = vec2.fromValues(0,1);
-RotationalLockEquation.prototype.computeGq = function(){
-    vec2.rotate(worldVectorA,xAxis,this.bi.angle+this.angle);
-    vec2.rotate(worldVectorB,yAxis,this.bj.angle);
-    return vec2.dot(worldVectorA,worldVectorB);
-};
diff --git a/src/physics/advanced/constraints/RotationalVelocityEquation.js b/src/physics/advanced/constraints/RotationalVelocityEquation.js
deleted file mode 100644
index 6b6f651429..0000000000
--- a/src/physics/advanced/constraints/RotationalVelocityEquation.js
+++ /dev/null
@@ -1,32 +0,0 @@
-var Equation = require("./Equation"),
-    vec2 = require('../math/vec2');
-
-module.exports = RotationalVelocityEquation;
-
-/**
- * Syncs rotational velocity of two bodies, or sets a relative velocity (motor).
- *
- * @class RotationalVelocityEquation
- * @constructor
- * @extends Equation
- * @param {Body} bi
- * @param {Body} bj
- */
-function RotationalVelocityEquation(bi,bj){
-    Equation.call(this,bi,bj,-Number.MAX_VALUE,Number.MAX_VALUE);
-    this.relativeVelocity = 1;
-    this.ratio = 1;
-};
-RotationalVelocityEquation.prototype = new Equation();
-RotationalVelocityEquation.prototype.constructor = RotationalVelocityEquation;
-RotationalVelocityEquation.prototype.computeB = function(a,b,h){
-    var G = this.G;
-    G[2] = -1;
-    G[5] = this.ratio;
-
-    var GiMf = this.computeGiMf();
-    var GW = this.computeGW() + this.relativeVelocity;
-    var B = - GW * b - h*GiMf;
-
-    return B;
-};
diff --git a/src/physics/advanced/events/EventEmitter.js b/src/physics/advanced/events/EventEmitter.js
deleted file mode 100644
index 576d202491..0000000000
--- a/src/physics/advanced/events/EventEmitter.js
+++ /dev/null
@@ -1,84 +0,0 @@
-/**
- * Base class for objects that dispatches events.
- * @class EventEmitter
- * @constructor
- */
-var EventEmitter = function () {}
-
-module.exports = EventEmitter;
-
-EventEmitter.prototype = {
-    constructor: EventEmitter,
-
-    /**
-     * Add an event listener
-     * @method on
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    on: function ( type, listener ) {
-        if ( this._listeners === undefined ) this._listeners = {};
-        var listeners = this._listeners;
-        if ( listeners[ type ] === undefined ) {
-            listeners[ type ] = [];
-        }
-        if ( listeners[ type ].indexOf( listener ) === - 1 ) {
-            listeners[ type ].push( listener );
-        }
-        return this;
-    },
-
-    /**
-     * Check if an event listener is added
-     * @method has
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {Boolean}
-     */
-    has: function ( type, listener ) {
-        if ( this._listeners === undefined ) return false;
-        var listeners = this._listeners;
-        if ( listeners[ type ] !== undefined && listeners[ type ].indexOf( listener ) !== - 1 ) {
-            return true;
-        }
-        return false;
-    },
-
-    /**
-     * Remove an event listener
-     * @method off
-     * @param  {String} type
-     * @param  {Function} listener
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    off: function ( type, listener ) {
-        if ( this._listeners === undefined ) return;
-        var listeners = this._listeners;
-        var index = listeners[ type ].indexOf( listener );
-        if ( index !== - 1 ) {
-            listeners[ type ].splice( index, 1 );
-        }
-        return this;
-    },
-
-    /**
-     * Emit an event.
-     * @method emit
-     * @param  {Object} event
-     * @param  {String} event.type
-     * @return {EventEmitter} The self object, for chainability.
-     */
-    emit: function ( event ) {
-        if ( this._listeners === undefined ) return;
-        var listeners = this._listeners;
-        var listenerArray = listeners[ event.type ];
-        if ( listenerArray !== undefined ) {
-            event.target = this;
-            for ( var i = 0, l = listenerArray.length; i < l; i ++ ) {
-                listenerArray[ i ].call( this, event );
-            }
-        }
-        return this;
-    }
-};
diff --git a/src/physics/advanced/material/ContactMaterial.js b/src/physics/advanced/material/ContactMaterial.js
deleted file mode 100644
index 5824646ca9..0000000000
--- a/src/physics/advanced/material/ContactMaterial.js
+++ /dev/null
@@ -1,81 +0,0 @@
-module.exports = ContactMaterial;
-
-var idCounter = 0;
-
-/**
- * Defines a physics material.
- * @class ContactMaterial
- * @constructor
- * @param {Material} materialA
- * @param {Material} materialB
- * @param {Object}   [options]
- * @param {Number}   options.friction
- * @param {Number}   options.restitution
- * @author schteppe
- */
-function ContactMaterial(materialA, materialB, options){
-    options = options || {};
-
-    /**
-     * The contact material identifier
-     * @property id
-     * @type {Number}
-     */
-    this.id = idCounter++;
-
-    /**
-     * First material participating in the contact material
-     * @property materialA
-     * @type {Material}
-     */
-    this.materialA = materialA;
-
-    /**
-     * Second material participating in the contact material
-     * @property materialB
-     * @type {Material}
-     */
-    this.materialB = materialB;
-
-    /**
-     * Friction to use in the contact of these two materials
-     * @property friction
-     * @type {Number}
-     */
-    this.friction    =  typeof(options.friction)    !== "undefined" ?   Number(options.friction)    : 0.3;
-
-    /**
-     * Restitution to use in the contact of these two materials
-     * @property restitution
-     * @type {Number}
-     */
-    this.restitution =  typeof(options.restitution) !== "undefined" ?   Number(options.restitution) : 0.0;
-
-    /**
-     * Stiffness of the resulting ContactEquation that this ContactMaterial generate
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness =            typeof(options.stiffness)           !== "undefined" ?   Number(options.stiffness)   : 1e7;
-
-    /**
-     * Relaxation of the resulting ContactEquation that this ContactMaterial generate
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation =           typeof(options.relaxation)          !== "undefined" ?   Number(options.relaxation)  : 3;
-
-    /**
-     * Stiffness of the resulting FrictionEquation that this ContactMaterial generate
-     * @property frictionStiffness
-     * @type {Number}
-     */
-    this.frictionStiffness =    typeof(options.frictionStiffness)   !== "undefined" ?   Number(options.frictionStiffness)   : 1e7;
-
-    /**
-     * Relaxation of the resulting FrictionEquation that this ContactMaterial generate
-     * @property frictionRelaxation
-     * @type {Number}
-     */
-    this.frictionRelaxation =   typeof(options.frictionRelaxation)  !== "undefined" ?   Number(options.frictionRelaxation)  : 3;
-};
diff --git a/src/physics/advanced/material/Material.js b/src/physics/advanced/material/Material.js
deleted file mode 100644
index 7c878dd9ea..0000000000
--- a/src/physics/advanced/material/Material.js
+++ /dev/null
@@ -1,19 +0,0 @@
-module.exports = Material;
-
-var idCounter = 0;
-
-/**
- * Defines a physics material.
- * @class Material
- * @constructor
- * @param string name
- * @author schteppe
- */
-function Material(){
-    /**
-     * The material identifier
-     * @property id
-     * @type {Number}
-     */
-    this.id = idCounter++;
-};
diff --git a/src/physics/advanced/math/mat2.js b/src/physics/advanced/math/mat2.js
deleted file mode 100644
index db48ea85e8..0000000000
--- a/src/physics/advanced/math/mat2.js
+++ /dev/null
@@ -1,10 +0,0 @@
-/**
- * The mat2 object from glMatrix, extended with the functions documented here. See http://glmatrix.net for full doc.
- * @class mat2
- */
-
-// Only import mat2 from gl-matrix and skip the rest
-var mat2 = require('../../node_modules/gl-matrix/src/gl-matrix/mat2').mat2;
-
-// Export everything
-module.exports = mat2;
diff --git a/src/physics/advanced/math/polyk.js b/src/physics/advanced/math/polyk.js
deleted file mode 100644
index 1431d90942..0000000000
--- a/src/physics/advanced/math/polyk.js
+++ /dev/null
@@ -1,477 +0,0 @@
-
-    /*
-        PolyK library
-        url: http://polyk.ivank.net
-        Released under MIT licence.
-
-        Copyright (c) 2012 Ivan Kuckir
-
-        Permission is hereby granted, free of charge, to any person
-        obtaining a copy of this software and associated documentation
-        files (the "Software"), to deal in the Software without
-        restriction, including without limitation the rights to use,
-        copy, modify, merge, publish, distribute, sublicense, and/or sell
-        copies of the Software, and to permit persons to whom the
-        Software is furnished to do so, subject to the following
-        conditions:
-
-        The above copyright notice and this permission notice shall be
-        included in all copies or substantial portions of the Software.
-
-        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
-        EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
-        OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
-        NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
-        HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
-        WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
-        FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
-        OTHER DEALINGS IN THE SOFTWARE.
-    */
-
-    var PolyK = {};
-
-    /*
-        Is Polygon self-intersecting?
-
-        O(n^2)
-    */
-    /*
-    PolyK.IsSimple = function(p)
-    {
-        var n = p.length>>1;
-        if(n<4) return true;
-        var a1 = new PolyK._P(), a2 = new PolyK._P();
-        var b1 = new PolyK._P(), b2 = new PolyK._P();
-        var c = new PolyK._P();
-
-        for(var i=0; i<n; i++)
-        {
-            a1.x = p[2*i  ];
-            a1.y = p[2*i+1];
-            if(i==n-1)  { a2.x = p[0    ];  a2.y = p[1    ]; }
-            else        { a2.x = p[2*i+2];  a2.y = p[2*i+3]; }
-
-            for(var j=0; j<n; j++)
-            {
-                if(Math.abs(i-j) < 2) continue;
-                if(j==n-1 && i==0) continue;
-                if(i==n-1 && j==0) continue;
-
-                b1.x = p[2*j  ];
-                b1.y = p[2*j+1];
-                if(j==n-1)  { b2.x = p[0    ];  b2.y = p[1    ]; }
-                else        { b2.x = p[2*j+2];  b2.y = p[2*j+3]; }
-
-                if(PolyK._GetLineIntersection(a1,a2,b1,b2,c) != null) return false;
-            }
-        }
-        return true;
-    }
-
-    PolyK.IsConvex = function(p)
-    {
-        if(p.length<6) return true;
-        var l = p.length - 4;
-        for(var i=0; i<l; i+=2)
-            if(!PolyK._convex(p[i], p[i+1], p[i+2], p[i+3], p[i+4], p[i+5])) return false;
-        if(!PolyK._convex(p[l  ], p[l+1], p[l+2], p[l+3], p[0], p[1])) return false;
-        if(!PolyK._convex(p[l+2], p[l+3], p[0  ], p[1  ], p[2], p[3])) return false;
-        return true;
-    }
-    */
-    PolyK.GetArea = function(p)
-    {
-        if(p.length <6) return 0;
-        var l = p.length - 2;
-        var sum = 0;
-        for(var i=0; i<l; i+=2)
-            sum += (p[i+2]-p[i]) * (p[i+1]+p[i+3]);
-        sum += (p[0]-p[l]) * (p[l+1]+p[1]);
-        return - sum * 0.5;
-    }
-    /*
-    PolyK.GetAABB = function(p)
-    {
-        var minx = Infinity;
-        var miny = Infinity;
-        var maxx = -minx;
-        var maxy = -miny;
-        for(var i=0; i<p.length; i+=2)
-        {
-            minx = Math.min(minx, p[i  ]);
-            maxx = Math.max(maxx, p[i  ]);
-            miny = Math.min(miny, p[i+1]);
-            maxy = Math.max(maxy, p[i+1]);
-        }
-        return {x:minx, y:miny, width:maxx-minx, height:maxy-miny};
-    }
-    */
-
-    PolyK.Triangulate = function(p)
-    {
-        var n = p.length>>1;
-        if(n<3) return [];
-        var tgs = [];
-        var avl = [];
-        for(var i=0; i<n; i++) avl.push(i);
-
-        var i = 0;
-        var al = n;
-        while(al > 3)
-        {
-            var i0 = avl[(i+0)%al];
-            var i1 = avl[(i+1)%al];
-            var i2 = avl[(i+2)%al];
-
-            var ax = p[2*i0],  ay = p[2*i0+1];
-            var bx = p[2*i1],  by = p[2*i1+1];
-            var cx = p[2*i2],  cy = p[2*i2+1];
-
-            var earFound = false;
-            if(PolyK._convex(ax, ay, bx, by, cx, cy))
-            {
-                earFound = true;
-                for(var j=0; j<al; j++)
-                {
-                    var vi = avl[j];
-                    if(vi==i0 || vi==i1 || vi==i2) continue;
-                    if(PolyK._PointInTriangle(p[2*vi], p[2*vi+1], ax, ay, bx, by, cx, cy)) {earFound = false; break;}
-                }
-            }
-            if(earFound)
-            {
-                tgs.push(i0, i1, i2);
-                avl.splice((i+1)%al, 1);
-                al--;
-                i= 0;
-            }
-            else if(i++ > 3*al) break;      // no convex angles :(
-        }
-        tgs.push(avl[0], avl[1], avl[2]);
-        return tgs;
-    }
-    /*
-    PolyK.ContainsPoint = function(p, px, py)
-    {
-        var n = p.length>>1;
-        var ax, ay, bx = p[2*n-2]-px, by = p[2*n-1]-py;
-        var depth = 0;
-        for(var i=0; i<n; i++)
-        {
-            ax = bx;  ay = by;
-            bx = p[2*i  ] - px;
-            by = p[2*i+1] - py;
-            if(ay< 0 && by< 0) continue;    // both "up" or both "donw"
-            if(ay>=0 && by>=0) continue;    // both "up" or both "donw"
-            if(ax< 0 && bx< 0) continue;
-
-            var lx = ax + (bx-ax)*(-ay)/(by-ay);
-            if(lx>0) depth++;
-        }
-        return (depth & 1) == 1;
-    }
-
-    PolyK.Slice = function(p, ax, ay, bx, by)
-    {
-        if(PolyK.ContainsPoint(p, ax, ay) || PolyK.ContainsPoint(p, bx, by)) return [p.slice(0)];
-
-        var a = new PolyK._P(ax, ay);
-        var b = new PolyK._P(bx, by);
-        var iscs = [];  // intersections
-        var ps = [];    // points
-        for(var i=0; i<p.length; i+=2) ps.push(new PolyK._P(p[i], p[i+1]));
-
-        for(var i=0; i<ps.length; i++)
-        {
-            var isc = new PolyK._P(0,0);
-            isc = PolyK._GetLineIntersection(a, b, ps[i], ps[(i+1)%ps.length], isc);
-
-            if(isc)
-            {
-                isc.flag = true;
-                iscs.push(isc);
-                ps.splice(i+1,0,isc);
-                i++;
-            }
-        }
-        if(iscs.length == 0) return [p.slice(0)];
-        var comp = function(u,v) {return PolyK._P.dist(a,u) - PolyK._P.dist(a,v); }
-        iscs.sort(comp);
-
-        var pgs = [];
-        var dir = 0;
-        while(iscs.length > 0)
-        {
-            var n = ps.length;
-            var i0 = iscs[0];
-            var i1 = iscs[1];
-            var ind0 = ps.indexOf(i0);
-            var ind1 = ps.indexOf(i1);
-            var solved = false;
-
-            if(PolyK._firstWithFlag(ps, ind0) == ind1) solved = true;
-            else
-            {
-                i0 = iscs[1];
-                i1 = iscs[0];
-                ind0 = ps.indexOf(i0);
-                ind1 = ps.indexOf(i1);
-                if(PolyK._firstWithFlag(ps, ind0) == ind1) solved = true;
-            }
-            if(solved)
-            {
-                dir--;
-                var pgn = PolyK._getPoints(ps, ind0, ind1);
-                pgs.push(pgn);
-                ps = PolyK._getPoints(ps, ind1, ind0);
-                i0.flag = i1.flag = false;
-                iscs.splice(0,2);
-                if(iscs.length == 0) pgs.push(ps);
-            }
-            else { dir++; iscs.reverse(); }
-            if(dir>1) break;
-        }
-        var result = [];
-        for(var i=0; i<pgs.length; i++)
-        {
-            var pg = pgs[i];
-            var npg = [];
-            for(var j=0; j<pg.length; j++) npg.push(pg[j].x, pg[j].y);
-            result.push(npg);
-        }
-        return result;
-    }
-
-    PolyK.Raycast = function(p, x, y, dx, dy, isc)
-    {
-        var l = p.length - 2;
-        var tp = PolyK._tp;
-        var a1 = tp[0], a2 = tp[1],
-        b1 = tp[2], b2 = tp[3], c = tp[4];
-        a1.x = x; a1.y = y;
-        a2.x = x+dx; a2.y = y+dy;
-
-        if(isc==null) isc = {dist:0, edge:0, norm:{x:0, y:0}, refl:{x:0, y:0}};
-        isc.dist = Infinity;
-
-        for(var i=0; i<l; i+=2)
-        {
-            b1.x = p[i  ];  b1.y = p[i+1];
-            b2.x = p[i+2];  b2.y = p[i+3];
-            var nisc = PolyK._RayLineIntersection(a1, a2, b1, b2, c);
-            if(nisc) PolyK._updateISC(dx, dy, a1, b1, b2, c, i/2, isc);
-        }
-        b1.x = b2.x;  b1.y = b2.y;
-        b2.x = p[0];  b2.y = p[1];
-        var nisc = PolyK._RayLineIntersection(a1, a2, b1, b2, c);
-        if(nisc) PolyK._updateISC(dx, dy, a1, b1, b2, c, p.length/2, isc);
-
-        return (isc.dist != Infinity) ? isc : null;
-    }
-
-    PolyK.ClosestEdge = function(p, x, y, isc)
-    {
-        var l = p.length - 2;
-        var tp = PolyK._tp;
-        var a1 = tp[0],
-        b1 = tp[2], b2 = tp[3], c = tp[4];
-        a1.x = x; a1.y = y;
-
-        if(isc==null) isc = {dist:0, edge:0, point:{x:0, y:0}, norm:{x:0, y:0}};
-        isc.dist = Infinity;
-
-        for(var i=0; i<l; i+=2)
-        {
-            b1.x = p[i  ];  b1.y = p[i+1];
-            b2.x = p[i+2];  b2.y = p[i+3];
-            PolyK._pointLineDist(a1, b1, b2, i>>1, isc);
-        }
-        b1.x = b2.x;  b1.y = b2.y;
-        b2.x = p[0];  b2.y = p[1];
-        PolyK._pointLineDist(a1, b1, b2, l>>1, isc);
-
-        var idst = 1/isc.dist;
-        isc.norm.x = (x-isc.point.x)*idst;
-        isc.norm.y = (y-isc.point.y)*idst;
-        return isc;
-    }
-
-    PolyK._pointLineDist = function(p, a, b, edge, isc)
-    {
-        var x = p.x, y = p.y, x1 = a.x, y1 = a.y, x2 = b.x, y2 = b.y;
-
-        var A = x - x1;
-        var B = y - y1;
-        var C = x2 - x1;
-        var D = y2 - y1;
-
-        var dot = A * C + B * D;
-        var len_sq = C * C + D * D;
-        var param = dot / len_sq;
-
-        var xx, yy;
-
-        if (param < 0 || (x1 == x2 && y1 == y2)) {
-            xx = x1;
-            yy = y1;
-        }
-        else if (param > 1) {
-            xx = x2;
-            yy = y2;
-        }
-        else {
-            xx = x1 + param * C;
-            yy = y1 + param * D;
-        }
-
-        var dx = x - xx;
-        var dy = y - yy;
-        var dst = Math.sqrt(dx * dx + dy * dy);
-        if(dst<isc.dist)
-        {
-            isc.dist = dst;
-            isc.edge = edge;
-            isc.point.x = xx;
-            isc.point.y = yy;
-        }
-    }
-
-    PolyK._updateISC = function(dx, dy, a1, b1, b2, c, edge, isc)
-    {
-        var nrl = PolyK._P.dist(a1, c);
-        if(nrl<isc.dist)
-        {
-            var ibl = 1/PolyK._P.dist(b1, b2);
-            var nx = -(b2.y-b1.y)*ibl;
-            var ny =  (b2.x-b1.x)*ibl;
-            var ddot = 2*(dx*nx+dy*ny);
-            isc.dist = nrl;
-            isc.norm.x = nx;
-            isc.norm.y = ny;
-            isc.refl.x = -ddot*nx+dx;
-            isc.refl.y = -ddot*ny+dy;
-            isc.edge = edge;
-        }
-    }
-
-    PolyK._getPoints = function(ps, ind0, ind1)
-    {
-        var n = ps.length;
-        var nps = [];
-        if(ind1<ind0) ind1 += n;
-        for(var i=ind0; i<= ind1; i++) nps.push(ps[i%n]);
-        return nps;
-    }
-
-    PolyK._firstWithFlag = function(ps, ind)
-    {
-        var n = ps.length;
-        while(true)
-        {
-            ind = (ind+1)%n;
-            if(ps[ind].flag) return ind;
-        }
-    }
-    */
-    PolyK._PointInTriangle = function(px, py, ax, ay, bx, by, cx, cy)
-    {
-        var v0x = cx-ax;
-        var v0y = cy-ay;
-        var v1x = bx-ax;
-        var v1y = by-ay;
-        var v2x = px-ax;
-        var v2y = py-ay;
-
-        var dot00 = v0x*v0x+v0y*v0y;
-        var dot01 = v0x*v1x+v0y*v1y;
-        var dot02 = v0x*v2x+v0y*v2y;
-        var dot11 = v1x*v1x+v1y*v1y;
-        var dot12 = v1x*v2x+v1y*v2y;
-
-        var invDenom = 1 / (dot00 * dot11 - dot01 * dot01);
-        var u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-        var v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-
-        // Check if point is in triangle
-        return (u >= 0) && (v >= 0) && (u + v < 1);
-    }
-    /*
-    PolyK._RayLineIntersection = function(a1, a2, b1, b2, c)
-    {
-        var dax = (a1.x-a2.x), dbx = (b1.x-b2.x);
-        var day = (a1.y-a2.y), dby = (b1.y-b2.y);
-
-        var Den = dax*dby - day*dbx;
-        if (Den == 0) return null;  // parallel
-
-        var A = (a1.x * a2.y - a1.y * a2.x);
-        var B = (b1.x * b2.y - b1.y * b2.x);
-
-        var I = c;
-        var iDen = 1/Den;
-        I.x = ( A*dbx - dax*B ) * iDen;
-        I.y = ( A*dby - day*B ) * iDen;
-
-        if(!PolyK._InRect(I, b1, b2)) return null;
-        if((day>0 && I.y>a1.y) || (day<0 && I.y<a1.y)) return null;
-        if((dax>0 && I.x>a1.x) || (dax<0 && I.x<a1.x)) return null;
-        return I;
-    }
-
-    PolyK._GetLineIntersection = function(a1, a2, b1, b2, c)
-    {
-        var dax = (a1.x-a2.x), dbx = (b1.x-b2.x);
-        var day = (a1.y-a2.y), dby = (b1.y-b2.y);
-
-        var Den = dax*dby - day*dbx;
-        if (Den == 0) return null;  // parallel
-
-        var A = (a1.x * a2.y - a1.y * a2.x);
-        var B = (b1.x * b2.y - b1.y * b2.x);
-
-        var I = c;
-        I.x = ( A*dbx - dax*B ) / Den;
-        I.y = ( A*dby - day*B ) / Den;
-
-        if(PolyK._InRect(I, a1, a2) && PolyK._InRect(I, b1, b2)) return I;
-        return null;
-    }
-
-    PolyK._InRect = function(a, b, c)
-    {
-        if  (b.x == c.x) return (a.y>=Math.min(b.y, c.y) && a.y<=Math.max(b.y, c.y));
-        if  (b.y == c.y) return (a.x>=Math.min(b.x, c.x) && a.x<=Math.max(b.x, c.x));
-
-        if(a.x >= Math.min(b.x, c.x) && a.x <= Math.max(b.x, c.x)
-        && a.y >= Math.min(b.y, c.y) && a.y <= Math.max(b.y, c.y))
-        return true;
-        return false;
-    }
-    */
-    PolyK._convex = function(ax, ay, bx, by, cx, cy)
-    {
-        return (ay-by)*(cx-bx) + (bx-ax)*(cy-by) >= 0;
-    }
-    /*
-    PolyK._P = function(x,y)
-    {
-        this.x = x;
-        this.y = y;
-        this.flag = false;
-    }
-    PolyK._P.prototype.toString = function()
-    {
-        return "Point ["+this.x+", "+this.y+"]";
-    }
-    PolyK._P.dist = function(a,b)
-    {
-        var dx = b.x-a.x;
-        var dy = b.y-a.y;
-        return Math.sqrt(dx*dx + dy*dy);
-    }
-
-    PolyK._tp = [];
-    for(var i=0; i<10; i++) PolyK._tp.push(new PolyK._P(0,0));
-        */
-
-module.exports = PolyK;
diff --git a/src/physics/advanced/math/vec2.js b/src/physics/advanced/math/vec2.js
deleted file mode 100644
index 8f4cd0a561..0000000000
--- a/src/physics/advanced/math/vec2.js
+++ /dev/null
@@ -1,122 +0,0 @@
-/**
- * The vec2 object from glMatrix, extended with the functions documented here. See http://glmatrix.net for full doc.
- * @class vec2
- */
-
-// Only import vec2 from gl-matrix and skip the rest
-var vec2 = require('../../node_modules/gl-matrix/src/gl-matrix/vec2').vec2;
-
-// Now add some extensions
-
-/**
- * Get the vector x component
- * @method getX
- * @static
- * @param  {Float32Array} a
- * @return {Number}
- */
-vec2.getX = function(a){
-    return a[0];
-};
-
-/**
- * Get the vector y component
- * @method getY
- * @static
- * @param  {Float32Array} a
- * @return {Number}
- */
-vec2.getY = function(a){
-    return a[1];
-};
-
-/**
- * Make a cross product and only return the z component
- * @method crossLength
- * @static
- * @param  {Float32Array} a
- * @param  {Float32Array} b
- * @return {Number}
- */
-vec2.crossLength = function(a,b){
-    return a[0] * b[1] - a[1] * b[0];
-};
-
-/**
- * Cross product between a vector and the Z component of a vector
- * @method crossVZ
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} vec
- * @param  {Number} zcomp
- * @return {Number}
- */
-vec2.crossVZ = function(out, vec, zcomp){
-    vec2.rotate(out,vec,-Math.PI/2);// Rotate according to the right hand rule
-    vec2.scale(out,out,zcomp);      // Scale with z
-    return out;
-};
-
-/**
- * Cross product between a vector and the Z component of a vector
- * @method crossZV
- * @static
- * @param  {Float32Array} out
- * @param  {Number} zcomp
- * @param  {Float32Array} vec
- * @return {Number}
- */
-vec2.crossZV = function(out, zcomp, vec){
-    vec2.rotate(out,vec,Math.PI/2); // Rotate according to the right hand rule
-    vec2.scale(out,out,zcomp);      // Scale with z
-    return out;
-};
-
-/**
- * Rotate a vector by an angle
- * @method rotate
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} a
- * @param  {Number} angle
- */
-vec2.rotate = function(out,a,angle){
-    var c = Math.cos(angle),
-        s = Math.sin(angle),
-        x = a[0],
-        y = a[1];
-    out[0] = c*x -s*y;
-    out[1] = s*x +c*y;
-};
-
-vec2.toLocalFrame = function(out, worldPoint, framePosition, frameAngle){
-    vec2.copy(out, worldPoint);
-    vec2.sub(out, out, framePosition);
-    vec2.rotate(out, out, -frameAngle);
-};
-
-vec2.toGlobalFrame = function(out, localPoint, framePosition, frameAngle){
-    vec2.copy(out, localPoint);
-    vec2.rotate(out, out, frameAngle);
-    vec2.add(out, out, framePosition);
-};
-
-/**
- * Compute centroid of a triangle spanned by vectors a,b,c. See http://easycalculation.com/analytical/learn-centroid.php
- * @method centroid
- * @static
- * @param  {Float32Array} out
- * @param  {Float32Array} a
- * @param  {Float32Array} b
- * @param  {Float32Array} c
- * @return  {Float32Array} The out object
- */
-vec2.centroid = function(out, a, b, c){
-    vec2.add(out, a, b);
-    vec2.add(out, out, c);
-    vec2.scale(out, out, 1/3);
-    return out;
-};
-
-// Export everything
-module.exports = vec2;
diff --git a/src/physics/advanced/objects/Body.js b/src/physics/advanced/objects/Body.js
deleted file mode 100644
index e24c40cb49..0000000000
--- a/src/physics/advanced/objects/Body.js
+++ /dev/null
@@ -1,548 +0,0 @@
-var vec2 = require('../math/vec2')
-,   decomp = require('poly-decomp')
-,   Convex = require('../shapes/Convex')
-
-module.exports = Body;
-
-var zero = vec2.fromValues(0,0);
-
-/**
- * A rigid body. Has got a center of mass, position, velocity and a number of
- * shapes that are used for collisions.
- *
- * @class Body
- * @constructor
- * @param {Object}              [options]
- * @param {Number}              [options.mass=0]    A number >= 0. If zero, the .motionState will be set to Body.STATIC.
- * @param {Float32Array|Array}  [options.position]
- * @param {Float32Array|Array}  [options.velocity]
- * @param {Number}              [options.angle=0]
- * @param {Number}              [options.angularVelocity=0]
- * @param {Float32Array|Array}  [options.force]
- * @param {Number}              [options.angularForce=0]
- *
- * @todo Should not take mass as argument to Body, but as density to each Shape
- */
-function Body(options){
-    options = options || {};
-
-    /**
-     * The body identifyer
-     * @property id
-     * @type {Number}
-     */
-    this.id = ++Body._idCounter;
-
-    /**
-     * The shapes of the body. The local transform of the shape in .shapes[i] is
-     * defined by .shapeOffsets[i] and .shapeAngles[i].
-     *
-     * @property shapes
-     * @type {Array}
-     */
-    this.shapes = [];
-
-    /**
-     * The local shape offsets, relative to the body center of mass. This is an
-     * array of Float32Array.
-     * @property shapeOffsets
-     * @type {Array}
-     */
-    this.shapeOffsets = [];
-
-    /**
-     * The body-local shape angle transforms. This is an array of numbers (angles).
-     * @property shapeAngles
-     * @type {Array}
-     */
-    this.shapeAngles = [];
-
-    /**
-     * The mass of the body.
-     * @property mass
-     * @type {number}
-     */
-    this.mass = options.mass || 0;
-
-    /**
-     * The inverse mass of the body.
-     * @property invMass
-     * @type {number}
-     */
-    this.invMass = 0;
-
-    /**
-     * The inertia of the body around the Z axis.
-     * @property inertia
-     * @type {number}
-     */
-    this.inertia = 0;
-
-    /**
-     * The inverse inertia of the body.
-     * @property invInertia
-     * @type {number}
-     */
-    this.invInertia = 0;
-
-    this.updateMassProperties();
-
-    /**
-     * The position of the body
-     * @property position
-     * @type {Float32Array}
-     */
-    this.position = vec2.fromValues(0,0);
-    if(options.position) vec2.copy(this.position, options.position);
-
-    /**
-     * The velocity of the body
-     * @property velocity
-     * @type {Float32Array}
-     */
-    this.velocity = vec2.fromValues(0,0);
-    if(options.velocity) vec2.copy(this.velocity, options.velocity);
-
-    /**
-     * Constraint velocity that was added to the body during the last step.
-     * @property vlambda
-     * @type {Float32Array}
-     */
-    this.vlambda = vec2.fromValues(0,0);
-
-    /**
-     * Angular constraint velocity that was added to the body during last step.
-     * @property wlambda
-     * @type {Float32Array}
-     */
-    this.wlambda = 0;
-
-    /**
-     * The angle of the body
-     * @property angle
-     * @type {number}
-     */
-    this.angle = options.angle || 0;
-
-    /**
-     * The angular velocity of the body
-     * @property angularVelocity
-     * @type {number}
-     */
-    this.angularVelocity = options.angularVelocity || 0;
-
-    /**
-     * The force acting on the body
-     * @property force
-     * @type {Float32Array}
-     */
-    this.force = vec2.create();
-    if(options.force) vec2.copy(this.force, options.force);
-
-    /**
-     * The angular force acting on the body
-     * @property angularForce
-     * @type {number}
-     */
-    this.angularForce = options.angularForce || 0;
-
-    /**
-     * The linear damping acting on the body in the velocity direction
-     * @property damping
-     * @type {Number}
-     */
-    this.damping = typeof(options.damping)=="number" ? options.damping : 0.1;
-
-    /**
-     * The angular force acting on the body
-     * @property angularDamping
-     * @type {Number}
-     */
-    this.angularDamping = typeof(options.angularDamping)=="number" ? options.angularDamping : 0.1;
-
-    /**
-     * The type of motion this body has. Should be one of: Body.STATIC (the body
-     * does not move), Body.DYNAMIC (body can move and respond to collisions)
-     * and Body.KINEMATIC (only moves according to its .velocity).
-     *
-     * @property motionState
-     * @type {number}
-     *
-     * @example
-     *     // This body will move and interact with other bodies
-     *     var dynamicBody = new Body();
-     *     dynamicBody.motionState = Body.DYNAMIC;
-     *
-     * @example
-     *     // This body will not move at all
-     *     var staticBody = new Body();
-     *     staticBody.motionState = Body.STATIC;
-     *
-     * @example
-     *     // This body will only move if you change its velocity
-     *     var kinematicBody = new Body();
-     *     kinematicBody.motionState = Body.KINEMATIC;
-     */
-    this.motionState = this.mass == 0 ? Body.STATIC : Body.DYNAMIC;
-
-    /**
-     * Bounding circle radius
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-
-    this.concavePath = null;
-
-    this.lastDampingScale = 1;
-    this.lastAngularDampingScale = 1;
-    this.lastDampingTimeStep = -1;
-};
-
-Body._idCounter = 0;
-
-/**
- * Update the bounding radius of the body. Should be done if any of the shapes
- * are changed.
- * @method updateBoundingRadius
- */
-Body.prototype.updateBoundingRadius = function(){
-    var shapes = this.shapes,
-        shapeOffsets = this.shapeOffsets,
-        N = shapes.length,
-        radius = 0;
-
-    for(var i=0; i!==N; i++){
-        var shape = shapes[i],
-            offset = vec2.length(shapeOffsets[i] || zero),
-            r = shape.boundingRadius;
-        if(offset + r > radius)
-            radius = offset + r;
-    }
-
-    this.boundingRadius = radius;
-};
-
-/**
- * Add a shape to the body. You can pass a local transform when adding a shape,
- * so that the shape gets an offset and angle relative to the body center of mass.
- * Will automatically update the mass properties and bounding radius.
- *
- * @method addShape
- * @param  {Shape}              shape
- * @param  {Float32Array|Array} [offset] Local body offset of the shape.
- * @param  {Number}             [angle]  Local body angle.
- *
- * @example
- *     var body = new Body(),
- *         shape = new Circle();
- *
- *     // Add the shape to the body, positioned in the center
- *     body.addShape(shape);
- *
- *     // Add another shape to the body, positioned 1 unit length from the body center of mass along the local x-axis.
- *     body.addShape(shape,[1,0]);
- *
- *     // Add another shape to the body, positioned 1 unit length from the body center of mass along the local y-axis, and rotated 90 degrees CCW.
- *     body.addShape(shape,[0,1],Math.PI/2);
- */
-Body.prototype.addShape = function(shape,offset,angle){
-    angle = angle || 0.0;
-
-    // Copy the offset vector
-    if(offset){
-        offset = vec2.fromValues(offset[0],offset[1]);
-    } else {
-        offset = vec2.fromValues(0,0);
-    }
-
-    this.shapes      .push(shape);
-    this.shapeOffsets.push(offset);
-    this.shapeAngles .push(angle);
-    this.updateMassProperties();
-    this.updateBoundingRadius();
-};
-
-/**
- * Remove a shape
- * @method removeShape
- * @param  {Shape}  shape
- * @return {Boolean}       True if the shape was found and removed, else false.
- */
-Body.prototype.removeShape = function(shape){
-    var idx = this.shapes.indexOf(shape);
-
-    if(idx != -1){
-        this.shapes.splice(idx,1);
-        this.shapeOffsets.splice(idx,1);
-        this.shapeAngles.splice(idx,1);
-        return true;
-    } else
-        return false;
-};
-
-/**
- * Updates .inertia, .invMass, .invInertia for this Body. Should be called when
- * changing the structure or mass of the Body.
- *
- * @method updateMassProperties
- *
- * @example
- *     body.mass += 1;
- *     body.updateMassProperties();
- */
-Body.prototype.updateMassProperties = function(){
-    var shapes = this.shapes,
-        N = shapes.length,
-        m = this.mass / N,
-        I = 0;
-
-    for(var i=0; i<N; i++){
-        var shape = shapes[i],
-            r2 = vec2.squaredLength(this.shapeOffsets[i] || zero),
-            Icm = shape.computeMomentOfInertia(m);
-        I += Icm + m*r2;
-    }
-
-    this.inertia = I;
-
-    // Inverse mass properties are easy
-    this.invMass = this.mass > 0 ? 1/this.mass : 0;
-    this.invInertia = I>0 ? 1/I : 0;
-};
-
-var Body_applyForce_r = vec2.create();
-
-/**
- * Apply force to a world point. This could for example be a point on the RigidBody surface. Applying force this way will add to Body.force and Body.angularForce.
- * @method applyForce
- * @param {Float32Array} force The force to add.
- * @param {Float32Array} worldPoint A world point to apply the force on.
- */
-Body.prototype.applyForce = function(force,worldPoint){
-    // Compute point position relative to the body center
-    var r = Body_applyForce_r;
-    vec2.sub(r,worldPoint,this.position);
-
-    // Add linear force
-    vec2.add(this.force,this.force,force);
-
-    // Compute produced rotational force
-    var rotForce = vec2.crossLength(r,force);
-
-    // Add rotational force
-    this.angularForce += rotForce;
-};
-
-/**
- * Transform a world point to local body frame.
- * @method toLocalFrame
- * @param  {Float32Array|Array} out          The vector to store the result in
- * @param  {Float32Array|Array} worldPoint   The input world vector
- */
-Body.prototype.toLocalFrame = function(out, worldPoint){
-    vec2.toLocalFrame(out, worldPoint, this.position, this.angle);
-};
-
-/**
- * Transform a local point to world frame.
- * @method toWorldFrame
- * @param  {Array} out          The vector to store the result in
- * @param  {Array} localPoint   The input local vector
- */
-Body.prototype.toWorldFrame = function(out, localPoint){
-    vec2.toGlobalFrame(out, localPoint, this.position, this.angle);
-};
-
-/**
- * Reads a polygon shape path, and assembles convex shapes from that and puts them at proper offset points.
- * @method fromPolygon
- * @param {Array} path An array of 2d vectors, e.g. [[0,0],[0,1],...] that resembles a concave or convex polygon. The shape must be simple and without holes.
- * @param {Object} [options]
- * @param {Boolean} [options.optimalDecomp=false]   Set to true if you need optimal decomposition. Warning: very slow for polygons with more than 10 vertices.
- * @param {Boolean} [options.skipSimpleCheck=false] Set to true if you already know that the path is not intersecting itself.
- * @param {Boolean|Number} [options.removeCollinearPoints=false] Set to a number (angle threshold value) to remove collinear points, or false to keep all points.
- * @return {Boolean} True on success, else false.
- */
-Body.prototype.fromPolygon = function(path,options){
-    options = options || {};
-
-    // Remove all shapes
-    for(var i=this.shapes.length; i>=0; --i)
-        this.removeShape(this.shapes[i]);
-
-    var p = new decomp.Polygon();
-    p.vertices = path;
-
-    // Make it counter-clockwise
-    p.makeCCW();
-
-    if(typeof(options.removeCollinearPoints)=="number"){
-        p.removeCollinearPoints(options.removeCollinearPoints);
-    }
-
-    // Check if any line segment intersects the path itself
-    if(typeof(options.skipSimpleCheck) == "undefined"){
-        if(!p.isSimple()) return false;
-    }
-
-    // Save this path for later
-    this.concavePath = p.vertices.slice(0);
-    for(var i=0; i<this.concavePath.length; i++){
-        var v = [0,0];
-        vec2.copy(v,this.concavePath[i]);
-        this.concavePath[i] = v;
-    }
-
-    // Slow or fast decomp?
-    var convexes;
-    if(options.optimalDecomp)   convexes = p.decomp();
-    else                        convexes = p.quickDecomp();
-
-    var cm = vec2.create();
-
-    // Add convexes
-    for(var i=0; i!==convexes.length; i++){
-        // Create convex
-        var c = new Convex(convexes[i].vertices);
-
-        // Move all vertices so its center of mass is in the local center of the convex
-        for(var j=0; j!==c.vertices.length; j++){
-            var v = c.vertices[j];
-            vec2.sub(v,v,c.centerOfMass);
-        }
-
-        vec2.scale(cm,c.centerOfMass,1);
-        c.updateTriangles();
-        c.updateCenterOfMass();
-        c.updateBoundingRadius();
-
-        // Add the shape
-        this.addShape(c,cm);
-    }
-
-    this.adjustCenterOfMass();
-
-    return true;
-};
-
-var adjustCenterOfMass_tmp1 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp2 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp3 = vec2.fromValues(0,0),
-    adjustCenterOfMass_tmp4 = vec2.fromValues(0,0);
-
-/**
- * Moves the shape offsets so their center of mass becomes the body center of mass.
- * @method adjustCenterOfMass
- */
-Body.prototype.adjustCenterOfMass = function(){
-    var zero =              adjustCenterOfMass_tmp1,
-        offset_times_area = adjustCenterOfMass_tmp2,
-        sum =               adjustCenterOfMass_tmp3,
-        cm =                adjustCenterOfMass_tmp4,
-        totalArea =         0;
-    vec2.set(sum,0,0);
-    vec2.set(zero,0,0);
-
-    for(var i=0; i!==this.shapes.length; i++){
-        var s = this.shapes[i],
-            offset = this.shapeOffsets[i] || zero;
-        vec2.scale(offset_times_area,offset,s.area);
-        vec2.add(sum,sum,offset_times_area);
-        totalArea += s.area;
-    }
-
-    vec2.scale(cm,sum,1/totalArea);
-
-    // Now move all shapes
-    for(var i=0; i!==this.shapes.length; i++){
-        var s = this.shapes[i],
-            offset = this.shapeOffsets[i];
-
-        // Offset may be undefined. Fix that.
-        if(!offset){
-            offset = this.shapeOffsets[i] = vec2.create();
-        }
-
-        vec2.sub(offset,offset,cm);
-    }
-
-    // Move the body position too
-    vec2.add(this.position,this.position,cm);
-
-    // And concave path
-    for(var i=0; this.concavePath && i<this.concavePath.length; i++){
-        vec2.sub(this.concavePath[i], this.concavePath[i], cm);
-    }
-
-    this.updateMassProperties();
-    this.updateBoundingRadius();
-};
-
-/**
- * Sets the force on the body to zero.
- * @method setZeroForce
- */
-Body.prototype.setZeroForce = function(){
-    vec2.set(this.force,0.0,0.0);
-    this.angularForce = 0.0;
-};
-
-Body.prototype.resetConstraintVelocity = function(){
-    var b = this,
-        vlambda = b.vlambda;
-    vec2.set(vlambda,0,0);
-    b.wlambda = 0;
-};
-
-Body.prototype.addConstraintVelocity = function(){
-    var b = this,
-        v = b.velocity;
-    vec2.add( v, v, b.vlambda);
-    b.angularVelocity += b.wlambda;
-};
-
-/**
- * Apply damping, see <a href="http://code.google.com/p/bullet/issues/detail?id=74">this</a> for details.
- * @method applyDamping
- * @param  {number} dt Current time step
- */
-Body.prototype.applyDamping = function(dt){
-    if(this.motionState & Body.DYNAMIC){ // Only for dynamic bodies
-
-        // Since Math.pow generates garbage we check if we can reuse the scaling coefficient from last step
-        if(dt != this.lastDampingTimeStep){
-            this.lastDampingScale =         Math.pow(1.0 - this.damping,dt);
-            this.lastAngularDampingScale =  Math.pow(1.0 - this.angularDamping,dt);
-            this.lastDampingTimeStep = dt;
-        }
-
-        var v = this.velocity;
-        vec2.scale(v,v,this.lastDampingScale);
-        this.angularVelocity *= this.lastAngularDampingScale;
-    }
-};
-
-/**
- * Dynamic body.
- * @property DYNAMIC
- * @type {Number}
- * @static
- */
-Body.DYNAMIC = 1;
-
-/**
- * Static body.
- * @property STATIC
- * @type {Number}
- * @static
- */
-Body.STATIC = 2;
-
-/**
- * Kinematic body.
- * @property KINEMATIC
- * @type {Number}
- * @static
- */
-Body.KINEMATIC = 4;
diff --git a/src/physics/advanced/objects/Spring.js b/src/physics/advanced/objects/Spring.js
deleted file mode 100644
index 44f7131ccb..0000000000
--- a/src/physics/advanced/objects/Spring.js
+++ /dev/null
@@ -1,181 +0,0 @@
-var vec2 = require('../math/vec2');
-
-module.exports = Spring;
-
-/**
- * A spring, connecting two bodies.
- *
- * @class Spring
- * @constructor
- * @param {Body} bodyA
- * @param {Body} bodyB
- * @param {Object} [options]
- * @param {number} options.restLength   A number > 0. Default: 1
- * @param {number} options.stiffness    A number >= 0. Default: 100
- * @param {number} options.damping      A number >= 0. Default: 1
- * @param {Array}  options.worldAnchorA Where to hook the spring to body A, in world coordinates.
- * @param {Array}  options.worldAnchorB
- * @param {Array}  options.localAnchorA Where to hook the spring to body A, in local body coordinates.
- * @param {Array}  options.localAnchorB
- */
-function Spring(bodyA,bodyB,options){
-    options = options || {};
-
-    /**
-     * Rest length of the spring.
-     * @property restLength
-     * @type {number}
-     */
-    this.restLength = typeof(options.restLength)=="number" ? options.restLength : 1;
-
-    /**
-     * Stiffness of the spring.
-     * @property stiffness
-     * @type {number}
-     */
-    this.stiffness = options.stiffness || 100;
-
-    /**
-     * Damping of the spring.
-     * @property damping
-     * @type {number}
-     */
-    this.damping = options.damping || 1;
-
-    /**
-     * First connected body.
-     * @property bodyA
-     * @type {Body}
-     */
-    this.bodyA = bodyA;
-
-    /**
-     * Second connected body.
-     * @property bodyB
-     * @type {Body}
-     */
-    this.bodyB = bodyB;
-
-    /**
-     * Anchor for bodyA in local bodyA coordinates.
-     * @property localAnchorA
-     * @type {Array}
-     */
-    this.localAnchorA = vec2.fromValues(0,0);
-
-    /**
-     * Anchor for bodyB in local bodyB coordinates.
-     * @property localAnchorB
-     * @type {Array}
-     */
-    this.localAnchorB = vec2.fromValues(0,0);
-
-    if(options.localAnchorA) vec2.copy(this.localAnchorA, options.localAnchorA);
-    if(options.localAnchorB) vec2.copy(this.localAnchorB, options.localAnchorB);
-    if(options.worldAnchorA) this.setWorldAnchorA(options.worldAnchorA);
-    if(options.worldAnchorB) this.setWorldAnchorB(options.worldAnchorB);
-};
-
-/**
- * Set the anchor point on body A, using world coordinates.
- * @method setWorldAnchorA
- * @param {Array} worldAnchorA
- */
-Spring.prototype.setWorldAnchorA = function(worldAnchorA){
-    this.bodyA.toLocalFrame(this.localAnchorA, worldAnchorA);
-};
-
-/**
- * Set the anchor point on body B, using world coordinates.
- * @method setWorldAnchorB
- * @param {Array} worldAnchorB
- */
-Spring.prototype.setWorldAnchorB = function(worldAnchorB){
-    this.bodyB.toLocalFrame(this.localAnchorB, worldAnchorB);
-};
-
-/**
- * Get the anchor point on body A, in world coordinates.
- * @method getWorldAnchorA
- * @param {Array} result The vector to store the result in.
- */
-Spring.prototype.getWorldAnchorA = function(result){
-    this.bodyA.toWorldFrame(result, this.localAnchorA);
-};
-
-/**
- * Get the anchor point on body B, in world coordinates.
- * @method getWorldAnchorB
- * @param {Array} result The vector to store the result in.
- */
-Spring.prototype.getWorldAnchorB = function(result){
-    this.bodyB.toWorldFrame(result, this.localAnchorB);
-};
-
-var applyForce_r =              vec2.create(),
-    applyForce_r_unit =         vec2.create(),
-    applyForce_u =              vec2.create(),
-    applyForce_f =              vec2.create(),
-    applyForce_worldAnchorA =   vec2.create(),
-    applyForce_worldAnchorB =   vec2.create(),
-    applyForce_ri =             vec2.create(),
-    applyForce_rj =             vec2.create(),
-    applyForce_tmp =            vec2.create();
-
-/**
- * Apply the spring force to the connected bodies.
- * @method applyForce
- */
-Spring.prototype.applyForce = function(){
-    var k = this.stiffness,
-        d = this.damping,
-        l = this.restLength,
-        bodyA = this.bodyA,
-        bodyB = this.bodyB,
-        r = applyForce_r,
-        r_unit = applyForce_r_unit,
-        u = applyForce_u,
-        f = applyForce_f,
-        tmp = applyForce_tmp;
-
-    var worldAnchorA = applyForce_worldAnchorA,
-        worldAnchorB = applyForce_worldAnchorB,
-        ri = applyForce_ri,
-        rj = applyForce_rj;
-
-    // Get world anchors
-    this.getWorldAnchorA(worldAnchorA);
-    this.getWorldAnchorB(worldAnchorB);
-
-    // Get offset points
-    vec2.sub(ri, worldAnchorA, bodyA.position);
-    vec2.sub(rj, worldAnchorB, bodyB.position);
-
-    // Compute distance vector between world anchor points
-    vec2.sub(r, worldAnchorB, worldAnchorA);
-    var rlen = vec2.len(r);
-    vec2.normalize(r_unit,r);
-
-    //console.log(rlen)
-    //console.log("A",vec2.str(worldAnchorA),"B",vec2.str(worldAnchorB))
-
-    // Compute relative velocity of the anchor points, u
-    vec2.sub(u, bodyB.velocity, bodyA.velocity);
-    vec2.crossZV(tmp, bodyB.angularVelocity, rj);
-    vec2.add(u, u, tmp);
-    vec2.crossZV(tmp, bodyA.angularVelocity, ri);
-    vec2.sub(u, u, tmp);
-
-    // F = - k * ( x - L ) - D * ( u )
-    vec2.scale(f, r_unit, -k*(rlen-l) - d*vec2.dot(u,r_unit));
-
-    // Add forces to bodies
-    vec2.sub( bodyA.force, bodyA.force, f);
-    vec2.add( bodyB.force, bodyB.force, f);
-
-    // Angular force
-    var ri_x_f = vec2.crossLength(ri, f);
-    var rj_x_f = vec2.crossLength(rj, f);
-    bodyA.angularForce -= ri_x_f;
-    bodyB.angularForce += rj_x_f;
-};
diff --git a/src/physics/advanced/p2.js b/src/physics/advanced/p2.js
deleted file mode 100644
index 00b27f83d4..0000000000
--- a/src/physics/advanced/p2.js
+++ /dev/null
@@ -1,38 +0,0 @@
-// Export p2 classes
-module.exports = {
-    Body :                          require('./objects/Body'),
-    Broadphase :                    require('./collision/Broadphase'),
-    Capsule :                       require('./shapes/Capsule'),
-    Circle :                        require('./shapes/Circle'),
-    Constraint :                    require('./constraints/Constraint'),
-    ContactEquation :               require('./constraints/ContactEquation'),
-    ContactMaterial :               require('./material/ContactMaterial'),
-    Convex :                        require('./shapes/Convex'),
-    DistanceConstraint :            require('./constraints/DistanceConstraint'),
-    Equation :                      require('./constraints/Equation'),
-    EventEmitter :                  require('./events/EventEmitter'),
-    FrictionEquation :              require('./constraints/FrictionEquation'),
-    GridBroadphase :                require('./collision/GridBroadphase'),
-    GSSolver :                      require('./solver/GSSolver'),
-    Island :                        require('./solver/IslandSolver'),
-    IslandSolver :                  require('./solver/IslandSolver'),
-    Line :                          require('./shapes/Line'),
-    LockConstraint :                require('./constraints/LockConstraint'),
-    Material :                      require('./material/Material'),
-    NaiveBroadphase :               require('./collision/NaiveBroadphase'),
-    Particle :                      require('./shapes/Particle'),
-    Plane :                         require('./shapes/Plane'),
-    RevoluteConstraint :            require('./constraints/RevoluteConstraint'),
-    PrismaticConstraint :           require('./constraints/PrismaticConstraint'),
-    Rectangle :                     require('./shapes/Rectangle'),
-    RotationalVelocityEquation :    require('./constraints/RotationalVelocityEquation'),
-    SAP1DBroadphase :               require('./collision/SAP1DBroadphase'),
-    Shape :                         require('./shapes/Shape'),
-    Solver :                        require('./solver/Solver'),
-    Spring :                        require('./objects/Spring'),
-    Utils :                         require('./utils/Utils'),
-    World :                         require('./world/World'),
-    QuadTree :                      require('./collision/QuadTree').QuadTree,
-    vec2 :                          require('./math/vec2'),
-    version :                       require('../package.json').version,
-};
diff --git a/src/physics/advanced/serializer/Serializer.js b/src/physics/advanced/serializer/Serializer.js
deleted file mode 100644
index 81f80e237e..0000000000
--- a/src/physics/advanced/serializer/Serializer.js
+++ /dev/null
@@ -1,146 +0,0 @@
-var World = require('../world/World')
-
-var num = { type:"number", required:true };
-
-/*
- * Serialize a World instance to JSON
- * @method serialize
- * @param  {World} world
- * @return {Object}
- */
-exports.serialize = function(world){
-    return {};
-};
-
-/*
- * Load a World instance from JSON
- * @param  {Object} json
- * @return {World}
- */
-exports.deserialize = function(json){
-    var world = new World();
-    return world;
-};
-
-var schemas = exports.schemas = {};
-
-schemas['0.3.0'] = {
-    type: "object",
-    additionalProperties:false,
-    properties: {
-        gravity:          { $ref:"vec2" },
-        p2:               { type:"string", pattern:"^0.3$", required:true },
-        solver:           { type:"object", required:true  },
-        broadphase:       { type:"object", required:true  },
-        bodies:           {
-            type:"array",
-            required:true,
-            additionalItems:false,
-            items:{
-                type:"object",
-                additionalProperties:false,
-                properties:{
-                    id :                num,
-                    mass :              num,
-                    angle :             num,
-                    position :          { $ref:"vec2" },
-                    velocity :          { $ref:"vec2" },
-                    angularVelocity :   num,
-                    force :             { $ref:"vec2" },
-                    shapes :            { required:true, type:"array" },
-                    concavePath :       { required:true, type:["array","null"] },
-                },
-            }
-        },
-        springs: {
-            type:"array",
-            required:true,
-            additionalItems:false,
-            items:{
-                type:"object",
-                additionalProperties:false,
-                properties:{
-                    bodyA :         num,
-                    bodyB :         num,
-                    stiffness :     num,
-                    damping :       num,
-                    restLength :    num,
-                    localAnchorA :  { $ref:"vec2" },
-                    localAnchorB :  { $ref:"vec2" },
-                },
-            },
-        },
-        constraints:      {
-            type:"array",
-            required:true,
-            items:[{
-                type:"object",
-                additionalProperties:false,
-                properties:{
-                    bodyA:      num,
-                    bodyB:      num,
-                    type:       { type:"string", match:"^DistanceConstraint$" },
-                    distance:   num,
-                    maxForce:   num,
-                },
-            },{
-                type:"object",
-                additionalProperties:false,
-                properties:{
-                    bodyA:      num,
-                    bodyB:      num,
-                    type:       { type:"string", match:"^PrismaticConstraint$" },
-                    localAxisA: { $ref:"vec2" },
-                    localAxisB: { $ref:"vec2" },
-                    maxForce:   num,
-                },
-            },{
-                type:"object",
-                additionalProperties:false,
-                properties:{
-                    bodyA: num,
-                    bodyB: num,
-                    type: { type:"string", match:'^RevoluteConstraint$' },
-                    pivotA: { $ref:"vec2" },
-                    pivotB: { $ref:"vec2" },
-                    maxForce: num,
-                    motorSpeed: { type:["number","boolean"] },
-                    lowerLimit: num,
-                    lowerLimitEnabled: { type:"boolean" },
-                    upperLimit: num,
-                    upperLimitEnabled: { type:"boolean" },
-                },
-            }],
-        },
-        contactMaterials: {
-            type:"array",
-            required:true,
-            additionalItems:false,
-            items: {
-                properties : {
-                    id:                 num,
-                    materialA:          num,
-                    materialB:          num,
-                    friction:           num,
-                    restitution:        num,
-                    stiffness:          num,
-                    relaxation:         num,
-                    frictionStiffness:  num,
-                    frictionRelaxation: num,
-                }
-            }
-        },
-    }
-};
-
-exports.vec2 = {
-    id: "/vec2",
-    type:"array",
-    maxItems:2,
-    minItems:2,
-    items:{
-        type:"number",
-    },
-    additionalItems:false,
-    required:true,
-};
diff --git a/src/physics/advanced/shapes/Capsule.js b/src/physics/advanced/shapes/Capsule.js
deleted file mode 100644
index 8ff2002874..0000000000
--- a/src/physics/advanced/shapes/Capsule.js
+++ /dev/null
@@ -1,39 +0,0 @@
-var Shape = require('./Shape')
-,   vec2 = require('../math/vec2')
-
-module.exports = Capsule;
-
-/**
- * Capsule shape class.
- * @class Capsule
- * @constructor
- * @extends {Shape}
- * @param {Number} length The distance between the end points
- * @param {Number} radius Radius of the capsule
- */
-function Capsule(length,radius){
-    this.length = length || 1;
-    this.radius = radius || 1;
-
-    Shape.call(this,Shape.CAPSULE);
-};
-Capsule.prototype = new Shape();
-
-/**
- * Compute the mass moment of inertia of the Capsule.
- * @method conputeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- * @todo
- */
-Capsule.prototype.computeMomentOfInertia = function(mass){
-    // Approximate with rectangle
-    var r = this.radius,
-        w = this.length + r, // 2*r is too much, 0 is too little
-        h = r*2;
-    return mass * (h*h + w*w) / 12;
-};
-
-Capsule.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.radius + this.length/2;
-};
diff --git a/src/physics/advanced/shapes/Circle.js b/src/physics/advanced/shapes/Circle.js
deleted file mode 100644
index 736ddda65b..0000000000
--- a/src/physics/advanced/shapes/Circle.js
+++ /dev/null
@@ -1,31 +0,0 @@
-var Shape = require('./Shape');
-
-module.exports = Circle;
-
-/**
- * Circle shape class.
- * @class Circle
- * @extends {Shape}
- * @constructor
- * @param {number} radius The radius of this circle
- */
-function Circle(radius){
-
-    /**
-     * The radius of the circle.
-     * @property radius
-     * @type {number}
-     */
-    this.radius = radius || 1;
-
-    Shape.call(this,Shape.CIRCLE);
-};
-Circle.prototype = new Shape();
-Circle.prototype.computeMomentOfInertia = function(mass){
-    var r = this.radius;
-    return mass * r * r / 2;
-};
-
-Circle.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.radius;
-};
diff --git a/src/physics/advanced/shapes/Convex.js b/src/physics/advanced/shapes/Convex.js
deleted file mode 100644
index 8a59154228..0000000000
--- a/src/physics/advanced/shapes/Convex.js
+++ /dev/null
@@ -1,255 +0,0 @@
-var Shape = require('./Shape')
-,   vec2 = require('../math/vec2')
-,   polyk = require('../math/polyk')
-,   decomp = require('poly-decomp')
-
-module.exports = Convex;
-
-/**
- * Convex shape class.
- * @class Convex
- * @constructor
- * @extends {Shape}
- * @param {Array} vertices An array of Float32Array vertices that span this shape. Vertices are given in counter-clockwise (CCW) direction.
- */
-function Convex(vertices){
-
-    /**
-     * Vertices defined in the local frame.
-     * @property vertices
-     * @type {Array}
-     */
-    this.vertices = vertices || [];
-
-    // Copy the verts
-    for(var i=0; i<this.vertices.length; i++){
-        var v = vec2.fromValues();
-        vec2.copy(v,this.vertices[i]);
-        this.vertices[i] = v;
-    }
-
-    /**
-     * The center of mass of the Convex
-     * @property centerOfMass
-     * @type {Float32Array}
-     */
-    this.centerOfMass = vec2.fromValues(0,0);
-
-    /**
-     * Triangulated version of this convex. The structure is Array of 3-Arrays, and each subarray contains 3 integers, referencing the vertices.
-     * @property triangles
-     * @type {Array}
-     */
-    this.triangles = [];
-
-    if(this.vertices.length){
-        this.updateTriangles();
-        this.updateCenterOfMass();
-    }
-
-    /**
-     * The bounding radius of the convex
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-    this.updateBoundingRadius();
-
-    Shape.call(this,Shape.CONVEX);
-};
-Convex.prototype = new Shape();
-
-/**
- * Update the .triangles property
- * @method updateTriangles
- */
-Convex.prototype.updateTriangles = function(){
-
-    this.triangles.length = 0;
-
-    // Rewrite on polyk notation, array of numbers
-    var polykVerts = [];
-    for(var i=0; i<this.vertices.length; i++){
-        var v = this.vertices[i];
-        polykVerts.push(v[0],v[1]);
-    }
-
-    // Triangulate
-    var triangles = polyk.Triangulate(polykVerts);
-
-    // Loop over all triangles, add their inertia contributions to I
-    for(var i=0; i<triangles.length; i+=3){
-        var id1 = triangles[i],
-            id2 = triangles[i+1],
-            id3 = triangles[i+2];
-
-        // Add to triangles
-        this.triangles.push([id1,id2,id3]);
-    }
-};
-
-var updateCenterOfMass_centroid = vec2.create(),
-    updateCenterOfMass_centroid_times_mass = vec2.create(),
-    updateCenterOfMass_a = vec2.create(),
-    updateCenterOfMass_b = vec2.create(),
-    updateCenterOfMass_c = vec2.create(),
-    updateCenterOfMass_ac = vec2.create(),
-    updateCenterOfMass_ca = vec2.create(),
-    updateCenterOfMass_cb = vec2.create(),
-    updateCenterOfMass_n = vec2.create();
-
-/**
- * Update the .centerOfMass property.
- * @method updateCenterOfMass
- */
-Convex.prototype.updateCenterOfMass = function(){
-    var triangles = this.triangles,
-        verts = this.vertices,
-        cm = this.centerOfMass,
-        centroid = updateCenterOfMass_centroid,
-        n = updateCenterOfMass_n,
-        a = updateCenterOfMass_a,
-        b = updateCenterOfMass_b,
-        c = updateCenterOfMass_c,
-        ac = updateCenterOfMass_ac,
-        ca = updateCenterOfMass_ca,
-        cb = updateCenterOfMass_cb,
-        centroid_times_mass = updateCenterOfMass_centroid_times_mass;
-
-    vec2.set(cm,0,0);
-    var totalArea = 0;
-
-    for(var i=0; i!==triangles.length; i++){
-        var t = triangles[i],
-            a = verts[t[0]],
-            b = verts[t[1]],
-            c = verts[t[2]];
-
-        vec2.centroid(centroid,a,b,c);
-
-        // Get mass for the triangle (density=1 in this case)
-        // http://math.stackexchange.com/questions/80198/area-of-triangle-via-vectors
-        var m = decomp.Point.area(a,b,c)
-        totalArea += m;
-
-        // Add to center of mass
-        vec2.scale(centroid_times_mass, centroid, m);
-        vec2.add(cm, cm, centroid_times_mass);
-    }
-
-    vec2.scale(cm,cm,1/totalArea);
-};
-
-/**
- * Compute the mass moment of inertia of the Convex.
- * @method conputeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- * @todo  should use .triangles
- */
-Convex.prototype.computeMomentOfInertia = function(mass){
-
-    // In short: Triangulate the Convex, compute centroid and inertia of
-    // each sub-triangle. Add up to total using parallel axis theorem.
-
-    var I = 0;
-
-    // Rewrite on polyk notation, array of numbers
-    var polykVerts = [];
-    for(var i=0; i<this.vertices.length; i++){
-        var v = this.vertices[i];
-        polykVerts.push(v[0],v[1]);
-    }
-
-    // Triangulate
-    var triangles = polyk.Triangulate(polykVerts);
-
-    // Get total convex area and density
-    var area = polyk.GetArea(polykVerts);
-    this.updateArea();
-    var density = mass / this.area;
-
-    // Temp vectors
-    var a = vec2.create(),
-        b = vec2.create(),
-        c = vec2.create(),
-        centroid = vec2.create(),
-        n = vec2.create(),
-        ac = vec2.create(),
-        ca = vec2.create(),
-        cb = vec2.create(),
-        centroid_times_mass = vec2.create();
-
-    // Loop over all triangles, add their inertia contributions to I
-    for(var i=0; i<triangles.length; i+=3){
-        var id1 = triangles[i],
-            id2 = triangles[i+1],
-            id3 = triangles[i+2];
-
-        // a,b,c are triangle corners
-        vec2.set(a, polykVerts[2*id1], polykVerts[2*id1+1]);
-        vec2.set(b, polykVerts[2*id2], polykVerts[2*id2+1]);
-        vec2.set(c, polykVerts[2*id3], polykVerts[2*id3+1]);
-
-        vec2.centroid(centroid, a, b, c);
-
-        vec2.sub(ca, c, a);
-        vec2.sub(cb, c, b);
-
-        var area_triangle = decomp.Point.area(a,b,c)
-        var base = vec2.length(ca);
-        var height = 2*area_triangle / base; // a=b*h/2 => h=2*a/b
-
-        // Get mass for the triangle
-        var m = area_triangle * density;
-
-        // Get inertia for this triangle: http://answers.yahoo.com/question/index?qid=20080721030038AA3oE1m
-        var I_triangle = m*(base * (Math.pow(height,3))) / 36;
-
-        // Add to total inertia using parallel axis theorem
-        var r2 = vec2.squaredLength(centroid);
-        I += I_triangle + m*r2;
-    }
-
-    return I;
-};
-
-/**
- * Updates the .boundingRadius property
- * @method updateBoundingRadius
- */
-Convex.prototype.updateBoundingRadius = function(){
-    var verts = this.vertices,
-        r2 = 0;
-
-    for(var i=0; i!==verts.length; i++){
-        var l2 = vec2.squaredLength(verts[i]);
-        if(l2 > r2) r2 = l2;
-    }
-
-    this.boundingRadius = Math.sqrt(r2);
-};
-
-/**
- * Update the .area
- * @method updateArea
- */
-Convex.prototype.updateArea = function(){
-    this.updateTriangles();
-    this.area = 0;
-
-    var triangles = this.triangles,
-        verts = this.vertices;
-    for(var i=0; i!==triangles.length; i++){
-        var t = triangles[i],
-            a = verts[t[0]],
-            b = verts[t[1]],
-            c = verts[t[2]];
-
-        // Get mass for the triangle (density=1 in this case)
-        // http://math.stackexchange.com/questions/80198/area-of-triangle-via-vectors
-        var m = decomp.Point.area(a,b,c)
-        this.area += m;
-    }
-};
-
diff --git a/src/physics/advanced/shapes/Line.js b/src/physics/advanced/shapes/Line.js
deleted file mode 100644
index 5a19c33ef1..0000000000
--- a/src/physics/advanced/shapes/Line.js
+++ /dev/null
@@ -1,31 +0,0 @@
-var Shape = require('./Shape');
-
-module.exports = Line;
-
-/**
- * Line shape class. The line shape is along the x direction, and stretches from [-length/2, 0] to [length/2,0].
- * @class Line
- * @param {Number} length The total length of the line
- * @extends {Shape}
- * @constructor
- */
-function Line(length){
-
-    /**
-     * Length of this line
-     * @property length
-     * @type {Number}
-     */
-    this.length = length;
-
-    Shape.call(this,Shape.LINE);
-};
-Line.prototype = new Shape();
-Line.prototype.computeMomentOfInertia = function(mass){
-    return mass * Math.pow(this.length,2) / 12;
-};
-
-Line.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = this.length/2;
-};
-
diff --git a/src/physics/advanced/shapes/Particle.js b/src/physics/advanced/shapes/Particle.js
deleted file mode 100644
index f5de27c306..0000000000
--- a/src/physics/advanced/shapes/Particle.js
+++ /dev/null
@@ -1,22 +0,0 @@
-var Shape = require('./Shape');
-
-module.exports = Particle;
-
-/**
- * Particle shape class.
- * @class Particle
- * @constructor
- * @extends {Shape}
- */
-function Particle(){
-    Shape.call(this,Shape.PARTICLE);
-};
-Particle.prototype = new Shape();
-Particle.prototype.computeMomentOfInertia = function(mass){
-    return 0; // Can't rotate a particle
-};
-
-Particle.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = 0;
-};
-
diff --git a/src/physics/advanced/shapes/Plane.js b/src/physics/advanced/shapes/Plane.js
deleted file mode 100644
index 7433c4c978..0000000000
--- a/src/physics/advanced/shapes/Plane.js
+++ /dev/null
@@ -1,31 +0,0 @@
-var Shape = require('./Shape');
-
-module.exports = Plane;
-
-/**
- * Plane shape class. The plane is facing in the Y direction.
- * @class Plane
- * @extends {Shape}
- * @constructor
- */
-function Plane(){
-    Shape.call(this,Shape.PLANE);
-};
-Plane.prototype = new Shape();
-
-/**
- * Compute moment of inertia
- * @method computeMomentOfInertia
- */
-Plane.prototype.computeMomentOfInertia = function(mass){
-    return 0; // Plane is infinite. The inertia should therefore be infinty but by convention we set 0 here
-};
-
-/**
- * Update the bounding radius
- * @method updateBoundingRadius
- */
-Plane.prototype.updateBoundingRadius = function(){
-    this.boundingRadius = Number.MAX_VALUE;
-};
-
diff --git a/src/physics/advanced/shapes/Rectangle.js b/src/physics/advanced/shapes/Rectangle.js
deleted file mode 100644
index 35e2057267..0000000000
--- a/src/physics/advanced/shapes/Rectangle.js
+++ /dev/null
@@ -1,60 +0,0 @@
-var vec2 = require('../math/vec2')
-,   Shape = require('./Shape')
-,   Convex = require('./Convex')
-
-module.exports = Rectangle;
-
-/**
- * Rectangle shape class.
- * @class Rectangle
- * @constructor
- * @param {Number} w Width
- * @param {Number} h Height
- * @extends {Convex}
- */
-function Rectangle(w,h){
-    var verts = [   vec2.fromValues(-w/2, -h/2),
-                    vec2.fromValues( w/2, -h/2),
-                    vec2.fromValues( w/2,  h/2),
-                    vec2.fromValues(-w/2,  h/2)];
-
-    /**
-     * Total width of the rectangle
-     * @property width
-     * @type {Number}
-     */
-    this.width = w;
-
-    /**
-     * Total height of the rectangle
-     * @property height
-     * @type {Number}
-     */
-    this.height = h;
-
-    Convex.call(this,verts);
-};
-Rectangle.prototype = new Convex();
-
-/**
- * Compute moment of inertia
- * @method computeMomentOfInertia
- * @param  {Number} mass
- * @return {Number}
- */
-Rectangle.prototype.computeMomentOfInertia = function(mass){
-    var w = this.width,
-        h = this.height;
-    return mass * (h*h + w*w) / 12;
-};
-
-/**
- * Update the bounding radius
- * @method updateBoundingRadius
- */
-Rectangle.prototype.updateBoundingRadius = function(){
-    var w = this.width,
-        h = this.height;
-    this.boundingRadius = Math.sqrt(w*w + h*h) / 2;
-};
-
diff --git a/src/physics/advanced/shapes/Shape.js b/src/physics/advanced/shapes/Shape.js
deleted file mode 100644
index 2f79f19a52..0000000000
--- a/src/physics/advanced/shapes/Shape.js
+++ /dev/null
@@ -1,107 +0,0 @@
-module.exports = Shape;
-
-/**
- * Base class for shapes.
- * @class Shape
- * @constructor
- */
-function Shape(type){
-    this.type = type;
-
-    /**
-     * Bounding circle radius of this shape
-     * @property boundingRadius
-     * @type {Number}
-     */
-    this.boundingRadius = 0;
-
-    /**
-     * Collision group that this shape belongs to (bit mask). See <a href="http://www.aurelienribon.com/blog/2011/07/box2d-tutorial-collision-filtering/">this tutorial</a>.
-     * @property collisionGroup
-     * @type {Number}
-     * @example
-     *     // Setup bits for each available group
-     *     var PLAYER = Math.pow(2,0),
-     *         ENEMY =  Math.pow(2,1),
-     *         GROUND = Math.pow(2,2)
-     *
-     *     // Put shapes into their groups
-     *     player1Shape.collisionGroup = PLAYER;
-     *     player2Shape.collisionGroup = PLAYER;
-     *     enemyShape  .collisionGroup = ENEMY;
-     *     groundShape .collisionGroup = GROUND;
-     *
-     *     // Assign groups that each shape collide with.
-     *     // Note that the players can collide with ground and enemies, but not with other players.
-     *     player1Shape.collisionMask = ENEMY | GROUND;
-     *     player2Shape.collisionMask = ENEMY | GROUND;
-     *     enemyShape  .collisionMask = PLAYER | GROUND;
-     *     groundShape .collisionMask = PLAYER | ENEMY;
-     *
-     * @example
-     *     // How collision check is done
-     *     if(shapeA.collisionGroup & shapeB.collisionMask)!=0 && (shapeB.collisionGroup & shapeA.collisionMask)!=0){
-     *         // The shapes will collide
-     *     }
-     */
-    this.collisionGroup = 1;
-
-    /**
-     * Collision mask of this shape. See .collisionGroup.
-     * @property collisionMask
-     * @type {Number}
-     */
-    this.collisionMask =  1;
-    if(type) this.updateBoundingRadius();
-
-    /**
-     * Material to use in collisions for this Shape. If this is set to null, the world will use default material properties instead.
-     * @property material
-     * @type {Material}
-     */
-    this.material = null;
-
-    /**
-     * Area of this shape.
-     * @property area
-     * @type {Number}
-     */
-    this.area = 0;
-
-    this.updateArea();
-};
-
-Shape.CIRCLE =      1;
-Shape.PARTICLE =    2;
-Shape.PLANE =       4;
-Shape.CONVEX =      8;
-Shape.LINE =        16;
-Shape.RECTANGLE =   32;
-Shape.CAPSULE =     64;
-
-/**
- * Should return the moment of inertia around the Z axis of the body given the total mass. See <a href="http://en.wikipedia.org/wiki/List_of_moments_of_inertia">Wikipedia's list of moments of inertia</a>.
- * @method computeMomentOfInertia
- * @param  {Number} mass
- * @return {Number} If the inertia is infinity or if the object simply isn't possible to rotate, return 0.
- */
-Shape.prototype.computeMomentOfInertia = function(mass){
-    throw new Error("Shape.computeMomentOfInertia is not implemented in this Shape...");
-};
-
-/**
- * Returns the bounding circle radius of this shape.
- * @method updateBoundingRadius
- * @return {Number}
- */
-Shape.prototype.updateBoundingRadius = function(){
-    throw new Error("Shape.updateBoundingRadius is not implemented in this Shape...");
-};
-
-/**
- * Update the .area property of the shape.
- * @method updateArea
- */
-Shape.prototype.updateArea = function(){
-    // To be implemented in all subclasses
-};
diff --git a/src/physics/advanced/solver/GSSolver.js b/src/physics/advanced/solver/GSSolver.js
deleted file mode 100644
index 5925d7c559..0000000000
--- a/src/physics/advanced/solver/GSSolver.js
+++ /dev/null
@@ -1,209 +0,0 @@
-var vec2 = require('../math/vec2')
-,   Solver = require('./Solver')
-,   Utils = require('../utils/Utils')
-,   FrictionEquation = require('../constraints/FrictionEquation')
-
-module.exports = GSSolver;
-
-/**
- * Iterative Gauss-Seidel constraint equation solver.
- *
- * @class GSSolver
- * @constructor
- * @extends Solver
- * @param {Object} [options]
- * @param {Number} options.iterations
- * @param {Number} options.timeStep
- * @param {Number} options.stiffness
- * @param {Number} options.relaxation
- * @param {Number} options.tolerance
- */
-function GSSolver(options){
-    Solver.call(this,options);
-    options = options || {};
-
-    /**
-     * The number of iterations to do when solving. More gives better results, but is more expensive.
-     * @property iterations
-     * @type {Number}
-     */
-    this.iterations = options.iterations || 10;
-
-    /**
-     * The error tolerance. If the total error is below this limit, the solver will stop. Set to zero for as good solution as possible.
-     * @property tolerance
-     * @type {Number}
-     */
-    this.tolerance = options.tolerance || 0;
-
-    this.debug = options.debug || false;
-    this.arrayStep = 30;
-    this.lambda = new Utils.ARRAY_TYPE(this.arrayStep);
-    this.Bs =     new Utils.ARRAY_TYPE(this.arrayStep);
-    this.invCs =  new Utils.ARRAY_TYPE(this.arrayStep);
-
-    /**
-     * Whether to use .stiffness and .relaxation parameters from the Solver instead of each Equation individually.
-     * @type {Boolean}
-     * @property useGlobalEquationParameters
-     */
-    this.useGlobalEquationParameters = true;
-
-    /**
-     * Global equation stiffness. Larger number gives harder contacts, etc, but may also be more expensive to compute, or it will make your simulation explode.
-     * @property stiffness
-     * @type {Number}
-     */
-    this.stiffness = 1e6;
-
-    /**
-     * Global equation relaxation. This is the number of timesteps required for a constraint to be resolved. Larger number will give softer contacts. Set to around 3 or 4 for good enough results.
-     * @property relaxation
-     * @type {Number}
-     */
-    this.relaxation = 4;
-
-    /**
-     * Set to true to set all right hand side terms to zero when solving. Can be handy for a few applications.
-     * @property useZeroRHS
-     * @type {Boolean}
-     */
-    this.useZeroRHS = false;
-
-    /**
-     * Number of friction iterations to skip. If .skipFrictionIterations=2, then no FrictionEquations will be iterated until the third iteration.
-     * @property skipFrictionIterations
-     * @type {Number}
-     */
-    this.skipFrictionIterations = 2;
-};
-GSSolver.prototype = new Solver();
-
-/**
- * Solve the system of equations
- * @method solve
- * @param  {Number}  dt       Time step
- * @param  {World}   world    World to solve
- */
-GSSolver.prototype.solve = function(dt,world){
-
-    this.sortEquations();
-
-    var iter = 0,
-        maxIter = this.iterations,
-        skipFrictionIter = this.skipFrictionIterations,
-        tolSquared = this.tolerance*this.tolerance,
-        equations = this.equations,
-        Neq = equations.length,
-        bodies = world.bodies,
-        Nbodies = world.bodies.length,
-        h = dt,
-        d = this.relaxation,
-        k = this.stiffness,
-        eps = 4.0 / (h * h * k * (1 + 4 * d)),
-        a = 4.0 / (h * (1 + 4 * d)),
-        b = (4.0 * d) / (1 + 4 * d),
-        useGlobalParams = this.useGlobalEquationParameters,
-        add = vec2.add,
-        set = vec2.set,
-        useZeroRHS = this.useZeroRHS;
-
-    // Things that does not change during iteration can be computed once
-    if(this.lambda.length < Neq){
-        this.lambda = new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-        this.Bs =     new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-        this.invCs =  new Utils.ARRAY_TYPE(Neq + this.arrayStep);
-    }
-    var invCs = this.invCs,
-        Bs = this.Bs,
-        lambda = this.lambda;
-    for(var i=0; i!==Neq; i++){
-        var c = equations[i];
-        lambda[i] = 0.0;
-
-        var _a = a,
-            _b = b,
-            _eps = eps;
-        if(!useGlobalParams){
-            if(h !== c.h) c.updateSpookParams(h);
-            _a = c.a;
-            _b = c.b;
-            _eps = c.eps;
-        }
-        Bs[i] = c.computeB(_a,_b,h);
-        invCs[i] = 1.0 / c.computeC(_eps);
-    }
-
-    var q, B, c, invC, deltalambda, deltalambdaTot, GWlambda, lambdaj;
-
-    if(Neq !== 0){
-        var i,j, minForce, maxForce, lambdaj_plus_deltalambda;
-
-        // Reset vlambda
-        for(i=0; i!==Nbodies; i++){
-            bodies[i].resetConstraintVelocity();
-        }
-
-        // Iterate over equations
-        for(iter=0; iter!==maxIter; iter++){
-
-            // Accumulate the total error for each iteration.
-            deltalambdaTot = 0.0;
-
-            for(j=0; j!==Neq; j++){
-                c = equations[j];
-
-                if(c instanceof FrictionEquation && iter < skipFrictionIter)
-                    continue;
-
-                var _eps = useGlobalParams ? eps : c.eps;
-
-                var deltalambda = GSSolver.iterateEquation(j,c,_eps,Bs,invCs,lambda,useZeroRHS,dt);
-                if(tolSquared !== 0) deltalambdaTot += Math.abs(deltalambda);
-            }
-
-            // If the total error is small enough - stop iterate
-            if(tolSquared !== 0 && deltalambdaTot*deltalambdaTot <= tolSquared) break;
-        }
-
-        // Add result to velocity
-        for(i=0; i!==Nbodies; i++){
-            bodies[i].addConstraintVelocity();
-        }
-    }
-    errorTot = deltalambdaTot;
-};
-
-GSSolver.iterateEquation = function(j,eq,eps,Bs,invCs,lambda,useZeroRHS,dt){
-    // Compute iteration
-    var B = Bs[j],
-        invC = invCs[j],
-        lambdaj = lambda[j],
-        GWlambda = eq.computeGWlambda(eps);
-
-    if(eq instanceof FrictionEquation){
-        // Rescale the max friction force according to the normal force
-        eq.maxForce =  eq.contactEquation.multiplier * eq.frictionCoefficient * dt;
-        eq.minForce = -eq.contactEquation.multiplier * eq.frictionCoefficient * dt;
-    }
-
-    var maxForce = eq.maxForce,
-        minForce = eq.minForce;
-
-    if(useZeroRHS) B = 0;
-
-    var deltalambda = invC * ( B - GWlambda - eps * lambdaj );
-
-    // Clamp if we are not within the min/max interval
-    var lambdaj_plus_deltalambda = lambdaj + deltalambda;
-    if(lambdaj_plus_deltalambda < minForce){
-        deltalambda = minForce - lambdaj;
-    } else if(lambdaj_plus_deltalambda > maxForce){
-        deltalambda = maxForce - lambdaj;
-    }
-    lambda[j] += deltalambda;
-    eq.multiplier = lambda[j] / dt;
-    eq.addToWlambda(deltalambda);
-
-    return deltalambda;
-};
diff --git a/src/physics/advanced/solver/Island.js b/src/physics/advanced/solver/Island.js
deleted file mode 100644
index b3c8635dd9..0000000000
--- a/src/physics/advanced/solver/Island.js
+++ /dev/null
@@ -1,81 +0,0 @@
-module.exports = Island;
-
-/**
- * An island of bodies connected with equations.
- * @class Island
- * @constructor
- */
-function Island(){
-
-    /**
-     * Current equations in this island.
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * Current bodies in this island.
-     * @property bodies
-     * @type {Array}
-     */
-    this.bodies = [];
-}
-
-/**
- * Clean this island from bodies and equations.
- * @method reset
- */
-Island.prototype.reset = function(){
-    this.equations.length = this.bodies.length = 0;
-}
-
-
-/**
- * Get all unique bodies in this island.
- * @method getBodies
- * @return {Array} An array of Body
- */
-Island.prototype.getBodies = function(){
-    var bodies = [],
-        bodyIds = [],
-        eqs = this.equations;
-    for(var i=0; i!==eqs.length; i++){
-        var eq = eqs[i];
-        if(bodyIds.indexOf(eq.bi.id)===-1){
-            bodies.push(eq.bi);
-            bodyIds.push(eq.bi.id);
-        }
-        if(bodyIds.indexOf(eq.bj.id)===-1){
-            bodies.push(eq.bj);
-            bodyIds.push(eq.bj.id);
-        }
-    }
-    return bodies;
-};
-
-/**
- * Solves all constraints in the group of islands.
- * @method solve
- * @param  {Number} dt
- * @param  {Solver} solver
- */
-Island.prototype.solve = function(dt,solver){
-    var bodies = [];
-
-    solver.removeAllEquations();
-
-    // Add equations to solver
-    var numEquations = this.equations.length;
-    for(var j=0; j!==numEquations; j++){
-        solver.addEquation(this.equations[j]);
-    }
-    var islandBodies = this.getBodies();
-    var numBodies = islandBodies.length;
-    for(var j=0; j!==numBodies; j++){
-        bodies.push(islandBodies[j]);
-    }
-
-    // Solve
-    solver.solve(dt,{bodies:bodies});
-};
diff --git a/src/physics/advanced/solver/IslandSolver.js b/src/physics/advanced/solver/IslandSolver.js
deleted file mode 100644
index a32dd9e784..0000000000
--- a/src/physics/advanced/solver/IslandSolver.js
+++ /dev/null
@@ -1,174 +0,0 @@
-var Solver = require('./Solver')
-,   vec2 = require('../math/vec2')
-,   Island = require('../solver/Island')
-,   Body = require('../objects/Body')
-,   STATIC = Body.STATIC
-
-module.exports = IslandSolver;
-
-/**
- * Splits the system of bodies and equations into independent islands
- *
- * @class IslandSolver
- * @constructor
- * @param {Solver} subsolver
- * @param {Object} options
- * @extends Solver
- */
-function IslandSolver(subsolver,options){
-    Solver.call(this,options);
-    var that = this;
-
-    /**
-     * The solver used in the workers.
-     * @property subsolver
-     * @type {Solver}
-     */
-    this.subsolver = subsolver;
-
-    /**
-     * Number of islands. Read only.
-     * @property numIslands
-     * @type {number}
-     */
-    this.numIslands = 0;
-
-    // Pooling of node objects saves some GC load
-    this._nodePool = [];
-
-    /**
-     * Fires before an island is solved.
-     * @event beforeSolveIsland
-     * @param {Island} island
-     */
-    this.beforeSolveIslandEvent = {
-        type : "beforeSolveIsland",
-        island : null,
-    };
-};
-IslandSolver.prototype = new Solver();
-
-function getUnvisitedNode(nodes){
-    var Nnodes = nodes.length;
-    for(var i=0; i!==Nnodes; i++){
-        var node = nodes[i];
-        if(!node.visited && !(node.body.motionState & STATIC)){ // correct?
-            return node;
-        }
-    }
-    return false;
-}
-
-function bfs(root,visitFunc){
-    var queue = [];
-    queue.push(root);
-    root.visited = true;
-    visitFunc(root);
-    while(queue.length) {
-        var node = queue.pop();
-        // Loop over unvisited child nodes
-        var child;
-        while((child = getUnvisitedNode(node.children))) {
-            child.visited = true;
-            visitFunc(child);
-            queue.push(child);
-        }
-    }
-}
-
-/**
- * Solves the full system.
- * @method solve
- * @param  {Number} dt
- * @param  {World} world
- */
-IslandSolver.prototype.solve = function(dt,world){
-    var nodes = [],
-        bodies=world.bodies,
-        equations=this.equations,
-        Neq=equations.length,
-        Nbodies=bodies.length,
-        subsolver=this.subsolver,
-        workers = this._workers,
-        workerData = this._workerData,
-        workerIslandGroups = this._workerIslandGroups;
-
-    // Create needed nodes, reuse if possible
-    for(var i=0; i!==Nbodies; i++){
-        if(this._nodePool.length)
-            nodes.push( this._nodePool.pop() );
-        else {
-            nodes.push({
-                body:bodies[i],
-                children:[],
-                eqs:[],
-                visited:false
-            });
-        }
-    }
-
-    // Reset node values
-    for(var i=0; i!==Nbodies; i++){
-        var node = nodes[i];
-        node.body = bodies[i];
-        node.children.length = 0;
-        node.eqs.length = 0;
-        node.visited = false;
-    }
-
-    // Add connectivity data. Each equation connects 2 bodies.
-    for(var k=0; k!==Neq; k++){
-        var eq=equations[k],
-            i=bodies.indexOf(eq.bi),
-            j=bodies.indexOf(eq.bj),
-            ni=nodes[i],
-            nj=nodes[j];
-        ni.children.push(nj);
-        ni.eqs.push(eq);
-        nj.children.push(ni);
-        nj.eqs.push(eq);
-    }
-
-    // The BFS search algorithm needs a traversal function. What we do is gather all bodies and equations connected.
-    var child, n=0, eqs=[], bds=[];
-    function visitFunc(node){
-        bds.push(node.body);
-        var Neqs = node.eqs.length;
-        for(var i=0; i!==Neqs; i++){
-            var eq = node.eqs[i];
-            if(eqs.indexOf(eq) === -1){
-                eqs.push(eq);
-            }
-        }
-    }
-
-    // Get islands
-    var islands = [];
-    while((child = getUnvisitedNode(nodes))){
-        var island = new Island(); // @todo Should be reused from somewhere
-        eqs.length = 0;
-        bds.length = 0;
-        bfs(child,visitFunc); // run search algo to gather an island of bodies
-
-        // Add equations to island
-        var Neqs = eqs.length;
-        for(var i=0; i!==Neqs; i++){
-            var eq = eqs[i];
-            island.equations.push(eq);
-        }
-
-        n++;
-        islands.push(island);
-    }
-
-    this.numIslands = n;
-
-    // Solve islands
-    var e = this.beforeSolveIslandEvent;
-    for(var i=0; i<islands.length; i++){
-        var island = islands[i];
-        e.island = island;
-        this.emit(e);
-        island.solve(dt,this.subsolver);
-    }
-};
diff --git a/src/physics/advanced/solver/Solver.js b/src/physics/advanced/solver/Solver.js
deleted file mode 100644
index c682d08ba6..0000000000
--- a/src/physics/advanced/solver/Solver.js
+++ /dev/null
@@ -1,93 +0,0 @@
-var Utils = require('../utils/Utils')
-,   EventEmitter = require('../events/EventEmitter')
-
-module.exports = Solver;
-
-/**
- * Base class for constraint solvers.
- * @class Solver
- * @constructor
- * @extends {EventEmitter}
- */
-function Solver(options){
-    options = options || {};
-
-    EventEmitter.call(this);
-
-    /**
-     * Current equations in the solver.
-     *
-     * @property equations
-     * @type {Array}
-     */
-    this.equations = [];
-
-    /**
-     * Function that is used to sort all equations before each solve.
-     * @property equationSortFunction
-     * @type {function|boolean}
-     */
-    this.equationSortFunction = options.equationSortFunction || false;
-};
-Solver.prototype = new EventEmitter();
-
-/**
- * Method to be implemented in each subclass
- * @method solve
- * @param  {Number} dt
- * @param  {World} world
- */
-Solver.prototype.solve = function(dt,world){
-    throw new Error("Solver.solve should be implemented by subclasses!");
-};
-
-/**
- * Sort all equations using the .equationSortFunction. Should be called by subclasses before solving.
- * @method sortEquations
- */
-Solver.prototype.sortEquations = function(){
-    if(this.equationSortFunction)
-        this.equations.sort(this.equationSortFunction);
-};
-
-/**
- * Add an equation to be solved.
- *
- * @method addEquation
- * @param {Equation} eq
- */
-Solver.prototype.addEquation = function(eq){
-    this.equations.push(eq);
-};
-
-/**
- * Add equations. Same as .addEquation, but this time the argument is an array of Equations
- *
- * @method addEquations
- * @param {Array} eqs
- */
-Solver.prototype.addEquations = function(eqs){
-    Utils.appendArray(this.equations,eqs);
-};
-
-/**
- * Remove an equation.
- *
- * @method removeEquation
- * @param {Equation} eq
- */
-Solver.prototype.removeEquation = function(eq){
-    var i = this.equations.indexOf(eq);
-    if(i!=-1)
-        this.equations.splice(i,1);
-};
-
-/**
- * Remove all currently added equations.
- *
- * @method removeAllEquations
- */
-Solver.prototype.removeAllEquations = function(){
-    this.equations.length=0;
-};
-
diff --git a/src/physics/advanced/utils/Utils.js b/src/physics/advanced/utils/Utils.js
deleted file mode 100644
index b12b3c35ec..0000000000
--- a/src/physics/advanced/utils/Utils.js
+++ /dev/null
@@ -1,33 +0,0 @@
-module.exports = Utils;
-
-/**
- * Misc utility functions
- * @class Utils
- * @constructor
- */
-function Utils(){};
-
-/**
- * Append the values in array b to the array a. See <a href="http://stackoverflow.com/questions/1374126/how-to-append-an-array-to-an-existing-javascript-array/1374131#1374131">this</a> for an explanation.
- * @method appendArray
- * @static
- * @param  {Array} a
- * @param  {Array} b
- */
-Utils.appendArray = function(a,b){
-    if (b.length < 150000) {
-        a.push.apply(a, b)
-    } else {
-        for (var i = 0, len = b.length; i !== len; ++i) {
-            a.push(b[i]);
-        }
-    }
-};
-
-/**
- * The array type to use for internal numeric computations.
- * @type {Array}
- * @static
- * @property ARRAY_TYPE
- */
-Utils.ARRAY_TYPE = Float32Array || Array;
diff --git a/src/physics/advanced/world/World.js b/src/physics/advanced/world/World.js
deleted file mode 100644
index 4cba13c237..0000000000
--- a/src/physics/advanced/world/World.js
+++ /dev/null
@@ -1,1073 +0,0 @@
-var  GSSolver = require('../solver/GSSolver')
-,    NaiveBroadphase = require('../collision/NaiveBroadphase')
-,    vec2 = require('../math/vec2')
-,    Circle = require('../shapes/Circle')
-,    Rectangle = require('../shapes/Rectangle')
-,    Convex = require('../shapes/Convex')
-,    Line = require('../shapes/Line')
-,    Plane = require('../shapes/Plane')
-,    Capsule = require('../shapes/Capsule')
-,    Particle = require('../shapes/Particle')
-,    EventEmitter = require('../events/EventEmitter')
-,    Body = require('../objects/Body')
-,    Spring = require('../objects/Spring')
-,    Material = require('../material/Material')
-,    ContactMaterial = require('../material/ContactMaterial')
-,    DistanceConstraint = require('../constraints/DistanceConstraint')
-,    LockConstraint = require('../constraints/LockConstraint')
-,    RevoluteConstraint = require('../constraints/RevoluteConstraint')
-,    PrismaticConstraint = require('../constraints/PrismaticConstraint')
-,    pkg = require('../../package.json')
-,    Broadphase = require('../collision/Broadphase')
-,    Narrowphase = require('../collision/Narrowphase')
-
-module.exports = World;
-
-var currentVersion = pkg.version.split(".").slice(0,2).join("."); // "X.Y"
-
-function now(){
-    if(typeof(performance)!="undefined"){
-        if(performance.now)
-            return performance.now();
-        else if(performance.webkitNow)
-            return performance.webkitNow();
-    } else
-        return new Date().getTime();
-}
-
-/**
- * The dynamics world, where all bodies and constraints lives.
- *
- * @class World
- * @constructor
- * @param {Object}          [options]
- * @param {Solver}          options.solver Defaults to GSSolver.
- * @param {Float32Array}    options.gravity Defaults to [0,-9.78]
- * @param {Broadphase}      options.broadphase Defaults to NaiveBroadphase
- * @extends {EventEmitter}
- */
-function World(options){
-    EventEmitter.apply(this);
-
-    options = options || {};
-
-    /**
-     * All springs in the world.
-     *
-     * @property springs
-     * @type {Array}
-     */
-    this.springs = [];
-
-    /**
-     * All bodies in the world.
-     *
-     * @property bodies
-     * @type {Array}
-     */
-    this.bodies = [];
-
-    /**
-     * The solver used to satisfy constraints and contacts.
-     *
-     * @property solver
-     * @type {Solver}
-     */
-    this.solver = options.solver || new GSSolver();
-
-    /**
-     * The narrowphase to use to generate contacts.
-     *
-     * @property narrowphase
-     * @type {Narrowphase}
-     */
-    this.narrowphase = new Narrowphase();
-
-    /**
-     * Gravity in the world. This is applied on all bodies in the beginning of each step().
-     *
-     * @property
-     * @type {Float32Array}
-     */
-    this.gravity = options.gravity || vec2.fromValues(0, -9.78);
-
-    /**
-     * Whether to do timing measurements during the step() or not.
-     *
-     * @property doPofiling
-     * @type {Boolean}
-     */
-    this.doProfiling = options.doProfiling || false;
-
-    /**
-     * How many millisecconds the last step() took. This is updated each step if .doProfiling is set to true.
-     *
-     * @property lastStepTime
-     * @type {Number}
-     */
-    this.lastStepTime = 0.0;
-
-    /**
-     * The broadphase algorithm to use.
-     *
-     * @property broadphase
-     * @type {Broadphase}
-     */
-    this.broadphase = options.broadphase || new NaiveBroadphase();
-
-    /**
-     * User-added constraints.
-     *
-     * @property constraints
-     * @type {Array}
-     */
-    this.constraints = [];
-
-    /**
-     * Friction between colliding bodies. This value is used if no matching ContactMaterial is found for the body pair.
-     * @property defaultFriction
-     * @type {Number}
-     */
-    this.defaultFriction = 0.3;
-
-    /**
-     * For keeping track of what time step size we used last step
-     * @property lastTimeStep
-     * @type {Number}
-     */
-    this.lastTimeStep = 1/60;
-
-    /**
-     * Enable to automatically apply spring forces each step.
-     * @property applySpringForces
-     * @type {Boolean}
-     */
-    this.applySpringForces = true;
-
-    /**
-     * Enable to automatically apply body damping each step.
-     * @property applyDamping
-     * @type {Boolean}
-     */
-    this.applyDamping = true;
-
-    /**
-     * Enable/disable constraint solving in each step.
-     * @property solveConstraints
-     * @type {Boolean}
-     */
-    this.solveConstraints = true;
-
-    /**
-     * The ContactMaterials added to the World.
-     * @property contactMaterials
-     * @type {Array}
-     */
-    this.contactMaterials = [];
-
-    /**
-     * World time.
-     * @property time
-     * @type {Number}
-     */
-    this.time = 0.0;
-
-    /**
-     * Set to true if you want to the world to emit the "impact" event. Turning this off could improve performance.
-     * @property emitImpactEvent
-     * @type {Boolean}
-     */
-    this.emitImpactEvent = true;
-
-    // Id counters
-    this._constraintIdCounter = 0;
-    this._bodyIdCounter = 0;
-
-    /**
-     * Fired after the step().
-     * @event postStep
-     */
-    this.postStepEvent = {
-        type : "postStep",
-    };
-
-    /**
-     * @event addBody
-     * @param {Body} body
-     */
-    this.addBodyEvent = {
-        type : "addBody",
-        body : null
-    };
-
-    /**
-     * @event removeBody
-     * @param {Body} body
-     */
-    this.removeBodyEvent = {
-        type : "removeBody",
-        body : null
-    };
-
-    /**
-     * Fired when a spring is added to the world.
-     * @event addSpring
-     * @param {Spring} spring
-     */
-    this.addSpringEvent = {
-        type : "addSpring",
-        spring : null,
-    };
-
-    /**
-     * Fired when a first contact is created between two bodies. This event is fired after the step has been done.
-     * @event impact
-     * @param {Body} bodyA
-     * @param {Body} bodyB
-     */
-    this.impactEvent = {
-        type: "impact",
-        bodyA : null,
-        bodyB : null,
-    };
-};
-World.prototype = new Object(EventEmitter.prototype);
-
-/**
- * Add a constraint to the simulation.
- *
- * @method addConstraint
- * @param {Constraint} c
- */
-World.prototype.addConstraint = function(c){
-    this.constraints.push(c);
-};
-
-/**
- * Add a ContactMaterial to the simulation.
- * @method addContactMaterial
- * @param {ContactMaterial} contactMaterial
- */
-World.prototype.addContactMaterial = function(contactMaterial){
-    this.contactMaterials.push(contactMaterial);
-};
-
-/**
- * Removes a contact material
- *
- * @method removeContactMaterial
- * @param {ContactMaterial} cm
- */
-World.prototype.removeContactMaterial = function(cm){
-    var idx = this.contactMaterials.indexOf(cm);
-    if(idx!==-1)
-        this.contactMaterials.splice(idx,1);
-};
-
-/**
- * Get a contact material given two materials
- * @method getContactMaterial
- * @param {Material} materialA
- * @param {Material} materialB
- * @return {ContactMaterial} The matching ContactMaterial, or false on fail.
- * @todo Use faster hash map to lookup from material id's
- */
-World.prototype.getContactMaterial = function(materialA,materialB){
-    var cmats = this.contactMaterials;
-    for(var i=0, N=cmats.length; i!==N; i++){
-        var cm = cmats[i];
-        if( (cm.materialA === materialA) && (cm.materialB === materialB) ||
-            (cm.materialA === materialB) && (cm.materialB === materialA) )
-            return cm;
-    }
-    return false;
-};
-
-/**
- * Removes a constraint
- *
- * @method removeConstraint
- * @param {Constraint} c
- */
-World.prototype.removeConstraint = function(c){
-    var idx = this.constraints.indexOf(c);
-    if(idx!==-1){
-        this.constraints.splice(idx,1);
-    }
-};
-
-var step_r = vec2.create(),
-    step_runit = vec2.create(),
-    step_u = vec2.create(),
-    step_f = vec2.create(),
-    step_fhMinv = vec2.create(),
-    step_velodt = vec2.create(),
-    step_mg = vec2.create(),
-    xiw = vec2.fromValues(0,0),
-    xjw = vec2.fromValues(0,0),
-    zero = vec2.fromValues(0,0);
-
-/**
- * Step the physics world forward in time.
- *
- * @method step
- * @param {Number} dt The time step size to use.
- *
- * @example
- *     var world = new World();
- *     world.step(0.01);
- */
-World.prototype.step = function(dt){
-    var that = this,
-        doProfiling = this.doProfiling,
-        Nsprings = this.springs.length,
-        springs = this.springs,
-        bodies = this.bodies,
-        g = this.gravity,
-        solver = this.solver,
-        Nbodies = this.bodies.length,
-        broadphase = this.broadphase,
-        np = this.narrowphase,
-        constraints = this.constraints,
-        t0, t1,
-        fhMinv = step_fhMinv,
-        velodt = step_velodt,
-        mg = step_mg,
-        scale = vec2.scale,
-        add = vec2.add,
-        rotate = vec2.rotate;
-
-    this.lastTimeStep = dt;
-
-    if(doProfiling){
-        t0 = now();
-    }
-
-    // Todo: remove. This is actually not needed any more
-    var glen = vec2.length(g);
-
-    // add gravity to bodies
-    if(glen !== 0){
-        for(var i=0; i!==Nbodies; i++){
-            var b = bodies[i],
-                fi = b.force;
-            vec2.scale(mg,g,b.mass);
-            add(fi,fi,mg);
-        }
-    }
-
-    // Add spring forces
-    if(this.applySpringForces){
-        for(var i=0; i!==Nsprings; i++){
-            var s = springs[i];
-            s.applyForce();
-        }
-    }
-
-    if(this.applyDamping){
-        for(var i=0; i!==Nbodies; i++){
-            var b = bodies[i];
-            b.applyDamping(dt);
-        }
-    }
-
-    // Broadphase
-    var result = broadphase.getCollisionPairs(this);
-
-    // Narrowphase
-    np.reset();
-    for(var i=0, Nresults=result.length; i!==Nresults; i+=2){
-        var bi = result[i],
-            bj = result[i+1];
-
-        // Loop over all shapes of body i
-        for(var k=0; k!==bi.shapes.length; k++){
-            var si = bi.shapes[k],
-                xi = bi.shapeOffsets[k] || zero,
-                ai = bi.shapeAngles[k] || 0;
-
-            // All shapes of body j
-            for(var l=0; l!==bj.shapes.length; l++){
-                var sj = bj.shapes[l],
-                    xj = bj.shapeOffsets[l] || zero,
-                    aj = bj.shapeAngles[l] || 0;
-
-                var mu = this.defaultFriction,
-                    restitution = 0.0;
-
-                if(si.material && sj.material){
-                    var cm = this.getContactMaterial(si.material,sj.material);
-                    if(cm){
-                        mu = cm.friction;
-                        restitution = cm.restitution;
-                    }
-                }
-
-                World.runNarrowphase(np,bi,si,xi,ai,bj,sj,xj,aj,mu,glen,restitution);
-            }
-        }
-    }
-
-    // Add contact equations to solver
-    solver.addEquations(np.contactEquations);
-    solver.addEquations(np.frictionEquations);
-
-    // Add user-defined constraint equations
-    var Nconstraints = constraints.length;
-    for(i=0; i!==Nconstraints; i++){
-        var c = constraints[i];
-        c.update();
-        solver.addEquations(c.equations);
-    }
-
-    if(this.solveConstraints)
-        solver.solve(dt,this);
-
-    solver.removeAllEquations();
-
-    // Step forward
-    for(var i=0; i!==Nbodies; i++){
-        var body = bodies[i];
-
-        if(body.mass>0){
-            World.integrateBody(body,dt);
-        }
-    }
-
-    // Reset force
-    for(var i=0; i!==Nbodies; i++){
-        bodies[i].setZeroForce();
-    }
-
-    if(doProfiling){
-        t1 = now();
-        that.lastStepTime = t1-t0;
-    }
-
-    // Emit impact event
-    if(this.emitImpactEvent){
-        var ev = this.impactEvent;
-        for(var i=0; i!==np.contactEquations.length; i++){
-            var eq = np.contactEquations[i];
-            if(eq.firstImpact){
-                ev.bodyA = eq.bi;
-                ev.bodyB = eq.bj;
-                this.emit(ev);
-            }
-        }
-    }
-
-    // Increment time
-    this.time += dt;
-
-    this.emit(this.postStepEvent);
-};
-
-var ib_fhMinv = vec2.create();
-var ib_velodt = vec2.create();
-
-/**
- * Move a body forward in time.
- * @static
- * @method integrateBody
- * @param  {Body} body
- * @param  {Number} dt
- */
-World.integrateBody = function(body,dt){
-    var minv = body.invMass,
-        f = body.force,
-        pos = body.position,
-        velo = body.velocity;
-
-    // Angular step
-    body.angularVelocity += body.angularForce * body.invInertia * dt;
-    body.angle += body.angularVelocity * dt;
-
-    // Linear step
-    vec2.scale(ib_fhMinv,f,dt*minv);
-    vec2.add(velo,ib_fhMinv,velo);
-    vec2.scale(ib_velodt,velo,dt);
-    vec2.add(pos,pos,ib_velodt);
-};
-
-/**
- * Runs narrowphase for the shape pair i and j.
- * @static
- * @method runNarrowphase
- * @param  {Narrowphase} np
- * @param  {Body} bi
- * @param  {Shape} si
- * @param  {Array} xi
- * @param  {Number} ai
- * @param  {Body} bj
- * @param  {Shape} sj
- * @param  {Array} xj
- * @param  {Number} aj
- * @param  {Number} mu
- * @param  {Number} glen
- */
-World.runNarrowphase = function(np,bi,si,xi,ai,bj,sj,xj,aj,mu,glen,restitution){
-
-    if(!((si.collisionGroup & sj.collisionMask) !== 0 && (sj.collisionGroup & si.collisionMask) !== 0))
-        return;
-
-    var reducedMass = bi.invMass + bj.invMass;
-    if(reducedMass > 0)
-        reducedMass = 1/reducedMass;
-
-    var mug = mu * glen * reducedMass,
-        doFriction = mu > 0;
-
-    // Get world position and angle of each shape
-    vec2.rotate(xiw, xi, bi.angle);
-    vec2.rotate(xjw, xj, bj.angle);
-    vec2.add(xiw, xiw, bi.position);
-    vec2.add(xjw, xjw, bj.position);
-    var aiw = ai + bi.angle;
-    var ajw = aj + bj.angle;
-
-    // Run narrowphase
-    np.enableFriction = mu > 0;
-    np.slipForce = mug;
-    np.frictionCoefficient = mu;
-    np.restitution = restitution;
-
-    var resolver = np[si.type | sj.type];
-    if (resolver) {
-        if (si.type < sj.type) {
-            resolver.call(np, bi,si,xiw,aiw, bj,sj,xjw,ajw);
-        } else {
-            resolver.call(np, bj,sj,xjw,ajw, bi,si,xiw,aiw);
-        }
-    }
-};
-
-/**
- * Add a spring to the simulation
- *
- * @method addSpring
- * @param {Spring} s
- */
-World.prototype.addSpring = function(s){
-    this.springs.push(s);
-    this.addSpringEvent.spring = s;
-    this.emit(this.addSpringEvent);
-};
-
-/**
- * Remove a spring
- *
- * @method removeSpring
- * @param {Spring} s
- */
-World.prototype.removeSpring = function(s){
-    var idx = this.springs.indexOf(s);
-    if(idx===-1)
-        this.springs.splice(idx,1);
-};
-
-/**
- * Add a body to the simulation
- *
- * @method addBody
- * @param {Body} body
- *
- * @example
- *     var world = new World(),
- *         body = new Body();
- *     world.addBody(body);
- *
- */
-World.prototype.addBody = function(body){
-    this.bodies.push(body);
-    this.addBodyEvent.body = body;
-    this.emit(this.addBodyEvent);
-};
-
-/**
- * Remove a body from the simulation
- *
- * @method removeBody
- * @param {Body} body
- */
-World.prototype.removeBody = function(body){
-    var idx = this.bodies.indexOf(body);
-    if(idx!==-1){
-        this.bodies.splice(idx,1);
-        this.removeBodyEvent.body = body;
-        body.resetConstraintVelocity();
-        this.emit(this.removeBodyEvent);
-    }
-};
-
-/**
- * Get a body by its id.
- * @method getBodyById
- * @return {Body|Boolean} The body, or false if it was not found.
- */
-World.prototype.getBodyById = function(id){
-    var bodies = this.bodies;
-    for(var i=0; i<bodies.length; i++){
-        var b = bodies[i];
-        if(b.id === id)
-            return b;
-    }
-    return false;
-};
-
-/**
- * Convert the world to a JSON-serializable Object.
- *
- * @method toJSON
- * @return {Object}
- */
-World.prototype.toJSON = function(){
-    var json = {
-        p2 : currentVersion,
-        bodies : [],
-        springs : [],
-        solver : {},
-        gravity : v2a(this.gravity),
-        broadphase : {},
-        constraints : [],
-        contactMaterials : [],
-    };
-
-    // Serialize springs
-    for(var i=0; i!==this.springs.length; i++){
-        var s = this.springs[i];
-        json.springs.push({
-            bodyA : this.bodies.indexOf(s.bodyA),
-            bodyB : this.bodies.indexOf(s.bodyB),
-            stiffness : s.stiffness,
-            damping : s.damping,
-            restLength : s.restLength,
-            localAnchorA : v2a(s.localAnchorA),
-            localAnchorB : v2a(s.localAnchorB),
-        });
-    }
-
-    // Serialize constraints
-    for(var i=0; i<this.constraints.length; i++){
-        var c = this.constraints[i];
-        var jc = {
-            bodyA : this.bodies.indexOf(c.bodyA),
-            bodyB : this.bodies.indexOf(c.bodyB),
-        }
-        if(c instanceof DistanceConstraint){
-            jc.type = "DistanceConstraint";
-            jc.distance = c.distance;
-            jc.maxForce = c.getMaxForce();
-        } else if(c instanceof RevoluteConstraint){
-            jc.type = "RevoluteConstraint";
-            jc.pivotA = v2a(c.pivotA);
-            jc.pivotB = v2a(c.pivotB);
-            jc.maxForce = c.maxForce;
-            jc.motorSpeed = c.getMotorSpeed(); // False if motor is disabled, otherwise number.
-            jc.lowerLimit = c.lowerLimit;
-            jc.lowerLimitEnabled = c.lowerLimitEnabled;
-            jc.upperLimit = c.upperLimit;
-            jc.upperLimitEnabled = c.upperLimitEnabled;
-        } else if(c instanceof PrismaticConstraint){
-            jc.type = "PrismaticConstraint";
-            jc.localAxisA = v2a(c.localAxisA);
-            jc.localAnchorA = v2a(c.localAnchorA);
-            jc.localAnchorB = v2a(c.localAnchorB);
-            jc.maxForce = c.maxForce;
-        } else if(c instanceof LockConstraint){
-            jc.type = "LockConstraint";
-            jc.localOffsetB = v2a(c.localOffsetB);
-            jc.localAngleB = c.localAngleB;
-            jc.maxForce = c.maxForce;
-        } else {
-            console.error("Constraint not supported yet!");
-            continue;
-        }
-
-        json.constraints.push(jc);
-    }
-
-    // Serialize bodies
-    for(var i=0; i!==this.bodies.length; i++){
-        var b = this.bodies[i],
-            ss = b.shapes,
-            jsonShapes = [];
-
-        for(var j=0; j<ss.length; j++){
-            var s = ss[j],
-                jsonShape;
-
-            // Check type
-            if(s instanceof Circle){
-                jsonShape = {
-                    type : "Circle",
-                    radius : s.radius,
-                };
-            } else if(s instanceof Plane){
-                jsonShape = { type : "Plane", };
-            } else if(s instanceof Particle){
-                jsonShape = { type : "Particle", };
-            } else if(s instanceof Line){
-                jsonShape = {   type : "Line",
-                                length : s.length };
-            } else if(s instanceof Rectangle){
-                jsonShape = {   type : "Rectangle",
-                                width : s.width,
-                                height : s.height };
-            } else if(s instanceof Convex){
-                var verts = [];
-                for(var k=0; k<s.vertices.length; k++)
-                    verts.push(v2a(s.vertices[k]));
-                jsonShape = {   type : "Convex",
-                                verts : verts };
-            } else if(s instanceof Capsule){
-                jsonShape = {   type : "Capsule",
-                                length : s.length,
-                                radius : s.radius };
-            } else {
-                throw new Error("Shape type not supported yet!");
-            }
-
-            jsonShape.offset = v2a(b.shapeOffsets[j]);
-            jsonShape.angle = b.shapeAngles[j];
-            jsonShape.collisionGroup = s.collisionGroup;
-            jsonShape.collisionMask = s.collisionMask;
-            jsonShape.material = s.material && {
-                id : s.material.id,
-            };
-
-            jsonShapes.push(jsonShape);
-        }
-
-        json.bodies.push({
-            id : b.id,
-            mass : b.mass,
-            angle : b.angle,
-            position : v2a(b.position),
-            velocity : v2a(b.velocity),
-            angularVelocity : b.angularVelocity,
-            force : v2a(b.force),
-            shapes : jsonShapes,
-            concavePath : b.concavePath,
-        });
-    }
-
-    // Serialize contactmaterials
-    for(var i=0; i<this.contactMaterials.length; i++){
-        var cm = this.contactMaterials[i];
-        json.contactMaterials.push({
-            id : cm.id,
-            materialA :             cm.materialA.id, // Note: Reference by id!
-            materialB :             cm.materialB.id,
-            friction :              cm.friction,
-            restitution :           cm.restitution,
-            stiffness :             cm.stiffness,
-            relaxation :            cm.relaxation,
-            frictionStiffness :     cm.frictionStiffness,
-            frictionRelaxation :    cm.frictionRelaxation,
-        });
-    }
-
-    return json;
-
-    function v2a(v){
-        if(!v) return v;
-        return [v[0],v[1]];
-    }
-};
-
-/**
- * Upgrades a JSON object to current version
- * @method upgradeJSON
- * @param  {Object} json
- * @return {Object|Boolean} New json object, or false on failure.
- */
-World.upgradeJSON = function(json){
-    if(!json || !json.p2)
-        return false;
-
-    // Clone the json object
-    json = JSON.parse(JSON.stringify(json));
-
-    // Check version
-    switch(json.p2){
-
-        case currentVersion:
-            // We are at latest json version
-            return json;
-
-        case "0.3":
-            // Changes:
-            // - Started caring about versioning
-
-            // - Added LockConstraint type
-            // Can't do much about that now though. Ignore.
-
-            // Changed PrismaticConstraint arguments...
-            for(var i=0; i<json.constraints.length; i++){
-                var jc = json.constraints[i];
-                if(jc.type=="PrismaticConstraint"){
-
-                    // ...from these...
-                    delete jc.localAxisA;
-                    delete jc.localAxisB;
-
-                    // ...to these. We cant make up anything good here, just do something
-                    jc.localAxisA = [1,0];
-                    jc.localAnchorA = [0,0];
-                    jc.localAnchorB = [0,0];
-                }
-            }
-
-            // Upgrade version number
-            json.p2 = "0.4";
-            break;
-    }
-
-    return World.upgradeJSON(json);
-};
-
-/**
- * Load a scene from a serialized state in JSON format.
- *
- * @method fromJSON
- * @param  {Object} json
- * @return {Boolean} True on success, else false.
- */
-World.prototype.fromJSON = function(json){
-    this.clear();
-    json = World.upgradeJSON(json);
-
-    // Upgrade failed.
-    if(!json) return false;
-
-    if(!json.p2)
-        return false;
-
-    // Set gravity
-    vec2.copy(this.gravity, json.gravity);
-
-    var bodies = this.bodies;
-
-    // Load bodies
-    var id2material = {};
-    for(var i=0; i!==json.bodies.length; i++){
-        var jb = json.bodies[i],
-            jss = jb.shapes;
-
-        var b = new Body({
-            mass :              jb.mass,
-            position :          jb.position,
-            angle :             jb.angle,
-            velocity :          jb.velocity,
-            angularVelocity :   jb.angularVelocity,
-            force :             jb.force,
-        });
-        b.id = jb.id;
-
-        for(var j=0; j<jss.length; j++){
-            var shape, js=jss[j];
-
-            switch(js.type){
-                case "Circle":      shape = new Circle(js.radius);              break;
-                case "Plane":       shape = new Plane();                        break;
-                case "Particle":    shape = new Particle();                     break;
-                case "Line":        shape = new Line(js.length);                break;
-                case "Rectangle":   shape = new Rectangle(js.width,js.height);  break;
-                case "Convex":      shape = new Convex(js.verts);               break;
-                case "Capsule":     shape = new Capsule(js.length, js.radius);  break;
-                default:
-                    throw new Error("Shape type not supported: "+js.type);
-                    break;
-            }
-            shape.collisionMask = js.collisionMask;
-            shape.collisionGroup = js.collisionGroup;
-            shape.material = js.material;
-            if(shape.material){
-                shape.material = new Material();
-                shape.material.id = js.material.id;
-                id2material[shape.material.id+""] = shape.material;
-            }
-            b.addShape(shape,js.offset,js.angle);
-        }
-
-        if(jb.concavePath)
-            b.concavePath = jb.concavePath;
-
-        this.addBody(b);
-    }
-
-    // Load springs
-    for(var i=0; i<json.springs.length; i++){
-        var js = json.springs[i];
-        var s = new Spring(bodies[js.bodyA], bodies[js.bodyB], {
-            stiffness : js.stiffness,
-            damping : js.damping,
-            restLength : js.restLength,
-            localAnchorA : js.localAnchorA,
-            localAnchorB : js.localAnchorB,
-        });
-        this.addSpring(s);
-    }
-
-    // Load contact materials
-    for(var i=0; i<json.contactMaterials.length; i++){
-        var jm = json.contactMaterials[i];
-        var cm = new ContactMaterial(id2material[jm.materialA+""], id2material[jm.materialB+""], {
-            friction :              jm.friction,
-            restitution :           jm.restitution,
-            stiffness :             jm.stiffness,
-            relaxation :            jm.relaxation,
-            frictionStiffness :     jm.frictionStiffness,
-            frictionRelaxation :    jm.frictionRelaxation,
-        });
-        cm.id = jm.id;
-        this.addContactMaterial(cm);
-    }
-
-    // Load constraints
-    for(var i=0; i<json.constraints.length; i++){
-        var jc = json.constraints[i],
-            c;
-        switch(jc.type){
-            case "DistanceConstraint":
-                c = new DistanceConstraint(bodies[jc.bodyA], bodies[jc.bodyB], jc.distance, jc.maxForce);
-                break;
-            case "RevoluteConstraint":
-                c = new RevoluteConstraint(bodies[jc.bodyA], jc.pivotA, bodies[jc.bodyB], jc.pivotB, jc.maxForce);
-                if(jc.motorSpeed){
-                    c.enableMotor();
-                    c.setMotorSpeed(jc.motorSpeed);
-                }
-                c.lowerLimit = jc.lowerLimit || 0;
-                c.upperLimit = jc.upperLimit || 0;
-                c.lowerLimitEnabled = jc.lowerLimitEnabled || false;
-                c.upperLimitEnabled = jc.upperLimitEnabled || false;
-                break;
-            case "PrismaticConstraint":
-                c = new PrismaticConstraint(bodies[jc.bodyA], bodies[jc.bodyB], {
-                    maxForce : jc.maxForce,
-                    localAxisA : jc.localAxisA,
-                    localAnchorA : jc.localAnchorA,
-                    localAnchorB : jc.localAnchorB,
-                });
-                break;
-            case "LockConstraint":
-                c = new LockConstraint(bodies[jc.bodyA], bodies[jc.bodyB], {
-                    maxForce :     jc.maxForce,
-                    localOffsetB : jc.localOffsetB,
-                    localAngleB :  jc.localAngleB,
-                });
-                break;
-            default:
-                throw new Error("Constraint type not recognized: "+jc.type);
-        }
-        this.addConstraint(c);
-    }
-
-    return true;
-};
-
-/**
- * Resets the World, removes all bodies, constraints and springs.
- *
- * @method clear
- */
-World.prototype.clear = function(){
-
-    this.time = 0;
-
-    // Remove all solver equations
-    if(this.solver && this.solver.equations.length)
-        this.solver.removeAllEquations();
-
-    // Remove all constraints
-    var cs = this.constraints;
-    for(var i=cs.length-1; i>=0; i--){
-        this.removeConstraint(cs[i]);
-    }
-
-    // Remove all bodies
-    var bodies = this.bodies;
-    for(var i=bodies.length-1; i>=0; i--){
-        this.removeBody(bodies[i]);
-    }
-
-    // Remove all springs
-    var springs = this.springs;
-    for(var i=springs.length-1; i>=0; i--){
-        this.removeSpring(springs[i]);
-    }
-
-    // Remove all contact materials
-    var cms = this.contactMaterials;
-    for(var i=cms.length-1; i>=0; i--){
-        this.removeContactMaterial(cms[i]);
-    }
-};
-
-/**
- * Get a copy of this World instance
- * @method clone
- * @return {World}
- */
-World.prototype.clone = function(){
-    var world = new World();
-    world.fromJSON(this.toJSON());
-    return world;
-};
-
-var hitTest_tmp1 = vec2.create(),
-    hitTest_zero = vec2.fromValues(0,0),
-    hitTest_tmp2 = vec2.fromValues(0,0);
-
-/**
- * Test if a world point overlaps bodies
- * @method hitTest
- * @param  {Array}  worldPoint  Point to use for intersection tests
- * @param  {Array}  bodies      A list of objects to check for intersection
- * @param  {Number} precision   Used for matching against particles and lines. Adds some margin to these infinitesimal objects.
- * @return {Array}              Array of bodies that overlap the point
- */
-World.prototype.hitTest = function(worldPoint,bodies,precision){
-    precision = precision || 0;
-
-    // Create a dummy particle body with a particle shape to test against the bodies
-    var pb = new Body({ position:worldPoint }),
-        ps = new Particle(),
-        px = worldPoint,
-        pa = 0,
-        x = hitTest_tmp1,
-        zero = hitTest_zero,
-        tmp = hitTest_tmp2;
-    pb.addShape(ps);
-
-    var n = this.narrowphase,
-        result = [];
-
-    // Check bodies
-    for(var i=0, N=bodies.length; i!==N; i++){
-        var b = bodies[i];
-        for(var j=0, NS=b.shapes.length; j!==NS; j++){
-            var s = b.shapes[j],
-                offset = b.shapeOffsets[j] || zero,
-                angle = b.shapeAngles[j] || 0.0;
-
-            // Get shape world position + angle
-            vec2.rotate(x, offset, b.angle);
-            vec2.add(x, x, b.position);
-            var a = angle + b.angle;
-
-            if( (s instanceof Circle    && n.circleParticle  (b,s,x,a,     pb,ps,px,pa, true)) ||
-                (s instanceof Convex    && n.particleConvex  (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Plane     && n.particlePlane   (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Capsule   && n.particleCapsule (pb,ps,px,pa, b,s,x,a,     true)) ||
-                (s instanceof Particle  && vec2.squaredLength(vec2.sub(tmp,x,worldPoint)) < precision*precision)
-                ){
-                result.push(b);
-            }
-        }
-    }
-
-    return result;
-};
diff --git a/src/physics/arcade/ArcadePhysics.js b/src/physics/arcade/ArcadePhysics.js
index cd9a90dff0..f124dda98a 100644
--- a/src/physics/arcade/ArcadePhysics.js
+++ b/src/physics/arcade/ArcadePhysics.js
@@ -234,11 +234,6 @@ Phaser.Physics.Arcade.prototype = {
             rebounded = true;
         }
 
-        if (body.sprite.debug)
-        {
-            console.log('checkBounds finished', rebounded, body.blocked);
-        }
-
         return rebounded;
 
     },
@@ -850,10 +845,6 @@ Phaser.Physics.Arcade.prototype = {
             return this._intersection;
         }
 
-        // console.log('____ tileIntersects');
-        // console.log('body: ', body.left, body.top, body.right, body.bottom);
-        // console.log('tile: ', tile.x, tile.y, tile.right, tile.bottom);
-
         if (!(body.right < tile.x || body.bottom < tile.y || body.left > tile.right || body.top > tile.bottom))
         {
             this._intersection[0] = Math.max(body.left, tile.x);                                    // x
@@ -866,6 +857,7 @@ Phaser.Physics.Arcade.prototype = {
         }
 
         this._intersection[4] = 0;
+
         return this._intersection;
 
     },
@@ -879,8 +871,6 @@ Phaser.Physics.Arcade.prototype = {
     */
     separateTiles: function (body, tiles) {
 
-        // console.log('!!! separateTiles', tiles);
-
         var tile;
         var result = false;
 
@@ -912,15 +902,9 @@ Phaser.Physics.Arcade.prototype = {
         //  If the intersection area is either entirely null, or has a width/height of zero, we bail out now
         if (this._intersection[4] === 0 || this._intersection[2] === 0 || this._intersection[3] === 0)
         {
-            // console.log('Tile does not intersect body');
             return false;
         }
 
-        // console.log('*** separateTile', tile);
-        // console.log('intersection', this._intersection);
-
-        // tile.tile.debug = true;
-
         //  They overlap. Any custom callbacks?
         if (tile.tile.callback || tile.layer.callbacks[tile.tile.index])
         {
@@ -947,8 +931,6 @@ Phaser.Physics.Arcade.prototype = {
             //  LEFT
             body.overlapX = body.left - tile.right;
 
-            // console.log('ST left', body.overlapX, body.deltaX(), 'bt', body.left, tile.right);
-
             if (body.overlapX < 0)
             {
                 process = true;
@@ -963,8 +945,6 @@ Phaser.Physics.Arcade.prototype = {
             //  RIGHT
             body.overlapX = body.right - tile.x;
 
-            // console.log('ST right', body.overlapX, body.deltaX(), 'bt', body.right, tile.x);
-
             if (body.overlapX > 0)
             {
                 process = true;
@@ -980,8 +960,6 @@ Phaser.Physics.Arcade.prototype = {
             //  UP
             body.overlapY = body.top - tile.bottom;
 
-            // console.log('ST up', body.overlapY, body.deltaY(), 'bt', body.top, tile.bottom);
-
             if (body.overlapY < 0)
             {
                 process = true;
@@ -996,8 +974,6 @@ Phaser.Physics.Arcade.prototype = {
             //  DOWN
             body.overlapY = body.bottom - tile.y;
 
-            // console.log('ST down', body.overlapY, body.deltaY(), 'bt', body.bottom, tile.y);
-
             if (body.overlapY > 0)
             {
                 process = true;
@@ -1042,8 +1018,6 @@ Phaser.Physics.Arcade.prototype = {
     */
     processTileSeparation: function (body) {
 
-        // console.log('PRE processTileSeparation xy', body.x, body.y, 'left', body.left, 'right', body.right, 'up', body.up, 'down', body.down);
-
         if (body.overlapX < 0)
         {
             body.x -= body.overlapX;
@@ -1052,8 +1026,6 @@ Phaser.Physics.Arcade.prototype = {
             body.blocked.x = Math.floor(body.x);
             body.blocked.y = Math.floor(body.y);
             body.blocked.left = true;
-            // body.touching.left = true;
-            // body.touching.none = false;
         }
         else if (body.overlapX > 0)
         {
@@ -1063,8 +1035,6 @@ Phaser.Physics.Arcade.prototype = {
             body.blocked.x = Math.floor(body.x);
             body.blocked.y = Math.floor(body.y);
             body.blocked.right = true;
-            // body.touching.right = true;
-            // body.touching.none = false;
         }
 
         if (body.overlapY < 0)
@@ -1075,9 +1045,6 @@ Phaser.Physics.Arcade.prototype = {
             body.blocked.x = Math.floor(body.x);
             body.blocked.y = Math.floor(body.y);
             body.blocked.up = true;
-            // body.touching.up = true;
-            // body.touching.none = false;
-
         }
         else if (body.overlapY > 0)
         {
@@ -1087,12 +1054,8 @@ Phaser.Physics.Arcade.prototype = {
             body.blocked.x = Math.floor(body.x);
             body.blocked.y = Math.floor(body.y);
             body.blocked.down = true;
-            // body.touching.down = true;
-            // body.touching.none = false;
         }
 
-        // console.log('POST processTileSeparation xy', body.x, body.y, 'left', body.left, 'right', body.right, 'up', body.up, 'down', body.down);
-
         return true;
 
     },
diff --git a/src/physics/arcade/Body.js b/src/physics/arcade/Body.js
index 21876056d6..7b6d3a1edc 100644
--- a/src/physics/arcade/Body.js
+++ b/src/physics/arcade/Body.js
@@ -393,20 +393,6 @@ Phaser.Physics.Arcade.Body.prototype = {
             this.updateScale();
         }
 
-if (this.sprite.debug)
-{
-    console.log('Body preUpdate x:', this.x, 'y:', this.y);
-    // console.log('Body preUpdate Sprite x:', this.sprite.x, 'y:', this.sprite.y);
-    // console.log('Body preUpdate Sprite world:', this.sprite.world.x, 'y:', this.sprite.world.y);
-    // console.log('Body preUpdate Sprite position:', this.sprite.position.x, 'y:', this.sprite.position.y);
-    // console.log('Body preUpdate Sprite localTransform:', this.sprite.localTransform[2], 'y:', this.sprite.localTransform[5]);
-    // console.log('Body preUpdate Sprite worldTransform:', this.sprite.worldTransform[2], 'y:', this.sprite.worldTransform[5]);
-    // console.log('Body preUpdate x:', this.x, 'y:', this.y, 'left:', this.left, 'right:', this.right, 'WAS', this.preX, this.preY);
-    console.log('Body preUpdate blocked:', this.blocked, this.blockFlags);
-    console.log('Body preUpdate velocity:', this.velocity.x, this.velocity.y);
-    // console.log('Body preUpdate rotation:', this.rotation, this.preRotation);
-}
-
         this.checkBlocked();
 
         this.touching.none = true;
@@ -444,12 +430,6 @@ if (this.sprite.debug)
             this.updateBounds();
         }
 
-if (this.sprite.debug)
-{
-    console.log('Body preUpdate AFTER integration x:', this.x, 'y:', this.y, 'left:', this.left, 'right:', this.right);
-    console.log('Body preUpdate velocity:', this.velocity.x, this.velocity.y);
-}
-
     },
 
     /**
@@ -462,14 +442,12 @@ if (this.sprite.debug)
 
         if ((this.blocked.left || this.blocked.right) && (Math.floor(this.x) !== this.blocked.x || Math.floor(this.y) !== this.blocked.y))
         {
-            // console.log('resetBlocked unlocked left + right', Math.floor(this.x), this.blocked.x);
             this.blocked.left = false;
             this.blocked.right = false;
         }
 
         if ((this.blocked.up || this.blocked.down) && (Math.floor(this.x) !== this.blocked.x || Math.floor(this.y) !== this.blocked.y))
         {
-            // console.log('resetBlocked unlocked up + down', Math.floor(this.y), this.blocked.y, 'x', Math.floor(this.x), this.blocked.x);
             this.blocked.up = false;
             this.blocked.down = false;
         }
@@ -547,12 +525,6 @@ if (this.sprite.debug)
     */
     reboundCheck: function (x, y, rebound) {
 
-        if (this.sprite.debug)
-        {
-            console.log('reboundCheck start', this.velocity.x, this.velocity.y);
-            console.log('reBound blocked state', this.blocked);
-        }
-
         if (x)
         {
             if (rebound && this.bounce.x !== 0 && (this.blocked.left || this.blocked.right || this.touching.left || this.touching.right))
@@ -562,11 +534,6 @@ if (this.sprite.debug)
                 {
                     this.velocity.x *= -this.bounce.x;
                     this.angle = Math.atan2(this.velocity.y, this.velocity.x);
-
-                    if (this.sprite.debug)
-                    {
-                        console.log('X rebound applied', this._vx, 'to', this.velocity.x);
-                    }
                 }
             }
 
@@ -577,16 +544,6 @@ if (this.sprite.debug)
                 if (((this.blocked.left || this.touching.left) && (gx < 0 || this.velocity.x < 0)) || ((this.blocked.right || this.touching.right) && (gx > 0 || this.velocity.x > 0)))
                 {
                     this.velocity.x = 0;
-
-                    if (this.sprite.debug)
-                    {
-                        console.log('reboundCheck X zeroed');
-                    }
-                }
-
-                if (this.sprite.debug)
-                {
-                    console.log('reboundCheck X', this.velocity.x, 'gravity', gx);
                 }
             }
         }
@@ -600,13 +557,6 @@ if (this.sprite.debug)
                 {
                     this.velocity.y *= -this.bounce.y;
                     this.angle = Math.atan2(this.velocity.y, this.velocity.x);
-
-                    if (this.sprite.debug)
-                    {
-                        console.log('Y rebound applied', this._vy, 'to', this.velocity.y);
-                        console.log('Y rebound check 1', !(this._vy <= 0 && this.velocity.y > 0));
-                        console.log('Y rebound check 2', !(this._vy >= 0 && this.velocity.y < 0));
-                    }
                 }
             }
 
@@ -617,16 +567,6 @@ if (this.sprite.debug)
                 if (((this.blocked.up || this.touching.up) && (gy < 0 || this.velocity.y < 0)) || ((this.blocked.down || this.touching.down) && (gy > 0 || this.velocity.y > 0)))
                 {
                     this.velocity.y = 0;
-
-                    if (this.sprite.debug)
-                    {
-                        console.log('reboundCheck Y zeroed');
-                    }
-                }
-
-                if (this.sprite.debug)
-                {
-                    console.log('reboundCheck Y', this.velocity.y, 'gravity', gy);
                 }
             }
         }
@@ -819,8 +759,16 @@ if (this.sprite.debug)
     */
     processRebound: function (body) {
 
-        this.velocity.x = body.velocity.x - this.velocity.x * this.bounce.x;
-        this.velocity.y = body.velocity.y - this.velocity.y * this.bounce.y;
+        //  Don't rebound again if they've already rebounded in this frame
+        if (!(this._vx <= 0 && this.velocity.x > 0) && !(this._vx >= 0 && this.velocity.x < 0))
+        {
+            this.velocity.x = body.velocity.x - this.velocity.x * this.bounce.x;
+        }
+
+        if (!(this._vy <= 0 && this.velocity.y > 0) && !(this._vy >= 0 && this.velocity.y < 0))
+        {
+            this.velocity.y = body.velocity.y - this.velocity.y * this.bounce.y;
+        }
 
         this.angle = Math.atan2(this.velocity.y, this.velocity.x);
 
@@ -973,12 +921,10 @@ if (this.sprite.debug)
             //  Which is smaller? Left or Right?
             if (this._distances[0] < this._distances[1] && (body.checkCollision.right || this.checkCollision.left))
             {
-                // console.log(this.sprite.name, 'collided on the LEFT with', body.sprite.name, response);
                 hasSeparated = this.hitLeft(body, response);
             }
             else if (this._distances[1] < this._distances[0] && (body.checkCollision.left || this.checkCollision.right))
             {
-                // console.log(this.sprite.name, 'collided on the RIGHT with', body.sprite.name, response);
                 hasSeparated = this.hitRight(body, response);
             }
         }
@@ -987,19 +933,16 @@ if (this.sprite.debug)
             //  Which is smaller? Top or Bottom?
             if (this._distances[2] < this._distances[3] && (body.checkCollision.down || this.checkCollision.up))
             {
-                // console.log(this.sprite.name, 'collided on the TOP with', body.sprite.name, response);
                 hasSeparated = this.hitTop(body, response);
             }
             else if (this._distances[3] < this._distances[2] && (body.checkCollision.up || this.checkCollision.down))
             {
-                // console.log(this.sprite.name, 'collided on the BOTTOM with', body.sprite.name, response);
                 hasSeparated = this.hitBottom(body, response);
             }
         }
 
         if (hasSeparated)
         {
-            console.log('Body hasSeparated');
             this.game.physics.checkBounds(this);
             this.game.physics.checkBounds(body);
         }
@@ -1200,11 +1143,6 @@ if (this.sprite.debug)
         this._dx = this.game.time.physicsElapsed * (this.velocity.x + this._temp.x / 2);
         this._dy = this.game.time.physicsElapsed * (this.velocity.y + this._temp.y / 2);
 
-        if (this.sprite.debug)
-        {
-            // console.log('integrateVelocity TEMP:', this._temp.x, this._temp.y);
-        }
-
         //  positive = RIGHT / DOWN
         //  negative = LEFT / UP
 
@@ -1212,34 +1150,12 @@ if (this.sprite.debug)
         {
             this.x += this._dx;
             this.velocity.x += this._temp.x;
-            if (this.sprite.debug)
-            {
-                // console.log('integrateVelocity x added', this._dx, this.x);
-            }
-        }
-        else
-        {
-            if (this.sprite.debug)
-            {
-                // console.log('integrateVelocity x failed or zero, blocked left/right', this._dx);
-            }
         }
 
         if ((this._dy < 0 && !this.blocked.up && !this.touching.up) || (this._dy > 0 && !this.blocked.down && !this.touching.down))
         {
             this.y += this._dy;
             this.velocity.y += this._temp.y;
-            if (this.sprite.debug)
-            {
-                // console.log('integrateVelocity y added', this._dy, this.y);
-            }
-        }
-        else
-        {
-            if (this.sprite.debug)
-            {
-                // console.log('integrateVelocity y failed or zero, blocked up/down', this._dy);
-            }
         }
 
         if (this.velocity.x > this.maxVelocity.x)
diff --git a/wip/Body-Debug.js b/wip/Body-Debug.js
new file mode 100644
index 0000000000..c595cd5057
--- /dev/null
+++ b/wip/Body-Debug.js
@@ -0,0 +1,1626 @@
+/**
+* @author       Richard Davey <rich@photonstorm.com>
+* @copyright    2013 Photon Storm Ltd.
+* @license      {@link https://github.com/photonstorm/phaser/blob/master/license.txt|MIT License}
+*/
+
+/**
+* The Physics Body is linked to a single Sprite and defines properties that determine how the physics body is simulated.
+* These properties affect how the body reacts to forces, what forces it generates on itself (to simulate friction), and how it reacts to collisions in the scene. In most cases, the properties are used to simulate physical effects.
+* Each body also has its own property values that determine exactly how it reacts to forces and collisions in the scene.
+*
+* @class Phaser.Physics.Arcade.Body
+* @classdesc Arcade Physics Body Constructor
+* @constructor
+* @param {Phaser.Sprite} sprite - The Sprite object this physics body belongs to.
+*/
+Phaser.Physics.Arcade.Body = function (sprite) {
+
+    /**
+    * @property {Phaser.Sprite} sprite - Reference to the parent Sprite.
+    */
+    this.sprite = sprite;
+
+    /**
+    * @property {Phaser.Game} game - Local reference to game.
+    */
+    this.game = sprite.game;
+
+    /**
+    * @property {Phaser.Point} offset - The offset of the Physics Body from the Sprite x/y position.
+    */
+    this.offset = new Phaser.Point();
+
+    /**
+    * @property {number} preX - The previous x position of the physics body.
+    * @readonly
+    */
+    this.preX = sprite.world.x;
+
+    /**
+    * @property {number} preY - The previous y position of the physics body.
+    * @readonly
+    */
+    this.preY = sprite.world.y;
+
+    /**
+    * @property {number} preRotation - The previous rotation of the physics body.
+    * @readonly
+    */
+    this.preRotation = sprite.angle;
+
+    /**
+    * @property {Phaser.Point} velocity - The velocity of the Body.
+    */
+    this.velocity = new Phaser.Point();
+
+    /**
+    * @property {Phaser.Point} acceleration - The acceleration in pixels per second sq. of the Body.
+    */
+    this.acceleration = new Phaser.Point();
+
+    /**
+    * @property {number} speed - The speed in pixels per second sq. of the Body.
+    */
+    this.speed = 0;
+
+    /**
+    * @property {number} angle - The angle of the Body based on its velocity in radians.
+    */
+    this.angle = 0;
+
+    /**
+    * @property {Phaser.Point} gravity - The gravity applied to the motion of the Body. This works in addition to any gravity set on the world.
+    */
+    this.gravity = new Phaser.Point();
+
+    /**
+    * @property {Phaser.Point} bounce - The elasticitiy of the Body when colliding. This property determines how much energy a body maintains during a collision, i.e. its bounciness.
+    */
+    this.bounce = new Phaser.Point();
+
+    /**
+    * @property {Phaser.Point} minVelocity - When a body rebounds off another body or a wall the minVelocity is checked. If the new velocity is lower than minVelocity the body is stopped.
+    * @default
+    */
+    this.minVelocity = new Phaser.Point();
+
+    /**
+    * @property {Phaser.Point} maxVelocity - The maximum velocity that the Body can reach.
+    * @default
+    */
+    this.maxVelocity = new Phaser.Point(1000, 1000);
+
+    /**
+    * @property {number} angularVelocity - The angular velocity of the Body.
+    * @default
+    */
+    this.angularVelocity = 0;
+
+    /**
+    * @property {number} angularAcceleration - The angular acceleration of the Body.
+    * @default
+    */
+    this.angularAcceleration = 0;
+
+    /**
+    * @property {number} angularDrag - angularDrag is used to calculate friction on the body as it rotates.
+    * @default
+    */
+    this.angularDrag = 0;
+
+    /**
+    * @property {number} maxAngular - The maximum angular velocity that the Body can reach.
+    * @default
+    */
+    this.maxAngular = 1000;
+
+    /**
+    * @property {number} mass - The mass property determines how forces affect the body, as well as how much momentum the body has when it is involved in a collision.
+    * @default
+    */
+    this.mass = 1;
+
+    /**
+    * @property {number} linearDamping - linearDamping is used to calculate friction on the body as it moves through the world. For example, this might be used to simulate air or water friction.
+    * @default
+    */
+    this.linearDamping = 0.0;
+
+    /**
+    * Set the checkCollision properties to control which directions collision is processed for this Body.
+    * For example checkCollision.up = false means it won't collide when the collision happened while moving up.
+    * @property {object} checkCollision - An object containing allowed collision.
+    */
+    this.checkCollision = { none: false, any: true, up: true, down: true, left: true, right: true };
+
+    /**
+    * This object is populated with boolean values when the Body collides with another.
+    * touching.up = true means the collision happened to the top of this Body for example.
+    * @property {object} touching - An object containing touching results.
+    */
+    this.touching = { none: true, up: false, down: false, left: false, right: false };
+
+    /**
+    * This object is populated with boolean values when the Body collides with the World bounds or a Tile.
+    * For example if blocked.up is true then the Body cannot move up.
+    * @property {object} blocked - An object containing on which faces this Body is blocked from moving, if any.
+    */
+    this.blocked = { x: 0, y: 0, up: false, down: false, left: false, right: false };
+
+    /**
+    * @property {number} facing - A const reference to the direction the Body is traveling or facing.
+    * @default
+    */
+    this.facing = Phaser.NONE;
+
+    /**
+    * @property {boolean} rebound - A Body set to rebound will exchange velocity with another Body during collision. Set to false to allow this body to be 'pushed' rather than exchange velocity.
+    * @default
+    */
+    this.rebound = true;
+
+    /**
+    * @property {boolean} immovable - An immovable Body will not receive any impacts or exchanges of velocity from other bodies.
+    * @default
+    */
+    this.immovable = false;
+
+    /**
+    * @property {boolean} moves - Set to true to allow the Physics system (such as velocity) to move this Body, or false to move it manually.
+    * @default
+    */
+    this.moves = true;
+
+    /**
+    * @property {number} rotation - The amount the parent Sprite is rotated.
+    * @default
+    */
+    this.rotation = 0;
+
+    /**
+    * @property {boolean} allowRotation - Allow angular rotation? This will cause the Sprite to be rotated via angularVelocity, etc.
+    * @default
+    */
+    this.allowRotation = true;
+
+    /**
+    * @property {boolean} allowGravity - Allow this Body to be influenced by the global Gravity value? Note: It will always be influenced by the local gravity if set.
+    * @default
+    */
+    this.allowGravity = true;
+
+    /**
+    * @property {function} customSeparateCallback - If set this callback will be used for Body separation instead of the built-in one. Callback should return true if separated, otherwise false.
+    * @default
+    */
+    this.customSeparateCallback = null;
+
+    /**
+    * @property {object} customSeparateContext - The context in which the customSeparateCallback is called.
+    * @default
+    */
+    this.customSeparateContext = null;
+
+    /**
+    * @property {function} collideCallback - If set this callback will be fired whenever this Body is hit (on any face). It will send three parameters, the face it hit on, this Body and the Body that hit it.
+    * @default
+    */
+    this.collideCallback = null;
+
+    /**
+    * @property {object} collideCallbackContext - The context in which the collideCallback is called.
+    * @default
+    */
+    this.collideCallbackContext = null;
+
+    /**
+    * A Body can be set to collide against the World bounds automatically and rebound back into the World if this is set to true. Otherwise it will leave the World.
+    * @property {boolean} collideWorldBounds - Should the Body collide with the World bounds?
+    */
+    this.collideWorldBounds = false;
+
+    /**
+    * @property {Phaser.Physics.Arcade.RECT|Phaser.Physics.Arcade.CIRCLE} type - The type of SAT Shape.
+    */
+    this.type = Phaser.Physics.Arcade.RECT;
+
+    /**
+    * @property {SAT.Box|SAT.Circle|SAT.Polygon} shape - The SAT Collision shape.
+    */
+    this.shape = null;
+
+    /**
+    * @property {SAT.Polygon} polygon - The SAT Polygons, as derived from the Shape.
+    */
+    this.polygon = null;
+
+    /**
+    * @property {number} left - The left-most point of this Body.
+    * @readonly
+    */
+    this.left = 0;
+
+    /**
+    * @property {number} right - The right-most point of this Body.
+    * @readonly
+    */
+    this.right = 0;
+
+    /**
+    * @property {number} top - The top-most point of this Body.
+    * @readonly
+    */
+    this.top = 0;
+
+    /**
+    * @property {number} bottom - The bottom-most point of this Body.
+    * @readonly
+    */
+    this.bottom = 0;
+
+    /**
+    * @property {number} width - The current width of the Body, taking into account the point rotation.
+    * @readonly
+    */
+    this.width = 0;
+
+    /**
+    * @property {number} height - The current height of the Body, taking into account the point rotation.
+    * @readonly
+    */
+    this.height = 0;
+
+    /**
+    * @property {array<Phaser.Physics.Arcade.Body>} contacts - Used to store references to bodies this Body is in contact with.
+    * @protected
+    */
+    this.contacts = [];
+
+    /**
+    * @property {number} overlapX - Mostly used internally to store the overlap values from Tile seperation.
+    * @protected
+    */
+    this.overlapX = 0;
+
+    /**
+    * @property {number} overlapY - Mostly used internally to store the overlap values from Tile seperation.
+    * @protected
+    */
+    this.overlapY = 0;
+
+    /**
+    * @property {Phaser.Point} _temp - Internal cache var.
+    * @private
+    */
+    this._temp = null;
+
+    /**
+    * @property {number} _dx - Internal cache var.
+    * @private
+    */
+    this._dx = 0;
+
+    /**
+    * @property {number} _dy - Internal cache var.
+    * @private
+    */
+    this._dy = 0;
+
+    /**
+    * @property {number} _sx - Internal cache var.
+    * @private
+    */
+    this._sx = sprite.scale.x;
+
+    /**
+    * @property {number} _sy - Internal cache var.
+    * @private
+    */
+    this._sy = sprite.scale.y;
+
+    /**
+    * @property {array} _distances - Internal cache var.
+    * @private
+    */
+    this._distances = [0, 0, 0, 0];
+
+    /**
+    * @property {number} _vx - Internal cache var.
+    * @private
+    */
+    this._vx = 0;
+
+    /**
+    * @property {number} _vy - Internal cache var.
+    * @private
+    */
+    this._vy = 0;
+
+    //  Set-up the default shape
+    this.setRectangle(sprite.width, sprite.height, 0, 0);
+
+    //  Set-up contact events
+    this.sprite.events.onBeginContact = new Phaser.Signal();
+    this.sprite.events.onEndContact = new Phaser.Signal();
+
+};
+
+Phaser.Physics.Arcade.Body.prototype = {
+
+    /**
+    * Internal method that updates the Body scale in relation to the parent Sprite.
+    *
+    * @method Phaser.Physics.Arcade#updateScale
+    * @protected
+    */
+    updateScale: function () {
+
+        if (this.polygon)
+        {
+            this.polygon.scale(this.sprite.scale.x / this._sx, this.sprite.scale.y / this._sy);
+        }
+        else
+        {
+            this.shape.r *= Math.max(this.sprite.scale.x, this.sprite.scale.y);
+        }
+
+        this._sx = this.sprite.scale.x;
+        this._sy = this.sprite.scale.y;
+
+    },
+
+    /**
+    * Internal method that updates the Body position in relation to the parent Sprite.
+    *
+    * @method Phaser.Physics.Arcade#preUpdate
+    * @protected
+    */
+    preUpdate: function () {
+
+        this.x = (this.sprite.world.x - (this.sprite.anchor.x * this.sprite.width)) + this.offset.x;
+        this.y = (this.sprite.world.y - (this.sprite.anchor.y * this.sprite.height)) + this.offset.y;
+
+        //  This covers any motion that happens during this frame, not since the last frame
+        this.preX = this.x;
+        this.preY = this.y;
+        this.preRotation = this.sprite.angle;
+
+        this.rotation = this.preRotation;
+
+        if (this.sprite.scale.x !== this._sx || this.sprite.scale.y !== this._sy)
+        {
+            this.updateScale();
+        }
+
+if (this.sprite.debug)
+{
+    console.log('Body preUpdate x:', this.x, 'y:', this.y);
+    // console.log('Body preUpdate Sprite x:', this.sprite.x, 'y:', this.sprite.y);
+    // console.log('Body preUpdate Sprite world:', this.sprite.world.x, 'y:', this.sprite.world.y);
+    // console.log('Body preUpdate Sprite position:', this.sprite.position.x, 'y:', this.sprite.position.y);
+    // console.log('Body preUpdate Sprite localTransform:', this.sprite.localTransform[2], 'y:', this.sprite.localTransform[5]);
+    // console.log('Body preUpdate Sprite worldTransform:', this.sprite.worldTransform[2], 'y:', this.sprite.worldTransform[5]);
+    // console.log('Body preUpdate x:', this.x, 'y:', this.y, 'left:', this.left, 'right:', this.right, 'WAS', this.preX, this.preY);
+    console.log('Body preUpdate blocked:', this.blocked, this.blockFlags);
+    console.log('Body preUpdate velocity:', this.velocity.x, this.velocity.y);
+    // console.log('Body preUpdate rotation:', this.rotation, this.preRotation);
+}
+
+        this.checkBlocked();
+
+        this.touching.none = true;
+        this.touching.up = false;
+        this.touching.down = false;
+        this.touching.left = false;
+        this.touching.right = false;
+
+        if (this.moves)
+        {
+            if (this._vx !== this.velocity.x || this._vy !== this.velocity.y)
+            {
+                //  No need to re-calc these if they haven't changed
+                this._vx = this.velocity.x;
+                this._vy = this.velocity.y;
+                this.speed = Math.sqrt(this.velocity.x * this.velocity.x + this.velocity.y * this.velocity.y);
+                this.angle = Math.atan2(this.velocity.y, this.velocity.x);
+            }
+
+            if (this.game.physics.checkBounds(this))
+            {
+                this.reboundCheck(true, true, true);
+            }
+
+            this.applyDamping();
+
+            this.integrateVelocity();
+
+            this.updateBounds();
+
+            this.checkBlocked();
+        }
+        else
+        {
+            this.updateBounds();
+        }
+
+if (this.sprite.debug)
+{
+    console.log('Body preUpdate AFTER integration x:', this.x, 'y:', this.y, 'left:', this.left, 'right:', this.right);
+    console.log('Body preUpdate velocity:', this.velocity.x, this.velocity.y);
+}
+
+    },
+
+    /**
+    * Internal method that checks and potentially resets the blocked status flags.
+    *
+    * @method Phaser.Physics.Arcade#checkBlocked
+    * @protected
+    */
+    checkBlocked: function () {
+
+        if ((this.blocked.left || this.blocked.right) && (Math.floor(this.x) !== this.blocked.x || Math.floor(this.y) !== this.blocked.y))
+        {
+            // console.log('resetBlocked unlocked left + right', Math.floor(this.x), this.blocked.x);
+            this.blocked.left = false;
+            this.blocked.right = false;
+        }
+
+        if ((this.blocked.up || this.blocked.down) && (Math.floor(this.x) !== this.blocked.x || Math.floor(this.y) !== this.blocked.y))
+        {
+            // console.log('resetBlocked unlocked up + down', Math.floor(this.y), this.blocked.y, 'x', Math.floor(this.x), this.blocked.x);
+            this.blocked.up = false;
+            this.blocked.down = false;
+        }
+
+    },
+
+    /**
+    * Internal method that updates the left, right, top, bottom, width and height properties.
+    *
+    * @method Phaser.Physics.Arcade#updateBounds
+    * @protected
+    */
+    updateBounds: function () {
+
+        if (this.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            this.left = this.shape.pos.x - this.shape.r;
+            this.right = this.shape.pos.x + this.shape.r;
+            this.top = this.shape.pos.y - this.shape.r;
+            this.bottom = this.shape.pos.y + this.shape.r;
+        }
+        else
+        {
+            this.left = Phaser.Math.minProperty('x', this.polygon.points) + this.polygon.pos.x;
+            this.right = Phaser.Math.maxProperty('x', this.polygon.points) + this.polygon.pos.x;
+            this.top = Phaser.Math.minProperty('y', this.polygon.points) + this.polygon.pos.y;
+            this.bottom = Phaser.Math.maxProperty('y', this.polygon.points) + this.polygon.pos.y;
+        }
+
+        this.width = this.right - this.left;
+        this.height = this.bottom - this.top;
+
+    },
+
+    /**
+    * Internal method that checks the acceleration and applies damping if not set.
+    *
+    * @method Phaser.Physics.Arcade#applyDamping
+    * @protected
+    */
+    applyDamping: function () {
+
+        if (this.linearDamping > 0 && this.acceleration.isZero())
+        {
+            if (this.speed > this.linearDamping)
+            {
+                this.speed -= this.linearDamping;
+            }
+            else
+            {
+                this.speed = 0;
+            }
+
+            //  Don't bother if speed 0
+            if (this.speed > 0)
+            {
+                this.velocity.x = Math.cos(this.angle) * this.speed;
+                this.velocity.y = Math.sin(this.angle) * this.speed;
+
+                this.speed = Math.sqrt(this.velocity.x * this.velocity.x + this.velocity.y * this.velocity.y);
+                this.angle = Math.atan2(this.velocity.y, this.velocity.x);
+            }
+        }
+
+    },
+
+    /**
+    * Check if we're below minVelocity and gravity isn't trying to drag us in the opposite direction.
+    *
+    * @method Phaser.Physics.Arcade#reboundCheck
+    * @protected
+    * @param {boolean} x - Check the X axis?
+    * @param {boolean} y - Check the Y axis?
+    * @param {boolean} rebound - If true it will reverse the velocity on the given axis
+    */
+    reboundCheck: function (x, y, rebound) {
+
+        if (this.sprite.debug)
+        {
+            console.log('reboundCheck start', this.velocity.x, this.velocity.y);
+            console.log('reBound blocked state', this.blocked);
+        }
+
+        if (x)
+        {
+            if (rebound && this.bounce.x !== 0 && (this.blocked.left || this.blocked.right || this.touching.left || this.touching.right))
+            {
+                //  Don't rebound if they've already rebounded in this frame
+                if (!(this._vx <= 0 && this.velocity.x > 0) && !(this._vx >= 0 && this.velocity.x < 0))
+                {
+                    this.velocity.x *= -this.bounce.x;
+                    this.angle = Math.atan2(this.velocity.y, this.velocity.x);
+
+                    if (this.sprite.debug)
+                    {
+                        console.log('X rebound applied', this._vx, 'to', this.velocity.x);
+                    }
+                }
+            }
+
+            if (this.bounce.x === 0 || Math.abs(this.velocity.x) < this.minVelocity.x)
+            {
+                var gx = this.getUpwardForce();
+
+                if (((this.blocked.left || this.touching.left) && (gx < 0 || this.velocity.x < 0)) || ((this.blocked.right || this.touching.right) && (gx > 0 || this.velocity.x > 0)))
+                {
+                    this.velocity.x = 0;
+
+                    if (this.sprite.debug)
+                    {
+                        console.log('reboundCheck X zeroed');
+                    }
+                }
+
+                if (this.sprite.debug)
+                {
+                    console.log('reboundCheck X', this.velocity.x, 'gravity', gx);
+                }
+            }
+        }
+
+        if (y)
+        {
+            if (rebound && this.bounce.y !== 0 && (this.blocked.up || this.blocked.down || this.touching.up || this.touching.down))
+            {
+                //  Don't rebound if they've already rebounded in this frame
+                if (!(this._vy <= 0 && this.velocity.y > 0) && !(this._vy >= 0 && this.velocity.y < 0))
+                {
+                    this.velocity.y *= -this.bounce.y;
+                    this.angle = Math.atan2(this.velocity.y, this.velocity.x);
+
+                    if (this.sprite.debug)
+                    {
+                        console.log('Y rebound applied', this._vy, 'to', this.velocity.y);
+                        console.log('Y rebound check 1', !(this._vy <= 0 && this.velocity.y > 0));
+                        console.log('Y rebound check 2', !(this._vy >= 0 && this.velocity.y < 0));
+                    }
+                }
+            }
+
+            if (this.bounce.y === 0 || Math.abs(this.velocity.y) < this.minVelocity.y)
+            {
+                var gy = this.getDownwardForce();
+
+                if (((this.blocked.up || this.touching.up) && (gy < 0 || this.velocity.y < 0)) || ((this.blocked.down || this.touching.down) && (gy > 0 || this.velocity.y > 0)))
+                {
+                    this.velocity.y = 0;
+
+                    if (this.sprite.debug)
+                    {
+                        console.log('reboundCheck Y zeroed');
+                    }
+                }
+
+                if (this.sprite.debug)
+                {
+                    console.log('reboundCheck Y', this.velocity.y, 'gravity', gy);
+                }
+            }
+        }
+
+    },
+
+    /**
+    * Gets the total force being applied on the X axis, including gravity and velocity.
+    *
+    * @method Phaser.Physics.Arcade#getUpwardForce
+    * @return {number} The total force being applied on the X axis.
+    */
+    getUpwardForce: function () {
+
+        if (this.allowGravity)
+        {
+            return this.gravity.x + this.game.physics.gravity.x + this.velocity.x;
+        }
+        else
+        {
+            return this.gravity.x + this.velocity.x;
+        }
+
+    },
+
+    /**
+    * Gets the total force being applied on the X axis, including gravity and velocity.
+    *
+    * @method Phaser.Physics.Arcade#getDownwardForce
+    * @return {number} The total force being applied on the Y axis.
+    */
+    getDownwardForce: function () {
+
+        if (this.allowGravity)
+        {
+            return this.gravity.y + this.game.physics.gravity.y + this.velocity.y;
+        }
+        else
+        {
+            return this.gravity.y + this.velocity.y;
+        }
+
+    },
+
+    /**
+    * Subtracts the given Vector from this Body.
+    *
+    * @method Phaser.Physics.Arcade#sub
+    * @protected
+    * @param {SAT.Vector} v - The vector to substract from this Body.
+    */
+    sub: function (v) {
+
+        this.x -= v.x;
+        this.y -= v.y;
+
+    },
+
+    /**
+    * Adds the given Vector to this Body.
+    *
+    * @method Phaser.Physics.Arcade#add
+    * @protected
+    * @param {SAT.Vector} v - The vector to add to this Body.
+    */
+    add: function (v) {
+
+        this.x += v.x;
+        this.y += v.y;
+
+    },
+
+    /**
+    * Separation response handler.
+    *
+    * @method Phaser.Physics.Arcade#give
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    give: function (body, response) {
+
+        this.add(response.overlapV);
+
+        if (this.rebound)
+        {
+            this.processRebound(body);
+            this.reboundCheck(true, true, false);
+            body.reboundCheck(true, true, false);
+        }
+
+    },
+
+    /**
+    * Separation response handler.
+    *
+    * @method Phaser.Physics.Arcade#take
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    take: function (body, response) {
+
+        this.sub(response.overlapV);
+
+        if (this.rebound)
+        {
+            this.processRebound(body);
+            this.reboundCheck(true, true, false);
+            body.reboundCheck(true, true, false);
+        }
+
+    },
+
+    /**
+    * Split the collision response evenly between the two bodies.
+    *
+    * @method Phaser.Physics.Arcade#split
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    split: function (body, response) {
+    
+        response.overlapV.scale(0.5);
+        this.sub(response.overlapV);
+        body.add(response.overlapV);
+
+        if (this.rebound)
+        {
+            this.exchange(body);
+            this.reboundCheck(true, true, false);
+            body.reboundCheck(true, true, false);
+        }
+
+    },
+
+    /**
+    * Exchange velocity with the given Body.
+    *
+    * @method Phaser.Physics.Arcade#exchange
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    */
+    exchange: function (body) {
+
+        if (this.mass === body.mass && this.speed > 0 && body.speed > 0)
+        {
+            //  A direct velocity exchange (as they are both moving and have the same mass)
+            this._dx = body.velocity.x;
+            this._dy = body.velocity.y;
+
+            body.velocity.x = this.velocity.x * body.bounce.x;
+            body.velocity.y = this.velocity.y * body.bounce.x;
+
+            this.velocity.x = this._dx * this.bounce.x;
+            this.velocity.y = this._dy * this.bounce.y;
+        }
+        else
+        {
+            var nv1 = Math.sqrt((body.velocity.x * body.velocity.x * body.mass) / this.mass) * ((body.velocity.x > 0) ? 1 : -1);
+            var nv2 = Math.sqrt((this.velocity.x * this.velocity.x * this.mass) / body.mass) * ((this.velocity.x > 0) ? 1 : -1);
+            var average = (nv1 + nv2) * 0.5;
+            nv1 -= average;
+            nv2 -= average;
+
+            this.velocity.x = nv1;
+            body.velocity.x = nv2;
+
+            nv1 = Math.sqrt((body.velocity.y * body.velocity.y * body.mass) / this.mass) * ((body.velocity.y > 0) ? 1 : -1);
+            nv2 = Math.sqrt((this.velocity.y * this.velocity.y * this.mass) / body.mass) * ((this.velocity.y > 0) ? 1 : -1);
+            average = (nv1 + nv2) * 0.5;
+            nv1 -= average;
+            nv2 -= average;
+
+            this.velocity.y = nv1;
+            body.velocity.y = nv2;
+        }
+
+        //  update speed / angle?
+
+    },
+
+    /**
+    * Rebound the velocity of this Body.
+    *
+    * @method Phaser.Physics.Arcade#processRebound
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    */
+    processRebound: function (body) {
+
+        //  Don't rebound again if they've already rebounded in this frame
+        if (!(this._vx <= 0 && this.velocity.x > 0) && !(this._vx >= 0 && this.velocity.x < 0))
+        {
+            this.velocity.x = body.velocity.x - this.velocity.x * this.bounce.x;
+        }
+
+        if (!(this._vy <= 0 && this.velocity.y > 0) && !(this._vy >= 0 && this.velocity.y < 0))
+        {
+            this.velocity.y = body.velocity.y - this.velocity.y * this.bounce.y;
+        }
+
+        this.angle = Math.atan2(this.velocity.y, this.velocity.x);
+
+        this.reboundCheck(true, true, false);
+
+    },
+
+    /**
+    * Checks for an overlap between this Body and the given Body.
+    *
+    * @method Phaser.Physics.Arcade#overlap
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that is being checked against this Body.
+    * @param {SAT.Response} response - SAT Response handler.
+    * @return {boolean} True if the two bodies overlap, otherwise false.
+    */
+    overlap: function (body, response) {
+
+        var result = false;
+
+        if ((this.type === Phaser.Physics.Arcade.RECT || this.type === Phaser.Physics.Arcade.POLYGON) && (body.type === Phaser.Physics.Arcade.RECT || body.type === Phaser.Physics.Arcade.POLYGON))
+        {
+            result = SAT.testPolygonPolygon(this.polygon, body.polygon, response);
+        }
+        else if (this.type === Phaser.Physics.Arcade.CIRCLE && body.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            result = SAT.testCircleCircle(this.shape, body.shape, response);
+        }
+        else if ((this.type === Phaser.Physics.Arcade.RECT || this.type === Phaser.Physics.Arcade.POLYGON) && body.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            result = SAT.testPolygonCircle(this.polygon, body.shape, response);
+        }
+        else if (this.type === Phaser.Physics.Arcade.CIRCLE && (body.type === Phaser.Physics.Arcade.RECT || body.type === Phaser.Physics.Arcade.POLYGON))
+        {
+            result = SAT.testCirclePolygon(this.shape, body.polygon, response);
+        }
+
+        if (!result)
+        {
+            this.removeContact(body);
+        }
+
+        return result;
+
+    },
+
+    /**
+    * Checks if this Body is already in contact with the given Body.
+    *
+    * @method Phaser.Physics.Arcade#inContact
+    * @param {Phaser.Physics.Arcade.Body} body - The Body to be checked.
+    * @return {boolean} True if the given Body is already in contact with this Body.
+    */
+    inContact: function (body) {
+
+        return (this.contacts.indexOf(body) != -1);
+
+    },
+
+    /**
+    * Adds the given Body to the contact list of this Body. Also adds this Body to the contact list of the given Body.
+    *
+    * @method Phaser.Physics.Arcade#addContact
+    * @param {Phaser.Physics.Arcade.Body} body - The Body to be added.
+    * @return {boolean} True if the given Body was added to this contact list, false if already on it.
+    */
+    addContact: function (body) {
+
+        if (this.inContact(body))
+        {
+            return false;
+        }
+
+        this.contacts.push(body);
+
+        this.sprite.events.onBeginContact.dispatch(this.sprite, body.sprite, this, body);
+
+        body.addContact(this);
+
+        return true;
+
+    },
+
+    /**
+    * Removes the given Body from the contact list of this Body. Also removes this Body from the contact list of the given Body.
+    *
+    * @method Phaser.Physics.Arcade#removeContact
+    * @param {Phaser.Physics.Arcade.Body} body - The Body to be removed.
+    * @return {boolean} True if the given Body was removed from this contact list, false if wasn't on it.
+    */
+    removeContact: function (body) {
+
+        if (!this.inContact(body))
+        {
+            return false;
+        }
+
+        this.contacts.splice(this.contacts.indexOf(body), 1);
+
+        this.sprite.events.onEndContact.dispatch(this.sprite, body.sprite, this, body);
+
+        body.removeContact(this);
+
+        return true;
+
+    },
+
+    /**
+    * This separates this Body from the given Body unless a customSeparateCallback is set.
+    * It assumes they have already been overlap checked and the resulting overlap is stored in the SAT response.
+    *
+    * @method Phaser.Physics.Arcade#separate
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body to be separated from this one.
+    * @param {SAT.Response} response - SAT Response handler.
+    * @return {boolean} True if the bodies were separated, false if not (for example checkCollide allows them to pass through)
+    */
+    separate: function (body, response) {
+
+        if (this.inContact(body))
+        {
+            return false;
+        }
+
+        this._distances[0] = body.right - this.x;   // Distance of B to face on left side of A
+        this._distances[1] = this.right - body.x;   // Distance of B to face on right side of A
+        this._distances[2] = body.bottom - this.y;  // Distance of B to face on bottom side of A
+        this._distances[3] = this.bottom - body.y;  // Distance of B to face on top side of A
+
+        //  If we've zero distance then check for side-slicing
+        if (response.overlapN.x && (this._distances[0] === 0 || this._distances[1] === 0))
+        {
+            response.overlapN.x = false;
+            response.overlapN.y = true;
+        }
+        else if (response.overlapN.y && (this._distances[2] === 0 || this._distances[3] === 0))
+        {
+            response.overlapN.x = true;
+            response.overlapN.y = false;
+        }
+
+        if (this.customSeparateCallback)
+        {
+            return this.customSeparateCallback.call(this.customSeparateContext, this, response, this._distances);
+        }
+
+        var hasSeparated = false;
+
+        if (response.overlapN.x)
+        {
+            //  Which is smaller? Left or Right?
+            if (this._distances[0] < this._distances[1] && (body.checkCollision.right || this.checkCollision.left))
+            {
+                // console.log(this.sprite.name, 'collided on the LEFT with', body.sprite.name, response);
+                hasSeparated = this.hitLeft(body, response);
+            }
+            else if (this._distances[1] < this._distances[0] && (body.checkCollision.left || this.checkCollision.right))
+            {
+                // console.log(this.sprite.name, 'collided on the RIGHT with', body.sprite.name, response);
+                hasSeparated = this.hitRight(body, response);
+            }
+        }
+        else if (response.overlapN.y)
+        {
+            //  Which is smaller? Top or Bottom?
+            if (this._distances[2] < this._distances[3] && (body.checkCollision.down || this.checkCollision.up))
+            {
+                // console.log(this.sprite.name, 'collided on the TOP with', body.sprite.name, response);
+                hasSeparated = this.hitTop(body, response);
+            }
+            else if (this._distances[3] < this._distances[2] && (body.checkCollision.up || this.checkCollision.down))
+            {
+                // console.log(this.sprite.name, 'collided on the BOTTOM with', body.sprite.name, response);
+                hasSeparated = this.hitBottom(body, response);
+            }
+        }
+
+        if (hasSeparated)
+        {
+            console.log('Body hasSeparated');
+            this.game.physics.checkBounds(this);
+            this.game.physics.checkBounds(body);
+        }
+        else
+        {
+            //  They can only contact like this if at least one of their sides is open, otherwise it's a separation
+            if (!this.checkCollision.up || !this.checkCollision.down || !this.checkCollision.left || !this.checkCollision.right || !body.checkCollision.up || !body.checkCollision.down || !body.checkCollision.left || !body.checkCollision.right)
+            {
+                this.addContact(body);
+            }
+        }
+
+        return hasSeparated;
+
+    },
+
+    /**
+    * Process a collision with the left face of this Body.
+    * Collision and separation can be further checked by setting a collideCallback.
+    * This callback will be sent 4 parameters: The face of collision, this Body, the colliding Body and the SAT Response.
+    * If the callback returns true then separation, rebounds and the touching flags will all be set.
+    * If it returns false this will be skipped and must be handled manually.
+    *
+    * @method Phaser.Physics.Arcade#hitLeft
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    hitLeft: function (body, response) {
+
+        if (this.collideCallback && !this.collideCallback.call(this.collideCallbackContext, Phaser.LEFT, this, body, response))
+        {
+            return;
+        }
+
+        if (!this.moves || this.immovable || this.blocked.right || this.touching.right)
+        {
+            body.give(this, response);
+        }
+        else
+        {
+            if (body.immovable || body.blocked.left || body.touching.left)
+            {
+                //  We take the full separation
+                this.take(body, response);
+            }
+            else
+            {
+                //  Share out the separation
+                this.split(body, response);
+            }
+        }
+
+        this.touching.left = true;
+        body.touching.right = true;
+
+    },
+
+    /**
+    * Process a collision with the right face of this Body.
+    * Collision and separation can be further checked by setting a collideCallback.
+    * This callback will be sent 4 parameters: The face of collision, this Body, the colliding Body and the SAT Response.
+    * If the callback returns true then separation, rebounds and the touching flags will all be set.
+    * If it returns false this will be skipped and must be handled manually.
+    *
+    * @method Phaser.Physics.Arcade#hitRight
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    hitRight: function (body, response) {
+
+        if (this.collideCallback && !this.collideCallback.call(this.collideCallbackContext, Phaser.RIGHT, this, body))
+        {
+            return;
+        }
+
+        if (!this.moves || this.immovable || this.blocked.left || this.touching.left)
+        {
+            body.give(this, response);
+        }
+        else
+        {
+            if (body.immovable || body.blocked.right || body.touching.right)
+            {
+                //  We take the full separation
+                this.take(body, response);
+            }
+            else
+            {
+                //  Share out the separation
+                this.split(body, response);
+            }
+        }
+
+        this.touching.right = true;
+        body.touching.left = true;
+
+    },
+
+    /**
+    * Process a collision with the top face of this Body.
+    * Collision and separation can be further checked by setting a collideCallback.
+    * This callback will be sent 4 parameters: The face of collision, this Body, the colliding Body and the SAT Response.
+    * If the callback returns true then separation, rebounds and the touching flags will all be set.
+    * If it returns false this will be skipped and must be handled manually.
+    *
+    * @method Phaser.Physics.Arcade#hitTop
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    hitTop: function (body, response) {
+
+        if (this.collideCallback && !this.collideCallback.call(this.collideCallbackContext, Phaser.UP, this, body))
+        {
+            return false;
+        }
+
+        if (!this.moves || this.immovable || this.blocked.down || this.touching.down)
+        {
+            body.give(this, response);
+        }
+        else
+        {
+            if (body.immovable || body.blocked.up || body.touching.up)
+            {
+                //  We take the full separation
+                this.take(body, response);
+            }
+            else
+            {
+                //  Share out the separation
+                this.split(body, response);
+            }
+        }
+
+        this.touching.up = true;
+        body.touching.down = true;
+
+        return true;
+
+    },
+
+    /**
+    * Process a collision with the bottom face of this Body.
+    * Collision and separation can be further checked by setting a collideCallback.
+    * This callback will be sent 4 parameters: The face of collision, this Body, the colliding Body and the SAT Response.
+    * If the callback returns true then separation, rebounds and the touching flags will all be set.
+    * If it returns false this will be skipped and must be handled manually.
+    *
+    * @method Phaser.Physics.Arcade#hitBottom
+    * @protected
+    * @param {Phaser.Physics.Arcade.Body} body - The Body that collided.
+    * @param {SAT.Response} response - The SAT Response object containing the collision data.
+    */
+    hitBottom: function (body, response) {
+
+        if (this.collideCallback && !this.collideCallback.call(this.collideCallbackContext, Phaser.DOWN, this, body))
+        {
+            return false;
+        }
+
+        if (!this.moves || this.immovable || this.blocked.up || this.touching.up)
+        {
+            body.give(this, response);
+        }
+        else
+        {
+            if (body.immovable || body.blocked.down || body.touching.down)
+            {
+                //  We take the full separation
+                this.take(body, response);
+            }
+            else
+            {
+                //  Share out the separation
+                this.split(body, response);
+            }
+        }
+
+        this.touching.down = true;
+        body.touching.up = true;
+
+        return true;
+
+    },
+
+    /**
+    * Internal method. Integrates velocity, global gravity and the delta timer.
+    *
+    * @method Phaser.Physics.Arcade#integrateVelocity
+    * @protected
+    */
+    integrateVelocity: function () {
+
+        this._temp = this.game.physics.updateMotion(this);
+        this._dx = this.game.time.physicsElapsed * (this.velocity.x + this._temp.x / 2);
+        this._dy = this.game.time.physicsElapsed * (this.velocity.y + this._temp.y / 2);
+
+        if (this.sprite.debug)
+        {
+            // console.log('integrateVelocity TEMP:', this._temp.x, this._temp.y);
+        }
+
+        //  positive = RIGHT / DOWN
+        //  negative = LEFT / UP
+
+        if ((this._dx < 0 && !this.blocked.left && !this.touching.left) || (this._dx > 0 && !this.blocked.right && !this.touching.right))
+        {
+            this.x += this._dx;
+            this.velocity.x += this._temp.x;
+            if (this.sprite.debug)
+            {
+                // console.log('integrateVelocity x added', this._dx, this.x);
+            }
+        }
+        else
+        {
+            if (this.sprite.debug)
+            {
+                // console.log('integrateVelocity x failed or zero, blocked left/right', this._dx);
+            }
+        }
+
+        if ((this._dy < 0 && !this.blocked.up && !this.touching.up) || (this._dy > 0 && !this.blocked.down && !this.touching.down))
+        {
+            this.y += this._dy;
+            this.velocity.y += this._temp.y;
+            if (this.sprite.debug)
+            {
+                // console.log('integrateVelocity y added', this._dy, this.y);
+            }
+        }
+        else
+        {
+            if (this.sprite.debug)
+            {
+                // console.log('integrateVelocity y failed or zero, blocked up/down', this._dy);
+            }
+        }
+
+        if (this.velocity.x > this.maxVelocity.x)
+        {
+            this.velocity.x = this.maxVelocity.x;
+        }
+        else if (this.velocity.x < -this.maxVelocity.x)
+        {
+            this.velocity.x = -this.maxVelocity.x;
+        }
+
+        if (this.velocity.y > this.maxVelocity.y)
+        {
+            this.velocity.y = this.maxVelocity.y;
+        }
+        else if (this.velocity.y < -this.maxVelocity.y)
+        {
+            this.velocity.y = -this.maxVelocity.y;
+        }
+
+    },
+
+    /**
+    * Internal method. This is called directly before the sprites are sent to the renderer and after the update function has finished.
+    *
+    * @method Phaser.Physics.Arcade#postUpdate
+    * @protected
+    */
+    postUpdate: function () {
+
+        if (this.moves)
+        {
+            this.reboundCheck(true, true, true);
+
+            this.game.physics.checkBounds(this);
+
+            this._dx = this.deltaX();
+            this._dy = this.deltaY();
+
+            if (this._dx < 0)
+            {
+                this.facing = Phaser.LEFT;
+            }
+            else if (this._dx > 0)
+            {
+                this.facing = Phaser.RIGHT;
+            }
+
+            if (this._dy < 0)
+            {
+                this.facing = Phaser.UP;
+            }
+            else if (this._dy > 0)
+            {
+                this.facing = Phaser.DOWN;
+            }
+
+            if (this._dx !== 0 || this._dy !== 0)
+            {
+                this.sprite.x += this._dx;
+                this.sprite.y += this._dy;
+            }
+
+            if (this.allowRotation && this.deltaZ() !== 0)
+            {
+                this.sprite.angle += this.deltaZ();
+            }
+
+            if (this.sprite.scale.x !== this._sx || this.sprite.scale.y !== this._sy)
+            {
+                this.updateScale();
+            }
+
+        }
+
+    },
+
+    /**
+    * Resets the Body motion values: velocity, acceleration, angularVelocity and angularAcceleration.
+    * Also resets the forces to defaults: gravity, bounce, minVelocity,maxVelocity, angularDrag, maxAngular, mass, friction and checkCollision if 'full' specified.
+    *
+    * @method Phaser.Physics.Arcade#reset
+    * @param {boolean} [full=false] - A full reset clears down settings you may have set, such as gravity, bounce and drag. A non-full reset just clears motion values.
+    */
+    reset: function (full) {
+
+        if (typeof full === 'undefined') { full = false; }
+
+        if (full)
+        {
+            this.gravity.setTo(0, 0);
+            this.bounce.setTo(0, 0);
+            this.minVelocity.setTo(5, 5);
+            this.maxVelocity.setTo(1000, 1000);
+            this.angularDrag = 0;
+            this.maxAngular = 1000;
+            this.mass = 1;
+            this.friction = 0.0;
+            this.checkCollision = { none: false, any: true, up: true, down: true, left: true, right: true };
+        }
+
+        this.velocity.setTo(0, 0);
+        this.acceleration.setTo(0, 0);
+        this.angularVelocity = 0;
+        this.angularAcceleration = 0;
+        this.blocked = { x: 0, y: 0, up: false, down: false, left: false, right: false };
+        this.x = (this.sprite.world.x - (this.sprite.anchor.x * this.sprite.width)) + this.offset.x;
+        this.y = (this.sprite.world.y - (this.sprite.anchor.y * this.sprite.height)) + this.offset.y;
+        this.preX = this.x;
+        this.preY = this.y;
+        this.updateBounds();
+
+        this.contacts.length = 0;
+
+    },
+
+    /**
+    * Destroys this Body and all references it holds to other objects.
+    *
+    * @method Phaser.Physics.Arcade#destroy
+    */
+    destroy: function () {
+
+        this.sprite = null;
+
+        this.collideCallback = null;
+        this.collideCallbackContext = null;
+
+        this.customSeparateCallback = null;
+        this.customSeparateContext = null;
+
+        this.contacts.length = 0;
+
+    },
+
+    /**
+    * Sets this Body to use a circle of the given radius for all collision.
+    * The Circle will be centered on the center of the Sprite by default, but can be adjusted via the Body.offset property and the setCircle x/y parameters.
+    *
+    * @method Phaser.Physics.Arcade#setCircle
+    * @param {number} radius - The radius of this circle (in pixels)
+    * @param {number} [offsetX=0] - The x amount the circle will be offset from the Sprites center.
+    * @param {number} [offsetY=0] - The y amount the circle will be offset from the Sprites center.
+    */
+    setCircle: function (radius, offsetX, offsetY) {
+
+        if (typeof offsetX === 'undefined') { offsetX = this.sprite._cache.halfWidth; }
+        if (typeof offsetY === 'undefined') { offsetY = this.sprite._cache.halfHeight; }
+
+        this.type = Phaser.Physics.Arcade.CIRCLE;
+        this.shape = new SAT.Circle(new SAT.Vector(this.sprite.x, this.sprite.y), radius);
+        this.polygon = null;
+
+        this.offset.setTo(offsetX, offsetY);
+
+    },
+
+    /**
+    * Sets this Body to use a rectangle for all collision.
+    * If you don't specify any parameters it will be sized to match the parent Sprites current width and height (including scale factor) and centered on the sprite.
+    *
+    * @method Phaser.Physics.Arcade#setRectangle
+    * @param {number} [width] - The width of the rectangle. If not specified it will default to the width of the parent Sprite.
+    * @param {number} [height] - The height of the rectangle. If not specified it will default to the height of the parent Sprite.
+    * @param {number} [translateX] - The x amount the rectangle will be translated from the Sprites center.
+    * @param {number} [translateY] - The y amount the rectangle will be translated from the Sprites center.
+    */
+    setRectangle: function (width, height, translateX, translateY) {
+
+        if (typeof width === 'undefined') { width = this.sprite.width; }
+        if (typeof height === 'undefined') { height = this.sprite.height; }
+        if (typeof translateX === 'undefined') { translateX = -this.sprite._cache.halfWidth; }
+        if (typeof translateY === 'undefined') { translateY = -this.sprite._cache.halfHeight; }
+
+        this.type = Phaser.Physics.Arcade.RECT;
+        this.shape = new SAT.Box(new SAT.Vector(this.sprite.world.x, this.sprite.world.y), width, height);
+        this.polygon = this.shape.toPolygon();
+        this.polygon.translate(translateX, translateY);
+
+        this.offset.setTo(0, 0);
+
+    },
+
+    /**
+    * Sets this Body to use a convex polygon for collision.
+    * The points are specified in a counter-clockwise direction and must create a convex polygon.
+    * Use Body.translate and/or Body.offset to re-position the polygon from the Sprite origin.
+    *
+    * @method Phaser.Physics.Arcade#setPolygon
+    * @param {array<SAT.Vector>|Array<Number>|SAT.Vector...|Number...} points - This can be an array of Vectors that form the polygon,
+    *      a flat array of numbers that will be interpreted as [x,y, x,y, ...], or the arguments passed can be
+    *      all the points of the polygon e.g. `setPolygon(new SAT.Vector(), new SAT.Vector(), ...)`, or the
+    *      arguments passed can be flat x,y values e.g. `setPolygon(x,y, x,y, x,y, ...)` where `x` and `y` are Numbers.
+    */
+    setPolygon: function (points) {
+
+        this.type = Phaser.Physics.Arcade.POLYGON;
+        this.shape = null;
+
+        if (!Array.isArray(points))
+        {
+            points = Array.prototype.slice.call(arguments);
+        }
+
+        if (typeof points[0] === 'number')
+        {
+            var p = [];
+
+            for (var i = 0, len = points.length; i < len; i += 2)
+            {
+                p.push(new SAT.Vector(points[i], points[i + 1]));
+            }
+
+            points = p;
+        }
+
+        this.polygon = new SAT.Polygon(new SAT.Vector(this.sprite.center.x, this.sprite.center.y), points);
+
+        this.offset.setTo(0, 0);
+
+    },
+
+    /**
+    * Used for translating rectangle and polygon bodies from the Sprite parent. Doesn't apply to Circles.
+    * See also the Body.offset property.
+    *
+    * @method Phaser.Physics.Arcade#translate
+    * @param {number} x - The x amount the polygon or rectangle will be translated by from the Sprite.
+    * @param {number} y - The y amount the polygon or rectangle will be translated by from the Sprite.
+    */
+    translate: function (x, y) {
+
+        if (this.polygon)
+        {
+            this.polygon.translate(x, y);
+        }
+
+    },
+
+    /**
+    * Determines if this Body is 'on the floor', which means in contact with a Tile or World bounds, or other object that has set 'down' as blocked.
+    *
+    * @method Phaser.Physics.Arcade.Body#onFloor
+    * @return {boolean} True if this Body is 'on the floor', which means in contact with a Tile or World bounds, or object that has set 'down' as blocked.
+    */
+    onFloor: function () {
+        return this.blocked.down;
+    },
+
+    /**
+    * Determins if this Body is 'on a wall', which means horizontally in contact with a Tile or World bounds, or other object but not the ground.
+    *
+    * @method Phaser.Physics.Arcade.Body#onWall
+    * @return {boolean} True if this Body is 'on a wall', which means horizontally in contact with a Tile or World bounds, or other object but not the ground.
+    */
+    onWall: function () {
+        return (!this.blocked.down && (this.blocked.left || this.blocked.right));
+    },
+
+    /**
+    * Returns the delta x value. The amount the Body has moved horizontally in the current step.
+    *
+    * @method Phaser.Physics.Arcade.Body#deltaX
+    * @return {number} The delta value. Positive if the motion was to the right, negative if to the left.
+    */
+    deltaX: function () {
+        return this.x - this.preX;
+    },
+
+    /**
+    * Returns the delta y value. The amount the Body has moved vertically in the current step.
+    *
+    * @method Phaser.Physics.Arcade.Body#deltaY
+    * @return {number} The delta value. Positive if the motion was downwards, negative if upwards.
+    */
+    deltaY: function () {
+        return this.y - this.preY;
+    },
+
+    /**
+    * Returns the delta z value. The amount the Body has rotated in the current step.
+    *
+    * @method Phaser.Physics.Arcade.Body#deltaZ
+    * @return {number} The delta value.
+    */
+    deltaZ: function () {
+        return this.rotation - this.preRotation;
+    }
+
+};
+
+Phaser.Physics.Arcade.Body.prototype.constructor = Phaser.Physics.Arcade.Body;
+
+/**
+* @name Phaser.Physics.Arcade.Body#x
+* @property {number} x
+*/
+Object.defineProperty(Phaser.Physics.Arcade.Body.prototype, "x", {
+    
+    /**
+    * @method x
+    * @return {number}
+    */
+    get: function () {
+        
+        if (this.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            return this.shape.pos.x;
+        }
+        else
+        {
+            return this.polygon.pos.x;
+        }
+
+    },
+
+    /**
+    * @method x
+    * @param {number} value
+    */
+    set: function (value) {
+
+        if (this.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            this.shape.pos.x = value;
+        }
+        else
+        {
+            this.polygon.pos.x = value;
+        }
+
+    }
+
+});
+
+/**
+* @name Phaser.Physics.Arcade.Body#y
+* @property {number} y
+*/
+Object.defineProperty(Phaser.Physics.Arcade.Body.prototype, "y", {
+    
+    /**
+    * @method y
+    * @return {number}
+    */
+    get: function () {
+        
+        if (this.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            return this.shape.pos.y;
+        }
+        else
+        {
+            return this.polygon.pos.y;
+        }
+
+    },
+
+    /**
+    * @method y
+    * @param {number} value
+    */
+    set: function (value) {
+
+        if (this.type === Phaser.Physics.Arcade.CIRCLE)
+        {
+            this.shape.pos.y = value;
+        }
+        else
+        {
+            this.polygon.pos.y = value;
+        }
+
+    }
+
+});