Author Topic: Side Scrolling driving Game Demo with 2D physics (Read 3371 times)

justsomeguy · « **on:** April 26, 2021, 12:12:01 am »

Hello

I apologize if this seems like I'm spamming, but I felt there was a significant enough update to the fzxNGN that it would warrant its own post.

I have gotten rudimentary vehicles into the engine. I have a enclosed a demo for you to play. Since it is side scrolling there is no steering its just accelerate or decelerate and hop (in case you get stuck upside down.)

There is still a lot of work to be done. This is my "Do everything the hard way now, so I can figure how to make it easier later."

Please enjoy and leave your feedback.
The artwork is all licensed CC0 public domain.

Code: QB64: [Select]

OPTION _EXPLICIT
'**********************************************************************************************
'   FzxNGN written by justsomeguy
'   Physics code ported from RandyGaul's Impulse Engine
'   https://github.com/RandyGaul/ImpulseEngine
'   http://RandyGaul.net
'**********************************************************************************************
'/*
'    Copyright (c) 2013 Randy Gaul http://RandyGaul.net
 
'    This software is provided 'as-is', without any express or implied
'    warranty. In no event will the authors be held liable for any damages
'    arising from the use of this software.
 
'    Permission is granted to anyone to use this software for any purpose,
'    including commercial applications, and to alter it and redistribute it
'    freely, subject to the following restrictions:
'      1. The origin of this software must not be misrepresented; you must not
'         claim that you wrote the original software. If you use this software
'         in a product, an acknowledgment in the product documentation would be
'         appreciated but is not required.
'      2. Altered source versions must be plainly marked as such, and must not be
'         misrepresented as being the original software.
'      3. This notice may not be removed or altered from any source distribution.
'
'    Port to QB64 by justsomeguy
'*/
'
 
'**********************************************************************************************
'   Setup Types and Variables
'**********************************************************************************************
TYPE tVECTOR2d
    x AS _FLOAT
    y AS _FLOAT
END TYPE
 
TYPE tLINE2d ' Not used
    a AS tVECTOR2d
    b AS tVECTOR2d
END TYPE
 
TYPE tFACE2d ' Not used
    f0 AS tVECTOR2d
    f1 AS tVECTOR2d
END TYPE
 
TYPE tTRIANGLE ' Not used
    a AS tVECTOR2d
    b AS tVECTOR2d
    c AS tVECTOR2d
END TYPE
 
TYPE tMATRIX2d
    m00 AS _FLOAT
    m01 AS _FLOAT
    m10 AS _FLOAT
    m11 AS _FLOAT
END TYPE
 
TYPE tSHAPE
    ty AS INTEGER ' cSHAPE_CIRCLE = 1, cSHAPE_POLYGON = 2
    radius AS _FLOAT ' Only necessary for circle shapes
    u AS tMATRIX2d ' Only neceassary for polygons
    texture AS LONG
    flipTexture AS INTEGER 'flag for flipping texture depending on direction
    scaleTextureX AS _FLOAT
    scaleTextureY AS _FLOAT
    offsetTextureX AS _FLOAT
    offsetTextureY AS _FLOAT
END TYPE
 
TYPE tPOLY 'list of vertices for all objects in simulation
    vert AS tVECTOR2d
    norm AS tVECTOR2d
END TYPE
 
TYPE tPOLYATTRIB 'keep track of polys in monlithic list of vertices
    start AS INTEGER ' starting vertex of the polygon
    count AS INTEGER ' number of vertices in polygon
END TYPE
 
TYPE tBODY
    position AS tVECTOR2d
    velocity AS tVECTOR2d
    force AS tVECTOR2d
    angularVelocity AS _FLOAT
    torque AS _FLOAT
    orient AS _FLOAT
    mass AS _FLOAT
    invMass AS _FLOAT
    inertia AS _FLOAT
    invInertia AS _FLOAT
    staticFriction AS _FLOAT
    dynamicFriction AS _FLOAT
    restitution AS _FLOAT
    shape AS tSHAPE
    pa AS tPOLYATTRIB
    c AS LONG ' color
    visible AS INTEGER 'Hide a body ;)
END TYPE
 
TYPE tMANIFOLD
    A AS INTEGER
    B AS INTEGER
    penetration AS _FLOAT
    normal AS tVECTOR2d
    contactCount AS INTEGER
    e AS _FLOAT
    df AS _FLOAT
    sf AS _FLOAT
    cv AS _FLOAT 'contact velocity
END TYPE
 
TYPE tHIT
    A AS INTEGER
    B AS INTEGER
    position AS tVECTOR2d
    cv AS _FLOAT
END TYPE
 
TYPE tJOINT
    M AS tMATRIX2d
    localAnchor1 AS tVECTOR2d
    localAnchor2 AS tVECTOR2d
    r1 AS tVECTOR2d
    r2 AS tVECTOR2d
    bias AS tVECTOR2d
    P AS tVECTOR2d
    body1 AS INTEGER
    body2 AS INTEGER
    biasFactor AS _FLOAT
    softness AS _FLOAT
END TYPE
 
TYPE tCAMERA
    position AS tVECTOR2d
    zoom AS _FLOAT
END TYPE
 
TYPE tWORLD
    plusLimit AS tVECTOR2d
    minusLimit AS tVECTOR2d
    gravity AS tVECTOR2d
    spawn AS tVECTOR2d
    terrainPosition AS tVECTOR2d
END TYPE
 
TYPE tVEHICLE
    body AS INTEGER
    wheelOne AS INTEGER
    wheelTwo AS INTEGER
    axleJointOne AS INTEGER
    axleJointTwo AS INTEGER
    auxBodyOne AS INTEGER
    auxJointOne AS INTEGER
    wheelOneOffset AS tVECTOR2d
    wheelTwoOffset AS tVECTOR2d
    auxOneOffset AS tVECTOR2d
    torque AS _FLOAT
END TYPE
 
CONST cSHAPE_CIRCLE = 1
CONST cSHAPE_POLYGON = 2
CONST cSHAPE_TRAP = 3
CONST cSHAPE_TERRAIN = 4
CONST cPRECISION = 100
CONST cMAXNUMOFTRIANGLES = 100
CONST cMAXNUMBEROFOBJECTS = 1000 ' Max number of objects at one time
CONST cMAXNUMBEROFPOLYGONS = 10000 ' Max number of total vertices included in all objects
CONST cMAXNUMBEROFJOINTS = 100
CONST cMAXNUMBEROFHITS = 1000
CONST cPI = 3.14159
CONST cEPSILON = 0.0001
CONST cEPSILON_SQ = cEPSILON * cEPSILON
CONST cBIAS_RELATIVE = 0.95
CONST cBIAS_ABSOLUTE = 0.01
CONST cDT = 1.0 / 20.0
CONST cITERATIONS = 10
CONST cPENETRATION_ALLOWANCE = 0.05
CONST cPENETRATION_CORRECTION = 0.4 ' misspelled in original code
CONST cPARAMETER_POSITION = 1
CONST cPARAMETER_VELOCITY = 2
CONST cPARAMETER_FORCE = 3
CONST cPARAMETER_ANGULARVELOCITY = 4
CONST cPARAMETER_TORQUE = 5
CONST cPARAMETER_ORIENT = 6
CONST cPARAMETER_STATICFRICTION = 7
CONST cPARAMETER_DYNAMICFRICTION = 8
CONST cPARAMETER_COLOR = 9
CONST cPARAMETER_VISIBLE = 10
CONST cPARAMETER_STATIC = 11
CONST cPARAMETER_TEXTURE = 12
CONST cPARAMETER_FLIPTEXTURE = 13
CONST cRENDER_JOINTS = 0
CONST cRENDER_COLLISIONS = 0
CONST cPLAYER_FORCE = 2000000
 
 
DIM SHARED sRESTING AS _FLOAT
DIM SHARED sNUMBEROFBODIES AS INTEGER: sNUMBEROFBODIES = 100 ' 0 is included
DIM SHARED sNUMBEROFJOINTS AS INTEGER: sNUMBEROFJOINTS = 3 ' if zero then no joints at all
DIM SHARED sNUMBEROFVEHICLES AS INTEGER: sNUMBEROFVEHICLES = 1
 
DIM poly(cMAXNUMBEROFPOLYGONS) AS tPOLY
DIM body(cMAXNUMBEROFOBJECTS) AS tBODY
DIM joints(cMAXNUMBEROFJOINTS) AS tJOINT
DIM hits(cMAXNUMBEROFHITS) AS tHIT
DIM veh(sNUMBEROFVEHICLES) AS tVEHICLE
DIM camera AS tCAMERA
 
DIM timerOne AS INTEGER
DIM SHARED fps AS INTEGER
DIM SHARED fpsLast AS INTEGER
 
DIM SHARED world AS tWORLD
 
CONST cSCENE_USER = 0
CONST cSCENE_WHEEL_1 = 1
CONST cSCENE_WHEEL_2 = 2
CONST cSCENE_HEAD = 3
CONST cSCENE_RAMP_1 = 4
CONST cSCENE_RAMP_2 = 5
CONST cSCENE_RAMP_3 = 6
CONST cSCENE_RAMP_4 = 7
CONST cSCENE_RAMP_5 = 8
CONST cSCENE_RAMP_6 = 9
CONST cSCENE_RAMP_7 = 10
CONST cSCENE_RAMP_8 = 11
CONST cSCENE_RAMP_9 = 12
CONST cSCENE_RAMP_10 = 13
CONST cSCENE_LOOPRAMP_1 = 14
CONST cSCENE_LOOPRAMP_2 = 15
CONST cSCENE_LOOPSEGMENTS = 16
CONST cSCENE_NUMBEROFLOOPSEGMENTS = 20
CONST cSCENE_TERRAIN = cSCENE_LOOPSEGMENTS + cSCENE_NUMBEROFLOOPSEGMENTS
 
CONST cLOOP_CENTER_X = 53500
CONST cLOOP_CENTER_Y = 225
CONST cLOOP_RAMPHEIGHT = 400
CONST cLOOP_RAMPWIDTH = 500
CONST cLOOP_RAMPTHICKNESS = 200
CONST cLOOP_RADIUS = 900
 
 
'**********************************************************************************************
_TITLE "FzxNGN" ' vowels are obsolete
SCREEN _NEWIMAGE(1024, 768, 32)
 
timerOne = _FREETIMER
ON TIMER(timerOne, 1) renderFps
TIMER(timerOne) ON
camera.zoom = .5
'RANDOMIZE TIMER
CALL buildSimpleScene(poly(), body(), joints(), veh())
'**********************************************************************************************
_PRINTMODE _KEEPBACKGROUND
DO: fps = fps + 1
    CLS , _RGB32(127, 200, 227)
    LOCATE 1, 45: PRINT "FPS:"; (fpsLast); "  x:"; INT(body(cSCENE_USER).position.x); "  y:"; INT(body(cSCENE_USER).position.y); " vel:"; INT(ABS(body(cSCENE_USER).velocity.x))
 
    CALL animateScene(poly(), body(), hits(), camera, veh())
    CALL impulseStep(poly(), body(), joints(), cDT, cITERATIONS, hits())
    CALL renderBodies(poly(), body(), joints(), hits(), camera)
 
    _DISPLAY
    _LIMIT 120
LOOP UNTIL _KEYHIT = 27
SYSTEM
'**********************************************************************************************
'   End of Main loop
'**********************************************************************************************
 
'**********************************************************************************************
'   Scene Creation and Handling Ahead
'**********************************************************************************************
SUB animateScene (p() AS tPOLY, body() AS tBODY, hits() AS tHIT, camera AS tCAMERA, veh() AS tVEHICLE)
    ' Keep the player's head  upright
 
 
    CALL setBody(body(), cPARAMETER_ORIENT, cSCENE_HEAD, body(cSCENE_USER).orient, 0)
 
    'Comment/Uncomment the next line to keep the vehicle upright (It has weird side effects)
    'CALL setBody(body(), cPARAMETER_ORIENT, cSCENE_USER, 0, 0)
 
    'camera follows the player
    CALL vectorSet(camera.position, body(cSCENE_USER).position.x - ((_WIDTH / 2) * (1 / camera.zoom)), body(cSCENE_USER).position.y - ((_HEIGHT / 2) * (1 / camera.zoom)))
 
 
    IF _KEYDOWN(32) OR _KEYDOWN(87) OR _KEYDOWN(119) OR _KEYDOWN(18432) THEN
        IF isBodyTouching(hits(), cSCENE_WHEEL_1) OR isBodyTouching(hits(), cSCENE_WHEEL_2) THEN ' makes sure your touching something when you jump
            CALL vectorSet(body(cSCENE_USER).force, 0, -cPLAYER_FORCE)
        END IF
    END IF
 
    IF _KEYDOWN(65) OR _KEYDOWN(97) OR _KEYDOWN(19200) THEN
        body(cSCENE_WHEEL_1).torque = -8000000
        body(cSCENE_WHEEL_2).torque = -8000000
    END IF
 
    IF _KEYDOWN(68) OR _KEYDOWN(100) OR _KEYDOWN(19712) THEN
        body(cSCENE_WHEEL_1).torque = 8000000
        body(cSCENE_WHEEL_2).torque = 8000000
    END IF
 
    body(cSCENE_WHEEL_1).angularVelocity = impulseClamp(-50, 50, body(cSCENE_WHEEL_1).angularVelocity)
    body(cSCENE_WHEEL_2).angularVelocity = impulseClamp(-50, 50, body(cSCENE_WHEEL_2).angularVelocity)
 
 
 
    IF body(cSCENE_USER).position.x > world.plusLimit.x OR body(cSCENE_USER).position.x < world.minusLimit.x THEN
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_USER, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_USER, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_USER, world.spawn.x, world.spawn.y)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_1, body(cSCENE_USER).position.x + 55, body(cSCENE_USER).position.y + 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_WHEEL_1, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_WHEEL_1, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_2, body(cSCENE_USER).position.x - 55, body(cSCENE_USER).position.y + 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_WHEEL_2, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_WHEEL_2, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_HEAD, body(cSCENE_USER).position.x - 15, body(cSCENE_USER).position.y - 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_HEAD, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_HEAD, 0, 0)
 
    END IF
 
    IF body(cSCENE_USER).position.y > world.plusLimit.y THEN
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_USER, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_USER, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_USER, world.spawn.x, world.spawn.y)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_1, body(cSCENE_USER).position.x + 55, body(cSCENE_USER).position.y + 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_WHEEL_1, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_WHEEL_1, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_2, body(cSCENE_USER).position.x - 55, body(cSCENE_USER).position.y + 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_WHEEL_2, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_WHEEL_2, 0, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_HEAD, body(cSCENE_USER).position.x - 15, body(cSCENE_USER).position.y - 65)
        CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_HEAD, 0, 0)
        CALL setBody(body(), cPARAMETER_ANGULARVELOCITY, cSCENE_HEAD, 0, 0)
    END IF
 
    'Disable collisions on second ramp so you can get out
    IF body(cSCENE_USER).position.x > cLOOP_CENTER_X + cLOOP_RAMPWIDTH + 100 THEN
        IF body(cSCENE_USER).position.y < cLOOP_CENTER_Y - 1000 THEN
            CALL disableCollisions(p(), body(), cSCENE_LOOPRAMP_2)
        END IF
    END IF
 
    'Renable for the next pass through
    IF body(cSCENE_USER).position.x > cLOOP_CENTER_X + cLOOP_RAMPWIDTH + 1000 THEN
        CALL EnableCollisions(p(), body(), cSCENE_LOOPRAMP_2)
        CALL vectorSet(p(body(cSCENE_LOOPRAMP_2).pa.start + 0).norm, 0, 0)
    END IF
 
END SUB
 
SUB buildSimpleScene (p() AS tPOLY, body() AS tBODY, j() AS tJOINT, v() AS tVEHICLE)
    DIM i AS INTEGER
    DIM bm(5) AS LONG ' array texture bitmaps
    CALL generateBitmap(bm()) ' auto generated bitmaps can be substituted for whatever images you have
 
    '********************************************************
    '   Setup World
    '********************************************************
 
    CALL vectorSet(world.minusLimit, -6500, -2000)
    CALL vectorSet(world.plusLimit, 60000, 10000)
    CALL vectorSet(world.spawn, -5000, -800)
    CALL vectorSet(world.gravity, 0.0, 100.0)
    CALL vectorSet(world.terrainPosition, -7000.0, 1000.0)
    DIM o AS tVECTOR2d: CALL vectorMultiplyScalarND(o, world.gravity, cDT): sRESTING = vectorLengthSq(o) + cEPSILON
 
    '********************************************************
    '   Build Vehicle
    '********************************************************
 
    ' Build Body
    CALL createBoxBodies(p(), body(), cSCENE_USER, 80, 30)
    CALL polygonComputeMass(body(), p(), cSCENE_USER, .1) 'lower the mass of the body by 90%
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_USER, world.spawn.x, world.spawn.y)
    CALL setBody(body(), cPARAMETER_VELOCITY, cSCENE_USER, 0, 0)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_USER, bm(0), 0)
    body(cSCENE_USER).shape.scaleTextureX = 1.5
    body(cSCENE_USER).shape.scaleTextureY = 2
    body(cSCENE_USER).shape.offsetTextureY = 10
 
    'Build Wheel 1
    CALL createCircleBody(body(), cSCENE_WHEEL_1, 35)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_WHEEL_1, bm(1), 0)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_1, body(cSCENE_USER).position.x + 75, body(cSCENE_USER).position.y + 65)
    body(cSCENE_WHEEL_1).staticFriction = 0.9
    body(cSCENE_WHEEL_1).dynamicFriction = 0.6
 
    'Build Wheel 2
    CALL createCircleBody(body(), cSCENE_WHEEL_2, 35)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_WHEEL_2, bm(1), 0)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_WHEEL_2, body(cSCENE_USER).position.x - 75, body(cSCENE_USER).position.y + 65)
    body(cSCENE_WHEEL_2).staticFriction = 0.9
    body(cSCENE_WHEEL_2).dynamicFriction = 0.6
 
    'Attach Wheel1 to Body
    CALL jointSet(j(1), body(), cSCENE_USER, cSCENE_WHEEL_1, body(cSCENE_WHEEL_1).position.x, body(cSCENE_WHEEL_1).position.y)
    j(1).softness = 0.001
    j(1).biasFactor = 500
 
    'Attach Wheel2 to Body
    CALL jointSet(j(2), body(), cSCENE_USER, cSCENE_WHEEL_2, body(cSCENE_WHEEL_2).position.x, body(cSCENE_WHEEL_2).position.y)
    j(2).softness = 0.001
    j(2).biasFactor = 500
 
    'Build and attach Drivers Head
    CALL createCircleBody(body(), cSCENE_HEAD, 25)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_HEAD, bm(2), 0)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_HEAD, body(cSCENE_USER).position.x - 15, body(cSCENE_USER).position.y - 65)
    CALL jointSet(j(3), body(), cSCENE_USER, cSCENE_HEAD, body(cSCENE_HEAD).position.x, body(cSCENE_HEAD).position.y)
    j(3).softness = 0.01
    j(3).biasFactor = 300
 
    '********************************************************
    '   Build Level
    '********************************************************
    '   Put Out Ramps for some sweet Jumps
    '********************************************************
 
    FOR i = 0 TO 9
        CALL createTrapBody(p(), body(), cSCENE_RAMP_1 + i, 1000, 200, 350, 0)
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + i, i * 5000, 500)
        CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_RAMP_1 + i, bm(4), 0)
        CALL bodySetStatic(body(cSCENE_RAMP_1 + i))
    NEXT i
 
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 0, 0 * 5000, 550)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 1, 1 * 5000, 400)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 2, 2 * 5000, 400)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 3, 3 * 5000, 350)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 4, 4 * 5000, 350)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 5, 5 * 5000, 350)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 6, 6 * 5000, 450)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 7, 7 * 5000, 450)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 8, 8 * 5000, 450)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_RAMP_1 + 9, 9 * 5000, 450)
 
    '********************************************************
    '   Build loop
    '********************************************************
 
    'Ramp 1
    CALL createTrapBody(p(), body(), cSCENE_LOOPRAMP_1, cLOOP_RAMPWIDTH, cLOOP_RAMPTHICKNESS, 0, cLOOP_RAMPHEIGHT)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_LOOPRAMP_1, cLOOP_CENTER_X, cLOOP_CENTER_Y)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_LOOPRAMP_1, bm(4), 0)
    CALL bodySetStatic(body(cSCENE_LOOPRAMP_1))
    'kill collision on the side
    CALL vectorSet(p(body(cSCENE_LOOPRAMP_1).pa.start + 2).norm, 0, 0)
 
    'Ramp 2
    CALL createTrapBody(p(), body(), cSCENE_LOOPRAMP_2, cLOOP_RAMPWIDTH, cLOOP_RAMPTHICKNESS, cLOOP_RAMPHEIGHT, 0)
    CALL setBody(body(), cPARAMETER_POSITION, cSCENE_LOOPRAMP_2, cLOOP_CENTER_X + cLOOP_RAMPWIDTH, cLOOP_CENTER_Y)
    CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_LOOPRAMP_2, bm(4), 0)
    CALL bodySetStatic(body(cSCENE_LOOPRAMP_2))
    'kill collision on the side
    CALL vectorSet(p(body(cSCENE_LOOPRAMP_2).pa.start + 0).norm, 0, 0)
 
    'cSCENE_LOOPSEGMENTS + cSCENE_NUMBEROFLOOPSEGMENTS
    FOR i = 0 TO cSCENE_NUMBEROFLOOPSEGMENTS - 1
        CALL createBoxBodies(p(), body(), cSCENE_LOOPSEGMENTS + i, 25, 110)
        CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_LOOPSEGMENTS + i, bm(4), 0)
    NEXT
    DIM AS _FLOAT xp, yp, theta, rotOff
    rotOff = 10.5
    theta = (cPI / (cSCENE_NUMBEROFLOOPSEGMENTS / 2) * .75)
    FOR i = 0 TO cSCENE_NUMBEROFLOOPSEGMENTS - 1
        xp = cLOOP_CENTER_X - cLOOP_RADIUS * COS((i + rotOff) * theta) + 250
        yp = cLOOP_CENTER_Y + cLOOP_RADIUS * SIN((i + rotOff) * theta) - 1075
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_LOOPSEGMENTS + i, xp, yp)
        CALL setBody(body(), cPARAMETER_ORIENT, cSCENE_LOOPSEGMENTS + i, -(i + rotOff) * theta, 0)
        CALL bodySetStatic(body(cSCENE_LOOPSEGMENTS + i))
    NEXT
    '********************************************************
    '   Build Ground
    '********************************************************
 
    DIM AS _FLOAT p1, p2
    DIM numberOfTerrainSegments AS INTEGER: numberOfTerrainSegments = sNUMBEROFBODIES - cSCENE_TERRAIN
    DIM AS _FLOAT terrainSliceWidth, terrainNominalHeight
 
    terrainSliceWidth = 1500
    terrainNominalHeight = 500
 
    CALL createTerrianBody(p(), body(), cSCENE_TERRAIN, numberOfTerrainSegments, terrainSliceWidth, terrainNominalHeight)
 
    FOR i = 0 TO numberOfTerrainSegments - 1
        p1 = (terrainSliceWidth / 2) - p(body(cSCENE_TERRAIN + i).pa.start).vert.x
        p2 = terrainNominalHeight - p(body(cSCENE_TERRAIN + i).pa.start + 1).vert.y
        CALL setBody(body(), cPARAMETER_POSITION, cSCENE_TERRAIN + i, world.terrainPosition.x + p1 + (terrainSliceWidth * i), world.terrainPosition.y + p2)
        CALL setBody(body(), cPARAMETER_TEXTURE, cSCENE_TERRAIN + i, bm(3), 0)
    NEXT
 
 
END SUB
'**********************************************************************************************
'   Collision Helper Tools
'**********************************************************************************************
 
 
SUB disableCollisions (p() AS tPOLY, body() AS tBODY, index AS INTEGER)
    DIM i AS INTEGER
    FOR i = 0 TO body(index).pa.count
        CALL vectorSet(p(body(index).pa.start + i).norm, 0, 0)
    NEXT
END SUB
 
SUB EnableCollisions (p() AS tPOLY, body() AS tBODY, index AS INTEGER)
    DIM i AS INTEGER
    DIM face AS tVECTOR2d
    FOR i = 0 TO body(index).pa.count
        CALL vectorSubVectorND(face, p(body(index).pa.start + arrayNextIndex(i, body(index).pa.count)).vert, p(body(index).pa.start + i).vert)
        CALL vectorSet(p(body(index).pa.start + i).norm, face.y, -face.x)
        CALL vectorNormalize(p(body(index).pa.start + i).norm)
    NEXT
END SUB
 
FUNCTION isBodyTouchingBody (hits() AS tHIT, A AS INTEGER, B AS INTEGER)
    DIM hitcount AS INTEGER: hitcount = 1
    isBodyTouchingBody = 0
    DO WHILE hits(hitcount).A <> hits(hitcount).B
        IF hits(hitcount).A = A AND hits(hitcount).B = B THEN
            isBodyTouchingBody = hitcount
            EXIT FUNCTION
        END IF
        hitcount = hitcount + 1: IF hitcount > UBOUND(hits) THEN EXIT FUNCTION
    LOOP
END FUNCTION
 
FUNCTION isBodyTouchingStatic (body() AS tBODY, hits() AS tHIT, A AS INTEGER)
    DIM hitcount AS INTEGER: hitcount = 1
    isBodyTouchingStatic = 0
    DO WHILE hits(hitcount).A <> hits(hitcount).B
        IF hits(hitcount).A = A THEN
            IF body(hits(hitcount).B).mass = 0 THEN
                isBodyTouchingStatic = hitcount
                EXIT FUNCTION
            END IF
        ELSE
            IF hits(hitcount).B = A THEN
                IF body(hits(hitcount).A).mass = 0 THEN
                    isBodyTouchingStatic = hitcount
                    EXIT FUNCTION
                END IF
            END IF
        END IF
        hitcount = hitcount + 1: IF hitcount > UBOUND(hits) THEN EXIT FUNCTION
    LOOP
END FUNCTION
 
FUNCTION isBodyTouching (hits() AS tHIT, A AS INTEGER)
    DIM hitcount AS INTEGER: hitcount = 1
    isBodyTouching = 0
    DO WHILE hits(hitcount).A <> hits(hitcount).B
        IF hits(hitcount).A = A OR hits(hitcount).B = A THEN
            isBodyTouching = hitcount
            EXIT FUNCTION
        END IF
        hitcount = hitcount + 1: IF hitcount > UBOUND(hits) THEN EXIT FUNCTION
    LOOP
END FUNCTION
 
FUNCTION highestCollisionVelocity (hits() AS tHIT, A AS INTEGER)
    DIM hitcount AS INTEGER: hitcount = 1
    DIM hiCv AS _FLOAT: hiCv = 0
    highestCollisionVelocity = 0
    DO WHILE hits(hitcount).A <> hits(hitcount).B
        IF hits(hitcount).A = A AND ABS(hits(hitcount).cv) > hiCv AND hits(hitcount).cv < 0 THEN
            hiCv = ABS(hits(hitcount).cv)
        END IF
        hitcount = hitcount + 1: IF hitcount > UBOUND(hits) THEN EXIT FUNCTION
    LOOP
    highestCollisionVelocity = hiCv
END FUNCTION
 
 
'**********************************************************************************************
'   Physics and Collision Stuff Ahead
'**********************************************************************************************
 
SUB impulseIntegrateForces (b AS tBODY, dt AS _FLOAT)
    IF b.invMass = 0.0 THEN EXIT SUB
    DIM dts AS _FLOAT
    dts = dt * .5
    CALL vectorAddVectorScalar(b.velocity, b.force, b.invMass * dts)
    CALL vectorAddVectorScalar(b.velocity, world.gravity, dts)
    b.angularVelocity = b.angularVelocity + (b.torque * b.invInertia * dts)
END SUB
 
SUB impulseIntegrateVelocity (body AS tBODY, dt AS _FLOAT)
    IF body.invMass = 0.0 THEN EXIT SUB
    CALL vectorAddVectorScalar(body.position, body.velocity, dt)
    body.orient = body.orient + (body.angularVelocity * dt)
    CALL matrixSetRadians(body.shape.u, body.orient)
    CALL impulseIntegrateForces(body, dt)
END SUB
 
SUB impulseStep (p() AS tPOLY, body() AS tBODY, j() AS tJOINT, dt AS _FLOAT, iterations AS INTEGER, hits() AS tHIT)
    DIM A AS tBODY
    DIM B AS tBODY
    DIM c(cMAXNUMBEROFOBJECTS) AS tVECTOR2d
    DIM m AS tMANIFOLD
    DIM manifolds(sNUMBEROFBODIES * sNUMBEROFBODIES) AS tMANIFOLD
    DIM collisions(sNUMBEROFBODIES * sNUMBEROFBODIES, cMAXNUMBEROFOBJECTS) AS tVECTOR2d
    DIM manifoldCount AS INTEGER: manifoldCount = 0
    '    // Generate new collision info
    DIM i, j, k AS INTEGER
    DIM hitCount AS INTEGER: hitCount = 0
    DIM dHit AS tHIT 'empty
    ' // erase hitlist
    DO
        hits(hitCount) = dHit
        hitCount = hitCount + 1
    LOOP UNTIL hits(hitCount).A = hits(hitCount).B
    hitCount = 0
 
    ' TODO: Implement hidden object logic
    FOR i = 0 TO sNUMBEROFBODIES ' number of bodies
        A = body(i)
        FOR j = i + 1 TO sNUMBEROFBODIES
            B = body(j)
            IF A.invMass = 0.0 AND B.invMass = 0.0 THEN _CONTINUE
            'Mainfold solve - handle collisions
            IF A.shape.ty = cSHAPE_CIRCLE AND B.shape.ty = cSHAPE_CIRCLE THEN
                CALL collisionCCHandle(m, c(), A, B)
            ELSE
                IF A.shape.ty = cSHAPE_POLYGON AND B.shape.ty = cSHAPE_POLYGON THEN
                    CALL collisionPPHandle(p(), body(), m, c(), i, j)
                ELSE
                    IF A.shape.ty = cSHAPE_CIRCLE AND B.shape.ty = cSHAPE_POLYGON THEN
                        CALL collisionCPHandle(p(), body(), m, c(), i, j)
                    ELSE
                        IF B.shape.ty = cSHAPE_CIRCLE AND A.shape.ty = cSHAPE_POLYGON THEN
                            CALL collisionPCHandle(p(), body(), m, c(), i, j)
                        END IF
                    END IF
                END IF
            END IF
            IF m.contactCount > 0 THEN
                m.A = i 'identify the index of objects
                m.B = j
                manifolds(manifoldCount) = m
                FOR k = 0 TO m.contactCount
                    hits(hitCount).A = i
                    hits(hitCount).B = j
                    hits(hitCount).position = c(k)
                    collisions(manifoldCount, k) = c(k)
                    hitCount = hitCount + 1
                NEXT
                manifoldCount = manifoldCount + 1
            END IF
        NEXT
    NEXT
 
    '   // Integrate forces
    FOR i = 0 TO sNUMBEROFBODIES
        CALL impulseIntegrateForces(body(i), dt)
    NEXT
    '   // Initialize collision
    FOR i = 0 TO manifoldCount - 1
        ' this is the stupidest thing ever since QB will not let you split arrays
        FOR k = 0 TO manifolds(i).contactCount - 1
            c(k) = collisions(i, k)
        NEXT
        CALL manifoldInit(manifolds(i), body(), c())
    NEXT
    ' joint pre Steps
 
    FOR i = 1 TO sNUMBEROFJOINTS
        CALL jointPrestep(j(i), body(), dt)
    NEXT
 
    '// Solve collisions
    FOR j = 0 TO iterations - 1
        FOR i = 0 TO manifoldCount - 1
            FOR k = 0 TO manifolds(i).contactCount - 1
                c(k) = collisions(i, k)
            NEXT
            CALL manifoldApplyImpulse(manifolds(i), body(), c())
            'store the hit speed for later
            FOR k = 0 TO hitCount - 1
                IF manifolds(i).A = hits(k).A AND manifolds(i).B = hits(k).B THEN
                    hits(k).cv = manifolds(i).cv
                END IF
            NEXT
        NEXT
        FOR i = 1 TO sNUMBEROFJOINTS
            CALL jointApplyImpulse(j(i), body())
        NEXT
    NEXT
 
    '// Integrate velocities
    FOR i = 0 TO sNUMBEROFBODIES
        CALL impulseIntegrateVelocity(body(i), dt)
    NEXT
    '// Correct positions
    FOR i = 0 TO manifoldCount - 1
        CALL manifoldPositionalCorrection(manifolds(i), body())
    NEXT
    '// Clear all forces
    FOR i = 0 TO sNUMBEROFBODIES
        CALL vectorSet(body(i).force, 0, 0)
        body(i).torque = 0
    NEXT
END SUB
 
SUB bodyApplyImpulse (body AS tBODY, impulse AS tVECTOR2d, contactVector AS tVECTOR2d)
    CALL vectorAddVectorScalar(body.velocity, impulse, body.invMass)
    body.angularVelocity = body.angularVelocity + body.invInertia * vectorCross(contactVector, impulse)
END SUB
 
SUB bodySetStatic (body AS tBODY)
    body.inertia = 0.0
    body.invInertia = 0.0
    body.mass = 0.0
    body.invMass = 0.0
END SUB
 
SUB manifoldInit (m AS tMANIFOLD, body() AS tBODY, contacts() AS tVECTOR2d)
    DIM ra AS tVECTOR2d
    DIM rb AS tVECTOR2d
    DIM rv AS tVECTOR2d
    DIM tv1 AS tVECTOR2d
    DIM tv2 AS tVECTOR2d
    m.e = scalarMin(body(m.A).restitution, body(m.B).restitution)
    m.sf = SQR(body(m.A).staticFriction * body(m.A).staticFriction)
    m.df = SQR(body(m.A).dynamicFriction * body(m.A).dynamicFriction)
    DIM i AS INTEGER
    FOR i = 0 TO m.contactCount - 1
        CALL vectorSubVectorND(contacts(i), body(m.A).position, ra)
        CALL vectorSubVectorND(contacts(i), body(m.B).position, rb)
 
        CALL vectorCrossScalar(tv1, rb, body(m.B).angularVelocity)
        CALL vectorCrossScalar(tv2, ra, body(m.A).angularVelocity)
        CALL vectorAddVector(tv1, body(m.B).velocity)
        CALL vectorSubVectorND(tv2, body(m.A).velocity, tv2)
        CALL vectorSubVectorND(rv, tv1, tv2)
 
        IF vectorLengthSq(rv) < sRESTING THEN
            m.e = 0.0
        END IF
    NEXT
END SUB
 
SUB manifoldApplyImpulse (m AS tMANIFOLD, body() AS tBODY, contacts() AS tVECTOR2d)
    DIM ra AS tVECTOR2d
    DIM rb AS tVECTOR2d
    DIM rv AS tVECTOR2d
    DIM tv1 AS tVECTOR2d
    DIM tv2 AS tVECTOR2d
    DIM contactVel AS _FLOAT
 
    DIM raCrossN AS _FLOAT
    DIM rbCrossN AS _FLOAT
    DIM invMassSum AS _FLOAT
    DIM i AS INTEGER
    DIM j AS _FLOAT
    DIM impulse AS tVECTOR2d
 
    DIM t AS tVECTOR2d
    DIM jt AS _FLOAT
    DIM tangentImpulse AS tVECTOR2d
 
    IF impulseEqual(body(m.A).invMass + body(m.B).invMass, 0.0) THEN
        CALL manifoldInfiniteMassCorrection(body(m.A), body(m.B))
        EXIT SUB
    END IF
 
    FOR i = 0 TO m.contactCount - 1
        '// Calculate radii from COM to contact
        '// Vec2 ra = contacts[i] - A->position;
        '// Vec2 rb = contacts[i] - B->position;
        CALL vectorSubVectorND(ra, contacts(i), body(m.A).position)
        CALL vectorSubVectorND(rb, contacts(i), body(m.B).position)
 
        '// Relative velocity
        '// Vec2 rv = B->velocity + Cross( B->angularVelocity, rb ) - A->velocity - Cross( A->angularVelocity, ra );
        CALL vectorCrossScalar(tv1, rb, body(m.B).angularVelocity)
        CALL vectorCrossScalar(tv2, ra, body(m.A).angularVelocity)
        CALL vectorAddVectorND(rv, tv1, body(m.B).velocity)
        CALL vectorSubVector(rv, body(m.A).velocity)
        CALL vectorSubVector(rv, tv2)
 
        '// Relative velocity along the normal
        '// real contactVel = Dot( rv, normal );
        contactVel = vectorDot(rv, m.normal)
 
        '// Do not resolve if velocities are separating
        IF contactVel > 0 THEN EXIT SUB
        m.cv = contactVel
        '// real raCrossN = Cross( ra, normal );
        '// real rbCrossN = Cross( rb, normal );
        '// real invMassSum = A->im + B->im + Sqr( raCrossN ) * A->iI + Sqr( rbCrossN ) * B->iI;
        raCrossN = vectorCross(ra, m.normal)
        rbCrossN = vectorCross(rb, m.normal)
        invMassSum = body(m.A).invMass + body(m.B).invMass + (raCrossN * raCrossN) * body(m.A).invInertia + (rbCrossN * rbCrossN) * body(m.B).invInertia
 
        '// Calculate impulse scalar
        j = -(1.0 + m.e) * contactVel
        j = j / invMassSum
        j = j / m.contactCount
 
        '// Apply impulse
        CALL vectorMultiplyScalarND(impulse, m.normal, j)
 
        CALL vectorNegND(tv1, impulse)
        CALL bodyApplyImpulse(body(m.A), tv1, ra)
        CALL bodyApplyImpulse(body(m.B), impulse, rb)
 
        '// Friction impulse
        '// rv = B->velocity + Cross( B->angularVelocity, rb ) - A->velocity - Cross( A->angularVelocity, ra );
        CALL vectorCrossScalar(tv1, rb, body(m.B).angularVelocity)
        CALL vectorCrossScalar(tv2, ra, body(m.A).angularVelocity)
        CALL vectorAddVectorND(rv, tv1, body(m.B).velocity)
        CALL vectorSubVector(rv, body(m.A).velocity)
        CALL vectorSubVector(rv, tv2)
 
        '// Vec2 t = rv - (normal * Dot( rv, normal ));
        '// t.Normalize( );
        CALL vectorMultiplyScalarND(t, m.normal, vectorDot(rv, m.normal))
        CALL vectorSubVectorND(t, rv, t)
        CALL vectorNormalize(t)
 
        '// j tangent magnitude
        jt = -vectorDot(rv, t)
        jt = jt / invMassSum
        jt = jt / m.contactCount
 
        '// Don't apply tiny friction impulses
        IF impulseEqual(jt, 0.0) THEN EXIT SUB
 
        '// Coulumb's law
        IF ABS(jt) < j * m.sf THEN
            CALL vectorMultiplyScalarND(tangentImpulse, t, jt)
        ELSE
            CALL vectorMultiplyScalarND(tangentImpulse, t, -j * m.df)
        END IF
 
        '// Apply friction impulse
        '// A->ApplyImpulse( -tangentImpulse, ra );
        '// B->ApplyImpulse( tangentImpulse, rb );
        CALL vectorNegND(tv1, tangentImpulse)
        CALL bodyApplyImpulse(body(m.A), tv1, ra)
        CALL bodyApplyImpulse(body(m.B), tangentImpulse, rb)
    NEXT i
END SUB
 
SUB manifoldPositionalCorrection (m AS tMANIFOLD, body() AS tBODY)
    DIM correction AS _FLOAT
    correction = scalarMax(m.penetration - cPENETRATION_ALLOWANCE, 0.0) / (body(m.A).invMass + body(m.B).invMass) * cPENETRATION_CORRECTION
    CALL vectorAddVectorScalar(body(m.A).position, m.normal, -body(m.A).invMass * correction)
    CALL vectorAddVectorScalar(body(m.B).position, m.normal, body(m.B).invMass * correction)
END SUB
 
SUB manifoldInfiniteMassCorrection (A AS tBODY, B AS tBODY)
    CALL vectorSet(A.velocity, 0, 0)
    CALL vectorSet(B.velocity, 0, 0)
END SUB
 
'**********************************************************************************************
'   Collision Stuff Ahead
'**********************************************************************************************
 
SUB collisionCCHandle (m AS tMANIFOLD, contacts() AS tVECTOR2d, A AS tBODY, B AS tBODY)
    DIM normal AS tVECTOR2d
    DIM dist_sqr AS _FLOAT
    DIM radius AS _FLOAT
 
    CALL vectorSubVectorND(normal, B.position, A.position) ' Subtract two vectors position A and position B
    dist_sqr = vectorLengthSq(normal) ' Calculate the distance between the balls or circles
    radius = A.shape.radius + B.shape.radius ' Add both circle A and circle B radius
 
    IF (dist_sqr >= radius * radius) THEN
        m.contactCount = 0
    ELSE
        DIM distance AS _FLOAT
        distance = SQR(dist_sqr)
        m.contactCount = 1
 
        IF distance = 0 THEN
            m.penetration = A.shape.radius
            CALL vectorSet(m.normal, 1.0, 0.0)
            CALL vectorSetVector(contacts(0), A.position)
        ELSE
            m.penetration = radius - distance
            CALL vectorDivideScalarND(m.normal, normal, distance)
 
            CALL vectorMultiplyScalarND(contacts(0), m.normal, A.shape.radius)
            CALL vectorAddVector(contacts(0), A.position)
        END IF
    END IF
END SUB
 
SUB collisionPCHandle (p() AS tPOLY, body() AS tBODY, m AS tMANIFOLD, contacts() AS tVECTOR2d, A AS INTEGER, B AS INTEGER)
    CALL collisionCPHandle(p(), body(), m, contacts(), B, A)
    IF m.contactCount > 0 THEN
        CALL vectorNeg(m.normal)
    END IF
END SUB
 
SUB collisionCPHandle (p() AS tPOLY, body() AS tBODY, m AS tMANIFOLD, contacts() AS tVECTOR2d, A AS INTEGER, B AS INTEGER)
    'A is the Circle
    'B is the POLY
    m.contactCount = 0
    DIM center AS tVECTOR2d
    DIM tm AS tMATRIX2d
    DIM tv AS tVECTOR2d
    DIM ARadius AS _FLOAT: ARadius = body(A).shape.radius
 
    CALL vectorSubVectorND(center, body(A).position, body(B).position)
    CALL matrixTranspose(body(B).shape.u, tm)
    CALL matrixMultiplyVector(tm, center, center)
 
    DIM separation AS _FLOAT: separation = -9999999
    DIM faceNormal AS INTEGER: faceNormal = 0
    DIM i AS INTEGER
    DIM s AS _FLOAT
    FOR i = 0 TO body(B).pa.count
        CALL vectorSubVectorND(tv, center, p(body(B).pa.start + i).vert)
        s = vectorDot(p(body(B).pa.start + i).norm, tv)
        IF s > ARadius THEN EXIT SUB
        IF s > separation THEN
            separation = s
            faceNormal = i
        END IF
    NEXT
    DIM v1 AS tVECTOR2d
    v1 = p(body(B).pa.start + faceNormal).vert
    DIM i2 AS INTEGER
    i2 = body(B).pa.start + arrayNextIndex(faceNormal, body(B).pa.count)
    DIM v2 AS tVECTOR2d
    v2 = p(i2).vert
 
    IF separation < cEPSILON THEN
        m.contactCount = 1
        CALL matrixMultiplyVector(body(B).shape.u, p(body(B).pa.start + faceNormal).norm, m.normal)
        CALL vectorNeg(m.normal)
        CALL vectorMultiplyScalarND(contacts(0), m.normal, ARadius)
        CALL vectorAddVector(contacts(0), body(A).position)
        m.penetration = ARadius
        EXIT SUB
    END IF
 
    DIM dot1 AS _FLOAT
    DIM dot2 AS _FLOAT
 
    DIM tv1 AS tVECTOR2d
    DIM tv2 AS tVECTOR2d
    DIM n AS tVECTOR2d
    CALL vectorSubVectorND(tv1, center, v1)
    CALL vectorSubVectorND(tv2, v2, v1)
    dot1 = vectorDot(tv1, tv2)
    CALL vectorSubVectorND(tv1, center, v2)
    CALL vectorSubVectorND(tv2, v1, v2)
    dot2 = vectorDot(tv1, tv2)
    m.penetration = ARadius - separation
    IF dot1 <= 0.0 THEN
        IF vectorSqDist(center, v1) > ARadius * ARadius THEN EXIT SUB
        m.contactCount = 1
        CALL vectorSubVectorND(n, v1, center)
        CALL matrixMultiplyVector(body(B).shape.u, n, n)
        CALL vectorNormalize(n)
        m.normal = n
        CALL matrixMultiplyVector(body(B).shape.u, v1, v1)
        CALL vectorAddVectorND(v1, v1, body(B).position)
        contacts(0) = v1
    ELSE
        IF dot2 <= 0.0 THEN
            IF vectorSqDist(center, v2) > ARadius * ARadius THEN EXIT SUB
            m.contactCount = 1
            CALL vectorSubVectorND(n, v2, center)
            CALL matrixMultiplyVector(body(B).shape.u, v2, v2)
            CALL vectorAddVectorND(v2, v2, body(B).position)
            contacts(0) = v2
            CALL matrixMultiplyVector(body(B).shape.u, n, n)
            CALL vectorNormalize(n)
            m.normal = n
        ELSE
            n = p(body(B).pa.start + faceNormal).norm
            CALL vectorSubVectorND(tv1, center, v1)
            IF vectorDot(tv1, n) > ARadius THEN EXIT SUB
            m.contactCount = 1
            CALL matrixMultiplyVector(body(B).shape.u, n, n)
            CALL vectorNeg(n)
            m.normal = n
            CALL vectorMultiplyScalarND(contacts(0), m.normal, ARadius)
            CALL vectorAddVector(contacts(0), body(A).position)
        END IF
    END IF
END SUB
 
FUNCTION collisionPPClip (n AS tVECTOR2d, c AS _FLOAT, face() AS tVECTOR2d)
    DIM sp AS INTEGER: sp = 0
    DIM o(cMAXNUMBEROFPOLYGONS) AS tVECTOR2d
 
    o(0) = face(0)
    o(1) = face(1)
 
    DIM d1 AS _FLOAT: d1 = vectorDot(n, face(0)) - c
    DIM d2 AS _FLOAT: d2 = vectorDot(n, face(1)) - c
 
    IF d1 <= 0.0 THEN
        o(sp) = face(0)
        sp = sp + 1
    END IF
 
    IF d2 <= 0.0 THEN
        o(sp) = face(1)
        sp = sp + 1
    END IF
 
    IF d1 * d2 < 0.0 THEN
        DIM alpha AS _FLOAT: alpha = d1 / (d1 - d2)
        DIM tempv AS tVECTOR2d
        'out[sp] = face[0] + alpha * (face[1] - face[0]);
        CALL vectorSubVectorND(tempv, face(1), face(0))
        CALL vectorMultiplyScalar(tempv, alpha)
        CALL vectorAddVectorND(o(sp), tempv, face(0))
        sp = sp + 1
    END IF
    face(0) = o(0)
    face(1) = o(1)
    collisionPPClip = sp
END FUNCTION
 
SUB collisionPPFindIncidentFace (p() AS tPOLY, b() AS tBODY, v() AS tVECTOR2d, RefPoly AS INTEGER, IncPoly AS INTEGER, referenceIndex AS INTEGER)
    DIM referenceNormal AS tVECTOR2d
    DIM uRef AS tMATRIX2d: uRef = b(RefPoly).shape.u
    DIM uInc AS tMATRIX2d: uInc = b(IncPoly).shape.u
    DIM uTemp AS tMATRIX2d
    DIM i AS INTEGER
    referenceNormal = p(b(RefPoly).pa.start + referenceIndex).norm
 
    '        // Calculate normal in incident's frame of reference
    '        // referenceNormal = RefPoly->u * referenceNormal; // To world space
    CALL matrixMultiplyVector(uRef, referenceNormal, referenceNormal)
    '        // referenceNormal = IncPoly->u.Transpose( ) * referenceNormal; // To incident's model space
    CALL matrixTranspose(uInc, uTemp)
    CALL matrixMultiplyVector(uTemp, referenceNormal, referenceNormal)
 
    DIM incidentFace AS INTEGER: incidentFace = 0
    DIM minDot AS _FLOAT: minDot = 9999999
    DIM dot AS _FLOAT
    FOR i = 0 TO b(IncPoly).pa.count
        dot = vectorDot(referenceNormal, p(b(IncPoly).pa.start + i).norm)
        IF (dot < minDot) THEN
            minDot = dot
            incidentFace = i
        END IF
    NEXT
 
    '// Assign face vertices for incidentFace
    '// v[0] = IncPoly->u * IncPoly->m_vertices[incidentFace] + IncPoly->body->position;
    CALL matrixMultiplyVector(uInc, p(b(IncPoly).pa.start + incidentFace).vert, v(0))
    CALL vectorAddVector(v(0), b(IncPoly).position)
 
    '// incidentFace = incidentFace + 1 >= (int32)IncPoly->m_vertexCount ? 0 : incidentFace + 1;
    incidentFace = arrayNextIndex(incidentFace, b(IncPoly).pa.count)
 
    '// v[1] = IncPoly->u * IncPoly->m_vertices[incidentFace] +  IncPoly->body->position;
    CALL matrixMultiplyVector(uInc, p(b(IncPoly).pa.start + incidentFace).vert, v(1))
    CALL vectorAddVector(v(1), b(IncPoly).position)
END SUB
 
SUB collisionPPHandle (p() AS tPOLY, body() AS tBODY, m AS tMANIFOLD, contacts() AS tVECTOR2d, A AS INTEGER, B AS INTEGER)
    m.contactCount = 0
 
    DIM faceA(100) AS INTEGER
 
    DIM penetrationA AS _FLOAT
    penetrationA = collisionPPFindAxisLeastPenetration(p(), body(), faceA(), A, B)
    IF penetrationA >= 0.0 THEN EXIT SUB
 
    DIM faceB(100) AS INTEGER
 
    DIM penetrationB AS _FLOAT
    penetrationB = collisionPPFindAxisLeastPenetration(p(), body(), faceB(), B, A)
    IF penetrationB >= 0.0 THEN EXIT SUB
 
 
    DIM referenceIndex AS INTEGER
    DIM flip AS INTEGER
 
    DIM RefPoly AS INTEGER
    DIM IncPoly AS INTEGER
 
    IF impulseGT(penetrationA, penetrationB) THEN
        RefPoly = A
        IncPoly = B
        referenceIndex = faceA(0)
        flip = 0
    ELSE
        RefPoly = B
        IncPoly = A
        referenceIndex = faceB(0)
        flip = 1
    END IF
 
    DIM incidentFace(2) AS tVECTOR2d
 
    CALL collisionPPFindIncidentFace(p(), body(), incidentFace(), RefPoly, IncPoly, referenceIndex)
    DIM v1 AS tVECTOR2d
    DIM v2 AS tVECTOR2d
    DIM v1t AS tVECTOR2d
    DIM v2t AS tVECTOR2d
 
    v1 = p(body(RefPoly).pa.start + referenceIndex).vert
    referenceIndex = arrayNextIndex(referenceIndex, body(RefPoly).pa.count)
    v2 = p(body(RefPoly).pa.start + referenceIndex).vert
    '// Transform vertices to world space
    '// v1 = RefPoly->u * v1 + RefPoly->body->position;
    '// v2 = RefPoly->u * v2 + RefPoly->body->position;
    CALL matrixMultiplyVector(body(RefPoly).shape.u, v1, v1t)
    CALL vectorAddVectorND(v1, v1t, body(RefPoly).position)
    CALL matrixMultiplyVector(body(RefPoly).shape.u, v2, v2t)
    CALL vectorAddVectorND(v2, v2t, body(RefPoly).position)
 
    '// Calculate reference face side normal in world space
    '// Vec2 sidePlaneNormal = (v2 - v1);
    '// sidePlaneNormal.Normalize( );
    DIM sidePlaneNormal AS tVECTOR2d
    CALL vectorSubVectorND(sidePlaneNormal, v2, v1)
    CALL vectorNormalize(sidePlaneNormal)
 
    '// Orthogonalize
    '// Vec2 refFaceNormal( sidePlaneNormal.y, -sidePlaneNormal.x );
    DIM refFaceNormal AS tVECTOR2d
    CALL vectorSet(refFaceNormal, sidePlaneNormal.y, -sidePlaneNormal.x)
 
    '// ax + by = c
    '// c is distance from origin
    '// real refC = Dot( refFaceNormal, v1 );
    '// real negSide = -Dot( sidePlaneNormal, v1 );
    '// real posSide = Dot( sidePlaneNormal, v2 );
    DIM refC AS _FLOAT: refC = vectorDot(refFaceNormal, v1)
    DIM negSide AS _FLOAT: negSide = -vectorDot(sidePlaneNormal, v1)
    DIM posSide AS _FLOAT: posSide = vectorDot(sidePlaneNormal, v2)
 
 
    '// Clip incident face to reference face side planes
    '// if(Clip( -sidePlaneNormal, negSide, incidentFace ) < 2)
    DIM negSidePlaneNormal AS tVECTOR2d
    CALL vectorNegND(negSidePlaneNormal, sidePlaneNormal)
 
    IF collisionPPClip(negSidePlaneNormal, negSide, incidentFace()) < 2 THEN EXIT SUB
    IF collisionPPClip(sidePlaneNormal, posSide, incidentFace()) < 2 THEN EXIT SUB
 
    CALL vectorSet(m.normal, refFaceNormal.x, refFaceNormal.y)
    IF flip THEN CALL vectorNeg(m.normal)
 
    '// Keep points behind reference face
    DIM cp AS INTEGER: cp = 0 '// clipped points behind reference face
    DIM separation AS _FLOAT
    separation = vectorDot(refFaceNormal, incidentFace(0)) - refC
    IF separation <= 0.0 THEN
        contacts(cp) = incidentFace(0)
        m.penetration = -separation
        cp = cp + 1
    ELSE
        m.penetration = 0
    END IF
 
    separation = vectorDot(refFaceNormal, incidentFace(1)) - refC
    IF separation <= 0.0 THEN
        contacts(cp) = incidentFace(1)
        m.penetration = m.penetration + -separation
        cp = cp + 1
        m.penetration = m.penetration / cp
    END IF
    m.contactCount = cp
END SUB
 
FUNCTION collisionPPFindAxisLeastPenetration (p() AS tPOLY, body() AS tBODY, faceIndex() AS INTEGER, A AS INTEGER, B AS INTEGER)
    DIM bestDistance AS _FLOAT: bestDistance = -9999999
    DIM bestIndex AS INTEGER: bestIndex = 0
 
    DIM n AS tVECTOR2d
    DIM nw AS tVECTOR2d
    DIM buT AS tMATRIX2d
    DIM s AS tVECTOR2d
    DIM nn AS tVECTOR2d
    DIM v AS tVECTOR2d
    DIM tv AS tVECTOR2d
    DIM d AS _FLOAT
    DIM i, k AS INTEGER
 
    FOR i = 0 TO body(A).pa.count
        k = body(A).pa.start + i
 
        '// Retrieve a face normal from A
        '// Vec2 n = A->m_normals[i];
        '// Vec2 nw = A->u * n;
        n = p(k).norm
        CALL matrixMultiplyVector(body(A).shape.u, n, nw)
 
 
        '// Transform face normal into B's model space
        '// Mat2 buT = B->u.Transpose( );
        '// n = buT * nw;
        CALL matrixTranspose(body(B).shape.u, buT)
        CALL matrixMultiplyVector(buT, nw, n)
 
        '// Retrieve support point from B along -n
        '// Vec2 s = B->GetSupport( -n );
        CALL vectorNegND(nn, n)
        CALL vectorGetSupport(p(), body(), B, nn, s)
 
        '// Retrieve vertex on face from A, transform into
        '// B's model space
        '// Vec2 v = A->m_vertices[i];
        '// v = A->u * v + A->body->position;
        '// v -= B->body->position;
        '// v = buT * v;
 
        v = p(k).vert
        CALL matrixMultiplyVector(body(A).shape.u, v, tv)
        CALL vectorAddVectorND(v, tv, body(A).position)
 
        CALL vectorSubVector(v, body(B).position)
        CALL matrixMultiplyVector(buT, v, tv)
 
        CALL vectorSubVector(s, tv)
        d = vectorDot(n, s)
 
        IF d > bestDistance THEN
            bestDistance = d
            bestIndex = i
        END IF
 
    NEXT i
 
    faceIndex(0) = bestIndex
 
    collisionPPFindAxisLeastPenetration = bestDistance
END FUNCTION
 
'**********************************************************************************************
'   Shape Creation Ahead
'**********************************************************************************************
 
SUB shapeCreate (sh AS tSHAPE, ty AS INTEGER, radius AS _FLOAT)
    DIM u AS tMATRIX2d
    CALL matrixSetScalar(u, 1, 0, 0, 1)
    sh.ty = ty
    sh.radius = radius
    sh.u = u
    sh.scaleTextureX = 1.0
    sh.scaleTextureY = 1.0
END SUB
 
'**********************************************************************************************
'   Scene Creation Tools ahead
'**********************************************************************************************
 
SUB setBody (body() AS tBODY, Parameter AS INTEGER, Index AS INTEGER, arg1 AS _FLOAT, arg2 AS _FLOAT)
    SELECT CASE Parameter
        CASE cPARAMETER_POSITION:
            CALL vectorSet(body(Index).position, arg1, arg2)
        CASE cPARAMETER_VELOCITY:
            CALL vectorSet(body(Index).velocity, arg1, arg2)
        CASE cPARAMETER_FORCE:
            CALL vectorSet(body(Index).force, arg1, arg2)
        CASE cPARAMETER_ANGULARVELOCITY:
            body(Index).angularVelocity = arg1
        CASE cPARAMETER_TORQUE:
            body(Index).torque = arg1
        CASE cPARAMETER_ORIENT:
            body(Index).orient = arg1
            CALL matrixSetRadians(body(Index).shape.u, body(Index).orient)
        CASE cPARAMETER_STATICFRICTION:
            body(Index).staticFriction = arg1
        CASE cPARAMETER_DYNAMICFRICTION:
            body(Index).dynamicFriction = arg1
        CASE cPARAMETER_COLOR:
            body(Index).c = arg1
        CASE cPARAMETER_VISIBLE:
            body(Index).visible = arg1
        CASE cPARAMETER_STATIC:
            CALL bodySetStatic(body(Index))
        CASE cPARAMETER_TEXTURE:
            body(Index).shape.texture = arg1
        CASE cPARAMETER_FLIPTEXTURE: 'does the texture flip directions when moving left or right
            body(Index).shape.flipTexture = arg1
    END SELECT
END SUB
 
SUB createCircleBody (body() AS tBODY, index AS INTEGER, radius AS _FLOAT)
    DIM shape AS tSHAPE
    CALL shapeCreate(shape, cSHAPE_CIRCLE, radius)
    CALL bodyCreate(body(), index, shape)
    'no vertices have to created for circles
    CALL circleInitialize(body(), index)
    ' Even though circles do not have vertices, they still must be included in the vertices list
    IF index = 0 THEN
        body(index).pa.start = 0
    ELSE
        body(index).pa.start = body(index - 1).pa.start + body(index - 1).pa.count + 1
    END IF
    body(index).pa.count = 1
    body(index).c = _RGB32(255, 255, 255)
END SUB
 
SUB createBoxBodies (p() AS tPOLY, body() AS tBODY, index AS INTEGER, xs AS _FLOAT, ys AS _FLOAT)
    DIM shape AS tSHAPE
    CALL shapeCreate(shape, cSHAPE_POLYGON, 0)
    CALL bodyCreate(body(), index, shape)
    CALL boxCreate(p(), body(), index, xs, ys)
    CALL polygonInitialize(body(), p(), index)
    body(index).c = _RGB32(255, 255, 255)
END SUB
 
SUB createTrapBody (p() AS tPOLY, body() AS tBODY, index AS INTEGER, xs AS _FLOAT, ys AS _FLOAT, yoff1 AS _FLOAT, yoff2 AS _FLOAT)
    DIM shape AS tSHAPE
    CALL shapeCreate(shape, cSHAPE_POLYGON, 0)
    CALL bodyCreate(body(), index, shape)
    CALL trapCreate(p(), body(), index, xs, ys, yoff1, yoff2)
    CALL polygonInitialize(body(), p(), index)
    body(index).c = _RGB32(255, 255, 255)
END SUB
 
 
SUB createBodies (p() AS tPOLY, body() AS tBODY, index AS INTEGER, ty AS INTEGER)
    IF ty = cSHAPE_CIRCLE THEN
        CALL createCircleBody(body(), index, 10 + RND * 20)
    ELSE
        IF ty = cSHAPE_POLYGON THEN
            CALL createBoxBodies(p(), body(), index, 10 + RND * 10, 10 + RND * 10)
        END IF
    END IF
    body(index).c = _RGB32(55 + RND * 200, 55 + RND * 200, 55 + RND * 200)
END SUB
 
 
SUB bodyCreate (body() AS tBODY, index AS INTEGER, shape AS tSHAPE)
    CALL vectorSet(body(index).position, 0, 0)
    CALL vectorSet(body(index).velocity, 0, 0)
    body(index).angularVelocity = 0.0
    body(index).torque = 0.0
    body(index).orient = 0.0 ' impulseRandom_float(-cPI, cPI)
 
    CALL vectorSet(body(index).force, 0, 0)
    body(index).staticFriction = 0.5
    body(index).dynamicFriction = 0.3
    body(index).restitution = 0.2
    body(index).shape = shape
END SUB
 
SUB boxCreate (p() AS tPOLY, body() AS tBODY, index AS INTEGER, sizex AS _FLOAT, sizey AS _FLOAT)
    DIM vertlength AS INTEGER: vertlength = 3
    DIM verts(vertlength) AS tVECTOR2d
 
    CALL vectorSet(verts(0), -sizex, -sizey)
    CALL vectorSet(verts(1), sizex, -sizey)
    CALL vectorSet(verts(2), sizex, sizey)
    CALL vectorSet(verts(3), -sizex, sizey)
 
    CALL vertexSet(p(), body(), index, verts(), vertlength)
END SUB
 
SUB trapCreate (p() AS tPOLY, body() AS tBODY, index AS INTEGER, sizex AS _FLOAT, sizey AS _FLOAT, yOff1 AS _FLOAT, yOff2 AS _FLOAT)
    DIM vertlength AS INTEGER: vertlength = 3
    DIM verts(vertlength) AS tVECTOR2d
 
    CALL vectorSet(verts(0), -sizex, -sizey - yOff2)
    CALL vectorSet(verts(1), sizex, -sizey - yOff1)
    CALL vectorSet(verts(2), sizex, sizey)
    CALL vectorSet(verts(3), -sizex, sizey)
 
    CALL vertexSet(p(), body(), index, verts(), vertlength)
END SUB
 
SUB createTerrianBody (p() AS tPOLY, body() AS tBODY, index AS INTEGER, slices AS INTEGER, sliceWidth AS _FLOAT, nominalHeight AS _FLOAT)
    DIM shape AS tSHAPE
    DIM elevation(slices) AS _FLOAT
 
    DIM AS INTEGER i, j
    FOR j = 0 TO slices
        elevation(j) = RND * 500
    NEXT
 
 
    CALL shapeCreate(shape, cSHAPE_POLYGON, 0)
 
    FOR i = 0 TO slices - 1
        CALL bodyCreate(body(), index + i, shape)
        CALL terrainCreate(p(), body(), index + i, elevation(i), elevation(i + 1), sliceWidth, nominalHeight)
        CALL polygonInitialize(body(), p(), index + i)
        body(index + i).c = _RGB32(255, 255, 255)
        CALL bodySetStatic(body(index + i))
    NEXT i
 
END SUB
 
SUB terrainCreate (p() AS tPOLY, body() AS tBODY, index AS INTEGER, ele1 AS _FLOAT, ele2 AS _FLOAT, sliceWidth AS _FLOAT, nominalHeight AS _FLOAT)
    DIM AS INTEGER vertLength
    vertLength = 3 ' numOfslices + 1
    DIM verts(vertLength) AS tVECTOR2d
 
    CALL vectorSet(verts(0), 0, nominalHeight)
    CALL vectorSet(verts(1), (0) * sliceWidth, -nominalHeight - ele1)
    CALL vectorSet(verts(2), (1) * sliceWidth, -nominalHeight - ele2)
    CALL vectorSet(verts(3), (1) * sliceWidth, nominalHeight)
    CALL vertexSet(p(), body(), index, verts(), vertLength)
END SUB
 
 
 
SUB vShapeCreate (p() AS tPOLY, body() AS tBODY, index AS INTEGER, sizex AS _FLOAT, sizey AS _FLOAT)
    DIM vertlength AS INTEGER: vertlength = 7
    DIM verts(vertlength) AS tVECTOR2d
 
    CALL vectorSet(verts(0), -sizex, -sizey)
    CALL vectorSet(verts(1), sizex, -sizey)
    CALL vectorSet(verts(2), sizex, sizey)
    CALL vectorSet(verts(3), -sizex, sizey)
    CALL vectorSet(verts(4), -sizex, sizey / 2)
    CALL vectorSet(verts(5), sizex / 2, sizey / 2)
    CALL vectorSet(verts(6), sizex / 2, -sizey / 2)
    CALL vectorSet(verts(7), -sizex, sizey / 2)
 
    CALL vertexSet(p(), body(), index, verts(), vertlength)
END SUB
 
SUB vertexSet (p() AS tPOLY, body() AS tBODY, index AS INTEGER, verts() AS tVECTOR2d, vertLength AS INTEGER)
    DIM rightMost AS INTEGER: rightMost = 0
    DIM highestXCoord AS _FLOAT: highestXCoord = verts(0).x
    DIM i AS INTEGER
    DIM x AS _FLOAT
    FOR i = 1 TO vertLength
        x = verts(i).x
        IF x > highestXCoord THEN
            highestXCoord = x
            rightMost = i
        ELSE
            IF x = highestXCoord THEN
                IF verts(i).y < verts(rightMost).y THEN
                    rightMost = i
                END IF
            END IF
        END IF
    NEXT
    DIM hull(cMAXNUMBEROFPOLYGONS) AS INTEGER
    DIM outCount AS INTEGER: outCount = 0
    DIM indexHull AS INTEGER: indexHull = rightMost
    DIM nextHullIndex AS INTEGER
    DIM e1 AS tVECTOR2d
    DIM e2 AS tVECTOR2d
    DIM c AS _FLOAT
    DO
        hull(outCount) = indexHull
        nextHullIndex = 0
        FOR i = 1 TO vertLength
            IF nextHullIndex = indexHull THEN
                nextHullIndex = i
                _CONTINUE
            END IF
            CALL vectorSubVectorND(e1, verts(nextHullIndex), verts(hull(outCount)))
            CALL vectorSubVectorND(e2, verts(i), verts(hull(outCount)))
            c = vectorCross(e1, e2)
            IF c < 0.0 THEN nextHullIndex = i
            IF c = 0.0 AND (vectorLengthSq(e2) > vectorLengthSq(e1)) THEN
                nextHullIndex = i
            END IF
        NEXT
        outCount = outCount + 1
        indexHull = nextHullIndex
        IF nextHullIndex = rightMost THEN
            body(index).pa.count = outCount - 1
            EXIT DO
        END IF
    LOOP
 
    IF index = 0 THEN
        body(index).pa.start = 0
    ELSE
        body(index).pa.start = body(index - 1).pa.start + body(index - 1).pa.count + 1
    END IF
 
    FOR i = 0 TO vertLength
        p(body(index).pa.start + i).vert = verts(hull(i))
    NEXT
 
    DIM face AS tVECTOR2d
    FOR i = 0 TO vertLength
        CALL vectorSubVectorND(face, p(body(index).pa.start + arrayNextIndex(i, body(index).pa.count)).vert, p(body(index).pa.start + i).vert)
        CALL vectorSet(p(body(index).pa.start + i).norm, face.y, -face.x)
        CALL vectorNormalize(p(body(index).pa.start + i).norm)
    NEXT
END SUB
 
FUNCTION arrayNextIndex (i AS INTEGER, count AS INTEGER)
    arrayNextIndex = ((i + 1) MOD (count + 1))
END FUNCTION
 
'**********************************************************************************************
'   Rendering Stuff Ahead
'**********************************************************************************************
 
SUB renderFps
    fpsLast = fps
    fps = 0
END SUB
 
SUB renderBodies (p() AS tPOLY, body() AS tBODY, j() AS tJOINT, hits() AS tHIT, camera AS tCAMERA)
    DIM i AS INTEGER
    DIM hitcount AS INTEGER
    DIM camoffset AS tVECTOR2d
    DIM AS _FLOAT cx, cy, cwx, cwy, ox, oy, owx, owy
 
    FOR i = 0 TO sNUMBEROFBODIES
        'TODO: Put hidden object logic
        'AABB to cut down on rendering objects out of camera view
        cx = camera.position.x
        cy = camera.position.y
        cwx = _WIDTH * (1 / camera.zoom)
        cwy = _HEIGHT * (1 / camera.zoom)
        ox = body(i).position.x - 5000
        oy = body(i).position.y - 5000
        owx = 10000
        owy = 10000
        IF cx < ox + owx AND cx + cwx > ox AND cy < oy + owy AND cy + cwy > oy THEN
 
            IF body(i).shape.ty = cSHAPE_CIRCLE THEN
                IF body(i).shape.texture = 0 THEN
                    CALL renderWireframeCircle(body(), i, camera)
                ELSE
                    CALL renderTexturedCircle(body(), i, camera)
                END IF
            ELSE IF body(i).shape.ty = cSHAPE_POLYGON THEN
                    IF body(i).shape.texture = 0 THEN
                        CALL renderWireframePoly(p(), body(), i, camera)
                    ELSE
                        CALL renderTexturedBox(p(), body(), i, camera)
                    END IF
                END IF
            END IF
        END IF
    NEXT
    IF cRENDER_JOINTS THEN
        FOR i = 1 TO sNUMBEROFJOINTS
            CALL renderJoints(j(i), body(), camera)
        NEXT
    END IF
    IF cRENDER_COLLISIONS THEN
        hitcount = 0
        DO WHILE hits(hitcount).A <> hits(hitcount).B
            CALL vectorSubVectorND(camoffset, hits(hitcount).position, camera.position)
            CIRCLE (camoffset.x, camoffset.y), 5, _RGB(255, 6, 11)
            hitcount = hitcount + 1
        LOOP
    END IF
 
END SUB
 
SUB renderJoints (j AS tJOINT, b() AS tBODY, camera AS tCAMERA)
    DIM b1 AS tBODY: b1 = b(j.body1)
    DIM b2 AS tBODY: b2 = b(j.body2)
    DIM R1 AS tMATRIX2d: R1 = b1.shape.u 'Call matrixSetRadians(R1, b1.orient)
    DIM R2 AS tMATRIX2d: R2 = b2.shape.u ' Call matrixSetRadians(R2, b2.orient)
 
    DIM x1 AS tVECTOR2d: x1 = b1.position
    DIM p1 AS tVECTOR2d: CALL matrixMultiplyVector(R1, j.localAnchor1, p1)
 
    CALL vectorAddVectorND(p1, p1, x1)
 
    DIM x2 AS tVECTOR2d: x2 = b2.position
    DIM p2 AS tVECTOR2d: CALL matrixMultiplyVector(R2, j.localAnchor2, p2)
 
    CALL vectorAddVectorND(p2, p2, x2)
 
    CALL vectorSubVector(p1, camera.position)
    CALL vectorSubVector(x2, camera.position)
 
    'Line (x1.x, x1.y)-(p1.x, p1.y), _RGB(127, 127, 244) 'blue
    LINE (p1.x, p1.y)-(x2.x, x2.y), _RGB(255, 255, 127) 'yellow
    ' Line (x2.x, x2.y)-(p2.x, p2.y), _RGB32(127, 255, 127) 'green
    ' Line (p2.x, p2.y)-(x1.x, x1.y), _RGB(127, 6, 127) 'purple
END SUB
 
SUB renderWireframePoly (p() AS tPOLY, b() AS tBODY, index AS INTEGER, camera AS tCAMERA)
    DIM a AS tVECTOR2d ' dummy vertices
    DIM b AS tVECTOR2d
 
    DIM i, element, element_next AS INTEGER
    FOR i = 0 TO b(index).pa.count
        element = b(index).pa.start + i
        element_next = b(index).pa.start + arrayNextIndex(i, b(index).pa.count) ' wrap around back to first element
        a = p(element).vert
        b = p(element_next).vert
 
        CALL matrixMultiplyVector(b(index).shape.u, a, a)
        CALL matrixMultiplyVector(b(index).shape.u, b, b)
        CALL vectorAddVector(a, b(index).position)
        CALL vectorAddVector(b, b(index).position)
        CALL vectorSubVector(a, camera.position)
        CALL vectorSubVector(b, camera.position)
        CALL vectorMultiplyScalar(a, camera.zoom)
        CALL vectorMultiplyScalar(b, camera.zoom)
        LINE (a.x, a.y)-(b.x, b.y), b(index).c
    NEXT
END SUB
 
SUB renderTexturedBox (p() AS tPOLY, b() AS tBODY, index AS INTEGER, camera AS tCAMERA)
    DIM vert(3) AS tVECTOR2d
    DIM W, H AS INTEGER
    DIM bm AS LONG
    bm = b(index).shape.texture
    W = _WIDTH(bm): H = _HEIGHT(bm)
    DIM i AS INTEGER
    FOR i = 0 TO 3
        vert(i) = p(b(index).pa.start + i).vert
        vert(i).x = vert(i).x + b(index).shape.offsetTextureX
        vert(i).y = vert(i).y + b(index).shape.offsetTextureY
        vert(i).x = vert(i).x * b(index).shape.scaleTextureX
        vert(i).y = vert(i).y * b(index).shape.scaleTextureY
 
        CALL matrixMultiplyVector(b(index).shape.u, vert(i), vert(i))
        CALL vectorAddVector(vert(i), b(index).position)
        CALL vectorSubVector(vert(i), camera.position)
        CALL vectorMultiplyScalar(vert(i), camera.zoom)
    NEXT
    IF b(index).velocity.x > 1 OR b(index).shape.flipTexture = 0 THEN
        _MAPTRIANGLE (0, 0)-(W - 1, 0)-(W - 1, H - 1), bm TO(vert(3).x, vert(3).y)-(vert(0).x, vert(0).y)-(vert(1).x, vert(1).y)
        _MAPTRIANGLE (0, 0)-(0, H - 1)-(W - 1, H - 1), bm TO(vert(3).x, vert(3).y)-(vert(2).x, vert(2).y)-(vert(1).x, vert(1).y)
    ELSE
        _MAPTRIANGLE (0, 0)-(W - 1, 0)-(W - 1, H - 1), bm TO(vert(0).x, vert(0).y)-(vert(3).x, vert(3).y)-(vert(2).x, vert(2).y)
        _MAPTRIANGLE (0, 0)-(0, H - 1)-(W - 1, H - 1), bm TO(vert(0).x, vert(0).y)-(vert(1).x, vert(1).y)-(vert(2).x, vert(2).y)
    END IF
 
END SUB
 
SUB renderWireframeCircle (b() AS tBODY, index AS INTEGER, camera AS tCAMERA)
    DIM tv AS tVECTOR2d: tv = b(index).position
    CALL vectorSubVector(tv, camera.position)
    CALL vectorMultiplyScalar(tv, camera.zoom)
    CIRCLE (tv.x, tv.y), b(index).shape.radius, b(index).c
    LINE (tv.x, tv.y)-(tv.x + COS(b(index).orient) * b(index).shape.radius, tv.y + SIN(b(index).orient) * b(index).shape.radius), b(index).c
END SUB
 
SUB renderTexturedCircle (b() AS tBODY, index AS INTEGER, camera AS tCAMERA)
    DIM vert(3) AS tVECTOR2d
    DIM W, H AS INTEGER
    DIM bm AS LONG
    bm = b(index).shape.texture
    W = _WIDTH(bm): H = _HEIGHT(bm)
    CALL vectorSet(vert(0), -b(index).shape.radius, -b(index).shape.radius)
    CALL vectorSet(vert(1), -b(index).shape.radius, b(index).shape.radius)
    CALL vectorSet(vert(2), b(index).shape.radius, b(index).shape.radius)
    CALL vectorSet(vert(3), b(index).shape.radius, -b(index).shape.radius)
    DIM i AS INTEGER
    FOR i = 0 TO 3
        CALL matrixMultiplyVector(b(index).shape.u, vert(i), vert(i))
        CALL vectorAddVector(vert(i), b(index).position)
        CALL vectorSubVector(vert(i), camera.position)
        CALL vectorMultiplyScalar(vert(i), camera.zoom)
    NEXT
    _MAPTRIANGLE (0, 0)-(0, H - 1)-(W - 1, H - 1), bm TO(vert(0).x, vert(0).y)-(vert(1).x, vert(1).y)-(vert(2).x, vert(2).y)
    _MAPTRIANGLE (0, 0)-(W - 1, 0)-(W - 1, H - 1), bm TO(vert(0).x, vert(0).y)-(vert(3).x, vert(3).y)-(vert(2).x, vert(2).y)
 
END SUB
SUB polygonSetOrient (b AS tBODY, radians AS _FLOAT)
    CALL matrixSetRadians(b.shape.u, radians)
END SUB
 
'**********************************************************************************************
'   Object initialization Ahead
'**********************************************************************************************
 
SUB circleInitialize (b() AS tBODY, index AS INTEGER)
    CALL circleComputeMass(b(), index, 1.0)
END SUB
 
SUB circleComputeMass (b() AS tBODY, index AS INTEGER, density AS _FLOAT)
    b(index).mass = cPI * b(index).shape.radius * b(index).shape.radius * density
    IF b(index).mass <> 0 THEN
        b(index).invMass = 1.0 / b(index).mass
    ELSE
        b(index).invMass = 0.0
    END IF
 
    b(index).inertia = b(index).mass * b(index).shape.radius * b(index).shape.radius
 
    IF b(index).inertia <> 0 THEN
        b(index).invInertia = 1.0 / b(index).inertia
    ELSE
        b(index).invInertia = 0.0
    END IF
END SUB
 
SUB polygonInitialize (body() AS tBODY, p() AS tPOLY, index AS INTEGER)
    CALL polygonComputeMass(body(), p(), index, 1.0)
END SUB
 
SUB polygonComputeMass (b() AS tBODY, p() AS tPOLY, index AS INTEGER, density AS _FLOAT)
    DIM c AS tVECTOR2d ' centroid
    DIM p1 AS tVECTOR2d
    DIM p2 AS tVECTOR2d
    DIM area AS _FLOAT
    DIM I AS _FLOAT
    DIM k_inv3 AS _FLOAT
    DIM D AS _FLOAT
    DIM triangleArea AS _FLOAT
    DIM weight AS _FLOAT
    DIM intx2 AS _FLOAT
    DIM inty2 AS _FLOAT
    DIM ii AS INTEGER
 
    k_inv3 = 1.0 / 3.0
 
    FOR ii = 0 TO b(index).pa.count
        p1 = p(b(index).pa.start + ii).vert
        p2 = p(b(index).pa.start + arrayNextIndex(ii, b(index).pa.count)).vert
        D = vectorCross(p1, p2)
        triangleArea = .5 * D
        area = area + triangleArea
        weight = triangleArea * k_inv3
        CALL vectorAddVectorScalar(c, p1, weight)
        CALL vectorAddVectorScalar(c, p2, weight)
        intx2 = p1.x * p1.x + p2.x * p1.x + p2.x * p2.x
        inty2 = p1.y * p1.y + p2.y * p1.y + p2.y * p2.y
        I = I + (0.25 * k_inv3 * D) * (intx2 + inty2)
    NEXT ii
 
    CALL vectorMultiplyScalar(c, 1.0 / area)
 
    FOR ii = 0 TO b(index).pa.count
        CALL vectorSubVector(p(b(index).pa.start + ii).vert, c)
    NEXT
 
    b(index).mass = density * area
    IF b(index).mass <> 0.0 THEN
        b(index).invMass = 1.0 / b(index).mass
    ELSE
        b(index).invMass = 0.0
    END IF
 
    b(index).inertia = I * density
    IF b(index).inertia <> 0 THEN
        b(index).invInertia = 1.0 / b(index).inertia
    ELSE
        b(index).invInertia = 0.0
    END IF
END SUB
'**********************************************************************************************
'   Joint Stuff Ahead
'**********************************************************************************************
SUB jointSet (j AS tJOINT, body() AS tBODY, b1 AS INTEGER, b2 AS INTEGER, x AS _FLOAT, y AS _FLOAT)
    DIM anchor AS tVECTOR2d
    CALL vectorSet(anchor, x, y)
    DIM Rot1 AS tMATRIX2d: Rot1 = body(b1).shape.u 'Call matrixSetRadians(Rot1, body(b1).orient)
    DIM Rot2 AS tMATRIX2d: Rot2 = body(b2).shape.u 'Call matrixSetRadians(Rot2, body(b2).orient)
    DIM Rot1T AS tMATRIX2d: CALL matrixTranspose(Rot1, Rot1T)
    DIM Rot2T AS tMATRIX2d: CALL matrixTranspose(Rot2, Rot2T)
    DIM tv AS tVECTOR2d
 
    j.body1 = b1
    j.body2 = b2
 
    CALL vectorSubVectorND(tv, anchor, body(b1).position)
    CALL matrixMultiplyVector(Rot1T, tv, j.localAnchor1)
 
    CALL vectorSubVectorND(tv, anchor, body(b2).position)
    CALL matrixMultiplyVector(Rot2T, tv, j.localAnchor2)
 
    CALL vectorSet(j.P, 0, 0)
 
    j.softness = 0.001
    j.biasFactor = 100
 
END SUB
 
SUB jointPrestep (j AS tJOINT, body() AS tBODY, inv_dt AS _FLOAT)
    DIM Rot1 AS tMATRIX2d: Rot1 = body(j.body1).shape.u 'Call matrixSetRadians(Rot1, body(j.body1).orient)
    DIM Rot2 AS tMATRIX2d: Rot2 = body(j.body2).shape.u 'Call matrixSetRadians(Rot2, body(j.body2).orient)
    DIM b1invMass AS _FLOAT
    DIM b2invMass AS _FLOAT
 
    DIM b1invInertia AS _FLOAT
    DIM b2invInertia AS _FLOAT
 
    CALL matrixMultiplyVector(Rot1, j.localAnchor1, j.r1)
    CALL matrixMultiplyVector(Rot2, j.localAnchor2, j.r2)
 
    b1invMass = body(j.body1).invMass
    b2invMass = body(j.body2).invMass
 
    b1invInertia = body(j.body1).invInertia
    b2invInertia = body(j.body2).invInertia
 
    DIM K1 AS tMATRIX2d
    Call matrixSetScalar(K1, b1invMass + b2invMass, 0,_
                                                 0, b1invMass + b2invMass)
    DIM K2 AS tMATRIX2d
    Call matrixSetScalar(K2, b1invInertia * j.r1.y * j.r1.y, -b1invInertia * j.r1.x * j.r1.y,_
                            -b1invInertia * j.r1.x * j.r1.y,  b1invInertia * j.r1.x * j.r1.x)
 
    DIM K3 AS tMATRIX2d
    Call matrixSetScalar(K3,  b2invInertia * j.r2.y * j.r2.y, - b2invInertia * j.r2.x * j.r2.y,_
                             -b2invInertia * j.r2.x * j.r2.y,   b2invInertia * j.r2.x * j.r2.x)
 
    DIM K AS tMATRIX2d
    CALL matrixAddMatrix(K1, K2, K)
    CALL matrixAddMatrix(K3, K, K)
    K.m00 = K.m00 + j.softness
    K.m11 = K.m11 + j.softness
    CALL matrixInvert(K, j.M)
 
    DIM p1 AS tVECTOR2d: CALL vectorAddVectorND(p1, body(j.body1).position, j.r1)
    DIM p2 AS tVECTOR2d: CALL vectorAddVectorND(p2, body(j.body2).position, j.r2)
    DIM dp AS tVECTOR2d: CALL vectorSubVectorND(dp, p2, p1)
 
    CALL vectorMultiplyScalarND(j.bias, dp, -j.biasFactor * inv_dt)
    'Call vectorSet(j.bias, 0, 0)
    CALL vectorSet(j.P, 0, 0)
END SUB
 
SUB jointApplyImpulse (j AS tJOINT, body() AS tBODY)
    DIM dv AS tVECTOR2d
    DIM impulse AS tVECTOR2d
    DIM cross1 AS tVECTOR2d
    DIM cross2 AS tVECTOR2d
    DIM tv AS tVECTOR2d
 
 
    'Vec2 dv = body2->velocity + Cross(body2->angularVelocity, r2) - body1->velocity - Cross(body1->angularVelocity, r1);
    CALL vectorCrossScalar(cross2, j.r2, body(j.body2).angularVelocity)
    CALL vectorCrossScalar(cross1, j.r1, body(j.body1).angularVelocity)
    CALL vectorAddVectorND(dv, body(j.body2).velocity, cross2)
    CALL vectorSubVectorND(dv, dv, body(j.body1).velocity)
    CALL vectorSubVectorND(dv, dv, cross1)
 
    ' impulse = M * (bias - dv - softness * P);
    CALL vectorMultiplyScalarND(tv, j.P, j.softness)
    CALL vectorSubVectorND(impulse, j.bias, dv)
    CALL vectorSubVectorND(impulse, impulse, tv)
    CALL matrixMultiplyVector(j.M, impulse, impulse)
 
    ' body1->velocity -= body1->invMass * impulse;
 
    CALL vectorMultiplyScalarND(tv, impulse, body(j.body1).invMass)
    CALL vectorSubVectorND(body(j.body1).velocity, body(j.body1).velocity, tv)
 
    ' body1->angularVelocity -= body1->invI * Cross(r1, impulse);
    DIM crossScalar AS _FLOAT
    crossScalar = vectorCross(j.r1, impulse)
    body(j.body1).angularVelocity = body(j.body1).angularVelocity - body(j.body1).invInertia * crossScalar
 
    CALL vectorMultiplyScalarND(tv, impulse, body(j.body2).invMass)
    CALL vectorAddVectorND(body(j.body2).velocity, body(j.body2).velocity, tv)
 
    crossScalar = vectorCross(j.r2, impulse)
    body(j.body2).angularVelocity = body(j.body2).angularVelocity + body(j.body2).invInertia * crossScalar
 
    CALL vectorAddVectorND(j.P, j.P, impulse)
 
END SUB
 
'**********************************************************************************************
'   Vector Math Ahead
'**********************************************************************************************
 
SUB vectorSet (v AS tVECTOR2d, x AS _FLOAT, y AS _FLOAT)
    v.x = x
    v.y = y
END SUB
 
SUB vectorSetVector (o AS tVECTOR2d, v AS tVECTOR2d)
    o.x = v.x
    o.y = v.y
END SUB
 
SUB vectorNeg (v AS tVECTOR2d)
    v.x = -v.x
    v.y = -v.y
END SUB
 
SUB vectorNegND (o AS tVECTOR2d, v AS tVECTOR2d)
    o.x = -v.x
    o.y = -v.y
END SUB
 
SUB vectorMultiplyScalar (v AS tVECTOR2d, s AS _FLOAT)
    v.x = v.x * s
    v.y = v.y * s
END SUB
 
SUB vectorMultiplyScalarND (o AS tVECTOR2d, v AS tVECTOR2d, s AS _FLOAT)
    o.x = v.x * s
    o.y = v.y * s
END SUB
 
SUB vectorDivideScalar (v AS tVECTOR2d, s AS _FLOAT)
    v.x = v.x / s
    v.y = v.y / s
END SUB
 
SUB vectorDivideScalarND (o AS tVECTOR2d, v AS tVECTOR2d, s AS _FLOAT)
    o.x = v.x / s
    o.y = v.y / s
END SUB
 
SUB vectorAddScalar (v AS tVECTOR2d, s AS _FLOAT)
    v.x = v.x + s
    v.y = v.y + s
END SUB
 
SUB vectorAddScalarND (o AS tVECTOR2d, v AS tVECTOR2d, s AS _FLOAT)
    o.x = v.x + s
    o.y = v.y + s
END SUB
 
SUB vectorMultiplyVector (v AS tVECTOR2d, m AS tVECTOR2d)
    v.x = v.x * m.x
    v.y = v.y * m.y
END SUB
 
SUB vectorMultiplyVectorND (o AS tVECTOR2d, v AS tVECTOR2d, m AS tVECTOR2d)
    o.x = v.x * m.x
    o.y = v.y * m.y
END SUB
 
SUB vectorDivideVector (v AS tVECTOR2d, m AS tVECTOR2d)
    v.x = v.x / m.x
    v.y = v.y / m.y
END SUB
 
SUB vectorAddVector (v AS tVECTOR2d, m AS tVECTOR2d)
    v.x = v.x + m.x
    v.y = v.y + m.y
END SUB
 
SUB vectorAddVectorND (o AS tVECTOR2d, v AS tVECTOR2d, m AS tVECTOR2d)
    o.x = v.x + m.x
    o.y = v.y + m.y
END SUB
 
SUB vectorAddVectorScalar (v AS tVECTOR2d, m AS tVECTOR2d, s AS _FLOAT)
    v.x = v.x + m.x * s
    v.y = v.y + m.y * s
END SUB
 
SUB vectorAddVectorScalarND (o AS tVECTOR2d, v AS tVECTOR2d, m AS tVECTOR2d, s AS _FLOAT)
    o.x = v.x + m.x * s
    o.y = v.y + m.y * s
END SUB
 
SUB vectorSubVector (v AS tVECTOR2d, m AS tVECTOR2d)
    v.x = v.x - m.x
    v.y = v.y - m.y
END SUB
 
SUB vectorSubVectorND (o AS tVECTOR2d, v AS tVECTOR2d, m AS tVECTOR2d)
    o.x = v.x - m.x
    o.y = v.y - m.y
END SUB
 
FUNCTION vectorLengthSq (v AS tVECTOR2d)
    vectorLengthSq = v.x * v.x + v.y * v.y
END FUNCTION
 
FUNCTION vectorLength (v AS tVECTOR2d)
    vectorLength = SQR(vectorLengthSq(v))
END FUNCTION
 
SUB vectorRotate (v AS tVECTOR2d, radians AS _FLOAT)
    DIM c, s, xp, yp AS _FLOAT
    c = COS(radians)
    s = SIN(radians)
    xp = v.x * c - v.y * s
    yp = v.x * s + v.y * c
    v.x = xp
    v.y = yp
END SUB
 
SUB vectorNormalize (v AS tVECTOR2d)
    DIM lenSQ, invLen AS _FLOAT
    lenSQ = vectorLengthSq(v)
    IF lenSQ > cEPSILON_SQ THEN
        invLen = 1.0 / SQR(lenSQ)
        v.x = v.x * invLen
        v.y = v.y * invLen
    END IF
END SUB
 
SUB vectorMin (a AS tVECTOR2d, b AS tVECTOR2d, o AS tVECTOR2d)
    o.x = scalarMin(a.x, b.x)
    o.y = scalarMin(a.y, b.y)
END SUB
 
SUB vectorMax (a AS tVECTOR2d, b AS tVECTOR2d, o AS tVECTOR2d)
    o.x = scalarMax(a.x, b.x)
    o.y = scalarMax(a.y, b.y)
END SUB
 
FUNCTION vectorDot (a AS tVECTOR2d, b AS tVECTOR2d)
    vectorDot = a.x * b.x + a.y * b.y
END FUNCTION
 
FUNCTION vectorSqDist (a AS tVECTOR2d, b AS tVECTOR2d)
    DIM dx, dy AS _FLOAT
    dx = b.x - a.x
    dy = b.y - a.y
    vectorSqDist = dx * dx + dy * dy
END FUNCTION
 
FUNCTION vectorDistance (a AS tVECTOR2d, b AS tVECTOR2d)
    vectorDistance = SQR(vectorSqDist(a, b))
END FUNCTION
 
FUNCTION vectorCross (a AS tVECTOR2d, b AS tVECTOR2d)
    vectorCross = a.x * b.y - a.y * b.x
END FUNCTION
 
SUB vectorCrossScalar (o AS tVECTOR2d, v AS tVECTOR2d, a AS _FLOAT)
    o.x = v.y * -a
    o.y = v.x * a
END SUB
 
FUNCTION vectorArea (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d)
    vectorArea = (((b.x - a.x) * (c.y - a.y)) - ((c.x - a.x) * (b.y - a.y)))
END FUNCTION
 
FUNCTION vectorLeft (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d)
    vectorLeft = vectorArea(a, b, c) > 0
END FUNCTION
 
FUNCTION vectorLeftOn (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d)
    vectorLeftOn = vectorArea(a, b, c) >= 0
END FUNCTION
 
FUNCTION vectorRight (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d)
    vectorRight = vectorArea(a, b, c) < 0
END FUNCTION
 
FUNCTION vectorRightOn (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d)
    vectorRightOn = vectorArea(a, b, c) <= 0
END FUNCTION
 
FUNCTION vectorCollinear (a AS tVECTOR2d, b AS tVECTOR2d, c AS tVECTOR2d, thresholdAngle AS _FLOAT)
    IF (thresholdAngle = 0) THEN
        vectorCollinear = (vectorArea(a, b, c) = 0)
    ELSE
        DIM ab AS tVECTOR2d
        DIM bc AS tVECTOR2d
        DIM dot AS _FLOAT
        DIM magA AS _FLOAT
        DIM magB AS _FLOAT
        DIM angle AS _FLOAT
 
        ab.x = b.x - a.x
        ab.y = b.y - a.y
        bc.x = c.x - b.x
        bc.y = c.y - b.y
 
        dot = ab.x * bc.x + ab.y * bc.y
        magA = SQR(ab.x * ab.x + ab.y * ab.y)
        magB = SQR(bc.x * bc.x + bc.y * bc.y)
        angle = _ACOS(dot / (magA * magB))
        vectorCollinear = angle < thresholdAngle
    END IF
END FUNCTION
 
SUB vectorGetSupport (p() AS tPOLY, body() AS tBODY, index AS INTEGER, dir AS tVECTOR2d, bestVertex AS tVECTOR2d)
    DIM bestProjection AS _FLOAT
    DIM v AS tVECTOR2d
    DIM projection AS _FLOAT
    DIM i AS INTEGER
    bestVertex.x = -9999999
    bestVertex.y = -9999999
    bestProjection = -9999999
 
    FOR i = 0 TO body(index).pa.count
        v = p(i + body(index).pa.start).vert
        projection = vectorDot(v, dir)
        IF projection > bestProjection THEN
            bestVertex = v
            bestProjection = projection
        END IF
    NEXT
END SUB
 
'**********************************************************************************************
'   Matrix Stuff Ahead
'**********************************************************************************************
 
SUB matrixSetRadians (m AS tMATRIX2d, radians AS _FLOAT)
    DIM c AS _FLOAT
    DIM s AS _FLOAT
    c = COS(radians)
    s = SIN(radians)
    m.m00 = c
    m.m01 = -s
    m.m10 = s
    m.m11 = c
END SUB
 
SUB matrixSetScalar (m AS tMATRIX2d, a AS _FLOAT, b AS _FLOAT, c AS _FLOAT, d AS _FLOAT)
    m.m00 = a
    m.m01 = b
    m.m10 = c
    m.m11 = d
END SUB
 
SUB matrixAbs (m AS tMATRIX2d, o AS tMATRIX2d)
    o.m00 = ABS(m.m00)
    o.m01 = ABS(m.m01)
    o.m10 = ABS(m.m10)
    o.m11 = ABS(m.m11)
END SUB
 
SUB matrixGetAxisX (m AS tMATRIX2d, o AS tVECTOR2d)
    o.x = m.m00
    o.y = m.m10
END SUB
 
SUB matrixGetAxisY (m AS tMATRIX2d, o AS tVECTOR2d)
    o.x = m.m01
    o.y = m.m11
END SUB
 
SUB matrixTransposeI (m AS tMATRIX2d)
    SWAP m.m01, m.m10
END SUB
 
SUB matrixTranspose (m AS tMATRIX2d, o AS tMATRIX2d)
    DIM tm AS tMATRIX2d
    tm.m00 = m.m00
    tm.m01 = m.m10
    tm.m10 = m.m01
    tm.m11 = m.m11
    o = tm
END SUB
 
SUB matrixInvert (m AS tMATRIX2d, o AS tMATRIX2d)
    DIM a, b, c, d, det AS _FLOAT
    DIM tm AS tMATRIX2d
 
    a = m.m00: b = m.m01: c = m.m10: d = m.m11
    det = a * d - b * c
    IF det = 0 THEN EXIT SUB
 
    det = 1 / det
    tm.m00 = det * d: tm.m01 = -det * b
    tm.m10 = -det * c: tm.m11 = det * a
    o = tm
END SUB
 
SUB matrixMultiplyVector (m AS tMATRIX2d, v AS tVECTOR2d, o AS tVECTOR2d)
    DIM t AS tVECTOR2d
    t.x = m.m00 * v.x + m.m01 * v.y
    t.y = m.m10 * v.x + m.m11 * v.y
    o = t
END SUB
 
SUB matrixAddMatrix (m AS tMATRIX2d, x AS tMATRIX2d, o AS tMATRIX2d)
    o.m00 = m.m00 + x.m00
    o.m01 = m.m01 + x.m01
    o.m10 = m.m10 + x.m10
    o.m11 = m.m11 + x.m11
END SUB
 
SUB matrixMultiplyMatrix (m AS tMATRIX2d, x AS tMATRIX2d, o AS tMATRIX2d)
    o.m00 = m.m00 * x.m00 + m.m01 * x.m10
    o.m01 = m.m00 * x.m01 + m.m01 * x.m11
    o.m10 = m.m10 * x.m00 + m.m11 * x.m10
    o.m11 = m.m10 * x.m01 + m.m11 * x.m11
END SUB
 
'**********************************************************************************************
'   Mostly Unused Stuff Ahead
'**********************************************************************************************
 
SUB polygonMakeCCW (obj AS tTRIANGLE)
    IF vectorLeft(obj.a, obj.b, obj.c) = 0 THEN
        SWAP obj.a, obj.c
    END IF
END SUB
 
FUNCTION polygonIsReflex (t AS tTRIANGLE)
    polygonIsReflex = vectorRight(t.a, t.b, t.c)
END FUNCTION
 
FUNCTION scalarMin (a AS _FLOAT, b AS _FLOAT)
    IF a < b THEN
        scalarMin = a
    ELSE
        scalarMin = b
    END IF
END FUNCTION
 
FUNCTION scalarMax (a AS _FLOAT, b AS _FLOAT)
    IF a > b THEN
        scalarMax = a
    ELSE
        scalarMax = b
    END IF
END FUNCTION
 
SUB lineIntersection (l1 AS tLINE2d, l2 AS tLINE2d, o AS tVECTOR2d)
    DIM a1, b1, c1, a2, b2, c2, det AS _FLOAT
    o.x = 0
    o.y = 0
    a1 = l1.b.y - l1.a.y
    b1 = l1.a.x - l1.b.x
    c1 = a1 * l1.a.x + b1 * l1.a.y
    a2 = l2.b.y - l2.a.y
    b2 = l2.a.x - l2.b.x
    c2 = a2 * l2.a.x + b2 * l2.a.y
    det = a1 * b2 - a2 * b1
 
    IF INT(det * cPRECISION) <> 0 THEN
        o.x = (b2 * c1 - b1 * c2) / det
        o.y = (a1 * c2 - a2 * c1) / det
    END IF
END SUB
 
FUNCTION lineSegmentsIntersect (l1 AS tLINE2d, l2 AS tLINE2d)
    DIM dx, dy, da, db, s, t AS _FLOAT
    dx = l1.b.x - l1.a.x
    dy = l1.b.y - l1.a.y
    da = l2.b.x - l2.a.x
    db = l2.b.y - l2.a.y
    IF da * dy - db * dx = 0 THEN
        lineSegmentsIntersect = 0
    ELSE
        s = (dx * (l2.a.y - l1.a.y) + dy * (l1.a.x - l2.a.x)) / (da * dy - db * dx)
        t = (da * (l1.a.y - l2.a.y) + db * (l2.a.x - l1.a.x)) / (db * dx - da * dy)
        lineSegmentsIntersect = (s >= 0 AND s <= 1 AND t >= 0 AND t <= 1)
    END IF
END FUNCTION
 
'**********************************************************************************************
'   Impulse Specific Math Ahead
'**********************************************************************************************
 
FUNCTION impulseEqual (a AS _FLOAT, b AS _FLOAT)
    impulseEqual = ABS(a - b) <= cEPSILON
END FUNCTION
 
FUNCTION impulseClamp (min AS _FLOAT, max AS _FLOAT, a AS _FLOAT)
    IF a < min THEN
        impulseClamp = min
    ELSE IF a > max THEN
            impulseClamp = max
        ELSE
            impulseClamp = a
        END IF
    END IF
END FUNCTION
 
FUNCTION impulseRound (a AS _FLOAT)
    impulseRound = INT(a + 0.5)
END FUNCTION
 
FUNCTION impulseRandom_float (min AS _FLOAT, max AS _FLOAT)
    impulseRandom_float = ((max - min) * RND + min)
END FUNCTION
 
FUNCTION impulseRandomInteger (min AS INTEGER, max AS INTEGER)
    impulseRandomInteger = INT((max - min) * RND + min)
END FUNCTION
 
FUNCTION impulseGT (a AS _FLOAT, b AS _FLOAT)
    impulseGT = (a >= b * cBIAS_RELATIVE + a * cBIAS_ABSOLUTE)
END FUNCTION
 
'**********************************************************************************************
'   Troubleshooting Tools
'**********************************************************************************************
 
SUB printMatrix (u AS tMATRIX2d, n AS INTEGER)
    PRINT "---------------------------"
    PRINT n; " u:"; u.m00; "|"; u.m10
    PRINT "       "; u.m10; "|"; u.m11
    DO
    LOOP UNTIL _KEYHIT = 27
END SUB
 
 
'**********************************************************************************************
'   Generate Bitmap
'**********************************************************************************************
 
SUB generateBitmap (bm() AS LONG)
    DIM cl AS _UNSIGNED LONG
    DIM rleCount, y, x, i AS INTEGER
    'TODO: Do a pallete pass and color pixels based on pallete
 
    'CarBody  - License CC0 - GameArt2D.com
    DATA 1147,0,4278190083,4278261626,4278193217
    DATA 4278190081,4278190088,4278190084,4278190082
    DATA 4278190087,4278394763,4278788960,4278255873
    DATA 4278913804,4279308561,4279111182,4279505940
    DATA 4279374359,4278255875,4278460556,4279847562
    DATA 4278718994,4278584851,4278979598,4279045399
    DATA 4279374355,4281282351,4281019179,4280887593
    DATA 4279703323,4278387467,4278255879,4279637535
    DATA 4278519049,4280840112,4279248424,4279242773
    DATA 4279834913,4280492843,4279176979,4279703320
    DATA 4280427044,4280953386,4281019183,4280756009
    DATA 4281413948,4281611327,4278394506,4281832407
    DATA 4279843904,4279111198,4278979597,4280229663
    DATA 4280098077,4281677109,4281545523,4281611316
    DATA 4281216558,4280756007,4281479730,4282071867
    DATA 4283256142,4280953389,4278394505,4282031069
    DATA 4281035381,4278190337,4278255880,4280821804
    DATA 4289177511,4286677377,4281084972,4280295456
    DATA 4282927176,4283848281,4280887600,4278263177
    DATA 4281636569,4282623666,4278256387,4281282357
    DATA 4289835441,4291743438,4291940817,4285690482
    DATA 4281150765,4280558628,4281413937,4282400832
    DATA 4284572001,4289769650,4279176977,4278197641
    DATA 4280585429,4284014834,4278322438,4283453530
    DATA 4291546059,4284045657,4281742902,4280821800
    DATA 4281874488,4282532418,4283256141,4287466893
    DATA 4289835448,4279600595,4284350207,4279182124
    DATA 4278913810,4281151030,4280953651,4281150774
    DATA 4278848014,4284440418,4291480266,4292269782
    DATA 4293388263,4293585642,4290295992,4283387727
    DATA 4282137660,4283321934,4283914071,4293914607
    DATA 4284703592,4278616275,4283627263,4281035640
    DATA 4281545531,4292927970,4293125348,4293914864
    DATA 4282071870,4284506210,4291282887,4293059298
    DATA 4293322470,4293388521,4290953923,4283519313
    DATA 4280361249,4288980132,4293191142,4290625218
    DATA 4278222035,4282707199,4283020486,4289046185
    DATA 4291283144,4290690750,4291348937,4281282356
    DATA 4278255877,4281479734,4291019458,4292796383
    DATA 4293519071,4294567868,4289241230,4281940281
    DATA 4284177244,4292596671,4294963139,4283781713
    DATA 4278222291,4281065727,4284608508,4278190085
    DATA 4288848804,4289901234,4290559164,4280953391
    DATA 4280032293,4288059029,4292203991,4294764211
    DATA 4294961325,4293908901,4285557857,4283124555
    DATA 4283190348,4284308312,4292856989,4294961069
    DATA 4292856987,4278387463,4279425023,4284543487
    DATA 4279580737,4279241999,4288124824,4289967027
    DATA 4290624957,4278190340,4278718003,4278717745
    DATA 4278652208,4280034126,4284245130,4290360507
    DATA 4291805619,4291871931,4292135101,4285427590
    DATA 4281810530,4280757842,4281086807,4280823636
    DATA 4282600048,4282600052,4286216071,4291805625
    DATA 4291609023,4290622387,4281217360,4278454826
    DATA 4278519325,4278395024,4278222546,4278245375
    DATA 4284413951,4281631370,4286545792,4279641736
    DATA 4281422079,4281356287,4281290495,4281224702
    DATA 4281027325,4280961789,4280961788,4281158910
    DATA 4281224703,4281027324,4281356030,4281420796
    DATA 4281157367,4281425144,4281360610,4279180406
    DATA 4280889705,4289112500,4289572532,4289769907
    DATA 4289769649,4290361785,4280887599,4278394785
    DATA 4278397137,4278397135,4278396879,4278396880
    DATA 4278528724,4278397397,4278331344,4279514827
    DATA 4280632006,4282274741,4285100955,4287597957
    DATA 4287400838,4287137928,4287203721,4283914074
    DATA 4278584840,4278328991,4278331342,4278265551
    DATA 4278199249,4278594250,4282800035,4285691528
    DATA 4286742912,4282861384,4278328992,4278331599
    DATA 4278331598,4278331340,4278331339,4278331338
    DATA 4278331341,4278331600,4278331601,4278331345
    DATA 4278331343,4278200015,4278660043,4280828342
    DATA 4282401355,4278262149,4278263446,4278263445
    DATA 4278263706,4278263967,4278329508,4278329770
    DATA 4278330289,4278330554,4278330817,4278331077
    DATA 4278198981,4278193483,4278261618,4278263705
    DATA 4278263708,4278263970,4278330549,4278397394
    DATA 4278790076,4278526120,4278191946,4278198428
    DATA 4280294018,4279770248,4278198430,4278263703
    DATA 4278329763,4278330294,4278331081,4278726368
    DATA 4279318781,4278661111,4285892299,4291613155
    DATA 4279638579,4278198171,4286843961,4291690496
    DATA 4291428611,4284354901,4278198170,4278329497
    DATA 4278329498,4278263447,4278528195,4279384575
    DATA 4279252991,4279186131,4294835967,4294309625
    DATA 4285295994,4278263704,4278264490,4278264758
    DATA 4278265020,4278265023,4278265022,4278265015
    DATA 4278329761,4285206603,4281800561,4279508107
    DATA 4286712890,4291756032,4291887104,4286581819
    DATA 4279382196,4280961230,4283986144,4291811320
    DATA 4291679736,4283131624,4278331346,4279252724
    DATA 4279252986,4278200026,4283393738,4293980401
    DATA 4293585641,4287796382,4278387720,4278197913
    DATA 4279250862,4279449040,4278660313,4278923753
    DATA 4279121139,4279121395,4278924011,4278660316
    DATA 4278397136,4278330288,4284027480,4292214784
    DATA 4291821568,4289856533,4290118674,4292083712
    DATA 4288022827,4278200017,4293191931,4289444345
    DATA 4291942651,4294967295,4287537661,4278990077
    DATA 4278528985,4278197963,4286287062,4294704124
    DATA 4289243568,4279243028,4278196378,4284380115
    DATA 4294309886,4292600319,4281357055,4279187193
    DATA 4278857957,4278594779,4278594522,4278594781
    DATA 4278660574,4278396084,4283503453,4286712633
    DATA 4282979428,4278525846,4279049873,4292149248
    DATA 4287957291,4278330552,4278397140,4281553368
    DATA 4279317713,4280829909,4287274217,4285498595
    DATA 4279317972,4278857961,4278923755,4278265548
    DATA 4278197705,4287799518,4293519848,4290034132
    DATA 4279572257,4278197916,4279185605,4294375422
    DATA 4289707260,4279120866,4278397138,4278264231
    DATA 4278787731,4288415782,4292018176,4290053140
    DATA 4282783079,4280490623,4278330553,4278198989
    DATA 4278199501,4278197447,4288588513,4293651433
    DATA 4290100967,4279640406,4278263707,4278198964
    DATA 4279647210,4292731903,4289181179,4279120596
    DATA 4278199757,4278263709,4278263964,4278198431
    DATA 4288088621,4291494149,4290839309,4286123587
    DATA 4288743462,4292345856,4291952640,4292870144
    DATA 4283832441,4278200530,4278197704,4287865309
    DATA 4293651176,4289969379,4279643540,4278594780
    DATA 4279252987,4278398203,4278198741,4278330029
    DATA 4278330028,4278330293,4278264235,4278195300
    DATA 4278195561,4278195820,4279112542,4280815435
    DATA 4281077576,4278392166,4278457446,4285007388
    DATA 4287496192,4287692800,4284941852,4281535812
    DATA 4287103235,4287365120,4284484929,4278200271
    DATA 4278330550,4278331080,4278197964,4286352850
    DATA 4293454054,4289180125,4279317192,4278261361
    DATA 4278396349,4279055603,4278594778,4278196610
    DATA 4278391654,4284352035,4287430656,4285924114
    DATA 4278195309,4278784866,4285793043,4287561728
    DATA 4287168515,4281142856,4278195569,4283566124
    DATA 4287823872,4286906894,4280098983,4278198991
    DATA 4283327426,4294440951,4294769657,4287667666
    DATA 4278660566,4278191126,4278261362,4278594523
    DATA 4278989549,4278329240,4278591105,4278656638
    DATA 4278460560,4278197917,4278264488,4278265807
    DATA 4281739161,4290256932,4290977052,4290780702
    DATA 4290911516,4288226363,4280235670,4280890511
    DATA 4284689251,4283510641,4279973786,4279842714
    DATA 4282986359,4291370263,4285932130,4278396877
    DATA 4278264492,4278263702,4278525844,4278787708
    DATA 4278722175,4278329239,4278198172,4278330547
    DATA 4278199759,4279448250,4293256677,4294309364
    DATA 4286221793,4278199503,4278192955,4278262146
    DATA 4278990065,4278330814,4278787702,4279900702
    DATA 4279900696,4279834904,4280496228,4278460824
    DATA 4278198957,4280557998,4289922331,4291493890
    DATA 4284354899,4278198429,4279639178,4290380559
    DATA 4291035659,4282195091,4278200532,4280561513
    DATA 4281611315,4279900697,4279966233,4278918763
    DATA 4278330816,4278197442,4288259022,4292073188
    DATA 4281422050,4278331604,4278259542,4278195856
    DATA 4279055871,4278792434,4278199499,4278264227
    DATA 4278198174,4279245905,4279966229,4279900698
    DATA 4282992708,4282665318,4278526617,4278199746
    DATA 4286909504,4289790472,4290772992,4290576384
    DATA 4290510848,4289135376,4281276010,4278197390
    DATA 4279572862,4284419653,4289921287,4288939548
    DATA 4278462415,4278265539,4278592409,4282139754
    DATA 4283124296,4280492835,4279834905,4279376968
    DATA 4278199221,4280566472,4278792700,4278200283
    DATA 4278193764,4278716426,4282663492,4285036746
    DATA 4284907774,4285170163,4285432802,4285498852
    DATA 4282013127,4278197144,4278984034,4279900699
    DATA 4284440154,4280560725,4278198439,4278195825
    DATA 4278784867,4285989906,4287627264,4287889408
    DATA 4288217088,4288086016,4283830356,4278200794
    DATA 4280101477,4284242772,4279115099,4278197400
    DATA 4281289407,4285630437,4285367267,4285301488
    DATA 4284907775,4285170416,4284903852,4284440168
    DATA 4282532426,4278782218,4278650631,4290559169
    DATA 4294901502,4294572532,4294572534,4294966773
    DATA 4280828586,4280559931,4280953385,4280163870
    DATA 4283585106,4280098073,4278787698,4278198434
    DATA 4278330551,4278194794,4278194535,4280748871
    DATA 4286906369,4287299584,4286447622,4281469503
    DATA 4281862203,4286185482,4281145999,4278200265
    DATA 4278263968,4278656644,4280294939,4283387726
    DATA 4282664004,4280032284,4279769112,4279834648
    DATA 4279638308,4278328454,4279513505,4294967286
    DATA 4294309361,4294309105,4294901241,4294572535
    DATA 4291348684,4284308835,4293783021,4294111986
    DATA 4291349725,4278195605,4279642224,4281676849
    DATA 4280624421,4283058762,4279966491,4279638832
    DATA 4278199230,4280960174,4280960427,4283776908
    DATA 4291374389,4292225835,4292291370,4289671496
    DATA 4281811874,4280894892,4281484454,4289737031
    DATA 4292553511,4279446214,4278199483,4278198176
    DATA 4279573567,4279966489,4282335039,4283716692
    DATA 4281611053,4279773290,4278197656,4290165975
    DATA 4293585639,4293651435,4293980400,4294177779
    DATA 4285624694,4290690752,4294638330,4293848553
    DATA 4286680774,4278197139,4280692306,4281676850
    DATA 4282006074,4279835170,4278722172,4278264754
    DATA 4279442571,4288612131,4291100934,4282586472
    DATA 4278198691,4285206345,4291297542,4278200792
    DATA 4278264752,4278525837,4279900701,4283979864
    DATA 4281611057,4281086020,4278197912,4286220483
    DATA 4293914345,4293717228,4292598749,4293125093
    DATA 4294111722,4283327156,4278197134,4279177247
    DATA 4279308311,4279242776,4279374361,4280690220
    DATA 4282598211,4283650899,4280427042,4279049569
    DATA 4278199215,4284028269,4291166208,4290117632
    DATA 4289986560,4288087062,4278262662,4278393733
    DATA 4283502667,4286580775,4285467444,4288611088
    DATA 4288153122,4278200789,4278264491,4278918508
    DATA 4279900700,4283782485,4282729797,4281413938
    DATA 4281150770,4281019186,4281216043,4278394770
    DATA 4283064243,4294177258,4292006611,4293454056
    DATA 4294308843,4281222826,4278196869,4279111184
    DATA 4281413939,4282861383,4279245903,4278198695
    DATA 4280884628,4288151552,4287758336,4287954944
    DATA 4285858837,4278916196,4278195824,4284221223
    DATA 4285270581,4278200531,4278198696,4279245910
    DATA 4279703319,4283848278,4281874489,4278255874
    DATA 4278255616,4278261358,4281025706,4292335575
    DATA 4288980136,4292861919,4294440428,4279907748
    DATA 4278195827,4279769116,4282203453,4284177243
    DATA 4279311430,4278528192,4281544301,4281609583
    DATA 4280561787,4279644548,4279972225,4282592100
    DATA 4286652981,4283967572,4285211974,4288879900
    DATA 4289076505,4285669459,4278200272,4278198694
    DATA 4279442504,4284440415,4282992969,4282269246
    DATA 4279900704,4278260059,4280631209,4293322471
    DATA 4293454055,4292796126,4290493373,4283848285
    DATA 4292138196,4293124568,4279841954,4278195308
    DATA 4278387460,4280756011,4284308829,4279376965
    DATA 4278331076,4278197655,4278721939,4282062446
    DATA 4278918289,4278394262,4285795395,4292411392
    DATA 4287695677,4279508037,4284111450,4283453520
    DATA 4281150768,4278259796,4280368294,4292006612
    DATA 4292203988,4292006610,4284900973,4288585380
    DATA 4291809231,4292664018,4280894124,4278196089
    DATA 4278650634,4282795590,4282795594,4279311433
    DATA 4278265287,4278329237,4278329496,4278394775
    DATA 4278656916,4278263960,4278198426,4283176034
    DATA 4291690498,4288219704,4278200018,4278460847
    DATA 4279442507,4281677116,4284243036,4278848016
    DATA 4278260575,4280499886,4292203729,4291875023
    DATA 4292203989,4288980138,4278519046,4278782220
    DATA 4286743170,4287203722,4280887075,4279769118
    DATA 4279966499,4278782223,4281282354,4279900438
    DATA 4279965969,4281676586,4281742382,4281611052
    DATA 4281676845,4281676589,4281480496,4281022005
    DATA 4281152819,4281150241,4279900176,4279900439
    DATA 4280821805,4278453253,4279308569,4280295461
    DATA 4280097560,4287269515,4286808963,4284637799
    DATA 4278584841,4281216562,4284177245,4279111189
    DATA 4282466625,4278979596,4281348145,4279111188
    DATA 4283387732,4278782224,4281808695,4281808702
    DATA 4281479731,4278584838,4281150773,4279242772
    DATA 4280163874,4284374622,4279571740,4281874497
    DATA 4282729805,4284243037,4280492840,4278584844
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    'Wheel - License CC0 - GameArt2D.com
 
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    'head - License CC0 - GameArt2D.com
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    DATA 137,5,138,0,149,0,93,10,133,0,134,0,132,0,137,4
    DATA 132,0,146,0,133,0,93,8,133,0,134,0,132,0,137,6
    DATA 132,0,131,0,140,0,93,8,149,0,142,0,137,7,142,0
    DATA 128,0,125,0,93,7,124,0,146,0,132,0,137,6,132,0
    DATA 134,0,133,0,93,6,133,0,134,0,132,0,137,9,142,0
    DATA 149,0,93,6,149,0,142,0,137,9,135,0,129,0,125,0
    DATA 93,5,136,0,131,0,132,0,137,8,132,0,134,0,133,0
    DATA 93,4,125,0,134,0,132,0,137,11,142,0,148,0,93,4
    DATA 149,0,142,0,137,11,138,0,129,0,93,4,124,0,131,0
    DATA 132,0,137,10,132,0,134,0,133,0,93,3,134,0,132,0
    DATA 137,13,142,0,149,0,93,2,148,0,142,0,137,13,135,0
    DATA 129,0,93,2,124,0,131,0,132,0,137,12,132,0,146,0
    DATA 125,0,93,1,129,0,132,0,137,15,138,0,140,0,93,0
    DATA 141,0,142,0,137,15,135,0,129,0,93,0,124,0,131,0
    DATA 132,0,137,14,132,0,134,0,93,0,150,0,132,0,137,17
    DATA 135,0,150,0,135,0,137,17,132,0,155,0,147,0,132,0
    DATA 137,16,132,0,127,0,132,0,137,19,132,0,137,19,132,1
    DATA 137,18,132,0
 
    ' Crate
    DATA 423,4282460194,4283248930,4281212195,4283511331
    DATA 4284759589,4285219623,4285876779,4286205228
    DATA 4286336558,4286271022,4286139436,4285810986
    DATA 4284825381,4282000418,4286204972,4287519283
    DATA 4289359165,4290016323,4290147908,4289884994
    DATA 4289227836,4287322161,4286139435,4285350952
    DATA 4285876778,4287453746,4286008107,4287979317
    DATA 4289819200,4289950529,4289753407,4287716660
    DATA 4287387954,4286271021,4289490750,4287913781
    DATA 4285482537,4288176438,4289556285,4289622078
    DATA 4287519538,4282329110,4285811240,4289359164
    DATA 4285219878,4282526231,4288176694,4287782196
    DATA 4285548072,4288110646,4288702009,4285942571
    DATA 4290082372,4289424957,4282854681,4278190080
    DATA 4281409553,4288702265,4287913780,4280949518
    DATA 4284234528,4285613865,4288307767,4289227580
    DATA 4288307511,4285942315,4286468397,4281672210
    DATA 4284891428,4289030715,4284300321,4281738003
    DATA 4287322417,4287519539,4287979573,4289162044
    DATA 4288241975,4287716404,4286073900,4287847989
    DATA 4289293628,4288504887,4289030458,4289162043
    DATA 4288899130,4289424956,4287650867,4288570680
    DATA 4286599725,4288767801,4287847988,4288833338
    DATA 4288504888,4289030714,4287585075,4288045109
    DATA 4288439351,4288899386,4289884993,4282000660
    DATA 4279569671,4284037407,4289424700,4285416744
    DATA 4285351208,4285285416,4285548073,4288110902
    DATA 4283183387,4279307014,4283249179,4281803539
    DATA 4279438342,4283906079,4289096251,4288439352
    DATA 4288964922,4289490751,4287453492,4284693795
    DATA 4282854422,4282722837,4282657301,4282394387
    DATA 4282788629,4282920214,4282723093,4282460180
    DATA 4282591509,4282985751,4282854167,4284891172
    DATA 4287387955,4289950785,4289622080,4283117594
    DATA 4279306757,4288308022,4286139690,4289030459
    DATA 4288701753,4288505143,4287125296,4288570936
    DATA 4290148165,4287519541,4285022501,4284365346
    DATA 4285679401,4286270764,4285285159,4284628259
    DATA 4285088294,4286533677,4285153831,4285088038
    DATA 4287650869,4290147909,4290082115,4287191088
    DATA 4289490493,4285679658,4290279237,4290016578
    DATA 4288373559,4286139947,4288702264,4284168992
    DATA 4279898377,4283643421,4289687871,4290213701
    DATA 4287782198,4285416745,4285942316,4286205230
    DATA 4286073901,4284956710,4286533679,4287256370
    DATA 4286402351,4286073645,4285810987,4287519284
    DATA 4286402094,4285876780,4287847990,4290082114
    DATA 4286074154,4280029449,4282657560,4288373815
    DATA 4278386945,4282657816,4289687614,4290279494
    DATA 4287387956,4285482281,4287519540,4290213702
    DATA 4285482791,4278321408,4288308023,4290147910
    DATA 4285942572,4290016579,4286731054,4287716659
    DATA 4289490749,4290279238,4287585077,4286204973
    DATA 4288636473,4287716406,4286993713,4290213445
    DATA 4288570424,4288044854,4285614122,4286993712
    DATA 4287453748,4286336557,4285745194,4287585076
    DATA 4288570681,4286665006,4284628258,4288439095
    DATA 4286796592,4285285160,4286796591,4286008108
    DATA 4284299808,4287256369,4286139437,4287453747
    DATA 4290082373,4283971358,4283051287,4286008364
    DATA 4283773980,4282263058,4283905566,4286928175
    DATA 4288636217,4288504632,4288176182,4286665262
    DATA 4283642652,4282328595,4284102688,4283774237
    DATA 4283840029,4286927919,4288767545,4290082371
    DATA 4287519285,4285482536,4286730799,4283708444
    DATA 4284102687,4285810731,4286205229,4285745195
    DATA 4287125040,4288439096,4289687870,4286862127
    DATA 4285876523,4283445787,4282131474,4284431137
    DATA 4287125041,4290147907,4286927920,4283971102
    DATA 4284234016,4283314202,4282197266,4290082117
    DATA 4288176439,4283773981,4282000145,4284825378
    DATA 4286665007,4285613866,4284102686,4289556286
    DATA 4289424958,4287190833,4286862128,4286665263
    DATA 4284234014,4289491006,4283379995,4287321906
    DATA 4287059249,4286533678,4282394388,4285088295
    DATA 4282131730,4290345030,4284036894,4284037151
    DATA 4283839773,4284168223,4290345031,4283905565
    DATA 4283577116,4288373303,4290147651,4289359422
    DATA 4282460179,4284036895,4284365601,4289096250
    DATA 4286796336,4290016322,4285876522,4290148164
    DATA 4285088039,4286993456,4285153830,4286468143
    DATA 4282263059,4283511579,4283511323,4287059248
    DATA 4290213444,4283708701,4285745451,4283642908
    DATA 4282197522,4284365345,4283839774,4283840030
    DATA 4289950786,4282525716,4283905309,4283511324
    DATA 4284168222,4283379994,4290016580,4287059505
    DATA 4289293629,4290213700,4282525972,4288505144
    DATA 4282000401,4284299807,4286665517,4283051802
    DATA 4286731310,4283708445,4284891174,4284102430
    DATA 4286993455,4283183131,4285351463,4289227835
    DATA 4282723352,4286270765,4284760099,4281015055
    DATA 4285548583,4281935124,4285285926,4284234529
    DATA 4288768057,4286205739,4283380508,4287256625
    DATA 4282328851,4284168479,4283314715,4286993967
    DATA 4280949262,4278584322,4288044853,4286927921
    DATA 4286270766,4287190834,4283117080,4284890916
    DATA 4287650868,4289425215,4282394902,4278452993
    DATA 4282197781,4284103199,4280226571,4285679912
    DATA 4286073899,4286139692,4287913525,4280095242
    DATA 4285220134,4288045110,4287125554,4288768059
    DATA 4288439353,4287322419,4290082116,4284891684
    DATA 4280226826,4283446044,4289096507,4282920473
    DATA 4280292363,4286008362,4289753408,4281672211
    DATA 4288242230,4281212176,4285877033,4287979318
    DATA 4287256626,4285154087,4288833593,4288176183
    DATA 4284759845,4281277987,4280423717,0,1
    DATA 1,61,2,0,3,0,4,0,5,0,6,0,7,0,8,0
    DATA 9,0,8,3,9,0,8,46,10,0,11,0,5,0,12,0
    DATA 13,0,3,0,5,0,14,0,15,0,16,0,17,0,18,51
    DATA 19,0,20,0,21,0,22,0,23,0,13,0,3,0,24,0
    DATA 25,0,26,0,27,0,28,0,29,51,30,0,31,0,26,0
    DATA 32,0,6,0,13,0,3,0,33,0,34,0,35,0,36,0
    DATA 37,0,38,0,39,0,38,0,40,0,41,0,42,0,38,0
    DATA 39,37,43,0,44,0,45,0,46,0,39,1,38,0,47,0
    DATA 48,0,49,0,50,0,51,0,13,0,3,0,8,0,52,0
    DATA 29,0,49,0,36,0,47,0,53,0,39,0,54,0,55,0
    DATA 56,0,57,0,39,37,58,0,59,0,55,0,60,0,39,0
    DATA 43,0,15,0,61,0,62,0,63,0,64,0,65,0,13,0
    DATA 3,0,9,0,18,0,29,0,38,0,31,0,65,0,47,0
    DATA 43,0,66,0,67,0,68,0,53,0,39,37,69,0,70,0
    DATA 71,0,72,0,43,0,73,0,26,0,74,0,38,0,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,0
    DATA 53,0,77,0,78,0,79,0,80,0,81,0,82,0,83,39
    DATA 84,0,57,0,85,0,86,0,22,0,35,0,53,0,39,0
    DATA 75,0,76,0,65,0,13,0,3,0,8,0,18,0,29,0
    DATA 87,0,88,0,89,0,90,0,6,0,47,0,91,0,92,41
    DATA 93,0,94,0,24,0,95,0,96,0,88,0,97,0,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,98,0,99,0
    DATA 100,0,101,0,102,0,31,0,103,0,104,0,105,5,104,0
    DATA 106,27,23,0,105,5,103,0,23,0,107,0,20,0,108,0
    DATA 109,0,110,0,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,98,0,111,0,112,0,113,0,114,0,82,0,103,0
    DATA 115,0,116,3,75,0,117,0,118,0,119,0,120,0,121,3
    DATA 122,0,123,0,124,0,125,0,126,0,121,5,122,0,127,0
    DATA 128,0,129,0,121,4,130,0,131,0,132,0,69,0,116,4
    DATA 27,0,106,0,133,0,134,0,135,0,136,0,135,0,75,0
    DATA 76,0,65,0,13,0,3,0,9,0,18,0,29,0,137,0
    DATA 138,0,89,0,139,0,140,0,23,0,116,0,38,0,141,0
    DATA 142,0,143,0,39,0,18,0,144,0,145,0,146,0,5,0
    DATA 23,2,105,0,147,0,148,0,149,0,106,0,23,5,150,0
    DATA 151,0,152,0,153,0,106,0,23,2,154,0,155,0,156,0
    DATA 157,0,158,0,39,0,83,0,159,0,95,0,160,0,92,0
    DATA 161,0,162,0,163,0,164,0,165,0,166,0,75,0,76,0
    DATA 65,0,13,0,3,0,8,0,18,0,29,0,39,2,139,0
    DATA 140,0,23,0,116,0,83,0,167,0,168,0,169,0,39,0
    DATA 170,0,18,0,171,0,172,0,173,0,174,0,175,1,176,0
    DATA 177,0,178,0,179,0,180,0,175,5,181,0,105,0,182,0
    DATA 183,0,184,0,175,1,185,0,173,0,186,0,171,0,187,0
    DATA 39,1,188,0,189,0,190,0,191,0,92,0,161,0,162,0
    DATA 163,0,39,2,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,39,2,139,0,140,0,23,0,116,0,83,0
    DATA 108,0,192,0,193,0,39,1,194,0,18,0,195,0,196,0
    DATA 173,0,174,0,175,0,176,0,177,0,178,0,179,0,180,0
    DATA 175,5,181,0,105,0,182,0,183,0,184,0,175,0,185,0
    DATA 197,0,198,0,199,0,163,0,39,2,200,0,201,0,56,0
    DATA 46,0,92,0,161,0,162,0,163,0,39,2,75,0,76,0
    DATA 65,0,13,0,3,0,8,0,18,0,29,0,39,2,139,0
    DATA 140,0,23,0,116,0,38,0,202,0,88,0,164,0,39,3
    DATA 18,0,203,0,196,0,103,0,204,0,176,0,177,0,178,0
    DATA 179,0,180,0,175,5,181,0,105,0,182,0,183,0,184,0
    DATA 174,0,173,0,183,0,157,0,205,0,39,3,97,0,206,0
    DATA 207,0,53,0,92,0,161,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,23,0,97,0,208,0,39,7,18,0,209,0
    DATA 210,0,106,0,185,0,177,0,178,0,179,0,180,0,175,5
    DATA 181,0,105,0,182,0,183,0,211,0,36,0,156,0,199,0
    DATA 205,0,39,6,38,0,102,0,115,0,161,0,162,0,163,0
    DATA 39,2,75,0,76,0,65,0,13,0,3,0,8,0,18,0
    DATA 29,0,39,2,139,0,140,0,23,0,212,0,91,0,53,0
    DATA 39,6,194,0,18,0,157,0,213,0,103,0,177,0,178,0
    DATA 179,0,180,0,175,5,181,0,105,0,182,0,214,0,61,0
    DATA 172,0,215,0,158,0,39,5,38,1,43,0,216,0,217,0
    DATA 218,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,103,0
    DATA 219,0,92,0,89,0,53,0,39,6,170,0,18,0,215,0
    DATA 220,0,155,0,221,0,179,0,180,0,175,5,181,0,105,0
    DATA 36,0,222,0,223,0,171,0,158,0,39,6,38,0,43,0
    DATA 224,0,76,0,225,0,222,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,48,0,226,0,219,0,227,0,57,0,160,0
    DATA 39,6,194,0,18,0,203,0,132,0,161,0,228,0,180,0
    DATA 175,5,181,0,229,0,152,0,183,0,157,0,205,0,39,7
    DATA 85,0,216,0,76,0,230,0,151,0,231,0,162,0,163,0
    DATA 39,2,75,0,76,0,65,0,13,0,3,0,8,0,18,0
    DATA 29,0,39,2,139,0,140,0,48,0,121,0,232,0,233,0
    DATA 164,0,50,0,38,0,39,7,18,0,203,0,118,0,222,0
    DATA 234,1,175,3,234,0,174,0,150,0,235,0,236,0,158,0
    DATA 39,6,38,1,216,0,76,0,219,0,237,0,238,0,239,0
    DATA 162,0,163,0,39,2,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,18,0,29,0,39,2,139,0,140,0,106,0,240,0
    DATA 241,0,242,0,243,0,76,0,244,0,53,0,39,7,18,0
    DATA 209,0,213,0,106,0,174,0,175,3,174,0,36,0,186,0
    DATA 209,0,158,0,39,6,38,0,102,0,245,0,246,0,247,0
    DATA 248,0,249,0,250,0,10,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,182,0,251,0,127,0,252,0,253,0
    DATA 227,0,254,0,53,0,39,7,255,0,157,0,256,0,36,0
    DATA 174,0,234,0,175,0,174,0,257,0,156,0,215,0,158,0
    DATA 39,5,38,1,43,0,244,0,76,0,258,0,259,0,127,0
    DATA 260,0,261,0,262,0,162,0,163,0,39,2,75,0,76,0
    DATA 65,0,13,0,3,0,8,0,18,0,29,0,39,2,139,0
    DATA 140,0,61,0,234,0,263,0,248,0,123,0,251,0,264,0
    DATA 265,0,254,0,53,0,39,6,266,0,255,0,157,0,183,0
    DATA 103,0,174,0,185,0,103,0,198,0,171,0,158,0,194,0
    DATA 39,5,38,0,43,0,244,0,62,0,267,0,242,0,127,0
    DATA 237,0,268,0,181,0,262,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,234,0,175,0,222,0,269,0,270,0
    DATA 271,0,272,0,227,0,50,0,160,0,39,6,194,0,273,0
    DATA 203,0,196,0,229,0,23,0,183,0,157,0,158,0,194,0
    DATA 39,6,85,0,87,0,76,0,274,0,275,0,249,0,276,0
    DATA 182,0,175,0,181,0,262,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,234,0,175,1,173,0,277,0,278,0
    DATA 232,0,219,0,62,0,224,0,38,0,39,7,158,0,279,0
    DATA 198,0,186,0,199,0,158,0,39,6,38,0,160,0,92,0
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    DATA 76,0,212,0,53,0,39,7,287,0,288,0,209,0,158,0
    DATA 39,6,38,0,102,0,87,0,246,0,247,0,248,0,278,0
    DATA 251,0,289,0,290,0,175,1,181,0,262,0,162,0,163,0
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    DATA 29,0,39,2,139,0,140,0,61,0,234,0,175,1,285,0
    DATA 154,0,291,0,292,0,127,0,242,0,253,0,227,0,50,0
    DATA 53,0,39,5,85,0,293,0,171,0,158,0,39,6,38,0
    DATA 43,0,244,0,76,0,258,0,248,0,127,0,294,0,150,0
    DATA 295,0,290,0,175,1,181,0,262,0,162,0,163,0,39,2
    DATA 75,0,76,0,65,0,13,0,3,0,8,0,18,0,29,0
    DATA 39,2,139,0,140,0,61,0,234,0,175,1,285,0,154,0
    DATA 296,0,297,0,248,0,298,0,242,0,289,0,265,0,50,0
    DATA 53,0,39,3,85,0,34,0,195,0,18,0,194,0,39,5
    DATA 287,0,16,0,244,0,62,0,274,0,281,0,123,0,242,0
    DATA 299,0,197,0,295,0,290,0,175,0,234,0,181,0,262,0
    DATA 162,0,163,0,39,2,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,18,0,29,0,39,2,139,0,140,0,61,0,234,0
    DATA 175,1,285,0,154,0,296,1,182,0,281,0,300,0,232,0
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    DATA 310,0,39,7,53,0,244,0,280,0,247,0,248,0,249,0
    DATA 242,0,176,0,175,1,197,1,295,0,290,0,175,1,181,0
    DATA 262,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,61,0
    DATA 234,0,175,1,285,0,154,0,296,1,175,2,182,0,248,0
    DATA 127,0,260,0,25,0,311,0,162,0,18,0,194,0,39,6
    DATA 53,0,50,0,309,0,272,0,242,0,312,0,252,0,182,0
    DATA 175,2,197,1,295,0,290,0,175,1,181,0,262,0,162,0
    DATA 163,0,39,2,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,39,2,139,0,140,0,61,0,234,0,175,1
    DATA 285,0,154,0,296,1,175,3,263,0,313,0,314,0,186,0
    DATA 195,0,310,0,194,0,39,6,53,0,212,0,92,0,116,0
    DATA 15,0,276,0,260,0,182,0,175,2,234,0,197,1,295,0
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    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,234,0,175,1,285,0,154,0,296,1
    DATA 175,3,174,0,23,0,220,0,209,0,310,0,194,0,39,6
    DATA 38,0,244,0,164,0,82,0,39,0,157,0,132,0,5,0
    DATA 174,0,175,3,197,1,295,0,290,0,175,0,234,0,181,0
    DATA 262,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,61,0
    DATA 234,0,175,1,285,0,154,0,296,1,175,1,234,0,174,0
    DATA 36,0,210,0,157,0,310,0,39,7,38,0,244,0,309,0
    DATA 82,0,160,0,39,0,163,0,157,0,183,0,197,0,174,0
    DATA 234,0,175,1,197,1,295,0,290,0,175,1,181,0,262,0
    DATA 162,0,163,0,39,2,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,18,0,29,0,39,2,139,0,140,0,61,0,234,0
    DATA 175,1,285,0,154,0,296,1,175,1,231,0,106,0,156,0
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    DATA 39,2,158,0,157,0,210,0,106,0,231,0,175,1,197,1
    DATA 295,0,290,0,175,1,181,0,262,0,162,0,163,0,39,2
    DATA 75,0,76,0,65,0,13,0,3,0,8,0,18,0,29,0
    DATA 39,2,139,0,140,0,61,0,234,0,175,1,285,0,154,0
    DATA 296,1,175,0,185,0,173,0,186,0,171,0,310,0,194,0
    DATA 39,6,53,0,50,0,245,0,114,0,38,0,39,4,158,0
    DATA 157,0,213,0,197,0,174,0,175,0,197,1,295,0,290,0
    DATA 175,0,234,0,181,0,262,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,234,0,175,1,285,0,154,0,296,1
    DATA 185,0,103,0,183,0,209,0,310,0,194,0,39,6,53,0
    DATA 50,0,92,0,315,0,160,0,39,5,194,0,158,0,157,0
    DATA 118,0,103,0,174,0,197,1,295,0,290,0,175,1,181,0
    DATA 262,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,61,0
    DATA 234,0,175,1,285,0,154,0,296,0,316,0,103,0,183,0
    DATA 157,0,273,0,194,0,39,6,38,0,244,0,309,0,116,0
    DATA 114,0,38,0,39,7,317,0,236,0,196,0,173,0,229,0
    DATA 197,0,295,0,290,0,175,0,234,0,181,0,262,0,162,0
    DATA 163,0,39,2,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,39,2,139,0,140,0,61,0,234,0,175,1
    DATA 285,0,154,0,258,0,318,0,223,0,144,0,319,0,39,7
    DATA 38,0,244,0,76,0,272,0,21,0,309,0,216,0,38,0
    DATA 287,0,39,6,158,0,236,0,118,0,320,0,197,0,179,0
    DATA 290,0,175,1,181,0,262,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,61,0,234,0,175,1,285,0,155,0,161,0
    DATA 172,0,195,0,273,0,39,7,53,0,244,0,280,0,247,0
    DATA 242,0,260,0,243,0,62,0,216,0,16,0,287,0,39,6
    DATA 317,0,157,0,213,0,103,0,321,0,290,0,175,1,181,0
    DATA 262,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,61,0
    DATA 234,0,175,1,36,0,322,0,156,0,171,0,18,0,170,0
    DATA 39,6,53,0,254,0,62,0,230,0,248,0,278,0,249,0
    DATA 242,0,219,0,227,0,244,0,43,0,287,0,39,6,205,0
    DATA 236,0,256,0,318,0,323,0,175,0,234,0,181,0,262,0
    DATA 162,0,163,0,39,2,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,18,0,29,0,39,2,139,0,140,0,61,0,234,0
    DATA 175,0,185,0,23,0,235,0,195,0,18,0,170,0,39,6
    DATA 53,0,254,0,62,0,230,0,242,0,324,0,325,0,326,0
    DATA 298,0,260,0,327,0,227,0,244,0,43,0,38,0,39,6
    DATA 205,0,157,0,220,0,106,0,174,0,175,0,181,0,262,0
    DATA 162,0,163,0,39,2,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,18,0,29,0,39,2,139,0,140,0,61,0,234,0
    DATA 174,0,103,0,183,0,157,0,328,0,194,0,39,6,38,0
    DATA 50,0,62,0,274,0,313,0,300,0,329,0,182,0,330,0
    DATA 331,0,332,0,333,0,272,0,164,0,216,0,85,0,39,7
    DATA 205,0,236,0,196,0,173,0,231,0,181,0,262,0,162,0
    DATA 163,0,39,2,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,39,2,139,0,140,0,61,0,268,0,36,0
    DATA 172,0,195,0,18,0,39,7,208,0,244,0,246,0,258,0
    DATA 334,0,300,0,242,0,176,0,175,1,176,0,335,0,300,0
    DATA 275,0,253,0,64,0,265,0,85,0,38,0,39,6,336,0
    DATA 199,0,213,0,36,0,268,0,262,0,162,0,163,0,39,2
    DATA 75,0,76,0,65,0,13,0,3,0,8,0,18,0,29,0
    DATA 39,2,139,0,140,0,48,0,36,0,156,0,195,0,18,0
    DATA 39,7,53,0,50,0,76,0,247,0,259,0,337,0,338,0
    DATA 231,0,175,3,181,0,251,0,324,0,334,0,253,0,62,0
    DATA 216,0,43,0,38,0,39,6,317,0,157,0,256,0,36,0
    DATA 78,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,103,0
    DATA 235,0,162,0,18,0,170,0,39,6,53,0,89,0,62,0
    DATA 230,0,339,0,127,0,340,0,174,0,175,5,263,0,341,0
    DATA 298,0,302,0,219,0,164,0,87,0,43,0,38,0,39,6
    DATA 205,0,342,0,343,0,161,0,162,0,163,0,39,2,75,0
    DATA 76,0,65,0,13,0,3,0,8,0,18,0,29,0,39,2
    DATA 139,0,140,0,23,0,344,0,345,0,170,0,39,6,53,0
    DATA 254,0,62,0,274,0,335,0,300,0,302,0,284,0,180,0
    DATA 175,5,181,0,177,0,277,0,346,0,260,0,272,0,227,0
    DATA 87,0,43,0,38,0,39,6,336,0,347,0,161,0,162,0
    DATA 163,0,39,2,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,39,2,139,0,140,0,23,0,69,0,194,0
    DATA 39,6,38,0,50,0,62,0,267,0,313,0,348,0,277,0
    DATA 7,0,179,0,180,0,175,5,181,0,105,0,36,0,349,0
    DATA 278,0,232,0,327,0,164,0,92,0,160,0,39,7,92,0
    DATA 161,0,162,0,163,0,39,2,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,39,2,139,0,140,0,23,0
    DATA 116,0,208,0,350,0,351,0,352,0,39,2,208,0,254,0
    DATA 246,0,258,0,281,0,300,0,353,0,354,0,178,0,179,0
    DATA 180,0,175,5,181,0,105,0,182,0,132,0,355,0,278,0
    DATA 302,0,356,0,64,0,245,0,85,0,38,0,39,1,37,0
    DATA 357,0,358,0,359,0,92,0,161,0,162,0,163,0,39,2
    DATA 75,0,76,0,65,0,13,0,3,0,8,0,18,0,29,0
    DATA 39,2,139,0,140,0,23,0,116,1,360,0,55,0,71,0
    DATA 39,1,53,0,254,0,76,0,247,0,248,0,249,0,248,0
    DATA 185,0,177,0,178,0,179,0,180,0,175,5,181,0,105,0
    DATA 182,0,183,0,361,0,259,0,123,0,242,0,253,0,62,0
    DATA 216,0,43,0,38,0,39,0,362,0,55,0,363,0,90,0
    DATA 92,0,161,0,162,0,163,0,39,2,75,0,76,0,65,0
    DATA 13,0,3,0,8,0,18,0,29,0,39,2,139,0,140,0
    DATA 23,0,116,0,43,0,364,0,365,0,366,0,39,0,53,0
    DATA 89,0,62,0,219,0,248,0,123,0,331,0,222,0,176,0
    DATA 177,0,178,0,179,0,180,0,175,5,181,0,105,0,182,0
    DATA 183,0,184,0,263,0,259,0,337,0,242,0,289,0,164,0
    DATA 216,0,80,0,38,0,159,0,99,0,367,0,368,0,92,0
    DATA 161,0,162,0,163,0,38,0,39,1,75,0,76,0,65,0
    DATA 13,0,3,0,8,0,18,0,29,0,369,0,370,0,371,0
    DATA 139,0,140,0,23,0,116,0,38,0,80,0,143,0,43,0
    DATA 38,0,116,0,164,0,230,0,237,0,278,0,251,0,263,0
    DATA 175,0,176,0,177,0,178,0,179,0,180,0,175,3,234,0
    DATA 175,0,181,0,105,0,182,0,183,0,184,0,175,0,263,0
    DATA 304,0,372,0,373,0,219,0,227,0,92,0,43,0,160,0
    DATA 57,0,69,0,38,0,92,0,161,0,162,0,317,0,88,0
    DATA 374,0,375,0,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,98,0,376,0,377,0,135,0,114,0,69,0,103,0
    DATA 378,0,92,4,37,0,247,0,151,0,129,0,252,0,263,0
    DATA 176,1,231,0,154,0,221,0,379,0,380,0,176,5,231,0
    DATA 173,0,182,0,381,0,361,0,176,1,330,0,307,0,382,0
    DATA 383,0,230,0,37,0,115,0,92,3,384,0,106,0,163,0
    DATA 385,0,386,0,387,0,388,0,75,0,76,0,65,0,13,0
    DATA 3,0,8,0,18,0,29,0,389,0,390,0,391,0,43,0
    DATA 73,0,23,0,106,0,148,5,222,0,26,1,392,0,10,4
    DATA 393,0,7,0,393,0,10,8,7,0,393,0,10,2,392,0
    DATA 26,1,161,0,148,5,36,0,105,0,394,0,53,0,362,0
    DATA 395,0,396,0,75,0,76,0,65,0,13,0,3,0,8,0
    DATA 18,0,29,0,38,0,160,0,43,0,86,0,24,0,397,0
    DATA 336,0,301,41,310,0,35,0,11,0,79,0,16,0,160,0
    DATA 38,0,75,0,76,0,65,0,13,0,3,0,8,0,18,0
    DATA 29,0,39,0,43,0,73,0,22,0,95,0,116,0,398,0
    DATA 399,0,336,38,29,0,400,0,401,0,20,0,90,0,78,0
    DATA 77,0,16,0,39,0,75,0,76,0,65,0,13,0,3,0
    DATA 8,0,402,0,98,0,38,0,15,0,26,0,35,0,53,0
    DATA 403,0,404,0,405,0,406,0,39,37,87,0,407,0,408,0
    DATA 409,0,43,0,77,0,26,0,47,0,208,0,20,0,62,0
    DATA 65,0,13,0,3,0,33,0,410,0,194,0,47,0,61,0
    DATA 74,0,53,0,39,0,405,0,55,0,411,0,93,0,39,37
    DATA 412,0,413,0,55,0,68,0,39,0,43,0,31,0,61,0
    DATA 217,0,208,0,89,0,51,0,13,0,3,0,78,0,83,0
    DATA 77,0,48,0,202,0,38,0,39,1,116,0,414,0,95,0
    DATA 38,0,39,37,208,0,86,0,138,0,83,0,39,1,208,0
    DATA 27,0,106,0,415,0,84,0,26,0,13,0,3,0,318,0
    DATA 21,0,26,0,107,0,20,0,114,50,406,0,43,0,35,0
    DATA 65,0,416,0,24,0,13,0,3,0,417,0,22,0,32,0
    DATA 418,0,164,0,246,0,419,0,246,0,419,1,246,0,419,0
    DATA 246,0,419,3,246,0,419,3,246,0,419,7,246,0,419,3
    DATA 246,0,419,3,246,0,419,3,246,0,419,8,280,0,92,0
    DATA 84,0,289,0,392,0,105,0,13,0,3,0,420,0,105,0
    DATA 6,0,26,0,51,53,26,0,318,0,105,0,12,0,13,0
    DATA 421,0,13,61,422,0
 
    DIM palCount AS INTEGER
    DIM pal(4096) AS _UNSIGNED LONG
    DIM j AS INTEGER
    FOR i = 0 TO 4
 
        READ palCount
        FOR j = 0 TO palCount - 1
            READ pal(j)
        NEXT
 
        bm(i) = _NEWIMAGE(64, 64, 32)
        _DEST bm(i)
 
        READ cl
        READ rleCount
 
        FOR y = 0 TO 63
            FOR x = 0 TO 63
                PSET (x, y), pal(cl)
                rleCount = rleCount - 1
                IF rleCount < 0 THEN
                    READ cl
                    READ rleCount
                END IF
            NEXT
        NEXT
    NEXT
 
    _DEST 0
END SUB
 

bplus · « **Reply #1 on:** April 26, 2021, 01:35:58 am »

LOL luv the bobble head

Oh man!

TempodiBasic · « **Reply #2 on:** April 26, 2021, 12:19:27 pm »

Cool!
I find it very fine, also the head bouncing movement!
Thanks to share.

johnno56 · « **Reply #3 on:** April 27, 2021, 05:57:19 am »

This is SO cool... Best part... I didn't die... lol

justsomeguy · « **Reply #4 on:** April 27, 2021, 11:39:33 am »

I'm glad you guys seem to be enjoying it.

I've been working on the back-end stuff to give it more functionality and make it easier to use in your own projects.

News:

Author Topic: Side Scrolling driving Game Demo with 2D physics (Read 3371 times)

justsomeguy

Side Scrolling driving Game Demo with 2D physics

bplus

Re: Side Scrolling driving Game Demo with 2D physics

TempodiBasic

Re: Side Scrolling driving Game Demo with 2D physics

johnno56

Re: Side Scrolling driving Game Demo with 2D physics

justsomeguy

Re: Side Scrolling driving Game Demo with 2D physics