/* Copyright (c) 2016 saharan
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of this
 * software and associated documentation  * files (the "Software"), to deal in the Software
 * without restriction, including without limitation the rights to use, copy,  * modify, merge,
 * publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to
 * whom the Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all copies or
 * substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
 * PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR
 * ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
package{
	import com.element.oimo.ogsl.OGSL;
	import flash.display.Bitmap;
	import flash.display.BitmapData;
	import flash.display.Sprite;
	import flash.display.Stage3D;
	import flash.display3D.Context3D;
	import flash.display3D.Context3DProfile;
	import flash.display3D.Context3DRenderMode;
	import flash.events.Event;
	import flash.events.KeyboardEvent;
	import flash.events.MouseEvent;
	import flash.ui.Keyboard;
	import net.hires.debug.Stats;

	/**
	 * Elastic Body Simulation
	 * @author saharan
	 */
	[SWF(width = "640", height = "480", frameRate = "60")]
	public class Elastic extends Sprite {
		private var s3d:Stage3D;
		private var gl:ShrGL;
		private const WIDTH:int = 640;
		private const HEIGHT:int = 480;
		private var buffer:Mat44;
		private var scene:Scene;

		private var w:World;
		private var count:int;
		private var l:Boolean;
		private var r:Boolean;
		private var u:Boolean;
		private var d:Boolean;
		private var space:Boolean;
		private var pspace:Boolean;

		private var renderAsMesh:Boolean = true;

		private var meshes:Vector.<ElasticMesh>;
		private var numM:int;

		private var pressed:Boolean;
		private var pmouseX:Number;
		private var pmouseY:Number;

		private var theta:Number;
		private var targetTheta:Number;
		private var cameraY:Number;
		private var targetCameraY:Number;

		[Embed(source = "./dot.gif")] // http://el-ement.com/blog/wp-content/uploads/elastic-body-simulation-dot.gif
		private static var DOT:Class;
		private var dot:BitmapData = Bitmap(new DOT()).bitmapData;
		private const DOT_SIZE_W:int = 16;
		private const DOT_SIZE_H:int = 8;

		private const GROUND_PLANE_MESH:int = 0;
		private const SPHERE_MESH:int = 1;
		private const BOX_MESH:int = 2;
		private const TORUS_MESH:int = 3;
		private const TEAPOT_MESH:int = 4;
		private const CYLINDER_MESH:int = 5;

		public static const RADIUS:int = 16;

		public function Elastic() {
			if (stage) init();
			else addEventListener(Event.ADDED_TO_STAGE, init);
		}

		private function init(e:Event = null):void {
			removeEventListener(Event.ADDED_TO_STAGE, init);
			var s:Stats = new Stats();
			addChild(s);
			s.x = -s.width;
			s3d = stage.stage3Ds[0];
			s3d.addEventListener(Event.CONTEXT3D_CREATE, initSimulation);
			s3d.requestContext3D(Context3DRenderMode.AUTO, Context3DProfile.STANDARD_CONSTRAINED);
		}

		private function initSimulation(e:Event):void {
			s3d.context3D.enableErrorChecking = true;
			gl = new ShrGL(s3d.context3D, WIDTH, HEIGHT);
			cameraY = 0;
			theta = 0;
			targetTheta = 0;
			targetCameraY = 0;
			pmouseX = 0;
			pmouseY = 0;
			//
			scene = new Scene(gl, 0, 400, 600, 0, 1000, 500);
			//
			buffer = new Mat44();
			meshes = new Vector.<ElasticMesh>(1024, true);
			//
			gl.registerBuffer(GROUND_PLANE_MESH, 4, 6, 6);
			gl.uploadVertexBuffer(GROUND_PLANE_MESH, Vector.<Number>([
				-400, 0, 400, 0, 1, 0,
				400, 0, 400, 0, 1, 0,
				-400, 0, -400, 0, 1, 0,
				400, 0, -400, 0, 1, 0
			]));
			gl.uploadIndexBuffer(0, Vector.<uint>([
				0, 1, 2,
				1, 3, 2
			]));
			createSphere(SPHERE_MESH, 1, 16, 8);
			createBox(BOX_MESH, 1, 1, 1);
			createCylinder(CYLINDER_MESH, 16, 1, 1);
			createTeapot(TEAPOT_MESH);
			initWorld();
			stage.addEventListener(KeyboardEvent.KEY_DOWN, function(e:KeyboardEvent):void {
				switch (e.keyCode) {
				case Keyboard.R:
					initWorld();
					break;
				case Keyboard.SPACE:
					space = true;
					break;
				case Keyboard.A:
					l = true;
					break;
				case Keyboard.D:
					r = true;
					break;
				case Keyboard.W:
					u = true;
					break;
				case Keyboard.S:
					d = true;
					break;
				case Keyboard.M:
					renderAsMesh = !renderAsMesh;
					break;
				}
			});
			stage.addEventListener(KeyboardEvent.KEY_UP, function(e:KeyboardEvent):void {
				switch (e.keyCode) {
				case Keyboard.SPACE:
					space = false;
					break;
				case Keyboard.A:
					l = false;
					break;
				case Keyboard.D:
					r = false;
					break;
				case Keyboard.W:
					u = false;
					break;
				case Keyboard.S:
					d = false;
					break;
				}
			});
			stage.addEventListener(MouseEvent.MOUSE_DOWN, function(e:MouseEvent):void {
				pressed = true;
			});
			stage.addEventListener(MouseEvent.MOUSE_UP, function(e:MouseEvent):void {
				pressed = false;
			});
			addEventListener(Event.ENTER_FRAME, frame);
		}

		private function createTorus(bufferIndex:uint, divV:uint, divH:uint, inRadius:Number, outRadius:Number):void {
			var vertices:Vector.<Number> = new Vector.<Number>();
			var theta:Number;
			var phi:Number;
			var dTheta:Number = Math.PI * 2 / divV;
			var dPhi:Number = Math.PI * 2 / divH;
			var numVertices:uint = divH * divV;
			phi = 0;
			var m:Mat44 = new Mat44();
			var n:Vec3 = new Vec3();
			for (var i:int = 0; i < divH; i++) {
				theta = 0;
				for (var j:int = 0; j < divV; j++) {
					m.init();
					m.rotate(m, -theta, 0, 1, 0);
					m.rotate(m, -phi, 0, 0, 1);
					n.init(0, 1, 0);
					n.mulMatrix(m, n);
					vertices.push(
						Math.cos(theta) * (outRadius + (outRadius - inRadius) * Math.sin(phi)),
						(outRadius - inRadius) * Math.cos(phi),
						Math.sin(theta) * (outRadius + (outRadius - inRadius) * Math.sin(phi)),
						n.x, n.y, n.z
					);
					theta += dTheta;
				}
				phi += dPhi;
			}
			var indices:Vector.<uint> = new Vector.<uint>();
			for (i = 0; i < divH; i++) {
				for (j = 0; j < divV; j++) {
					indices.push(
						i * divV + j,
						(i + 1) % divH * divV + (j + 1) % divV,
						(i + 1) % divH * divV + j,
						i * divV + j,
						i % divH * divV + (j + 1) % divV,
						(i + 1) % divH * divV + (j + 1) % divV
					);
				}
			}
			gl.registerBuffer(bufferIndex, numVertices, 6, numVertices * 6);
			gl.uploadVertexBuffer(bufferIndex, vertices);
			gl.uploadIndexBuffer(bufferIndex, indices);
		}

		private function createCylinder(bufferIndex:uint, div:Number, radius:Number, halfHeight:Number):void {
			var vertices:Vector.<Number> = new Vector.<Number>();
			var theta:Number;
			var dTheta:Number = Math.PI * 2 / div;
			var numVertices:uint = div * 2;
			theta = 0;
			for (var i:int = 0; i < div; i++) {
				vertices.push(
					radius * Math.cos(theta), -halfHeight, radius * Math.sin(theta),
					Math.cos(theta), 0, radius * Math.sin(theta)
				);
				vertices.push(
					radius * Math.cos(theta), halfHeight, radius * Math.sin(theta),
					Math.cos(theta), 0, radius * Math.sin(theta)
				);
				theta += dTheta;
			}
			var indices:Vector.<uint> = new Vector.<uint>();
			for (i = 0; i < div; i++) {
				indices.push(
					i * 2, (i * 2 + 1) % (div * 2), (i * 2 + 2) % (div * 2),
					(i * 2 + 1) % (div * 2), (i * 2 + 3) % (div * 2), (i * 2 + 2) % (div * 2)
				);
			}
			gl.registerBuffer(bufferIndex, numVertices, 6, indices.length);
			gl.uploadVertexBuffer(bufferIndex, vertices);
			gl.uploadIndexBuffer(bufferIndex, indices);
		}

		public function createSphere(bufferIndex:uint, radius:Number, divisionH:uint, divisionV:uint):void {
			var count:uint = 0;
			var theta:Number;
			var phi:Number;
			var dTheta:Number = Math.PI * 2 / divisionH;
			var dPhi:Number = Math.PI / divisionV;
			var numVertices:uint = (divisionV + 1) * divisionH - ((divisionH - 1) << 1);
			var numFaces:uint = (divisionV - 1 << 1) * divisionH;
			var vtx:Vector.<Number> = new Vector.<Number>(numVertices * 6, true);
			vtx[count] = 0;
			vtx[count + 1] = radius;
			vtx[count + 2] = 0;
			vtx[count + 3] = 0;
			vtx[count + 4] = 1;
			vtx[count + 5] = 0;
			count += 6;
			phi = dPhi;
			for (var i:int = 1; i < divisionV; i++) {
				theta = 0;
				for (var j:int = 0; j < divisionH; j++) {
					var sp:Number = Math.sin(phi);
					var cp:Number = Math.cos(phi);
					var st:Number = Math.sin(theta);
					var ct:Number = Math.cos(theta);
					vtx[count] = radius * sp * ct;
					vtx[count + 1] = radius * cp;
					vtx[count + 2] = radius * sp * st;
					vtx[count + 3] = sp * ct;
					vtx[count + 4] = cp;
					vtx[count + 5] = sp * st;
					count += 6;
					theta += dTheta;
				}
				phi += dPhi;
			}
			vtx[count] = 0;
			vtx[count + 1] = -radius;
			vtx[count + 2] = 0;
			vtx[count + 3] = 0;
			vtx[count + 4] = -1;
			vtx[count + 5] = 0;
			var idx:Vector.<uint> = new Vector.<uint>(numFaces * 3, true);
			count = 0;
			for (i = 0; i < divisionV; i++) {
				for (j = 0; j < divisionH; j++) {
					if (i == 0) {
						idx[count] = 0;
						idx[count + 1] = (j + 1) % divisionH + 1;
						idx[count + 2] = j + 1;
						count += 3;
					} else if (i == divisionV - 1) {
						idx[count] = numVertices - 1;
						idx[count + 1] = (i - 1) * divisionH + j + 1;
						idx[count + 2] = (i - 1) * divisionH + (j + 1) % divisionH + 1;
						count += 3;
					} else {
						idx[count] = (i - 1) * divisionH + j + 1;
						idx[count + 1] = (i - 1) * divisionH + (j + 1) % divisionH + 1;
						idx[count + 2] = i * divisionH + (j + 1) % divisionH + 1;
						count += 3;
						idx[count] = (i - 1) * divisionH + j + 1;
						idx[count + 1] = i * divisionH + (j + 1) % divisionH + 1;
						idx[count + 2] = i * divisionH + j + 1;
						count += 3;
					}
				}
			}
			gl.registerBuffer(bufferIndex, numVertices, 6, numFaces * 3);
			gl.uploadVertexBuffer(bufferIndex, vtx);
			gl.uploadIndexBuffer(bufferIndex, idx);
		}

		private function createTeapot(bufferIndex:uint):void {
			var vertices:Vector.<Number> = Vector.<Number>([
				-45.95854, 25.03232, 2.88832, -0.901883, 0.415418, 0.118168, -46.93523, 23.112709999999993, 2.01943, -0.905637, 0.407056, 0.118656, -44.98702, 25.03232, 10.30342, -0.877041, 0.418744, 0.235298, -67.08382, 20.77928, -5, 0.058443, -0.99826, 0.000732, -57.545829999999995, 21.03514, -5, 0.015107, -0.999878, 0.000183, -57.6335, 21.617369999999994, -0.61287, 0.014557, -0.949278, 0.314035, -67.08382, 20.77928, -5, 0.058443, -0.99826, 0.000732, -57.6335, 21.617369999999994, -0.61287, 0.014557, -0.949278, 0.314035, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -74.67173, 20.084410000000005, -5, 0.162053, -0.986755, 0.002014, -67.08382, 20.77928, -5, 0.058443, -0.99826, 0.000732, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -74.67173, 20.084410000000005, -5, 0.162053, -0.986755, 0.002014, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -80.21254, 18.731740000000002, -5, 0.392376, -0.919767, 0.004334, -74.67173, 20.084410000000005, -5, 0.162053, -0.986755, 0.002014, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -80.21254, 18.731740000000002, -5, 0.392376, -0.919767, 0.004334, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -83.60857, 16.501599999999996, -5, 0.783776, -0.620991, 0.005249, -80.21254, 18.731740000000002, -5, 0.392376, -0.919767, 0.004334, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -83.60857, 16.501599999999996, -5, 0.783776, -0.620991, 0.005249, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -84.76214, 13.174760000000006, -5, 0.994812, -0.101627, 0.001984, -83.60857, 16.501599999999996, -5, 0.783776, -0.620991, 0.005249, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -84.76214, 13.174760000000006, -5, 0.994812, -0.101627, 0.001984, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -85.54204, 13.174760000000006, -0.61287, 0.908139, -0.082766, 0.410321, -47.93766, 21.649820000000005, -0.61287, 0.003082, -0.939787, 0.341685, -46.93523, 23.112709999999993, 2.01943, 0.002167, -0.619495, 0.784967, -57.6335, 21.617369999999994, -0.61287, 0.014557, -0.949278, 0.314035, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -57.6335, 21.617369999999994, -0.61287, 0.014557, -0.949278, 0.314035, -57.85328, 23.07289, 2.01943, 0.011536, -0.679403, 0.733634, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -57.85328, 23.07289, 2.01943, 0.011536, -0.679403, 0.733634, -68.33045, 22.750699999999995, 2.01943, 0.044679, -0.675588, 0.735923, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -67.44, 21.34259, -0.61287, 0.056703, -0.947539, 0.314524, -68.33045, 22.750699999999995, 2.01943, 0.044679, -0.675588, 0.735923, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -68.33045, 22.750699999999995, 2.01943, 0.044679, -0.675588, 0.735923, -76.60531, 21.87608999999999, 2.01943, 0.123325, -0.652272, 0.747856, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -75.22426, 20.596459999999993, -0.61287, 0.157933, -0.933592, 0.321604, -76.60531, 21.87608999999999, 2.01943, 0.123325, -0.652272, 0.747856, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -76.60531, 21.87608999999999, 2.01943, 0.123325, -0.652272, 0.747856, -82.60548, 20.17241, 2.01943, 0.275399, -0.556871, 0.783593, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -80.89619, 19.14336, -0.61287, 0.378307, -0.856655, 0.350688, -82.60548, 20.17241, 2.01943, 0.275399, -0.556871, 0.783593, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -82.60548, 20.17241, 2.01943, 0.275399, -0.556871, 0.783593, -86.25836, 17.36433000000001, 2.01943, 0.460067, -0.316263, 0.829615, -85.54204, 13.174760000000006, -0.61287, 0.908139, -0.082766, 0.410321, -84.36559, 16.748000000000005, -0.61287, 0.726829, -0.55388, 0.406079, -86.25836, 17.36433000000001, 2.01943, 0.460067, -0.316263, 0.829615, -85.54204, 13.174760000000006, -0.61287, 0.908139, -0.082766, 0.410321, -86.25836, 17.36433000000001, 2.01943, 0.460067, -0.316263, 0.829615, -87.49212, 13.174760000000006, 2.01943, 0.563036, -0.0412, 0.825373, -45.95854, 25.03232, 2.88832, -0.000427, 0.122166, 0.992492, -58.13895000000001, 24.965329999999994, 2.8969000000000005, 0.000397, 0.003632, 0.999969, -57.85328, 23.07289, 2.01943, 0.011536, -0.679403, 0.733634, -68.33045, 22.750699999999995, 2.01943, 0.044679, -0.675588, 0.735923, -57.85328, 23.07289, 2.01943, 0.011536, -0.679403, 0.733634, -58.13895000000001, 24.965329999999994, 2.8969000000000005, 0.000397, 0.003632, 0.999969, -68.33045, 22.750699999999995, 2.01943, 0.044679, -0.675588, 0.735923, -58.13895000000001, 24.965329999999994, 2.8969000000000005, 0.000397, 0.003632, 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			]);
			vertices.fixed = true;
			var i2:Vector.<uint> = new Vector.<uint>(vertices.length / 6);
			for (var i:int = 0; i < i2.length; i++) {
				i2[i] = i;
			}
			gl.registerBuffer(bufferIndex, vertices.length / 6, 6, i2.length);
			gl.uploadVertexBuffer(bufferIndex, vertices);
			gl.uploadIndexBuffer(bufferIndex, i2);
		}

		private function createTeapotMesh(bufferIndex:int):ElasticMesh {
			var vertices:Vector.<Number> = Vector.<Number>([-44.8383, 28.37478, -9.387129999999999, -45.18326, 26.91431, -12.01943, -45.13805, 28.957120000000003, -5, -58.64396000000001, 28.31317999999999, -9.387129999999999, -47.93766, 21.649820000000005, -9.387129999999999, -45.95854, 25.03232, -12.88832, -58.42429, 26.857439999999997, -12.01943, -58.73174, 28.895520000000005, -5, -44.8383, 28.37478, -0.61287, -60.19418999999999, -18.412619999999997, -5, -46.93523, 23.112709999999993, -12.01943, -48.77619000000001, 21.063299999999998, -5, -57.6335, 21.617369999999994, -9.387129999999999, -57.85328, 23.07289, -12.01943, -58.13895000000001, 24.965329999999994, -12.8969, -71.53695, 27.82016, -9.387129999999999, -71.89313, 28.383470000000003, -5, -58.64396000000001, 28.31317999999999, -0.61287, -45.18337, 26.91431, 2.01943, -58.42429, 26.857439999999997, 2.01943, -68.33045, 22.750699999999995, -12.01943, -70.6465, 26.412050000000008, -12.01943, -71.53695, 27.82016, -0.61287, -70.6465, 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185, 169, 190, 199, 178, 218, 199, 190]);
			var normalIndices:Vector.<uint> = Vector.<uint>([1, 2, 3, 4, 5, 6, 4, 6, 7, 8, 4, 7, 8, 7, 9, 10, 8, 9, 10, 9, 11, 12, 10, 11, 12, 11, 13, 14, 12, 13, 14, 13, 15, 16, 17, 6, 7, 6, 18, 7, 18, 19, 9, 7, 19, 9, 19, 20, 11, 9, 20, 11, 20, 21, 13, 11, 21, 13, 21, 22, 15, 13, 22, 15, 22, 23, 24, 25, 18, 19, 18, 25, 19, 25, 26, 20, 19, 26, 20, 26, 27, 21, 20, 27, 21, 27, 28, 22, 21, 28, 22, 28, 29, 23, 22, 29, 23, 29, 30, 31, 32, 33, 26, 25, 34, 26, 34, 35, 27, 26, 35, 27, 35, 36, 28, 27, 36, 28, 36, 37, 29, 28, 37, 29, 37, 38, 30, 29, 38, 30, 38, 39, 33, 40, 41, 35, 34, 42, 35, 42, 43, 36, 35, 43, 36, 43, 44, 37, 36, 44, 37, 44, 45, 38, 37, 45, 38, 45, 46, 39, 38, 46, 39, 46, 47, 48, 49, 50, 43, 42, 49, 43, 49, 51, 44, 43, 51, 44, 51, 52, 45, 44, 52, 45, 52, 53, 46, 45, 53, 46, 53, 54, 47, 46, 54, 47, 54, 55, 56, 57, 58, 51, 49, 48, 51, 48, 59, 52, 51, 59, 52, 59, 60, 53, 52, 60, 53, 60, 61, 54, 53, 61, 54, 61, 62, 55, 54, 62, 55, 62, 63, 32, 56, 64, 65, 64, 56, 59, 48, 66, 59, 66, 67, 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			var mesh:ElasticMesh = new ElasticMesh(gl, bufferIndex, vertices, normals, indices, normalIndices);
			mesh.initVertices(w);
			return mesh;
		}

		private function createTorusMesh(bufferIndex:int, radius:Number):ElasticMesh {
			var vertices:Vector.<Number> = new Vector.<Number>();
			var normals:Vector.<Number> = new Vector.<Number>();
			var theta:Number;
			var phi:Number;
			var divV:int = 24;
			var divH:int = 8;
			var dTheta:Number = Math.PI * 2 / divV;
			var dPhi:Number = Math.PI * 2 / divH;
			var numVertices:uint = divH * divV;
			phi = 0;
			var m:Mat44 = new Mat44();
			var n:Vec3 = new Vec3();
			var inRadius:Number = radius - RADIUS;
			var outRadius:Number = radius;
			for (var i:int = 0; i < divH; i++) {
				theta = 0;
				for (var j:int = 0; j < divV; j++) {
					m.init();
					m.rotate(m, -theta, 0, 1, 0);
					m.rotate(m, -phi, 0, 0, 1);
					n.init(0, 1, 0);
					n.mulMatrix(m, n);
					vertices.push(
						Math.cos(theta) * (outRadius + (outRadius - inRadius) * Math.sin(phi)),
						(outRadius - inRadius) * Math.cos(phi),
						Math.sin(theta) * (outRadius + (outRadius - inRadius) * Math.sin(phi))
					);
					normals.push(
						n.x, n.y, n.z
					);
					theta += dTheta;
				}
				phi += dPhi;
			}
			var indices:Vector.<uint> = new Vector.<uint>();
			for (i = 0; i < divH; i++) {
				for (j = 0; j < divV; j++) {
					indices.push(
						1 + i * divV + j,
						1 + (i + 1) % divH * divV + (j + 1) % divV,
						1 + (i + 1) % divH * divV + j,
						1 + i * divV + j,
						1 + i % divH * divV + (j + 1) % divV,
						1 + (i + 1) % divH * divV + (j + 1) % divV
					);
				}
			}
			var mesh:ElasticMesh = new ElasticMesh(gl, bufferIndex, vertices, normals, indices, indices);
			mesh.initVertices(w);
			return mesh;
		}

		private function createBox(bufferIndex:uint, halfWidth:Number, halfHeight:Number, halfDepth:Number):void {
			gl.registerBuffer(bufferIndex, 24, 6, 36);
			gl.uploadVertexBuffer(bufferIndex, Vector.<Number>([
				-halfWidth, halfHeight, -halfDepth, // top face
				0, 1, 0,
				-halfWidth, halfHeight, halfDepth,
				0, 1, 0,
				halfWidth, halfHeight, halfDepth,
				0, 1, 0,
				halfWidth, halfHeight, -halfDepth,
				0, 1, 0,
				-halfWidth, -halfHeight, -halfDepth, // bottom face
				0, -1, 0,
				halfWidth, -halfHeight, -halfDepth,
				0, -1, 0,
				halfWidth, -halfHeight, halfDepth,
				0, -1, 0,
				-halfWidth, -halfHeight, halfDepth,
				0, -1, 0,
				-halfWidth, halfHeight, -halfDepth, // left face
				-1, 0, 0,
				-halfWidth, -halfHeight, -halfDepth,
				-1, 0, 0,
				-halfWidth, -halfHeight, halfDepth,
				-1, 0, 0,
				-halfWidth, halfHeight, halfDepth,
				-1, 0, 0,
				halfWidth, halfHeight, -halfDepth, // right face
				1, 0, 0,
				halfWidth, halfHeight, halfDepth,
				1, 0, 0,
				halfWidth, -halfHeight, halfDepth,
				1, 0, 0,
				halfWidth, -halfHeight, -halfDepth,
				1, 0, 0,
				-halfWidth, halfHeight, halfDepth, // front face
				0, 0, 1,
				-halfWidth, -halfHeight, halfDepth,
				0, 0, 1,
				halfWidth, -halfHeight, halfDepth,
				0, 0, 1,
				halfWidth, halfHeight, halfDepth,
				0, 0, 1,
				-halfWidth, halfHeight, -halfDepth, // back face
				0, 0, -1,
				halfWidth, halfHeight, -halfDepth,
				0, 0, -1,
				halfWidth, -halfHeight, -halfDepth,
				0, 0, -1,
				-halfWidth, -halfHeight, -halfDepth,
				0, 0, -1
			]));
			gl.uploadIndexBuffer(bufferIndex, Vector.<uint>([
				0, 1, 2, // top face
				0, 2, 3,
				4, 5, 6, // bottom face
				4, 6, 7,
				8, 9, 10, // left face
				8, 10, 11,
				12, 13, 14, // right face
				12, 14, 15,
				16, 17, 18, // front face
				16, 18, 19,
				20, 21, 22, // back face
				20, 22, 23
			]));
		}

		private function loadParticles():void {
			var interval:Number = RADIUS;
			var boxw:int = DOT_SIZE_W;
			var boxh:int = (dot.width / DOT_SIZE_W) * (dot.height / DOT_SIZE_H);
			var boxd:int = DOT_SIZE_H;
			var offsetX:Number = -(boxw - 1) * 0.5 * interval;
			var offsetY:Number = -(boxh - 1) * 0.5 * interval;
			var offsetZ:Number = -(boxd - 1) * 0.5 * interval;
			var tilesOnLine:int = dot.width / DOT_SIZE_W;
			var ps:Vector.<Vector.<Vector.<Particle>>> = new Vector.<Vector.<Vector.<Particle>>>();
			for (var i:int = 0; i < boxw; i++) {
				ps[i] = new Vector.<Vector.<Particle>>();
				for (var j:int = 0; j < boxh; j++) {
					ps[i][j] = new Vector.<Particle>();
					for (var k:int = 0; k < boxd; k++) {
						var texX:int = i + j % tilesOnLine * DOT_SIZE_W;
						var texY:int = k + int(j / tilesOnLine) * DOT_SIZE_H;
						var color:int = dot.getPixel32(texX, texY);
						if ((color & 0xffffff) == 0) {
							ps[i][j][k] = null;
							continue;
						}
						var p:Particle = new Particle(-offsetX - i * interval, -offsetY - j * interval, offsetZ + k * interval, RADIUS, distFunc);
						w.addParticle(p);
						ps[i][j][k] = p;
					}
				}
			}
			for (i = 0; i < boxw; i++) {
				for (j = 0; j < boxh; j++) {
					for (k = 0; k < boxd; k++) {
						if (!ps[i][j][k]) continue;
						var s:Spring;
						var i0:Boolean = i != 0;
						var j0:Boolean = j != 0;
						var k0:Boolean = k != 0;
						var i1:Boolean = i != boxh - 1;
						var j1:Boolean = j != boxh - 1;
						var k1:Boolean = k != boxd - 1;
						var x1:Boolean = i0 && ps[i - 1][j][k];
						var x2:Boolean = i1 && ps[i + 1][j][k];
						var y1:Boolean = j0 && ps[i][j - 1][k];
						var y2:Boolean = j1 && ps[i][j + 1][k];
						var z1:Boolean = k0 && ps[i][j][k - 1];
						var z2:Boolean = k1 && ps[i][j][k + 1];
						if (x1) {
							s = new Spring(ps[i][j][k], ps[i - 1][j][k]);
							w.addSpring(s);
						}
						if (y1) {
							s = new Spring(ps[i][j][k], ps[i][j - 1][k]);
							w.addSpring(s);
						}
						if (z1) {
							s = new Spring(ps[i][j][k], ps[i][j][k - 1]);
							w.addSpring(s);
						}
						if (i0 && j0 && !x1 && !y1 && ps[i - 1][j - 1][k]) {
							s = new Spring(ps[i][j][k], ps[i - 1][j - 1][k]);
							w.addSpring(s);
						}
						if (i0 && j1 && !x1 && !y2 && ps[i - 1][j + 1][k]) {
							s = new Spring(ps[i][j][k], ps[i - 1][j + 1][k]);
							w.addSpring(s);
						}
						if (i0 && k0 && !x1 && !z1 && ps[i - 1][j][k - 1]) {
							s = new Spring(ps[i][j][k], ps[i - 1][j][k - 1]);
							w.addSpring(s);
						}
						if (i0 && k1 && !x1 && !z2 && ps[i - 1][j][k + 1]) {
							s = new Spring(ps[i][j][k], ps[i - 1][j][k + 1]);
							w.addSpring(s);
						}
						if (j0 && k0 && !y1 && !z1 && ps[i][j - 1][k - 1]) {
							s = new Spring(ps[i][j][k], ps[i][j - 1][k - 1]);
							w.addSpring(s);
						}
						if (j0 && k1 && !y1 && !z2 && ps[i][j - 1][k + 1]) {
							s = new Spring(ps[i][j][k], ps[i][j - 1][k + 1]);
							w.addSpring(s);
						}
					}
				}
			}
		}

		private function frame(e:Event):void {
			updateUI();

			if(!pressed) {
				control();
				count++;
				w.step();
			}

			render();

			pmouseX = mouseX;
			pmouseY = mouseY;
			pspace = space;
		}

		private function updateUI():void {
			if (pressed) {
				targetTheta -= (pmouseX - mouseX) * 0.01;
				targetCameraY -= (pmouseY - mouseY) * 5;
				if (targetCameraY < -500) targetCameraY = -500;
				if (targetCameraY > 500) targetCameraY = 500;
			}
			theta += (targetTheta - theta) * 0.2;
			cameraY += (targetCameraY - cameraY) * 0.2;
			scene.cameraPos(0, 500 + cameraY, 600);
			scene.lightPos(500 * Math.sin(theta), 1000, 500 * Math.cos(theta));
		}

		private function render():void {
			// render depth map

			scene.renderMode(0);
			renderScene();

			// render scene

			scene.renderMode(1);
			renderScene();

			gl.endScene();
		}

		private function renderScene():void {
			gl.push();
			gl.rotate(theta, 0, 1, 0);

			if (renderAsMesh) {
				specular(1, 60);
				for (var i:int = 0; i < numM; i++) {
					var color:int = meshes[i].color;
					diffuse((color >> 16 & 0xff) / 255, (color >> 8 & 0xff) / 255, (color & 0xff) / 255);
					drawElasticMesh(meshes[i]);
				}
			} else {
				specular(0, 1);
				drawParticles();
			}

			diffuse(0.5, 0.5, 0.5);
			specular(0, 1);
			drawNormalMesh(GROUND_PLANE_MESH);

			drawGround();
			gl.pop();
		}

		private function control():void {
			var dx:Number = (l ? -0.5 : 0) + (r ? 0.5 : 0);
			var dz:Number = (u ? -0.5 : 0) + (d ? 0.5 : 0);
			var dy:Number = space && !pspace ? 15 : 0;
			var numP:int = w.numP;
			for (var i:int = 0; i < numP; i++) {
				var p:Particle = w.ps[i];
				p.vx += dx * Math.cos(theta) - dz * Math.sin(theta);
				p.vy += dy;
				p.vz += dx * Math.sin(theta) + dz * Math.cos(theta);
			}
		}

		private function drawParticles():void {
			var numP:int = w.numP;
			for (var i:int = 0; i < numP; i++) {
				var p:Particle = w.ps[i];
				drawParticle(p);
			}
		}

		private function drawParticle(p:Particle):void {
			gl.push();
			var color:int = p.mesh.color;
			diffuse((color >> 16 & 0xff) / 255, (color >> 8 & 0xff) / 255, (color & 0xff) / 255);
			gl.translate(p.x, p.y, p.z);
			gl.transform(p.r);

			gl.push();
			gl.scale(RADIUS, RADIUS, RADIUS);
			drawNormalMesh(SPHERE_MESH);
			gl.pop();

			gl.pop();
		}

		private function setWorldMatrix():void {
			gl.getWorldMatrix(buffer);
			scene.setWorldMatrix(buffer);
		}

		private function drawNormalMesh(index:int):void {
			setWorldMatrix();
			scene.renderMesh(index, false, -1);
		}

		private static const FIRST_QUAT_REGISTER_INDEX:int = 24;

		[Inline]
		private final function drawElasticMesh(mesh:ElasticMesh):void {
			setWorldMatrix();
			mesh.setVertexConsts(FIRST_QUAT_REGISTER_INDEX);
			scene.renderMesh(mesh.bufferIndex, true, FIRST_QUAT_REGISTER_INDEX);
		}

		private function diffuse(r:Number, g:Number, b:Number):void {
			scene.color(r, g, b);
		}

		private function specular(specular:Number, shininess:Number):void {
			scene.specular(specular, shininess);
		}

		private function initWorld():void {
			count = 0;
			w = new World();
			numM = 0;
			var numTeapot:int = 8;
			var numTorus:int = 50;
			for (var j:int = 0; j < numTeapot; j++) {
				var x:Number = Math.random() * 80 - 40;
				var z:Number = Math.random() * 80 - 40;
				x = y = 0;
				loadParticles();
				(meshes[numM++] = createTeapotMesh(TEAPOT_MESH)).color = Math.random() * 0x1000000 | 0x7f7f7f;
				w.translate(x, 150, z);
			}
			for (var i:int = 0; i < numTorus; i++) {
				x = Math.random() * 200 - 100;
				z = Math.random() * 200 - 100;
				var radius:Number = 40;
				w.translate(-x, 0, -z);
				placeTorusParticles(radius);
				meshes[numM++] = createTorusMesh(TORUS_MESH, radius);
				w.translate(x, 50, z);
			}
			for (var k:int = 0; k < numM; k++) {
				meshes[k].createVBO();
			}
		}

		private function placeTorusParticles(radius:Number):void {
			var division:int = int(radius * 2 * Math.PI / (RADIUS)) + 1;
			var ps:Vector.<Particle> = new Vector.<Particle>(division, true);
			var da:Number = 2 * Math.PI / division;
			for (var i:int = 0; i < division; i++) {
				ps[i] = new Particle(Math.cos(i * da) * radius, 0, Math.sin(i * da) * radius, RADIUS, distFunc);
				w.addParticle(ps[i]);
			}
			for (i = 0; i < division; i++) {
				w.addSpring(new Spring(ps[i], ps[(i + 1) % division]));
			}
		}

		private const mixerSizeW:Number = 300;
		private const mixerSizeH:Number = 50;
		private const mixerSizeD:Number = 20;
		private const mixerY:Number = 50;
		private const mixerRotationSpeed:Number = 0.08;

		private function drawGround():void {
			gl.push();
			gl.translate(0, mixerY, 0);
			gl.rotate(count * mixerRotationSpeed, 0, 1, 0);
			gl.scale(mixerSizeW, mixerSizeH, mixerSizeD);
			drawNormalMesh(BOX_MESH);
			gl.pop();
		}

		private var distFuncResPool:Vector.<DistFuncResult> = new Vector.<DistFuncResult>(4, true);
		private var distFuncResCount:int = 0;

		[Inline]
		private final function requestResult():DistFuncResult {
			var id:int = ++distFuncResCount % distFuncResPool.length;
			if (distFuncResPool[id] == null) {
				distFuncResPool[id] = new DistFuncResult();
			}
			return distFuncResPool[id];
		}

		[Inline]
		private final function distFunc(x:Number, y:Number, z:Number):DistFuncResult {
			var res:DistFuncResult = requestResult();
			var interval:int = 90;
			var xi:int = Math.floor((x + interval * 0.5) / interval) | 0;
			var zi:int = Math.floor((z + interval * 0.5) / interval) | 0;
			var h:Number = 150 - (xi * xi + zi * zi) * 20;
			var d:Number = y;
			d = min(d, x + 350);
			d = min(d, -x + 350);
			d = min(d, z + 350);
			d = min(d, -z + 350);
			var vx:Number = 0;
			var vy:Number = 0;
			var vz:Number = 0;
			var dx:Number = x;
			var dy:Number = y - mixerY;
			var dz:Number = z;
			var rad:Number = count * mixerRotationSpeed;
			var s:Number = Math.sin(rad);
			var c:Number = Math.cos(rad);
			var tx:Number = dx * c - dz * s;
			var tz:Number = dx * s + dz * c;
			dx = tx;
			dz = tz;
			dx = abs(dx) - mixerSizeW;
			dy = abs(dy) - mixerSizeH;
			dz = abs(dz) - mixerSizeD;
			var boxDist:Number = min(max(max(dx, dy), dz), 0) + length(max(dx, 0), max(dy, 0), max(dz, 0));
			if (boxDist < d) {
				d = boxDist;
				vx = mixerRotationSpeed * z;
				vz = -mixerRotationSpeed * x;
			}
			res.d = d;
			res.vx = vx;
			res.vy = vy;
			res.vz = vz;
			return res;
		}

		[Inline]
		private final function min(a:Number, b:Number):Number {
			return a < b ? a : b;
		}

		[Inline]
		private final function max(a:Number, b:Number):Number {
			return a > b ? a : b;
		}

		[Inline]
		private final function abs(a:Number):Number {
			return a < 0 ? -a : a;
		}

		[Inline]
		private final function mod(a:Number, b:Number):Number {
			return (a % b + b) % b;
		}

		[Inline]
		private final function length(x:Number, y:Number, z:Number):Number {
			return Math.sqrt(x * x + y * y + z * z);
		}

	}

}
import flash.display3D.Context3DTextureFormat;
import flash.display3D.Context3DVertexBufferFormat;
import flash.display3D.textures.Texture;

class DistFuncResult {
	public var d:Number;
	public var vx:Number;
	public var vy:Number;
	public var vz:Number;
}

class Scene {
	private var gl:ShrGL;
	private var cameraX:Number;
	private var cameraY:Number;
	private var cameraZ:Number;
	private var lightX:Number;
	private var lightY:Number;
	private var lightZ:Number;
	private var lightR:Number;
	private var lightG:Number;
	private var lightB:Number;
	private var colR:Number;
	private var colG:Number;
	private var colB:Number;
	private var amb:Number;
	private var dif:Number;
	private var spc:Number;
	private var shn:Number;
	private var wMat:Mat44;
	private var vMat:Mat44;
	private var pMat:Mat44;
	private var mode:int; // 0: depth mapping, 1: standard shading
	private var depthMap:Texture;

	public function Scene(gl:ShrGL, cameraX:Number, cameraY:Number, cameraZ:Number, lightX:Number, lightY:Number, lightZ:Number) {
		this.gl = gl;
		this.cameraX = cameraX;
		this.cameraY = cameraY;
		this.cameraZ = cameraZ;
		this.lightX = lightX;
		this.lightY = lightY;
		this.lightZ = lightZ;
		setShaders();
		lightR = 1;
		lightG = 1;
		lightB = 1;
		colR = 1;
		colG = 1;
		colB = 1;
		amb = 0.3;
		dif = 0.8;
		spc = 0.0;
		shn = 5.0;
		wMat = new Mat44();
		vMat = new Mat44();
		pMat = new Mat44();
		var bufferSize:int = 512;
		depthMap = gl.getContext3D().createTexture(bufferSize, bufferSize, Context3DTextureFormat.RGBA_HALF_FLOAT, true);
		renderMode(1);
	}

	private function setShaders():void {
		var depthMapShader:String = <![CDATA[
			varying depth:float;

			program vertex {
				attribute position:vec3;
				attribute relPos0:vec3;
				attribute relPos1:vec3;
				attribute relPos2:vec3;
				attribute weightAndIndex0:vec3;
				attribute weightAndIndex1:vec3;
				attribute weightAndIndex2:vec3;
				uniform isElastic:float;
				uniform wMat:mat4x4;
				uniform vMat:mat4x4;
				uniform pMat:mat4x4;
				uniform firstIndex:float;

				function quatToMat3x4(q:vec4):mat3x4 {
					var x2:float = 2 * q.x;
					var y2:float = 2 * q.y;
					var z2:float = 2 * q.z;
					var xx:float = q.x * x2;
					var yy:float = q.y * y2;
					var zz:float = q.z * z2;
					var xy:float = q.x * y2;
					var yz:float = q.y * z2;
					var xz:float = q.x * z2;
					var sx:float = q.w * x2;
					var sy:float = q.w * y2;
					var sz:float = q.w * z2;
					return mat3x4(
						vec4(1 - yy - zz, xy - sz, xz + sy, 0),
						vec4(xy + sz, 1 - xx - zz, yz - sx, 0),
						vec4(xz - sy, yz + sx, 1 - xx - yy, 0)
					);
				}

				function main():void {
					var vpos:vec4;
					if (isElastic > 0.5) {
						var index0:float = weightAndIndex0.y * 2 + firstIndex;
						var index1:float = weightAndIndex1.y * 2 + firstIndex;
						var index2:float = weightAndIndex2.y * 2 + firstIndex;
						var index3:float = index0 + 1;
						var index4:float = index1 + 1;
						var index5:float = index2 + 1;
						var quat0:vec4 = 0; // vc[index0]
						var quat1:vec4 = 0; // vc[index1]
						var quat2:vec4 = 0; // vc[index2]
						var pos0:vec4 = 0;  // vc[index3]
						var pos1:vec4 = 0;  // vc[index4]
						var pos2:vec4 = 0;  // vc[index5]
						// volatile: in order not to remove indices when optimizing
						pos0.x += (index0 + index1 + index2 + index3 + index4 + index5) * 0;
						var m0:mat3x4 = quatToMat3x4(quat0);
						var m1:mat3x4 = quatToMat3x4(quat1);
						var m2:mat3x4 = quatToMat3x4(quat2);
						var v0:vec3 = mul(m0, relPos0.xyz) + pos0.xyz;
						var v1:vec3 = mul(m1, relPos1.xyz) + pos1.xyz;
						var v2:vec3 = mul(m2, relPos2.xyz) + pos2.xyz;
						var transformedPos:vec4 = vec4(weightAndIndex0.x * v0 + weightAndIndex1.x * v1 + weightAndIndex2.x * v2, 1);
						vpos = mul(vMat, mul(wMat, transformedPos));
					} else {
						vpos = mul(vMat, mul(wMat, vec4(position, 1)));
					}
					var ppos:vec4 = mul(pMat, vpos);
					var near:float = 1.0;
					var far:float = 2000.0;
					depth = (-vpos.z - near) / (far - near);
					output = ppos;
				}
			}

			program fragment {
				function main():void {
					output = vec4(depth.xxx, 1);
				}
			}
		]]>;

		var shader:String = <![CDATA[
			varying pos:vec3;
			varying posD:vec3;
			varying nor:vec3;
			varying depth:float;

			program vertex {
				attribute position:vec3;
				attribute normal:vec3;
				attribute relPos0:vec3;
				attribute relPos1:vec3;
				attribute relPos2:vec3;
				attribute weightAndIndex0:vec3;
				attribute weightAndIndex1:vec3;
				attribute weightAndIndex2:vec3;
				uniform isElastic:float;
				uniform wMat:mat4x4;
				uniform vMat:mat4x4;
				uniform pMat:mat4x4;
				uniform vMatD:mat4x4;
				uniform pMatD:mat4x4;
				uniform firstIndex:float;

				function quatToMat3x4(q:vec4):mat3x4 {
					var x2:float = 2 * q.x;
					var y2:float = 2 * q.y;
					var z2:float = 2 * q.z;
					var xx:float = q.x * x2;
					var yy:float = q.y * y2;
					var zz:float = q.z * z2;
					var xy:float = q.x * y2;
					var yz:float = q.y * z2;
					var xz:float = q.x * z2;
					var sx:float = q.w * x2;
					var sy:float = q.w * y2;
					var sz:float = q.w * z2;
					return mat3x4(
						vec4(1 - yy - zz, xy - sz, xz + sy, 0),
						vec4(xy + sz, 1 - xx - zz, yz - sx, 0),
						vec4(xz - sy, yz + sx, 1 - xx - yy, 0)
					);
				}

				function main():void {
					var wpos:vec4;
					var nor1:vec3;
					if (isElastic > 0.5) {
						var index0:float = weightAndIndex0.y * 2 + firstIndex;
						var index1:float = weightAndIndex1.y * 2 + firstIndex;
						var index2:float = weightAndIndex2.y * 2 + firstIndex;
						var index3:float = index0 + 1;
						var index4:float = index1 + 1;
						var index5:float = index2 + 1;
						var quat0:vec4 = 0; // vc[index0]
						var quat1:vec4 = 0; // vc[index1]
						var quat2:vec4 = 0; // vc[index2]
						var pos0:vec4 = 0;  // vc[index3]
						var pos1:vec4 = 0;  // vc[index4]
						var pos2:vec4 = 0;  // vc[index5]
						// volatile: in order not to remove indices when optimizing
						pos0.x += (index0 + index1 + index2 + index3 + index4 + index5) * 0;
						var m0:mat3x4 = quatToMat3x4(quat0);
						var m1:mat3x4 = quatToMat3x4(quat1);
						var m2:mat3x4 = quatToMat3x4(quat2);
						var v0:vec3 = mul(m0, relPos0.xyz) + pos0.xyz;
						var v1:vec3 = mul(m1, relPos1.xyz) + pos1.xyz;
						var v2:vec3 = mul(m2, relPos2.xyz) + pos2.xyz;
						var transformedPos:vec4 = vec4(weightAndIndex0.x * v0 + weightAndIndex1.x * v1 + weightAndIndex2.x * v2, 1);
						wpos = mul(wMat, transformedPos);
						nor1 = mul(wMat, mul(weightAndIndex0.x * m0 + weightAndIndex1.x * m1 + weightAndIndex2.x * m2, normal));
					} else {
						wpos = mul(wMat, vec4(position, 1));
						nor1 = mul(wMat, normal);
					}
					var ppos:vec4 = mul(pMat, mul(vMat, wpos));
					pos = wpos.xyz;
					nor = normalize(nor1) * 1.0;
					var vposD:vec4 = mul(vMatD, wpos);
					var pposD:vec4 = mul(pMatD, vposD);
					var near:float = 1.0;
					var far:float = 2000.0;
					depth = (-vposD.z - near) / (far - near);
					posD = pposD.xyw;
					output = ppos;
				}
			}

			program fragment {
				uniform color:vec3;
				uniform ambient:float;
				uniform diffuse:float;
				uniform specular:float;
				uniform shininess:float;
				uniform lightPos:vec3;
				uniform lightColor:vec3;
				uniform cameraPos:vec3;
				uniform depthMap:texture;

				function main():void {
					var toLight:vec3 = normalize(lightPos - pos);
					var normal:vec3 = normalize(nor);
					var brightness:float = dot(toLight, normal);
					var reflEye:vec3 = reflect(normalize(pos - cameraPos), normal);
					var spec:float = pow(dot(toLight, reflEye), shininess);
					if (brightness < 0) {
						brightness = 0;
						spec = 0;
					}
					var texCoord:vec2 = posD.xy / posD.zz * 0.5 + 0.5;
					texCoord.y = 1 - texCoord.y;
					var dist:float = depth - 0.005;
					var tex:vec4 = tex2D(depthMap, texCoord, clamp, linear);
					var duv:vec2 = vec2(1 / 512, 0);
					var i:vec2 = 0;
					var factor:float = 0;
					i.x = -1 * duv.x;
					var minDepth:float = 1;
					loop(5) {
						i.y = -1 * duv.x;
						loop(5) {
							factor += shadowFactor(texCoord + i, duv, dist, minDepth);
							i.y += duv.x;
						}
						i.x += duv.x;
					}
					factor /= 25;
					var f:float = max(dist - minDepth, 0);
					var radius:float = min(max(1 - f * 100, f * f * 100), 1);
					factor = saturate(0.5 + (factor - 0.5) / radius);
					brightness *= factor;
					spec *= factor;
					var col:vec3 = lightColor * (color * min(1.0, ambient + brightness * diffuse) + spec * specular);
					output = vec4(col, 1);
				}

				function shadowFactor(uv:vec2, duv:vec2, d:float, &minDepth:float):float {
					var iuv:vec2 = floor(uv / duv.x) * duv.x;
					var fuv:vec2 = (uv - iuv) / duv.x;
					var v1:float = sample(iuv, d, minDepth);
					var v2:float = sample(iuv + duv.xy, d, minDepth);
					var v3:float = sample(iuv + duv.yx, d, minDepth);
					var v4:float = sample(iuv + duv.xx, d, minDepth);
					var c1:float = v1 + (v2 - v1) * fuv.x;
					var c2:float = v3 + (v4 - v3) * fuv.x;
					return c1 + (c2 - c1) * fuv.y;
				}

				function sample(uv:vec2, d:float, &minDepth:float):float {
					var texVal:float = tex2D(depthMap, uv, clamp, nearest).r;
					minDepth = min(minDepth, texVal);
					return step(d, texVal);
				}
			}
		]]>;

		// vertex shaders must be modified after compiling
		// in order to use array vc accessing, which OGSL does not support

		gl.registerProgram(0);
		gl.compileShader(0, depthMapShader, <![CDATA[
			mov vt0, vc14.xxxy;
			mov vt1.x, vc14.z;
			slt vt1.y, vt1.x, vc0.x;
			ine vt1.y, vc14.x;
			mul vt1.y, va4.y, vc14.w;
			add vt1.x, vt1.y, vc13.x;
			mul vt1.z, va5.y, vc14.w;
			add vt1.y, vt1.z, vc13.x;
			mul vt1.z, va6.y, vc14.w;
			add vt1.z, vt1.z, vc13.x;
			add vt1.w, vt1.x, vc14.y;
			add vt2.xy, vt1.yz, vc14.yy;
			// <modified>
			mov vt3, vc[vt1.x];
			mov vt5, vc[vt1.y];
			mov vt6, vc[vt1.z];
			mov vt7, vc[vt1.w];
			mov vt8, vc[vt2.x];
			mov vt9, vc[vt2.y];
			// </modified>
			mul vt1.xyz, vc14.www, vt3.xyz;
			mul vt1.xw, vt3.wxxx, vt1.xxxx;
			mul vt2, vt3.yzxy, vt1.yzyz;
			mul vt3.x, vt3.x, vt1.z;
			mul vt1.yz, vt3.wwww, vt1.yyzy;
			sub vt3.y, vc14.y, vt2.x;
			sub vt4.x, vt3.y, vt2.y;
			sub vt4.y, vt2.z, vt1.z;
			add vt4.z, vt3.x, vt1.y;
			mov vt4.w, vc14.x;
			add vt10.x, vt2.z, vt1.z;
			sub vt1.z, vc14.y, vt1.w;
			sub vt10.y, vt1.z, vt2.y;
			sub vt10.z, vt2.w, vt1.x;
			mov vt10.w, vc14.x;
			sub vt3.x, vt3.x, vt1.y;
			add vt3.y, vt2.w, vt1.x;
			sub vt1.x, vc14.y, vt1.w;
			sub vt3.z, vt1.x, vt2.x;
			mov vt3.w, vc14.x;
			mov vt11, vt10;
			mov vt10, vt4;
			mov vt12, vt3;
			mov vt1, vt5;
			mul vt2.xyz, vc14.www, vt1.xyz;
			mul vt2.xw, vt1.wxxx, vt2.xxxx;
			mul vt3.xy, vt1.yx, vt2.yy;
			mul vt1.xyz, vt1.xyzz, vt2.zzzz;
			mul vt2.y, vt1.w, vt2.y;
			mul vt1.w, vt1.w, vt2.z;
			sub vt2.z, vc14.y, vt3.x;
			sub vt4.x, vt2.z, vt1.z;
			sub vt4.y, vt3.y, vt1.w;
			add vt4.z, vt1.x, vt2.y;
			mov vt4.w, vc14.x;
			add vt5.x, vt3.y, vt1.w;
			sub vt1.w, vc14.y, vt2.w;
			sub vt5.y, vt1.w, vt1.z;
			sub vt5.z, vt1.y, vt2.x;
			mov vt5.w, vc14.x;
			sub vt1.x, vt1.x, vt2.y;
			add vt1.y, vt1.y, vt2.x;
			sub vt1.z, vc14.y, vt2.w;
			sub vt1.z, vt1.z, vt3.x;
			mov vt1.w, vc14.x;
			mov vt13, vt4;
			mov vt14, vt5;
			mov vt15, vt1;
			mov vt1, vt6;
			mul vt2.xyz, vc14.www, vt1.xyz;
			mul vt2.xw, vt1.wxxx, vt2.xxxx;
			mul vt3.xy, vt1.yx, vt2.yy;
			mul vt1.xyz, vt1.xyzz, vt2.zzzz;
			mul vt2.y, vt1.w, vt2.y;
			mul vt1.w, vt1.w, vt2.z;
			sub vt2.z, vc14.y, vt3.x;
			sub vt4.x, vt2.z, vt1.z;
			sub vt4.y, vt3.y, vt1.w;
			add vt4.z, vt1.x, vt2.y;
			mov vt4.w, vc14.x;
			add vt5.x, vt3.y, vt1.w;
			sub vt1.w, vc14.y, vt2.w;
			sub vt5.y, vt1.w, vt1.z;
			sub vt5.z, vt1.y, vt2.x;
			mov vt5.w, vc14.x;
			sub vt1.x, vt1.x, vt2.y;
			add vt1.y, vt1.y, vt2.x;
			sub vt1.z, vc14.y, vt2.w;
			sub vt1.z, vt1.z, vt3.x;
			mov vt1.w, vc14.x;
			mov vt2, vt4;
			mov vt3, vt5;
			mov vt4, vt1;
			m33 vt1.xyz, va1.xyz, vt10;
			add vt1.xyz, vt1.xyz, vt7.xyz;
			m33 vt5.xyz, va2.xyz, vt13;
			add vt5.xyz, vt5.xyz, vt8.xyz;
			m33 vt2.xyz, va3.xyz, vt2;
			add vt2.xyz, vt2.xyz, vt9.xyz;
			mul vt1.xyz, va4.xxx, vt1.xyz;
			mul vt3.xyz, va5.xxx, vt5.xyz;
			add vt1.xyz, vt1.xyz, vt3.xyz;
			mul vt2.xyz, va6.xxx, vt2.xyz;
			add vt1.xyz, vt1.xyz, vt2.xyz;
			mov vt1.w, vc14.y;
			m44 vt1, vt1, vc1;
			m44 vt2, vt1, vc5;
			mov vt0, vt2;
			els;
			mov vt1.xyz, va0.xyz;
			mov vt1.w, vc14.y;
			m44 vt2, vt1, vc1;
			m44 vt0, vt2, vc5;
			eif;
			m44 op, vt0, vc9;
			mov vt0.x, vc14.y;
			neg vt0.y, vt0.z;
			sub vt0.y, vt0.y, vt0.x;
			sub vt0.x, vc15.x, vt0.x;
			div v0, vt0.y, vt0.x;
		]]>);
		gl.registerProgram(1);
		gl.compileShader(1, shader, <![CDATA[
			mov vt0, vc22.xxxy;
			mov vt1.x, vc22.z;
			slt vt1.y, vt1.x, vc0.x;
			ine vt1.y, vc22.x;
			mul vt1.y, va5.y, vc22.w;
			add vt1.x, vt1.y, vc21.x;
			mul vt1.z, va6.y, vc22.w;
			add vt1.y, vt1.z, vc21.x;
			mul vt1.z, va7.y, vc22.w;
			add vt1.z, vt1.z, vc21.x;
			add vt1.w, vt1.x, vc22.y;
			add vt2.xy, vt1.yz, vc22.yy;
			// <modified>
			mov vt3, vc[vt1.x];
			mov vt5, vc[vt1.y];
			mov vt6, vc[vt1.z];
			mov vt7, vc[vt1.w];
			mov vt8, vc[vt2.x];
			mov vt9, vc[vt2.y];
			// </modified>
			mul vt1.xyz, vc22.www, vt3.xyz;
			mul vt1.xw, vt3.wxxx, vt1.xxxx;
			mul vt2, vt3.yzxy, vt1.yzyz;
			mul vt3.x, vt3.x, vt1.z;
			mul vt1.yz, vt3.wwww, vt1.yyzy;
			sub vt3.y, vc22.y, vt2.x;
			sub vt4.x, vt3.y, vt2.y;
			sub vt4.y, vt2.z, vt1.z;
			add vt4.z, vt3.x, vt1.y;
			mov vt4.w, vc22.x;
			add vt10.x, vt2.z, vt1.z;
			sub vt1.z, vc22.y, vt1.w;
			sub vt10.y, vt1.z, vt2.y;
			sub vt10.z, vt2.w, vt1.x;
			mov vt10.w, vc22.x;
			sub vt3.x, vt3.x, vt1.y;
			add vt3.y, vt2.w, vt1.x;
			sub vt1.x, vc22.y, vt1.w;
			sub vt3.z, vt1.x, vt2.x;
			mov vt3.w, vc22.x;
			mov vt1, vt4;
			mov vt2, vt10;
			mul vt4.xyz, vc22.www, vt5.xyz;
			mul vt4.xw, vt5.wxxx, vt4.xxxx;
			mul vt7.w, vt5.y, vt4.y;
			mul vt5.yz, vt5.zyzz, vt4.zzzz;
			mul vt8.w, vt5.x, vt4.y;
			mul vt5.x, vt5.x, vt4.z;
			mul vt4.yz, vt5.wwww, vt4.yyzy;
			sub vt5.w, vc22.y, vt7.w;
			sub vt10.x, vt5.w, vt5.z;
			sub vt10.y, vt8.w, vt4.z;
			add vt10.z, vt5.x, vt4.y;
			mov vt10.w, vc22.x;
			add vt11.x, vt8.w, vt4.z;
			sub vt4.z, vc22.y, vt4.w;
			sub vt11.y, vt4.z, vt5.z;
			sub vt11.z, vt5.y, vt4.x;
			mov vt11.w, vc22.x;
			sub vt5.x, vt5.x, vt4.y;
			add vt5.y, vt5.y, vt4.x;
			sub vt4.x, vc22.y, vt4.w;
			sub vt5.z, vt4.x, vt7.w;
			mov vt5.w, vc22.x;
			mov vt12, vt11;
			mov vt11, vt10;
			mov vt13, vt5;
			mov vt5, vt6;
			mul vt4.xyz, vc22.www, vt5.xyz;
			mul vt4.xw, vt5.wxxx, vt4.xxxx;
			mul vt6.xy, vt5.yx, vt4.yy;
			mul vt5.xyz, vt5.xyzz, vt4.zzzz;
			mul vt4.yz, vt5.wwww, vt4.yyzy;
			sub vt5.w, vc22.y, vt6.x;
			sub vt10.x, vt5.w, vt5.z;
			sub vt10.y, vt6.y, vt4.z;
			add vt10.z, vt5.x, vt4.y;
			mov vt10.w, vc22.x;
			add vt14.x, vt6.y, vt4.z;
			sub vt4.z, vc22.y, vt4.w;
			sub vt14.y, vt4.z, vt5.z;
			sub vt14.z, vt5.y, vt4.x;
			mov vt14.w, vc22.x;
			sub vt5.x, vt5.x, vt4.y;
			add vt5.y, vt5.y, vt4.x;
			sub vt4.x, vc22.y, vt4.w;
			sub vt5.z, vt4.x, vt6.x;
			mov vt5.w, vc22.x;
			mov vt15, vt14;
			mov vt14, vt10;
			mov vt16, vt5;
			m33 vt4.xyz, va2.xyz, vt1;
			add vt4.xyz, vt4.xyz, vt7.xyz;
			m33 vt5.xyz, va3.xyz, vt11;
			add vt5.xyz, vt5.xyz, vt8.xyz;
			m33 vt6.xyz, va4.xyz, vt14;
			add vt6.xyz, vt6.xyz, vt9.xyz;
			mul vt4.xyz, va5.xxx, vt4.xyz;
			mul vt5.xyz, va6.xxx, vt5.xyz;
			add vt4.xyz, vt4.xyz, vt5.xyz;
			mul vt5.xyz, va7.xxx, vt6.xyz;
			add vt4.xyz, vt4.xyz, vt5.xyz;
			mov vt4.w, vc22.y;
			m44 vt0, vt4, vc1;
			mul vt1, va5.xxxx, vt1;
			mul vt2, va5.xxxx, vt2;
			mul vt3, va5.xxxx, vt3;
			mul vt4, va6.xxxx, vt11;
			mul vt5, va6.xxxx, vt12;
			mul vt6, va6.xxxx, vt13;
			add vt4, vt1, vt4;
			add vt2, vt2, vt5;
			add vt3, vt3, vt6;
			mul vt5, va7.xxxx, vt14;
			mul vt6, va7.xxxx, vt15;
			mul vt7, va7.xxxx, vt16;
			add vt4, vt4, vt5;
			add vt5, vt2, vt6;
			add vt6, vt3, vt7;
			m33 vt2.xyz, va1.xyz, vt4;
			m33 vt2.xyz, vt2.xyz, vc1;
			els;
			mov vt1.xyz, va0.xyz;
			mov vt1.w, vc22.y;
			m44 vt0, vt1, vc1;
			m33 vt2.xyz, va1.xyz, vc1;
			eif;
			m44 vt1, vt0, vc5;
			m44 op, vt1, vc9;
			mov v0, vt0.xyz;
			nrm vt1.xyz, vt2.xyz;
			mul v2, vt1.xyz, vc22.yyy;
			m44 vt0, vt0, vc13;
			m44 vt1, vt0, vc17;
			mov vt0.x, vc22.y;
			neg vt0.y, vt0.z;
			sub vt0.y, vt0.y, vt0.x;
			sub vt0.x, vc23.x, vt0.x;
			div v3, vt0.y, vt0.x;
			mov v1, vt1.xyw;
		]]>);
	}

	public function color(r:Number, g:Number, b:Number):void {
		colR = r;
		colG = g;
		colB = b;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "color"), colR, colG, colB, 1);
		}
	}

	public function ambient(ambient:Number):void {
		amb = ambient;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "ambient"), amb, 0, 0, 1);
		}
	}

	public function diffuse(diffuse:Number):void {
		dif = diffuse;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "diffuse"), dif, 0, 0, 1);
		}
	}

	public function specular(specular:Number, shininess:Number):void {
		spc = specular;
		shn = shininess;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "specular"), spc, 0, 0, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "shininess"), shn, 0, 0, 1);
		}
	}

	public function cameraPos(x:Number, y:Number, z:Number):void {
		cameraX = x;
		cameraY = y;
		cameraZ = z;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "cameraPos"), cameraX, cameraY, cameraZ, 1);
		}
	}

	public function lightPos(x:Number, y:Number, z:Number):void {
		lightX = x;
		lightY = y;
		lightZ = z;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "lightPos"), lightX, lightY, lightZ, 1);
		}
	}

	public function lightColor(r:Number, g:Number, b:Number):void {
		lightR = r;
		lightG = g;
		lightB = b;
		if (mode == 1) {
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "lightColor"), lightR, lightG, lightB, 1);
		}
	}

	public function setWorldMatrix(mat:Mat44):void {
		wMat.copy(mat);
		gl.setProgramConstantsMatrix("vertex", getVConstIdx(mode, "wMat"), wMat);
	}

	public function setViewMatrix(mat:Mat44):void {
		vMat.copy(mat);
		gl.setProgramConstantsMatrix("vertex", getVConstIdx(mode, "vMat"), vMat);
	}

	public function setProjectionMatrix(mat:Mat44):void {
		pMat.copy(mat);
		gl.setProgramConstantsMatrix("vertex", getVConstIdx(mode, "pMat"), pMat);
	}

	[Inline]
	public final function renderMesh(id:int, elastic:Boolean, firstIndex:int):void {
		gl.setProgramConstantsNumber("vertex", getVConstIdx(mode, "isElastic"), elastic ? 1 : 0, 0, 0, 0);
		gl.setProgramConstantsNumber("vertex", getVConstIdx(mode, "firstIndex"), firstIndex, 0, 0, 1);
		gl.bindVertexAttribute(id, getVAttribIdx(mode, "position"), 0, "float3");
		if (mode == 1) {
			gl.bindVertexAttribute(id, getVAttribIdx(mode, "normal"), 3, "float3");
		}
		for (var i:int = 0; i < ElasticMesh.NUM_NEIGHBORS; i++) {
			var offset:int = 6 + 5 * i;
			if (elastic) {
				gl.bindVertexAttribute(id, getVAttribIdx(mode, "relPos" + i), offset, "float3");
				gl.bindVertexAttribute(id, getVAttribIdx(mode, "weightAndIndex" + i), offset + 3, "float2");
			} else {
				gl.bindVertexAttribute(id, getVAttribIdx(mode, "relPos" + i), 0, "float3");
				gl.bindVertexAttribute(id, getVAttribIdx(mode, "weightAndIndex" + i), 0, "float2");
			}
		}
		gl.drawTriangles(id);
	}

	public function renderMode(mode:int):void {
		if (mode != 0 && mode != 1) throw new Error("!?");
		var vm:Mat44 = new Mat44();
		var pm:Mat44 = new Mat44();
		this.mode = mode;
		gl.unbindVertexAttributes();
		if (mode == 0) {
			gl.setProgram(0);
			gl.getOGSL(0).setDefaultConstants();

			gl.camera(lightX, lightY, lightZ, 0, 0, 0, 0, 0, 1);
			gl.perspective(Math.PI / 3, 0.5, 10000);
			gl.getViewMatrix(vm);
			gl.getProjectionMatrix(pm);
			setViewMatrix(vm);
			setProjectionMatrix(pm);

			gl.setProgramConstantsMatrix("vertex", getVConstIdx(0, "vMat"), vMat);
			gl.setProgramConstantsMatrix("vertex", getVConstIdx(0, "pMat"), pMat);
			gl.getContext3D().setTextureAt(getTexIdx(1, "depthMap"), null);

			gl.getContext3D().setRenderToTexture(depthMap, true);
			gl.beginScene(1, 1, 1);
		} else {
			gl.setProgram(1);
			gl.getOGSL(1).setDefaultConstants();

			gl.camera(lightX, lightY, lightZ, 0, 0, 0, 0, 0, 1);
			gl.perspective(Math.PI / 3, 0.5, 10000);
			gl.getViewMatrix(vm);
			gl.getProjectionMatrix(pm);

			gl.setProgramConstantsMatrix("vertex", getVConstIdx(1, "vMatD"), vm);
			gl.setProgramConstantsMatrix("vertex", getVConstIdx(1, "pMatD"), pm);

			gl.camera(cameraX, cameraY, cameraZ, 0, 100, 0);
			gl.perspective(Math.PI / 3, 0.5, 10000);
			gl.getViewMatrix(vm);
			gl.getProjectionMatrix(pm);
			setViewMatrix(vm);
			setProjectionMatrix(pm);

			gl.setProgramConstantsMatrix("vertex", getVConstIdx(1, "wMat"), wMat);
			gl.setProgramConstantsMatrix("vertex", getVConstIdx(1, "vMat"), vMat);
			gl.setProgramConstantsMatrix("vertex", getVConstIdx(1, "pMat"), pMat);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "color"), colR, colG, colB, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "lightColor"), lightR, lightG, lightB, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "ambient"), amb, 0, 0, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "diffuse"), dif, 0, 0, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "specular"), spc, 0, 0, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "shininess"), shn, 0, 0, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "cameraPos"), cameraX, cameraY, cameraZ, 1);
			gl.setProgramConstantsNumber("fragment", getFConstIdx(1, "lightPos"), lightX, lightY, lightZ, 1);
			gl.getContext3D().setTextureAt(getTexIdx(1, "depthMap"), depthMap);

			gl.getContext3D().setRenderToBackBuffer();
			gl.beginScene(0.1, 0.1, 0.1);
		}
	}

	[Inline]
	private final function getVAttribIdx(id:uint, name:String):int {
		return gl.getOGSL(id).getVertexBufferIndex(name);
	}

	[Inline]
	private final function getVConstIdx(id:uint, name:String):int {
		return gl.getOGSL(id).getVertexConstantsIndex(name);
	}

	[Inline]
	private final function getFConstIdx(id:uint, name:String):int {
		return gl.getOGSL(id).getFragmentConstantsIndex(name);
	}

	[Inline]
	private final function getTexIdx(id:uint, name:String):int {
		return gl.getOGSL(id).getTextureIndex(name);
	}
}

class ElasticMesh {
	private var gl:ShrGL;
	public var vertices:Vector.<Number>;
	public var vertexData:Vector.<VertexData>;
	public var normals:Vector.<Number>;
	public var numIndices:int;
	public var indices:Vector.<uint>;
	public var normalIndices:Vector.<uint>;
	public var verticesBuffer:Vector.<Number>;
	public var indicesBuffer:Vector.<uint>;

	public var ps:Vector.<Particle>; // particles connected with the mesh
	public var numP:int;

	public var bufferIndex:int;
	public var color:int;

	public static const NUM_NEIGHBORS:int = 3;

	private var vbo:Vector.<Number>; // posX, posY, posZ, norX, norY, norZ, (rposX, rposY, rposZ, weight, index){NUM_NEIGHBORS}

	private var constData:ByteArray;

	public function ElasticMesh(gl:ShrGL, bufferIndex:int, vertices:Vector.<Number>, normals:Vector.<Number>, indices:Vector.<uint>, normalIndices:Vector.<uint>) {
		this.gl = gl;
		this.bufferIndex = bufferIndex;
		this.vertices = vertices;
		this.normals = normals;
		this.indices = indices;
		this.normalIndices = normalIndices;
		vertices.fixed = true;
		normals.fixed = true;
		indices.fixed = true;
		normalIndices.fixed = true;
		numIndices = indices.length;
		vertexData = new Vector.<VertexData>(vertices.length / 3, true);

		var strideCount:int = 6 + NUM_NEIGHBORS * 5;
		verticesBuffer = new Vector.<Number>(numIndices * strideCount, true);
		indicesBuffer = new Vector.<uint>(numIndices, true);
		ps = new Vector.<Particle>();
		color = [0xffb040, 0x804020, 0xe08020, 0xf0e0a0][Math.random() * 4 | 0];
		gl.registerBuffer(bufferIndex, numIndices, strideCount, numIndices);

		constData = new ByteArray();
		constData.endian = "littleEndian";
	}

	public function initVertices(w:World):void {
		for (var i:int = 0; i < vertexData.length; i++) {
			vertexData[i] = new VertexData(this, NUM_NEIGHBORS);
			vertexData[i].calcData(vertices[i * 3], vertices[i * 3 + 1], vertices[i * 3 + 2], w.ps, w.numP, ps);
		}
		numP = ps.length;
		ps.fixed = true;
	}

	public function createVBO():void {
		var c:int = 0;
		for (var i:int = 0; i < numIndices; i++) {
			var vi:int = (indices[i] - 1) * 3;
			var ni:int = (normalIndices[i] - 1) * 3;
			verticesBuffer[c++] = vertices[vi];
			verticesBuffer[c++] = vertices[vi + 1];
			verticesBuffer[c++] = vertices[vi + 2];
			var vd:VertexData = vertexData[indices[i] - 1];
			var nx:Number = normals[ni];
			var ny:Number = normals[ni + 1];
			var nz:Number = normals[ni + 2];
			verticesBuffer[c++] = nx;
			verticesBuffer[c++] = ny;
			verticesBuffer[c++] = nz;
			for (var j:int = 0; j < NUM_NEIGHBORS; j++) {
				verticesBuffer[c++] = vd.relPosX[j];
				verticesBuffer[c++] = vd.relPosY[j];
				verticesBuffer[c++] = vd.relPosZ[j];
				verticesBuffer[c++] = vd.weight[j];
				verticesBuffer[c++] = vd.nearParticles[j].indexInMesh;
			}
			indicesBuffer[i] = i;
		}
		gl.uploadVertexBuffer(bufferIndex, verticesBuffer);
		gl.uploadIndexBuffer(bufferIndex, indicesBuffer);
	}

	[Inline]
	public final function setVertexConsts(firstIndex:int):void {
		constData.position = 0;
		for (var i:int = 0; i < numP; i++) {
			var q:Quat = ps[i].q;
			constData.writeFloat(q.x);
			constData.writeFloat(q.y);
			constData.writeFloat(q.z);
			constData.writeFloat(q.s);
			constData.writeFloat(ps[i].x);
			constData.writeFloat(ps[i].y);
			constData.writeFloat(ps[i].z);
			constData.writeFloat(1);
		}
		gl.getContext3D().setProgramConstantsFromByteArray("vertex", firstIndex, numP * 2, constData, 0);
	}
}

class VertexData {
	public var nearParticles:Vector.<Particle>;
	public var relPosX:Vector.<Number>;
	public var relPosY:Vector.<Number>;
	public var relPosZ:Vector.<Number>;
	public var nx:Number;
	public var ny:Number;
	public var nz:Number;
	public var weight:Vector.<Number>;
	public var numNeighbors:int;
	public var m:Mat44;
	private var mesh:ElasticMesh;

	public function VertexData(mesh:ElasticMesh, numNeighbors:int) {
		this.mesh = mesh;
		this.numNeighbors = numNeighbors;
		nearParticles = new Vector.<Particle>(numNeighbors, true);
		relPosX = new Vector.<Number>(numNeighbors, true);
		relPosY = new Vector.<Number>(numNeighbors, true);
		relPosZ = new Vector.<Number>(numNeighbors, true);
		weight = new Vector.<Number>(numNeighbors, true);
		m = new Mat44();
	}

	[Inline]
	public final function calcData(x:Number, y:Number, z:Number, ps:Vector.<Particle>, numP:int, psOut:Vector.<Particle>):void {
		var used:Vector.<Boolean> = new Vector.<Boolean>(numP, true);
		var dist1:Number = 0;
		var rad2:Number = (3 * Elastic.RADIUS);
		rad2 *= rad2;
		var sumW:Number = 0;
		for (var t:int = 0; t < numNeighbors; t++) {
			var minDist:Number = 1 / 0.0;
			var minIdx:int = -1;
			for (var i:int = 0; i < numP; i++) {
				if (used[i]) continue;
				var dx:Number = x - ps[i].x;
				var dy:Number = y - ps[i].y;
				var dz:Number = z - ps[i].z;
				var d2:Number = dx * dx + dy * dy + dz * dz;
				if (ps[i].mesh == null) {
					ps[i].mesh = mesh;
					ps[i].indexInMesh = psOut.length;
					psOut.push(ps[i]);
				}
				if (d2 < minDist) {
					minDist = d2;
					minIdx = i;
				}
			}
			var dist:Number = Math.sqrt(minDist);
			if (t == 0) dist1 = dist;
			used[minIdx] = true;
			var nearP:Particle = ps[minIdx];
			nearParticles[t] = nearP;
			var rx:Number = x - nearP.x;
			var ry:Number = y - nearP.y;
			var rz:Number = z - nearP.z;
			relPosX[t] = rx;
			relPosY[t] = ry;
			relPosZ[t] = rz;
			sumW += weight[t] = Math.pow(dist1 / dist, 3);
		}
		sumW = 1 / sumW;
		var sumW2:Number = 0;
		for (i = 0; i < numNeighbors; i++) {
			weight[i] *= sumW;
		}
	}

	[Inline]
	public final function updateData(vertices:Vector.<Number>, beginIndex:int):void {
		var sumX:Number = 0;
		var sumY:Number = 0;
		var sumZ:Number = 0;
		var sumNX:Number = 0;
		var sumNY:Number = 0;
		var sumNZ:Number = 0;
		var sumW:Number = 0;
		m.e00 = 0;
		m.e01 = 0;
		m.e02 = 0;
		m.e10 = 0;
		m.e11 = 0;
		m.e12 = 0;
		m.e20 = 0;
		m.e21 = 0;
		m.e22 = 0;
		for (var i:int = 0; i < numNeighbors; i++) {
			var rx:Number = relPosX[i];
			var ry:Number = relPosY[i];
			var rz:Number = relPosZ[i];
			var p:Particle = nearParticles[i];
			var w:Number = weight[i];
			var r:Mat44 = p.r;
			sumX += w * (rx * r.e00 + ry * r.e01 + rz * r.e02 + p.x);
			sumY += w * (rx * r.e10 + ry * r.e11 + rz * r.e12 + p.y);
			sumZ += w * (rx * r.e20 + ry * r.e21 + rz * r.e22 + p.z);
			m.e00 += w * r.e00;
			m.e01 += w * r.e01;
			m.e02 += w * r.e02;
			m.e10 += w * r.e10;
			m.e11 += w * r.e11;
			m.e12 += w * r.e12;
			m.e20 += w * r.e20;
			m.e21 += w * r.e21;
			m.e22 += w * r.e22;
			sumW += w;
		}
		var invW:Number = 1 / sumW;
		sumX *= invW;
		sumY *= invW;
		sumZ *= invW;
		m.e00 *= invW;
		m.e01 *= invW;
		m.e02 *= invW;
		m.e10 *= invW;
		m.e11 *= invW;
		m.e12 *= invW;
		m.e20 *= invW;
		m.e21 *= invW;
		m.e22 *= invW;
		vertices[beginIndex] = sumX;
		vertices[beginIndex + 1] = sumY;
		vertices[beginIndex + 2] = sumZ;
	}
}

class Grid {
	public static const WORLD_SIZE:int = 400;
	public static const GRID_SIZE:int = Elastic.RADIUS * 2;
	public static const NUM_GRIDS:int = (WORLD_SIZE / GRID_SIZE | 0) * 2;
	public var cells:Vector.<Vector.<Vector.<GridCell>>>;

	public function Grid() {
		cells = new Vector.<Vector.<Vector.<GridCell>>>(NUM_GRIDS, true);
		for (var i:int = 0; i < NUM_GRIDS; i++) {
			cells[i] = new Vector.<Vector.<GridCell>>(NUM_GRIDS, true);
			for (var j:int = 0; j < NUM_GRIDS; j++) {
				cells[i][j] = new Vector.<GridCell>(NUM_GRIDS, true);
				for (var k:int = 0; k < NUM_GRIDS; k++) {
					cells[i][j][k] = new GridCell();
				}
			}
		}
	}

	[Inline]
	public final function clear():void {
		for (var i:int = 0; i < NUM_GRIDS; i++) {
			for (var j:int = 0; j < NUM_GRIDS; j++) {
				for (var k:int = 0; k < NUM_GRIDS; k++) {
					cells[i][j][k].clear();
				}
			}
		}
	}

	[Inline]
	public final function add(p:Particle):void {
		var gx:int = toG(p.x);
		var gy:int = toG(p.y - 350);
		var gz:int = toG(p.z);
		p.gx = gx;
		p.gy = gy;
		p.gz = gz;
		cells[gx][gy][gz].add(p);
	}

	[Inline]
	private final function toG(x:Number):int {
		var g:int = Math.floor(x / GRID_SIZE) | 0;
		g += NUM_GRIDS >> 1;
		if (g < 0) g = 0;
		else if (g >= NUM_GRIDS) g = NUM_GRIDS - 1;
		return g;
	}
}

class GridCell {
	public static const MAX_PARTICLES:int = 16;
	public var ps:Vector.<Particle>;
	public var numP:int;

	public function GridCell() {
		ps = new Vector.<Particle>(MAX_PARTICLES, true);
		numP = 0;
	}

	public function add(p:Particle):void {
		if (numP == MAX_PARTICLES) return;
		ps[numP++] = p;
	}

	public function clear():void {
		numP = 0;
	}
}

class World {
	public var ps:Vector.<Particle>;
	public var numP:int;
	public var ss:Vector.<Spring>;
	public var numS:int;
	public var cs:Vector.<Constraint>;
	public var numC:int;
	public var grid:Grid;
	private var pWall:Particle;

	public function World() {
		ps = new Vector.<Particle>(10000, true);
		numP = 0;
		ss = new Vector.<Spring>(10000, true);
		numS = 0;
		cs = new Vector.<Constraint>(65536, true);
		numC = 0;
		grid = new Grid();
		pWall = new Particle(0, 0, 0, 0, null);
		pWall.invI = 0;
		pWall.invM = 0;
	}

	public function addParticle(p:Particle):void {
		ps[numP++] = p;
	}

	public function addSpring(s:Spring):void {
		ss[numS++] = s;
		var swapTo:int = int(Math.random() * numS);
		var tmp:Spring = ss[swapTo];
		ss[swapTo] = ss[numS - 1];
		ss[numS - 1] = tmp;
	}

	public function translate(dx:Number, dy:Number, dz:Number):void {
		for (var i:int = 0; i < numP; i++) {
			ps[i].x += dx;
			ps[i].y += dy;
			ps[i].z += dz;
		}
	}

	public function step():void {
		// TODO: po
		var i:int;
		grid.clear();
		numC = 0;
		for (i = 0; i < numP; i++) {
			grid.add(ps[i]);
		}
		for (i = 0; i < numP; i++) {
			collisionDetection(ps[i]);
			ps[i].collisionToBounds(this);
		}
		for (var t:int = 0; t < 5; t++) {
			for (i = 0; i < numS; i++) {
				ss[i].update();
			}
			for (i = 0; i < numC; i++) {
				cs[i].solve();
			}
		}
		for (i = 0; i < numP; i++) {
			ps[i].update();
		}
	}

	private function collisionDetection(p:Particle):void {
		var gx1:int = max(0, p.gx - 1);
		var gx2:int = min(Grid.NUM_GRIDS - 1, p.gx + 1);
		var gy1:int = max(0, p.gy - 1);
		var gy2:int = min(Grid.NUM_GRIDS - 1, p.gy + 1);
		var gz1:int = max(0, p.gz - 1);
		var gz2:int = min(Grid.NUM_GRIDS - 1, p.gz + 1);
		var r2:Number = 4 * Elastic.RADIUS * Elastic.RADIUS;
		for (var i:int = gx1; i <= gx2; i++) {
			for (var j:int = gy1; j <= gy2; j++) {
				for (var k:int = gz1; k <= gz2; k++) {
					var c:GridCell = grid.cells[i][j][k];
					var num:int = c.numP;
					for (var l:int = 0; l < num; l++) {
						var p2:Particle = c.ps[l];
						if (p.mesh == p2.mesh || p.id < p2.id) continue;
						var dx:Number = p.x - p2.x;
						var dy:Number = p.y - p2.y;
						var dz:Number = p.z - p2.z;
						if (dx * dx + dy * dy + dz * dz < r2) {
							addConstraint(p, p2);
						}
					}
				}
			}
		}
	}

	[Inline]
	private final function addConstraint(p1:Particle, p2:Particle):void {
		var dx:Number = p1.x - p2.x;
		var dy:Number = p1.y - p2.y;
		var dz:Number = p1.z - p2.z;
		var d:Number = Math.sqrt(dx * dx + dy * dy + dz * dz);
		if (d < 1e-5) return;
		var invD:Number = 1 / d;
		var nx:Number = dx * invD;
		var ny:Number = dy * invD;
		var nz:Number = dz * invD;
		var overlap:Number = 2 * Elastic.RADIUS - d;
		if (!cs[numC]) cs[numC] = new Constraint();
		cs[numC++].setup(p1, p2, nx, ny, nz, overlap, 0, 0, 0, 0.2);
	}

	[Inline]
	public final function addWallConstraint(p:Particle, nx:Number, ny:Number, nz:Number, overlap:Number, vx:Number, vy:Number, vz:Number):void {
		if (!cs[numC]) cs[numC] = new Constraint();
		cs[numC++].setup(p, pWall, nx, ny, nz, overlap, vx, vy, vz, 0.5);
	}

	[Inline]
	private final function min(a:int, b:int):int {
		return a < b ? a : b;
	}

	[Inline]
	private final function max(a:int, b:int):int {
		return a > b ? a : b;
	}
}

class Particle {
	public var x:Number;
	public var y:Number;
	public var z:Number;
	public var vx:Number;
	public var vy:Number;
	public var vz:Number;
	public var avx:Number;
	public var avy:Number;
	public var avz:Number;
	public var invM:Number;
	public var invI:Number;
	public var q:Quat;
	public var r:Mat44;
	public var radius:Number;
	public var onGround:Boolean;
	public var gnx:Number;
	public var gny:Number;
	public var gnz:Number;
	public var distFunc:Function;
	public var gx:int;
	public var gy:int;
	public var gz:int;
	public var mesh:ElasticMesh;
	public var indexInMesh:int;

	private static var idCount:int = 0;
	public var id:int;

	public function Particle(x:Number, y:Number, z:Number, radius:Number, distFunc:Function) {
		this.x = x;
		this.y = y;
		this.z = z;
		this.radius = radius;
		this.distFunc = distFunc;
		id = ++idCount;
		vx = 0;
		vy = 0;
		vz = 0;
		avx = 0;
		avy = 0;
		avz = 0;
		invM = 1 / (radius * radius * radius);
		invI = 1 / (2 / 3 * radius * radius * (1 / invM)); // suppose radius = 1
		q = new Quat();
		r = new Mat44();
	}

	[Inline]
	public final function update():void {
		var maxDistance:Number = Math.sqrt(vx * vx + vy * vy + vz * vz);
		var dx:Number = vx;
		var dy:Number = vy;
		var dz:Number = vz;
		if (maxDistance < 1e-5) {
			x += vx;
			y += vy;
			z += vz;
		} else {
			var invD:Number = 1 / maxDistance;
			var totalDistance:Number = 0;
			dx *= invD;
			dy *= invD;
			dz *= invD;
			var nx:Number = 0;
			var ny:Number = 0;
			var nz:Number = 0;
			var rad:Number = Elastic.RADIUS * 0.9;
			for (var i:int = 0; i < 20; i++) {
				var dist:Number = distFunc(x, y, z).d - rad;
				if (dist < 1e-5) {
					nx = distFunc(x + 0.1, y, z).d - dist - rad;
					ny = distFunc(x, y + 0.1, z).d - dist - rad;
					nz = distFunc(x, y, z + 0.1).d - dist - rad;
					invD = 1 / Math.sqrt(nx * nx + ny * ny + nz * nz);
					nx *= invD;
					ny *= invD;
					nz *= invD;
					break;
				}
				if (dist > maxDistance) dist = maxDistance;
				x += dx * dist;
				y += dy * dist;
				z += dz * dist;
				totalDistance += dist;
				maxDistance -= dist;
				if (maxDistance < 1e-5) break;
			}
			if (maxDistance > 0) {
				var dn:Number = dx * nx + dy * ny + dz * nz;
				if (dn > 0) dn = 0;
				x += (dx - dn * nx) * maxDistance;
				y += (dy - dn * ny) * maxDistance;
				z += (dz - dn * nz) * maxDistance;
			}
		}
		vy -= 0.3;
		var qs:Number = q.s;
		var qx:Number = q.x;
		var qy:Number = q.y;
		var qz:Number = q.z;
		var ds:Number = (-avx * qx - avy * qy - avz * qz) * 0.5;
		dx = (avx * qs + avy * qz - avz * qy) * 0.5;
		dy = (-avx * qz + avy * qs + avz * qx) * 0.5;
		dz = (avx * qy - avy * qx + avz * qs) * 0.5;
		qs += ds;
		qx += dx;
		qy += dy;
		qz += dz;
		var s:Number = 1 / Math.sqrt(qs * qs + qx * qx + qy * qy + qz * qz);
		q.s = qs * s;
		q.x = qx * s;
		q.y = qy * s;
		q.z = qz * s;
		qs = q.s;
		qx = q.x;
		qy = q.y;
		qz = q.z;
		var x2:Number = 2 * qx;
		var y2:Number = 2 * qy;
		var z2:Number = 2 * qz;
		var xx:Number = qx * x2;
		var yy:Number = qy * y2;
		var zz:Number = qz * z2;
		var xy:Number = qx * y2;
		var yz:Number = qy * z2;
		var xz:Number = qx * z2;
		var sx:Number = qs * x2;
		var sy:Number = qs * y2;
		var sz:Number = qs * z2;
		r.e00 = 1 - yy - zz;
		r.e01 = xy - sz;
		r.e02 = xz + sy;
		r.e10 = xy + sz;
		r.e11 = 1 - xx - zz;
		r.e12 = yz - sx;
		r.e20 = xz - sy;
		r.e21 = yz + sx;
		r.e22 = 1 - xx - yy;
	}

	[Inline]
	public final function collisionToBounds(w:World):void {
		var res:DistFuncResult = distFunc(x, y, z);
		if (res.d < radius) {
			var ddx:Number = distFunc(x + 1e-3, y, z).d - res.d;
			var ddy:Number = distFunc(x, y + 1e-3, z).d - res.d;
			var ddz:Number = distFunc(x, y, z + 1e-3).d - res.d;
			var len:Number = Math.sqrt(ddx * ddx + ddy * ddy + ddz * ddz);
			if (len > 0) len = 1 / len;
			gnx = ddx * len;
			gny = ddy * len;
			gnz = ddz * len;
			w.addWallConstraint(this, gnx, gny, gnz, radius - res.d, res.vx, res.vy, res.vz);
			onGround = true;
		} else onGround = false;
	}
}

class Constraint {
	public var p1:Particle;
	public var p2:Particle;
	public var denom:Number;
	public var bias:Number;
	public var rvnBias:Number;
	public var nx:Number;
	public var ny:Number;
	public var nz:Number;
	public var normalI:Number;
	public var tangentIx:Number;
	public var tangentIy:Number;
	public var tangentIz:Number;
	public var mu:Number;

	public function Constraint() {
	}

	[Inline]
	public final function setup(p1:Particle, p2:Particle, nx:Number, ny:Number, nz:Number, overlap:Number, bvx:Number, bvy:Number, bvz:Number, mu:Number):void {
		this.p1 = p1;
		this.p2 = p2;
		this.nx = nx;
		this.ny = ny;
		this.nz = nz;
		this.mu = mu;
		denom = 1 / (p1.invM + p2.invM);
		var e:Number = 0.5;
		rvnBias = bvx * nx + bvy * ny + bvz * nz;
		var rvn:Number = (p1.vx - p2.vx) * nx + (p1.vy - p2.vy) * ny + (p1.vz - p2.vz) * nz - rvnBias;
		if (rvn < 2) rvn = 0;
		bias = max(rvn * e, overlap * 0.3);
		normalI = 0;
		tangentIx = 0;
		tangentIy = 0;
		tangentIz = 0;
	}

	private function max(a:Number, b:Number):Number {
		return a > b ? a : b;
	}

	[Inline]
	public final function solve():void {
		var rvn:Number = (p1.vx - p2.vx) * nx + (p1.vy - p2.vy) * ny + (p1.vz - p2.vz) * nz - rvnBias;
		rvn = 1 - rvn;
		var rtx:Number = (p1.vx - p2.vx) * rvn;
		var rty:Number = (p1.vy - p2.vy) * rvn;
		var rtz:Number = (p1.vz - p2.vz) * rvn;
		var itx:Number = denom * -rtx;
		var ity:Number = denom * -rty;
		var itz:Number = denom * -rtz;
		var ptangentIx:Number = tangentIx;
		var ptangentIy:Number = tangentIy;
		var ptangentIz:Number = tangentIz;
		tangentIx += itx;
		tangentIy += ity;
		tangentIz += itz;
		var tangentI:Number = tangentIx * tangentIx + tangentIy * tangentIy + tangentIz * tangentIz;
		var maxTangentI:Number = normalI * mu;
		if (tangentI > maxTangentI * maxTangentI) {
			var factor:Number = maxTangentI / Math.sqrt(tangentI);
			tangentIx *= factor;
			tangentIy *= factor;
			tangentIz *= factor;
		}
		var diffIx:Number = tangentIx - ptangentIx;
		var diffIy:Number = tangentIy - ptangentIy;
		var diffIz:Number = tangentIz - ptangentIz;
		p1.vx += diffIx * p1.invM;
		p1.vy += diffIy * p1.invM;
		p1.vz += diffIz * p1.invM;
		p2.vx -= diffIx * p2.invM;
		p2.vy -= diffIy * p2.invM;
		p2.vz -= diffIz * p2.invM;

		rvn = (p1.vx - p2.vx) * nx + (p1.vy - p2.vy) * ny + (p1.vz - p2.vz) * nz - rvnBias;
		var imp:Number = denom * (bias - rvn);
		var pnormalI:Number = normalI;
		normalI += imp;
		if (normalI < 0) normalI = 0;
		var diffI:Number = normalI - pnormalI;
		p1.vx += nx * diffI * p1.invM;
		p1.vy += ny * diffI * p1.invM;
		p1.vz += nz * diffI * p1.invM;
		p2.vx -= nx * diffI * p2.invM;
		p2.vy -= ny * diffI * p2.invM;
		p2.vz -= nz * diffI * p2.invM;
	}
}

class Spring {
	public var p1:Particle;
	public var p2:Particle;

	// local anchor
	public var la1x:Number;
	public var la1y:Number;
	public var la1z:Number;
	public var la2x:Number;
	public var la2y:Number;
	public var la2z:Number;

	public var k:Number;
	public var ka:Number;

	public function Spring(p1:Particle, p2:Particle) {
		// assuming p1.q == p2.q == Quat(1, 0, 0, 0)
		this.p1 = p1;
		this.p2 = p2;
		var x:Number = (p1.x + p2.x) * 0.5;
		var y:Number = (p1.y + p2.y) * 0.5;
		var z:Number = (p1.z + p2.z) * 0.5;
		la1x = x - p1.x;
		la1y = y - p1.y;
		la1z = z - p1.z;
		la2x = x - p2.x;
		la2y = y - p2.y;
		la2z = z - p2.z;
		var stiffness:Number = 0.3;
		var coeff:Number = stiffness / (p1.invM + p2.invM);
		k = 1 * coeff;
		ka = 0.3;
	}

	[Inline]
	public final function update():void {
		const r1:Mat44 = p1.r;
		const r2:Mat44 = p2.r;
		const a1x:Number = la1x * r1.e00 + la1y * r1.e01 + la1z * r1.e02;
		const a1y:Number = la1x * r1.e10 + la1y * r1.e11 + la1z * r1.e12;
		const a1z:Number = la1x * r1.e20 + la1y * r1.e21 + la1z * r1.e22;
		const a2x:Number = la2x * r2.e00 + la2y * r2.e01 + la2z * r2.e02;
		const a2y:Number = la2x * r2.e10 + la2y * r2.e11 + la2z * r2.e12;
		const a2z:Number = la2x * r2.e20 + la2y * r2.e21 + la2z * r2.e22;
		const rv1x:Number = p1.vx + p1.avy * a1z - p1.avz * a1y;
		const rv1y:Number = p1.vy + p1.avz * a1x - p1.avx * a1z;
		const rv1z:Number = p1.vz + p1.avx * a1y - p1.avy * a1x;
		const rv2x:Number = p2.vx + p2.avy * a2z - p2.avz * a2y;
		const rv2y:Number = p2.vy + p2.avz * a2x - p2.avx * a2z;
		const rv2z:Number = p2.vz + p2.avx * a2y - p2.avy * a2x;
		const dx:Number = p1.x + rv1x - p2.x - rv2x + a1x - a2x;
		const dy:Number = p1.y + rv1y - p2.y - rv2y + a1y - a2y;
		const dz:Number = p1.z + rv1z - p2.z - rv2z + a1z - a2z;
		var l:Number = Math.sqrt(dx * dx + dy * dy + dz * dz);
		const diff:Number = -l;
		var invL:Number = l > 1e-5 ? 1 / l : 0;
		const nx:Number = dx * invL;
		const ny:Number = dy * invL;
		const nz:Number = dz * invL;
		// velocity = linearVelocity + angularVelocity x relativePosition
		const f:Number = diff * k;
		const fx:Number = nx * f;
		const fy:Number = ny * f;
		const fz:Number = nz * f;
		p1.vx += fx * p1.invM;
		p1.vy += fy * p1.invM;
		p1.vz += fz * p1.invM;
		p2.vx -= fx * p2.invM;
		p2.vy -= fy * p2.invM;
		p2.vz -= fz * p2.invM;
		const t1x:Number = a1y * fz - a1z * fy;
		const t1y:Number = a1z * fx - a1x * fz;
		const t1z:Number = a1x * fy - a1y * fx;
		const t2x:Number = a2y * fz - a2z * fy;
		const t2y:Number = a2z * fx - a2x * fz;
		const t2z:Number = a2x * fy - a2y * fx;
		p1.avx += t1x * p1.invI;
		p1.avy += t1y * p1.invI;
		p1.avz += t1z * p1.invI;
		p2.avx -= t2x * p2.invI;
		p2.avy -= t2y * p2.invI;
		p2.avz -= t2z * p2.invI;

		// angular spring

		const q1s:Number = p1.q.s;
		const q1x:Number = p1.q.x;
		const q1y:Number = p1.q.y;
		const q1z:Number = p1.q.z;
		const q2s:Number = p2.q.s;
		const q2x:Number = -p2.q.x;
		const q2y:Number = -p2.q.y;
		const q2z:Number = -p2.q.z;

		var rqs:Number = q1s * q2s - q1x * q2x - q1y * q2y - q1z * q2z;
		var rqx:Number = q1s * q2x + q1x * q2s + q1y * q2z - q1z * q2y;
		var rqy:Number = q1s * q2y - q1x * q2z + q1y * q2s + q1z * q2x;
		var rqz:Number = q1s * q2z + q1x * q2y - q1y * q2x + q1z * q2s;

		if (rqs > 1) rqs = 1;
		else if (rqs < -1) rqs = -1;
		const theta:Number = 2 * Math.acos(rqs);
		const t:Number = -theta;
		l = Math.sqrt(rqx * rqx + rqy * rqy + rqz * rqz);
		invL = l > 1e-5 ? 1 / l : 0;
		rqx *= invL * t;
		rqy *= invL * t;
		rqz *= invL * t;
		const tx:Number = (rqx - (p1.avx - p2.avx)) * ka;
		const ty:Number = (rqy - (p1.avy - p2.avy)) * ka;
		const tz:Number = (rqz - (p1.avz - p2.avz)) * ka;
		p1.avx += tx;
		p1.avy += ty;
		p1.avz += tz;
		p2.avx -= tx;
		p2.avy -= ty;
		p2.avz -= tz;
	}
}


import com.adobe.utils.AGALMiniAssembler;
import com.element.oimo.ogsl.OGSL;
import flash.display3D.Context3D;
import flash.display3D.IndexBuffer3D;
import flash.display3D.Program3D;
import flash.display3D.VertexBuffer3D;
import flash.utils.ByteArray;


class ShrGL {
	private var c3d:Context3D;
	private var w:uint;
	private var h:uint;
	private var aspect:Number;
	private var worldM:Mat44;
	private var viewM:Mat44;
	private var projM:Mat44;
	private var up:Vector.<Number>;
	private var stackM:Vector.<Mat44>;
	private var numStack:uint;
	private var vertexB:Vector.<VertexBuffer3D>;
	private var numVerticesB:Vector.<uint>;
	private var indexB:Vector.<IndexBuffer3D>;
	private var numIndicesB:Vector.<uint>;
	private var programs:Vector.<Program3D>;
	private var ogsls:Vector.<OGSL>;
	private var vertexCodes:Vector.<ByteArray>;
	private var fragmentCodes:Vector.<ByteArray>;

	public function ShrGL(c3d:Context3D, w:uint, h:uint) {
		this.c3d = c3d;
		c3d.setCulling("front"); // ClockWise
		c3d.configureBackBuffer(w, h, 0);
		this.w = w;
		this.h = h;
		aspect = w / h;
		worldM = new Mat44();
		viewM = new Mat44();
		projM = new Mat44();
		up = new Vector.<Number>(4, true);
		stackM = new Vector.<Mat44>(256, true);
		vertexB = new Vector.<VertexBuffer3D>(256, true);
		numVerticesB = new Vector.<uint>(256, true);
		indexB = new Vector.<IndexBuffer3D>(256, true);
		numIndicesB = new Vector.<uint>(256, true);
		programs = new Vector.<Program3D>(64, true);
		ogsls = new Vector.<OGSL>(64, true);
		vertexCodes = new Vector.<ByteArray>(64, true);
		fragmentCodes = new Vector.<ByteArray>(64, true);
		numStack = 0;
	}

	public function getContext3D():Context3D {
		return c3d;
	}

	public function camera(
		ex:Number, ey:Number, ez:Number,
		tx:Number = 0, ty:Number = 0, tz:Number = 0,
		ux:Number = 0, uy:Number = 1, uz:Number = 0
	):void {
		viewM.viewMatrix(ex, ey, ez, tx, ty, tz, ux, uy, uz);
	}

	public function perspective(fovY:Number, near:Number = 0.5, far:Number = 2000):void {
		projM.perspectiveMatrix(fovY, aspect, near, far);
	}

	public function beginScene(r:Number, g:Number, b:Number):void {
		c3d.clear(r, g, b);
	}

	public function endScene():void {
		c3d.present();
	}

	[Inline]
	public final function setProgramConstantsMatrix(type:String, index:uint, m:Mat44):void {
		up[0] = m.e00; up[1] = m.e01; up[2] = m.e02; up[3] = m.e03;
		c3d.setProgramConstantsFromVector(type, index, up);
		up[0] = m.e10; up[1] = m.e11; up[2] = m.e12; up[3] = m.e13;
		c3d.setProgramConstantsFromVector(type, index + 1, up);
		up[0] = m.e20; up[1] = m.e21; up[2] = m.e22; up[3] = m.e23;
		c3d.setProgramConstantsFromVector(type, index + 2, up);
		up[0] = m.e30; up[1] = m.e31; up[2] = m.e32; up[3] = m.e33;
		c3d.setProgramConstantsFromVector(type, index + 3, up);
	}

	[Inline]
	public final function setProgramConstantsVector(type:String, index:uint, v:Vec3):void {
		up[0] = v.x; up[1] = v.y; up[2] = v.z; up[3] = 1;
		c3d.setProgramConstantsFromVector(type, index, up);
	}

	[Inline]
	public final function setProgramConstantsNumber(type:String, index:uint, x:Number, y:Number, z:Number, w:Number):void {
		up[0] = x; up[1] = y; up[2] = z; up[3] = w;
		c3d.setProgramConstantsFromVector(type, index, up);
	}

	public function registerProgram(programIndex:uint):void {
		if (programs[programIndex]) {
			programs[programIndex].dispose();
		}
		ogsls[programIndex] = new OGSL();
		ogsls[programIndex].setContext3D(c3d);
		programs[programIndex] = c3d.createProgram();
		vertexCodes[programIndex] = null;
		fragmentCodes[programIndex] = null;
	}

	public function compileShader(programIndex:uint, ogslCode:String, alternateVertexAGAL:String = null):void {
		var ogsl:OGSL = ogsls[programIndex];
		ogsl.compile(ogslCode);
		uploadVertexShader(programIndex, alternateVertexAGAL != null ? alternateVertexAGAL : ogsl.getVertexAGAL());
		uploadFragmentShader(programIndex, ogsl.getFragmentAGAL());
	}

	[Inline]
	public final function getOGSL(programIndex:uint):OGSL {
		return ogsls[programIndex];
	}

	public function uploadVertexShader(programIndex:uint, vertexShaderCode:String):void {
		trace("vtx:\n" + vertexShaderCode);
		var agal:AGALMiniAssembler = new AGALMiniAssembler();
		agal.assemble("vertex", vertexShaderCode, 2);
		vertexCodes[programIndex] = agal.agalcode;
		if (fragmentCodes[programIndex]) {
			programs[programIndex].upload(vertexCodes[programIndex], fragmentCodes[programIndex]);
		}
	}

	public function uploadFragmentShader(programIndex:uint, fragmentShaderCode:String):void {
		trace("frg:\n" + fragmentShaderCode);
		var agal:AGALMiniAssembler = new AGALMiniAssembler();
		agal.assemble("fragment", fragmentShaderCode, 2);
		fragmentCodes[programIndex] = agal.agalcode;
		if (vertexCodes[programIndex]) {
			programs[programIndex].upload(vertexCodes[programIndex], fragmentCodes[programIndex]);
		}
	}

	public function createBasicFragmentShaderCode(
		vertexPositionIndex:uint, vertexNormalIndex:uint,
		programColorIndex:uint, programAmbDifEmiIndex:uint, programSpcShnIndex:uint,
		programAmbLightColorIndex:uint, programDirLightColorIndex:uint, programDirLightDirectionIndex:uint,
		programCameraPosIndex:uint
	):String {
		var pos:String = "v" + vertexPositionIndex;
		var nor:String = "v" + vertexNormalIndex;
		var col:String = "fc" + programColorIndex;
		var mat:String = "fc" + programAmbDifEmiIndex;
		var spc:String = "fc" + programSpcShnIndex;
		var alc:String = "fc" + programAmbLightColorIndex;
		var dlc:String = "fc" + programDirLightColorIndex;
		var dld:String = "fc" + programDirLightDirectionIndex;
		var cam:String = "fc" + programCameraPosIndex;
		var code:String =
			"nrm ft1.xyz, " + nor + ".xyz \n" +			// ft1 = normal
			"mov ft2, " + col + " \n" +					// ft2 = col
			"mul ft0, ft2, " + alc + " \n" +			// ft0 = ambColor
			"mul ft0, ft0.xyz, " + mat + ".xxx \n" +	// ft0 = ft0 * ambFactor
			"mul ft3, ft2, " + dlc + " \n" +			// ft3 = dirColor
			"mul ft3, ft3.xyz, " + mat + ".yyy \n" +	// ft3 = ft2 * dirFactor
			"mov ft4, " + dld + " \n" +					// ft4 = lightDir
			"neg ft4, ft4 \n" +							// ft4 = -ft4
			"nrm ft4.xyz, ft4.xyz \n" +					// ft4 = nrm(ft4)
			"dp3 ft0.w, ft1.xyz, ft4.xyz \n" +			// dot = normal * lightDir
			"sat ft0.w, ft0.w \n" +						// dot = sat(dot)
			"mul ft3, ft3.xyz, ft0.www \n" +			// ft3 = ft3 * dot
			"add ft0, ft0, ft3 \n" +					// ft0 = ft0 + ft3
			"mul ft3, ft1.xyz, ft0.www \n" +			// ft3 = normal * dot
			"add ft3, ft3, ft3 \n" +					// ft3 = ft3 * 2
			"sub ft3, ft3, ft4 \n" +					// ft3 = ft3 - lightDir
			"nrm ft3.xyz, ft3.xyz \n" +					// ft3 = nrm(ft3)
			"mov ft5, " + cam + " \n" +					// ft5 = cam
			"sub ft5, ft5, " + pos + " \n" +			// ft5 = ft5 - pos
			"nrm ft5.xyz, ft5.xyz \n" +					// ft5 = nrm(ft5)
			"dp3 ft3.w, ft3.xyz, ft5.xyz \n" +			// ref = ft3 * ft5
			"sat ft3.w, ft3.w \n" +						// ref = sat(ref)
			"pow ft3.w, ft3.w, " + spc + ".yyy \n" +	// ref = ref ^ shn
			"mul ft3, ft3.www, " + dlc + ".xyz \n" +	// rfc = ref * dirColor
			"mul ft3, ft3, " + spc + ".xxx \n" +		// rfc = rfc * spc
			"sub ft3.w, ft3.w, ft3.w \n" +				// zer = zer - zer
			"slt ft3.w, ft3.w, ft0.w \n" +				// zer = zer < dot ? 1 : 0
			"mul ft3, ft3, ft3.www \n" +				// rfc = rfc * zer
			"add ft0, ft0, ft3 \n" +					// ft0 = ft0 + rfc
			"mov oc, ft0 \n"							// col = ft0
		;
		return code;
	}

	public function registerBuffer(bufferIndex:uint, numVertices:uint, variablePerVertex:uint, numIndices:uint):void {
		if (vertexB[bufferIndex]) {
			vertexB[bufferIndex].dispose();
			indexB[bufferIndex].dispose();
		}
		vertexB[bufferIndex] = c3d.createVertexBuffer(numVertices, variablePerVertex);
		numVerticesB[bufferIndex] = numVertices;
		indexB[bufferIndex] = c3d.createIndexBuffer(numIndices);
		numIndicesB[bufferIndex] = numIndices;
	}

	public function setProgram(programIndex:uint):void {
		c3d.setProgram(programs[programIndex]);
	}

	public function uploadVertexBuffer(bufferIndex:uint, vertices:Vector.<Number>):void {
		vertexB[bufferIndex].uploadFromVector(vertices, 0, numVerticesB[bufferIndex]);
	}

	public function uploadIndexBuffer(bufferIndex:uint, indices:Vector.<uint>):void {
		indexB[bufferIndex].uploadFromVector(indices, 0, numIndicesB[bufferIndex]);
	}

	public function bindVertexAttribute(bufferIndex:uint, index:uint, offset:uint, type:String):void {
		c3d.setVertexBufferAt(index, vertexB[bufferIndex], offset, type);
	}

	public function unbindVertexAttributes():void {
		c3d.setVertexBufferAt(0, null);
		c3d.setVertexBufferAt(1, null);
		c3d.setVertexBufferAt(2, null);
		c3d.setVertexBufferAt(3, null);
		c3d.setVertexBufferAt(4, null);
		c3d.setVertexBufferAt(5, null);
		c3d.setVertexBufferAt(6, null);
		c3d.setVertexBufferAt(7, null);
	}

	[Inline]
	public final function drawTriangles(bufferIndex:uint):void {
		c3d.drawTriangles(indexB[bufferIndex]);
	}

	[Inline]
	public final function translate(tx:Number, ty:Number, tz:Number):void {
		worldM.translate(worldM, tx, ty, tz);
	}

	[Inline]
	public final function scale(sx:Number, sy:Number, sz:Number):void {
		worldM.scale(worldM, sx, sy, sz);
	}

	[Inline]
	public final function rotate(rad:Number, ax:Number, ay:Number, az:Number):void {
		worldM.rotate(worldM, rad, ax, ay, az);
	}

	[Inline]
	public final function transform(m:Mat44):void {
		worldM.mul(worldM, m);
	}

	public function push():void {
		if (numStack < 256) {
			if (!stackM[numStack]) stackM[numStack] = new Mat44();
			stackM[numStack++].copy(worldM);
		} else {
			throw new Error("too many stacks.");
		}
	}

	public function pop():void {
		if (numStack > 0) {
			worldM.copy(stackM[--numStack]);
		} else {
			throw new Error("there is no stack.");
		}
	}

	public function loadWorldMatrix(m:Mat44):void {
		worldM.copy(m);
	}

	public function loadViewMatrix(m:Mat44):void {
		viewM.copy(m);
	}

	public function loadProjectionMatrix(m:Mat44):void {
		projM.copy(m);
	}

	public function getWorldMatrix(m:Mat44):void {
		m.copy(worldM);
	}

	public function getViewMatrix(m:Mat44):void {
		m.copy(viewM);
	}

	public function getProjectionMatrix(m:Mat44):void {
		m.copy(projM);
	}
}

class Mat44 {
	public var e00:Number, e01:Number, e02:Number, e03:Number;
	public var e10:Number, e11:Number, e12:Number, e13:Number;
	public var e20:Number, e21:Number, e22:Number, e23:Number;
	public var e30:Number, e31:Number, e32:Number, e33:Number;

	public function Mat44(
		e00:Number = 1, e01:Number = 0, e02:Number = 0, e03:Number = 0,
		e10:Number = 0, e11:Number = 1, e12:Number = 0, e13:Number = 0,
		e20:Number = 0, e21:Number = 0, e22:Number = 1, e23:Number = 0,
		e30:Number = 0, e31:Number = 0, e32:Number = 0, e33:Number = 1
	) {
		this.e00 = e00; this.e01 = e01; this.e02 = e02; this.e03 = e03;
		this.e10 = e10; this.e11 = e11; this.e12 = e12; this.e13 = e13;
		this.e20 = e20; this.e21 = e21; this.e22 = e22; this.e23 = e23;
		this.e30 = e30; this.e31 = e31; this.e32 = e32; this.e33 = e33;
	}

	public function init(
		e00:Number = 1, e01:Number = 0, e02:Number = 0, e03:Number = 0,
		e10:Number = 0, e11:Number = 1, e12:Number = 0, e13:Number = 0,
		e20:Number = 0, e21:Number = 0, e22:Number = 1, e23:Number = 0,
		e30:Number = 0, e31:Number = 0, e32:Number = 0, e33:Number = 1
	):void {
		this.e00 = e00; this.e01 = e01; this.e02 = e02; this.e03 = e03;
		this.e10 = e10; this.e11 = e11; this.e12 = e12; this.e13 = e13;
		this.e20 = e20; this.e21 = e21; this.e22 = e22; this.e23 = e23;
		this.e30 = e30; this.e31 = e31; this.e32 = e32; this.e33 = e33;
	}

	[Inline]
	public final function add(m1:Mat44, m2:Mat44):void {
		e00 = m1.e00 + m2.e00; e01 = m1.e01 + m2.e01; e02 = m1.e02 + m2.e02; e03 = m1.e03 + m2.e03;
		e10 = m1.e10 + m2.e10; e11 = m1.e11 + m2.e11; e12 = m1.e12 + m2.e12; e13 = m1.e13 + m2.e13;
		e20 = m1.e20 + m2.e20; e21 = m1.e21 + m2.e21; e22 = m1.e22 + m2.e22; e23 = m1.e23 + m2.e23;
		e30 = m1.e30 + m2.e30; e31 = m1.e31 + m2.e31; e32 = m1.e32 + m2.e32; e33 = m1.e33 + m2.e33;
	}

	[Inline]
	public final function sub(m1:Mat44, m2:Mat44):void {
		e00 = m1.e00 - m2.e00; e01 = m1.e01 - m2.e01; e02 = m1.e02 - m2.e02; e03 = m1.e03 - m2.e03;
		e10 = m1.e10 - m2.e10; e11 = m1.e11 - m2.e11; e12 = m1.e12 - m2.e12; e13 = m1.e13 - m2.e13;
		e20 = m1.e20 - m2.e20; e21 = m1.e21 - m2.e21; e22 = m1.e22 - m2.e22; e23 = m1.e23 - m2.e23;
		e30 = m1.e30 - m2.e30; e31 = m1.e31 - m2.e31; e32 = m1.e32 - m2.e32; e33 = m1.e33 - m2.e33;
	}

	[Inline]
	public final function mul(m1:Mat44, m2:Mat44):void {
		var t00:Number = m1.e00 * m2.e00 + m1.e01 * m2.e10 + m1.e02 * m2.e20 + m1.e03 * m2.e30;
		var t01:Number = m1.e00 * m2.e01 + m1.e01 * m2.e11 + m1.e02 * m2.e21 + m1.e03 * m2.e31;
		var t02:Number = m1.e00 * m2.e02 + m1.e01 * m2.e12 + m1.e02 * m2.e22 + m1.e03 * m2.e32;
		var t03:Number = m1.e00 * m2.e03 + m1.e01 * m2.e13 + m1.e02 * m2.e23 + m1.e03 * m2.e33;
		var t10:Number = m1.e10 * m2.e00 + m1.e11 * m2.e10 + m1.e12 * m2.e20 + m1.e13 * m2.e30;
		var t11:Number = m1.e10 * m2.e01 + m1.e11 * m2.e11 + m1.e12 * m2.e21 + m1.e13 * m2.e31;
		var t12:Number = m1.e10 * m2.e02 + m1.e11 * m2.e12 + m1.e12 * m2.e22 + m1.e13 * m2.e32;
		var t13:Number = m1.e10 * m2.e03 + m1.e11 * m2.e13 + m1.e12 * m2.e23 + m1.e13 * m2.e33;
		var t20:Number = m1.e20 * m2.e00 + m1.e21 * m2.e10 + m1.e22 * m2.e20 + m1.e23 * m2.e30;
		var t21:Number = m1.e20 * m2.e01 + m1.e21 * m2.e11 + m1.e22 * m2.e21 + m1.e23 * m2.e31;
		var t22:Number = m1.e20 * m2.e02 + m1.e21 * m2.e12 + m1.e22 * m2.e22 + m1.e23 * m2.e32;
		var t23:Number = m1.e20 * m2.e03 + m1.e21 * m2.e13 + m1.e22 * m2.e23 + m1.e23 * m2.e33;
		var t30:Number = m1.e30 * m2.e00 + m1.e31 * m2.e10 + m1.e32 * m2.e20 + m1.e33 * m2.e30;
		var t31:Number = m1.e30 * m2.e01 + m1.e31 * m2.e11 + m1.e32 * m2.e21 + m1.e33 * m2.e31;
		var t32:Number = m1.e30 * m2.e02 + m1.e31 * m2.e12 + m1.e32 * m2.e22 + m1.e33 * m2.e32;
		var t33:Number = m1.e30 * m2.e03 + m1.e31 * m2.e13 + m1.e32 * m2.e23 + m1.e33 * m2.e33;
		e00 = t00; e01 = t01; e02 = t02; e03 = t03;
		e10 = t10; e11 = t11; e12 = t12; e13 = t13;
		e20 = t20; e21 = t21; e22 = t22; e23 = t23;
		e30 = t30; e31 = t31; e32 = t32; e33 = t33;
	}

	public function scale(m:Mat44, sx:Number, sy:Number, sz:Number, prepend:Boolean = false):void {
		var t00:Number, t01:Number, t02:Number, t03:Number;
		var t10:Number, t11:Number, t12:Number, t13:Number;
		var t20:Number, t21:Number, t22:Number, t23:Number;
		var t30:Number, t31:Number, t32:Number, t33:Number;
		if (prepend) {
			t00 = sx * m.e00;
			t01 = sx * m.e01;
			t02 = sx * m.e02;
			t03 = sx * m.e03;
			t10 = sy * m.e10;
			t11 = sy * m.e11;
			t12 = sy * m.e12;
			t13 = sy * m.e13;
			t20 = sz * m.e20;
			t21 = sz * m.e21;
			t22 = sz * m.e22;
			t23 = sz * m.e23;
			t30 = m.e30;
			t31 = m.e31;
			t32 = m.e32;
			t33 = m.e33;
		} else {
			t00 = m.e00 * sx;
			t01 = m.e01 * sy;
			t02 = m.e02 * sz;
			t03 = m.e03;
			t10 = m.e10 * sx;
			t11 = m.e11 * sy;
			t12 = m.e12 * sz;
			t13 = m.e13;
			t20 = m.e20 * sx;
			t21 = m.e21 * sy;
			t22 = m.e22 * sz;
			t23 = m.e23;
			t30 = m.e30 * sx;
			t31 = m.e31 * sy;
			t32 = m.e32 * sz;
			t33 = m.e33;
		}
		e00 = t00; e01 = t01; e02 = t02; e03 = t03;
		e10 = t10; e11 = t11; e12 = t12; e13 = t13;
		e20 = t20; e21 = t21; e22 = t22; e23 = t23;
		e30 = t30; e31 = t31; e32 = t32; e33 = t33;
	}

	public function rotate(m:Mat44, rad:Number, ax:Number, ay:Number, az:Number, prepend:Boolean = false):void {
		var s:Number = Math.sin(rad);
		var c:Number = Math.cos(rad);
		var c1:Number = 1 - c;
		var r00:Number = ax * ax * c1 + c;
		var r01:Number = ax * ay * c1 - az * s;
		var r02:Number = ax * az * c1 + ay * s;
		var r10:Number = ay * ax * c1 + az * s;
		var r11:Number = ay * ay * c1 + c;
		var r12:Number = ay * az * c1 - ax * s;
		var r20:Number = az * ax * c1 - ay * s;
		var r21:Number = az * ay * c1 + ax * s;
		var r22:Number = az * az * c1 + c;
		var t00:Number, t01:Number, t02:Number, t03:Number;
		var t10:Number, t11:Number, t12:Number, t13:Number;
		var t20:Number, t21:Number, t22:Number, t23:Number;
		var t30:Number, t31:Number, t32:Number, t33:Number;
		if (prepend) {
			t00 = r00 * m.e00 + r01 * m.e10 + r02 * m.e20;
			t01 = r00 * m.e01 + r01 * m.e11 + r02 * m.e21;
			t02 = r00 * m.e02 + r01 * m.e12 + r02 * m.e22;
			t03 = r00 * m.e03 + r01 * m.e13 + r02 * m.e23;
			t10 = r10 * m.e00 + r11 * m.e10 + r12 * m.e20;
			t11 = r10 * m.e01 + r11 * m.e11 + r12 * m.e21;
			t12 = r10 * m.e02 + r11 * m.e12 + r12 * m.e22;
			t13 = r10 * m.e03 + r11 * m.e13 + r12 * m.e23;
			t20 = r20 * m.e00 + r21 * m.e10 + r22 * m.e20;
			t21 = r20 * m.e01 + r21 * m.e11 + r22 * m.e21;
			t22 = r20 * m.e02 + r21 * m.e12 + r22 * m.e22;
			t23 = r20 * m.e03 + r21 * m.e13 + r22 * m.e23;
			t30 = m.e30;
			t31 = m.e31;
			t32 = m.e32;
			t33 = m.e33;
		} else {
			t00 = m.e00 * r00 + m.e01 * r10 + m.e02 * r20;
			t01 = m.e00 * r01 + m.e01 * r11 + m.e02 * r21;
			t02 = m.e00 * r02 + m.e01 * r12 + m.e02 * r22;
			t03 = m.e03;
			t10 = m.e10 * r00 + m.e11 * r10 + m.e12 * r20;
			t11 = m.e10 * r01 + m.e11 * r11 + m.e12 * r21;
			t12 = m.e10 * r02 + m.e11 * r12 + m.e12 * r22;
			t13 = m.e13;
			t20 = m.e20 * r00 + m.e21 * r10 + m.e22 * r20;
			t21 = m.e20 * r01 + m.e21 * r11 + m.e22 * r21;
			t22 = m.e20 * r02 + m.e21 * r12 + m.e22 * r22;
			t23 = m.e23;
			t30 = m.e30 * r00 + m.e31 * r10 + m.e32 * r20;
			t31 = m.e30 * r01 + m.e31 * r11 + m.e32 * r21;
			t32 = m.e30 * r02 + m.e31 * r12 + m.e32 * r22;
			t33 = m.e33;
		}
		e00 = t00; e01 = t01; e02 = t02; e03 = t03;
		e10 = t10; e11 = t11; e12 = t12; e13 = t13;
		e20 = t20; e21 = t21; e22 = t22; e23 = t23;
		e30 = t30; e31 = t31; e32 = t32; e33 = t33;
	}

	public function translate(m:Mat44, tx:Number, ty:Number, tz:Number, prepend:Boolean = false):void {
		var t00:Number, t01:Number, t02:Number, t03:Number;
		var t10:Number, t11:Number, t12:Number, t13:Number;
		var t20:Number, t21:Number, t22:Number, t23:Number;
		var t30:Number, t31:Number, t32:Number, t33:Number;
		if (prepend) {
			t00 = m.e00 + tx * m.e30;
			t01 = m.e01 + tx * m.e31;
			t02 = m.e02 + tx * m.e32;
			t03 = m.e03 + tx * m.e33;
			t10 = m.e10 + ty * m.e30;
			t11 = m.e11 + ty * m.e31;
			t12 = m.e12 + ty * m.e32;
			t13 = m.e13 + ty * m.e33;
			t20 = m.e20 + tz * m.e30;
			t21 = m.e21 + tz * m.e31;
			t22 = m.e22 + tz * m.e32;
			t23 = m.e23 + tz * m.e33;
			t30 = m.e30;
			t31 = m.e31;
			t32 = m.e32;
			t33 = m.e33;
		} else {
			t00 = m.e00;
			t01 = m.e01;
			t02 = m.e02;
			t03 = m.e00 * tx + m.e01 * ty + m.e02 * tz + m.e03;
			t10 = m.e10;
			t11 = m.e11;
			t12 = m.e12;
			t13 = m.e10 * tx + m.e11 * ty + m.e12 * tz + m.e13;
			t20 = m.e20;
			t21 = m.e21;
			t22 = m.e22;
			t23 = m.e20 * tx + m.e21 * ty + m.e22 * tz + m.e23;
			t30 = m.e30;
			t31 = m.e31;
			t32 = m.e32;
			t33 = m.e30 * tx + m.e31 * ty + m.e32 * tz + m.e33;
		}
		e00 = t00; e01 = t01; e02 = t02; e03 = t03;
		e10 = t10; e11 = t11; e12 = t12; e13 = t13;
		e20 = t20; e21 = t21; e22 = t22; e23 = t23;
		e30 = t30; e31 = t31; e32 = t32; e33 = t33;
	}

	[Inline]
	public final function invert(m:Mat44):void {
		var e1021_1120:Number = m.e10 * m.e21 - m.e11 * m.e20;
		var e1022_1220:Number = m.e10 * m.e22 - m.e12 * m.e20;
		var e1023_1320:Number = m.e10 * m.e23 - m.e13 * m.e20;
		var e1031_1130:Number = m.e10 * m.e31 - m.e11 * m.e30;
		var e1032_1230:Number = m.e10 * m.e32 - m.e12 * m.e30;
		var e1033_1330:Number = m.e10 * m.e33 - m.e13 * m.e30;
		var e1122_1221:Number = m.e11 * m.e22 - m.e12 * m.e21;
		var e1123_1321:Number = m.e11 * m.e23 - m.e13 * m.e21;
		var e1132_1231:Number = m.e11 * m.e32 - m.e12 * m.e31;
		var e1133_1331:Number = m.e11 * m.e33 - m.e13 * m.e31;
		var e1220_2022:Number = m.e12 * m.e20 - m.e20 * m.e22;
		var e1223_1322:Number = m.e12 * m.e23 - m.e13 * m.e22;
		var e1223_2223:Number = m.e12 * m.e33 - m.e22 * m.e23;
		var e1233_1332:Number = m.e12 * m.e33 - m.e13 * m.e32;
		var e2031_2130:Number = m.e20 * m.e31 - m.e21 * m.e30;
		var e2032_2033:Number = m.e20 * m.e32 - m.e20 * m.e33;
		var e2032_2230:Number = m.e20 * m.e32 - m.e22 * m.e30;
		var e2033_2330:Number = m.e20 * m.e33 - m.e23 * m.e30;
		var e2132_2231:Number = m.e21 * m.e32 - m.e22 * m.e31;
		var e2133_2331:Number = m.e21 * m.e33 - m.e23 * m.e31;
		var e2230_2330:Number = m.e22 * m.e30 - m.e23 * m.e30;
		var e2233_2332:Number = m.e22 * m.e33 - m.e23 * m.e32;
		var det:Number =
			m.e00 * (m.e11 * e2233_2332 - m.e12 * e2133_2331 + m.e13 * e2132_2231) +
			m.e01 * (-m.e10 * e2233_2332 - m.e12 * e2032_2033 + m.e13 * e2230_2330) +
			m.e02 * (m.e10 * e2133_2331 - m.e11 * e2033_2330 + m.e13 * e2031_2130) +
			m.e03 * (-m.e10 * e2132_2231 + m.e11 * e2032_2230 - m.e12 * e2031_2130)
		;
		if (det != 0) det = 1 / det;
		var t00:Number = m.e11 * e2233_2332 - m.e12 * e2133_2331 + m.e13 * e2132_2231;
		var t01:Number = -m.e01 * e2233_2332 + m.e02 * e2133_2331 - m.e03 * e2132_2231;
		var t02:Number = m.e01 * e1233_1332 - m.e02 * e1133_1331 + m.e03 * e1132_1231;
		var t03:Number = -m.e01 * e1223_2223 + m.e02 * e1123_1321 - m.e03 * e1122_1221;
		var t10:Number = -m.e10 * e2233_2332 + m.e12 * e2033_2330 - m.e13 * e2032_2230;
		var t11:Number = m.e00 * e2233_2332 - m.e02 * e2033_2330 + m.e03 * e2032_2230;
		var t12:Number = -m.e00 * e1233_1332 + m.e02 * e1033_1330 - m.e03 * e1032_1230;
		var t13:Number = m.e00 * e1223_1322 - m.e02 * e1023_1320 - m.e03 * e1220_2022;
		var t20:Number = m.e10 * e2133_2331 - m.e11 * e2033_2330 + m.e13 * e2031_2130;
		var t21:Number = -m.e00 * e2133_2331 + m.e01 * e2033_2330 - m.e03 * e2031_2130;
		var t22:Number = m.e00 * e1133_1331 - m.e01 * e1033_1330 + m.e03 * e1031_1130;
		var t23:Number = -m.e00 * e1123_1321 + m.e01 * e1023_1320 - m.e03 * e1021_1120;
		var t30:Number = -m.e10 * e2132_2231 + m.e11 * e2032_2230 - m.e12 * e2031_2130;
		var t31:Number = m.e00 * e2132_2231 - m.e01 * e2032_2230 + m.e02 * e2031_2130;
		var t32:Number = -m.e00 * e1132_1231 + m.e01 * e1032_1230 - m.e02 * e1031_1130;
		var t33:Number = m.e00 * e1122_1221 - m.e01 * e1022_1220 + m.e02 * e1021_1120;
		e00 = det * t00; e01 = det * t01; e02 = det * t02; e03 = det * t03;
		e10 = det * t10; e11 = det * t11; e12 = det * t12; e13 = det * t13;
		e20 = det * t20; e21 = det * t21; e22 = det * t22; e23 = det * t23;
		e30 = det * t30; e31 = det * t31; e32 = det * t32; e33 = det * t33;
	}

	[Inline]
	public final function transpose(m:Mat44):void {
		var t00:Number = m.e00, t01:Number = m.e10, t02:Number = m.e20, t03:Number = m.e30;
		var t10:Number = m.e01, t11:Number = m.e11, t12:Number = m.e21, t13:Number = m.e31;
		var t20:Number = m.e02, t21:Number = m.e12, t22:Number = m.e22, t23:Number = m.e32;
		var t30:Number = m.e03, t31:Number = m.e13, t32:Number = m.e23, t33:Number = m.e33;
		e00 = t00; e01 = t01; e02 = t02; e03 = t03;
		e10 = t10; e11 = t11; e12 = t12; e13 = t13;
		e20 = t20; e21 = t21; e22 = t22; e23 = t23;
		e30 = t30; e31 = t31; e32 = t32; e33 = t33;
	}

	[Inline]
	public final function quaternion(q:Quat):void {
		var x2:Number = 2 * q.x;
		var y2:Number = 2 * q.y;
		var z2:Number = 2 * q.z;
		var xx:Number = q.x * x2;
		var yy:Number = q.y * y2;
		var zz:Number = q.z * z2;
		var xy:Number = q.x * y2;
		var yz:Number = q.y * z2;
		var xz:Number = q.x * z2;
		var sx:Number = q.s * x2;
		var sy:Number = q.s * y2;
		var sz:Number = q.s * z2;
		e00 = 1 - yy - zz; e01 = xy - sz; e02 = xz + sy; e03 = 0;
		e10 = xy + sz; e11 = 1 - xx - zz; e12 = yz - sx; e13 = 0;
		e20 = xz - sy; e21 = yz + sx; e22 = 1 - xx - yy; e23 = 0;
		e30 = 0; e31 = 0; e32 = 0; e33 = 1;
	}

	[Inline]
	public final function viewMatrix(
		ex:Number, ey:Number, ez:Number,
		tx:Number, ty:Number, tz:Number,
		ux:Number, uy:Number, uz:Number
	):void {
		var zx:Number = ex - tx;
		var zy:Number = ey - ty;
		var zz:Number = ez - tz;
		var tmp:Number = 1 / Math.sqrt(zx * zx + zy * zy + zz * zz);
		zx *= tmp;
		zy *= tmp;
		zz *= tmp;
		var xx:Number = uy * zz - uz * zy;
		var xy:Number = uz * zx - ux * zz;
		var xz:Number = ux * zy - uy * zx;
		tmp = 1 / Math.sqrt(xx * xx + xy * xy + xz * xz);
		xx *= tmp;
		xy *= tmp;
		xz *= tmp;
		var yx:Number = zy * xz - zz * xy;
		var yy:Number = zz * xx - zx * xz;
		var yz:Number = zx * xy - zy * xx;
		e00 = xx; e01 = xy; e02 = xz; e03 = -(xx * ex + xy * ey + xz * ez);
		e10 = yx; e11 = yy; e12 = yz; e13 = -(yx * ex + yy * ey + yz * ez);
		e20 = zx; e21 = zy; e22 = zz; e23 = -(zx * ex + zy * ey + zz * ez);
		e30 = 0; e31 = 0; e32 = 0; e33 = 1;
	}

	[Inline]
	public final function perspectiveMatrix(fovY:Number, aspect:Number, near:Number, far:Number):void {
		var h:Number = 1 / Math.tan(fovY * 0.5);
		var fnf:Number = far / (near - far);
		e00 = h / aspect; e01 = 0; e02 = 0; e03 = 0;
		e10 = 0; e11 = h; e12 = 0; e13 = 0;
		e20 = 0; e21 = 0; e22 = fnf; e23 = near * fnf;
		e30 = 0; e31 = 0; e32 = -1; e33 = 0;
	}

	[Inline]
	public final function copy(m:Mat44):void {
		e00 = m.e00; e01 = m.e01; e02 = m.e02; e03 = m.e03;
		e10 = m.e10; e11 = m.e11; e12 = m.e12; e13 = m.e13;
		e20 = m.e20; e21 = m.e21; e22 = m.e22; e23 = m.e23;
		e30 = m.e30; e31 = m.e31; e32 = m.e32; e33 = m.e33;
	}
}

class Vec3 {
	public var x:Number;
	public var y:Number;
	public var z:Number;

	public function Vec3(x:Number = 0, y:Number = 0, z:Number = 0) {
		this.x = x;
		this.y = y;
		this.z = z;
	}

	public function init(x:Number = 0, y:Number = 0, z:Number = 0):void {
		this.x = x;
		this.y = y;
		this.z = z;
	}

	public function add(v1:Vec3, v2:Vec3):void {
		x = v1.x + v2.x;
		y = v1.y + v2.y;
		z = v1.z + v2.z;
	}

	public function sub(v1:Vec3, v2:Vec3):void {
		x = v1.x - v2.x;
		y = v1.y - v2.y;
		z = v1.z - v2.z;
	}

	public function scale(v:Vec3, s:Number):void {
		x = v.x * s;
		y = v.y * s;
		z = v.z * s;
	}

	public function invert(v:Vec3):void {
		x = -v.x;
		y = -v.y;
		z = -v.z;
	}

	public function mulMatrix(m:Mat44, v:Vec3):void {
		var tx:Number = v.x * m.e00 + v.y * m.e01 + v.z * m.e02 + m.e03;
		var ty:Number = v.x * m.e10 + v.y * m.e11 + v.z * m.e12 + m.e13;
		var tz:Number = v.x * m.e20 + v.y * m.e21 + v.z * m.e22 + m.e23;
		x = tx;
		y = ty;
		z = tz;
	}

	public function mulQuaternion(q:Quat, v:Vec3):void {
		var xx:Number = q.x * q.x;
		var yy:Number = q.y * q.y;
		var zz:Number = q.z * q.z;
		var xy:Number = q.x * q.y;
		var yz:Number = q.y * q.z;
		var xz:Number = q.x * q.z;
		var sx:Number = q.s * q.x;
		var sy:Number = q.s * q.y;
		var sz:Number = q.s * q.z;
		var tx:Number = v.x * (0.5 - yy - zz) + v.y * (xy - sz) + v.z * (xz + sy);
		var ty:Number = v.x * (xy + sz) + v.y * (0.5 - xx - zz) + v.z * (yz - sx);
		var tz:Number = v.x * (xz - sy) + v.y * (yz + sx) + v.z * (0.5 - xx - yy);
		x = tx * 2;
		y = ty * 2;
		z = tz * 2;
	}

	public function dot(v:Vec3):Number {
		return x * v.x + y * v.y + z * v.z;
	}

	public function cross(v1:Vec3, v2:Vec3):void {
		var tx:Number = v1.y * v2.z - v1.z * v2.y;
		var ty:Number = v1.z * v2.x - v1.x * v2.z;
		var tz:Number = v1.x * v2.y - v1.y * v2.x;
		x = tx;
		y = ty;
		z = tz;
	}

	public function normalize(v:Vec3):void {
		var s:Number = Math.sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
		if (s > 0) s = 1 / s;
		x = v.x * s;
		y = v.y * s;
		z = v.z * s;
	}

	public function length():Number {
		return Math.sqrt(x * x + y * y + z * z);
	}

	public function copy(v:Vec3):void {
		x = v.x;
		y = v.y;
		z = v.z;
	}
}

class Quat {
	public var s:Number;
	public var x:Number;
	public var y:Number;
	public var z:Number;

	public function Quat(s:Number = 1, x:Number = 0, y:Number = 0, z:Number = 0) {
		this.s = s;
		this.x = x;
		this.y = y;
		this.z = z;
	}

	public function init(s:Number = 1, x:Number = 0, y:Number = 0, z:Number = 0):void {
		this.s = s;
		this.x = x;
		this.y = y;
		this.z = z;
	}

	public function add(q1:Quat, q2:Quat):void {
		s = q1.s + q2.s;
		x = q1.x + q2.x;
		y = q1.y + q2.y;
		z = q1.z + q2.z;
	}

	public function sub(q1:Quat, q2:Quat):void {
		s = q1.s - q2.s;
		x = q1.x - q2.x;
		y = q1.y - q2.y;
		z = q1.z - q2.z;
	}

	public function scale(q:Quat, s:Number):void {
		this.s = q.s * s;
		x = q.x * s;
		y = q.y * s;
		z = q.z * s;
	}

	public function mul(q1:Quat, q2:Quat):void {
		var ts:Number = q1.s * q2.s - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z;
		var tx:Number = q1.s * q2.x + q1.x * q2.s + q1.y * q2.z - q1.z * q2.y;
		var ty:Number = q1.s * q2.y - q1.x * q2.z + q1.y * q2.s + q1.z * q2.x;
		var tz:Number = q1.s * q2.z + q1.x * q2.y - q1.y * q2.x + q1.z * q2.s;

		s = ts;
		x = tx;
		y = ty;
		z = tz;
	}

	public function normalize(q:Quat):void {
		var len:Number = Math.sqrt(q.s * q.s + q.x * q.x + q.y * q.y + q.z * q.z);
		if (len > 0) len = 1 / len;
		s = q.s * len;
		x = q.x * len;
		y = q.y * len;
		z = q.z * len;
	}

	public function rotate(q:Quat, v:Vec3):void {
		var ts:Number = -q.x * v.x - q.y * v.y - q.z * v.z;
		var tx:Number = q.s * v.x + q.y * v.z - q.z * v.y;
		var ty:Number = q.s * v.y - q.x * v.z + q.z * v.x;
		var tz:Number = q.s * v.z + q.x * v.y - q.y * v.x;
		s = q.s + ts * 0.5;
		x = q.x + tx * 0.5;
		y = q.y + ty * 0.5;
		z = q.z + tz * 0.5;
	}

	public function copy(q:Quat):void {
		s = q.s;
		x = q.x;
		y = q.y;
		z = q.z;
	}
}