Collision.smali

.class public Lorg/jbox2d/collision/Collision;
.super Ljava/lang/Object;
.source "Collision.java"


# annotations
.annotation system Ldalvik/annotation/MemberClasses;
    value = {
        Lorg/jbox2d/collision/Collision$1;,
        Lorg/jbox2d/collision/Collision$EPCollider;,
        Lorg/jbox2d/collision/Collision$ReferenceFace;,
        Lorg/jbox2d/collision/Collision$TempPolygon;,
        Lorg/jbox2d/collision/Collision$EPAxis;,
        Lorg/jbox2d/collision/Collision$PointState;,
        Lorg/jbox2d/collision/Collision$ClipVertex;,
        Lorg/jbox2d/collision/Collision$EdgeResults;
    }
.end annotation


# static fields
.field static final synthetic $assertionsDisabled:Z

.field public static final NULL_FEATURE:I = 0x7fffffff

.field private static d:Lorg/jbox2d/common/Vec2;


# instance fields
.field private final P:Lorg/jbox2d/common/Vec2;

.field private final Q:Lorg/jbox2d/common/Vec2;

.field private final cache:Lorg/jbox2d/collision/Distance$SimplexCache;

.field private final cf:Lorg/jbox2d/collision/ContactID;

.field private final clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

.field private final clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

.field private final collider:Lorg/jbox2d/collision/Collision$EPCollider;

.field private final e:Lorg/jbox2d/common/Vec2;

.field private final e1:Lorg/jbox2d/common/Vec2;

.field private final incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

.field private final input:Lorg/jbox2d/collision/DistanceInput;

.field private final localNormal:Lorg/jbox2d/common/Vec2;

.field private final localTangent:Lorg/jbox2d/common/Vec2;

.field private final n:Lorg/jbox2d/common/Vec2;

.field private final output:Lorg/jbox2d/collision/DistanceOutput;

.field private final planePoint:Lorg/jbox2d/common/Vec2;

.field private final pool:Lorg/jbox2d/pooling/IWorldPool;

.field private final results1:Lorg/jbox2d/collision/Collision$EdgeResults;

.field private final results2:Lorg/jbox2d/collision/Collision$EdgeResults;

.field private final tangent:Lorg/jbox2d/common/Vec2;

.field private final temp:Lorg/jbox2d/common/Vec2;

.field private final v1:Lorg/jbox2d/common/Vec2;

.field private final v11:Lorg/jbox2d/common/Vec2;

.field private final v12:Lorg/jbox2d/common/Vec2;

.field private final xf:Lorg/jbox2d/common/Transform;


# direct methods
.method static constructor <clinit>()V
    .registers 1

    .prologue
    .line 46
    const-class v0, Lorg/jbox2d/collision/Collision;

    invoke-virtual {v0}, Ljava/lang/Class;->desiredAssertionStatus()Z

    move-result v0

    if-nez v0, :cond_13

    const/4 v0, 0x1

    :goto_9
    sput-boolean v0, Lorg/jbox2d/collision/Collision;->$assertionsDisabled:Z

    .line 191
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    sput-object v0, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    return-void

    .line 46
    :cond_13
    const/4 v0, 0x0

    goto :goto_9
.end method

.method public constructor <init>(Lorg/jbox2d/pooling/IWorldPool;)V
    .registers 7

    .prologue
    const/4 v4, 0x0

    const/4 v1, 0x2

    const/4 v3, 0x1

    const/4 v2, 0x0

    .line 51
    invoke-direct {p0}, Ljava/lang/Object;-><init>()V

    .line 61
    new-instance v0, Lorg/jbox2d/collision/DistanceInput;

    invoke-direct {v0}, Lorg/jbox2d/collision/DistanceInput;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    .line 62
    new-instance v0, Lorg/jbox2d/collision/Distance$SimplexCache;

    invoke-direct {v0}, Lorg/jbox2d/collision/Distance$SimplexCache;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->cache:Lorg/jbox2d/collision/Distance$SimplexCache;

    .line 63
    new-instance v0, Lorg/jbox2d/collision/DistanceOutput;

    invoke-direct {v0}, Lorg/jbox2d/collision/DistanceOutput;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->output:Lorg/jbox2d/collision/DistanceOutput;

    .line 429
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    .line 430
    new-instance v0, Lorg/jbox2d/common/Transform;

    invoke-direct {v0}, Lorg/jbox2d/common/Transform;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->xf:Lorg/jbox2d/common/Transform;

    .line 431
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    .line 432
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->v1:Lorg/jbox2d/common/Vec2;

    .line 549
    new-instance v0, Lorg/jbox2d/collision/Collision$EdgeResults;

    invoke-direct {v0, v4}, Lorg/jbox2d/collision/Collision$EdgeResults;-><init>(Lorg/jbox2d/collision/Collision$1;)V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->results1:Lorg/jbox2d/collision/Collision$EdgeResults;

    .line 550
    new-instance v0, Lorg/jbox2d/collision/Collision$EdgeResults;

    invoke-direct {v0, v4}, Lorg/jbox2d/collision/Collision$EdgeResults;-><init>(Lorg/jbox2d/collision/Collision$1;)V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->results2:Lorg/jbox2d/collision/Collision$EdgeResults;

    .line 551
    new-array v0, v1, [Lorg/jbox2d/collision/Collision$ClipVertex;

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

    .line 552
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    .line 553
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->localNormal:Lorg/jbox2d/common/Vec2;

    .line 554
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->planePoint:Lorg/jbox2d/common/Vec2;

    .line 555
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    .line 556
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    .line 557
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    .line 558
    new-array v0, v1, [Lorg/jbox2d/collision/Collision$ClipVertex;

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

    .line 559
    new-array v0, v1, [Lorg/jbox2d/collision/Collision$ClipVertex;

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    .line 715
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    .line 716
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    .line 717
    new-instance v0, Lorg/jbox2d/collision/ContactID;

    invoke-direct {v0}, Lorg/jbox2d/collision/ContactID;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    .line 718
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->e1:Lorg/jbox2d/common/Vec2;

    .line 719
    new-instance v0, Lorg/jbox2d/common/Vec2;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec2;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->P:Lorg/jbox2d/common/Vec2;

    .line 847
    new-instance v0, Lorg/jbox2d/collision/Collision$EPCollider;

    invoke-direct {v0}, Lorg/jbox2d/collision/Collision$EPCollider;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/collision/Collision;->collider:Lorg/jbox2d/collision/Collision$EPCollider;

    .line 52
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v2

    .line 53
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v3

    .line 54
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v2

    .line 55
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v3

    .line 56
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v2

    .line 57
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    new-instance v1, Lorg/jbox2d/collision/Collision$ClipVertex;

    invoke-direct {v1}, Lorg/jbox2d/collision/Collision$ClipVertex;-><init>()V

    aput-object v1, v0, v3

    .line 58
    iput-object p1, p0, Lorg/jbox2d/collision/Collision;->pool:Lorg/jbox2d/pooling/IWorldPool;

    .line 59
    return-void
.end method

.method public static final clipSegmentToLine([Lorg/jbox2d/collision/Collision$ClipVertex;[Lorg/jbox2d/collision/Collision$ClipVertex;Lorg/jbox2d/common/Vec2;FI)I
    .registers 15

    .prologue
    const/4 v1, 0x1

    const/4 v0, 0x0

    const/4 v9, 0x0

    .line 149
    .line 150
    aget-object v2, p1, v0

    .line 151
    aget-object v3, p1, v1

    .line 152
    iget-object v4, v2, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    .line 153
    iget-object v5, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    .line 156
    invoke-static {p2, v4}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    sub-float/2addr v6, p3

    .line 157
    invoke-static {p2, v5}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v7

    sub-float/2addr v7, p3

    .line 160
    cmpg-float v8, v6, v9

    if-gtz v8, :cond_78

    .line 161
    aget-object v0, p0, v0

    invoke-virtual {v0, v2}, Lorg/jbox2d/collision/Collision$ClipVertex;->set(Lorg/jbox2d/collision/Collision$ClipVertex;)V

    .line 163
    :goto_1e
    cmpg-float v0, v7, v9

    if-gtz v0, :cond_76

    .line 164
    add-int/lit8 v0, v1, 0x1

    aget-object v1, p0, v1

    invoke-virtual {v1, v3}, Lorg/jbox2d/collision/Collision$ClipVertex;->set(Lorg/jbox2d/collision/Collision$ClipVertex;)V

    .line 168
    :goto_29
    mul-float v1, v6, v7

    cmpg-float v1, v1, v9

    if-gez v1, :cond_75

    .line 170
    sub-float v1, v6, v7

    div-float v1, v6, v1

    .line 172
    aget-object v3, p0, v0

    .line 174
    iget-object v6, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v7, v4, Lorg/jbox2d/common/Vec2;->x:F

    iget v8, v5, Lorg/jbox2d/common/Vec2;->x:F

    iget v9, v4, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v8, v9

    mul-float/2addr v8, v1

    add-float/2addr v7, v8

    iput v7, v6, Lorg/jbox2d/common/Vec2;->x:F

    .line 175
    iget-object v6, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v7, v4, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, v5, Lorg/jbox2d/common/Vec2;->y:F

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v4, v5, v4

    mul-float/2addr v1, v4

    add-float/2addr v1, v7

    iput v1, v6, Lorg/jbox2d/common/Vec2;->y:F

    .line 178
    iget-object v1, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    int-to-byte v4, p4

    iput-byte v4, v1, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 179
    iget-object v1, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    iget-object v2, v2, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    iget-byte v2, v2, Lorg/jbox2d/collision/ContactID;->indexB:B

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->indexB:B

    .line 180
    iget-object v1, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 181
    iget-object v1, v3, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->FACE:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeB:B

    .line 182
    add-int/lit8 v0, v0, 0x1

    .line 185
    :cond_75
    return v0

    :cond_76
    move v0, v1

    goto :goto_29

    :cond_78
    move v1, v0

    goto :goto_1e
.end method

.method public static final getPointStates([Lorg/jbox2d/collision/Collision$PointState;[Lorg/jbox2d/collision/Collision$PointState;Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/Manifold;)V
    .registers 9

    .prologue
    const/4 v1, 0x0

    .line 102
    move v0, v1

    :goto_2
    sget v2, Lorg/jbox2d/common/Settings;->maxManifoldPoints:I

    if-ge v0, v2, :cond_11

    .line 103
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->NULL_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p0, v0

    .line 104
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->NULL_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p1, v0

    .line 102
    add-int/lit8 v0, v0, 0x1

    goto :goto_2

    :cond_11
    move v0, v1

    .line 108
    :goto_12
    iget v2, p2, Lorg/jbox2d/collision/Manifold;->pointCount:I

    if-ge v0, v2, :cond_3b

    .line 109
    iget-object v2, p2, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v2, v2, v0

    iget-object v3, v2, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    .line 111
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->REMOVE_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p0, v0

    move v2, v1

    .line 113
    :goto_21
    iget v4, p3, Lorg/jbox2d/collision/Manifold;->pointCount:I

    if-ge v2, v4, :cond_35

    .line 114
    iget-object v4, p3, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v4, v4, v2

    iget-object v4, v4, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v4, v3}, Lorg/jbox2d/collision/ContactID;->isEqual(Lorg/jbox2d/collision/ContactID;)Z

    move-result v4

    if-eqz v4, :cond_38

    .line 115
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->PERSIST_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p0, v0

    .line 108
    :cond_35
    add-int/lit8 v0, v0, 0x1

    goto :goto_12

    .line 113
    :cond_38
    add-int/lit8 v2, v2, 0x1

    goto :goto_21

    :cond_3b
    move v0, v1

    .line 122
    :goto_3c
    iget v2, p3, Lorg/jbox2d/collision/Manifold;->pointCount:I

    if-ge v0, v2, :cond_65

    .line 123
    iget-object v2, p3, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v2, v2, v0

    iget-object v3, v2, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    .line 125
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->ADD_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p1, v0

    move v2, v1

    .line 127
    :goto_4b
    iget v4, p2, Lorg/jbox2d/collision/Manifold;->pointCount:I

    if-ge v2, v4, :cond_5f

    .line 128
    iget-object v4, p2, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v4, v4, v2

    iget-object v4, v4, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v4, v3}, Lorg/jbox2d/collision/ContactID;->isEqual(Lorg/jbox2d/collision/ContactID;)Z

    move-result v4

    if-eqz v4, :cond_62

    .line 129
    sget-object v2, Lorg/jbox2d/collision/Collision$PointState;->PERSIST_STATE:Lorg/jbox2d/collision/Collision$PointState;

    aput-object v2, p1, v0

    .line 122
    :cond_5f
    add-int/lit8 v0, v0, 0x1

    goto :goto_3c

    .line 127
    :cond_62
    add-int/lit8 v2, v2, 0x1

    goto :goto_4b

    .line 134
    :cond_65
    return-void
.end method


# virtual methods
.method public final collideCircles(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/CircleShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/CircleShape;Lorg/jbox2d/common/Transform;)V
    .registers 15

    .prologue
    const/4 v8, 0x0

    .line 204
    iput v8, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 212
    iget-object v0, p2, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    .line 213
    iget-object v1, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    .line 214
    iget-object v2, p3, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v2, v2, Lorg/jbox2d/common/Rot;->c:F

    iget v3, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v2, v3

    iget-object v3, p3, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v3, v3, Lorg/jbox2d/common/Rot;->s:F

    iget v4, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v3, v4

    sub-float/2addr v2, v3

    iget-object v3, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v2, v3

    .line 215
    iget-object v3, p3, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v3, v3, Lorg/jbox2d/common/Rot;->s:F

    iget v4, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v4

    iget-object v4, p3, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v4, v4, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v5

    add-float/2addr v3, v4

    iget-object v4, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v3, v4

    .line 216
    iget-object v4, p5, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v4, v4, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v1, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget-object v5, p5, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v5, v5, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v1, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    sub-float/2addr v4, v5

    iget-object v5, p5, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v5, v5, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v4, v5

    .line 217
    iget-object v5, p5, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v5, v5, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v1, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v6

    iget-object v6, p5, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v6, v6, Lorg/jbox2d/common/Rot;->c:F

    iget v7, v1, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v7

    add-float/2addr v5, v6

    iget-object v6, p5, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v5, v6

    .line 218
    sub-float v2, v4, v2

    .line 219
    sub-float v3, v5, v3

    .line 220
    mul-float/2addr v2, v2

    mul-float/2addr v3, v3

    add-float/2addr v2, v3

    .line 223
    iget v3, p2, Lorg/jbox2d/collision/shapes/CircleShape;->m_radius:F

    iget v4, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_radius:F

    add-float/2addr v3, v4

    .line 224
    mul-float/2addr v3, v3

    cmpl-float v2, v2, v3

    if-lez v2, :cond_69

    .line 235
    :goto_68
    return-void

    .line 228
    :cond_69
    sget-object v2, Lorg/jbox2d/collision/Manifold$ManifoldType;->CIRCLES:Lorg/jbox2d/collision/Manifold$ManifoldType;

    iput-object v2, p1, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 229
    iget-object v2, p1, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 230
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->setZero()V

    .line 231
    const/4 v0, 0x1

    iput v0, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 233
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v8

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 234
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v8

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v0}, Lorg/jbox2d/collision/ContactID;->zero()V

    goto :goto_68
.end method

.method public collideEdgeAndCircle(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/EdgeShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/CircleShape;Lorg/jbox2d/common/Transform;)V
    .registers 16

    .prologue
    const/4 v9, 0x1

    const/4 v8, 0x0

    const/4 v7, 0x0

    .line 725
    iput v7, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 730
    iget-object v0, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    invoke-static {p5, v0, v1}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 731
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-static {p3, v0, v1}, Lorg/jbox2d/common/Transform;->mulTransToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 733
    iget-object v0, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_vertex1:Lorg/jbox2d/common/Vec2;

    .line 734
    iget-object v1, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_vertex2:Lorg/jbox2d/common/Vec2;

    .line 735
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 738
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v3, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

    iget-object v4, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v3, v4}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

    invoke-static {v2, v3}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v2

    .line 739
    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    iget-object v4, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    invoke-virtual {v4, v0}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    invoke-static {v3, v4}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v3

    .line 741
    iget v4, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_radius:F

    iget v5, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_radius:F

    add-float/2addr v4, v5

    .line 744
    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    iput-byte v7, v5, Lorg/jbox2d/collision/ContactID;->indexB:B

    .line 745
    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    sget-object v6, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v6}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v6

    int-to-byte v6, v6

    iput-byte v6, v5, Lorg/jbox2d/collision/ContactID;->typeB:B

    .line 748
    cmpg-float v5, v3, v8

    if-gtz v5, :cond_d1

    .line 750
    sget-object v1, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    invoke-virtual {v1, v0}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 751
    sget-object v1, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    sget-object v2, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v2}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    .line 752
    mul-float v2, v4, v4

    cmpl-float v1, v1, v2

    if-lez v1, :cond_76

    .line 845
    :cond_75
    :goto_75
    return-void

    .line 757
    :cond_76
    iget-boolean v1, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_hasVertex0:Z

    if-eqz v1, :cond_9b

    .line 758
    iget-object v1, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_vertex0:Lorg/jbox2d/common/Vec2;

    .line 760
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e1:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    invoke-virtual {v2, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 761
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->e1:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v3}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    invoke-static {v1, v2}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    .line 764
    cmpl-float v1, v1, v8

    if-gtz v1, :cond_75

    .line 769
    :cond_9b
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    iput-byte v7, v1, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 770
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 771
    iput v9, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 772
    sget-object v1, Lorg/jbox2d/collision/Manifold$ManifoldType;->CIRCLES:Lorg/jbox2d/collision/Manifold$ManifoldType;

    iput-object v1, p1, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 773
    iget-object v1, p1, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1}, Lorg/jbox2d/common/Vec2;->setZero()V

    .line 774
    iget-object v1, p1, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 776
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/ContactID;->set(Lorg/jbox2d/collision/ContactID;)V

    .line 777
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v1, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    goto :goto_75

    .line 782
    :cond_d1
    cmpg-float v5, v2, v8

    if-gtz v5, :cond_148

    .line 784
    sget-object v0, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v0

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 785
    sget-object v0, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    sget-object v2, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v2}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 786
    mul-float v2, v4, v4

    cmpl-float v0, v0, v2

    if-gtz v0, :cond_75

    .line 791
    iget-boolean v0, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_hasVertex3:Z

    if-eqz v0, :cond_111

    .line 792
    iget-object v0, p2, Lorg/jbox2d/collision/shapes/EdgeShape;->m_vertex3:Lorg/jbox2d/common/Vec2;

    .line 794
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e1:Lorg/jbox2d/common/Vec2;

    .line 795
    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v0

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 796
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v0

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v0

    invoke-static {v2, v0}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 799
    cmpl-float v0, v0, v8

    if-gtz v0, :cond_75

    .line 804
    :cond_111
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    iput-byte v9, v0, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 805
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v0, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 806
    iput v9, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 807
    sget-object v0, Lorg/jbox2d/collision/Manifold$ManifoldType;->CIRCLES:Lorg/jbox2d/collision/Manifold$ManifoldType;

    iput-object v0, p1, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 808
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->setZero()V

    .line 809
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 811
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/ContactID;->set(Lorg/jbox2d/collision/ContactID;)V

    .line 812
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v1, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    goto/16 :goto_75

    .line 817
    :cond_148
    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    invoke-static {v5, v6}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v5

    .line 818
    sget-boolean v6, Lorg/jbox2d/collision/Collision;->$assertionsDisabled:Z

    if-nez v6, :cond_15e

    cmpl-float v6, v5, v8

    if-gtz v6, :cond_15e

    new-instance v0, Ljava/lang/AssertionError;

    invoke-direct {v0}, Ljava/lang/AssertionError;-><init>()V

    throw v0

    .line 821
    :cond_15e
    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->P:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v6, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v6

    invoke-virtual {v6, v2}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v6, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    invoke-virtual {v1, v3}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    invoke-virtual {v2, v1}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 822
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->P:Lorg/jbox2d/common/Vec2;

    const/high16 v2, 0x3f800000    # 1.0f

    div-float/2addr v2, v5

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 823
    sget-object v1, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->P:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 824
    sget-object v1, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    sget-object v2, Lorg/jbox2d/collision/Collision;->d:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v2}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    .line 825
    mul-float v2, v4, v4

    cmpl-float v1, v1, v2

    if-gtz v1, :cond_75

    .line 829
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    neg-float v2, v2

    iput v2, v1, Lorg/jbox2d/common/Vec2;->x:F

    .line 830
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->e:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->x:F

    iput v2, v1, Lorg/jbox2d/common/Vec2;->y:F

    .line 831
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->Q:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    invoke-virtual {v2, v0}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    invoke-static {v1, v2}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    cmpg-float v1, v1, v8

    if-gez v1, :cond_1ce

    .line 832
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->x:F

    neg-float v2, v2

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    neg-float v3, v3

    invoke-virtual {v1, v2, v3}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 834
    :cond_1ce
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1}, Lorg/jbox2d/common/Vec2;->normalize()F

    .line 836
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    iput-byte v7, v1, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 837
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->FACE:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 838
    iput v9, p1, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 839
    sget-object v1, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    iput-object v1, p1, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 840
    iget-object v1, p1, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 841
    iget-object v1, p1, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 843
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->cf:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/ContactID;->set(Lorg/jbox2d/collision/ContactID;)V

    .line 844
    iget-object v0, p1, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v0, v0, v7

    iget-object v0, v0, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v1, p4, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    goto/16 :goto_75
.end method

.method public collideEdgeAndPolygon(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/EdgeShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V
    .registers 12

    .prologue
    .line 851
    iget-object v0, p0, Lorg/jbox2d/collision/Collision;->collider:Lorg/jbox2d/collision/Collision$EPCollider;

    move-object v1, p1

    move-object v2, p2

    move-object v3, p3

    move-object v4, p4

    move-object v5, p5

    invoke-virtual/range {v0 .. v5}, Lorg/jbox2d/collision/Collision$EPCollider;->collide(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/EdgeShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V

    .line 852
    return-void
.end method

.method public final collidePolygonAndCircle(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/CircleShape;Lorg/jbox2d/common/Transform;)V
    .registers 21

    .prologue
    .line 250
    const/4 v1, 0x0

    move-object/from16 v0, p1

    iput v1, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 260
    move-object/from16 v0, p4

    iget-object v5, v0, Lorg/jbox2d/collision/shapes/CircleShape;->m_p:Lorg/jbox2d/common/Vec2;

    .line 261
    move-object/from16 v0, p5

    iget-object v1, v0, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 262
    move-object/from16 v0, p3

    iget-object v2, v0, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 263
    iget v3, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v4, v5, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v4

    iget v4, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v5, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v6

    sub-float/2addr v3, v4

    move-object/from16 v0, p5

    iget-object v4, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v3, v4

    .line 264
    iget v4, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v5, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v6

    iget v1, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v6, v5, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v6

    add-float/2addr v1, v4

    move-object/from16 v0, p5

    iget-object v4, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v1, v4

    .line 265
    move-object/from16 v0, p3

    iget-object v4, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v3, v4

    .line 266
    move-object/from16 v0, p3

    iget-object v4, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v1, v4

    .line 267
    iget v4, v2, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v4, v3

    iget v6, v2, Lorg/jbox2d/common/Rot;->s:F

    mul-float/2addr v6, v1

    add-float/2addr v6, v4

    .line 268
    iget v4, v2, Lorg/jbox2d/common/Rot;->s:F

    neg-float v4, v4

    mul-float/2addr v3, v4

    iget v2, v2, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v1, v2

    add-float v7, v3, v1

    .line 272
    const/4 v4, 0x0

    .line 273
    const v2, -0x800001

    .line 274
    move-object/from16 v0, p2

    iget v1, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_radius:F

    move-object/from16 v0, p4

    iget v3, v0, Lorg/jbox2d/collision/shapes/CircleShape;->m_radius:F

    add-float v8, v1, v3

    .line 275
    move-object/from16 v0, p2

    iget v9, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 277
    move-object/from16 v0, p2

    iget-object v10, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_vertices:[Lorg/jbox2d/common/Vec2;

    .line 278
    move-object/from16 v0, p2

    iget-object v11, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_normals:[Lorg/jbox2d/common/Vec2;

    .line 280
    const/4 v3, 0x0

    :goto_6e
    if-ge v3, v9, :cond_94

    .line 285
    aget-object v1, v10, v3

    .line 286
    iget v12, v1, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v12, v6, v12

    .line 287
    iget v1, v1, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v1, v7, v1

    .line 288
    aget-object v13, v11, v3

    iget v13, v13, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v12, v13

    aget-object v13, v11, v3

    iget v13, v13, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v13

    add-float/2addr v1, v12

    .line 291
    cmpl-float v12, v1, v8

    if-lez v12, :cond_8a

    .line 426
    :cond_89
    :goto_89
    return-void

    .line 296
    :cond_8a
    cmpl-float v12, v1, v2

    if-lez v12, :cond_237

    move v2, v3

    .line 280
    :goto_8f
    add-int/lit8 v3, v3, 0x1

    move v4, v2

    move v2, v1

    goto :goto_6e

    .line 304
    :cond_94
    add-int/lit8 v1, v4, 0x1

    if-ge v1, v9, :cond_f6

    add-int/lit8 v1, v4, 0x1

    .line 305
    :goto_9a
    aget-object v3, v10, v4

    .line 306
    aget-object v1, v10, v1

    .line 309
    const/high16 v9, 0x34000000

    cmpg-float v2, v2, v9

    if-gez v2, :cond_f8

    .line 310
    const/4 v2, 0x1

    move-object/from16 v0, p1

    iput v2, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 311
    sget-object v2, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v2, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 318
    aget-object v2, v11, v4

    .line 319
    move-object/from16 v0, p1

    iget-object v4, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v6, v2, Lorg/jbox2d/common/Vec2;->x:F

    iput v6, v4, Lorg/jbox2d/common/Vec2;->x:F

    .line 320
    move-object/from16 v0, p1

    iget-object v4, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    iput v2, v4, Lorg/jbox2d/common/Vec2;->y:F

    .line 321
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    iget v4, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget v6, v1, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v4, v6

    const/high16 v6, 0x3f000000    # 0.5f

    mul-float/2addr v4, v6

    iput v4, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 322
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v1, v1, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v1, v3

    const/high16 v3, 0x3f000000    # 0.5f

    mul-float/2addr v1, v3

    iput v1, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 323
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    .line 324
    iget-object v2, v1, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    iget v3, v5, Lorg/jbox2d/common/Vec2;->x:F

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 325
    iget-object v2, v1, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    iget v3, v5, Lorg/jbox2d/common/Vec2;->y:F

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 326
    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v1}, Lorg/jbox2d/collision/ContactID;->zero()V

    goto :goto_89

    .line 304
    :cond_f6
    const/4 v1, 0x0

    goto :goto_9a

    .line 341
    :cond_f8
    iget v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v2, v6, v2

    .line 342
    iget v9, v3, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v9, v7, v9

    .line 343
    iget v10, v1, Lorg/jbox2d/common/Vec2;->x:F

    iget v12, v3, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v10, v12

    .line 344
    iget v12, v1, Lorg/jbox2d/common/Vec2;->y:F

    iget v13, v3, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v12, v13

    .line 345
    mul-float/2addr v2, v10

    mul-float/2addr v9, v12

    add-float/2addr v2, v9

    .line 347
    iget v9, v1, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v9, v6, v9

    .line 348
    iget v10, v1, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v10, v7, v10

    .line 349
    iget v12, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget v13, v1, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v12, v13

    .line 350
    iget v13, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v14, v1, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v13, v14

    .line 351
    mul-float/2addr v9, v12

    mul-float/2addr v10, v13

    add-float/2addr v9, v10

    .line 354
    const/4 v10, 0x0

    cmpg-float v2, v2, v10

    if-gtz v2, :cond_17f

    .line 356
    iget v1, v3, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v1, v6, v1

    .line 357
    iget v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v2, v7, v2

    .line 358
    mul-float/2addr v1, v1

    mul-float/2addr v2, v2

    add-float/2addr v1, v2

    mul-float v2, v8, v8

    cmpl-float v1, v1, v2

    if-gtz v1, :cond_89

    .line 362
    const/4 v1, 0x1

    move-object/from16 v0, p1

    iput v1, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 363
    sget-object v1, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v1, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 367
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v2, v6, v2

    iput v2, v1, Lorg/jbox2d/common/Vec2;->x:F

    .line 368
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v2, v7, v2

    iput v2, v1, Lorg/jbox2d/common/Vec2;->y:F

    .line 370
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1}, Lorg/jbox2d/common/Vec2;->normalize()F

    .line 371
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 372
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 373
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v1}, Lorg/jbox2d/collision/ContactID;->zero()V

    goto/16 :goto_89

    .line 374
    :cond_17f
    const/4 v2, 0x0

    cmpg-float v2, v9, v2

    if-gtz v2, :cond_1dc

    .line 376
    iget v2, v1, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v2, v6, v2

    .line 377
    iget v3, v1, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v3, v7, v3

    .line 378
    mul-float/2addr v2, v2

    mul-float/2addr v3, v3

    add-float/2addr v2, v3

    mul-float v3, v8, v8

    cmpl-float v2, v2, v3

    if-gtz v2, :cond_89

    .line 382
    const/4 v2, 0x1

    move-object/from16 v0, p1

    iput v2, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 383
    sget-object v2, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v2, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 387
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v3, v1, Lorg/jbox2d/common/Vec2;->x:F

    sub-float v3, v6, v3

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 388
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget v3, v1, Lorg/jbox2d/common/Vec2;->y:F

    sub-float v3, v7, v3

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 390
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2}, Lorg/jbox2d/common/Vec2;->normalize()F

    .line 391
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 392
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 393
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v1}, Lorg/jbox2d/collision/ContactID;->zero()V

    goto/16 :goto_89

    .line 406
    :cond_1dc
    iget v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget v9, v1, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v2, v9

    const/high16 v9, 0x3f000000    # 0.5f

    mul-float/2addr v2, v9

    .line 407
    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v1, v1, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v1, v3

    const/high16 v3, 0x3f000000    # 0.5f

    mul-float/2addr v1, v3

    .line 409
    sub-float v3, v6, v2

    .line 410
    sub-float v6, v7, v1

    .line 411
    aget-object v7, v11, v4

    .line 412
    iget v9, v7, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v9

    iget v7, v7, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v7

    add-float/2addr v3, v6

    .line 413
    cmpl-float v3, v3, v8

    if-gtz v3, :cond_89

    .line 418
    const/4 v3, 0x1

    move-object/from16 v0, p1

    iput v3, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 419
    sget-object v3, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v3, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 420
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    aget-object v4, v11, v4

    invoke-virtual {v3, v4}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 421
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    iput v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 422
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    iput v1, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 423
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 424
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    const/4 v2, 0x0

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v1}, Lorg/jbox2d/collision/ContactID;->zero()V

    goto/16 :goto_89

    :cond_237
    move v1, v2

    move v2, v4

    goto/16 :goto_8f
.end method

.method public final collidePolygons(Lorg/jbox2d/collision/Manifold;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V
    .registers 21

    .prologue
    .line 580
    const/4 v1, 0x0

    move-object/from16 v0, p1

    iput v1, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    .line 581
    move-object/from16 v0, p2

    iget v1, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_radius:F

    move-object/from16 v0, p4

    iget v2, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_radius:F

    add-float v9, v1, v2

    .line 583
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->results1:Lorg/jbox2d/collision/Collision$EdgeResults;

    move-object v1, p0

    move-object/from16 v3, p2

    move-object/from16 v4, p3

    move-object/from16 v5, p4

    move-object/from16 v6, p5

    invoke-virtual/range {v1 .. v6}, Lorg/jbox2d/collision/Collision;->findMaxSeparation(Lorg/jbox2d/collision/Collision$EdgeResults;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V

    .line 584
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->results1:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v1, v1, Lorg/jbox2d/collision/Collision$EdgeResults;->separation:F

    cmpl-float v1, v1, v9

    if-lez v1, :cond_26

    .line 713
    :cond_25
    :goto_25
    return-void

    .line 588
    :cond_26
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->results2:Lorg/jbox2d/collision/Collision$EdgeResults;

    move-object v1, p0

    move-object/from16 v3, p4

    move-object/from16 v4, p5

    move-object/from16 v5, p2

    move-object/from16 v6, p3

    invoke-virtual/range {v1 .. v6}, Lorg/jbox2d/collision/Collision;->findMaxSeparation(Lorg/jbox2d/collision/Collision$EdgeResults;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V

    .line 589
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->results2:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v1, v1, Lorg/jbox2d/collision/Collision$EdgeResults;->separation:F

    cmpl-float v1, v1, v9

    if-gtz v1, :cond_25

    .line 598
    const v1, 0x3dcccccd    # 0.1f

    sget v2, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v1, v2

    .line 600
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->results2:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v2, v2, Lorg/jbox2d/collision/Collision$EdgeResults;->separation:F

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->results1:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v3, v3, Lorg/jbox2d/collision/Collision$EdgeResults;->separation:F

    add-float/2addr v1, v3

    cmpl-float v1, v2, v1

    if-lez v1, :cond_1f6

    .line 605
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->results2:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v5, v1, Lorg/jbox2d/collision/Collision$EdgeResults;->edgeIndex:I

    .line 606
    sget-object v1, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_B:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v1, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 607
    const/4 v1, 0x1

    move v8, v1

    move-object/from16 v7, p3

    move-object/from16 v4, p5

    move-object/from16 v6, p2

    move-object/from16 v3, p4

    .line 617
    :goto_63
    iget-object v10, v4, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 619
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

    move-object v1, p0

    invoke-virtual/range {v1 .. v7}, Lorg/jbox2d/collision/Collision;->findIncidentEdge([Lorg/jbox2d/collision/Collision$ClipVertex;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;ILorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V

    .line 621
    iget v1, v3, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 622
    iget-object v2, v3, Lorg/jbox2d/collision/shapes/PolygonShape;->m_vertices:[Lorg/jbox2d/common/Vec2;

    .line 625
    add-int/lit8 v3, v5, 0x1

    if-ge v3, v1, :cond_20c

    add-int/lit8 v1, v5, 0x1

    .line 626
    :goto_75
    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    aget-object v6, v2, v5

    invoke-virtual {v3, v6}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 627
    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    aget-object v2, v2, v1

    invoke-virtual {v3, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 628
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 629
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 630
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2}, Lorg/jbox2d/common/Vec2;->normalize()F

    .line 633
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localNormal:Lorg/jbox2d/common/Vec2;

    const/high16 v3, 0x3f800000    # 1.0f

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 634
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localNormal:Lorg/jbox2d/common/Vec2;

    const/high16 v3, -0x40800000    # -1.0f

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 637
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->planePoint:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v3, v6

    const/high16 v6, 0x3f000000    # 0.5f

    mul-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 638
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->planePoint:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v3, v6

    const/high16 v6, 0x3f000000    # 0.5f

    mul-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 641
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v3, v10, Lorg/jbox2d/common/Rot;->c:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v6

    iget v6, v10, Lorg/jbox2d/common/Rot;->s:F

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v11, v11, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v11

    sub-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->x:F

    .line 642
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v3, v10, Lorg/jbox2d/common/Rot;->s:F

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v6

    iget v6, v10, Lorg/jbox2d/common/Rot;->c:F

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->localTangent:Lorg/jbox2d/common/Vec2;

    iget v10, v10, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v10

    add-float/2addr v3, v6

    iput v3, v2, Lorg/jbox2d/common/Vec2;->y:F

    .line 645
    const/high16 v2, 0x3f800000    # 1.0f

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v3, v3, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v3, v2

    .line 646
    const/high16 v2, -0x40800000    # -1.0f

    iget-object v6, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v6, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v2

    .line 649
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    invoke-static {v4, v2, v10}, Lorg/jbox2d/common/Transform;->mulToOut(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 650
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    invoke-static {v4, v2, v10}, Lorg/jbox2d/common/Transform;->mulToOut(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 656
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v2, v3

    iget-object v4, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v6

    add-float/2addr v4, v2

    .line 661
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v2, v2, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v10, v10, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v2, v10

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v10, v10, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->v11:Lorg/jbox2d/common/Vec2;

    iget v11, v11, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v10, v11

    add-float/2addr v2, v10

    neg-float v2, v2

    add-float/2addr v2, v9

    .line 662
    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v10, v10, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v11, v11, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v11

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    iget v11, v11, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v12, p0, Lorg/jbox2d/collision/Collision;->v12:Lorg/jbox2d/common/Vec2;

    iget v12, v12, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v11, v12

    add-float/2addr v10, v11

    add-float/2addr v10, v9

    .line 671
    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v11}, Lorg/jbox2d/common/Vec2;->negateLocal()Lorg/jbox2d/common/Vec2;

    .line 672
    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

    iget-object v12, p0, Lorg/jbox2d/collision/Collision;->incidentEdge:[Lorg/jbox2d/collision/Collision$ClipVertex;

    iget-object v13, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    invoke-static {v11, v12, v13, v2, v5}, Lorg/jbox2d/collision/Collision;->clipSegmentToLine([Lorg/jbox2d/collision/Collision$ClipVertex;[Lorg/jbox2d/collision/Collision$ClipVertex;Lorg/jbox2d/common/Vec2;FI)I

    move-result v2

    .line 673
    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v5}, Lorg/jbox2d/common/Vec2;->negateLocal()Lorg/jbox2d/common/Vec2;

    .line 675
    const/4 v5, 0x2

    if-lt v2, v5, :cond_25

    .line 680
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->clipPoints1:[Lorg/jbox2d/collision/Collision$ClipVertex;

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->tangent:Lorg/jbox2d/common/Vec2;

    invoke-static {v2, v5, v11, v10, v1}, Lorg/jbox2d/collision/Collision;->clipSegmentToLine([Lorg/jbox2d/collision/Collision$ClipVertex;[Lorg/jbox2d/collision/Collision$ClipVertex;Lorg/jbox2d/common/Vec2;FI)I

    move-result v1

    .line 682
    const/4 v2, 0x2

    if-lt v1, v2, :cond_25

    .line 687
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localNormal:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->localNormal:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 688
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/collision/Manifold;->localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->planePoint:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 690
    const/4 v2, 0x0

    .line 691
    const/4 v1, 0x0

    :goto_186
    sget v5, Lorg/jbox2d/common/Settings;->maxManifoldPoints:I

    if-ge v1, v5, :cond_20f

    .line 693
    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    aget-object v5, v5, v1

    iget-object v5, v5, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v5, v5, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v3

    iget-object v10, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    aget-object v10, v10, v1

    iget-object v10, v10, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v10, v10, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v10, v6

    add-float/2addr v5, v10

    sub-float/2addr v5, v4

    .line 695
    cmpg-float v5, v5, v9

    if-gtz v5, :cond_1f3

    .line 696
    move-object/from16 v0, p1

    iget-object v5, v0, Lorg/jbox2d/collision/Manifold;->points:[Lorg/jbox2d/collision/ManifoldPoint;

    aget-object v5, v5, v2

    .line 698
    iget-object v10, v5, Lorg/jbox2d/collision/ManifoldPoint;->localPoint:Lorg/jbox2d/common/Vec2;

    .line 699
    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    aget-object v11, v11, v1

    iget-object v11, v11, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v11, v11, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v12, v7, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v12, v12, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v11, v12

    .line 700
    iget-object v12, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    aget-object v12, v12, v1

    iget-object v12, v12, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    iget v12, v12, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v13, v7, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v13, v13, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v12, v13

    .line 701
    iget-object v13, v7, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v13, v13, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v13, v11

    iget-object v14, v7, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v14, v14, Lorg/jbox2d/common/Rot;->s:F

    mul-float/2addr v14, v12

    add-float/2addr v13, v14

    iput v13, v10, Lorg/jbox2d/common/Vec2;->x:F

    .line 702
    iget-object v13, v7, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v13, v13, Lorg/jbox2d/common/Rot;->s:F

    neg-float v13, v13

    mul-float/2addr v11, v13

    iget-object v13, v7, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    iget v13, v13, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v12, v13

    add-float/2addr v11, v12

    iput v11, v10, Lorg/jbox2d/common/Vec2;->y:F

    .line 703
    iget-object v10, v5, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    iget-object v11, p0, Lorg/jbox2d/collision/Collision;->clipPoints2:[Lorg/jbox2d/collision/Collision$ClipVertex;

    aget-object v11, v11, v1

    iget-object v11, v11, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v10, v11}, Lorg/jbox2d/collision/ContactID;->set(Lorg/jbox2d/collision/ContactID;)V

    .line 704
    if-eqz v8, :cond_1f1

    .line 706
    iget-object v5, v5, Lorg/jbox2d/collision/ManifoldPoint;->id:Lorg/jbox2d/collision/ContactID;

    invoke-virtual {v5}, Lorg/jbox2d/collision/ContactID;->flip()V

    .line 708
    :cond_1f1
    add-int/lit8 v2, v2, 0x1

    .line 691
    :cond_1f3
    add-int/lit8 v1, v1, 0x1

    goto :goto_186

    .line 613
    :cond_1f6
    iget-object v1, p0, Lorg/jbox2d/collision/Collision;->results1:Lorg/jbox2d/collision/Collision$EdgeResults;

    iget v5, v1, Lorg/jbox2d/collision/Collision$EdgeResults;->edgeIndex:I

    .line 614
    sget-object v1, Lorg/jbox2d/collision/Manifold$ManifoldType;->FACE_A:Lorg/jbox2d/collision/Manifold$ManifoldType;

    move-object/from16 v0, p1

    iput-object v1, v0, Lorg/jbox2d/collision/Manifold;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    .line 615
    const/4 v1, 0x0

    move v8, v1

    move-object/from16 v7, p5

    move-object/from16 v4, p3

    move-object/from16 v6, p4

    move-object/from16 v3, p2

    goto/16 :goto_63

    .line 625
    :cond_20c
    const/4 v1, 0x0

    goto/16 :goto_75

    .line 712
    :cond_20f
    move-object/from16 v0, p1

    iput v2, v0, Lorg/jbox2d/collision/Manifold;->pointCount:I

    goto/16 :goto_25
.end method

.method public final findIncidentEdge([Lorg/jbox2d/collision/Collision$ClipVertex;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;ILorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V
    .registers 21

    .prologue
    .line 484
    move-object/from16 v0, p2

    iget v1, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 485
    move-object/from16 v0, p2

    iget-object v2, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_normals:[Lorg/jbox2d/common/Vec2;

    .line 487
    move-object/from16 v0, p5

    iget v5, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 488
    move-object/from16 v0, p5

    iget-object v6, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_vertices:[Lorg/jbox2d/common/Vec2;

    .line 489
    move-object/from16 v0, p5

    iget-object v7, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_normals:[Lorg/jbox2d/common/Vec2;

    .line 491
    sget-boolean v3, Lorg/jbox2d/collision/Collision;->$assertionsDisabled:Z

    if-nez v3, :cond_24

    if-ltz p4, :cond_1e

    move/from16 v0, p4

    if-lt v0, v1, :cond_24

    :cond_1e
    new-instance v1, Ljava/lang/AssertionError;

    invoke-direct {v1}, Ljava/lang/AssertionError;-><init>()V

    throw v1

    .line 493
    :cond_24
    const/4 v1, 0x0

    aget-object v8, p1, v1

    .line 494
    const/4 v1, 0x1

    aget-object v9, p1, v1

    .line 495
    move-object/from16 v0, p3

    iget-object v1, v0, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 496
    move-object/from16 v0, p6

    iget-object v10, v0, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 504
    aget-object v2, v2, p4

    .line 505
    iget v3, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v4, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v4

    iget v4, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v11, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v11

    sub-float/2addr v3, v4

    .line 506
    iget v4, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v11, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v11

    iget v1, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v2

    add-float/2addr v1, v4

    .line 507
    iget v2, v10, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v2, v3

    iget v4, v10, Lorg/jbox2d/common/Rot;->s:F

    mul-float/2addr v4, v1

    add-float v11, v2, v4

    .line 508
    iget v2, v10, Lorg/jbox2d/common/Rot;->s:F

    neg-float v2, v2

    mul-float/2addr v2, v3

    iget v3, v10, Lorg/jbox2d/common/Rot;->c:F

    mul-float/2addr v1, v3

    add-float v12, v2, v1

    .line 513
    const/4 v4, 0x0

    .line 514
    const v2, 0x7f7fffff    # Float.MAX_VALUE

    .line 515
    const/4 v3, 0x0

    :goto_60
    if-ge v3, v5, :cond_75

    .line 516
    aget-object v1, v7, v3

    .line 517
    iget v13, v1, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v13, v11

    iget v1, v1, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v12

    add-float/2addr v1, v13

    .line 518
    cmpg-float v13, v1, v2

    if-gez v13, :cond_11b

    move v2, v3

    .line 515
    :goto_70
    add-int/lit8 v3, v3, 0x1

    move v4, v2

    move v2, v1

    goto :goto_60

    .line 526
    :cond_75
    add-int/lit8 v1, v4, 0x1

    if-ge v1, v5, :cond_118

    add-int/lit8 v1, v4, 0x1

    .line 529
    :goto_7b
    aget-object v2, v6, v4

    .line 530
    iget-object v3, v8, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    .line 531
    iget v5, v10, Lorg/jbox2d/common/Rot;->c:F

    iget v7, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v7

    iget v7, v10, Lorg/jbox2d/common/Rot;->s:F

    iget v11, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v7, v11

    sub-float/2addr v5, v7

    move-object/from16 v0, p6

    iget-object v7, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v7, v7, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v5, v7

    iput v5, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 532
    iget v5, v10, Lorg/jbox2d/common/Rot;->s:F

    iget v7, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v7

    iget v7, v10, Lorg/jbox2d/common/Rot;->c:F

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v2, v7

    add-float/2addr v2, v5

    move-object/from16 v0, p6

    iget-object v5, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v5, v5, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v2, v5

    iput v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 533
    iget-object v2, v8, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    move/from16 v0, p4

    int-to-byte v3, v0

    iput-byte v3, v2, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 534
    iget-object v2, v8, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    int-to-byte v3, v4

    iput-byte v3, v2, Lorg/jbox2d/collision/ContactID;->indexB:B

    .line 535
    iget-object v2, v8, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v3, Lorg/jbox2d/collision/ContactID$Type;->FACE:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v3}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v3

    int-to-byte v3, v3

    iput-byte v3, v2, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 536
    iget-object v2, v8, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v3, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v3}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v3

    int-to-byte v3, v3

    iput-byte v3, v2, Lorg/jbox2d/collision/ContactID;->typeB:B

    .line 539
    aget-object v2, v6, v1

    .line 540
    iget-object v3, v9, Lorg/jbox2d/collision/Collision$ClipVertex;->v:Lorg/jbox2d/common/Vec2;

    .line 541
    iget v4, v10, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget v5, v10, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    sub-float/2addr v4, v5

    move-object/from16 v0, p6

    iget-object v5, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v5, v5, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v4, v5

    iput v4, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 542
    iget v4, v10, Lorg/jbox2d/common/Rot;->s:F

    iget v5, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget v5, v10, Lorg/jbox2d/common/Rot;->c:F

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v2, v5

    add-float/2addr v2, v4

    move-object/from16 v0, p6

    iget-object v4, v0, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

    iget v4, v4, Lorg/jbox2d/common/Vec2;->y:F

    add-float/2addr v2, v4

    iput v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 543
    iget-object v2, v9, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    move/from16 v0, p4

    int-to-byte v3, v0

    iput-byte v3, v2, Lorg/jbox2d/collision/ContactID;->indexA:B

    .line 544
    iget-object v2, v9, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    int-to-byte v1, v1

    iput-byte v1, v2, Lorg/jbox2d/collision/ContactID;->indexB:B

    .line 545
    iget-object v1, v9, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->FACE:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeA:B

    .line 546
    iget-object v1, v9, Lorg/jbox2d/collision/Collision$ClipVertex;->id:Lorg/jbox2d/collision/ContactID;

    sget-object v2, Lorg/jbox2d/collision/ContactID$Type;->VERTEX:Lorg/jbox2d/collision/ContactID$Type;

    invoke-virtual {v2}, Lorg/jbox2d/collision/ContactID$Type;->ordinal()I

    move-result v2

    int-to-byte v2, v2

    iput-byte v2, v1, Lorg/jbox2d/collision/ContactID;->typeB:B

    .line 547
    return-void

    .line 526
    :cond_118
    const/4 v1, 0x0

    goto/16 :goto_7b

    :cond_11b
    move v1, v2

    move v2, v4

    goto/16 :goto_70
.end method

.method public final findMaxSeparation(Lorg/jbox2d/collision/Collision$EdgeResults;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;Lorg/jbox2d/collision/shapes/PolygonShape;Lorg/jbox2d/common/Transform;)V
    .registers 23

    .prologue
    .line 446
    move-object/from16 v0, p2

    iget v8, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 447
    move-object/from16 v0, p4

    iget v9, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_count:I

    .line 448
    move-object/from16 v0, p2

    iget-object v10, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_normals:[Lorg/jbox2d/common/Vec2;

    .line 449
    move-object/from16 v0, p2

    iget-object v11, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_vertices:[Lorg/jbox2d/common/Vec2;

    .line 450
    move-object/from16 v0, p4

    iget-object v12, v0, Lorg/jbox2d/collision/shapes/PolygonShape;->m_vertices:[Lorg/jbox2d/common/Vec2;

    .line 452
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/collision/Collision;->xf:Lorg/jbox2d/common/Transform;

    move-object/from16 v0, p5

    move-object/from16 v1, p3

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulTransToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Transform;)V

    .line 453
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/collision/Collision;->xf:Lorg/jbox2d/common/Transform;

    iget-object v13, v2, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 455
    const/4 v6, 0x0

    .line 456
    const v4, -0x800001

    .line 457
    const/4 v5, 0x0

    :goto_2a
    if-ge v5, v8, :cond_8d

    .line 459
    aget-object v2, v10, v5

    move-object/from16 v0, p0

    iget-object v3, v0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    invoke-static {v13, v2, v3}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 460
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/collision/Collision;->xf:Lorg/jbox2d/common/Transform;

    aget-object v3, v11, v5

    move-object/from16 v0, p0

    iget-object v7, v0, Lorg/jbox2d/collision/Collision;->v1:Lorg/jbox2d/common/Vec2;

    invoke-static {v2, v3, v7}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 463
    const v3, 0x7f7fffff    # Float.MAX_VALUE

    .line 464
    const/4 v2, 0x0

    move v7, v2

    :goto_47
    if-ge v7, v9, :cond_83

    .line 465
    aget-object v2, v12, v7

    .line 466
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget v14, v14, Lorg/jbox2d/common/Vec2;->x:F

    iget v15, v2, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/collision/Collision;->v1:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

    iget v0, v0, Lorg/jbox2d/common/Vec2;->x:F

    move/from16 v16, v0

    sub-float v15, v15, v16

    mul-float/2addr v14, v15

    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/collision/Collision;->n:Lorg/jbox2d/common/Vec2;

    iget v15, v15, Lorg/jbox2d/common/Vec2;->y:F

    iget v2, v2, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/collision/Collision;->v1:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

    iget v0, v0, Lorg/jbox2d/common/Vec2;->y:F

    move/from16 v16, v0

    sub-float v2, v2, v16

    mul-float/2addr v2, v15

    add-float/2addr v2, v14

    .line 467
    cmpg-float v14, v2, v3

    if-gez v14, :cond_99

    .line 464
    :goto_7e
    add-int/lit8 v3, v7, 0x1

    move v7, v3

    move v3, v2

    goto :goto_47

    .line 472
    :cond_83
    cmpl-float v2, v3, v4

    if-lez v2, :cond_96

    move v2, v5

    .line 457
    :goto_88
    add-int/lit8 v5, v5, 0x1

    move v4, v3

    move v6, v2

    goto :goto_2a

    .line 478
    :cond_8d
    move-object/from16 v0, p1

    iput v6, v0, Lorg/jbox2d/collision/Collision$EdgeResults;->edgeIndex:I

    .line 479
    move-object/from16 v0, p1

    iput v4, v0, Lorg/jbox2d/collision/Collision$EdgeResults;->separation:F

    .line 480
    return-void

    :cond_96
    move v3, v4

    move v2, v6

    goto :goto_88

    :cond_99
    move v2, v3

    goto :goto_7e
.end method

.method public final testOverlap(Lorg/jbox2d/collision/shapes/Shape;ILorg/jbox2d/collision/shapes/Shape;ILorg/jbox2d/common/Transform;Lorg/jbox2d/common/Transform;)Z
    .registers 13

    .prologue
    const/4 v0, 0x1

    const/4 v1, 0x0

    .line 76
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    iget-object v2, v2, Lorg/jbox2d/collision/DistanceInput;->proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v2, p1, p2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->set(Lorg/jbox2d/collision/shapes/Shape;I)V

    .line 77
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    iget-object v2, v2, Lorg/jbox2d/collision/DistanceInput;->proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v2, p3, p4}, Lorg/jbox2d/collision/Distance$DistanceProxy;->set(Lorg/jbox2d/collision/shapes/Shape;I)V

    .line 78
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    iget-object v2, v2, Lorg/jbox2d/collision/DistanceInput;->transformA:Lorg/jbox2d/common/Transform;

    invoke-virtual {v2, p5}, Lorg/jbox2d/common/Transform;->set(Lorg/jbox2d/common/Transform;)Lorg/jbox2d/common/Transform;

    .line 79
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    iget-object v2, v2, Lorg/jbox2d/collision/DistanceInput;->transformB:Lorg/jbox2d/common/Transform;

    invoke-virtual {v2, p6}, Lorg/jbox2d/common/Transform;->set(Lorg/jbox2d/common/Transform;)Lorg/jbox2d/common/Transform;

    .line 80
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    iput-boolean v0, v2, Lorg/jbox2d/collision/DistanceInput;->useRadii:Z

    .line 82
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->cache:Lorg/jbox2d/collision/Distance$SimplexCache;

    iput v1, v2, Lorg/jbox2d/collision/Distance$SimplexCache;->count:I

    .line 84
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v2}, Lorg/jbox2d/pooling/IWorldPool;->getDistance()Lorg/jbox2d/collision/Distance;

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/collision/Collision;->output:Lorg/jbox2d/collision/DistanceOutput;

    iget-object v4, p0, Lorg/jbox2d/collision/Collision;->cache:Lorg/jbox2d/collision/Distance$SimplexCache;

    iget-object v5, p0, Lorg/jbox2d/collision/Collision;->input:Lorg/jbox2d/collision/DistanceInput;

    invoke-virtual {v2, v3, v4, v5}, Lorg/jbox2d/collision/Distance;->distance(Lorg/jbox2d/collision/DistanceOutput;Lorg/jbox2d/collision/Distance$SimplexCache;Lorg/jbox2d/collision/DistanceInput;)V

    .line 86
    iget-object v2, p0, Lorg/jbox2d/collision/Collision;->output:Lorg/jbox2d/collision/DistanceOutput;

    iget v2, v2, Lorg/jbox2d/collision/DistanceOutput;->distance:F

    const/high16 v3, 0x35a00000

    cmpg-float v2, v2, v3

    if-gez v2, :cond_40

    :goto_3f
    return v0

    :cond_40
    move v0, v1

    goto :goto_3f
.end method