SeparationFunction.smali

.class Lorg/jbox2d/collision/SeparationFunction;
.super Ljava/lang/Object;
.source "TimeOfImpact.java"


# annotations
.annotation system Ldalvik/annotation/MemberClasses;
    value = {
        Lorg/jbox2d/collision/SeparationFunction$1;
    }
.end annotation


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


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

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

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

.field private final localPointA1:Lorg/jbox2d/common/Vec2;

.field private final localPointA2:Lorg/jbox2d/common/Vec2;

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

.field private final localPointB1:Lorg/jbox2d/common/Vec2;

.field private final localPointB2:Lorg/jbox2d/common/Vec2;

.field public final m_axis:Lorg/jbox2d/common/Vec2;

.field public final m_localPoint:Lorg/jbox2d/common/Vec2;

.field public m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

.field public m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

.field public m_sweepA:Lorg/jbox2d/common/Sweep;

.field public m_sweepB:Lorg/jbox2d/common/Sweep;

.field public m_type:Lorg/jbox2d/collision/Type;

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

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

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

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

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

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


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

    .prologue
    .line 308
    const-class v0, Lorg/jbox2d/collision/SeparationFunction;

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

    move-result v0

    if-nez v0, :cond_c

    const/4 v0, 0x1

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

    return-void

    :cond_c
    const/4 v0, 0x0

    goto :goto_9
.end method

.method constructor <init>()V
    .registers 2

    .prologue
    .line 308
    invoke-direct {p0}, Ljava/lang/Object;-><init>()V

    .line 313
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    .line 314
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    .line 319
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    .line 320
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    .line 321
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    .line 322
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    .line 323
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA1:Lorg/jbox2d/common/Vec2;

    .line 324
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA2:Lorg/jbox2d/common/Vec2;

    .line 325
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    .line 326
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB1:Lorg/jbox2d/common/Vec2;

    .line 327
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB2:Lorg/jbox2d/common/Vec2;

    .line 328
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 329
    new-instance v0, Lorg/jbox2d/common/Transform;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    .line 330
    new-instance v0, Lorg/jbox2d/common/Transform;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    .line 420
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->axisA:Lorg/jbox2d/common/Vec2;

    .line 421
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->axisB:Lorg/jbox2d/common/Vec2;

    return-void
.end method


# virtual methods
.method public evaluate(IIF)F
    .registers 7

    .prologue
    .line 488
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepA:Lorg/jbox2d/common/Sweep;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    invoke-virtual {v0, v1, p3}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 489
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepB:Lorg/jbox2d/common/Sweep;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    invoke-virtual {v0, v1, p3}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 491
    sget-object v0, Lorg/jbox2d/collision/SeparationFunction$1;->$SwitchMap$org$jbox2d$collision$Type:[I

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_type:Lorg/jbox2d/collision/Type;

    invoke-virtual {v1}, Lorg/jbox2d/collision/Type;->ordinal()I

    move-result v1

    aget v0, v0, v1

    packed-switch v0, :pswitch_data_cc

    .line 522
    sget-boolean v0, Lorg/jbox2d/collision/SeparationFunction;->$assertionsDisabled:Z

    if-nez v0, :cond_ca

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 493
    :pswitch_25
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v1, p1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 494
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v1, p2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 496
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 497
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 499
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 523
    :goto_5b
    return v0

    .line 503
    :pswitch_5c
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 504
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 506
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v1, p2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 507
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 508
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    goto :goto_5b

    .line 512
    :pswitch_93
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 513
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 515
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    invoke-virtual {v1, p1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 516
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 518
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    goto :goto_5b

    .line 523
    :cond_ca
    const/4 v0, 0x0

    goto :goto_5b

    .line 491
    :pswitch_data_cc
    .packed-switch 0x1
        :pswitch_25
        :pswitch_5c
        :pswitch_93
    .end packed-switch
.end method

.method public findMinSeparation([IF)F
    .registers 9

    .prologue
    const/4 v5, -0x1

    const/4 v4, 0x1

    const/4 v3, 0x0

    .line 426
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepA:Lorg/jbox2d/common/Sweep;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    invoke-virtual {v0, v1, p2}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 427
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepB:Lorg/jbox2d/common/Sweep;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    invoke-virtual {v0, v1, p2}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 429
    sget-object v0, Lorg/jbox2d/collision/SeparationFunction$1;->$SwitchMap$org$jbox2d$collision$Type:[I

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_type:Lorg/jbox2d/collision/Type;

    invoke-virtual {v1}, Lorg/jbox2d/collision/Type;->ordinal()I

    move-result v1

    aget v0, v0, v1

    packed-switch v0, :pswitch_data_150

    .line 480
    sget-boolean v0, Lorg/jbox2d/collision/SeparationFunction;->$assertionsDisabled:Z

    if-nez v0, :cond_149

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 431
    :pswitch_28
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->axisA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulTransUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 432
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->axisB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulTransUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 433
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    .line 435
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->axisA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getSupport(Lorg/jbox2d/common/Vec2;)I

    move-result v0

    aput v0, p1, v3

    .line 436
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->axisB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getSupport(Lorg/jbox2d/common/Vec2;)I

    move-result v0

    aput v0, p1, v4

    .line 438
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    aget v2, p1, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 439
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    aget v2, p1, v4

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 441
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 442
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 444
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 483
    :goto_95
    return v0

    .line 448
    :pswitch_96
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 449
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 451
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->axisB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulTransUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 452
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

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

    .line 454
    aput v5, p1, v3

    .line 455
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->axisB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getSupport(Lorg/jbox2d/common/Vec2;)I

    move-result v0

    aput v0, p1, v4

    .line 457
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    aget v2, p1, v4

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 458
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 460
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    goto :goto_95

    .line 464
    :pswitch_ef
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 465
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 467
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->axisA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulTransUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 468
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

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

    .line 470
    aput v5, p1, v4

    .line 471
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->axisA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getSupport(Lorg/jbox2d/common/Vec2;)I

    move-result v0

    aput v0, p1, v3

    .line 473
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    aget v2, p1, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 474
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 476
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    goto/16 :goto_95

    .line 481
    :cond_149
    aput v5, p1, v3

    .line 482
    aput v5, p1, v4

    .line 483
    const/4 v0, 0x0

    goto/16 :goto_95

    .line 429
    :pswitch_data_150
    .packed-switch 0x1
        :pswitch_28
        :pswitch_96
        :pswitch_ef
    .end packed-switch
.end method

.method public initialize(Lorg/jbox2d/collision/Distance$SimplexCache;Lorg/jbox2d/collision/Distance$DistanceProxy;Lorg/jbox2d/common/Sweep;Lorg/jbox2d/collision/Distance$DistanceProxy;Lorg/jbox2d/common/Sweep;F)F
    .registers 15

    .prologue
    const/high16 v7, 0x3f800000    # 1.0f

    const/high16 v6, 0x3f000000    # 0.5f

    const/4 v5, 0x0

    const/4 v4, 0x1

    const/4 v3, 0x0

    .line 336
    iput-object p2, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    .line 337
    iput-object p4, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    .line 338
    iget v0, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->count:I

    .line 339
    sget-boolean v1, Lorg/jbox2d/collision/SeparationFunction;->$assertionsDisabled:Z

    if-nez v1, :cond_1c

    if-lez v0, :cond_16

    const/4 v1, 0x3

    if-lt v0, v1, :cond_1c

    :cond_16
    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 341
    :cond_1c
    iput-object p3, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepA:Lorg/jbox2d/common/Sweep;

    .line 342
    iput-object p5, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepB:Lorg/jbox2d/common/Sweep;

    .line 344
    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepA:Lorg/jbox2d/common/Sweep;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    invoke-virtual {v1, v2, p6}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 345
    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_sweepB:Lorg/jbox2d/common/Sweep;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    invoke-virtual {v1, v2, p6}, Lorg/jbox2d/common/Sweep;->getTransform(Lorg/jbox2d/common/Transform;F)V

    .line 351
    if-ne v0, v4, :cond_78

    .line 352
    sget-object v0, Lorg/jbox2d/collision/Type;->POINTS:Lorg/jbox2d/collision/Type;

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_type:Lorg/jbox2d/collision/Type;

    .line 358
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v2, v2, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 359
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexB:[I

    aget v2, v2, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 360
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 361
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 362
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    .line 363
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    move-result v0

    .line 416
    :cond_77
    :goto_77
    return v0

    .line 365
    :cond_78
    iget-object v0, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v0, v0, v3

    iget-object v1, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v1, v1, v4

    if-ne v0, v1, :cond_119

    .line 367
    sget-object v0, Lorg/jbox2d/collision/Type;->FACE_B:Lorg/jbox2d/collision/Type;

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_type:Lorg/jbox2d/collision/Type;

    .line 369
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB1:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexB:[I

    aget v2, v2, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 370
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB2:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexB:[I

    aget v2, v2, v4

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 372
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB2:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB1:Lorg/jbox2d/common/Vec2;

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

    .line 373
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v7, v1}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(Lorg/jbox2d/common/Vec2;FLorg/jbox2d/common/Vec2;)V

    .line 374
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    .line 376
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 378
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB1:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB2:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

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

    .line 379
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 381
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v1, v1, v3

    invoke-virtual {p2, v1}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 382
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 384
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

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

    .line 385
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 386
    cmpg-float v1, v0, v5

    if-gez v1, :cond_77

    .line 387
    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    .line 388
    neg-float v0, v0

    goto/16 :goto_77

    .line 393
    :cond_119
    sget-object v0, Lorg/jbox2d/collision/Type;->FACE_A:Lorg/jbox2d/collision/Type;

    iput-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_type:Lorg/jbox2d/collision/Type;

    .line 395
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA1:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v2, v2, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 396
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA2:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyA:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexA:[I

    aget v2, v2, v4

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 398
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA2:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA1:Lorg/jbox2d/common/Vec2;

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

    .line 399
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v7, v1}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(Lorg/jbox2d/common/Vec2;FLorg/jbox2d/common/Vec2;)V

    .line 400
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    .line 402
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

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

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 404
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA1:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointA2:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

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

    .line 405
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfa:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_localPoint:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 407
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_proxyB:Lorg/jbox2d/collision/Distance$DistanceProxy;

    iget-object v2, p1, Lorg/jbox2d/collision/Distance$SimplexCache;->indexB:[I

    aget v2, v2, v3

    invoke-virtual {v1, v2}, Lorg/jbox2d/collision/Distance$DistanceProxy;->getVertex(I)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    .line 408
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->xfb:Lorg/jbox2d/common/Transform;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->localPointB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Transform;->mulToOutUnsafe(Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 410
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->pointA:Lorg/jbox2d/common/Vec2;

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

    .line 411
    iget-object v0, p0, Lorg/jbox2d/collision/SeparationFunction;->temp:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->normal:Lorg/jbox2d/common/Vec2;

    invoke-static {v0, v1}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 412
    cmpg-float v1, v0, v5

    if-gez v1, :cond_77

    .line 413
    iget-object v1, p0, Lorg/jbox2d/collision/SeparationFunction;->m_axis:Lorg/jbox2d/common/Vec2;

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

    .line 414
    neg-float v0, v0

    goto/16 :goto_77
.end method