PositionSolverManifold.smali

.class Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;
.super Ljava/lang/Object;
.source "ContactSolver.java"


# annotations
.annotation system Ldalvik/annotation/MemberClasses;
    value = {
        Lorg/jbox2d/dynamics/contacts/PositionSolverManifold$1;
    }
.end annotation


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


# instance fields
.field public final normal:Lorg/jbox2d/common/Vec2;

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

.field public separation:F


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

    .prologue
    .line 1008
    const-class v0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;

    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/dynamics/contacts/PositionSolverManifold;->$assertionsDisabled:Z

    return-void

    :cond_c
    const/4 v0, 0x0

    goto :goto_9
.end method

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

    .prologue
    .line 1008
    invoke-direct {p0}, Ljava/lang/Object;-><init>()V

    .line 1010
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    .line 1011
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    return-void
.end method


# virtual methods
.method public initialize(Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;Lorg/jbox2d/common/Transform;Lorg/jbox2d/common/Transform;I)V
    .registers 15

    .prologue
    const/high16 v7, 0x3f000000    # 0.5f

    const/high16 v9, -0x40800000    # -1.0f

    .line 1015
    sget-boolean v0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->$assertionsDisabled:Z

    if-nez v0, :cond_12

    iget v0, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->pointCount:I

    if-gtz v0, :cond_12

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 1017
    :cond_12
    iget-object v0, p2, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 1018
    iget-object v1, p3, Lorg/jbox2d/common/Transform;->q:Lorg/jbox2d/common/Rot;

    .line 1019
    iget-object v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localPoints:[Lorg/jbox2d/common/Vec2;

    aget-object v2, v2, p4

    .line 1020
    sget-object v3, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold$1;->$SwitchMap$org$jbox2d$collision$Manifold$ManifoldType:[I

    iget-object v4, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->type:Lorg/jbox2d/collision/Manifold$ManifoldType;

    invoke-virtual {v4}, Lorg/jbox2d/collision/Manifold$ManifoldType;->ordinal()I

    move-result v4

    aget v3, v3, v4

    packed-switch v3, :pswitch_data_1ba

    .line 1103
    :goto_27
    return-void

    .line 1030
    :pswitch_28
    iget-object v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localPoint:Lorg/jbox2d/common/Vec2;

    .line 1031
    iget-object v3, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localPoints:[Lorg/jbox2d/common/Vec2;

    const/4 v4, 0x0

    aget-object v3, v3, v4

    .line 1032
    iget v4, v0, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget v5, v0, 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

    iget-object v5, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v4, v5

    .line 1033
    iget v5, v0, Lorg/jbox2d/common/Rot;->s:F

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

    mul-float/2addr v5, v6

    iget v0, v0, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v0, v2

    add-float/2addr v0, v5

    iget-object v2, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v0, v2

    .line 1034
    iget v2, v1, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v2, v5

    iget v5, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v3, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    sub-float/2addr v2, v5

    iget-object v5, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v2, v5

    .line 1035
    iget v5, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v3, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v6

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

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

    mul-float/2addr v1, v3

    add-float/2addr v1, v5

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

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

    add-float/2addr v1, v3

    .line 1036
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    sub-float v5, v2, v4

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

    .line 1037
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    sub-float v5, v1, v0

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

    .line 1038
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    .line 1040
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    add-float v5, v4, v2

    mul-float/2addr v5, v7

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

    .line 1041
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    add-float v5, v0, v1

    mul-float/2addr v5, v7

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

    .line 1042
    sub-float/2addr v2, v4

    .line 1043
    sub-float v0, v1, v0

    .line 1044
    iget-object v1, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v1, v2

    iget-object v2, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v0, v2

    add-float/2addr v0, v1

    iget v1, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusA:F

    sub-float/2addr v0, v1

    iget v1, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusB:F

    sub-float/2addr v0, v1

    iput v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->separation:F

    goto :goto_27

    .line 1056
    :pswitch_a5
    iget-object v3, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localNormal:Lorg/jbox2d/common/Vec2;

    .line 1057
    iget-object v4, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localPoint:Lorg/jbox2d/common/Vec2;

    .line 1058
    iget-object v5, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v6, v0, Lorg/jbox2d/common/Rot;->c:F

    iget v7, v3, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v7

    iget v7, v0, Lorg/jbox2d/common/Rot;->s:F

    iget v8, v3, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v7, v8

    sub-float/2addr v6, v7

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

    .line 1059
    iget-object v5, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v6, v0, Lorg/jbox2d/common/Rot;->s:F

    iget v7, v3, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v7

    iget v7, v0, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v3, v7

    add-float/2addr v3, v6

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

    .line 1060
    iget v3, v0, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v3, v5

    iget v5, v0, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v4, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    sub-float/2addr v3, v5

    iget-object v5, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v3, v5

    .line 1061
    iget v5, v0, Lorg/jbox2d/common/Rot;->s:F

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

    mul-float/2addr v5, v6

    iget v0, v0, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v0, v4

    add-float/2addr v0, v5

    iget-object v4, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v0, v4

    .line 1063
    iget v4, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget v5, v1, 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

    iget-object v5, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v4, v5

    .line 1064
    iget v5, v1, Lorg/jbox2d/common/Rot;->s:F

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

    mul-float/2addr v5, v6

    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, v5

    iget-object v2, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v1, v2

    .line 1065
    sub-float v2, v4, v3

    .line 1066
    sub-float v0, v1, v0

    .line 1067
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v2, v3

    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v0, v3

    add-float/2addr v0, v2

    iget v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusA:F

    sub-float/2addr v0, v2

    iget v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusB:F

    sub-float/2addr v0, v2

    iput v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->separation:F

    .line 1068
    iget-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

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

    .line 1069
    iget-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    iput v1, v0, Lorg/jbox2d/common/Vec2;->y:F

    goto/16 :goto_27

    .line 1084
    :pswitch_128
    iget-object v3, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localNormal:Lorg/jbox2d/common/Vec2;

    .line 1085
    iget-object v4, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->localPoint:Lorg/jbox2d/common/Vec2;

    .line 1086
    iget-object v5, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v6, v1, Lorg/jbox2d/common/Rot;->c:F

    iget v7, v3, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v7

    iget v7, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v8, v3, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v7, v8

    sub-float/2addr v6, v7

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

    .line 1087
    iget-object v5, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v6, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v7, v3, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v7

    iget v7, v1, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v3, v7

    add-float/2addr v3, v6

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

    .line 1088
    iget v3, v1, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v3, v5

    iget v5, v1, Lorg/jbox2d/common/Rot;->s:F

    iget v6, v4, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    sub-float/2addr v3, v5

    iget-object v5, p3, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v3, v5

    .line 1089
    iget v5, v1, Lorg/jbox2d/common/Rot;->s:F

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

    mul-float/2addr v5, v6

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

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

    mul-float/2addr v1, v4

    add-float/2addr v1, v5

    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 v1, v4

    .line 1091
    iget v4, v0, Lorg/jbox2d/common/Rot;->c:F

    iget v5, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    iget v5, v0, 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

    iget-object v5, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v4, v5

    .line 1092
    iget v5, v0, Lorg/jbox2d/common/Rot;->s:F

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

    mul-float/2addr v5, v6

    iget v0, v0, Lorg/jbox2d/common/Rot;->c:F

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

    mul-float/2addr v0, v2

    add-float/2addr v0, v5

    iget-object v2, p2, Lorg/jbox2d/common/Transform;->p:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v0, v2

    .line 1093
    sub-float v2, v4, v3

    .line 1094
    sub-float v1, v0, v1

    .line 1095
    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v2, v3

    iget-object v3, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v1, v3

    add-float/2addr v1, v2

    iget v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusA:F

    sub-float/2addr v1, v2

    iget v2, p1, Lorg/jbox2d/dynamics/contacts/ContactPositionConstraint;->radiusB:F

    sub-float/2addr v1, v2

    iput v1, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->separation:F

    .line 1096
    iget-object v1, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    iput v4, v1, Lorg/jbox2d/common/Vec2;->x:F

    .line 1097
    iget-object v1, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->point:Lorg/jbox2d/common/Vec2;

    iput v0, v1, Lorg/jbox2d/common/Vec2;->y:F

    .line 1098
    iget-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v1, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v1, v9

    iput v1, v0, Lorg/jbox2d/common/Vec2;->x:F

    .line 1099
    iget-object v0, p0, Lorg/jbox2d/dynamics/contacts/PositionSolverManifold;->normal:Lorg/jbox2d/common/Vec2;

    iget v1, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v9

    iput v1, v0, Lorg/jbox2d/common/Vec2;->y:F

    goto/16 :goto_27

    .line 1020
    nop

    :pswitch_data_1ba
    .packed-switch 0x1
        :pswitch_28
        :pswitch_a5
        :pswitch_128
    .end packed-switch
.end method