ConstantVolumeJoint.smali

.class public Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;
.super Lorg/jbox2d/dynamics/joints/Joint;
.source "ConstantVolumeJoint.java"


# instance fields
.field private final bodies:[Lorg/jbox2d/dynamics/Body;

.field private distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

.field private m_impulse:F

.field private normals:[Lorg/jbox2d/common/Vec2;

.field private targetLengths:[F

.field private targetVolume:F

.field private world:Lorg/jbox2d/dynamics/World;


# direct methods
.method public constructor <init>(Lorg/jbox2d/dynamics/World;Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;)V
    .registers 11

    .prologue
    const/4 v1, 0x0

    .line 61
    invoke-virtual {p1}, Lorg/jbox2d/dynamics/World;->getPool()Lorg/jbox2d/pooling/IWorldPool;

    move-result-object v0

    invoke-direct {p0, v0, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .line 42
    const/4 v0, 0x0

    iput v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    .line 62
    iput-object p1, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->world:Lorg/jbox2d/dynamics/World;

    .line 63
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->bodies:Ljava/util/ArrayList;

    invoke-virtual {v0}, Ljava/util/ArrayList;->size()I

    move-result v0

    const/4 v2, 0x2

    if-gt v0, v2, :cond_1e

    .line 64
    new-instance v0, Ljava/lang/IllegalArgumentException;

    const-string v1, "You cannot create a constant volume joint with less than three bodies."

    invoke-direct {v0, v1}, Ljava/lang/IllegalArgumentException;-><init>(Ljava/lang/String;)V

    throw v0

    .line 67
    :cond_1e
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->bodies:Ljava/util/ArrayList;

    new-array v2, v1, [Lorg/jbox2d/dynamics/Body;

    invoke-virtual {v0, v2}, Ljava/util/ArrayList;->toArray([Ljava/lang/Object;)[Ljava/lang/Object;

    move-result-object v0

    check-cast v0, [Lorg/jbox2d/dynamics/Body;

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    .line 69
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v0, v0

    new-array v0, v0, [F

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    move v0, v1

    .line 70
    :goto_32
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    array-length v2, v2

    if-ge v0, v2, :cond_61

    .line 71
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    array-length v2, v2

    add-int/lit8 v2, v2, -0x1

    if-ne v0, v2, :cond_5e

    move v2, v1

    .line 72
    :goto_3f
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v3, v0

    invoke-virtual {v3}, Lorg/jbox2d/dynamics/Body;->getWorldCenter()Lorg/jbox2d/common/Vec2;

    move-result-object v3

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v2, v4, v2

    invoke-virtual {v2}, Lorg/jbox2d/dynamics/Body;->getWorldCenter()Lorg/jbox2d/common/Vec2;

    move-result-object v2

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

    move-result-object v2

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

    move-result v2

    .line 73
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    aput v2, v3, v0

    .line 70
    add-int/lit8 v0, v0, 0x1

    goto :goto_32

    .line 71
    :cond_5e
    add-int/lit8 v2, v0, 0x1

    goto :goto_3f

    .line 75
    :cond_61
    invoke-direct {p0}, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->getBodyArea()F

    move-result v0

    iput v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetVolume:F

    .line 77
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->joints:Ljava/util/ArrayList;

    if-eqz v0, :cond_81

    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->joints:Ljava/util/ArrayList;

    invoke-virtual {v0}, Ljava/util/ArrayList;->size()I

    move-result v0

    iget-object v2, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->bodies:Ljava/util/ArrayList;

    invoke-virtual {v2}, Ljava/util/ArrayList;->size()I

    move-result v2

    if-eq v0, v2, :cond_81

    .line 78
    new-instance v0, Ljava/lang/IllegalArgumentException;

    const-string v1, "Incorrect joint definition.  Joints have to correspond to the bodies"

    invoke-direct {v0, v1}, Ljava/lang/IllegalArgumentException;-><init>(Ljava/lang/String;)V

    throw v0

    .line 81
    :cond_81
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->joints:Ljava/util/ArrayList;

    if-nez v0, :cond_d9

    .line 82
    new-instance v3, Lorg/jbox2d/dynamics/joints/DistanceJointDef;

    invoke-direct {v3}, Lorg/jbox2d/dynamics/joints/DistanceJointDef;-><init>()V

    .line 83
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v0, v0

    new-array v0, v0, [Lorg/jbox2d/dynamics/joints/DistanceJoint;

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    move v2, v1

    .line 84
    :goto_92
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    array-length v0, v0

    if-ge v2, v0, :cond_e5

    .line 85
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetLengths:[F

    array-length v0, v0

    add-int/lit8 v0, v0, -0x1

    if-ne v2, v0, :cond_d6

    move v0, v1

    .line 86
    :goto_9f
    iget v4, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->frequencyHz:F

    iput v4, v3, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->frequencyHz:F

    .line 87
    iget v4, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->dampingRatio:F

    iput v4, v3, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->dampingRatio:F

    .line 88
    iget-boolean v4, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->collideConnected:Z

    iput-boolean v4, v3, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->collideConnected:Z

    .line 89
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v2

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v0

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v6, v6, v2

    invoke-virtual {v6}, Lorg/jbox2d/dynamics/Body;->getWorldCenter()Lorg/jbox2d/common/Vec2;

    move-result-object v6

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v0, v7, v0

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

    move-result-object v0

    invoke-virtual {v3, v4, v5, v6, v0}, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->initialize(Lorg/jbox2d/dynamics/Body;Lorg/jbox2d/dynamics/Body;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 91
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->world:Lorg/jbox2d/dynamics/World;

    invoke-virtual {v0, v3}, Lorg/jbox2d/dynamics/World;->createJoint(Lorg/jbox2d/dynamics/joints/JointDef;)Lorg/jbox2d/dynamics/joints/Joint;

    move-result-object v0

    check-cast v0, Lorg/jbox2d/dynamics/joints/DistanceJoint;

    aput-object v0, v4, v2

    .line 84
    add-int/lit8 v0, v2, 0x1

    move v2, v0

    goto :goto_92

    .line 85
    :cond_d6
    add-int/lit8 v0, v2, 0x1

    goto :goto_9f

    .line 94
    :cond_d9
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/ConstantVolumeJointDef;->joints:Ljava/util/ArrayList;

    new-array v2, v1, [Lorg/jbox2d/dynamics/joints/DistanceJoint;

    invoke-virtual {v0, v2}, Ljava/util/ArrayList;->toArray([Ljava/lang/Object;)[Ljava/lang/Object;

    move-result-object v0

    check-cast v0, [Lorg/jbox2d/dynamics/joints/DistanceJoint;

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    .line 97
    :cond_e5
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v0, v0

    new-array v0, v0, [Lorg/jbox2d/common/Vec2;

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    .line 98
    :goto_ec
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    array-length v0, v0

    if-ge v1, v0, :cond_fd

    .line 99
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    new-instance v2, Lorg/jbox2d/common/Vec2;

    invoke-direct {v2}, Lorg/jbox2d/common/Vec2;-><init>()V

    aput-object v2, v0, v1

    .line 98
    add-int/lit8 v1, v1, 0x1

    goto :goto_ec

    .line 101
    :cond_fd
    return-void
.end method

.method private constrainEdges([Lorg/jbox2d/dynamics/contacts/Position;)Z
    .registers 12

    .prologue
    const/4 v4, 0x1

    const/4 v1, 0x0

    .line 135
    const/4 v0, 0x0

    move v2, v0

    move v0, v1

    .line 136
    :goto_5
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    if-ge v0, v3, :cond_6c

    .line 137
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    add-int/lit8 v3, v3, -0x1

    if-ne v0, v3, :cond_69

    move v3, v1

    .line 138
    :goto_12
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v3

    iget v5, v5, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v5, p1, v5

    iget-object v5, v5, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v6, v6, v0

    iget v6, v6, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v6, p1, v6

    iget-object v6, v6, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    sub-float/2addr v5, v6

    .line 139
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v6, v3

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v3, p1, v3

    iget-object v3, v3, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v6, v6, v0

    iget v6, v6, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v6, p1, v6

    iget-object v6, v6, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    sub-float v6, v3, v6

    .line 140
    mul-float v3, v5, v5

    mul-float v7, v6, v6

    add-float/2addr v3, v7

    invoke-static {v3}, Lorg/jbox2d/common/MathUtils;->sqrt(F)F

    move-result v3

    .line 141
    const/high16 v7, 0x34000000

    cmpg-float v7, v3, v7

    if-gez v7, :cond_56

    .line 142
    const/high16 v3, 0x3f800000    # 1.0f

    .line 144
    :cond_56
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v7, v7, v0

    div-float/2addr v6, v3

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

    .line 145
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v6, v6, v0

    neg-float v5, v5

    div-float/2addr v5, v3

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

    .line 146
    add-float/2addr v2, v3

    .line 136
    add-int/lit8 v0, v0, 0x1

    goto :goto_5

    .line 137
    :cond_69
    add-int/lit8 v3, v0, 0x1

    goto :goto_12

    .line 149
    :cond_6c
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v0}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v5

    .line 151
    iget v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetVolume:F

    invoke-direct {p0, p1}, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->getSolverArea([Lorg/jbox2d/dynamics/contacts/Position;)F

    move-result v3

    sub-float/2addr v0, v3

    .line 152
    const/high16 v3, 0x3f000000    # 0.5f

    mul-float/2addr v0, v3

    div-float v6, v0, v2

    move v0, v1

    move v2, v4

    .line 155
    :goto_80
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    if-ge v0, v3, :cond_f5

    .line 156
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    add-int/lit8 v3, v3, -0x1

    if-ne v0, v3, :cond_f2

    move v3, v1

    .line 157
    :goto_8d
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v7, v7, v0

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

    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v8, v8, v3

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

    add-float/2addr v7, v8

    mul-float/2addr v7, v6

    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v8, v8, v0

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

    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->normals:[Lorg/jbox2d/common/Vec2;

    aget-object v9, v9, v3

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

    add-float/2addr v8, v9

    mul-float/2addr v8, v6

    invoke-virtual {v5, v7, v8}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 160
    invoke-virtual {v5}, Lorg/jbox2d/common/Vec2;->lengthSquared()F

    move-result v7

    .line 161
    sget v8, Lorg/jbox2d/common/Settings;->maxLinearCorrection:F

    sget v9, Lorg/jbox2d/common/Settings;->maxLinearCorrection:F

    mul-float/2addr v8, v9

    cmpl-float v8, v7, v8

    if-lez v8, :cond_c3

    .line 162
    sget v8, Lorg/jbox2d/common/Settings;->maxLinearCorrection:F

    invoke-static {v7}, Lorg/jbox2d/common/MathUtils;->sqrt(F)F

    move-result v9

    div-float/2addr v8, v9

    invoke-virtual {v5, v8}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 164
    :cond_c3
    sget v8, Lorg/jbox2d/common/Settings;->linearSlop:F

    sget v9, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v8, v9

    cmpl-float v7, v7, v8

    if-lez v7, :cond_cd

    move v2, v1

    .line 167
    :cond_cd
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v7, v7, v3

    iget v7, v7, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v7, p1, v7

    iget-object v7, v7, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    iget v8, v7, Lorg/jbox2d/common/Vec2;->x:F

    iget v9, v5, Lorg/jbox2d/common/Vec2;->x:F

    add-float/2addr v8, v9

    iput v8, v7, Lorg/jbox2d/common/Vec2;->x:F

    .line 168
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v7, v3

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v3, p1, v3

    iget-object v3, v3, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

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

    add-float/2addr v7, v8

    iput v7, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 155
    add-int/lit8 v0, v0, 0x1

    goto :goto_80

    .line 156
    :cond_f2
    add-int/lit8 v3, v0, 0x1

    goto :goto_8d

    .line 173
    :cond_f5
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v0, v4}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 175
    return v2
.end method

.method private getBodyArea()F
    .registers 7

    .prologue
    const/4 v1, 0x0

    .line 111
    const/4 v0, 0x0

    move v2, v0

    move v0, v1

    .line 112
    :goto_4
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    if-ge v0, v3, :cond_44

    .line 113
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    add-int/lit8 v3, v3, -0x1

    if-ne v0, v3, :cond_41

    move v3, v1

    .line 114
    :goto_11
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v0

    invoke-virtual {v4}, Lorg/jbox2d/dynamics/Body;->getWorldCenter()Lorg/jbox2d/common/Vec2;

    move-result-object v4

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

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v3

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

    move-result-object v5

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

    mul-float/2addr v4, v5

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v5, v3

    invoke-virtual {v3}, Lorg/jbox2d/dynamics/Body;->getWorldCenter()Lorg/jbox2d/common/Vec2;

    move-result-object v3

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

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v0

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

    move-result-object v5

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

    mul-float/2addr v3, v5

    sub-float v3, v4, v3

    add-float/2addr v2, v3

    .line 112
    add-int/lit8 v0, v0, 0x1

    goto :goto_4

    .line 113
    :cond_41
    add-int/lit8 v3, v0, 0x1

    goto :goto_11

    .line 118
    :cond_44
    const/high16 v0, 0x3f000000    # 0.5f

    mul-float/2addr v0, v2

    .line 119
    return v0
.end method

.method private getSolverArea([Lorg/jbox2d/dynamics/contacts/Position;)F
    .registers 8

    .prologue
    const/4 v1, 0x0

    .line 123
    const/4 v0, 0x0

    move v2, v0

    move v0, v1

    .line 124
    :goto_4
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    if-ge v0, v3, :cond_4c

    .line 125
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    add-int/lit8 v3, v3, -0x1

    if-ne v0, v3, :cond_49

    move v3, v1

    .line 126
    :goto_11
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v0

    iget v4, v4, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v4, p1, v4

    iget-object v4, v4, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v3

    iget v5, v5, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v5, p1, v5

    iget-object v5, v5, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v4, v5

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v5, v3

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v3, p1, v3

    iget-object v3, v3, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v0

    iget v5, v5, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v5, p1, v5

    iget-object v5, v5, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v3, v5

    sub-float v3, v4, v3

    add-float/2addr v2, v3

    .line 124
    add-int/lit8 v0, v0, 0x1

    goto :goto_4

    .line 125
    :cond_49
    add-int/lit8 v3, v0, 0x1

    goto :goto_11

    .line 130
    :cond_4c
    const/high16 v0, 0x3f000000    # 0.5f

    mul-float/2addr v0, v2

    .line 131
    return v0
.end method


# virtual methods
.method public destructor()V
    .registers 4

    .prologue
    .line 105
    const/4 v0, 0x0

    :goto_1
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    array-length v1, v1

    if-ge v0, v1, :cond_12

    .line 106
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->world:Lorg/jbox2d/dynamics/World;

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    aget-object v2, v2, v0

    invoke-virtual {v1, v2}, Lorg/jbox2d/dynamics/World;->destroyJoint(Lorg/jbox2d/dynamics/joints/Joint;)Z

    .line 105
    add-int/lit8 v0, v0, 0x1

    goto :goto_1

    .line 108
    :cond_12
    return-void
.end method

.method public getAnchorA(Lorg/jbox2d/common/Vec2;)V
    .registers 2

    .prologue
    .line 243
    return-void
.end method

.method public getAnchorB(Lorg/jbox2d/common/Vec2;)V
    .registers 2

    .prologue
    .line 247
    return-void
.end method

.method public getBodies()[Lorg/jbox2d/dynamics/Body;
    .registers 2

    .prologue
    .line 49
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    return-object v0
.end method

.method public getJoints()[Lorg/jbox2d/dynamics/joints/DistanceJoint;
    .registers 2

    .prologue
    .line 53
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->distanceJoints:[Lorg/jbox2d/dynamics/joints/DistanceJoint;

    return-object v0
.end method

.method public getReactionForce(FLorg/jbox2d/common/Vec2;)V
    .registers 3

    .prologue
    .line 251
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 256
    const/4 v0, 0x0

    return v0
.end method

.method public inflate(F)V
    .registers 3

    .prologue
    .line 57
    iget v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetVolume:F

    mul-float/2addr v0, p1

    iput v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->targetVolume:F

    .line 58
    return-void
.end method

.method public initVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 12

    .prologue
    const/high16 v9, 0x3f000000    # 0.5f

    const/4 v1, 0x0

    .line 180
    iget-object v4, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    .line 181
    iget-object v5, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    .line 182
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v2, v2

    invoke-interface {v0, v2}, Lorg/jbox2d/pooling/IWorldPool;->getVec2Array(I)[Lorg/jbox2d/common/Vec2;

    move-result-object v6

    move v0, v1

    .line 184
    :goto_11
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v2, v2

    if-ge v0, v2, :cond_4c

    .line 185
    if-nez v0, :cond_46

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v2, v2

    add-int/lit8 v2, v2, -0x1

    .line 186
    :goto_1d
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    add-int/lit8 v3, v3, -0x1

    if-ne v0, v3, :cond_49

    move v3, v1

    .line 187
    :goto_25
    aget-object v7, v6, v0

    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v8, v3

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v3, v5, v3

    iget-object v3, v3, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v7, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 188
    aget-object v3, v6, v0

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v2, v7, v2

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v2, v5, v2

    iget-object v2, v2, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    .line 184
    add-int/lit8 v0, v0, 0x1

    goto :goto_11

    .line 185
    :cond_46
    add-int/lit8 v2, v0, -0x1

    goto :goto_1d

    .line 186
    :cond_49
    add-int/lit8 v3, v0, 0x1

    goto :goto_25

    .line 191
    :cond_4c
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget-boolean v0, v0, Lorg/jbox2d/dynamics/TimeStep;->warmStarting:Z

    if-eqz v0, :cond_a0

    .line 192
    iget v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v2, v2, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v0, v2

    iput v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    .line 198
    :goto_5b
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v0, v0

    if-ge v1, v0, :cond_a3

    .line 199
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v0, v0, v1

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v0, v4, v0

    iget-object v0, v0, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    iget v2, v0, Lorg/jbox2d/common/Vec2;->x:F

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v3, v1

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    aget-object v5, v6, v1

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

    mul-float/2addr v3, v5

    mul-float/2addr v3, v9

    iget v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    mul-float/2addr v3, v5

    add-float/2addr v2, v3

    iput v2, v0, Lorg/jbox2d/common/Vec2;->x:F

    .line 200
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v0, v0, v1

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v0, v4, v0

    iget-object v0, v0, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    iget v2, v0, Lorg/jbox2d/common/Vec2;->y:F

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v3, v3, v1

    iget v3, v3, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    aget-object v5, v6, v1

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

    neg-float v5, v5

    mul-float/2addr v3, v5

    mul-float/2addr v3, v9

    iget v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    mul-float/2addr v3, v5

    add-float/2addr v2, v3

    iput v2, v0, Lorg/jbox2d/common/Vec2;->y:F

    .line 198
    add-int/lit8 v1, v1, 0x1

    goto :goto_5b

    .line 203
    :cond_a0
    const/4 v0, 0x0

    iput v0, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    .line 205
    :cond_a3
    return-void
.end method

.method public solvePositionConstraints(Lorg/jbox2d/dynamics/SolverData;)Z
    .registers 3

    .prologue
    .line 209
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    invoke-direct {p0, v0}, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->constrainEdges([Lorg/jbox2d/dynamics/contacts/Position;)Z

    move-result v0

    return v0
.end method

.method public solveVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 14

    .prologue
    const/high16 v11, 0x3f000000    # 0.5f

    const/4 v0, 0x0

    const/4 v1, 0x0

    .line 214
    .line 217
    iget-object v6, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    .line 218
    iget-object v7, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    .line 219
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v3, v3

    invoke-interface {v2, v3}, Lorg/jbox2d/pooling/IWorldPool;->getVec2Array(I)[Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move v2, v0

    move v3, v0

    move v0, v1

    .line 221
    :goto_14
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v4, v4

    if-ge v0, v4, :cond_70

    .line 222
    if-nez v0, :cond_6a

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v4, v4

    add-int/lit8 v4, v4, -0x1

    .line 223
    :goto_20
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v5, v5

    add-int/lit8 v5, v5, -0x1

    if-ne v0, v5, :cond_6d

    move v5, v1

    .line 224
    :goto_28
    aget-object v9, v8, v0

    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v10, v5

    iget v5, v5, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v5, v7, v5

    iget-object v5, v5, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v9, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 225
    aget-object v5, v8, v0

    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v9, v4

    iget v4, v4, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v4, v7, v4

    iget-object v4, v4, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

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

    .line 226
    aget-object v4, v8, v0

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

    move-result v4

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v5, v5, v0

    invoke-virtual {v5}, Lorg/jbox2d/dynamics/Body;->getMass()F

    move-result v5

    div-float/2addr v4, v5

    add-float/2addr v2, v4

    .line 227
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v0

    iget v4, v4, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v4, v6, v4

    iget-object v4, v4, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    aget-object v5, v8, v0

    invoke-static {v4, v5}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v4

    add-float/2addr v3, v4

    .line 221
    add-int/lit8 v0, v0, 0x1

    goto :goto_14

    .line 222
    :cond_6a
    add-int/lit8 v4, v0, -0x1

    goto :goto_20

    .line 223
    :cond_6d
    add-int/lit8 v5, v0, 0x1

    goto :goto_28

    .line 229
    :cond_70
    const/high16 v0, -0x40000000    # -2.0f

    mul-float/2addr v0, v3

    div-float/2addr v0, v2

    .line 233
    iget v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    add-float/2addr v2, v0

    iput v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->m_impulse:F

    .line 235
    :goto_79
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    array-length v2, v2

    if-ge v1, v2, :cond_ba

    .line 236
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v2, v2, v1

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v2, v6, v2

    iget-object v2, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

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

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v1

    iget v4, v4, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    aget-object v5, v8, v1

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

    mul-float/2addr v4, v5

    mul-float/2addr v4, v11

    mul-float/2addr v4, v0

    add-float/2addr v3, v4

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

    .line 237
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v2, v2, v1

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    aget-object v2, v6, v2

    iget-object v2, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

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

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/ConstantVolumeJoint;->bodies:[Lorg/jbox2d/dynamics/Body;

    aget-object v4, v4, v1

    iget v4, v4, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    aget-object v5, v8, v1

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

    neg-float v5, v5

    mul-float/2addr v4, v5

    mul-float/2addr v4, v11

    mul-float/2addr v4, v0

    add-float/2addr v3, v4

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

    .line 235
    add-int/lit8 v1, v1, 0x1

    goto :goto_79

    .line 239
    :cond_ba
    return-void
.end method