DistanceJoint.smali

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


# instance fields
.field private m_bias:F

.field private m_dampingRatio:F

.field private m_frequencyHz:F

.field private m_gamma:F

.field private m_impulse:F

.field private m_indexA:I

.field private m_indexB:I

.field private m_invIA:F

.field private m_invIB:F

.field private m_invMassA:F

.field private m_invMassB:F

.field private m_length:F

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

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

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

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

.field private m_mass:F

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

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

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


# direct methods
.method protected constructor <init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/DistanceJointDef;)V
    .registers 5

    .prologue
    const/4 v1, 0x0

    .line 95
    invoke-direct {p0, p1, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .line 83
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    .line 84
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    .line 85
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    .line 86
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    .line 87
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    .line 96
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->localAnchorA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    .line 97
    iget-object v0, p2, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->localAnchorB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v0

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    .line 98
    iget v0, p2, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->length:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_length:F

    .line 99
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    .line 100
    iget v0, p2, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->frequencyHz:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    .line 101
    iget v0, p2, Lorg/jbox2d/dynamics/joints/DistanceJointDef;->dampingRatio:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_dampingRatio:F

    .line 102
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    .line 103
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bias:F

    .line 104
    return-void
.end method


# virtual methods
.method public getAnchorA(Lorg/jbox2d/common/Vec2;)V
    .registers 4

    .prologue
    .line 132
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1, p1}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 133
    return-void
.end method

.method public getAnchorB(Lorg/jbox2d/common/Vec2;)V
    .registers 4

    .prologue
    .line 137
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1, p1}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 138
    return-void
.end method

.method public getDampingRatio()F
    .registers 2

    .prologue
    .line 127
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_dampingRatio:F

    return v0
.end method

.method public getFrequency()F
    .registers 2

    .prologue
    .line 111
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    return v0
.end method

.method public getLength()F
    .registers 2

    .prologue
    .line 115
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_length:F

    return v0
.end method

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

    .prologue
    .line 141
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 145
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

.method public getReactionForce(FLorg/jbox2d/common/Vec2;)V
    .registers 5

    .prologue
    .line 153
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v0, v1

    mul-float/2addr v0, p1

    iput v0, p2, Lorg/jbox2d/common/Vec2;->x:F

    .line 154
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v0, v1

    mul-float/2addr v0, p1

    iput v0, p2, Lorg/jbox2d/common/Vec2;->y:F

    .line 155
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 163
    const/4 v0, 0x0

    return v0
.end method

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

    .prologue
    const/high16 v11, 0x3f800000    # 1.0f

    const/4 v1, 0x0

    .line 169
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    .line 170
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    .line 171
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v2, v2, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v2, v2, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 172
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v2, v2, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v2, v2, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 173
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    .line 174
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    .line 175
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_invI:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIA:F

    .line 176
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v0, v0, Lorg/jbox2d/dynamics/Body;->m_invI:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIB:F

    .line 178
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v0, v0, v2

    iget-object v0, v0, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 179
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v2, v2, v3

    iget v4, v2, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 180
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v2, v2, v3

    iget-object v5, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 181
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v2, v2, v3

    iget v3, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 183
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v2, v2, v6

    iget-object v6, v2, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 184
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v2, v2, v7

    iget v7, v2, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 185
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v8, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v2, v2, v8

    iget-object v8, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 186
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v2, v2, v9

    iget v2, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 188
    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v9}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v9

    .line 189
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v10}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v10

    .line 191
    invoke-virtual {v9, v4}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 192
    invoke-virtual {v10, v7}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 195
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v7}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v7}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v9, v4, v7}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 196
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v7}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v7}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    invoke-static {v10, v4, v7}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 197
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v6}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v4, v6}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

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

    move-result-object v0

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    .line 199
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v4, 0x2

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

    .line 202
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    move-result v4

    .line 203
    sget v0, Lorg/jbox2d/common/Settings;->linearSlop:F

    cmpl-float v0, v4, v0

    if-lez v0, :cond_1ce

    .line 204
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    iget v6, v0, Lorg/jbox2d/common/Vec2;->x:F

    div-float v7, v11, v4

    mul-float/2addr v6, v7

    iput v6, v0, Lorg/jbox2d/common/Vec2;->x:F

    .line 205
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    iget v6, v0, Lorg/jbox2d/common/Vec2;->y:F

    div-float v7, v11, v4

    mul-float/2addr v6, v7

    iput v6, v0, Lorg/jbox2d/common/Vec2;->y:F

    .line 211
    :goto_ee
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    move-result v0

    .line 212
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

    invoke-static {v6, v7}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    .line 213
    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIA:F

    mul-float/2addr v9, v0

    mul-float/2addr v0, v9

    add-float/2addr v0, v7

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    add-float/2addr v0, v7

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIB:F

    mul-float/2addr v7, v6

    mul-float/2addr v6, v7

    add-float/2addr v6, v0

    .line 216
    cmpl-float v0, v6, v1

    if-eqz v0, :cond_1d5

    div-float v0, v11, v6

    :goto_113
    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    .line 218
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    cmpl-float v0, v0, v1

    if-lez v0, :cond_1de

    .line 219
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_length:F

    sub-float/2addr v4, v0

    .line 222
    const v0, 0x40c90fdb

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    mul-float/2addr v0, v7

    .line 225
    const/high16 v7, 0x40000000    # 2.0f

    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    mul-float/2addr v7, v9

    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_dampingRatio:F

    mul-float/2addr v7, v9

    mul-float/2addr v7, v0

    .line 228
    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    mul-float/2addr v9, v0

    mul-float/2addr v9, v0

    .line 231
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v10, v0, Lorg/jbox2d/dynamics/TimeStep;->dt:F

    .line 232
    mul-float v0, v10, v9

    add-float/2addr v0, v7

    mul-float/2addr v0, v10

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    .line 233
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    cmpl-float v0, v0, v1

    if-eqz v0, :cond_1d8

    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    div-float v0, v11, v0

    :goto_145
    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    .line 234
    mul-float v0, v4, v10

    mul-float/2addr v0, v9

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    mul-float/2addr v0, v4

    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bias:F

    .line 236
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    add-float/2addr v0, v6

    .line 237
    cmpl-float v4, v0, v1

    if-eqz v4, :cond_1db

    div-float v0, v11, v0

    :goto_158
    iput v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    .line 242
    :goto_15a
    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_1e4

    .line 245
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v1, v1, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v0, v1

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

    .line 247
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 248
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    invoke-virtual {v1, v4}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 250
    iget v1, v5, Lorg/jbox2d/common/Vec2;->x:F

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    iget v6, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v6

    sub-float/2addr v1, v4

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

    .line 251
    iget v1, v5, Lorg/jbox2d/common/Vec2;->y:F

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    iget v6, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v6

    sub-float/2addr v1, v4

    iput v1, v5, Lorg/jbox2d/common/Vec2;->y:F

    .line 252
    iget v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIA:F

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v4, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v4

    mul-float/2addr v1, v4

    sub-float v1, v3, v1

    .line 254
    iget v3, v8, Lorg/jbox2d/common/Vec2;->x:F

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

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

    mul-float/2addr v4, v5

    add-float/2addr v3, v4

    iput v3, v8, Lorg/jbox2d/common/Vec2;->x:F

    .line 255
    iget v3, v8, Lorg/jbox2d/common/Vec2;->y:F

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

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

    mul-float/2addr v4, v5

    add-float/2addr v3, v4

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

    .line 256
    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIB:F

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    invoke-static {v4, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    mul-float/2addr v0, v3

    add-float/2addr v0, v2

    .line 258
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x1

    invoke-interface {v2, v3}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 263
    :goto_1bd
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v2, v2, v3

    iput v1, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 265
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v1, v1, v2

    iput v0, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 266
    return-void

    .line 207
    :cond_1ce
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    goto/16 :goto_ee

    :cond_1d5
    move v0, v1

    .line 216
    goto/16 :goto_113

    :cond_1d8
    move v0, v1

    .line 233
    goto/16 :goto_145

    :cond_1db
    move v0, v1

    .line 237
    goto/16 :goto_158

    .line 239
    :cond_1de
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    .line 240
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bias:F

    goto/16 :goto_15a

    .line 260
    :cond_1e4
    iput v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    move v0, v2

    move v1, v3

    goto :goto_1bd
.end method

.method public setDampingRatio(F)V
    .registers 2

    .prologue
    .line 123
    iput p1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_dampingRatio:F

    .line 124
    return-void
.end method

.method public setFrequency(F)V
    .registers 2

    .prologue
    .line 107
    iput p1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    .line 108
    return-void
.end method

.method public setLength(F)V
    .registers 2

    .prologue
    .line 119
    iput p1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_length:F

    .line 120
    return-void
.end method

.method public solvePositionConstraints(Lorg/jbox2d/dynamics/SolverData;)Z
    .registers 14

    .prologue
    const/4 v0, 0x1

    .line 309
    iget v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_frequencyHz:F

    const/4 v2, 0x0

    cmpl-float v1, v1, v2

    if-lez v1, :cond_9

    .line 354
    :cond_8
    :goto_8
    return v0

    .line 312
    :cond_9
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v1}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v1

    .line 313
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v2}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v2

    .line 314
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v3}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v3

    .line 315
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v4}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v4

    .line 316
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v5}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v5

    .line 318
    iget-object v6, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v6, v6, v7

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

    .line 319
    iget-object v7, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v8, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v7, v7, v8

    iget v7, v7, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 320
    iget-object v8, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v9, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v8, v8, v9

    iget-object v8, v8, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 321
    iget-object v9, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v10, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v9, v9, v10

    iget v9, v9, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 323
    invoke-virtual {v1, v7}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 324
    invoke-virtual {v2, v9}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 326
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v5, v10}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v10

    iget-object v11, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v10, v11}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v10

    invoke-static {v1, v10, v3}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 327
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v10}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    invoke-static {v2, v1, v4}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 328
    invoke-virtual {v5, v8}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    invoke-virtual {v1, v4}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    move-result-object v1

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

    .line 331
    invoke-virtual {v5}, Lorg/jbox2d/common/Vec2;->normalize()F

    move-result v1

    .line 332
    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_length:F

    sub-float/2addr v1, v2

    .line 333
    sget v2, Lorg/jbox2d/common/Settings;->maxLinearCorrection:F

    neg-float v2, v2

    sget v10, Lorg/jbox2d/common/Settings;->maxLinearCorrection:F

    invoke-static {v1, v2, v10}, Lorg/jbox2d/common/MathUtils;->clamp(FFF)F

    move-result v1

    .line 335
    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    neg-float v2, v2

    mul-float/2addr v2, v1

    .line 336
    iget v10, v5, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v2

    .line 337
    iget v5, v5, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v2, v5

    .line 339
    iget v5, v6, Lorg/jbox2d/common/Vec2;->x:F

    iget v11, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    mul-float/2addr v11, v10

    sub-float/2addr v5, v11

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

    .line 340
    iget v5, v6, Lorg/jbox2d/common/Vec2;->y:F

    iget v11, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    mul-float/2addr v11, v2

    sub-float/2addr v5, v11

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

    .line 341
    iget v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIA:F

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

    mul-float/2addr v6, v2

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

    mul-float/2addr v3, v10

    sub-float v3, v6, v3

    mul-float/2addr v3, v5

    sub-float v3, v7, v3

    .line 342
    iget v5, v8, Lorg/jbox2d/common/Vec2;->x:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    mul-float/2addr v6, v10

    add-float/2addr v5, v6

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

    .line 343
    iget v5, v8, Lorg/jbox2d/common/Vec2;->y:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    mul-float/2addr v6, v2

    add-float/2addr v5, v6

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

    .line 344
    iget v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIB:F

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

    mul-float/2addr v2, v6

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

    mul-float/2addr v4, v10

    sub-float/2addr v2, v4

    mul-float/2addr v2, v5

    add-float/2addr v2, v9

    .line 347
    iget-object v4, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v4, v4, v5

    iput v3, v4, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 349
    iget-object v3, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v3, v3, v4

    iput v2, v3, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 351
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x3

    invoke-interface {v2, v3}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 352
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x2

    invoke-interface {v2, v3}, Lorg/jbox2d/pooling/IWorldPool;->pushRot(I)V

    .line 354
    invoke-static {v1}, Lorg/jbox2d/common/MathUtils;->abs(F)F

    move-result v1

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

    cmpg-float v1, v1, v2

    if-ltz v1, :cond_8

    const/4 v0, 0x0

    goto/16 :goto_8
.end method

.method public solveVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 10

    .prologue
    .line 270
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v0, v0, v1

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

    .line 271
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget v1, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 272
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v2, v2, v3

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

    .line 273
    iget-object v3, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v3, v3, v4

    iget v3, v3, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 275
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v4}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v4

    .line 276
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v5}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v5

    .line 279
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v6, v4}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 280
    invoke-virtual {v4, v0}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 281
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    invoke-static {v3, v6, v5}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 282
    invoke-virtual {v5, v2}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 283
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    move-result-object v4

    invoke-static {v6, v4}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v4

    .line 285
    iget v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_mass:F

    neg-float v5, v5

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_bias:F

    add-float/2addr v4, v6

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_gamma:F

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    mul-float/2addr v6, v7

    add-float/2addr v4, v6

    mul-float/2addr v4, v5

    .line 286
    iget v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    add-float/2addr v5, v4

    iput v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_impulse:F

    .line 289
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v5, v4

    .line 290
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_u:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v4, v6

    .line 292
    iget v6, v0, Lorg/jbox2d/common/Vec2;->x:F

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    mul-float/2addr v7, v5

    sub-float/2addr v6, v7

    iput v6, v0, Lorg/jbox2d/common/Vec2;->x:F

    .line 293
    iget v6, v0, Lorg/jbox2d/common/Vec2;->y:F

    iget v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassA:F

    mul-float/2addr v7, v4

    sub-float/2addr v6, v7

    iput v6, v0, Lorg/jbox2d/common/Vec2;->y:F

    .line 294
    iget v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIA:F

    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v6, v4

    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v7, v5

    sub-float/2addr v6, v7

    mul-float/2addr v0, v6

    sub-float v0, v1, v0

    .line 295
    iget v1, v2, Lorg/jbox2d/common/Vec2;->x:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    mul-float/2addr v6, v5

    add-float/2addr v1, v6

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

    .line 296
    iget v1, v2, Lorg/jbox2d/common/Vec2;->y:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invMassB:F

    mul-float/2addr v6, v4

    add-float/2addr v1, v6

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

    .line 297
    iget v1, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_invIB:F

    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v2, v4

    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v4, v5

    sub-float/2addr v2, v4

    mul-float/2addr v1, v2

    add-float/2addr v1, v3

    .line 300
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v3, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexA:I

    aget-object v2, v2, v3

    iput v0, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 302
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v2, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->m_indexB:I

    aget-object v0, v0, v2

    iput v1, v0, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 304
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/DistanceJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v1, 0x2

    invoke-interface {v0, v1}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 305
    return-void
.end method