MotorJoint.smali

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


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


# instance fields
.field private m_angularError:F

.field private m_angularImpulse:F

.field private m_angularMass:F

.field private m_angularOffset:F

.field private m_correctionFactor: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 final m_linearError:Lorg/jbox2d/common/Vec2;

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

.field private final m_linearMass:Lorg/jbox2d/common/Mat22;

.field private final m_linearOffset: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_maxForce:F

.field private m_maxTorque:F

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

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


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

    .prologue
    .line 28
    const-class v0, Lorg/jbox2d/dynamics/joints/MotorJoint;

    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/joints/MotorJoint;->$assertionsDisabled:Z

    return-void

    :cond_c
    const/4 v0, 0x0

    goto :goto_9
.end method

.method public constructor <init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/MotorJointDef;)V
    .registers 5

    .prologue
    .line 56
    invoke-direct {p0, p1, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .line 31
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 33
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 42
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 43
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 44
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 45
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 46
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 52
    new-instance v0, Lorg/jbox2d/common/Mat22;

    invoke-direct {v0}, Lorg/jbox2d/common/Mat22;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearMass:Lorg/jbox2d/common/Mat22;

    .line 57
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearOffset:Lorg/jbox2d/common/Vec2;

    iget-object v1, p2, Lorg/jbox2d/dynamics/joints/MotorJointDef;->linearOffset:Lorg/jbox2d/common/Vec2;

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

    .line 58
    iget v0, p2, Lorg/jbox2d/dynamics/joints/MotorJointDef;->angularOffset:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularOffset:F

    .line 60
    const/4 v0, 0x0

    iput v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    .line 62
    iget v0, p2, Lorg/jbox2d/dynamics/joints/MotorJointDef;->maxForce:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxForce:F

    .line 63
    iget v0, p2, Lorg/jbox2d/dynamics/joints/MotorJointDef;->maxTorque:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxTorque:F

    .line 64
    iget v0, p2, Lorg/jbox2d/dynamics/joints/MotorJointDef;->correctionFactor:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    .line 65
    return-void
.end method


# virtual methods
.method public getAnchorA(Lorg/jbox2d/common/Vec2;)V
    .registers 3

    .prologue
    .line 69
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    move-result-object v0

    invoke-virtual {p1, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 70
    return-void
.end method

.method public getAnchorB(Lorg/jbox2d/common/Vec2;)V
    .registers 3

    .prologue
    .line 74
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    move-result-object v0

    invoke-virtual {p1, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 75
    return-void
.end method

.method public getAngularOffset()F
    .registers 2

    .prologue
    .line 132
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularOffset:F

    return v0
.end method

.method public getCorrectionFactor()F
    .registers 2

    .prologue
    .line 86
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    return v0
.end method

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

    .prologue
    .line 115
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearOffset:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

.method public getLinearOffset(Lorg/jbox2d/common/Vec2;)V
    .registers 3

    .prologue
    .line 108
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearOffset:Lorg/jbox2d/common/Vec2;

    invoke-virtual {p1, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 109
    return-void
.end method

.method public getMaxForce()F
    .registers 2

    .prologue
    .line 149
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxForce:F

    return v0
.end method

.method public getMaxTorque()F
    .registers 2

    .prologue
    .line 164
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxTorque:F

    return v0
.end method

.method public getReactionForce(FLorg/jbox2d/common/Vec2;)V
    .registers 4

    .prologue
    .line 78
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {p2, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v0

    invoke-virtual {v0, p1}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 79
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 82
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    mul-float/2addr v0, p1

    return v0
.end method

.method public initVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 23

    .prologue
    .line 169
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    .line 170
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    .line 171
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v0, p0

    iget-object v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v3, v3, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v3, v3, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 172
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v0, p0

    iget-object v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v3, v3, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v3, v3, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 173
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassA:F

    .line 174
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassB:F

    .line 175
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_invI:F

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIA:F

    .line 176
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v2, v2, Lorg/jbox2d/dynamics/Body;->m_invI:F

    move-object/from16 v0, p0

    iput v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIB:F

    .line 178
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v2, v2, v3

    iget-object v4, v2, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 179
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v2, v2, v3

    iget v5, v2, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 180
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v2, v2, v3

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

    .line 181
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v2, v2, v3

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

    .line 183
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v2, v2, v7

    iget-object v7, v2, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 184
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v2, v2, v8

    iget v8, v2, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 185
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v9, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v2, v2, v9

    iget-object v9, v2, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 186
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v2, v2, v10

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

    .line 188
    move-object/from16 v0, p0

    iget-object v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v10

    .line 189
    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v11}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v11

    .line 190
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v12}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v12

    .line 191
    move-object/from16 v0, p0

    iget-object v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v13}, Lorg/jbox2d/pooling/IWorldPool;->popMat22()Lorg/jbox2d/common/Mat22;

    move-result-object v13

    .line 193
    invoke-virtual {v10, v5}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 194
    invoke-virtual {v11, v8}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 199
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    iget v15, v10, Lorg/jbox2d/common/Rot;->c:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

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

    move/from16 v16, v0

    move/from16 v0, v16

    neg-float v0, v0

    move/from16 v16, v0

    mul-float v15, v15, v16

    iget v0, v10, Lorg/jbox2d/common/Rot;->s:F

    move/from16 v16, v0

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    move/from16 v0, v17

    neg-float v0, v0

    move/from16 v17, v0

    mul-float v16, v16, v17

    sub-float v15, v15, v16

    iput v15, v14, Lorg/jbox2d/common/Vec2;->x:F

    .line 200
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    iget v15, v10, Lorg/jbox2d/common/Rot;->s:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

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

    move/from16 v16, v0

    move/from16 v0, v16

    neg-float v0, v0

    move/from16 v16, v0

    mul-float v15, v15, v16

    iget v0, v10, Lorg/jbox2d/common/Rot;->c:F

    move/from16 v16, v0

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    move/from16 v0, v17

    neg-float v0, v0

    move/from16 v17, v0

    mul-float v16, v16, v17

    add-float v15, v15, v16

    iput v15, v14, Lorg/jbox2d/common/Vec2;->y:F

    .line 201
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    iget v15, v11, Lorg/jbox2d/common/Rot;->c:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

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

    move/from16 v16, v0

    move/from16 v0, v16

    neg-float v0, v0

    move/from16 v16, v0

    mul-float v15, v15, v16

    iget v0, v11, Lorg/jbox2d/common/Rot;->s:F

    move/from16 v16, v0

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    move/from16 v0, v17

    neg-float v0, v0

    move/from16 v17, v0

    mul-float v16, v16, v17

    sub-float v15, v15, v16

    iput v15, v14, Lorg/jbox2d/common/Vec2;->x:F

    .line 202
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    iget v15, v11, Lorg/jbox2d/common/Rot;->s:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

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

    move/from16 v16, v0

    move/from16 v0, v16

    neg-float v0, v0

    move/from16 v16, v0

    mul-float v15, v15, v16

    iget v11, v11, Lorg/jbox2d/common/Rot;->c:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v16, v0

    move-object/from16 v0, v16

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

    move/from16 v16, v0

    move/from16 v0, v16

    neg-float v0, v0

    move/from16 v16, v0

    mul-float v11, v11, v16

    add-float/2addr v11, v15

    iput v11, v14, Lorg/jbox2d/common/Vec2;->y:F

    .line 212
    move-object/from16 v0, p0

    iget v11, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassA:F

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassB:F

    .line 213
    move-object/from16 v0, p0

    iget v15, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIA:F

    move-object/from16 v0, p0

    iget v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIB:F

    move/from16 v16, v0

    .line 215
    iget-object v0, v13, Lorg/jbox2d/common/Mat22;->ex:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    add-float v18, v11, v14

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v19, v19, v15

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v20, v0

    move-object/from16 v0, v20

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    add-float v18, v18, v19

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v19, v19, v16

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v20, v0

    move-object/from16 v0, v20

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    add-float v18, v18, v19

    move/from16 v0, v18

    move-object/from16 v1, v17

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

    .line 216
    iget-object v0, v13, Lorg/jbox2d/common/Mat22;->ex:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    neg-float v0, v15

    move/from16 v18, v0

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v18, v18, v19

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v18, v18, v19

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v19, v19, v16

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v20, v0

    move-object/from16 v0, v20

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    sub-float v18, v18, v19

    move/from16 v0, v18

    move-object/from16 v1, v17

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

    .line 217
    iget-object v0, v13, Lorg/jbox2d/common/Mat22;->ey:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    iget-object v0, v13, Lorg/jbox2d/common/Mat22;->ex:Lorg/jbox2d/common/Vec2;

    move-object/from16 v18, v0

    move-object/from16 v0, v18

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

    move/from16 v18, v0

    move/from16 v0, v18

    move-object/from16 v1, v17

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

    .line 218
    iget-object v0, v13, Lorg/jbox2d/common/Mat22;->ey:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    add-float v18, v11, v14

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v19, v19, v15

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v20, v0

    move-object/from16 v0, v20

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    add-float v18, v18, v19

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v19, v0

    move-object/from16 v0, v19

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

    move/from16 v19, v0

    mul-float v19, v19, v16

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v20, v0

    move-object/from16 v0, v20

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    add-float v18, v18, v19

    move/from16 v0, v18

    move-object/from16 v1, v17

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

    .line 220
    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearMass:Lorg/jbox2d/common/Mat22;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

    invoke-virtual {v13, v0}, Lorg/jbox2d/common/Mat22;->invertToOut(Lorg/jbox2d/common/Mat22;)V

    .line 222
    add-float v13, v15, v16

    move-object/from16 v0, p0

    iput v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularMass:F

    .line 223
    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularMass:F

    const/16 v17, 0x0

    cmpl-float v13, v13, v17

    if-lez v13, :cond_2d3

    .line 224
    const/high16 v13, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularMass:F

    move/from16 v17, v0

    div-float v13, v13, v17

    move-object/from16 v0, p0

    iput v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularMass:F

    .line 228
    :cond_2d3
    move-object/from16 v0, p0

    iget-object v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearOffset:Lorg/jbox2d/common/Vec2;

    invoke-static {v10, v13, v12}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 229
    move-object/from16 v0, p0

    iget-object v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearError:Lorg/jbox2d/common/Vec2;

    iget v13, v7, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    add-float v13, v13, v17

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

    move/from16 v17, v0

    sub-float v13, v13, v17

    move-object/from16 v0, p0

    iget-object v0, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    move-object/from16 v17, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    sub-float v13, v13, v17

    iget v0, v12, Lorg/jbox2d/common/Vec2;->x:F

    move/from16 v17, v0

    sub-float v13, v13, v17

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

    .line 230
    move-object/from16 v0, p0

    iget-object v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearError:Lorg/jbox2d/common/Vec2;

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

    move-object/from16 v0, p0

    iget-object v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    add-float/2addr v7, v13

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

    sub-float v4, v7, v4

    move-object/from16 v0, p0

    iget-object v7, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    sub-float/2addr v4, v7

    iget v7, v12, Lorg/jbox2d/common/Vec2;->y:F

    sub-float/2addr v4, v7

    iput v4, v10, Lorg/jbox2d/common/Vec2;->y:F

    .line 231
    sub-float v4, v8, v5

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularOffset:F

    sub-float/2addr v4, v5

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularError:F

    .line 233
    move-object/from16 v0, p1

    iget-object v4, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget-boolean v4, v4, Lorg/jbox2d/dynamics/TimeStep;->warmStarting:Z

    if-eqz v4, :cond_3f2

    .line 235
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

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

    move-object/from16 v0, p1

    iget-object v7, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v7, v7, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v5, v7

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

    .line 236
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

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

    move-object/from16 v0, p1

    iget-object v7, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v7, v7, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v5, v7

    iput v5, v4, Lorg/jbox2d/common/Vec2;->y:F

    .line 237
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    move-object/from16 v0, p1

    iget-object v5, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v5, v5, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    .line 239
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    .line 240
    iget v5, v6, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v7, v11

    sub-float/2addr v5, v7

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

    .line 241
    iget v5, v6, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v7, v11

    sub-float/2addr v5, v7

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

    .line 242
    move-object/from16 v0, p0

    iget-object v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

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

    mul-float/2addr v5, v6

    move-object/from16 v0, p0

    iget-object v6, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

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

    mul-float/2addr v6, v7

    sub-float/2addr v5, v6

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    add-float/2addr v5, v6

    mul-float/2addr v5, v15

    sub-float/2addr v3, v5

    .line 243
    iget v5, v9, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v6, v14

    add-float/2addr v5, v6

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

    .line 244
    iget v5, v9, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v6, v14

    add-float/2addr v5, v6

    iput v5, v9, Lorg/jbox2d/common/Vec2;->y:F

    .line 245
    move-object/from16 v0, p0

    iget-object v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

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

    mul-float/2addr v5, v6

    move-object/from16 v0, p0

    iget-object v6, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

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

    mul-float/2addr v4, v6

    sub-float v4, v5, v4

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    add-float/2addr v4, v5

    mul-float v4, v4, v16

    add-float/2addr v2, v4

    .line 251
    :goto_3c1
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v5, 0x1

    invoke-interface {v4, v5}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 252
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v5, 0x1

    invoke-interface {v4, v5}, Lorg/jbox2d/pooling/IWorldPool;->pushMat22(I)V

    .line 253
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v5, 0x2

    invoke-interface {v4, v5}, Lorg/jbox2d/pooling/IWorldPool;->pushRot(I)V

    .line 256
    move-object/from16 v0, p1

    iget-object v4, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v4, v4, v5

    iput v3, v4, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 258
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v3, v3, v4

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

    .line 259
    return-void

    .line 247
    :cond_3f2
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

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

    .line 248
    const/4 v4, 0x0

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    goto :goto_3c1
.end method

.method public setAngularOffset(F)V
    .registers 4

    .prologue
    const/4 v1, 0x1

    .line 124
    iget v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularOffset:F

    cmpl-float v0, p1, v0

    if-eqz v0, :cond_13

    .line 125
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    invoke-virtual {v0, v1}, Lorg/jbox2d/dynamics/Body;->setAwake(Z)V

    .line 126
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    invoke-virtual {v0, v1}, Lorg/jbox2d/dynamics/Body;->setAwake(Z)V

    .line 127
    iput p1, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularOffset:F

    .line 129
    :cond_13
    return-void
.end method

.method public setCorrectionFactor(F)V
    .registers 2

    .prologue
    .line 90
    iput p1, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    .line 91
    return-void
.end method

.method public setLinearOffset(Lorg/jbox2d/common/Vec2;)V
    .registers 5

    .prologue
    const/4 v2, 0x1

    .line 97
    iget v0, p1, Lorg/jbox2d/common/Vec2;->x:F

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

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

    cmpl-float v0, v0, v1

    if-nez v0, :cond_15

    iget v0, p1, Lorg/jbox2d/common/Vec2;->y:F

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

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

    cmpl-float v0, v0, v1

    if-eqz v0, :cond_24

    .line 98
    :cond_15
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    invoke-virtual {v0, v2}, Lorg/jbox2d/dynamics/Body;->setAwake(Z)V

    .line 99
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    invoke-virtual {v0, v2}, Lorg/jbox2d/dynamics/Body;->setAwake(Z)V

    .line 100
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearOffset:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, p1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 102
    :cond_24
    return-void
.end method

.method public setMaxForce(F)V
    .registers 3

    .prologue
    .line 141
    sget-boolean v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->$assertionsDisabled:Z

    if-nez v0, :cond_f

    const/4 v0, 0x0

    cmpl-float v0, p1, v0

    if-gez v0, :cond_f

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 142
    :cond_f
    iput p1, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxForce:F

    .line 143
    return-void
.end method

.method public setMaxTorque(F)V
    .registers 3

    .prologue
    .line 156
    sget-boolean v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->$assertionsDisabled:Z

    if-nez v0, :cond_f

    const/4 v0, 0x0

    cmpl-float v0, p1, v0

    if-gez v0, :cond_f

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 157
    :cond_f
    iput p1, p0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxTorque:F

    .line 158
    return-void
.end method

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

    .prologue
    .line 337
    const/4 v0, 0x1

    return v0
.end method

.method public solveVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 18

    .prologue
    .line 263
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 264
    move-object/from16 v0, p1

    iget-object v2, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v2, v2, v3

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

    .line 265
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v3, v3, v4

    iget-object v3, v3, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 266
    move-object/from16 v0, p1

    iget-object v4, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v4, v4, v5

    iget v4, v4, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 268
    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassA:F

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invMassB:F

    .line 269
    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIA:F

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_invIB:F

    .line 271
    move-object/from16 v0, p1

    iget-object v9, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v9, v9, Lorg/jbox2d/dynamics/TimeStep;->dt:F

    .line 272
    move-object/from16 v0, p1

    iget-object v10, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

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

    .line 274
    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v11}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v11

    .line 278
    sub-float v12, v4, v2

    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    mul-float/2addr v13, v10

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularError:F

    mul-float/2addr v13, v14

    add-float/2addr v12, v13

    .line 279
    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularMass:F

    neg-float v13, v13

    mul-float/2addr v12, v13

    .line 281
    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    .line 282
    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxTorque:F

    mul-float/2addr v14, v9

    .line 283
    move-object/from16 v0, p0

    iget v15, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    add-float/2addr v12, v15

    neg-float v15, v14

    invoke-static {v12, v15, v14}, Lorg/jbox2d/common/MathUtils;->clamp(FFF)F

    move-result v12

    move-object/from16 v0, p0

    iput v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    .line 284
    move-object/from16 v0, p0

    iget v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_angularImpulse:F

    sub-float/2addr v12, v13

    .line 286
    mul-float v13, v7, v12

    sub-float/2addr v2, v13

    .line 287
    mul-float/2addr v12, v8

    add-float/2addr v4, v12

    .line 290
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v12}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v12

    .line 296
    iget v13, v3, Lorg/jbox2d/common/Vec2;->x:F

    neg-float v14, v4

    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    iget v15, v15, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v14, v15

    add-float/2addr v13, v14

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

    sub-float/2addr v13, v14

    neg-float v14, v2

    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    iget v15, v15, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v14, v15

    sub-float/2addr v13, v14

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    mul-float/2addr v14, v10

    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearError:Lorg/jbox2d/common/Vec2;

    iget v15, v15, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v14, v15

    add-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec2;->x:F

    .line 298
    iget v13, v3, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v14, v4

    add-float/2addr v13, v14

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

    sub-float/2addr v13, v14

    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v14, v2

    sub-float/2addr v13, v14

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_correctionFactor:F

    mul-float/2addr v10, v14

    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearError:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v10, v14

    add-float/2addr v10, v13

    iput v10, v12, Lorg/jbox2d/common/Vec2;->y:F

    .line 302
    move-object/from16 v0, p0

    iget-object v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearMass:Lorg/jbox2d/common/Mat22;

    invoke-static {v10, v12, v11}, Lorg/jbox2d/common/Mat22;->mulToOutUnsafe(Lorg/jbox2d/common/Mat22;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 303
    invoke-virtual {v11}, Lorg/jbox2d/common/Vec2;->negateLocal()Lorg/jbox2d/common/Vec2;

    .line 304
    move-object/from16 v0, p0

    iget-object v10, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v10}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v10

    .line 305
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v10, v12}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 306
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v12, v11}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 308
    move-object/from16 v0, p0

    iget v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_maxForce:F

    mul-float/2addr v9, v12

    .line 310
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v12}, Lorg/jbox2d/common/Vec2;->lengthSquared()F

    move-result v12

    mul-float v13, v9, v9

    cmpl-float v12, v12, v13

    if-lez v12, :cond_11b

    .line 311
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v12}, Lorg/jbox2d/common/Vec2;->normalize()F

    .line 312
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v12, v9}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 315
    :cond_11b
    move-object/from16 v0, p0

    iget-object v9, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

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

    iget v12, v10, Lorg/jbox2d/common/Vec2;->x:F

    sub-float/2addr v9, v12

    iput v9, v11, Lorg/jbox2d/common/Vec2;->x:F

    .line 316
    move-object/from16 v0, p0

    iget-object v9, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_linearImpulse:Lorg/jbox2d/common/Vec2;

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

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

    sub-float/2addr v9, v10

    iput v9, v11, Lorg/jbox2d/common/Vec2;->y:F

    .line 318
    iget v9, v1, Lorg/jbox2d/common/Vec2;->x:F

    iget v10, v11, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v5

    sub-float/2addr v9, v10

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

    .line 319
    iget v9, v1, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v5, v10

    sub-float v5, v9, v5

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

    .line 320
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    iget v5, v11, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v5

    move-object/from16 v0, p0

    iget-object v5, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    iget v9, v11, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v9

    sub-float/2addr v1, v5

    mul-float/2addr v1, v7

    sub-float v1, v2, v1

    .line 322
    iget v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget v5, v11, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v6

    add-float/2addr v2, v5

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

    .line 323
    iget v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, v11, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    add-float/2addr v2, v5

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

    .line 324
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    iget v3, v11, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v2, v3

    move-object/from16 v0, p0

    iget-object v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    iget v5, v11, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v3, v5

    sub-float/2addr v2, v3

    mul-float/2addr v2, v8

    add-float/2addr v2, v4

    .line 327
    move-object/from16 v0, p0

    iget-object v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v4, 0x3

    invoke-interface {v3, v4}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 330
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexA:I

    aget-object v3, v3, v4

    iput v1, v3, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 332
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/MotorJoint;->m_indexB:I

    aget-object v1, v1, v3

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

    .line 333
    return-void
.end method