PulleyJoint.smali

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


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

.field public static final MIN_PULLEY_LENGTH:F = 2.0f


# instance fields
.field private m_constant:F

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

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

.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_lengthA:F

.field private m_lengthB: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 m_ratio:F

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

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


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

    .prologue
    .line 45
    const-class v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;

    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/PulleyJoint;->$assertionsDisabled:Z

    return-void

    :cond_c
    const/4 v0, 0x0

    goto :goto_9
.end method

.method protected constructor <init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/PulleyJointDef;)V
    .registers 7

    .prologue
    const/4 v3, 0x0

    .line 77
    invoke-direct {p0, p1, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .line 49
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 50
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 55
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 56
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 64
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 65
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 66
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 67
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 68
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 69
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 78
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorA:Lorg/jbox2d/common/Vec2;

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

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

    .line 79
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorB:Lorg/jbox2d/common/Vec2;

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

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

    .line 80
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

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

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

    .line 81
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

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

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

    .line 83
    sget-boolean v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->$assertionsDisabled:Z

    if-nez v0, :cond_76

    iget v0, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->ratio:F

    cmpl-float v0, v0, v3

    if-nez v0, :cond_76

    new-instance v0, Ljava/lang/AssertionError;

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

    throw v0

    .line 84
    :cond_76
    iget v0, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->ratio:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    .line 86
    iget v0, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->lengthA:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_lengthA:F

    .line 87
    iget v0, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->lengthB:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_lengthB:F

    .line 89
    iget v0, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->lengthA:F

    iget v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    iget v2, p2, Lorg/jbox2d/dynamics/joints/PulleyJointDef;->lengthB:F

    mul-float/2addr v1, v2

    add-float/2addr v0, v1

    iput v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_constant:F

    .line 90
    iput v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

    .line 91
    return-void
.end method


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

    .prologue
    .line 131
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->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 132
    return-void
.end method

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

    .prologue
    .line 136
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->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 137
    return-void
.end method

.method public getCurrentLengthA()F
    .registers 4

    .prologue
    .line 102
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 103
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    invoke-virtual {v1, v2, v0}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 104
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorA:Lorg/jbox2d/common/Vec2;

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

    .line 105
    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v0

    .line 106
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x1

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 107
    return v0
.end method

.method public getCurrentLengthB()F
    .registers 4

    .prologue
    .line 111
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 112
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    invoke-virtual {v1, v2, v0}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 113
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorB:Lorg/jbox2d/common/Vec2;

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

    .line 114
    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v0

    .line 115
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x1

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 116
    return v0
.end method

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

    .prologue
    .line 150
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 154
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorB:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

.method public getLength1()F
    .registers 4

    .prologue
    .line 158
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 159
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    invoke-virtual {v1, v2, v0}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 160
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorA:Lorg/jbox2d/common/Vec2;

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

    .line 162
    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v0

    .line 163
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x1

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 164
    return v0
.end method

.method public getLength2()F
    .registers 4

    .prologue
    .line 168
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 169
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    invoke-virtual {v1, v2, v0}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 170
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorB:Lorg/jbox2d/common/Vec2;

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

    .line 172
    invoke-virtual {v0}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v0

    .line 173
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x1

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 174
    return v0
.end method

.method public getLengthA()F
    .registers 2

    .prologue
    .line 94
    iget v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_lengthA:F

    return v0
.end method

.method public getLengthB()F
    .registers 2

    .prologue
    .line 98
    iget v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_lengthB:F

    return v0
.end method

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

    .prologue
    .line 121
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 125
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

.method public getRatio()F
    .registers 2

    .prologue
    .line 178
    iget v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    return v0
.end method

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

    .prologue
    .line 141
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB: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

    iget v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

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

    move-result-object v0

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

    .line 142
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 146
    const/4 v0, 0x0

    return v0
.end method

.method public initVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 13

    .prologue
    .line 183
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

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

    .line 184
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

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

    .line 185
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v1, v1, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v1, v1, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 186
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v1, v1, Lorg/jbox2d/dynamics/Body;->m_sweep:Lorg/jbox2d/common/Sweep;

    iget-object v1, v1, Lorg/jbox2d/common/Sweep;->localCenter:Lorg/jbox2d/common/Vec2;

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

    .line 187
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

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

    .line 188
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

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

    .line 189
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

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

    .line 190
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

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

    .line 192
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v0, v0, v1

    iget-object v2, v0, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 193
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v0, v0, v1

    iget v3, v0, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 194
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v1

    iget-object v4, v0, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 195
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v1

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

    .line 197
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_indexB:I

    aget-object v0, v0, v5

    iget-object v5, v0, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 198
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v0, v0, v6

    iget v6, v0, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 199
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v7

    iget-object v7, v0, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 200
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v8

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

    .line 202
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v8}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v8

    .line 203
    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v9

    .line 204
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v10

    .line 206
    invoke-virtual {v8, v3}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 207
    invoke-virtual {v9, v6}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 210
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v10, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

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

    invoke-virtual {v3, v6}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

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

    invoke-static {v8, v3, v6}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 211
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v10, v3}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

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

    invoke-virtual {v3, v6}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v3

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

    invoke-static {v9, v3, v6}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 213
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorA:Lorg/jbox2d/common/Vec2;

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

    .line 214
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v2

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_groundAnchorB:Lorg/jbox2d/common/Vec2;

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

    .line 216
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

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

    move-result v2

    .line 217
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

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

    move-result v3

    .line 219
    const/high16 v5, 0x41200000    # 10.0f

    sget v6, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v5, v6

    cmpl-float v5, v2, v5

    if-lez v5, :cond_1d0

    .line 220
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

    const/high16 v6, 0x3f800000    # 1.0f

    div-float v2, v6, v2

    invoke-virtual {v5, v2}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 225
    :goto_f4
    const/high16 v2, 0x41200000    # 10.0f

    sget v5, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v2, v5

    cmpl-float v2, v3, v2

    if-lez v2, :cond_1d7

    .line 226
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

    const/high16 v5, 0x3f800000    # 1.0f

    div-float v3, v5, v3

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

    .line 232
    :goto_106
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

    invoke-static {v2, v3}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v2

    .line 233
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

    invoke-static {v3, v5}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v3

    .line 235
    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIA:F

    mul-float/2addr v6, v2

    mul-float/2addr v2, v6

    add-float/2addr v2, v5

    .line 236
    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassB:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIB:F

    mul-float/2addr v6, v3

    mul-float/2addr v3, v6

    add-float/2addr v3, v5

    .line 238
    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    mul-float/2addr v5, v6

    mul-float/2addr v3, v5

    add-float/2addr v2, v3

    iput v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_mass:F

    .line 240
    iget v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_mass:F

    const/4 v3, 0x0

    cmpl-float v2, v2, v3

    if-lez v2, :cond_13b

    .line 241
    const/high16 v2, 0x3f800000    # 1.0f

    iget v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_mass:F

    div-float/2addr v2, v3

    iput v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_mass:F

    .line 244
    :cond_13b
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget-boolean v2, v2, Lorg/jbox2d/dynamics/TimeStep;->warmStarting:Z

    if-eqz v2, :cond_1de

    .line 247
    iget v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

    iget-object v3, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v3, v3, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    mul-float/2addr v2, v3

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

    .line 250
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v2}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v2

    .line 251
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v3

    .line 253
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v2, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v5

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

    neg-float v6, v6

    invoke-virtual {v5, v6}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 254
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v3, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v5

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    neg-float v6, v6

    iget v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

    mul-float/2addr v6, v8

    invoke-virtual {v5, v6}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 256
    iget v5, v4, Lorg/jbox2d/common/Vec2;->x:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    iget v8, v2, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v8

    add-float/2addr v5, v6

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

    .line 257
    iget v5, v4, Lorg/jbox2d/common/Vec2;->y:F

    iget v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    iget v8, v2, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v8

    add-float/2addr v5, v6

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

    .line 258
    iget v4, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIA:F

    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v5, v2}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v2

    mul-float/2addr v2, v4

    add-float/2addr v1, v2

    .line 259
    iget v2, v7, Lorg/jbox2d/common/Vec2;->x:F

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

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

    mul-float/2addr v4, v5

    add-float/2addr v2, v4

    iput v2, v7, Lorg/jbox2d/common/Vec2;->x:F

    .line 260
    iget v2, v7, Lorg/jbox2d/common/Vec2;->y:F

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

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

    mul-float/2addr v4, v5

    add-float/2addr v2, v4

    iput v2, v7, Lorg/jbox2d/common/Vec2;->y:F

    .line 261
    iget v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIB:F

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

    invoke-static {v4, v3}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v3

    mul-float/2addr v2, v3

    add-float/2addr v0, v2

    .line 263
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x2

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

    .line 268
    :goto_1b3
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v2, v2, v3

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

    .line 270
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v1, v1, v2

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

    .line 272
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v1, 0x1

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

    .line 273
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v1, 0x2

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

    .line 274
    return-void

    .line 222
    :cond_1d0
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

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

    goto/16 :goto_f4

    .line 228
    :cond_1d7
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

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

    goto/16 :goto_106

    .line 265
    :cond_1de
    const/4 v2, 0x0

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

    goto :goto_1b3
.end method

.method public solvePositionConstraints(Lorg/jbox2d/dynamics/SolverData;)Z
    .registers 19

    .prologue
    .line 316
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v1

    .line 317
    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v2

    .line 318
    move-object/from16 v0, p0

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

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

    move-result-object v3

    .line 319
    move-object/from16 v0, p0

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

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

    move-result-object v4

    .line 320
    move-object/from16 v0, p0

    iget-object v5, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v5

    .line 321
    move-object/from16 v0, p0

    iget-object v6, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v6}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v6

    .line 322
    move-object/from16 v0, p0

    iget-object v7, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v7}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v7

    .line 323
    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v8}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v8

    .line 324
    move-object/from16 v0, p0

    iget-object v9, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v9}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v9

    .line 326
    move-object/from16 v0, p1

    iget-object v10, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v11, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_indexA:I

    aget-object v10, v10, v11

    iget-object v10, v10, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 327
    move-object/from16 v0, p1

    iget-object v11, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v12, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_indexA:I

    aget-object v11, v11, v12

    iget v11, v11, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 328
    move-object/from16 v0, p1

    iget-object v12, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_indexB:I

    aget-object v12, v12, v13

    iget-object v12, v12, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 329
    move-object/from16 v0, p1

    iget-object v13, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_indexB:I

    aget-object v13, v13, v14

    iget v13, v13, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 331
    invoke-virtual {v1, v11}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 332
    invoke-virtual {v2, v13}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 334
    move-object/from16 v0, p0

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

    invoke-virtual {v7, v14}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v14

    move-object/from16 v0, p0

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

    invoke-virtual {v14, v15}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v14

    invoke-static {v1, v14, v3}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 335
    move-object/from16 v0, p0

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

    invoke-virtual {v7, v1}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    move-object/from16 v0, p0

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

    invoke-virtual {v1, v7}, 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 337
    invoke-virtual {v5, v10}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

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

    move-result-object v1

    move-object/from16 v0, p0

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

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 338
    invoke-virtual {v6, v12}, 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

    move-object/from16 v0, p0

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

    invoke-virtual {v1, v2}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 340
    invoke-virtual {v5}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v2

    .line 341
    invoke-virtual {v6}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v7

    .line 343
    const/high16 v1, 0x41200000    # 10.0f

    sget v14, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v1, v14

    cmpl-float v1, v2, v1

    if-lez v1, :cond_1c0

    .line 344
    const/high16 v1, 0x3f800000    # 1.0f

    div-float/2addr v1, v2

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

    .line 349
    :goto_d9
    const/high16 v1, 0x41200000    # 10.0f

    sget v14, Lorg/jbox2d/common/Settings;->linearSlop:F

    mul-float/2addr v1, v14

    cmpl-float v1, v7, v1

    if-lez v1, :cond_1c5

    .line 350
    const/high16 v1, 0x3f800000    # 1.0f

    div-float/2addr v1, v7

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

    .line 356
    :goto_e8
    invoke-static {v3, v5}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    .line 357
    invoke-static {v4, v6}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v14

    .line 359
    move-object/from16 v0, p0

    iget v15, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    move-object/from16 v0, p0

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

    move/from16 v16, v0

    mul-float v16, v16, v1

    mul-float v1, v1, v16

    add-float/2addr v1, v15

    .line 360
    move-object/from16 v0, p0

    iget v15, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassB:F

    move-object/from16 v0, p0

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

    move/from16 v16, v0

    mul-float v16, v16, v14

    mul-float v14, v14, v16

    add-float/2addr v14, v15

    .line 362
    move-object/from16 v0, p0

    iget v15, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    move-object/from16 v0, p0

    iget v0, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    move/from16 v16, v0

    mul-float v15, v15, v16

    mul-float/2addr v14, v15

    add-float/2addr v1, v14

    .line 364
    const/4 v14, 0x0

    cmpl-float v14, v1, v14

    if-lez v14, :cond_125

    .line 365
    const/high16 v14, 0x3f800000    # 1.0f

    div-float v1, v14, v1

    .line 368
    :cond_125
    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_constant:F

    sub-float v2, v14, v2

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    mul-float/2addr v7, v14

    sub-float/2addr v2, v7

    .line 369
    invoke-static {v2}, Lorg/jbox2d/common/MathUtils;->abs(F)F

    move-result v7

    .line 371
    neg-float v1, v1

    mul-float/2addr v1, v2

    .line 373
    invoke-virtual {v8, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    neg-float v5, v1

    invoke-virtual {v2, v5}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 374
    invoke-virtual {v9, v6}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v2

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    neg-float v5, v5

    mul-float/2addr v1, v5

    invoke-virtual {v2, v1}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 376
    iget v1, v10, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

    iget v2, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

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

    mul-float/2addr v2, v5

    add-float/2addr v1, v2

    iput v1, v10, Lorg/jbox2d/common/Vec2;->x:F

    .line 377
    iget v1, v10, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

    iget v2, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

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

    mul-float/2addr v2, v5

    add-float/2addr v1, v2

    iput v1, v10, Lorg/jbox2d/common/Vec2;->y:F

    .line 378
    move-object/from16 v0, p0

    iget v1, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIA:F

    invoke-static {v3, v8}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v2

    mul-float/2addr v1, v2

    add-float/2addr v1, v11

    .line 379
    iget v2, v12, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassB:F

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

    mul-float/2addr v3, v5

    add-float/2addr v2, v3

    iput v2, v12, Lorg/jbox2d/common/Vec2;->x:F

    .line 380
    iget v2, v12, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassB:F

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

    mul-float/2addr v3, v5

    add-float/2addr v2, v3

    iput v2, v12, Lorg/jbox2d/common/Vec2;->y:F

    .line 381
    move-object/from16 v0, p0

    iget v2, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIB:F

    invoke-static {v4, v9}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v3

    mul-float/2addr v2, v3

    add-float/2addr v2, v13

    .line 384
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v3, v3, v4

    iput v1, v3, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 386
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v1, v1, v3

    iput v2, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 388
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x2

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushRot(I)V

    .line 389
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x7

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 391
    sget v1, Lorg/jbox2d/common/Settings;->linearSlop:F

    cmpg-float v1, v7, v1

    if-gez v1, :cond_1ca

    const/4 v1, 0x1

    :goto_1bf
    return v1

    .line 346
    :cond_1c0
    invoke-virtual {v5}, Lorg/jbox2d/common/Vec2;->setZero()V

    goto/16 :goto_d9

    .line 352
    :cond_1c5
    invoke-virtual {v6}, Lorg/jbox2d/common/Vec2;->setZero()V

    goto/16 :goto_e8

    .line 391
    :cond_1ca
    const/4 v1, 0x0

    goto :goto_1bf
.end method

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

    .prologue
    .line 278
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v1

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

    .line 279
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v1, v1, v2

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

    .line 280
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v2, v2, v3

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

    .line 281
    iget-object v3, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v3, v3, v4

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

    .line 283
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v4

    .line 284
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v5

    .line 285
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v6}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v6

    .line 286
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v7}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v7

    .line 288
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v8, v4}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 289
    invoke-virtual {v4, v0}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 290
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_rB:Lorg/jbox2d/common/Vec2;

    invoke-static {v3, v8, v5}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 291
    invoke-virtual {v5, v2}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 293
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

    invoke-static {v8, v4}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v4

    neg-float v4, v4

    iget v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

    invoke-static {v9, v5}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v5

    mul-float/2addr v5, v8

    sub-float/2addr v4, v5

    .line 294
    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_mass:F

    neg-float v5, v5

    mul-float/2addr v4, v5

    .line 295
    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_impulse:F

    add-float/2addr v5, v4

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

    .line 297
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v6, v5}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v5

    neg-float v8, v4

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

    .line 298
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_uB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v5

    iget v8, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_ratio:F

    neg-float v8, v8

    mul-float/2addr v4, v8

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

    .line 299
    iget v4, v0, Lorg/jbox2d/common/Vec2;->x:F

    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    iget v8, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v8

    add-float/2addr v4, v5

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

    .line 300
    iget v4, v0, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invMassA:F

    iget v8, v6, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v8

    add-float/2addr v4, v5

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

    .line 301
    iget v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIA:F

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

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

    move-result v4

    mul-float/2addr v0, v4

    add-float/2addr v0, v1

    .line 302
    iget v1, v2, Lorg/jbox2d/common/Vec2;->x:F

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

    iget v5, v7, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v5

    add-float/2addr v1, v4

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

    .line 303
    iget v1, v2, Lorg/jbox2d/common/Vec2;->y:F

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

    iget v5, v7, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v4, v5

    add-float/2addr v1, v4

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

    .line 304
    iget v1, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->m_invIB:F

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

    invoke-static {v2, v7}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v2

    mul-float/2addr v1, v2

    add-float/2addr v1, v3

    .line 307
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v2, v2, v3

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

    .line 309
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v2

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

    .line 311
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/PulleyJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v1, 0x4

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

    .line 312
    return-void
.end method