WeldJoint.smali

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


# instance fields
.field private m_bias:F

.field private m_dampingRatio:F

.field private m_frequencyHz:F

.field private m_gamma:F

.field private final m_impulse:Lorg/jbox2d/common/Vec3;

.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_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 final m_mass:Lorg/jbox2d/common/Mat33;

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

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

.field private m_referenceAngle:F


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

    .prologue
    .line 86
    invoke-direct {p0, p1, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .line 75
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 76
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 77
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 78
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 83
    new-instance v0, Lorg/jbox2d/common/Mat33;

    invoke-direct {v0}, Lorg/jbox2d/common/Mat33;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

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

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

    invoke-direct {v0, v1}, Lorg/jbox2d/common/Vec2;-><init>(Lorg/jbox2d/common/Vec2;)V

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

    .line 88
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

    invoke-direct {v0, v1}, Lorg/jbox2d/common/Vec2;-><init>(Lorg/jbox2d/common/Vec2;)V

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

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

    iput v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_referenceAngle:F

    .line 90
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WeldJointDef;->frequencyHz:F

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

    .line 91
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WeldJointDef;->dampingRatio:F

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

    .line 93
    new-instance v0, Lorg/jbox2d/common/Vec3;

    invoke-direct {v0}, Lorg/jbox2d/common/Vec3;-><init>()V

    iput-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    .line 94
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    invoke-virtual {v0}, Lorg/jbox2d/common/Vec3;->setZero()V

    .line 95
    return-void
.end method


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

    .prologue
    .line 127
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->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 128
    return-void
.end method

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

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

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->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 133
    return-void
.end method

.method public getDampingRatio()F
    .registers 2

    .prologue
    .line 118
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_dampingRatio:F

    return v0
.end method

.method public getFrequency()F
    .registers 2

    .prologue
    .line 110
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    return v0
.end method

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

    .prologue
    .line 102
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 106
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 137
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v0, v0, Lorg/jbox2d/common/Vec3;->x:F

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v1, v1, Lorg/jbox2d/common/Vec3;->y:F

    invoke-virtual {p2, v0, v1}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 138
    invoke-virtual {p2, p1}, Lorg/jbox2d/common/Vec2;->mulLocal(F)Lorg/jbox2d/common/Vec2;

    .line 139
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 143
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v0, v0, Lorg/jbox2d/common/Vec3;->z:F

    mul-float/2addr v0, p1

    return v0
.end method

.method public getReferenceAngle()F
    .registers 2

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

    return v0
.end method

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

    .prologue
    .line 148
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_indexA:I

    .line 149
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_islandIndex:I

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_indexB:I

    .line 150
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

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

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

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

    .line 151
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

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

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

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

    .line 152
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invMassA:F

    .line 153
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_invMass:F

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invMassB:F

    .line 154
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_invI:F

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invIA:F

    .line 155
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget v1, v1, Lorg/jbox2d/dynamics/Body;->m_invI:F

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invIB:F

    .line 158
    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 v2, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget v4, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 159
    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/WeldJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget-object v5, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 160
    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/WeldJoint;->m_indexA:I

    aget-object v1, v1, v2

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

    .line 163
    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 v2, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_indexB:I

    aget-object v1, v1, v2

    iget v6, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 164
    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/WeldJoint;->m_indexB:I

    aget-object v1, v1, v2

    iget-object v7, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 165
    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/WeldJoint;->m_indexB:I

    aget-object v1, v1, v2

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

    .line 167
    move-object/from16 v0, p0

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

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

    move-result-object v1

    .line 168
    move-object/from16 v0, p0

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

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

    move-result-object v8

    .line 169
    move-object/from16 v0, p0

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

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

    move-result-object v9

    .line 171
    invoke-virtual {v1, v4}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 172
    invoke-virtual {v8, v6}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 175
    move-object/from16 v0, p0

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

    invoke-virtual {v9, v10}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v10

    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_localCenterA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v10

    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v10, v11}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 176
    move-object/from16 v0, p0

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

    invoke-virtual {v9, 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 v9, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_localCenterB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v9}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v1

    move-object/from16 v0, p0

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

    invoke-static {v8, v1, v9}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 187
    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invMassA:F

    move-object/from16 v0, p0

    iget v9, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invMassB:F

    .line 188
    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invIA:F

    move-object/from16 v0, p0

    iget v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invIB:F

    .line 190
    move-object/from16 v0, p0

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

    invoke-interface {v1}, Lorg/jbox2d/pooling/IWorldPool;->popMat33()Lorg/jbox2d/common/Mat33;

    move-result-object v1

    .line 192
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    add-float v13, v8, v9

    move-object/from16 v0, p0

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

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

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v15

    mul-float/2addr v14, v10

    add-float/2addr v13, v14

    move-object/from16 v0, p0

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

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

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v15

    mul-float/2addr v14, v11

    add-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec3;->x:F

    .line 193
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    move-object/from16 v0, p0

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

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

    neg-float v13, v13

    move-object/from16 v0, p0

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

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

    mul-float/2addr v13, v14

    mul-float/2addr v13, v10

    move-object/from16 v0, p0

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

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

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v15

    mul-float/2addr v14, v11

    sub-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec3;->x:F

    .line 194
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    move-object/from16 v0, p0

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

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

    neg-float v13, v13

    mul-float/2addr v13, v10

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v11

    sub-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec3;->x:F

    .line 195
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    iget-object v13, v1, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    iget v13, v13, Lorg/jbox2d/common/Vec3;->x:F

    iput v13, v12, Lorg/jbox2d/common/Vec3;->y:F

    .line 196
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    add-float v13, v8, v9

    move-object/from16 v0, p0

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

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

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v15

    mul-float/2addr v14, v10

    add-float/2addr v13, v14

    move-object/from16 v0, p0

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

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

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v15

    mul-float/2addr v14, v11

    add-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec3;->y:F

    .line 197
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    move-object/from16 v0, p0

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

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

    mul-float/2addr v13, v10

    move-object/from16 v0, p0

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

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

    mul-float/2addr v14, v11

    add-float/2addr v13, v14

    iput v13, v12, Lorg/jbox2d/common/Vec3;->y:F

    .line 198
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    iget-object v13, v1, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    iget v13, v13, Lorg/jbox2d/common/Vec3;->x:F

    iput v13, v12, Lorg/jbox2d/common/Vec3;->z:F

    .line 199
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    iget-object v13, v1, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    iget v13, v13, Lorg/jbox2d/common/Vec3;->y:F

    iput v13, v12, Lorg/jbox2d/common/Vec3;->z:F

    .line 200
    iget-object v12, v1, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    add-float v13, v10, v11

    iput v13, v12, Lorg/jbox2d/common/Vec3;->z:F

    .line 202
    move-object/from16 v0, p0

    iget v12, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    const/4 v13, 0x0

    cmpl-float v12, v12, v13

    if-lez v12, :cond_2de

    .line 203
    move-object/from16 v0, p0

    iget-object v12, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    invoke-virtual {v1, v12}, Lorg/jbox2d/common/Mat33;->getInverse22(Lorg/jbox2d/common/Mat33;)V

    .line 205
    add-float v12, v10, v11

    .line 206
    const/4 v1, 0x0

    cmpl-float v1, v12, v1

    if-lez v1, :cond_2d5

    const/high16 v1, 0x3f800000    # 1.0f

    div-float/2addr v1, v12

    .line 208
    :goto_1cf
    sub-float v4, v6, v4

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_referenceAngle:F

    sub-float/2addr v4, v6

    .line 211
    const v6, 0x40c90fdb

    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    mul-float/2addr v6, v13

    .line 214
    const/high16 v13, 0x40000000    # 2.0f

    mul-float/2addr v13, v1

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_dampingRatio:F

    mul-float/2addr v13, v14

    mul-float/2addr v13, v6

    .line 217
    mul-float/2addr v1, v6

    mul-float/2addr v6, v1

    .line 220
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v14, v1, Lorg/jbox2d/dynamics/TimeStep;->dt:F

    .line 221
    mul-float v1, v14, v6

    add-float/2addr v1, v13

    mul-float/2addr v1, v14

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    .line 222
    move-object/from16 v0, p0

    iget v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    const/4 v13, 0x0

    cmpl-float v1, v1, v13

    if-eqz v1, :cond_2d8

    const/high16 v1, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    div-float/2addr v1, v13

    :goto_207
    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    .line 223
    mul-float v1, v4, v14

    mul-float/2addr v1, v6

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    mul-float/2addr v1, v4

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bias:F

    .line 225
    move-object/from16 v0, p0

    iget v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    add-float/2addr v1, v12

    .line 226
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    iget-object v4, v4, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    const/4 v6, 0x0

    cmpl-float v6, v1, v6

    if-eqz v6, :cond_2db

    const/high16 v6, 0x3f800000    # 1.0f

    div-float v1, v6, v1

    :goto_22b
    iput v1, v4, Lorg/jbox2d/common/Vec3;->z:F

    .line 233
    :goto_22d
    move-object/from16 v0, p1

    iget-object v1, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget-boolean v1, v1, Lorg/jbox2d/dynamics/TimeStep;->warmStarting:Z

    if-eqz v1, :cond_2f1

    .line 234
    move-object/from16 v0, p0

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

    invoke-interface {v1}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v1

    .line 236
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    move-object/from16 v0, p1

    iget-object v6, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v6, v6, Lorg/jbox2d/dynamics/TimeStep;->dtRatio:F

    invoke-virtual {v4, v6}, Lorg/jbox2d/common/Vec3;->mulLocal(F)Lorg/jbox2d/common/Vec3;

    .line 238
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v4, v4, Lorg/jbox2d/common/Vec3;->x:F

    move-object/from16 v0, p0

    iget-object v6, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v6, v6, Lorg/jbox2d/common/Vec3;->y:F

    invoke-virtual {v1, v4, v6}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 240
    iget v4, v5, Lorg/jbox2d/common/Vec2;->x:F

    iget v6, v1, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v6, v8

    sub-float/2addr v4, v6

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

    .line 241
    iget v4, v5, Lorg/jbox2d/common/Vec2;->y:F

    iget v6, v1, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v8

    sub-float/2addr v4, v6

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

    .line 242
    move-object/from16 v0, p0

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

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

    move-result v4

    move-object/from16 v0, p0

    iget-object v5, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v5, v5, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v4, v5

    mul-float/2addr v4, v10

    sub-float/2addr v3, v4

    .line 244
    iget v4, v7, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v5, v9

    add-float/2addr v4, v5

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

    .line 245
    iget v4, v7, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v5, v9

    add-float/2addr v4, v5

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

    .line 246
    move-object/from16 v0, p0

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

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

    move-result v1

    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v4, v4, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v1, v4

    mul-float/2addr v1, v11

    add-float/2addr v1, v2

    .line 247
    move-object/from16 v0, p0

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

    const/4 v4, 0x1

    invoke-interface {v2, v4}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    move v2, v3

    .line 253
    :goto_2a4
    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/WeldJoint;->m_indexA:I

    aget-object v3, v3, v4

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

    .line 255
    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/WeldJoint;->m_indexB:I

    aget-object v2, v2, v3

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

    .line 257
    move-object/from16 v0, p0

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

    const/4 v2, 0x1

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

    .line 258
    move-object/from16 v0, p0

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

    const/4 v2, 0x2

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

    .line 259
    move-object/from16 v0, p0

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

    const/4 v2, 0x1

    invoke-interface {v1, v2}, Lorg/jbox2d/pooling/IWorldPool;->pushMat33(I)V

    .line 260
    return-void

    .line 206
    :cond_2d5
    const/4 v1, 0x0

    goto/16 :goto_1cf

    .line 222
    :cond_2d8
    const/4 v1, 0x0

    goto/16 :goto_207

    .line 226
    :cond_2db
    const/4 v1, 0x0

    goto/16 :goto_22b

    .line 228
    :cond_2de
    move-object/from16 v0, p0

    iget-object v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    invoke-virtual {v1, v4}, Lorg/jbox2d/common/Mat33;->getSymInverse33(Lorg/jbox2d/common/Mat33;)V

    .line 229
    const/4 v1, 0x0

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    .line 230
    const/4 v1, 0x0

    move-object/from16 v0, p0

    iput v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bias:F

    goto/16 :goto_22d

    .line 249
    :cond_2f1
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    invoke-virtual {v1}, Lorg/jbox2d/common/Vec3;->setZero()V

    move v1, v2

    move v2, v3

    goto :goto_2a4
.end method

.method public setDampingRatio(F)V
    .registers 2

    .prologue
    .line 122
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_dampingRatio:F

    .line 123
    return-void
.end method

.method public setFrequency(F)V
    .registers 2

    .prologue
    .line 114
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    .line 115
    return-void
.end method

.method public solvePositionConstraints(Lorg/jbox2d/dynamics/SolverData;)Z
    .registers 25

    .prologue
    .line 339
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v4, v4, v5

    iget-object v6, v4, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 340
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v4, v4, v5

    iget v7, v4, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 341
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v4, v4, v5

    iget-object v8, v4, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 342
    move-object/from16 v0, p1

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

    move-object/from16 v0, p0

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

    aget-object v4, v4, v5

    iget v9, v4, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 343
    move-object/from16 v0, p0

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

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

    move-result-object v4

    .line 344
    move-object/from16 v0, p0

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

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

    move-result-object v5

    .line 345
    move-object/from16 v0, p0

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

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

    move-result-object v10

    .line 346
    move-object/from16 v0, p0

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

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

    move-result-object v11

    .line 347
    move-object/from16 v0, p0

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

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

    move-result-object v12

    .line 349
    invoke-virtual {v4, v7}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 350
    invoke-virtual {v5, v9}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 352
    move-object/from16 v0, p0

    iget v13, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_invMassA:F

    move-object/from16 v0, p0

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

    .line 353
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

    move/from16 v16, v0

    .line 355
    move-object/from16 v0, p0

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

    move-object/from16 v17, v0

    move-object/from16 v0, v17

    invoke-virtual {v10, v0}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v17

    move-object/from16 v0, p0

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

    move-object/from16 v18, v0

    invoke-virtual/range {v17 .. v18}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v17

    move-object/from16 v0, v17

    invoke-static {v4, v0, v11}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 356
    move-object/from16 v0, p0

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

    invoke-virtual {v10, v4}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    move-object/from16 v0, p0

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

    invoke-virtual {v4, v10}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    invoke-static {v5, v4, v12}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 359
    move-object/from16 v0, p0

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

    invoke-interface {v4}, Lorg/jbox2d/pooling/IWorldPool;->popMat33()Lorg/jbox2d/common/Mat33;

    move-result-object v10

    .line 360
    move-object/from16 v0, p0

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

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

    move-result-object v17

    .line 361
    move-object/from16 v0, p0

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

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

    move-result-object v18

    .line 363
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    add-float v5, v13, v14

    iget v0, v11, Lorg/jbox2d/common/Vec2;->y:F

    move/from16 v19, v0

    iget v0, v11, Lorg/jbox2d/common/Vec2;->y:F

    move/from16 v20, v0

    mul-float v19, v19, v20

    mul-float v19, v19, v15

    add-float v5, v5, v19

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

    move/from16 v19, v0

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    mul-float v19, v19, v16

    add-float v5, v5, v19

    iput v5, v4, Lorg/jbox2d/common/Vec3;->x:F

    .line 364
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

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

    neg-float v5, v5

    iget v0, v11, Lorg/jbox2d/common/Vec2;->x:F

    move/from16 v19, v0

    mul-float v5, v5, v19

    mul-float/2addr v5, v15

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

    move/from16 v19, v0

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    mul-float v19, v19, v16

    sub-float v5, v5, v19

    iput v5, v4, Lorg/jbox2d/common/Vec3;->x:F

    .line 365
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

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

    neg-float v5, v5

    mul-float/2addr v5, v15

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

    move/from16 v19, v0

    mul-float v19, v19, v16

    sub-float v5, v5, v19

    iput v5, v4, Lorg/jbox2d/common/Vec3;->x:F

    .line 366
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    iget-object v5, v10, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    iget v5, v5, Lorg/jbox2d/common/Vec3;->x:F

    iput v5, v4, Lorg/jbox2d/common/Vec3;->y:F

    .line 367
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    add-float v5, v13, v14

    iget v0, v11, Lorg/jbox2d/common/Vec2;->x:F

    move/from16 v19, v0

    iget v0, v11, Lorg/jbox2d/common/Vec2;->x:F

    move/from16 v20, v0

    mul-float v19, v19, v20

    mul-float v19, v19, v15

    add-float v5, v5, v19

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

    move/from16 v19, v0

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

    move/from16 v20, v0

    mul-float v19, v19, v20

    mul-float v19, v19, v16

    add-float v5, v5, v19

    iput v5, v4, Lorg/jbox2d/common/Vec3;->y:F

    .line 368
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

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

    mul-float/2addr v5, v15

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

    move/from16 v19, v0

    mul-float v19, v19, v16

    add-float v5, v5, v19

    iput v5, v4, Lorg/jbox2d/common/Vec3;->y:F

    .line 369
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ex:Lorg/jbox2d/common/Vec3;

    iget-object v5, v10, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    iget v5, v5, Lorg/jbox2d/common/Vec3;->x:F

    iput v5, v4, Lorg/jbox2d/common/Vec3;->z:F

    .line 370
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ey:Lorg/jbox2d/common/Vec3;

    iget-object v5, v10, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    iget v5, v5, Lorg/jbox2d/common/Vec3;->y:F

    iput v5, v4, Lorg/jbox2d/common/Vec3;->z:F

    .line 371
    iget-object v4, v10, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    add-float v5, v15, v16

    iput v5, v4, Lorg/jbox2d/common/Vec3;->z:F

    .line 372
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    const/4 v5, 0x0

    cmpl-float v4, v4, v5

    if-lez v4, :cond_1fa

    .line 373
    move-object/from16 v0, v17

    invoke-virtual {v0, v8}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    invoke-virtual {v4, v12}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

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

    move-result-object v4

    invoke-virtual {v4, v11}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 375
    invoke-virtual/range {v17 .. v17}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v5

    .line 376
    const/4 v4, 0x0

    .line 378
    move-object/from16 v0, v17

    move-object/from16 v1, v18

    invoke-virtual {v10, v0, v1}, Lorg/jbox2d/common/Mat33;->solve22ToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 379
    invoke-virtual/range {v18 .. v18}, Lorg/jbox2d/common/Vec2;->negateLocal()Lorg/jbox2d/common/Vec2;

    .line 381
    iget v10, v6, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, v18

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

    move/from16 v17, v0

    mul-float v17, v17, v13

    sub-float v10, v10, v17

    iput v10, v6, Lorg/jbox2d/common/Vec2;->x:F

    .line 382
    iget v10, v6, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, v18

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

    move/from16 v17, v0

    mul-float v13, v13, v17

    sub-float/2addr v10, v13

    iput v10, v6, Lorg/jbox2d/common/Vec2;->y:F

    .line 383
    move-object/from16 v0, v18

    invoke-static {v11, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    mul-float/2addr v6, v15

    sub-float/2addr v7, v6

    .line 385
    iget v6, v8, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, v18

    iget v10, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v14

    add-float/2addr v6, v10

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

    .line 386
    iget v6, v8, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, v18

    iget v10, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v10, v14

    add-float/2addr v6, v10

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

    .line 387
    move-object/from16 v0, v18

    invoke-static {v12, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    mul-float v6, v6, v16

    add-float/2addr v6, v9

    .line 414
    :goto_1bc
    move-object/from16 v0, p1

    iget-object v8, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

    iget v9, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_indexA:I

    aget-object v8, v8, v9

    iput v7, v8, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 416
    move-object/from16 v0, p1

    iget-object v7, v0, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

    move-object/from16 v0, p0

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

    aget-object v7, v7, v8

    iput v6, v7, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 418
    move-object/from16 v0, p0

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

    const/4 v7, 0x5

    invoke-interface {v6, v7}, Lorg/jbox2d/pooling/IWorldPool;->pushVec2(I)V

    .line 419
    move-object/from16 v0, p0

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

    const/4 v7, 0x2

    invoke-interface {v6, v7}, Lorg/jbox2d/pooling/IWorldPool;->pushRot(I)V

    .line 420
    move-object/from16 v0, p0

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

    const/4 v7, 0x1

    invoke-interface {v6, v7}, Lorg/jbox2d/pooling/IWorldPool;->pushMat33(I)V

    .line 422
    sget v6, Lorg/jbox2d/common/Settings;->linearSlop:F

    cmpg-float v5, v5, v6

    if-gtz v5, :cond_2b5

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

    cmpg-float v4, v4, v5

    if-gtz v4, :cond_2b5

    const/4 v4, 0x1

    :goto_1f9
    return v4

    .line 389
    :cond_1fa
    move-object/from16 v0, v17

    invoke-virtual {v0, v8}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

    invoke-virtual {v4, v12}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v4

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

    move-result-object v4

    invoke-virtual {v4, v11}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 390
    sub-float v4, v9, v7

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_referenceAngle:F

    sub-float v19, v4, v5

    .line 392
    invoke-virtual/range {v17 .. v17}, Lorg/jbox2d/common/Vec2;->length()F

    move-result v5

    .line 393
    invoke-static/range {v19 .. v19}, Lorg/jbox2d/common/MathUtils;->abs(F)F

    move-result v4

    .line 395
    move-object/from16 v0, p0

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

    move-object/from16 v20, v0

    invoke-interface/range {v20 .. v20}, Lorg/jbox2d/pooling/IWorldPool;->popVec3()Lorg/jbox2d/common/Vec3;

    move-result-object v20

    .line 396
    move-object/from16 v0, p0

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

    move-object/from16 v21, v0

    invoke-interface/range {v21 .. v21}, Lorg/jbox2d/pooling/IWorldPool;->popVec3()Lorg/jbox2d/common/Vec3;

    move-result-object v21

    .line 397
    move-object/from16 v0, v17

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

    move/from16 v22, v0

    move-object/from16 v0, v17

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

    move/from16 v17, v0

    move-object/from16 v0, v20

    move/from16 v1, v22

    move/from16 v2, v17

    move/from16 v3, v19

    invoke-virtual {v0, v1, v2, v3}, Lorg/jbox2d/common/Vec3;->set(FFF)Lorg/jbox2d/common/Vec3;

    .line 399
    move-object/from16 v0, v20

    move-object/from16 v1, v21

    invoke-virtual {v10, v0, v1}, Lorg/jbox2d/common/Mat33;->solve33ToOut(Lorg/jbox2d/common/Vec3;Lorg/jbox2d/common/Vec3;)V

    .line 400
    invoke-virtual/range {v21 .. v21}, Lorg/jbox2d/common/Vec3;->negateLocal()Lorg/jbox2d/common/Vec3;

    .line 401
    move-object/from16 v0, v21

    iget v10, v0, Lorg/jbox2d/common/Vec3;->x:F

    move-object/from16 v0, v21

    iget v0, v0, Lorg/jbox2d/common/Vec3;->y:F

    move/from16 v17, v0

    move-object/from16 v0, v18

    move/from16 v1, v17

    invoke-virtual {v0, v10, v1}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 403
    iget v10, v6, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, v18

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

    move/from16 v17, v0

    mul-float v17, v17, v13

    sub-float v10, v10, v17

    iput v10, v6, Lorg/jbox2d/common/Vec2;->x:F

    .line 404
    iget v10, v6, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, v18

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

    move/from16 v17, v0

    mul-float v13, v13, v17

    sub-float/2addr v10, v13

    iput v10, v6, Lorg/jbox2d/common/Vec2;->y:F

    .line 405
    move-object/from16 v0, v18

    invoke-static {v11, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    move-object/from16 v0, v21

    iget v10, v0, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v6, v10

    mul-float/2addr v6, v15

    sub-float/2addr v7, v6

    .line 407
    iget v6, v8, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, v18

    iget v10, v0, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v14

    add-float/2addr v6, v10

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

    .line 408
    iget v6, v8, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, v18

    iget v10, v0, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v10, v14

    add-float/2addr v6, v10

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

    .line 409
    move-object/from16 v0, v18

    invoke-static {v12, v0}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v6

    move-object/from16 v0, v21

    iget v8, v0, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v6, v8

    mul-float v6, v6, v16

    add-float/2addr v6, v9

    .line 410
    move-object/from16 v0, p0

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

    const/4 v9, 0x2

    invoke-interface {v8, v9}, Lorg/jbox2d/pooling/IWorldPool;->pushVec3(I)V

    goto/16 :goto_1bc

    .line 422
    :cond_2b5
    const/4 v4, 0x0

    goto/16 :goto_1f9
.end method

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

    .prologue
    .line 264
    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/WeldJoint;->m_indexA:I

    aget-object v1, v1, v2

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

    .line 265
    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/WeldJoint;->m_indexA:I

    aget-object v2, v2, v3

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

    .line 266
    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/WeldJoint;->m_indexB:I

    aget-object v3, v3, v4

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

    .line 267
    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/WeldJoint;->m_indexB:I

    aget-object v4, v4, v5

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

    .line 269
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

    .line 270
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

    .line 272
    move-object/from16 v0, p0

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

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

    move-result-object v9

    .line 273
    move-object/from16 v0, p0

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

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

    move-result-object v10

    .line 274
    move-object/from16 v0, p0

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

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

    move-result-object v11

    .line 275
    move-object/from16 v0, p0

    iget v12, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_frequencyHz:F

    const/4 v13, 0x0

    cmpl-float v12, v12, v13

    if-lez v12, :cond_11b

    .line 276
    sub-float v12, v4, v2

    .line 278
    move-object/from16 v0, p0

    iget-object v13, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    iget-object v13, v13, Lorg/jbox2d/common/Mat33;->ez:Lorg/jbox2d/common/Vec3;

    iget v13, v13, Lorg/jbox2d/common/Vec3;->z:F

    neg-float v13, v13

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_bias:F

    add-float/2addr v12, v14

    move-object/from16 v0, p0

    iget v14, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_gamma:F

    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v15, v15, Lorg/jbox2d/common/Vec3;->z:F

    mul-float/2addr v14, v15

    add-float/2addr v12, v14

    mul-float/2addr v12, v13

    .line 279
    move-object/from16 v0, p0

    iget-object v13, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v14, v13, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v14, v12

    iput v14, v13, Lorg/jbox2d/common/Vec3;->z:F

    .line 281
    mul-float v13, v7, v12

    sub-float/2addr v2, v13

    .line 282
    mul-float/2addr v12, v8

    add-float/2addr v4, v12

    .line 284
    move-object/from16 v0, p0

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

    invoke-static {v4, v12, v9}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 285
    move-object/from16 v0, p0

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

    invoke-static {v2, v12, v11}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 286
    invoke-virtual {v9, v3}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v12

    invoke-virtual {v12, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v12

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

    .line 289
    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    invoke-static {v11, v9, v10}, Lorg/jbox2d/common/Mat33;->mul22ToOutUnsafe(Lorg/jbox2d/common/Mat33;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 290
    invoke-virtual {v10}, Lorg/jbox2d/common/Vec2;->negateLocal()Lorg/jbox2d/common/Vec2;

    .line 292
    move-object/from16 v0, p0

    iget-object v9, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v11, v9, Lorg/jbox2d/common/Vec3;->x:F

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

    add-float/2addr v11, v12

    iput v11, v9, Lorg/jbox2d/common/Vec3;->x:F

    .line 293
    move-object/from16 v0, p0

    iget-object v9, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    iget v11, v9, Lorg/jbox2d/common/Vec3;->y:F

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

    add-float/2addr v11, v12

    iput v11, v9, Lorg/jbox2d/common/Vec3;->y:F

    .line 295
    iget v9, v1, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v11, v5

    sub-float/2addr v9, v11

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

    .line 296
    iget v9, v1, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v5, v11

    sub-float v5, v9, v5

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

    .line 297
    move-object/from16 v0, p0

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

    invoke-static {v1, v10}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    mul-float/2addr v1, v7

    sub-float/2addr v2, v1

    .line 299
    iget v1, v3, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v5, v6

    add-float/2addr v1, v5

    iput v1, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 300
    iget v1, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, v10, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    add-float/2addr v1, v5

    iput v1, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 301
    move-object/from16 v0, p0

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

    invoke-static {v1, v10}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    mul-float/2addr v1, v8

    add-float/2addr v1, v4

    .line 330
    :goto_fa
    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/WeldJoint;->m_indexA:I

    aget-object v3, v3, v4

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

    .line 332
    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/WeldJoint;->m_indexB:I

    aget-object v2, v2, v3

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

    .line 334
    move-object/from16 v0, p0

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

    const/4 v2, 0x3

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

    .line 335
    return-void

    .line 303
    :cond_11b
    move-object/from16 v0, p0

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

    invoke-static {v2, v12, v11}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 304
    move-object/from16 v0, p0

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

    invoke-static {v4, v12, v9}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 305
    invoke-virtual {v9, v3}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v12

    invoke-virtual {v12, v1}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v12

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

    .line 306
    sub-float v11, v4, v2

    .line 308
    move-object/from16 v0, p0

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

    invoke-interface {v12}, Lorg/jbox2d/pooling/IWorldPool;->popVec3()Lorg/jbox2d/common/Vec3;

    move-result-object v12

    .line 309
    iget v13, v9, Lorg/jbox2d/common/Vec2;->x:F

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

    invoke-virtual {v12, v13, v9, v11}, Lorg/jbox2d/common/Vec3;->set(FFF)Lorg/jbox2d/common/Vec3;

    .line 311
    move-object/from16 v0, p0

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

    invoke-interface {v9}, Lorg/jbox2d/pooling/IWorldPool;->popVec3()Lorg/jbox2d/common/Vec3;

    move-result-object v9

    .line 312
    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_mass:Lorg/jbox2d/common/Mat33;

    invoke-static {v11, v12, v9}, Lorg/jbox2d/common/Mat33;->mulToOutUnsafe(Lorg/jbox2d/common/Mat33;Lorg/jbox2d/common/Vec3;Lorg/jbox2d/common/Vec3;)V

    .line 313
    invoke-virtual {v9}, Lorg/jbox2d/common/Vec3;->negateLocal()Lorg/jbox2d/common/Vec3;

    .line 314
    move-object/from16 v0, p0

    iget-object v11, v0, Lorg/jbox2d/dynamics/joints/WeldJoint;->m_impulse:Lorg/jbox2d/common/Vec3;

    invoke-virtual {v11, v9}, Lorg/jbox2d/common/Vec3;->addLocal(Lorg/jbox2d/common/Vec3;)Lorg/jbox2d/common/Vec3;

    .line 316
    iget v11, v9, Lorg/jbox2d/common/Vec3;->x:F

    iget v12, v9, Lorg/jbox2d/common/Vec3;->y:F

    invoke-virtual {v10, v11, v12}, Lorg/jbox2d/common/Vec2;->set(FF)Lorg/jbox2d/common/Vec2;

    .line 318
    iget v11, v1, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v12, v5

    sub-float/2addr v11, v12

    iput v11, v1, Lorg/jbox2d/common/Vec2;->x:F

    .line 319
    iget v11, v1, Lorg/jbox2d/common/Vec2;->y:F

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

    mul-float/2addr v5, v12

    sub-float v5, v11, 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/WeldJoint;->m_rA:Lorg/jbox2d/common/Vec2;

    invoke-static {v1, v10}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    iget v5, v9, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v1, v5

    mul-float/2addr v1, v7

    sub-float/2addr v2, v1

    .line 322
    iget v1, v3, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v5, v6

    add-float/2addr v1, v5

    iput v1, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 323
    iget v1, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, v10, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    add-float/2addr v1, v5

    iput v1, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 324
    move-object/from16 v0, p0

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

    invoke-static {v1, v10}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v1

    iget v3, v9, Lorg/jbox2d/common/Vec3;->z:F

    add-float/2addr v1, v3

    mul-float/2addr v1, v8

    add-float/2addr v1, v4

    .line 326
    move-object/from16 v0, p0

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

    const/4 v4, 0x2

    invoke-interface {v3, v4}, Lorg/jbox2d/pooling/IWorldPool;->pushVec3(I)V

    goto/16 :goto_fa
.end method