WheelJoint.smali

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


# instance fields
.field private final d:Lorg/jbox2d/common/Vec2;

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

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

.field private m_bias:F

.field private m_dampingRatio:F

.field private m_enableMotor:Z

.field private m_frequencyHz:F

.field private m_gamma:F

.field private m_impulse:F

.field private m_indexA:I

.field private m_indexB:I

.field private m_invIA:F

.field private m_invIB:F

.field private m_invMassA:F

.field private m_invMassB:F

.field private 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_localXAxisA:Lorg/jbox2d/common/Vec2;

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

.field private m_mass:F

.field private m_maxMotorTorque:F

.field private m_motorImpulse:F

.field private m_motorMass:F

.field private m_motorSpeed:F

.field private m_sAx:F

.field private m_sAy:F

.field private m_sBx:F

.field private m_sBy:F

.field private m_springImpulse:F

.field private m_springMass:F

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

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


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

    .prologue
    const/4 v3, 0x0

    .line 100
    invoke-direct {p0, p1, p2}, Lorg/jbox2d/dynamics/joints/Joint;-><init>(Lorg/jbox2d/pooling/IWorldPool;Lorg/jbox2d/dynamics/joints/JointDef;)V

    .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/WheelJoint;->m_localAnchorA: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/WheelJoint;->m_localAnchorB: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/WheelJoint;->m_localXAxisA: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/WheelJoint;->m_localYAxisA:Lorg/jbox2d/common/Vec2;

    .line 80
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 81
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

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

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

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

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

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

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

    .line 226
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 227
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 228
    new-instance v0, Lorg/jbox2d/common/Vec2;

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

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

    .line 101
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

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

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

    .line 102
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

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

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

    .line 103
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localXAxisA:Lorg/jbox2d/common/Vec2;

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

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

    .line 104
    const/high16 v0, 0x3f800000    # 1.0f

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

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

    invoke-static {v0, v1, v2}, Lorg/jbox2d/common/Vec2;->crossToOutUnsafe(FLorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 107
    iput v3, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    .line 108
    iput v3, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    .line 110
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WheelJointDef;->maxMotorTorque:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_maxMotorTorque:F

    .line 111
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WheelJointDef;->motorSpeed:F

    iput v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorSpeed:F

    .line 112
    iget-boolean v0, p2, Lorg/jbox2d/dynamics/joints/WheelJointDef;->enableMotor:Z

    iput-boolean v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_enableMotor:Z

    .line 114
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WheelJointDef;->frequencyHz:F

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

    .line 115
    iget v0, p2, Lorg/jbox2d/dynamics/joints/WheelJointDef;->dampingRatio:F

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

    .line 116
    return-void
.end method


# virtual methods
.method public enableMotor(Z)V
    .registers 4

    .prologue
    const/4 v1, 0x1

    .line 180
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    .line 181
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    .line 182
    iput-boolean p1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_enableMotor:Z

    .line 183
    return-void
.end method

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

    .prologue
    .line 128
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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 129
    return-void
.end method

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

    .prologue
    .line 133
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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 134
    return-void
.end method

.method public getJointSpeed()F
    .registers 3

    .prologue
    .line 172
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

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

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

    sub-float/2addr v0, v1

    return v0
.end method

.method public getJointTranslation()F
    .registers 7

    .prologue
    .line 150
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

    .line 151
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

    .line 153
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v2

    .line 154
    iget-object v3, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v3

    .line 155
    iget-object v4, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v4

    .line 156
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v5, v2}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 157
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v1, v5, v3}, Lorg/jbox2d/dynamics/Body;->getWorldPointToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 158
    invoke-virtual {v3, v2}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 159
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localXAxisA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v0, v1, v4}, Lorg/jbox2d/dynamics/Body;->getWorldVectorToOut(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 161
    invoke-static {v3, v4}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v0

    .line 162
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v2, 0x3

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

    .line 163
    return v0
.end method

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

    .prologue
    .line 119
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 123
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

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

    .prologue
    .line 168
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localXAxisA:Lorg/jbox2d/common/Vec2;

    return-object v0
.end method

.method public getMaxMotorTorque()F
    .registers 2

    .prologue
    .line 196
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_maxMotorTorque:F

    return v0
.end method

.method public getMotorSpeed()F
    .registers 2

    .prologue
    .line 192
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorSpeed:F

    return v0
.end method

.method public getMotorTorque(F)F
    .registers 3

    .prologue
    .line 206
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    mul-float/2addr v0, p1

    return v0
.end method

.method public getReactionForce(FLorg/jbox2d/common/Vec2;)V
    .registers 6

    .prologue
    .line 138
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v0

    .line 139
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

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

    .line 140
    iget-object v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

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

    move-result-object v1

    iget v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

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

    move-result-object v1

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

    move-result-object v0

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

    .line 141
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v1, 0x1

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

    .line 142
    return-void
.end method

.method public getReactionTorque(F)F
    .registers 3

    .prologue
    .line 146
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    mul-float/2addr v0, p1

    return v0
.end method

.method public getSpringDampingRatio()F
    .registers 2

    .prologue
    .line 222
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_dampingRatio:F

    return v0
.end method

.method public getSpringFrequencyHz()F
    .registers 2

    .prologue
    .line 214
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_frequencyHz:F

    return v0
.end method

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

    .prologue
    .line 232
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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/WheelJoint;->m_indexA:I

    .line 233
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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/WheelJoint;->m_indexB:I

    .line 234
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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 235
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v2, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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 236
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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/WheelJoint;->m_invMassA:F

    .line 237
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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/WheelJoint;->m_invMassB:F

    .line 238
    move-object/from16 v0, p0

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

    .line 239
    move-object/from16 v0, p0

    iget-object v1, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->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/WheelJoint;->m_invIB:F

    .line 241
    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassA:F

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassB:F

    .line 242
    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIA:F

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIB:F

    .line 244
    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/WheelJoint;->m_indexA:I

    aget-object v1, v1, v2

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

    .line 245
    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/WheelJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget v8, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 246
    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/WheelJoint;->m_indexA:I

    aget-object v1, v1, v2

    iget-object v9, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 247
    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/WheelJoint;->m_indexA:I

    aget-object v1, v1, v2

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

    .line 249
    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 v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_indexB:I

    aget-object v1, v1, v10

    iget-object v10, v1, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 250
    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 v11, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_indexB:I

    aget-object v1, v1, v11

    iget v11, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 251
    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 v12, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_indexB:I

    aget-object v1, v1, v12

    iget-object v12, v1, Lorg/jbox2d/dynamics/contacts/Velocity;->v:Lorg/jbox2d/common/Vec2;

    .line 252
    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 v13, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_indexB:I

    aget-object v1, v1, v13

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

    .line 254
    move-object/from16 v0, p0

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

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

    move-result-object v13

    .line 255
    move-object/from16 v0, p0

    iget-object v14, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v14}, Lorg/jbox2d/pooling/IWorldPool;->popRot()Lorg/jbox2d/common/Rot;

    move-result-object v14

    .line 256
    move-object/from16 v0, p0

    iget-object v15, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    invoke-interface {v15}, Lorg/jbox2d/pooling/IWorldPool;->popVec2()Lorg/jbox2d/common/Vec2;

    move-result-object v15

    .line 258
    invoke-virtual {v13, v8}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 259
    invoke-virtual {v14, v11}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 262
    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v15, v8}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move-object/from16 v0, p0

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

    invoke-virtual {v8, v11}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move-object/from16 v0, p0

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

    invoke-static {v13, v8, v11}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 263
    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v15, v8}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move-object/from16 v0, p0

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

    invoke-virtual {v8, v11}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move-object/from16 v0, p0

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

    invoke-static {v14, v8, v11}, Lorg/jbox2d/common/Rot;->mulToOutUnsafe(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 264
    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->d:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v8, v10}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    move-object/from16 v0, p0

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

    invoke-virtual {v8, v10}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

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

    move-result-object v7

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rA:Lorg/jbox2d/common/Vec2;

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

    .line 268
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

    invoke-static {v13, v7, v8}, Lorg/jbox2d/common/Rot;->mulToOut(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 269
    move-object/from16 v0, p0

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

    invoke-virtual {v15, v7}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v7

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v7

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

    invoke-static {v7, v8}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v7

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    .line 270
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

    invoke-static {v7, v8}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v7

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    .line 272
    add-float v7, v3, v4

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v8, v5

    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v8, v10

    add-float/2addr v7, v8

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v8, v6

    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v8, v10

    add-float/2addr v7, v8

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_mass:F

    .line 274
    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_mass:F

    const/4 v8, 0x0

    cmpl-float v7, v7, v8

    if-lez v7, :cond_198

    .line 275
    const/high16 v7, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_mass:F

    div-float/2addr v7, v8

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_mass:F

    .line 280
    :cond_198
    const/4 v7, 0x0

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    .line 281
    const/4 v7, 0x0

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bias:F

    .line 282
    const/4 v7, 0x0

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    .line 283
    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_frequencyHz:F

    const/4 v8, 0x0

    cmpl-float v7, v7, v8

    if-lez v7, :cond_3a7

    .line 284
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

    invoke-static {v13, v7, v8}, Lorg/jbox2d/common/Rot;->mulToOut(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 285
    move-object/from16 v0, p0

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

    invoke-virtual {v15, v7}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v7

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v7

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

    invoke-static {v7, v8}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v7

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    .line 286
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

    iget-object v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

    invoke-static {v7, v8}, Lorg/jbox2d/common/Vec2;->cross(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v7

    move-object/from16 v0, p0

    iput v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    .line 288
    add-float/2addr v3, v4

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    mul-float/2addr v4, v7

    add-float/2addr v3, v4

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    mul-float/2addr v4, v6

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    mul-float/2addr v4, v7

    add-float/2addr v3, v4

    .line 290
    const/4 v4, 0x0

    cmpl-float v4, v3, v4

    if-lez v4, :cond_27b

    .line 291
    const/high16 v4, 0x3f800000    # 1.0f

    div-float/2addr v4, v3

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    .line 293
    move-object/from16 v0, p0

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

    move-object/from16 v0, p0

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

    invoke-static {v4, v7}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v4

    .line 296
    const v7, 0x40c90fdb

    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_frequencyHz:F

    mul-float/2addr v7, v8

    .line 299
    const/high16 v8, 0x40000000    # 2.0f

    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    mul-float/2addr v8, v10

    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_dampingRatio:F

    mul-float/2addr v8, v10

    mul-float/2addr v8, v7

    .line 302
    move-object/from16 v0, p0

    iget v10, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    mul-float/2addr v10, v7

    mul-float/2addr v7, v10

    .line 305
    move-object/from16 v0, p1

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

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

    .line 306
    mul-float v11, v10, v7

    add-float/2addr v8, v11

    mul-float/2addr v8, v10

    move-object/from16 v0, p0

    iput v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    .line 307
    move-object/from16 v0, p0

    iget v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    const/4 v11, 0x0

    cmpl-float v8, v8, v11

    if-lez v8, :cond_253

    .line 308
    const/high16 v8, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v11, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    div-float/2addr v8, v11

    move-object/from16 v0, p0

    iput v8, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    .line 311
    :cond_253
    mul-float/2addr v4, v10

    mul-float/2addr v4, v7

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    mul-float/2addr v4, v7

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bias:F

    .line 313
    move-object/from16 v0, p0

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

    add-float/2addr v3, v4

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    .line 314
    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    const/4 v4, 0x0

    cmpl-float v3, v3, v4

    if-lez v3, :cond_27b

    .line 315
    const/high16 v3, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    div-float/2addr v3, v4

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    .line 323
    :cond_27b
    :goto_27b
    move-object/from16 v0, p0

    iget-boolean v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_enableMotor:Z

    if-eqz v3, :cond_3ae

    .line 324
    add-float v3, v5, v6

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    .line 325
    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    const/4 v4, 0x0

    cmpl-float v3, v3, v4

    if-lez v3, :cond_29b

    .line 326
    const/high16 v3, 0x3f800000    # 1.0f

    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    div-float/2addr v3, v4

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    .line 333
    :cond_29b
    :goto_29b
    move-object/from16 v0, p1

    iget-object v3, v0, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget-boolean v3, v3, Lorg/jbox2d/dynamics/TimeStep;->warmStarting:Z

    if-eqz v3, :cond_3ba

    .line 334
    move-object/from16 v0, p0

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

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

    move-result-object v3

    .line 336
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    move-object/from16 v0, p1

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

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

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    .line 337
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    move-object/from16 v0, p1

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

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

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    .line 338
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    move-object/from16 v0, p1

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

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

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iput v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    .line 340
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v5, v6

    add-float/2addr v4, v5

    iput v4, v3, Lorg/jbox2d/common/Vec2;->x:F

    .line 341
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v5, v6

    add-float/2addr v4, v5

    iput v4, v3, Lorg/jbox2d/common/Vec2;->y:F

    .line 342
    move-object/from16 v0, p0

    iget v4, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v4, v5

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    mul-float/2addr v5, v6

    add-float/2addr v4, v5

    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    add-float/2addr v4, v5

    .line 343
    move-object/from16 v0, p0

    iget v5, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v5, v6

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    mul-float/2addr v6, v7

    add-float/2addr v5, v6

    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    add-float/2addr v5, v6

    .line 345
    iget v6, v9, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassA:F

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

    mul-float/2addr v7, v8

    sub-float/2addr v6, v7

    iput v6, v9, Lorg/jbox2d/common/Vec2;->x:F

    .line 346
    iget v6, v9, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

    iget v7, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassA:F

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

    mul-float/2addr v7, v8

    sub-float/2addr v6, v7

    iput v6, v9, Lorg/jbox2d/common/Vec2;->y:F

    .line 347
    move-object/from16 v0, p0

    iget v6, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIA:F

    mul-float/2addr v4, v6

    sub-float/2addr v2, v4

    .line 349
    iget v4, v12, Lorg/jbox2d/common/Vec2;->x:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v6, v7

    add-float/2addr v4, v6

    iput v4, v12, Lorg/jbox2d/common/Vec2;->x:F

    .line 350
    iget v4, v12, Lorg/jbox2d/common/Vec2;->y:F

    move-object/from16 v0, p0

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

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

    mul-float/2addr v3, v6

    add-float/2addr v3, v4

    iput v3, v12, Lorg/jbox2d/common/Vec2;->y:F

    .line 351
    move-object/from16 v0, p0

    iget v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIB:F

    mul-float/2addr v3, v5

    add-float/2addr v1, v3

    .line 352
    move-object/from16 v0, p0

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

    const/4 v4, 0x1

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

    .line 358
    :goto_37e
    move-object/from16 v0, p0

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

    const/4 v4, 0x2

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

    .line 359
    move-object/from16 v0, p0

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

    const/4 v4, 0x1

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

    .line 362
    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/WheelJoint;->m_indexA:I

    aget-object v3, v3, v4

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

    .line 364
    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/WheelJoint;->m_indexB:I

    aget-object v2, v2, v3

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

    .line 365
    return-void

    .line 319
    :cond_3a7
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    goto/16 :goto_27b

    .line 329
    :cond_3ae
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    .line 330
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    goto/16 :goto_29b

    .line 354
    :cond_3ba
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    .line 355
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    .line 356
    const/4 v3, 0x0

    move-object/from16 v0, p0

    iput v3, v0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    goto :goto_37e
.end method

.method public isMotorEnabled()Z
    .registers 2

    .prologue
    .line 176
    iget-boolean v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_enableMotor:Z

    return v0
.end method

.method public setMaxMotorTorque(F)V
    .registers 4

    .prologue
    const/4 v1, 0x1

    .line 200
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

    .line 201
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyB:Lorg/jbox2d/dynamics/Body;

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

    .line 202
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_maxMotorTorque:F

    .line 203
    return-void
.end method

.method public setMotorSpeed(F)V
    .registers 4

    .prologue
    const/4 v1, 0x1

    .line 186
    iget-object v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bodyA:Lorg/jbox2d/dynamics/Body;

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

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

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

    .line 188
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorSpeed:F

    .line 189
    return-void
.end method

.method public setSpringDampingRatio(F)V
    .registers 2

    .prologue
    .line 218
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_dampingRatio:F

    .line 219
    return-void
.end method

.method public setSpringFrequencyHz(F)V
    .registers 2

    .prologue
    .line 210
    iput p1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_frequencyHz:F

    .line 211
    return-void
.end method

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

    .prologue
    const/4 v0, 0x0

    .line 443
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v1, v1, v2

    iget-object v1, v1, Lorg/jbox2d/dynamics/contacts/Position;->c:Lorg/jbox2d/common/Vec2;

    .line 444
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v2, v2, v3

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

    .line 445
    iget-object v3, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v3, v3, v4

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

    .line 446
    iget-object v4, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v4, v4, v5

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

    .line 448
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v5

    .line 449
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v6

    .line 450
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v7

    .line 452
    invoke-virtual {v5, v2}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 453
    invoke-virtual {v6, v4}, Lorg/jbox2d/common/Rot;->set(F)Lorg/jbox2d/common/Rot;

    .line 455
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v8

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

    invoke-virtual {v8, v9}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

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

    invoke-static {v5, v8, v9}, Lorg/jbox2d/common/Rot;->mulToOut(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 456
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localAnchorB:Lorg/jbox2d/common/Vec2;

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

    move-result-object v8

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

    invoke-virtual {v8, v9}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

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

    invoke-static {v6, v8, v9}, Lorg/jbox2d/common/Rot;->mulToOut(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 457
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->d:Lorg/jbox2d/common/Vec2;

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

    move-result-object v6

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

    move-result-object v6

    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rB:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v6, v8}, Lorg/jbox2d/common/Vec2;->addLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v6

    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rA:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v6, v8}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    .line 459
    iget-object v6, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v6

    .line 460
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_localYAxisA:Lorg/jbox2d/common/Vec2;

    invoke-static {v5, v8, v6}, Lorg/jbox2d/common/Rot;->mulToOut(Lorg/jbox2d/common/Rot;Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)V

    .line 462
    iget-object v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->d: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-object v7, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rA:Lorg/jbox2d/common/Vec2;

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

    move-result-object v5

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

    move-result v5

    .line 463
    iget-object v7, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->rB:Lorg/jbox2d/common/Vec2;

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

    move-result v7

    .line 465
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->d:Lorg/jbox2d/common/Vec2;

    invoke-static {v8, v6}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v8

    .line 467
    iget v9, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassA:F

    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassB:F

    add-float/2addr v9, v10

    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIA:F

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v10, v11

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v10, v11

    add-float/2addr v9, v10

    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIB:F

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v10, v11

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v10, v11

    add-float/2addr v9, v10

    .line 470
    cmpl-float v10, v9, v0

    if-eqz v10, :cond_b4

    .line 471
    neg-float v0, v8

    div-float/2addr v0, v9

    .line 476
    :cond_b4
    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v9

    .line 477
    iget v10, v6, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v10, v0

    iput v10, v9, Lorg/jbox2d/common/Vec2;->x:F

    .line 478
    iget v6, v6, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v6, v0

    iput v6, v9, Lorg/jbox2d/common/Vec2;->y:F

    .line 479
    mul-float/2addr v5, v0

    .line 480
    mul-float/2addr v0, v7

    .line 482
    iget v6, v1, Lorg/jbox2d/common/Vec2;->x:F

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

    iget v10, v9, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v7, v10

    sub-float/2addr v6, v7

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

    .line 483
    iget v6, v1, Lorg/jbox2d/common/Vec2;->y:F

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

    iget v10, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v7, v10

    sub-float/2addr v6, v7

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

    .line 484
    iget v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIA:F

    mul-float/2addr v1, v5

    sub-float v1, v2, v1

    .line 485
    iget v2, v3, Lorg/jbox2d/common/Vec2;->x:F

    iget v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassB:F

    iget v6, v9, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v5, v6

    add-float/2addr v2, v5

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

    .line 486
    iget v2, v3, Lorg/jbox2d/common/Vec2;->y:F

    iget v5, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassB:F

    iget v6, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v5, v6

    add-float/2addr v2, v5

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

    .line 487
    iget v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIB:F

    mul-float/2addr v0, v2

    add-float/2addr v0, v4

    .line 489
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x3

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

    .line 490
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x2

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

    .line 492
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v2, v2, v3

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

    .line 494
    iget-object v1, p1, Lorg/jbox2d/dynamics/SolverData;->positions:[Lorg/jbox2d/dynamics/contacts/Position;

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

    aget-object v1, v1, v2

    iput v0, v1, Lorg/jbox2d/dynamics/contacts/Position;->a:F

    .line 496
    invoke-static {v8}, Lorg/jbox2d/common/MathUtils;->abs(F)F

    move-result v0

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

    cmpg-float v0, v0, v1

    if-gtz v0, :cond_11f

    const/4 v0, 0x1

    :goto_11e
    return v0

    :cond_11f
    const/4 v0, 0x0

    goto :goto_11e
.end method

.method public solveVelocityConstraints(Lorg/jbox2d/dynamics/SolverData;)V
    .registers 16

    .prologue
    .line 369
    iget v0, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassA:F

    iget v1, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invMassB:F

    .line 370
    iget v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIA:F

    iget v3, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_invIB:F

    .line 372
    iget-object v4, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v4, v4, v5

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

    .line 373
    iget-object v5, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

    iget v6, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_indexA:I

    aget-object v5, v5, v6

    iget v5, v5, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 374
    iget-object v6, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v6, v6, v7

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

    .line 375
    iget-object v7, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v7, v7, v8

    iget v7, v7, Lorg/jbox2d/dynamics/contacts/Velocity;->w:F

    .line 377
    iget-object v8, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v8

    .line 378
    iget-object v9, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

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

    move-result-object v9

    .line 382
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v8, v6}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v11

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

    move-result-object v11

    invoke-static {v10, v11}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v10

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    mul-float/2addr v11, v7

    add-float/2addr v10, v11

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    mul-float/2addr v11, v5

    sub-float/2addr v10, v11

    .line 383
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springMass:F

    neg-float v11, v11

    iget v12, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_bias:F

    add-float/2addr v10, v12

    iget v12, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_gamma:F

    iget v13, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    mul-float/2addr v12, v13

    add-float/2addr v10, v12

    mul-float/2addr v10, v11

    .line 384
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    add-float/2addr v11, v10

    iput v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_springImpulse:F

    .line 386
    iget-object v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v11, v10

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

    .line 387
    iget-object v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ax:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v11, v10

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

    .line 388
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAx:F

    mul-float/2addr v11, v10

    .line 389
    iget v12, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBx:F

    mul-float/2addr v10, v12

    .line 391
    iget v12, v4, Lorg/jbox2d/common/Vec2;->x:F

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

    mul-float/2addr v13, v0

    sub-float/2addr v12, v13

    iput v12, v4, Lorg/jbox2d/common/Vec2;->x:F

    .line 392
    iget v12, v4, Lorg/jbox2d/common/Vec2;->y:F

    iget v13, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v13, v0

    sub-float/2addr v12, v13

    iput v12, v4, Lorg/jbox2d/common/Vec2;->y:F

    .line 393
    mul-float/2addr v11, v2

    sub-float/2addr v5, v11

    .line 395
    iget v11, v6, Lorg/jbox2d/common/Vec2;->x:F

    iget v12, v9, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v12, v1

    add-float/2addr v11, v12

    iput v11, v6, Lorg/jbox2d/common/Vec2;->x:F

    .line 396
    iget v11, v6, Lorg/jbox2d/common/Vec2;->y:F

    iget v12, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v12, v1

    add-float/2addr v11, v12

    iput v11, v6, Lorg/jbox2d/common/Vec2;->y:F

    .line 397
    mul-float/2addr v10, v3

    add-float/2addr v7, v10

    .line 402
    sub-float v10, v7, v5

    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorSpeed:F

    sub-float/2addr v10, v11

    .line 403
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorMass:F

    neg-float v11, v11

    mul-float/2addr v10, v11

    .line 405
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    .line 406
    iget-object v12, p1, Lorg/jbox2d/dynamics/SolverData;->step:Lorg/jbox2d/dynamics/TimeStep;

    iget v12, v12, Lorg/jbox2d/dynamics/TimeStep;->dt:F

    iget v13, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_maxMotorTorque:F

    mul-float/2addr v12, v13

    .line 407
    iget v13, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    add-float/2addr v10, v13

    neg-float v13, v12

    invoke-static {v10, v13, v12}, Lorg/jbox2d/common/MathUtils;->clamp(FFF)F

    move-result v10

    iput v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    .line 408
    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_motorImpulse:F

    sub-float/2addr v10, v11

    .line 410
    mul-float v11, v2, v10

    sub-float/2addr v5, v11

    .line 411
    mul-float/2addr v10, v3

    add-float/2addr v7, v10

    .line 416
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

    invoke-virtual {v8, v6}, Lorg/jbox2d/common/Vec2;->set(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    invoke-virtual {v8, v4}, Lorg/jbox2d/common/Vec2;->subLocal(Lorg/jbox2d/common/Vec2;)Lorg/jbox2d/common/Vec2;

    move-result-object v8

    invoke-static {v10, v8}, Lorg/jbox2d/common/Vec2;->dot(Lorg/jbox2d/common/Vec2;Lorg/jbox2d/common/Vec2;)F

    move-result v8

    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v10, v7

    add-float/2addr v8, v10

    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v10, v5

    sub-float/2addr v8, v10

    .line 417
    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_mass:F

    neg-float v10, v10

    mul-float/2addr v8, v10

    .line 418
    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    add-float/2addr v10, v8

    iput v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_impulse:F

    .line 420
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v10, v8

    iput v10, v9, Lorg/jbox2d/common/Vec2;->x:F

    .line 421
    iget-object v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_ay:Lorg/jbox2d/common/Vec2;

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

    mul-float/2addr v10, v8

    iput v10, v9, Lorg/jbox2d/common/Vec2;->y:F

    .line 422
    iget v10, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sAy:F

    mul-float/2addr v10, v8

    .line 423
    iget v11, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->m_sBy:F

    mul-float/2addr v8, v11

    .line 425
    iget v11, v4, Lorg/jbox2d/common/Vec2;->x:F

    iget v12, v9, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v12, v0

    sub-float/2addr v11, v12

    iput v11, v4, Lorg/jbox2d/common/Vec2;->x:F

    .line 426
    iget v11, v4, Lorg/jbox2d/common/Vec2;->y:F

    iget v12, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v0, v12

    sub-float v0, v11, v0

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

    .line 427
    mul-float v0, v2, v10

    sub-float v0, v5, v0

    .line 429
    iget v2, v6, Lorg/jbox2d/common/Vec2;->x:F

    iget v4, v9, Lorg/jbox2d/common/Vec2;->x:F

    mul-float/2addr v4, v1

    add-float/2addr v2, v4

    iput v2, v6, Lorg/jbox2d/common/Vec2;->x:F

    .line 430
    iget v2, v6, Lorg/jbox2d/common/Vec2;->y:F

    iget v4, v9, Lorg/jbox2d/common/Vec2;->y:F

    mul-float/2addr v1, v4

    add-float/2addr v1, v2

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

    .line 431
    mul-float v1, v3, v8

    add-float/2addr v1, v7

    .line 433
    iget-object v2, p0, Lorg/jbox2d/dynamics/joints/WheelJoint;->pool:Lorg/jbox2d/pooling/IWorldPool;

    const/4 v3, 0x2

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

    .line 436
    iget-object v2, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v2, v2, v3

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

    .line 438
    iget-object v0, p1, Lorg/jbox2d/dynamics/SolverData;->velocities:[Lorg/jbox2d/dynamics/contacts/Velocity;

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

    aget-object v0, v0, v2

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

    .line 439
    return-void
.end method