How to use

solve22ToOut

method

in

org.jbox2d.common.Mat33

/**
 * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
 * in one-shot cases.
 * 
 * @param b
 * @return
 */
public final Vec2 solve22(Vec2 b) {
 Vec2 x = new Vec2();
 solve22ToOut(b, x);
 return x;
}

  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated

/**
 * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
 * in one-shot cases.
 * 
 * @param b
 * @return
 */
public final Vec2 solve22(Vec2 b) {
 Vec2 x = new Vec2();
 solve22ToOut(b, x);
 return x;
}

b.set(Cdot1).negateLocal().subLocal(temp);
m_K.solve22ToOut(b, f2r);
f2r.addLocal(f1.x, f1.y);
m_impulse.x = f2r.x;
m_K.solve22ToOut(Cdot1.negateLocal(), df);
Cdot1.negateLocal();

angularError = 0.0f;
K.solve22ToOut(C1, P);
P.negateLocal();

/**
 * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
 * in one-shot cases.
 * 
 * @param b
 * @return
 */
public final Vec2 solve22(Vec2 b) {
 Vec2 x = new Vec2();
 solve22ToOut(b, x);
 return x;
}

/**
 * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
 * in one-shot cases.
 * 
 * @param b
 * @return
 */
public final Vec2 solve22(Vec2 b) {
 Vec2 x = new Vec2();
 solve22ToOut(b, x);
 return x;
}

/**
 * Solve A * x = b, where b is a column vector. This is more efficient than computing the inverse
 * in one-shot cases.
 *
 * @param b
 * @return
 */
public final Vec2 solve22(Vec2 b) {
  Vec2 x = new Vec2();
  solve22ToOut(b, x);
  return x;
}

  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated

b.set(Cdot1).negateLocal().subLocal(temp);
m_K.solve22ToOut(b, f2r);
f2r.addLocal(f1.x, f1.y);
m_impulse.x = f2r.x;
m_K.solve22ToOut(Cdot1.negateLocal(), df);
Cdot1.negateLocal();

angularError = 0.0f;
K.solve22ToOut(C1, P);
P.negateLocal();

  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated

    final Vec2 rhs = pool.popVec2();
    rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
    m_mass.solve22ToOut(rhs, temp);
    impulse.x = temp.x;
    impulse.y = temp.y;
    final Vec2 rhs = pool.popVec2();
    rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
    m_mass.solve22ToOut(rhs, temp);
    impulse.x = temp.x;
    impulse.y = temp.y;
Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated

  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
  final Vec2 rhs = pool.popVec2();
  rhs.set(m_mass.ez.x, m_mass.ez.y).mulLocal(m_impulse.z).subLocal(Cdot1);
  m_mass.solve22ToOut(rhs, temp);
  impulse.x = temp.x;
  impulse.y = temp.y;
Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
m_mass.solve22ToOut(Cdot.negateLocal(), impulse); // just leave negated

b.set(Cdot1).negateLocal().subLocal(temp);
m_K.solve22ToOut(b, f2r);
f2r.addLocal(f1.x, f1.y);
m_impulse.x = f2r.x;
m_K.solve22ToOut(Cdot1.negateLocal(), df);
Cdot1.negateLocal();

b.set(Cdot1).negateLocal().subLocal(temp);
m_K.solve22ToOut(b, f2r);
f2r.addLocal(f1.x, f1.y);
m_impulse.x = f2r.x;
m_K.solve22ToOut(Cdot1.negateLocal(), df);
Cdot1.negateLocal();

b.set(Cdot1).negateLocal().subLocal(temp);
m_K.solve22ToOut(b, f2r);
f2r.addLocal(f1.x, f1.y);
m_impulse.x = f2r.x;
m_K.solve22ToOut(Cdot1.negateLocal(), df);
Cdot1.negateLocal();

angularError = 0.0f;
K.solve22ToOut(C1, P);
P.negateLocal();

angularError = 0.0f;
K.solve22ToOut(C1, P);
P.negateLocal();

angularError = 0.0f;
K.solve22ToOut(C1, P);
P.negateLocal();