How to use

mulTransUnsafe

method

in

org.jbox2d.common.Rot

public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) {
 Rot.mulTransUnsafe(m_xf.q, worldVector, out);
}

public final static void mulTransToOutUnsafe(final Transform A, final Transform B,
  final Transform out) {
 assert (out != A);
 assert (out != B);
 Rot.mulTransUnsafe(A.q, B.q, out.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, out.p);
}

public final static Transform mulTrans(final Transform A, final Transform B) {
 Transform C = new Transform();
 Rot.mulTransUnsafe(A.q, B.q, C.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, C.p);
 return C;
}

Rot.mulTransUnsafe(xfa.q, m_axis, axisA);
Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB);
m_axis.negateLocal();
Transform.mulToOutUnsafe(xfa, m_localPoint, pointA);
Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB);
normal.negateLocal();
Transform.mulToOutUnsafe(xfb, m_localPoint, pointB);
Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA);
normal.negateLocal();

Rot.mulTransUnsafe(xfa.q, m_axis, axisA);
Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB);
m_axis.negateLocal();
Transform.mulToOutUnsafe(xfa, m_localPoint, pointA);
Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB);
normal.negateLocal();
Transform.mulToOutUnsafe(xfb, m_localPoint, pointB);
Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA);
normal.negateLocal();

public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) {
 Rot.mulTransUnsafe(m_xf.q, worldVector, out);
}

public final static void mulTransToOutUnsafe(final Transform A, final Transform B,
  final Transform out) {
 assert (out != A);
 assert (out != B);
 Rot.mulTransUnsafe(A.q, B.q, out.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, out.p);
}

Rot.mulToOutUnsafe(xfA.q, m_localAnchorA, temp);
temp.addLocal(xfA.p).subLocal(xfC.p);
Rot.mulTransUnsafe(xfC.q, temp, pA);
coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC);
pool.pushVec2(2);
Rot.mulToOutUnsafe(xfB.q, m_localAnchorB, temp);
temp.addLocal(xfB.p).subLocal(xfD.p);
Rot.mulTransUnsafe(xfD.q, temp, pB);
coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD);
pool.pushVec2(2);

public final static Transform mulTrans(final Transform A, final Transform B) {
 Transform C = new Transform();
 Rot.mulTransUnsafe(A.q, B.q, C.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, C.p);
 return C;
}

Rot.mulTransUnsafe(transformA.q, d.negateLocal(), temp);
vertex.indexA = proxyA.getSupport(temp);
Transform.mulToOutUnsafe(transformA, proxyA.getVertex(vertex.indexA), vertex.wA);
Rot.mulTransUnsafe(transformB.q, d.negateLocal(), temp);
vertex.indexB = proxyB.getSupport(temp);
Transform.mulToOutUnsafe(transformB, proxyB.getVertex(vertex.indexB), vertex.wB);

Rot.mulTransUnsafe(qC, temp.set(rA).addLocal(cA).subLocal(cC), pA);
coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC);
pool.pushVec2(4);
Rot.mulTransUnsafe(qD, temp.set(rB).addLocal(cB).subLocal(cD), pB);
coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD);
pool.pushVec2(5);

public final void getLocalVectorToOutUnsafe(Vec2 worldVector, Vec2 out) {
 Rot.mulTransUnsafe(m_xf.q, worldVector, out);
}

Rot.mulTransUnsafe(xfa.q, m_axis, axisA);
Rot.mulTransUnsafe(xfb.q, m_axis.negateLocal(), axisB);
m_axis.negateLocal();
Transform.mulToOutUnsafe(xfa, m_localPoint, pointA);
Rot.mulTransUnsafe(xfb.q, normal.negateLocal(), axisB);
normal.negateLocal();
Transform.mulToOutUnsafe(xfb, m_localPoint, pointB);
Rot.mulTransUnsafe(xfa.q, normal.negateLocal(), axisA);
normal.negateLocal();

public final static void mulTransToOutUnsafe(final Transform A, final Transform B,
                       final Transform out) {
 assert (out != A);
 assert (out != B);
 Rot.mulTransUnsafe(A.q, B.q, out.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, out.p);
}

public final static void mulTransToOutUnsafe(final Transform A, final Transform B,
  final Transform out) {
 assert (out != A);
 assert (out != B);
 Rot.mulTransUnsafe(A.q, B.q, out.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, out.p);
}

public final static Transform mulTrans(final Transform A, final Transform B) {
 Transform C = new Transform();
 Rot.mulTransUnsafe(A.q, B.q, C.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, C.p);
 return C;
}

public final static Transform mulTrans(final Transform A, final Transform B) {
 Transform C = new Transform();
 Rot.mulTransUnsafe(A.q, B.q, C.q);
 pool.set(B.p).subLocal(A.p);
 Rot.mulTransUnsafe(A.q, pool, C.p);
 return C;
}

Rot.mulToOutUnsafe(xfA.q, m_localAnchorA, temp);
temp.addLocal(xfA.p).subLocal(xfC.p);
Rot.mulTransUnsafe(xfC.q, temp, pA);
coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC);
pool.pushVec2(2);
Rot.mulToOutUnsafe(xfB.q, m_localAnchorB, temp);
temp.addLocal(xfB.p).subLocal(xfD.p);
Rot.mulTransUnsafe(xfD.q, temp, pB);
coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD);
pool.pushVec2(2);

Rot.mulTransUnsafe(transformA.q, d.negateLocal(), temp);
vertex.indexA = proxyA.getSupport(temp);
Transform.mulToOutUnsafe(transformA, proxyA.getVertex(vertex.indexA), vertex.wA);
Rot.mulTransUnsafe(transformB.q, d.negateLocal(), temp);
vertex.indexB = proxyB.getSupport(temp);
Transform.mulToOutUnsafe(transformB, proxyB.getVertex(vertex.indexB), vertex.wB);

Rot.mulTransUnsafe(qC, temp.set(rA).addLocal(cA).subLocal(cC), pA);
coordinateA = Vec2.dot(pA.subLocal(pC), m_localAxisC);
pool.pushVec2(4);
Rot.mulTransUnsafe(qD, temp.set(rB).addLocal(cB).subLocal(cD), pB);
coordinateB = Vec2.dot(pB.subLocal(pD), m_localAxisD);
pool.pushVec2(5);