Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1); impulse1.negateLocal();
Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1); impulse1.negateLocal();
Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1); impulse1.negateLocal();
Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1); impulse1.negateLocal();
Mat33.mul22ToOutUnsafe(m_mass, Cdot1, impulse1); impulse1.negateLocal();