How to use

mulToOutUnsafe

method

in

org.jbox2d.common.Rot

public final void getWorldVectorToOutUnsafe(Vec2 localVector, Vec2 out) {
 Rot.mulToOutUnsafe(m_xf.q, localVector, out);
}

public final static void mulToOutUnsafe(final Transform A, final Transform B, final Transform out) {
 assert (out != B);
 assert (out != A);
 Rot.mulUnsafe(A.q, B.q, out.q);
 Rot.mulToOutUnsafe(A.q, B.p, out.p);
 out.p.addLocal(A.p);
}

public final static Transform mul(final Transform A, final Transform B) {
 Transform C = new Transform();
 Rot.mulUnsafe(A.q, B.q, C.q);
 Rot.mulToOutUnsafe(A.q, B.p, C.p);
 C.p.addLocal(A.p);
 return C;
}

for (int i = 0; i < count1; i++) {
 Rot.mulToOutUnsafe(xfq, n1s[i], n);
 Transform.mulToOutUnsafe(xf, v1s[i], v1);

 protected final void advance(float t) {
  // Advance to the new safe time. This doesn't sync the broad-phase.
  m_sweep.advance(t);
  m_sweep.c.set(m_sweep.c0);
  m_sweep.a = m_sweep.a0;
  m_xf.q.set(m_sweep.a);
  // m_xf.position = m_sweep.c - Mul(m_xf.R, m_sweep.localCenter);
  Rot.mulToOutUnsafe(m_xf.q, m_sweep.localCenter, m_xf.p);
  m_xf.p.mulLocal(-1).addLocal(m_sweep.c);
 }
}

Rot.mulToOutUnsafe(bA.m_xf.q, temp, rA);
Rot.mulToOutUnsafe(bB.m_xf.q, temp, rB);
Rot.mulToOutUnsafe(bA.m_xf.q, m_localXAxisA, axis);

void solveRigid(final TimeStep step) {
 for (ParticleGroup group = m_groupList; group != null; group = group.getNext()) {
  if ((group.m_groupFlags & ParticleGroupType.b2_rigidParticleGroup) != 0) {
   group.updateStatistics();
   Vec2 temp = tempVec;
   Vec2 cross = tempVec2;
   Rot rotation = tempRot;
   rotation.set(step.dt * group.m_angularVelocity);
   Rot.mulToOutUnsafe(rotation, group.m_center, cross);
   temp.set(group.m_linearVelocity).mulLocal(step.dt).addLocal(group.m_center).subLocal(cross);
   tempXf.p.set(temp);
   tempXf.q.set(rotation);
   Transform.mulToOut(tempXf, group.m_transform, group.m_transform);
   final Transform velocityTransform = tempXf2;
   velocityTransform.p.x = step.inv_dt * tempXf.p.x;
   velocityTransform.p.y = step.inv_dt * tempXf.p.y;
   velocityTransform.q.s = step.inv_dt * tempXf.q.s;
   velocityTransform.q.c = step.inv_dt * (tempXf.q.c - 1);
   for (int i = group.m_firstIndex; i < group.m_lastIndex; i++) {
    Transform.mulToOutUnsafe(velocityTransform, m_positionBuffer.data[i],
      m_velocityBuffer.data[i]);
   }
  }
 }
}

Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);

qB.set(aB);
Rot.mulToOutUnsafe(qA, u.set(m_localAnchorA).subLocal(m_localCenterA), rA);
Rot.mulToOutUnsafe(qB, u.set(m_localAnchorB).subLocal(m_localCenterB), rB);
u.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);

Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);

Rot.mulToOutUnsafe(qA, m_u.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
Rot.mulToOutUnsafe(qB, m_u.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);
m_u.set(cB).addLocal(m_rB).subLocal(cA).subLocal(m_rA);

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

Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), m_rA);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);

final Vec2 impulse = pool.popVec2();
Rot.mulToOutUnsafe(qA, C.set(m_localAnchorA).subLocal(m_localCenterA), rA);
Rot.mulToOutUnsafe(qB, C.set(m_localAnchorB).subLocal(m_localCenterB), rB);
C.set(cB).addLocal(rB).subLocal(cA).subLocal(rA);
positionError = C.length();

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

Rot.mulToOutUnsafe(xfA.q, m_localAnchorA, temp);
temp.addLocal(xfA.p).subLocal(xfC.p);
Rot.mulTransUnsafe(xfC.q, temp, pA);
Rot.mulToOutUnsafe(xfB.q, m_localAnchorB, temp);
temp.addLocal(xfB.p).subLocal(xfD.p);
Rot.mulTransUnsafe(xfD.q, temp, pB);

Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), m_rB);

qB.set(aB);
Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);

float iA = m_invIA, iB = m_invIB;
Rot.mulToOutUnsafe(qA, temp.set(m_localAnchorA).subLocal(m_localCenterA), rA);
Rot.mulToOutUnsafe(qB, temp.set(m_localAnchorB).subLocal(m_localCenterB), rB);
float positionError, angularError;

m_axis.normalize();
Rot.mulToOutUnsafe(xfb.q, m_axis, normal);
m_axis.normalize();
Rot.mulToOutUnsafe(xfa.q, m_axis, normal);