Vector3f hingeAxisWorld = Stack.alloc(Vector3f.class);
rbAFrame.basis.getColumn(2, hingeAxisWorld);
centerOfMassA.basis.transform(hingeAxisWorld);
mat1.transpose(centerOfMassA.basis);
mat2.transpose(centerOfMassB.basis);
jacAng[0].init(jointAxis0,
mat1,
mat2,
rbA.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)),
rbB.getInvInertiaDiagLocal(Stack.alloc(Vector3f.class)));