Vec2.crossToOutUnsafe(wB, m_rB, Cdot);
Cdot.addLocal(vB).subLocal(vA).subLocal(temp);
final Vec2 impulse = pool.popVec2();
Mat22.mulToOutUnsafe(m_linearMass, Cdot, impulse);
impulse.negateLocal();
final Vec2 oldImpulse = pool.popVec2();
oldImpulse.set(m_linearImpulse);
m_linearImpulse.addLocal(impulse);