373374375376377378379380381382383
C1.set(cB).addLocal(rB).subLocal(cA).subLocal(rA); positionError = C1.length(); angularError = 0.0f; K.solve22ToOut(C1, P); P.negateLocal(); cA.x -= mA * P.x; cA.y -= mA * P.y; aA -= iA * Vec2.cross(rA, P);
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