public static void Multiply(ref btMatrix3x3 m, ref btVector3 v, out btVector3 result)
{
result.X = m.el0.dot(v);
result.Y = m.el1.dot(v);
result.Z = m.el2.dot(v);
result.W = 0;
}
public void transpose(out btMatrix3x3 result)
{
result.el0.X = el0.X;
result.el0.Y = el1.X;
result.el0.Z = el2.X;
result.el0.W = 0;
result.el1.X = el0.Y;
result.el1.Y = el1.Y;
result.el1.Z = el2.Y;
result.el1.W = 0;
result.el2.X = el0.Z;
result.el2.Y = el1.Z;
result.el2.Z = el2.Z;
result.el2.W = 0;
}
public static void Multiply(ref btMatrix3x3 m1, ref btMatrix3x3 m2, out btMatrix3x3 result)
{
result.el0.X = m2.tdotx(ref m1.el0);
result.el0.Y = m2.tdoty(ref m1.el0);
result.el0.Z = m2.tdotz(ref m1.el0);
result.el0.W = 0;
result.el1.X = m2.tdotx(ref m1.el1);
result.el1.Y = m2.tdoty(ref m1.el1);
result.el1.Z = m2.tdotz(ref m1.el1);
result.el1.W = 0;
result.el2.X = m2.tdotx(ref m1.el2);
result.el2.Y = m2.tdoty(ref m1.el2);
result.el2.Z = m2.tdotz(ref m1.el2);
result.el2.W = 0;
}
public btTransform(btMatrix3x3 b, btVector3 c)
{
Basis = b;
Origin = c;
matrix = new Matrix();
}
public btTransform(btMatrix3x3 b)
{
Basis = b;
Origin = new btVector3();
matrix = new Matrix();
}