static public b2Vec2 MulX(b2Transform T, b2Vec2 v)
{
b2Vec2 a = MulMV(T.R, v);
a.x += T.position.x;
a.y += T.position.y;
//return T.position + b2Mul(T.R, v);
return(a);
}
static public b2Vec2 MulXT(b2Transform T, b2Vec2 v)
{
b2Vec2 a = SubtractVV(v, T.position);
//return b2MulT(T.R, v - T.position);
float tX = (a.x * T.R.col1.x + a.y * T.R.col1.y);
a.y = (a.x * T.R.col2.x + a.y * T.R.col2.y);
a.x = tX;
return(a);
}
public void Set(b2Transform x)
{
position.SetV(x.position);
R.SetM(x.R);
}