public static void Multiply(ref Matrix4x3d left, ref Matrix4x3d right, out Matrix4x3d result)
{
result = new Matrix4x3d(
left.M00 * right.M00 + left.M10 * right.M01 + left.M20 * right.M02,
left.M01 * right.M00 + left.M11 * right.M01 + left.M21 * right.M02,
left.M02 * right.M00 + left.M12 * right.M01 + left.M22 * right.M02,
left.M00 * right.M10 + left.M10 * right.M11 + left.M20 * right.M12,
left.M01 * right.M10 + left.M11 * right.M11 + left.M21 * right.M12,
left.M02 * right.M10 + left.M12 * right.M11 + left.M22 * right.M12,
left.M00 * right.M20 + left.M10 * right.M21 + left.M20 * right.M22,
left.M01 * right.M20 + left.M11 * right.M21 + left.M21 * right.M22,
left.M02 * right.M20 + left.M12 * right.M21 + left.M22 * right.M22,
left.M00 * right.M30 + left.M10 * right.M31 + left.M20 * right.M32 + left.M30,
left.M01 * right.M30 + left.M11 * right.M31 + left.M21 * right.M32 + left.M31,
left.M02 * right.M30 + left.M12 * right.M31 + left.M22 * right.M32 + left.M32
);
}
public static Vector3d Multiply(ref Matrix4x3d m, Vector3d v)
{
return new Vector3d(
m.M00 * v.X + m.M10 * v.Y + m.M20 * v.Z + m.M30,
m.M01 * v.X + m.M11 * v.Y + m.M21 * v.Z + m.M31,
m.M02 * v.X + m.M12 * v.Y + m.M22 * v.Z + m.M32
);
}