Function mul

src/BulletInverseDynamics/IDMath.cpp:97–115

}

void mul(const mat33 &a, const mat3x &b, mat3x *result)
{
	if (b.cols() != result->cols())
	{
		bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
							static_cast<int>(b.cols()), static_cast<int>(result->cols()));
		abort();
	}

	for (idArrayIdx col = 0; col < b.cols(); col++)
	{
		const idScalar x = a(0, 0) * b(0, col) + a(0, 1) * b(1, col) + a(0, 2) * b(2, col);
		const idScalar y = a(1, 0) * b(0, col) + a(1, 1) * b(1, col) + a(1, 2) * b(2, col);
		const idScalar z = a(2, 0) * b(0, col) + a(2, 1) * b(1, col) + a(2, 2) * b(2, col);
		setMat3xElem(0, col, x, result);
		setMat3xElem(1, col, y, result);
		setMat3xElem(2, col, z, result);
	}
}
void add(const mat3x &a, const mat3x &b, mat3x *result)
{
	if (a.cols() != b.cols())