Fix Matrix3d.mulLocal()
@@ -826,17 +826,23 @@ public class Matrix3d implements Externalizable, Matrix3dc {
*/
public Matrix3d mulLocal(Matrix3dc left, Matrix3d dest) {
double nm00 = left.m00() * m00 + left.m10() * m01 + left.m20() * m02;
- double nm01 = left.m01() * m00 + left.m11() * m01 + left.m20() * m02;
+ double nm01 = left.m01() * m00 + left.m11() * m01 + left.m21() * m02;
+ double nm02 = left.m02() * m00 + left.m12() * m01 + left.m22() * m02;
double nm10 = left.m00() * m10 + left.m10() * m11 + left.m20() * m12;
- double nm11 = left.m01() * m10 + left.m11() * m11 + left.m20() * m12;
+ double nm11 = left.m01() * m10 + left.m11() * m11 + left.m21() * m12;
+ double nm12 = left.m02() * m10 + left.m12() * m11 + left.m22() * m12;
double nm20 = left.m00() * m20 + left.m10() * m21 + left.m20() * m22;
double nm21 = left.m01() * m20 + left.m11() * m21 + left.m21() * m22;
+ double nm22 = left.m02() * m20 + left.m12() * m21 + left.m22() * m22;
dest.m00 = nm00;
dest.m01 = nm01;
+ dest.m02 = nm02;
dest.m10 = nm10;
dest.m11 = nm11;
+ dest.m12 = nm12;
dest.m20 = nm20;
dest.m21 = nm21;
+ dest.m22 = nm22;
return dest;
}
