corrects btMatrix3x3 math::Axis conversion

2 files changed, 4 insertions, 4 deletions

diff --git a/src/math/axis.cc b/src/math/axis.cc
index 7281047..3710c89 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -39,7 +39,7 @@ void Axis::assign(const btMatrix3x3 & other)
 {
 	for (size_t i = 0; i < 3; i++) {
 		for (size_t j = 0; j < 3; j++) {
-			axis_vector[i][j] = other[i][j];
+			axis_vector[i][j] = other[j][i];
 		}
 	}
 }
diff --git a/src/math/axis.h b/src/math/axis.h
index d3a5ec6..f9da159 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -91,9 +91,9 @@ private:
 /// helper function to conver math::Axis to btMatrix3x3
 inline btMatrix3x3 to_btMatrix3x3(const math::Axis &a)
 {
-	return btMatrix3x3(a[0][0], a[0][1], a[0][2],
-			   a[1][0], a[1][1], a[1][2],
-			   a[2][0], a[2][1], a[2][2]);
+	return btMatrix3x3(a[0][0], a[1][0], a[2][0],
+			   a[0][1], a[1][1], a[2][1],
+			   a[0][2], a[1][2], a[2][2]);
 }
 
 /// write an axis to a std::ostream