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-rw-r--r--src/math/axis.cc2
-rw-r--r--src/math/axis.h6
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