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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.

#ifndef btTransform_H
#define btTransform_H

#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"

///btTransform supports rigid transforms (only translation and rotation, no scaling/shear)
00025 class btTransform {

      btTransform() {}

      explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
            const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
            : m_basis(q),

      explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
            const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
            : m_basis(b),

            SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
                  m_basis = t1.m_basis * t2.m_basis;
                  m_origin = t1(t2.m_origin);

            void multInverseLeft(const btTransform& t1, const btTransform& t2) {
                  btVector3 v = t2.m_origin - t1.m_origin;
                  m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
                  m_origin = v * t1.m_basis;

      SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
            return btVector3(m_basis[0].dot(x) + m_origin[0], 
                  m_basis[1].dot(x) + m_origin[1], 
                  m_basis[2].dot(x) + m_origin[2]);

      SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
            return (*this)(x);

      SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
      SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }

      SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
      SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }

      btQuaternion getRotation() const { 
            btQuaternion q;
            return q;
      template <typename Scalar2>
            void setValue(const Scalar2 *m) 

      void setFromOpenGLMatrix(const btScalar *m)
            m_origin[0] = m[12];
            m_origin[1] = m[13];
            m_origin[2] = m[14];

      void getOpenGLMatrix(btScalar *m) const 
            m[12] = m_origin[0];
            m[13] = m_origin[1];
            m[14] = m_origin[2];
            m[15] = btScalar(1.0f);

      SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
            m_origin = origin;

      SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;

      SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
            m_basis = basis;

      SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)

      void setIdentity()
            m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));

      btTransform& operator*=(const btTransform& t) 
            m_origin += m_basis * t.m_origin;
            m_basis *= t.m_basis;
            return *this;

      btTransform inverse() const
            btMatrix3x3 inv = m_basis.transpose();
            return btTransform(inv, inv * -m_origin);

      btTransform inverseTimes(const btTransform& t) const;  

      btTransform operator*(const btTransform& t) const;

      static btTransform      getIdentity()
            btTransform tr;
            return tr;

      btMatrix3x3 m_basis;
      btVector3   m_origin;

btTransform::invXform(const btVector3& inVec) const
      btVector3 v = inVec - m_origin;
      return (m_basis.transpose() * v);

btTransform::inverseTimes(const btTransform& t) const  
      btVector3 v = t.getOrigin() - m_origin;
            return btTransform(m_basis.transposeTimes(t.m_basis),
                  v * m_basis);

btTransform::operator*(const btTransform& t) const
      return btTransform(m_basis * t.m_basis, 


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