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BulletIntegration: fix Matrix3x3 conversion along with unit tests #34
Bullet matrices are row-major, Magnum matrices are column-major.
This probably hasn't been noticed before because
Hi, thanks a lot for reporting and fixing this!
Interesting (and frightening) that this hasn't been noticed yet, huh. Looking into Bullet sources at how the Matrix4 conversion is done, yeah this was definitely wrong. @Squareys were you aware of this?
Merged your commit in 67059e5 (without the debug prints) and then, in 13356bf, to be really sure, updated the 3x3 test to now also convert the matrix to a quaternion and check that it indeed produces a correct value.