CDTestFramework, OPCODE, ICE redistributed under the ZLib License, with permission of Pierre Terdiman

Added Bullet SAP/MultiSAP support by Erwin Coumans (BulletSAPCompleteBoxPruningTest.*)
AABB tree broadphase by Nathanael Presson (btDbvt.*, DbvtTest.*)

Extras/CDTestFramework/Opcode/Ice/IceMatrix3x3.cpp

@@ -0,0 +1,64 @@
+/*
+ *	ICE / OPCODE - Optimized Collision Detection
+ * http://www.codercorner.com/Opcode.htm
+ * 
+ * Copyright (c) 2001-2008 Pierre Terdiman,  pierre@codercorner.com
+
+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.
+*/
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	Contains code for 3x3 matrices.
+ *	\file		IceMatrix3x3.cpp
+ *	\author		Pierre Terdiman
+ *	\date		April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ *	3x3 matrix.
+ *	DirectX-compliant, ie row-column order, ie m[Row][Col].
+ *	Same as:
+ *	m11  m12  m13  first row.
+ *	m21  m22  m23  second row.
+ *	m31  m32  m33  third row.
+ *	Stored in memory as m11 m12 m13 m21...
+ *
+ *	Multiplication rules:
+ *
+ *	[x'y'z'] = [xyz][M]
+ *
+ *	x' = x*m11 + y*m21 + z*m31
+ *	y' = x*m12 + y*m22 + z*m32
+ *	z' = x*m13 + y*m23 + z*m33
+ *
+ *	\class		Matrix3x3
+ *	\author		Pierre Terdiman
+ *	\version	1.0
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace IceMaths;
+
+// Cast operator
+Matrix3x3::operator Matrix4x4() const
+{
+	return Matrix4x4(
+	m[0][0],	m[0][1],	m[0][2],	0.0f,
+	m[1][0],	m[1][1],	m[1][2],	0.0f,
+	m[2][0],	m[2][1],	m[2][2],	0.0f,
+	0.0f,		0.0f,		0.0f,		1.0f);
+}