diff --git a/src/LinearMath/btMatrixX.h b/src/LinearMath/btMatrixX.h
index 388c57c2d..961c94dc6 100644
--- a/src/LinearMath/btMatrixX.h
+++ b/src/LinearMath/btMatrixX.h
@@ -338,24 +338,23 @@ struct btMatrixX
 		btMatrixX res(rows(), other.cols());
 		res.setZero();
 		//		BT_PROFILE("btMatrixX mul");
-		for (int j = 0; j < res.cols(); ++j)
+		for (int i = 0; i < rows(); ++i)
 		{
 			{
-				for (int i = 0; i < res.rows(); ++i)
+				for (int j = 0; j < other.cols(); ++j)
 				{
 					T dotProd = 0;
-					//					T dotProd2=0;
-					//int waste=0,waste2=0;
-
 					{
-						//						bool useOtherCol = true;
 						{
-							for (int v = 0; v < rows(); v++)
+							int r = rows();
+							int c = cols();
+
+							for (int k = 0; k < cols(); k++)
 							{
-								T w = (*this)(i, v);
-								if (other(v, j) != 0.f)
+								T w = (*this)(i, k);
+								if (other(k, j) != 0.f)
 								{
-									dotProd += w * other(v, j);
+									dotProd += w * other(k, j);
 								}
 							}
 						}