inline btTransform& minko::math::toBulletTransform(const minko::math::mat4& transform, btTransform& output) { return toBulletTransform( math::quat(transform), math::vec3(transform[3]), output ); }
inline btTransform& minko::math::toBulletTransform(minko::math::Matrix4x4::Ptr transform, btTransform& output) { return toBulletTransform( transform->rotationQuaternion(), transform->translation(), output ); }