[ODE] Matrix multiplication!

[Fig TaTam]

A while ago I was having some problems with matrix multiplication. I was 
using functions like:

void dMULTIPLY0_333(dReal *A, const dReal *B, const dReal *C)

As I found out, the reason why I had weird results was cause my "output" 
matrix happened to be on of the input matrices. I was using 2 variables 
instead of 3. In other words, I was doing something like this: A=BxA
No one told me that I have to use 3 separate matrices. I think there should 
be a warning in documentation

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