// A point is transformed to a child frame by reversing the position, then reversing the rotation
// and then reversing scale.
public static Vector3 InverseTransformPointLocal(this Transform A, Vector3 sibling_pt)
{
Vector3 position = sibling_pt - A.localPosition;
position = Quaternion.Inverse(A.localRotation) * position;
position = Vector3.Scale(position, Srt.ScaleInverse(A.localScale));
return(position);
}
// Transform a sibling scale to be a child of a transform.
public static Vector3 InverseTransformScaleLocal(this Transform A, Vector3 sibling_scale)
{
return(Vector3.Scale(Srt.ScaleInverse(A.localScale), sibling_scale));
}