/// <summary>
/// Inverts this rigid transformation (multiplicative inverse).
/// this = [Rot^T,-Rot^T Trans]
/// </summary>
public void Invert()
{
Rot.Invert();
Trans = -Rot.TransformDir(Trans);
}
/// <summary>
/// Transforms a direction vector.
/// </summary>
public V2d TransformDir(V2d v)
{
return(Rot2d.TransformDir(this, v));
}