/// <summary>
/// Gets a local vector given a world vector.
/// </summary>
/// <param name="worldVector">A vector in world coordinates.</param>
/// <returns>Return the corresponding local vector.</returns>
public Vec2 GetLocalVector(Vec2 worldVector)
{
return(Math.MulT(Xf.R, worldVector));
}
/// <summary>
/// Gets a local point relative to the body's origin given a world point.
/// </summary>
/// <param name="worldPoint">A point in world coordinates.</param>
/// <returns>Return the corresponding local point relative to the body's origin.</returns>
public Vec2 GetLocalPoint(Vec2 worldPoint)
{
return(Math.MulT(Xf, worldPoint));
}