public Transformd Inverse() { Basisd basisTr = basis.Transposed(); return(new Transformd(basisTr, basisTr.Xform(-origin))); }
public Transformd AffineInverse() { Basisd basisInv = basis.Inverse(); return(new Transformd(basisInv, basisInv.Xform(-origin))); }