/// <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)); }