public void inverseTimes( btITransform t, out btTransform result )
{
btVector3 v;
t.getOrigin().Sub( ref m_origin, out v );
btMatrix3x3 m;
t.getBasis( out m );
m_basis.transposeTimes( ref m, out result.m_basis );
m_basis.ApplyInverse( ref v, out result.m_origin );
}
public void Apply( btITransform t2, out btTransform result )
{
m_basis.Apply( t2.getBasis(), out result.m_basis );
Apply( t2.getOrigin(), out result.m_origin );
}
