///<summary>
/// Inverts an affine transform.
///</summary>
///<param name="transform">Transform to invert.</param>
/// <param name="inverse">Inverse of the transform.</param>
public static void Invert(ref AffineTransform transform, out AffineTransform inverse)
{
Matrix3x3.Invert(ref transform.LinearTransform, out inverse.LinearTransform);
Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
Vector3.Negate(ref inverse.Translation, out inverse.Translation);
}
/// <summary>
/// Inverts a rigid transform.
/// </summary>
/// <param name="transform">Transform to invert.</param>
/// <param name="inverse">Inverse of the transform.</param>
public static void Invert(ref RigidTransform transform, out RigidTransform inverse)
{
Quaternion.Conjugate(ref transform.Orientation, out inverse.Orientation);
Vector3.Transform(ref transform.Position, ref inverse.Orientation, out inverse.Position);
Vector3.Negate(ref inverse.Position, out inverse.Position);
}