/// <summary>
/// Returns the inverse of the transform, under the assumption that
/// the transformation is composed of rotation and translation
/// (no scaling, use <see cref="AffineInverse"/> for transforms with scaling).
/// </summary>
/// <returns>The inverse matrix.</returns>
public Transform3D Inverse()
{
Basis basisTr = basis.Transposed();
return(new Transform3D(basisTr, basisTr.Xform(-origin)));
}