BEPUutilities2.AffineTransform.InvertRigid C# (CSharp) 메소드

        public static void InvertRigid(ref AffineTransform transform, out AffineTransform inverse)
        {
            Matrix3x3.Transpose(ref transform.LinearTransform, out inverse.LinearTransform);
            Matrix3x3.Transform(ref transform.Translation, ref inverse.LinearTransform, out inverse.Translation);
            inverse.Translation = -inverse.Translation;
        }