BEPUutilities2.AffineTransform.Invert C# (CSharp) Method

        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);
            inverse.Translation = -inverse.Translation;
        }