Transform3D Transform3D::worldToLocal(const Transform3D& reference) const {
// http://en.wikipedia.org/wiki/Change_of_basis
return reference.i() * (*this);
}
Transform3D Transform3D::worldToLocal(const Transform3D& reference) const {
// http://en.wikipedia.org/wiki/Change_of_basis
return reference.i() * (*this);
}