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SIMD_FORCE_INLINE btTransform btTransform::inverseTimes ( const btTransform t  )  const

Return the inverse of this transform times the other transform.

Parameters:
t The other transform return this.inverse() * the other

Definition at line 215 of file btTransform.h.

References btTransform(), getOrigin(), m_basis, m_origin, and btMatrix3x3::transposeTimes().

Referenced by btContinuousConvexCollision::calcTimeOfImpact().

{
      btVector3 v = t.getOrigin() - m_origin;
            return btTransform(m_basis.transposeTimes(t.m_basis),
                  v * m_basis);
}


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