public void inverseTransform(
final Number3D position, final Number3D scale, final Quaternion orientation) {
Number3D invTranslate = position.inverse();
Number3D invScale = new Number3D(1 / scale.x, 1 / scale.y, 1 / scale.z);
Quaternion invRot = orientation.inverse();
invTranslate = invRot.multiply(invTranslate);
invTranslate.multiply(invScale);
invRot.toRotationMatrix(mTmp);
m[0] = invScale.x * mTmp[0];
m[1] = invScale.x * mTmp[1];
m[2] = invScale.x * mTmp[2];
m[3] = invTranslate.x;
m[4] = invScale.y * mTmp[4];
m[5] = invScale.y * mTmp[5];
m[6] = invScale.y * mTmp[6];
m[7] = invTranslate.y;
m[8] = invScale.z * mTmp[8];
m[9] = invScale.z * mTmp[9];
m[10] = invScale.z * mTmp[10];
m[11] = invTranslate.z;
m[12] = 0;
m[13] = 0;
m[14] = 0;
m[15] = 1;
}
