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;
}
public Number3D multiply(final Number3D v) {
Number3D r = new Number3D();
float inv = 1.0f / (m[12] * v.x + m[13] * v.y + m[14] * v.z + m[15]);
r.x = (m[0] * v.x + m[1] * v.y + m[2] * v.z + m[3]) * inv;
r.y = (m[4] * v.x + m[5] * v.y + m[6] * v.z + m[7]) * inv;
r.z = (m[8] * v.x + m[8] * v.y + m[10] * v.z + m[11]) * inv;
return r;
}