public void setToOrigin(TransMatrix kToOrigin) {
m_kToOrigin = convertTo4D(kToOrigin);
m_kToOriginInv.Inverse(m_kToOrigin);
}
public void setFromOrigin(TransMatrix kFromOrigin) {
m_kFromOrigin = convertTo4D(kFromOrigin);
m_kFromOriginInv.Inverse(m_kFromOrigin);
}