Rotates a vector from world space back into local space (v * M^-1). Valid only because every collision matrix is a pure rotation, so the inverse is just the transpose.
v * M^-1
The rotation
The X component
The Y component
The Z component
The vector to write the result into
Rotates a vector from world space back into local space (
v * M^-1). Valid only because every collision matrix is a pure rotation, so the inverse is just the transpose.