(bind-func cpTransformRigidInverse
(lambda (t:cpTransform)
(cpTransformNewTranspose
(tref t 3) (- 0. (tref t 2)) (- (* (tref t 2) (tref t 5)) (* (tref t 4) (tref t 3)))
(- 0. (tref t 1)) (tref t 0) (- (* (tref t 4) (tref t 1)) (* (tref t 0) (tref t 5))))))