[ODE] Inverse transforming a vector

[M.C. Spanky]

Hi,

Given a transform and a vector, is there a routine that will compute the
transform^-1 * vector without actually computing the inverse of the
transform?

And while I'm at it, are there functions that treat the combination of
position and rotation as a single transformation?  Or do you always need
to transform in two steps?  Two steps isn't a big deal, I just want to
get into the proper habit from the start.

Thanks,
Martin