OpenGL ,World to Object coordinate mapping? (inverse matrix)?

Inverting the matrix would be the general solution, but as far as I can see this isn't actually a "general" problem. Rather than undoing an arbitrary transformation, you are trying to do the reverse of a known sequence of transformations, each of which can be inverted very simply. If your object-to-world transformation is.

Yes, basically you're right that you can perform this operation by the translation matrix.

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