text: ///////////////////////////////////////////////////////////////////////////////////
  /// OpenGL Mathematics (glm.g-truc.net)
  ///
  /// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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  /// 
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  /// all copies or substantial portions of the Software.
  /// 
  /// Restrictions:
  ///		By making use of the Software for military purposes, you choose to make
  ///		a Bunny unhappy.
  /// 
  /// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  /// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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  /// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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  ///
  /// @ref gtc_matrix_inverse
  /// @file glm/gtc/matrix_inverse.inl
  /// @date 2005-12-21 / 2011-06-15
  /// @author Christophe Riccio
  ///////////////////////////////////////////////////////////////////////////////////
  
  namespace glm
  {
  	template <typename T, precision P>
  	GLM_FUNC_QUALIFIER tmat3x3<T, P> affineInverse(tmat3x3<T, P> const & m)
  	{
  		tmat2x2<T, P> const Inv(inverse(tmat2x2<T, P>(m)));
  
  		return tmat3x3<T, P>(
  			tvec3<T, P>(Inv[0], static_cast<T>(0)),
  			tvec3<T, P>(Inv[1], static_cast<T>(0)),
  			tvec3<T, P>(-Inv * tvec2<T, P>(m[2]), static_cast<T>(1)));
  	}
  
  	template <typename T, precision P>
  	GLM_FUNC_QUALIFIER tmat4x4<T, P> affineInverse(tmat4x4<T, P> const & m)
  	{
  		tmat3x3<T, P> const Inv(inverse(tmat3x3<T, P>(m)));
  
  		return tmat4x4<T, P>(
  			tvec4<T, P>(Inv[0], static_cast<T>(0)),
  			tvec4<T, P>(Inv[1], static_cast<T>(0)),
  			tvec4<T, P>(Inv[2], static_cast<T>(0)),
  			tvec4<T, P>(-Inv * tvec3<T, P>(m[3]), static_cast<T>(1)));
  	}
  
  	template <typename T, precision P>
  	GLM_FUNC_QUALIFIER tmat2x2<T, P> inverseTranspose(tmat2x2<T, P> const & m)
  	{
  		T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
  
  		tmat2x2<T, P> Inverse(
  			+ m[1][1] / Determinant,
  			- m[0][1] / Determinant,
  			- m[1][0] / Determinant,
  			+ m[0][0] / Determinant);
  
  		return Inverse;
  	}
  
  	template <typename T, precision P>
  	GLM_FUNC_QUALIFIER tmat3x3<T, P> inverseTranspose(tmat3x3<T, P> const & m)
  	{
  		T Determinant =
  			+ m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
  			- m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
  			+ m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
  
  		tmat3x3<T, P> Inverse(uninitialize);
  		Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
  		Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
  		Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
  		Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
  		Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
  		Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
  		Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
  		Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
  		Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
  		Inverse /= Determinant;
  
  		return Inverse;
  	}
  
  	template <typename T, precision P>
  	GLM_FUNC_QUALIFIER tmat4x4<T, P> inverseTranspose(tmat4x4<T, P> const & m)
  	{
  		T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
  		T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
  		T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
  		T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
  		T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
  		T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
  		T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
  		T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
  		T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
  		T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
  		T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
  		T SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
  		T SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
  		T SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
  		T SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
  		T SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
  		T SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
  		T SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
  		T SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
  
  		tmat4x4<T, P> Inverse(uninitialize);
  		Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
  		Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
  		Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
  		Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
  
  		Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
  		Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
  		Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
  		Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
  
  		Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
  		Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
  		Inverse[2][2] = + (m[0][0] * SubFactor11 - m[0][1] * SubFactor09 + m[0][3] * SubFactor12);
  		Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor12);
  
  		Inverse[3][0] = - (m[0][1] * SubFactor13 - m[0][2] * SubFactor14 + m[0][3] * SubFactor15);
  		Inverse[3][1] = + (m[0][0] * SubFactor13 - m[0][2] * SubFactor16 + m[0][3] * SubFactor17);
  		Inverse[3][2] = - (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][3] * SubFactor18);
  		Inverse[3][3] = + (m[0][0] * SubFactor15 - m[0][1] * SubFactor17 + m[0][2] * SubFactor18);
  
  		T Determinant =
  			+ m[0][0] * Inverse[0][0]
  			+ m[0][1] * Inverse[0][1]
  			+ m[0][2] * Inverse[0][2]
  			+ m[0][3] * Inverse[0][3];
  
  		Inverse /= Determinant;
  
  		return Inverse;
  	}
  }//namespace glm
  