*/
  private float determinant3x3(float t00, float t01, float t02,
                               float t10, float t11, float t12,
                               float t20, float t21, float t22) {
    return (t00 * (t11 * t22 - t12 * t21) +
            t01 * (t12 * t20 - t10 * t22) +
            t02 * (t10 * t21 - t11 * t20));
  }