anchor.diff:  
   Very straight forward. This is the fastest function you can have, it only does a transpose and some dot products. If we add in scales, it takes a little more time to do rescaling, but still pretty fast. There is a little trick for calculating squared size, we can make use of the fact that we need to transpose 3x3 rotation part anyway, do squared size after and calculate 3 axes in one go.
   
  -[source, c++]
  +[source, C/C++]
   ----
   #define SMALL_NUMBER		(1.e-8f)
   
  
positive.code: 
  Now we have all pieces ready, here is our function for general 4x4 matrix inverse:
  
  [source, c++]
  ----
  // Inverse function is the same no matter column major or row major
  // this version treats it as row major
  
negative.code: 
  Alright, enough theory, let’s see some code. This is our matrix definition.
  
  [source, C/C++]
  ----
  __declspec(align(16)) struct Matrix4
  {
  