///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// furnished to do so, subject to the following conditions:
/// 
/// The above copyright notice and this permission notice shall be included in
/// 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.
/// 
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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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)
        {
                tmat3x3<T, P> Result(m);
                Result[2] = tvec3<T, P>(0, 0, 1);
                Result = transpose(Result);
                tvec3<T, P> Translation = Result * tvec3<T, P>(-tvec2<T, P>(m[2]), m[2][2]);
                Result[2] = Translation;
                return Result;
        }

        template <typename T, precision P>
        GLM_FUNC_QUALIFIER tmat4x4<T, P> affineInverse(tmat4x4<T, P> const & m)
        {
                tmat4x4<T, P> Result(m);
                Result[3] = tvec4<T, P>(0, 0, 0, 1);
                Result = transpose(Result);
                tvec4<T, P> Translation = Result * tvec4<T, P>(-tvec3<T, P>(m[3]), m[3][3]);
                Result[3] = Translation;
                return Result;
        }

        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