#include "matrix.h"

Real

Matrix3::det() const {

    return m00*(m11*m22 - m12*m21)

         + m01*(m12*m20 - m10*m22)

         + m02*(m10*m21 - m11*m20);

}

Matrix3

Matrix3::inverted(bool *success) const {

	const Real rm00 = m11*m22 - m12*m21;

	const Real rm10 = m12*m20 - m10*m22;

	const Real rm20 = m10*m21 - m11*m20;

	const Real d = m00*rm00 + m01*rm10 + m02*rm20;

	Real k;

	if (fabs(d) > real_precision) {

		k = 1/d;

		if (success) *success = true;

	} else {

		k = 0;

		if (success) *success = false;

	}

	return Matrix3(

		Vector3( m11*m22 - m12*m21,

				 m02*m21 - m01*m22,

				 m01*m12 - m02*m11 )*k,

		Vector3( m12*m20 - m10*m22,

				 m00*m22 - m02*m20,

				 m02*m10 - m00*m12 )*k,

		Vector3( m10*m21 - m11*m20,

				 m01*m20 - m00*m21,

				 m00*m11 - m01*m10 )*k );

}