invertRotation method

Implementation

double invertRotation() {
  final double det = determinant();
  if (det == 0.0) {
    return 0.0;
  }
  final double invDet = 1.0 / det;
  double ix;
  double iy;
  double iz;
  double jx;
  double jy;
  double jz;
  double kx;
  double ky;
  double kz;
  ix = invDet *
      (_m4storage[5] * _m4storage[10] - _m4storage[6] * _m4storage[9]);
  iy = invDet *
      (_m4storage[2] * _m4storage[9] - _m4storage[1] * _m4storage[10]);
  iz = invDet *
      (_m4storage[1] * _m4storage[6] - _m4storage[2] * _m4storage[5]);
  jx = invDet *
      (_m4storage[6] * _m4storage[8] - _m4storage[4] * _m4storage[10]);
  jy = invDet *
      (_m4storage[0] * _m4storage[10] - _m4storage[2] * _m4storage[8]);
  jz = invDet *
      (_m4storage[2] * _m4storage[4] - _m4storage[0] * _m4storage[6]);
  kx = invDet *
      (_m4storage[4] * _m4storage[9] - _m4storage[5] * _m4storage[8]);
  ky = invDet *
      (_m4storage[1] * _m4storage[8] - _m4storage[0] * _m4storage[9]);
  kz = invDet *
      (_m4storage[0] * _m4storage[5] - _m4storage[1] * _m4storage[4]);
  _m4storage[0] = ix;
  _m4storage[1] = iy;
  _m4storage[2] = iz;
  _m4storage[4] = jx;
  _m4storage[5] = jy;
  _m4storage[6] = jz;
  _m4storage[8] = kx;
  _m4storage[9] = ky;
  _m4storage[10] = kz;
  return det;
}