public void invert(Matrix srcMatrix) {
      double src[][] = srcMatrix.getData();
      double dst[][] = this.data;

      // COMPUTE ADJOINT COFACTOR MATRIX FOR THE ROTATION+SCALE 3x3

      for (int i = 0; i < 3; i++)
         for (int j = 0; j < 3; j++) {
            int i0 = (i + 1) % 3, i1 = (i + 2) % 3;
            int j0 = (j + 1) % 3, j1 = (j + 2) % 3;
            dst[j][i] = src[i0][j0] * src[i1][j1] -
                        src[i0][j1] * src[i1][j0];
         }

      // RENORMALIZE BY DETERMINANT TO GET ROTATION+SCALE 3x3 INVERSE

      double determinant = src[0][0] * dst[0][0] +
                           src[1][0] * dst[0][1] +
                           src[2][0] * dst[0][2];

      for (int i = 0; i < 3; i++)
         for (int j = 0; j < 3; j++)
            dst[i][j] /= determinant;

      // COMPUTE INVERSE TRANSLATION

      for (int i = 0; i < 3; i++)
         dst[i][3] = - dst[i][0] * src[0][3] -
                       dst[i][1] * src[1][3] -
                       dst[i][2] * src[2][3];

      dst[15] = 1;
   }