Method invert

core/math/basis.cpp:47–62

	(rows[row1][col1] * rows[row2][col2] - rows[row1][col2] * rows[row2][col1])

void Basis::invert() {
	real_t co[3] = {
		cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)
	};
	real_t det = rows[0][0] * co[0] +
			rows[0][1] * co[1] +
			rows[0][2] * co[2];
#ifdef MATH_CHECKS
	ERR_FAIL_COND(det == 0);
#endif
	real_t s = 1.0f / det;

	set(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s,
			co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s,
			co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s);
}

void Basis::orthonormalize() {
	Vector3 x = get_column(0);