xf

    void SetRow(int row, vec3& inVec) {
        m[row*4+0] = inVec.x;
        m[row*4+1] = inVec.y;
        m[row*4+2] = inVec.z;
    }

// Set the rotation and scale
vec3 r1 = xform.rotation[0]; r1.x *= xform.scale;
vec3 r2 = xform.rotation[1]; r2.y *= xform.scale;
vec3 r3 = xform.rotation[2]; r3.z *= xform.scale;
t.SetRow(0, r1);
t.SetRow(1, r2);
t.SetRow(2, r3);
t = t.Inverse(); // Invert the rotation
// Set the translation
t[3] = xform.translation.x;
t[7] = xform.translation.y;
t[11] = xform.translation.z;







    Mat4 ToInverseMatrix() {
        Mat4 m;
        m[0]=rotation[0].x * scale;                     m[1]=rotation[0].y;         m[2]=rotation[0].z;
        m[4]=rotation[1].x;                     m[5]=rotation[1].y * scale;         m[6]=rotation[1].z;
        m[8]=rotation[2].x;                     m[9]=rotation[2].y;         m[10]=rotation[2].z * scale;
        m = m.Inverse();
        m[3]=translation.x;
        m[7]=translation.y;
        m[11]=translation.z;
        return m;
    }