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  Mat4x4f scaling_Mat4x4f(const Vec3f&);
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  Mat4x4f scaling_Mat4x4f(const Vec3f&);
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  /// Create an identity matrix.
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  /// Create an identity matrix.
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  inline Mat4x4f identity_Mat4x4f()
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  inline Mat4x4f identity_Mat4x4f()
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    {
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    {
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      return Mat4x4f(Vec4f(1,0,0,0),
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      return Mat4x4f(Vec4f(1.0f,0.0f,0.0f,0.0f),
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		     Vec4f(0,1,0,0),
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		     Vec4f(0.0f,1.0f,0.0f,0.0f),
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		     Vec4f(0,0,1,0),
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		     Vec4f(0.0f,0.0f,1.0f,0.0f),
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		     Vec4f(0,0,0,1));
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		     Vec4f(0.0f,0.0f,0.0f,1.0f));
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    }
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    }
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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      orthonormal (which is the case if the transformation is only
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      orthonormal (which is the case if the transformation is only
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      a concatenation of rotations and translations).
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      a concatenation of rotations and translations).
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    Vec3f t(m[0][3], m[1][3], m[2][3]);
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    Vec3f t(m[0][3], m[1][3], m[2][3]);
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    return Mat4x4f(Vec4f(rx, -dot(t, rx)),
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    return Mat4x4f(Vec4f(rx, -dot(t, rx)),
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		   Vec4f(ry, -dot(t, ry)),
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		   Vec4f(ry, -dot(t, ry)),
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		   Vec4f(rz, -dot(t, rz)),
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		   Vec4f(rz, -dot(t, rz)),
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		   Vec4f(0.0, 0.0, 0.0, 1.0));
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		   Vec4f(0.0f, 0.0f, 0.0f, 1.0f));
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  }
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  }
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}
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}
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#endif
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#endif
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