+static inline float cgm_msubdet(float *m, int row, int col);
+static inline float cgm_mcofactor(float *m, int row, int col);
+static inline float cgm_mdet(float *m);
+static inline void cgm_mtranspose(float *m);
+static inline void cgm_mcofmatrix(float *m);
+static inline int cgm_minverse(float *m); /* returns 0 on success, -1 for singular */