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* added support for inverse of 3x3 matrix * Modified Docstring and improved code * fixed an error * Modified docstring * Apply all suggestions from code review Co-authored-by: Caeden Perelli-Harris <caedenperelliharris@gmail.com> Co-authored-by: Chris O <46587501+ChrisO345@users.noreply.github.com> Co-authored-by: Christian Clauss <cclauss@me.com> Co-authored-by: Caeden Perelli-Harris <caedenperelliharris@gmail.com> Co-authored-by: Chris O <46587501+ChrisO345@users.noreply.github.com>