include string.h for memcpy
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#include "matrix-math.h"
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#include "matrix-math.h"
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#include <math.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdio.h>
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#include <string.h>
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/**
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/**
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* overwrites a 4x4 matrix with the identity matrix
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* overwrites a 4x4 matrix with the identity matrix
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